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cxTransform3DWidget.cpp
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
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4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
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32 
33 #include <cxTransform3DWidget.h>
34 
35 #include <QTextEdit>
36 #include <QLayout>
37 #include <QLabel>
38 #include <QFontMetrics>
39 
40 #include "cxTypeConversions.h"
41 
42 #include "cxDoubleProperty.h"
43 #include "cxDoubleWidgets.h"
44 #include <cmath>
45 #include "cxMousePadWidget.h"
46 
47 #include <QtWidgets>
48 
49 
50 #include "boost/bind.hpp"
51 #include "libQtSignalAdapters/Qt2Func.h"
52 #include "libQtSignalAdapters/ConnectionFactories.h"
53 
54 namespace cx
55 {
56 
57 class MatrixTextEdit : public QTextEdit
58 {
59 public:
60  MatrixTextEdit(QWidget* parent=NULL) : QTextEdit(parent) {}
61  QSize minimumSizeHint() const { return sizeHint(); }
62  QSize sizeHint() const
63  {
65  createTransformRotateZ(M_PI_4) *
67 
68  QString text = qstring_cast(M).split("\n")[0];
69  QRect rect = QFontMetrics(this->font()).boundingRect(text);
70  QSize s(rect.width()*1.0+5, 4*rect.height()*1.2+5);
71  return s;
72  }
73 };
74 
75 //template<class T>
76 //QAction* Transform3DWidget::createAction(QLayout* layout, QString iconName, QString text, QString tip, T slot)
77 //{
78 // QAction* action = new QAction(QIcon(iconName), text, this);
79 // action->setStatusTip(tip);
80 // action->setToolTip(tip);
81 // connect(action, SIGNAL(triggered()), this, slot);
82 // QToolButton* button = new QToolButton();
83 // button->setDefaultAction(action);
84 // layout->addWidget(button);
85 // return action;
86 //}
87 
88 
90  BaseWidget(parent, "Transform3DWidget", "Transform 3D")
91 {
92  this->setToolTip("Display and manipulate an affine (rotation+translation) matrix");
93  recursive = false;
94  mBlockChanges = false;
95  //layout
96  QVBoxLayout* toptopLayout = new QVBoxLayout(this);
97  toptopLayout->setMargin(4);
98  QHBoxLayout* mLayout = new QHBoxLayout;
99  mLayout->setMargin(0);
100  toptopLayout->addLayout(mLayout);
101 
102  mTextEdit = new MatrixTextEdit;
103  mTextEdit->setSizePolicy(QSizePolicy::MinimumExpanding,QSizePolicy::Maximum);
104  mTextEdit->setLineWrapMode(QTextEdit::NoWrap);
105  mTextEdit->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
106  mTextEdit->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
107  connect(mTextEdit, SIGNAL(textChanged()), this, SLOT(textEditChangedSlot()));
108 
109  mLayout->addWidget(mTextEdit, 1);
110 
111  QVBoxLayout* buttonLayout = new QVBoxLayout;
112  mLayout->addLayout(buttonLayout);
113  buttonLayout->setMargin(0);
114 
115  mEditAction = this->createAction(this,
116  QIcon(":/icons/open_icon_library/system-run-5.png"),
117  "Edit",
118  "Toggle Edit Matrix",
119  SLOT(toggleEditSlot()),
120  buttonLayout);
121  mEditAction->setCheckable(true);
122 
123  mInvertAction = this->createAction(this,
124  QIcon(":/icons/matrix_inverse.png"),
125  "Invert",
126  "Toggle Invert Matrix",
127  SLOT(toggleInvertSlot()),
128  buttonLayout);
129  mInvertAction->setCheckable(true);
130  mInvertAction->setChecked(false);
131  this->updateInvertAction();
132 
133 // mLayout->addStretch();
134 
135  aGroupBox = new QFrame(this);
136  QVBoxLayout* aLayout = new QVBoxLayout;
137  aGroupBox->setLayout(aLayout);
138  aGroupBox->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken);
139  aGroupBox->setLineWidth(3);
140  aLayout->setMargin(4);
141  toptopLayout->addWidget(aGroupBox);
142 
143  this->addAngleControls("xAngle", "X Angle", 0, aLayout);
144  this->addAngleControls("yAngle", "Y Angle", 1, aLayout);
145  this->addAngleControls("zAngle", "Z Angle", 2, aLayout);
146 
147  tGroupBox = new QFrame(this);
148  QVBoxLayout* tLayout = new QVBoxLayout;
149  tGroupBox->setLayout(tLayout);
150  tGroupBox->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken);
151  tGroupBox->setLineWidth(3);
152  tLayout->setMargin(4);
153  toptopLayout->addWidget(tGroupBox);
154 
155  this->addTranslationControls("xTranslation", "X", 0, tLayout);
156  this->addTranslationControls("yTranslation", "Y", 1, tLayout);
157  this->addTranslationControls("zTranslation", "Z", 2, tLayout);
158 
159  this->setMatrixInternal(Transform3D::Identity());
160 
161  toptopLayout->addStretch();
162 
163  this->setEditable(false);
164 }
165 
166 void Transform3DWidget::textEditChangedSlot()
167 {
168  bool ok = false;
169  Transform3D M = Transform3D::fromString(mTextEdit->toPlainText(), &ok);
170  // ignore setting if invalid matrix or no real change done (hopefully, this allows trivial editing without text reset)
171  if (!ok)
172  return;
173  if (similar(M, this->getMatrixInternal()))
174  return;
175 
176  this->setMatrixInternal(M);
177 }
178 
179 void Transform3DWidget::toggleEditSlot()
180 {
181  bool visible = tGroupBox->isVisible();
182  this->setEditable(!visible);
183 }
184 
185 
186 void Transform3DWidget::toggleInvertSlot()
187 {
188  // the interpretation of matrix is dependent on mInvertAction->isChecked()!
