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cxSliceComputer.cpp
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
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31 =========================================================================*/
32 
33 #include "cxSliceComputer.h"
34 #include "cxDefinitions.h"
35 #include <math.h>
36 
37 namespace cx
38 {
39 
40 SlicePlane::SlicePlane(const Vector3D& c_, const Vector3D& i_, const Vector3D& j_) :
41  c(c_), i(i_), j(j_)
42 {
43 }
44 
45 std::ostream& operator<<(std::ostream& s, const SlicePlane& val)
46 {
47  s << "center : " << val.c << std::endl;
48  s << "i_vector : " << val.i << std::endl;
49  s << "j_vector : " << val.j << std::endl;
50  return s;
51 }
52 
53 bool similar(const SlicePlane& a, const SlicePlane& b)
54 {
55  return similar(a.c, b.c) && similar(a.i, b.i) && similar(a.j, b.j);
56 }
57 
61  mClinicalApplication(mdNEUROLOGICAL),
62  mOrientType(otORTHOGONAL),
63  mPlaneType(ptAXIAL),
64  mFollowType(ftFIXED_CENTER),
65  mFixedCenter(Vector3D(0,0,0)),
66  m_rMt(Transform3D::Identity()),
67  mToolOffset(0.0),
68  mUseGravity(false),
69  mGravityDirection(Vector3D(0,0,-1)) ,
70  mUseViewOffset(false),
71  mViewportHeight(1),
72  mViewOffset(0.5),
73  mUseConstrainedViewOffset(false)
74 {
75 }
76 
78 {
79 }
80 
83 void SliceComputer::initializeFromPlane(PLANE_TYPE plane, bool useGravity, const Vector3D& gravityDir, bool useViewOffset, double viewportHeight, double toolViewOffset, CLINICAL_VIEW application, bool useConstrainedViewOffset)
84 {
85  setPlaneType(plane);
86  mClinicalApplication = application;
87 
88  if (plane == ptSAGITTAL || plane == ptCORONAL || plane == ptAXIAL )
89  {
92  }
93  else if (plane == ptANYPLANE || plane==ptRADIALPLANE || plane==ptSIDEPLANE)
94  {
97 
98  setGravity(useGravity, gravityDir);
99  setToolViewOffset(useViewOffset, viewportHeight, toolViewOffset, useConstrainedViewOffset); // TODO finish this one
100  }
101 }
102 
103 void SliceComputer::setClinicalApplication(CLINICAL_VIEW application)
104 {
105  mClinicalApplication = application;
106 }
107 
108 ORIENTATION_TYPE SliceComputer::getOrientationType() const
109 {
110  return mOrientType;
111 }
112 
113 PLANE_TYPE SliceComputer::getPlaneType() const
114 {
115  return mPlaneType;
116 }
117 
119 {
120  return m_rMt;
121 }
122 
127 {
128  m_rMt = rMt;
129 }
130 
134 void SliceComputer::setOrientationType(ORIENTATION_TYPE val)
135 {
136  mOrientType = val;
137 }
138 
141 void SliceComputer::setPlaneType(PLANE_TYPE val)
142 {
143  mPlaneType = val;
144 }
145 
150 {
151  mFixedCenter = center;
152 }
153 
158 void SliceComputer::setFollowType(FOLLOW_TYPE val)
159 {
160  mFollowType = val;
161 }
162 
166 void SliceComputer::setGravity(bool use, const Vector3D& dir)
167 {
168  mUseGravity = use;
169  mGravityDirection = dir;
170 }
171 
175 {
176  mToolOffset = val;
177 }
178 
183 void SliceComputer::setToolViewOffset(bool use, double viewportHeight, double viewOffset, bool useConstrainedViewOffset)
184 {
185  mUseViewOffset = use;
186  mViewportHeight = viewportHeight;
187  mViewOffset = viewOffset;
188  mUseConstrainedViewOffset = useConstrainedViewOffset;
189 }
190 
193 void SliceComputer::setToolViewportHeight(double viewportHeight)
194 {
195  mViewportHeight = viewportHeight;
196 }
197 
201 {
202  std::pair<Vector3D,Vector3D> basis = generateBasisVectors();
203  SlicePlane plane;
204  plane.i = basis.first;
205  plane.j = basis.second;
206  plane.c = Vector3D(0,0,mToolOffset);
207 
208  // transform position from tool to reference space
209  plane.c = m_rMt.coord(plane.c);
210  // transform orientation from tool to reference space for the oblique case only
211  if (mOrientType==otOBLIQUE)
212  {
213  plane.i = m_rMt.vector(plane.i);
214  plane.j = m_rMt.vector(plane.j);
215  }
216 
217  // orient planes so that gravity is down
218  plane = orientToGravity(plane);
219 
220  // try to to this also for oblique views, IF the ftFIXED_CENTER is set.
