NorMIT-nav  2023.01.05-dev+develop.0da12
An IGT application
cxVirtualCameraRotationWidget.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
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31 =========================================================================*/
32 
33 #include <cmath>
36 #include "cxHelperWidgets.h"
37 #include "cxTrackingService.h"
38 #include "cxToolProperty.h"
39 #include "cxLogger.h"
40 
41 namespace cx
42 {
43 
45  BaseWidget(parent,"virtual_camera_rotation_widget", "Virtual Camera Rotation"),
46  mVerticalLayout(new QVBoxLayout(this)),
47  mToolSelector(toolSelector)
48 {
49  QLabel *title = new QLabel(tr("Virtual Camera Rotation"));
50  title->setStyleSheet("font-weight: bold");
51  mVerticalLayout->addWidget(title,0,Qt::AlignLeft);
52 
53  //mVerticalLayout->addWidget(sscCreateDataWidget(this, mToolSelector));
54  mVerticalLayout->addWidget(new QLabel("<font color=red>Caution: sMt is changed directly by this control.</font>"));
55 
56  QLabel *labelRot = new QLabel(tr("Rotate (360 deg)"));
57  mRotateDial = new QDial;
58  mRotateDial->setMinimum(-180);
59  mRotateDial->setMaximum(180);
60  mRotateDial->setNotchesVisible(true);
61 
62  mVerticalLayout->addWidget(labelRot,0,Qt::AlignLeft);
63  mVerticalLayout->addWidget(mRotateDial,0,Qt::AlignRight);
64 
65  this->setLayout(mVerticalLayout);
66 
67  connect(mRotateDial, &QDial::valueChanged, this, &VirtualCameraRotationWidget::toolRotationChanged);
68  connect(mToolSelector.get(), SIGNAL(changed()), this, SLOT(toolCalibrationChanged()));
69  connect(services->tracking().get(), &TrackingService::stateChanged, this, &VirtualCameraRotationWidget::toolCalibrationChanged);
70 }
71 
73 {
74 }
75 
77 {
78  return "virtual_camera_rotation_widget";
79 }
80 
81 void VirtualCameraRotationWidget::toolCalibrationChanged()
82 {
83  ToolPtr tool = this->getTool();
84  if (!tool)
85  return;
86 
87  mRotateDial->blockSignals(true);
88 
89  mDecomposition.reset(tool->getCalibration_sMt());
90  Vector3D angles = mDecomposition.getAngles();
91  int zAngle = (int) std::round(angles(2)*180/M_PI);
92  mRotateDial->setValue(zAngle);
93 
94  mRotateDial->blockSignals(false);
95 }
96 
97 void VirtualCameraRotationWidget::toolRotationChanged()
98 {
99  ToolPtr tool = this->getTool();
100  if (!tool)
101  return;
102 
103  Transform3D M = tool->getCalibration_sMt();
104  double zAngleUpdated = mRotateDial->value()*M_PI/180;
105  Vector3D angles = mDecomposition.getAngles();
106  angles(2) = zAngleUpdated;
107  mDecomposition.setAngles(angles);
108  M = mDecomposition.getMatrix();
109  tool->setCalibration_sMt(M);
110 }
111 
112 ToolPtr VirtualCameraRotationWidget::getTool()
113 {
114  ToolPtr tool = mToolSelector->getTool();
115  if (tool)
116  {
117  ToolPtr baseTool = tool->getBaseTool();
118  if (baseTool)
119  tool = baseTool;
120  }
121  return tool;
122 }
123 
124 QString VirtualCameraRotationWidget::defaultWhatsThis() const
125 {
126  return "<html>"
127  "<h3>VirtualCameraRotationWidget.</h3>"
128  "<p>Rotates virtual camera (calibration).</p>"
129  "</html>";
130 }
131 
132 
133 } /* namespace cx */
cx::DecomposedTransform3D::getAngles
Vector3D getAngles() const
Definition: cxFrame3D.cpp:82
cxLogger.h
cx
Namespace for all CustusX production code.
Definition: cx_dev_group_definitions.h:13
cx::BaseWidget
Interface for QWidget which handles widgets uniformly for the system.
Definition: cxBaseWidget.h:88
cx::VisServicesPtr
boost::shared_ptr< class VisServices > VisServicesPtr
Definition: cxMainWindow.h:40
cxToolProperty.h
cxHelperWidgets.h
cxStringPropertySelectTool.h
cx::Transform3D
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
Definition: cxLandmarkPatientRegistrationWidget.h:33
cx::DecomposedTransform3D::setAngles
void setAngles(Vector3D xyz)
Definition: cxFrame3D.cpp:55
cx::TrackingService::stateChanged
void stateChanged()
cx::DecomposedTransform3D::reset
void reset(Transform3D m)
reinitialize with a fresh matrix.
Definition: cxFrame3D.cpp:35
cx::VirtualCameraRotationWidget::VirtualCameraRotationWidget
VirtualCameraRotationWidget(VisServicesPtr services, StringPropertySelectToolPtr toolSelector, QWidget *parent=0)
Definition: cxVirtualCameraRotationWidget.cpp:44
cx::round
Vector3D round(const Vector3D &a)
Definition: cxVector3D.cpp:75
cxVirtualCameraRotationWidget.h
M_PI
#define M_PI
Definition: cxReconstructParams.cpp:25
cx::DecomposedTransform3D::getMatrix
Transform3D getMatrix() const
Definition: cxFrame3D.cpp:92
cx::ToolPtr
boost::shared_ptr< class Tool > ToolPtr
Definition: cxVideoConnectionWidget.h:43
cx::VirtualCameraRotationWidget::~VirtualCameraRotationWidget
virtual ~VirtualCameraRotationWidget()
Definition: cxVirtualCameraRotationWidget.cpp:72
cx::StringPropertySelectToolPtr
boost::shared_ptr< class StringPropertySelectTool > StringPropertySelectToolPtr
Definition: cxClipperWidget.h:27
cx::Vector3D
Eigen::Vector3d Vector3D
Vector3D is a representation of a point or vector in 3D.
Definition: cxVector3D.h:42
cxTrackingService.h
cx::VirtualCameraRotationWidget::getWidgetName
QString getWidgetName()
Definition: cxVirtualCameraRotationWidget.cpp:76