189  mDecomposition.reset(mDecomposition.getMatrix().inverse());
190  this->setModified();
191 // this->updateInvertAction();
192 }
193 
194 void Transform3DWidget::updateInvertAction()
195 {
196  if (mInvertAction->isChecked())
197  {
198  this->setActionText(mInvertAction, "Inverted Matrix", "The matrix is shown inverted");
199  }
200  else
201  {
202  this->setActionText(mInvertAction, "Noninverted Matrix", "The matrix is shown as is. Press to show inverted");
203  }
204 }
205 
206 void Transform3DWidget::setActionText(QAction* action, QString text, QString tip)
207 {
208  if (tip.isEmpty())
209  tip = text;
210  action->setText(text);
211  action->setStatusTip(tip);
212  action->setWhatsThis(tip);
213  action->setToolTip(tip);
214 }
215 
217 {
218  mTextEdit->setReadOnly(!edit);
219  aGroupBox->setVisible(edit);
220  tGroupBox->setVisible(edit);
221 }
222 
223 void Transform3DWidget::addAngleControls(QString uid, QString name, int index, QVBoxLayout* layout)
224 {
225  QHBoxLayout* hLayout = new QHBoxLayout;
226 
227  DoublePropertyPtr adapter = DoubleProperty::initialize(uid, name, "", 0, DoubleRange(-M_PI,M_PI,M_PI/180),1);
228  connect(adapter.get(), SIGNAL(changed()), this, SLOT(changedSlot()));
229  adapter->setInternal2Display(180/M_PI);
230  hLayout->addWidget(new SpinBoxGroupWidget(this, adapter));
231 
232  QSize mMinBarSize = QSize(20,20);
233  MousePadWidget* pad = new MousePadWidget(this, mMinBarSize);
234  pad->setFixedYPos(true);
235  hLayout->addWidget(pad);
236 
237  // use QtSignalAdapters library to work magic:
238  QtSignalAdapters::connect1<void(QPointF)>(pad, SIGNAL(mouseMoved(QPointF)),
239  boost::bind(&Transform3DWidget::rotateSlot, this, _1, index));
240 
241  layout->addLayout(hLayout);
242  mAngleAdapter[index] = adapter;
243 }
244 
245 void Transform3DWidget::addTranslationControls(QString uid, QString name, int index, QVBoxLayout* layout)
246 {
247  QHBoxLayout* hLayout = new QHBoxLayout;
248 
249  DoublePropertyPtr adapter = DoubleProperty::initialize(uid, name, "", 0, DoubleRange(-10000,10000,0.1),1);
250  connect(adapter.get(), SIGNAL(changed()), this, SLOT(changedSlot()));
251  adapter->setInternal2Display(1.0);
252  hLayout->addWidget(new SpinBoxGroupWidget(this, adapter));
253 
254  QSize mMinBarSize = QSize(20,20);
255  MousePadWidget* pad = new MousePadWidget(this, mMinBarSize);
256  pad->setFixedYPos(true);
257  hLayout->addWidget(pad);
258 
259  // use QtSignalAdapters library to work magic:
260  QtSignalAdapters::connect1<void(QPointF)>(pad, SIGNAL(mouseMoved(QPointF)),
261  boost::bind(&Transform3DWidget::translateSlot, this, _1, index));
262 
263  layout->addLayout(hLayout);
264  mTranslationAdapter[index] = adapter;
265 }
266 
267 void Transform3DWidget::rotateSlot(QPointF delta, int index)
268 {
269  double scale = M_PI_2;
270  double factor = scale * delta.x();
271  double current = mAngleAdapter[index]->getValue();
272  mAngleAdapter[index]->setValue(current + factor);
273 }
274 
275 void Transform3DWidget::translateSlot(QPointF delta, int index)
276 {
277  double scale = 20;
278  double factor = scale * delta.x();
279  double current = mTranslationAdapter[index]->getValue();
280  mTranslationAdapter[index]->setValue(current + factor);
281 }
282 
283 
285 {
286 }
287 
289 {
290  this->setMatrixInternal(this->convertToFromExternal(M));
291 }
292 
294 {
295  return this->convertToFromExternal(this->getMatrixInternal());
296 }
297 
298 Transform3D Transform3DWidget::convertToFromExternal(const Transform3D& M) const
299 {
300  if (mInvertAction->isChecked())
301  {
302  return M.inverse();
303  }
304  else
305  {
306  return M;
307  }
308 }
309 
310 void Transform3DWidget::setMatrixInternal(const Transform3D& M)
311 {
