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cxRegistrationImplService.h
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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.
6 
7 Redistribution and use in source and binary forms, with or without
8 modification, are permitted provided that the following conditions are met:
9 
10 1. Redistributions of source code must retain the above copyright notice,
11  this list of conditions and the following disclaimer.
12 
13 2. Redistributions in binary form must reproduce the above copyright notice,
14  this list of conditions and the following disclaimer in the documentation
15  and/or other materials provided with the distribution.
16 
17 3. Neither the name of the copyright holder nor the names of its contributors
18  may be used to endorse or promote products derived from this software
19  without specific prior written permission.
20 
21 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
23 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
24 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
25 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
26 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
27 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
28 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
29 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
30 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 =========================================================================*/
32 
33 #ifndef CXREGISTRATIONIMPLSERVICE_H_
34 #define CXREGISTRATIONIMPLSERVICE_H_
35 
36 #include "cxRegistrationService.h"
37 #include <vector>
38 #include "org_custusx_registration_Export.h"
39 #include "qdatetime.h"
40 #include "cxLandmark.h"
41 #include "vtkForwardDeclarations.h"
42 class ctkPluginContext;
43 class QDomElement;
44 
45 namespace cx
46 {
47 class RegistrationTransform;
48 class PatientModelService;
49 typedef boost::shared_ptr<class PatientModelService> PatientModelServicePtr;
50 typedef boost::shared_ptr<class SessionStorageService> SessionStorageServicePtr;
51 
52 
62 class org_custusx_registration_EXPORT RegistrationImplService : public RegistrationService
63 {
64  Q_INTERFACES(cx::RegistrationService)
65 public:
66  RegistrationImplService(ctkPluginContext *context);
67  virtual ~RegistrationImplService();
68 
69  virtual void setMovingData(DataPtr data);
70  virtual void setFixedData(DataPtr data);
71  void setMovingData(QString uid);
72  void setFixedData(QString uid);
73  virtual DataPtr getMovingData();
74  virtual DataPtr getFixedData();
75 
76  virtual void doPatientRegistration();
77  virtual void doFastRegistration_Translation();
78  virtual void doFastRegistration_Orientation(const Transform3D& tMtm, const Transform3D &prMt);
79  virtual void doImageRegistration(bool translationOnly);
80  virtual void applyImage2ImageRegistration(Transform3D delta_pre_rMd, QString description);
81  virtual void applyContinuousImage2ImageRegistration(Transform3D delta_pre_rMd, QString description);
82  virtual void applyPatientRegistration(Transform3D rMpr_new, QString description);
83  virtual void applyContinuousPatientRegistration(Transform3D rMpr_new, QString description);
84  virtual void applyPatientOrientation(const Transform3D &tMtm, const Transform3D &prMt);
85 
86  virtual QDateTime getLastRegistrationTime();
87  virtual void setLastRegistrationTime(QDateTime time);
88 
89  virtual bool isNull();
90 
91 private slots:
92  void duringSavePatientSlot(QDomElement &node);
93  void duringLoadPatientSlot(QDomElement &node);
94  void addXml(QDomNode &parentNode);
95  void parseXml(QDomNode &dataNode);
96  void clearSlot();
97 private:
98  virtual void updateRegistration(QDateTime oldTime, RegistrationTransform deltaTransform, DataPtr data, bool continuous = false);
99 // PatientModelService* getPatientModelService();
100  void writePreLandmarkRegistration(QString name, LandmarkMap landmarks);
101  vtkPointsPtr convertTovtkPoints(const std::vector<QString> &uids, const LandmarkMap &data, Transform3D M);
102  std::vector<QString> getUsableLandmarks(const LandmarkMap &data_a, const LandmarkMap &data_b);
103  Transform3D performLandmarkRegistration(vtkPointsPtr source, vtkPointsPtr target, bool *ok) const;
104  std::vector<Vector3D> convertAndTransformToPoints(const std::vector<QString> &uids, const LandmarkMap &data, Transform3D M);
105  std::vector<Vector3D> convertVtkPointsToPoints(vtkPointsPtr base);
106 
107 // DataPtr mFixedData; ///< the data that shouldn't update its matrices during a registrations
108 // DataPtr mMovingData; ///< the data that should update its matrices during a registration
109  QString mFixedData;
110  QString mMovingData;
111 
112  QDateTime mLastRegistrationTime;
113 
114  ctkPluginContext* mContext;
115  PatientModelServicePtr mPatientModelService;
116  SessionStorageServicePtr mSession;
117  void performImage2ImageRegistration(Transform3D delta_pre_rMd, QString description, bool continuous = false);
118  void performPatientRegistration(Transform3D rMpr_new, QString description, bool continuous = false);
119 };
120 
121 typedef boost::shared_ptr<RegistrationImplService> RegistrationImplServicePtr;
122 
123 } /* namespace cx */
124 
125 #endif /* CXREGISTRATIONIMPLSERVICE_H_ */
126 
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
boost::shared_ptr< class Data > DataPtr
vtkPointsPtr convertTovtkPoints(Eigen::MatrixXd positions)
boost::shared_ptr< RegistrationImplService > RegistrationImplServicePtr
Registration services.
boost::shared_ptr< class PatientModelService > PatientModelServicePtr
A registration event and its transform.
Eigen::Matrix4d performLandmarkRegistration(vtkPointsPtr source, vtkPointsPtr target)
std::map< QString, class Landmark > LandmarkMap
boost::shared_ptr< class SessionStorageService > SessionStorageServicePtr
vtkSmartPointer< class vtkPoints > vtkPointsPtr