cxRMPCWidget.cpp

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.
                 
Copyright (c) SINTEF Department of Medical Technology.
All rights reserved.
                 
CustusX is released under a BSD 3-Clause license.
                 
See Lisence.txt (https://github.com/SINTEFMedtek/CustusX/blob/master/License.txt) for details.
=========================================================================*/
#include "cxRMPCWidget.h"
 
#include "cxPatientModelService.h"
#include "cxRegistrationService.h"
#include "cxLabeledComboBoxWidget.h"
#include "cxWidgetObscuredListener.h"
#include "cxRegistrationProperties.h"
#include "vesselReg/SeansVesselReg.hxx"
#include "cxICPWidget.h"
#include "cxSpaceListener.h"
#include "cxSpaceProvider.h"
 
namespace cx
{
RMPCWidget::RMPCWidget(RegServicesPtr services, QWidget* parent) :
        ICPRegistrationBaseWidget(services, parent, "org_custusx_registration_method_pointcloud_widget",
                                                   "Point Cloud Registration")
{
}
 
void RMPCWidget::setup()
{
        mSpaceListenerMoving = mServices->spaceProvider()->createListener();
        mSpaceListenerFixed = mServices->spaceProvider()->createListener();
        mSpaceListenerMoving->setSpace(mServices->spaceProvider()->getPr());
        connect(mSpaceListenerMoving.get(), &SpaceListener::changed, this, &RMPCWidget::onSpacesChanged);
        connect(mSpaceListenerFixed.get(), &SpaceListener::changed, this, &RMPCWidget::onSpacesChanged);
 
        mFixedImage.reset(new StringPropertyRegistrationFixedImage(mServices->registration(), mServices->patient()));
        mMovingImage.reset(new StringPropertyRegistrationMovingImage(mServices->registration(), mServices->patient()));
 
        connect(mServices->registration().get(), &RegistrationService::fixedDataChanged,
                        this, &RMPCWidget::inputChanged);
        connect(mServices->registration().get(), &RegistrationService::movingDataChanged,
                        this, &RMPCWidget::inputChanged);
 
        QVBoxLayout* layout = new QVBoxLayout(this);
        layout->setMargin(0);
        layout->addWidget(new LabeledComboBoxWidget(this, mFixedImage));
        layout->addWidget(new LabeledComboBoxWidget(this, mMovingImage));
 
        layout->addWidget(mICPWidget);
        layout->addStretch();
 
        this->inputChanged();
        this->onSettingsChanged();
}
 
 
void RMPCWidget::initializeRegistrator()
{
        DataPtr fixed = mServices->registration()->getFixedData();
        DataPtr moving = mServices->registration()->getMovingData();
        QString logPath = mServices->patient()->getActivePatientFolder() + "/Logs/";
 
        mRegistrator->initialize(moving, fixed, logPath);
}
 
void RMPCWidget::inputChanged()
{
        if (mObscuredListener->isObscured())
                return;
 
        DataPtr fixed = mServices->registration()->getFixedData();
        mSpaceListenerFixed->setSpace(mServices->spaceProvider()->getD(fixed));
 
        this->onSpacesChanged();
}
 
void RMPCWidget::applyRegistration(Transform3D delta)
{
        Transform3D rMpr = mServices->patient()->get_rMpr();
        Transform3D new_rMpr = delta*rMpr;//output
        mServices->registration()->addPatientRegistration(new_rMpr, "I2P Surface to Surface");
 
        mServices->registration()->addImage2ImageRegistration(delta, "I2P Surface to Surface - correction");
 
}
 
void RMPCWidget::onShown()
{
        this->inputChanged();
}
 
 
} //namespace cx