312  mDecomposition.reset(M);
313  this->setModified();
314  emit changed();
315 }
316 
317 Transform3D Transform3DWidget::getMatrixInternal() const
318 {
319  return mDecomposition.getMatrix();
320 }
321 
322 // http://en.wikipedia.org/wiki/Rotation_matrix
323 // http://en.wikipedia.org/wiki/Rotation_representation_(mathematics)#Conversion_formulae_between_representations
324 
325 void Transform3DWidget::changedSlot()
326 {
327  if (recursive || mBlockChanges)
328  return;
329  recursive = true;
330  Vector3D xyz(mAngleAdapter[0]->getValue(),mAngleAdapter[1]->getValue(),mAngleAdapter[2]->getValue());
331  mDecomposition.setAngles(xyz);
332 
333  Vector3D t(mTranslationAdapter[0]->getValue(),mTranslationAdapter[1]->getValue(),mTranslationAdapter[2]->getValue());
334  mDecomposition.setPosition(t);
335 
336  this->setModified();
337  emit changed();
338  recursive = false;
339 }
340 
341 namespace
342 {
346  double wrapAngle(double angle)
347  {
348  angle = fmod(angle, M_PI * 2);
349  if (angle > M_PI)
350  angle -= M_PI * 2;
351  if (angle < -M_PI)
352  angle += M_PI * 2;
353  return angle;
354  }
355 }
356 
358 {
359  QString M = qstring_cast(this->getMatrixInternal());
360 
361  mTextEdit->blockSignals(true);
362  int textPos = mTextEdit->textCursor().position();
363  mTextEdit->setText(M);
364  QTextCursor cursor = mTextEdit->textCursor();
365  cursor.setPosition(textPos);
366  mTextEdit->setTextCursor(cursor);
367  mTextEdit->blockSignals(false);
368 
369  Vector3D xyz = mDecomposition.getAngles();
370 
371  mBlockChanges = true;
372 
373  mAngleAdapter[0]->setValue(wrapAngle(xyz[0]));
374  mAngleAdapter[1]->setValue(wrapAngle(xyz[1]));
375  mAngleAdapter[2]->setValue(wrapAngle(xyz[2]));
376 
377  Vector3D t = mDecomposition.getPosition();
378  mTranslationAdapter[0]->setValue(t[0]);
379  mTranslationAdapter[1]->setValue(t[1]);
380  mTranslationAdapter[2]->setValue(t[2]);
381 
382  this->updateInvertAction();
383 
384  mBlockChanges = false;
385 }
386 }
QString qstring_cast(const T &val)
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
Vector3D getPosition() const
Definition: cxFrame3D.cpp:108
Utility class for describing a bounded numeric range.
Definition: cxDoubleRange.h:53
A touchpad-friendly area for performing 1D/2D scroll operations.
QAction * createAction(QObject *parent, QIcon iconName, QString text, QString tip, T slot, QLayout *layout=NULL, QToolButton *button=new QToolButton())
Definition: cxBaseWidget.h:149
bool similar(const DoubleBoundingBox3D &a, const DoubleBoundingBox3D &b, double tol)
void setMatrix(const Transform3D &M)
MatrixTextEdit(QWidget *parent=NULL)
Vector3D getAngles() const
Definition: cxFrame3D.cpp:103
void reset(Transform3D m)
reinitialize with a fresh matrix.
Definition: cxFrame3D.cpp:56
Transform3D createTransformTranslate(const Vector3D &translation)
Transform3D getMatrix() const
Definition: cxFrame3D.cpp:113
void setFixedYPos(bool on)
void setPosition(Vector3D pos)
Definition: cxFrame3D.cpp:97
boost::shared_ptr< class DoubleProperty > DoublePropertyPtr
Eigen::Vector3d Vector3D
Vector3D is a representation of a point or vector in 3D.
Definition: cxVector3D.h:63
Interface for QWidget which handles widgets uniformly for the system.
Definition: cxBaseWidget.h:108
QSize minimumSizeHint() const
Composite widget for scalar data manipulation.
void setAngles(Vector3D xyz)
Definition: cxFrame3D.cpp:76
static DoublePropertyPtr initialize(const QString &uid, QString name, QString help, double value, DoubleRange range, int decimals, QDomNode root=QDomNode())
Transform3D getMatrix() const
Transform3D createTransformRotateZ(const double angle)
Transform3DWidget(QWidget *parent=NULL)
Transform3D createTransformRotateX(const double angle)
#define M_PI