Fraxinus  2023.01.05-dev+develop.0da12
An IGT application
cxBronchoscopyTool.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,
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17 3. Neither the name of the copyright holder nor the names of its contributors
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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 "cxBronchoscopyTool.h"
34 #include "cxTypeConversions.h"
36 #include "cxDoubleProperty.h"
37 #include "cxLogger.h"
38 
39 namespace cx
40 {
41 
43  ToolImpl(base->getUid(), "Bronchoscopy Navigation "+base->getName()),
44  mBase(base),
45  mProjectionCenterline(projectionCenterline)
46 {
47  connect(mBase.get(), &Tool::toolProbeSector, this, &Tool::toolProbeSector);
48  connect(mBase.get(), &Tool::tooltipOffset, this, &Tool::tooltipOffset);
49  connect(mBase.get(), &Tool::toolTransformAndTimestamp, this, &BronchoscopyTool::onToolTransformAndTimestamp);
50  connect(mBase.get(), &Tool::toolVisible, this, &Tool::toolVisible);
51  connect(mBase.get(), &Tool::tooltipOffset, this, &Tool::tooltipOffset);
52  connect(mBase.get(), &Tool::tps, this, &Tool::tps);
53 }
54 
56 {
57 }
58 
59 
60 std::set<Tool::Type> BronchoscopyTool::getTypes() const
61 {
62  return mBase->getTypes();
63 }
64 
65 void BronchoscopyTool::onToolTransformAndTimestamp(Transform3D prMt, double timestamp)
66 {
67  double maxDistanceToCenterline = mProjectionCenterline->getMaxDistanceToCenterlineValue();
68  double maxSearchDistance = mProjectionCenterline->getMaxSearchDistanceValue();
69 
70  if (mProjectionCenterline->isAdvancedCenterlineProjectionSelected())
71  m_prMt = mProjectionCenterline->findProjectedPoint(prMt, maxDistanceToCenterline, maxSearchDistance);
72  else
73  m_prMt = mProjectionCenterline->findClosestPointInBranches(prMt,maxDistanceToCenterline);
74 
75  emit toolTransformAndTimestamp(m_prMt, timestamp);
76 }
77 
79 {
80  return mBase->getGraphicsPolyData();
81 }
82 
84 {
85  return m_prMt;
86 }
87 
89 {
90  return mBase->getVisible();
91 }
92 
93 QString BronchoscopyTool::getUid() const
94 {
95  return mUid;
96 }
97 
99 {
100  return mName;
101 }
102 
104 {
105  return mBase->isCalibrated();
106 }
107 
109 {
110  return mBase->getTimestamp();
111 }
112 
113 // Just use the tool tip offset from the tool manager
115 {
116  return mBase->getTooltipOffset();
117 }
118 
119 // Just use the tool tip offset from the tool manager
121 {
122  mBase->setTooltipOffset(val);
123 }
124 
126 {
127  return mBase->getCalibration_sMt();
128 }
129 
130 std::map<QString, Vector3D> BronchoscopyTool::getReferencePoints() const
131 {
132  return mBase->getReferencePoints();
133 }
134 
136 {
137  return mBase->isInitialized();
138 }
139 
140 void BronchoscopyTool::set_prMt(const Transform3D& prMt, double timestamp)
141 {
142  mBase->set_prMt(prMt, timestamp);
143 
144 }
145 
147 {
148  mBase->setVisible(vis);
149 }
150 
151 
152 } /* namespace cx */
virtual double getTooltipOffset() const
get a virtual offset extending from the tool tip.
virtual bool isCalibrated() const
a tool may not be calibrated, then no tracking is allowed
virtual double getTimestamp() const
latest valid timestamp for the position matrix. 0 means indeterminate (for f.ex. manual tools) ...
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
Common functionality for Tool subclasses.
Definition: cxToolImpl.h:30
virtual void setTooltipOffset(double val)
set a virtual offset extending from the tool tip.
void toolProbeSector()
virtual bool getVisible() const
void toolTransformAndTimestamp(Transform3D matrix, double timestamp)
virtual std::map< QString, Vector3D > getReferencePoints() const
Get the optional reference points from this tool.
virtual QString getUid() const
QString mUid
Definition: cxTool.h:149
BronchoscopyTool(ToolPtr base, BronchoscopePositionProjectionPtr projectionCenterline)
virtual QString getName() const
void toolVisible(bool visible)
virtual void set_prMt(const Transform3D &prMt, double timestamp)
if available for this type, set pos, ts<0 means use current time
QString mName
Definition: cxTool.h:150
void tooltipOffset(double offset)
virtual vtkPolyDataPtr getGraphicsPolyData() const
get geometric 3D description
virtual bool isInitialized() const
vtkSmartPointer< vtkPolyData > vtkPolyDataPtr
void tps(int)
virtual void setVisible(bool vis)
if available for this type, set visibility
virtual std::set< Type > getTypes() const
virtual Transform3D getCalibration_sMt() const
get the calibration transform from tool space to sensor space (where the spheres or similar live) ...
boost::shared_ptr< class BronchoscopePositionProjection > BronchoscopePositionProjectionPtr
Namespace for all CustusX production code.
boost::shared_ptr< class Tool > ToolPtr
virtual Transform3D get_prMt() const