221  // use special acs centermod algo
222  plane.c = generateFixedIJCenter(mFixedCenter, plane.c, plane.i, plane.j);
223 
224  // set center so that it is a fixed distance from viewport top
225  plane = applyViewOffset(plane);
226 
227  return plane;
228 }
229 
241 SlicePlane SliceComputer::applyViewOffset(const SlicePlane& base) const
242 {
243  if (!mUseViewOffset)
244  {
245  return base;
246  }
247 
248  double centerOffset = this->getViewOffsetAbsoluteFromCenter();
249 
250  SlicePlane retval = base;
251  if (mUseConstrainedViewOffset)
252  {
253  Vector3D toolOffsetCenter = m_rMt.coord(Vector3D(0,0,mToolOffset));
254  Vector3D newCenter = toolOffsetCenter + centerOffset * base.j;
255  double toolOffsetDistance = dot(newCenter - base.c, base.j);
256 
257  Vector3D toolCenter = m_rMt.coord(Vector3D(0,0,0));
258  newCenter = toolCenter - centerOffset * base.j;
259  double toolDistance = dot(newCenter - base.c, base.j);
260  double usedDistance = std::min(toolOffsetDistance, toolDistance);
261  retval.c = base.c + usedDistance * base.j; // extract j-component of newCenter
262  }
263  else
264  {
265  Vector3D toolCenter = m_rMt.coord(Vector3D(0,0,mToolOffset));
266  Vector3D newCenter = toolCenter - centerOffset * base.j;
267  double distance = dot(newCenter - base.c, base.j);
268  retval.c = base.c + distance * base.j; // extract j-component of newCenter
269  }
270  return retval;
271 }
272 
273 double SliceComputer::getViewOffsetAbsoluteFromCenter() const
274 {
275  if (mPlaneType==ptRADIALPLANE)
276  return 0; // position in the center
277 
278  return mViewportHeight*(0.5-mViewOffset);
279 }
280 
287 std::pair<Vector3D,Vector3D> SliceComputer::generateBasisVectors() const
288 {
289  switch (mClinicalApplication)
290  {
291  case mdRADIOLOGICAL:
292  return this->generateBasisVectorsRadiology();
293  case mdNEUROLOGICAL:
294  default:
295  return this->generateBasisVectorsNeurology();
296  }
297 }
298 
302 std::pair<Vector3D,Vector3D> SliceComputer::generateBasisVectorsNeurology() const
303 {
304  switch (mPlaneType)
305  {
306  // use left-right ordering for axial/coronal
307  case ptAXIAL: return std::make_pair(Vector3D(-1, 0, 0), Vector3D( 0,-1, 0));
308  case ptCORONAL: return std::make_pair(Vector3D(-1, 0, 0), Vector3D( 0, 0, 1));
309  case ptSAGITTAL: return std::make_pair(Vector3D( 0, 1, 0), Vector3D( 0, 0, 1));
310 
311  // use planes corresponding to the cx Tool definitions
312  case ptANYPLANE: return std::make_pair(Vector3D( 0,-1, 0), Vector3D( 0, 0,-1));
313  case ptSIDEPLANE: return std::make_pair(Vector3D(-1, 0, 0), Vector3D( 0, 0,-1));
314  case ptRADIALPLANE: return std::make_pair(Vector3D( 0,-1, 0), Vector3D(-1, 0, 0));
315  default:
316  throw std::exception();
317  }
318 }
319 
323 std::pair<Vector3D,Vector3D> SliceComputer::generateBasisVectorsRadiology() const
324 {
325  switch (mPlaneType)
326  {
327  // use right-left ordering for axial/coronal
328  case ptAXIAL: return std::make_pair(Vector3D( 1, 0, 0), Vector3D( 0,-1, 0));
329  case ptCORONAL: return std::make_pair(Vector3D( 1, 0, 0), Vector3D( 0, 0, 1));
330  case ptSAGITTAL: return std::make_pair(Vector3D( 0, 1, 0), Vector3D( 0, 0, 1));
331 
332  // use planes corresponding to the cx Tool definitions
333  case ptANYPLANE: return std::make_pair(Vector3D( 0,-1, 0), Vector3D( 0, 0,-1));
334  case ptSIDEPLANE: return std::make_pair(Vector3D(-1, 0, 0), Vector3D( 0, 0,-1));
335  case ptRADIALPLANE: return std::make_pair(Vector3D( 0,-1, 0), Vector3D(-1, 0, 0));
336  default:
337  throw std::exception();
338  }
339 }
340 
341 
349 Vector3D SliceComputer::generateFixedIJCenter(const Vector3D& center_r, const Vector3D& cross_r, const Vector3D& i, const Vector3D& j) const
350 {
351  if (mFollowType==ftFIXED_CENTER)
352  {
353  // r is REF, s is SLICE
354  Transform3D M_rs = createTransformIJC(i, j, Vector3D(0,0,0)); // transform from data to slice, zero center.
355  Transform3D M_sr = M_rs.inv();
356  Vector3D center_s = M_sr.coord(center_r);
357  Vector3D cross_s = M_sr.coord(cross_r);
358  // in SLICE space, use {xy} values from center and {z} value from cross.
