Fraxinus  16.5.0-fx-rc9
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cxViewFollower.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
5 All rights reserved.
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7 Redistribution and use in source and binary forms, with or without
8 modification, are permitted provided that the following conditions are met:
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10 1. Redistributions of source code must retain the above copyright notice,
11  this list of conditions and the following disclaimer.
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13 2. Redistributions in binary form must reproduce the above copyright notice,
14  this list of conditions and the following disclaimer in the documentation
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18  may be used to endorse or promote products derived from this software
19  without specific prior written permission.
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21 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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30 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 =========================================================================*/
32 
33 #include "cxViewFollower.h"
34 
35 #include "cxSliceProxy.h"
36 #include "cxSettings.h"
37 #include "cxSliceComputer.h"
38 #include "cxTool.h"
39 #include "cxUtilHelpers.h"
40 #include "cxDefinitionStrings.h"
41 
42 #include "cxPatientModelService.h"
43 
44 
45 namespace cx
46 {
47 
49 {
50  return ViewFollowerPtr(new ViewFollower(dataManager));
51 }
52 
53 ViewFollower::ViewFollower(PatientModelServicePtr dataManager) :
54  mDataManager(dataManager)
55 {
56 
57 }
58 
59 
61 {
62  if (mSliceProxy)
63  {
64  disconnect(mSliceProxy.get(), SIGNAL(toolTransformAndTimestamp(Transform3D, double)), this, SLOT(ensureCenterWithinView()));
65  }
66 
67  mSliceProxy = sliceProxy;
68 
69  if (mSliceProxy)
70  {
71  connect(mSliceProxy.get(), SIGNAL(toolTransformAndTimestamp(Transform3D, double)), this, SLOT(ensureCenterWithinView()));
72  }
73 }
74 
76 {
77  mBB_s = bb_s;
78  this->ensureCenterWithinView();
79 }
80 
81 void ViewFollower::ensureCenterWithinView()
82 {
83  if (!mSliceProxy)
84  return;
85  if (!mSliceProxy->getTool())
86  return;
87 
88  bool followTooltip = settings()->value("Navigation/followTooltip").value<bool>();
89  if (!followTooltip)
90  return;
91 
92  // this applies only to orthogonal views: oblique follows tool anyway
93  if (mSliceProxy->getComputer().getOrientationType()!=otORTHOGONAL)
94  return;
95 
96  Vector3D shift_s = this->findCenterShift_s();
97  this->applyShiftToCenter(shift_s);
98 }
99 
100 Vector3D ViewFollower::findCenterShift_s()
101 {
102  Vector3D shift = Vector3D::Zero();
103 
104  Vector3D pt_s = this->findVirtualTooltip_s();
105  DoubleBoundingBox3D BB_s = this->findStaticBox();
106  shift = this->findShiftFromBoxToTool_s(BB_s, pt_s);
107 
108 // if (!similar(shift, Vector3D::Zero()))
109 // {
110 // std::cout << "type: " << enum2string(mSliceProxy->getComputer().getPlaneType()) << std::endl;
111 // std::cout << "mBB_s: " << mBB_s << std::endl;
112 // std::cout << "BB_s: " << BB_s << std::endl;
113 // std::cout << "pt_s: " << pt_s << std::endl;
114 // Vector3D pt_r = rMpr * prMt.coord(Vector3D(0,0,tool->getTooltipOffset()));
115 // std::cout << "pt_r: " << pt_r << std::endl;
116 // std::cout << "shift: " << shift << std::endl;
117 // }
118 
119  return shift;
120 }
121 
122 Vector3D ViewFollower::findVirtualTooltip_s()
123 {
124  ToolPtr tool = mSliceProxy->getTool();
125  Transform3D sMr = mSliceProxy->get_sMr();
126  Transform3D rMpr = mDataManager->get_rMpr();
127  Transform3D prMt = tool->get_prMt();
128  Vector3D pt_s = sMr * rMpr * prMt.coord(Vector3D(0,0,tool->getTooltipOffset()));
129  pt_s[2] = 0; // project into plane
130  return pt_s;
131 }
132 
133 DoubleBoundingBox3D ViewFollower::findStaticBox()
134 {
135  double followTooltipBoundary = settings()->value("Navigation/followTooltipBoundary").toDouble();
136  followTooltipBoundary = constrainValue(followTooltipBoundary, 0.0, 0.5);
137  Transform3D S = createTransformScale(Vector3D::Ones()*(1.0-2.0*followTooltipBoundary));
139  DoubleBoundingBox3D BB_s = transform(T*S*T.inv(), mBB_s);
140  return BB_s;
141 }
142 
143 Vector3D ViewFollower::findShiftFromBoxToTool_s(DoubleBoundingBox3D BB_s, Vector3D pt_s)
144 {
145  Vector3D shift = Vector3D::Zero();
146 
147  for (unsigned i=0; i<2; ++i) // loop over two first dimensions, check if pt outside of bb
148  {
149  if (pt_s[i] < BB_s[2*i])
150  shift[i] += pt_s[i] - BB_s[2*i];
151  if (pt_s[i] > BB_s[2*i+1])
152  shift[i] += pt_s[i] - BB_s[2*i+1];
153  }
154 
155  return shift;
156 }
157 
158 void ViewFollower::applyShiftToCenter(Vector3D shift_s)
159 {
160  Transform3D sMr = mSliceProxy->get_sMr();
161  Vector3D c_s = sMr.coord(mDataManager->getCenter());
162  Vector3D newcenter_s = c_s + shift_s;
163  Vector3D newcenter_r = sMr.inv().coord(newcenter_s);
164  mDataManager->setCenter(newcenter_r);
165 }
166 
167 } // namespace cx
168 
DoubleBoundingBox3D transform(const Transform3D &m, const DoubleBoundingBox3D &bb)
boost::shared_ptr< class ViewFollower > ViewFollowerPtr
void setView(DoubleBoundingBox3D bb_s)
Transform3D createTransformScale(const Vector3D &scale_)
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
boost::shared_ptr< class SliceProxy > SliceProxyPtr
QVariant value(const QString &key, const QVariant &defaultValue=QVariant()) const
Definition: cxSettings.cpp:87
void setSliceProxy(SliceProxyPtr sliceProxy)
double constrainValue(double val, double min, double max)
otORTHOGONAL
orient planes relative to the image/reference space.
Definition: cxDefinitions.h:50
boost::shared_ptr< class PatientModelService > PatientModelServicePtr
Transform3D createTransformTranslate(const Vector3D &translation)
Settings * settings()
Shortcut for accessing the settings instance.
Definition: cxSettings.cpp:42
Representation of a floating-point bounding box in 3D. The data are stored as {xmin,xmax,ymin,ymax,zmin,zmax}, in order to simplify communication with vtk.
Eigen::Vector3d Vector3D
Vector3D is a representation of a point or vector in 3D.
Definition: cxVector3D.h:63
Vector3D center() const
static ViewFollowerPtr create(PatientModelServicePtr dataManager)
boost::shared_ptr< class Tool > ToolPtr