359  Vector3D q_s(center_s[0], center_s[1], cross_s[2]);
360  Vector3D q_r = M_rs.coord(q_s);
361  return q_r;
362  }
363  return cross_r;
364 }
365 
377 SlicePlane SliceComputer::orientToGravity(const SlicePlane& base) const
378 {
379  if (!mUseGravity)
380  {
381  return base;
382  }
383 
384  SlicePlane retval = base;
385  const Vector3D k = cross(base.i, base.j); // plane normal. Constant
386  Vector3D up;
387  up = -mGravityDirection; // normal case
388 
389  // weight of nongravity, 0=<w=<1, 1 means dont use gravity
390  double w_n = dot(up, k);
391  w_n = w_n*w_n; // square to keep stability near normal use.
392 
393  Vector3D i_g = cross(up, k); // |i_g| varies from 0 to 1 depending on 1-w_n
394  Vector3D i_n = base.i; // |i_n|==1
395 
396 
397  // set i vector to a weighted mean of the two definitions
398  // can also experiment with a tanh function or simply a linear interpolation
399  //
400  // Note: i_g is already small here if w_n is small, this will increase
401  // the effect of i_n. Investigate.
402  //
403  retval.i = i_g*(1.0-w_n) + i_n*w_n;
404  retval.i = retval.i.normal(); // |i|==1
405  retval.j = cross(k, retval.i);
406 
407  return retval;
408 }
409 
410 
411 } // namespace cx
Vector3D j
defines the second axis of the plane. unit vector
void setToolViewportHeight(double viewportHeight)
ptCORONAL
a slice seen from the front of the patient
Definition: cxDefinitions.h:56
A 2D slice plane in 3D. i,j are perpendicular unit vectors.
ftFOLLOW_TOOL
center follows tool
Definition: cxDefinitions.h:67
otOBLIQUE
orient planes relative to the tool space
Definition: cxDefinitions.h:50
mdRADIOLOGICAL
Definition: cxDefinitions.h:75
ftFIXED_CENTER
center is set.
Definition: cxDefinitions.h:67
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
void setToolViewOffset(bool use, double viewportHeight, double viewOffset, bool useConstrainedViewOffset=false)
void setClinicalApplication(CLINICAL_VIEW application)
ptAXIAL
a slice seen from the top of the patient
Definition: cxDefinitions.h:56
PLANE_TYPE getPlaneType() const
void setOrientationType(ORIENTATION_TYPE val)
bool similar(const DoubleBoundingBox3D &a, const DoubleBoundingBox3D &b, double tol)
Vector3D cross(const Vector3D &a, const Vector3D &b)
compute cross product of a and b.
Definition: cxVector3D.cpp:62
void setToolOffset(double val)
ptSAGITTAL
a slice seen from the side of the patient
Definition: cxDefinitions.h:56
Transform3D createTransformIJC(const Vector3D &ivec, const Vector3D &jvec, const Vector3D &center)
Vector3D c
defines the center of the plane
void initializeFromPlane(PLANE_TYPE plane, bool useGravity, const Vector3D &gravityDir, bool useViewOffset, double viewportHeight, double toolViewOffset, CLINICAL_VIEW application, bool useConstrainedViewOffset=false)
void setPlaneType(PLANE_TYPE val)
otORTHOGONAL
orient planes relative to the image/reference space.
Definition: cxDefinitions.h:50
void setFixedCenter(const Vector3D &center)
void setToolPosition(const Transform3D &rMt)
double dot(const Vector3D &a, const Vector3D &b)
compute inner product (or dot product) of a and b.
Definition: cxVector3D.cpp:67
std::ostream & operator<<(std::ostream &s, const IntBoundingBox3D &data)
Eigen::Vector3d Vector3D
Vector3D is a representation of a point or vector in 3D.
Definition: cxVector3D.h:63
ptRADIALPLANE
y-rotated 90* relative to anyplane (bird's view)
Definition: cxDefinitions.h:56
Vector3D i
defines the first axis of the plane. unit vector
Transform3D getToolPosition() const
mdNEUROLOGICAL
Definition: cxDefinitions.h:75
ptANYPLANE
a plane aligned with the tool base plane
Definition: cxDefinitions.h:56
void setFollowType(FOLLOW_TYPE val)
void setGravity(bool use, const Vector3D &dir)
ORIENTATION_TYPE getOrientationType() const
SlicePlane getPlane() const
ptSIDEPLANE
z-rotated 90* relative to anyplane (dual anyplane)
Definition: cxDefinitions.h:56