vv/vvToolRigidReg.cxx

   1 /*=========================================================================
   2   Program:   vv                     http://www.creatis.insa-lyon.fr/rio/vv
   3
   4   Authors belong to:
   5   - University of LYON              http://www.universite-lyon.fr/
   6   - Léon Bérard cancer center       http://www.centreleonberard.fr
   7   - CREATIS CNRS laboratory         http://www.creatis.insa-lyon.fr
   8
   9   This software is distributed WITHOUT ANY WARRANTY; without even
  10   the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
  11   PURPOSE.  See the copyright notices for more information.
  12
  13   It is distributed under dual licence
  14
  15   - BSD        See included LICENSE.txt file
  16   - CeCILL-B   http://www.cecill.info/licences/Licence_CeCILL-B_V1-en.html
  17 ===========================================================================**/
  18
  19 // vv
  20 #include "vvToolRigidReg.h"
  21 #include "vvSlicer.h"
  22
  23 // vtk
  24 #include <vtkImageData.h>
  25 #include <vtkSmartPointer.h>
  26 #include <vtkTransform.h>
  27
  28 // itk
  29 #include <itkEuler3DTransform.h>
  30
  31 // clitk
  32 #include "clitkTransformUtilities.h"
  33
  34 // qt
  35 #include <QMessageBox>
  36 #include <QFileDialog>
  37 #include <QTextStream>
  38
  39
  40 //------------------------------------------------------------------------------
  41 // Create the tool and automagically (I like this word) insert it in
  42 // the main window menu.
  43 ADD_TOOL(vvToolRigidReg);
  44 //------------------------------------------------------------------------------
  45
  46 //------------------------------------------------------------------------------
  47 vvToolRigidReg::vvToolRigidReg(vvMainWindowBase * parent, Qt::WindowFlags f):
  48     vvToolWidgetBase(parent, f),
  49     vvToolBase<vvToolRigidReg>(parent),
  50     Ui::vvToolRigidReg()
  51 {
  52   // GUI Initialization
  53   Ui_vvToolRigidReg::setupUi(mToolWidget);
  54
  55   // Set how many inputs are needed for this tool
  56   AddInputSelector("Select moving image");
  57
  58   QFont font = transformationLabel->font();
  59   font.setStyleHint(QFont::TypeWriter);
  60   transformationLabel->setFont(font);
  61
  62   mInitialMatrix = vtkSmartPointer<vtkMatrix4x4>::New();
  63
  64   // Set slider ranges, assume degrees, will not be changed for radians
  65   std::vector<QSlider *> transSliders, rotSliders;
  66   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
  67   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
  68   for(int i=0; i<3; i++) {
  69     transSliders[i]->setRange(-2000,2000);
  70     rotSliders[i]->setRange(-360,360);
  71     transSBs[i]->setRange(-2000,2000);
  72     transSBs[i]->setDecimals(3);
  73     rotSBs[i]->setRange(-360,360);
  74     rotSBs[i]->setDecimals(3);
  75   }
  76 }
  77 //------------------------------------------------------------------------------
  78
  79 //------------------------------------------------------------------------------
  80 vvToolRigidReg::~vvToolRigidReg()
  81 {
  82 }
  83 //------------------------------------------------------------------------------
  84
  85 //------------------------------------------------------------------------------
  86 void vvToolRigidReg::Initialize()
  87 {
  88   SetToolName("Register");
  89   SetToolMenuName("Register manually");
  90   SetToolIconFilename(":/common/icons/register.png");
  91   SetToolTip("Register manually.");
  92   SetToolExperimental(false);
  93 }
  94 //------------------------------------------------------------------------------
  95
  96 //------------------------------------------------------------------------------
  97 void vvToolRigidReg::InputIsSelected(vvSlicerManager *input)
  98 {
  99   mInput = input;
 100   HideInputSelector();
 101   QTabWidget * tab = dynamic_cast<vvMainWindow*>(mMainWindow)->GetTab();
 102   move(tab->mapToGlobal(tab->pos()));
 103   resize(tab->width(), 0);
 104
 105   //default image rotation center is the center of the image
 106   QString xcord,ycord,zcord;
 107   std::vector<double> imageorigin;
 108   imageorigin=mInput->GetImage()->GetOrigin();
 109   std::vector<int> imageSize = mInput->GetImage()->GetSize();
 110   std::vector<double> imageSpacing = mInput->GetImage()->GetSpacing();
 111   xcord=xcord.setNum(imageorigin[0]+(imageSize[0]-1)*imageSpacing[0]*0.5, 'g', 3);
 112   ycord=ycord.setNum(imageorigin[1]+(imageSize[1]-1)*imageSpacing[1]*0.5, 'g', 3);
 113   zcord=zcord.setNum(imageorigin[2]+(imageSize[2]-1)*imageSpacing[2]*0.5, 'g', 3);
 114   Xval->setText(xcord);
 115   Yval->setText(ycord);
 116   Zval->setText(zcord);
 117
 118   //backup original matrix
 119   for(int j=0; j<4; j++)
 120     for(int i=0; i<4; i++)
 121       mInitialMatrix->SetElement(i,j, mCurrentSlicerManager->GetImage()->GetTransform()->GetMatrix()->GetElement(i,j));
 122   QString origTransformString = dynamic_cast<vvMainWindow*>(mMainWindow)->Get4x4MatrixDoubleAsString(mInitialMatrix);
 123   transformationLabel->setText(origTransformString);
 124   SetTransform(mInitialMatrix);
 125
 126   //connect all sigs to slots
 127   connect(resetbutton, SIGNAL(pressed()), this, SLOT(ResetTransform()));
 128   connect(loadbutton, SIGNAL(pressed()), this, SLOT(LoadFile()));
 129   connect(savebutton, SIGNAL(pressed()), this, SLOT(SaveFile()));
 130
 131   connect(xtrans_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 132   connect(ytrans_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 133   connect(ztrans_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 134   connect(xrot_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 135   connect(yrot_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 136   connect(zrot_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 137   connect(xtrans_sb, SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 138   connect(ytrans_sb, SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 139   connect(ztrans_sb, SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 140   connect(xrot_sb,   SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 141   connect(yrot_sb,   SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 142   connect(zrot_sb,   SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 143
 144   connect(stepTransSpinBox, SIGNAL(valueChanged(double)), this, SLOT(SetTranslationStep(double)));
 145   connect(stepRotSpinBox, SIGNAL(valueChanged(double)), this, SLOT(SetRotationStep(double)));
 146
 147   connect(checkBoxDegrees, SIGNAL(stateChanged(int)), this, SLOT(ToggleSpinBoxAnglesUnit()));
 148
 149   connect(Xval, SIGNAL(editingFinished()), this, SLOT(ChangeOfRotationCenter()));
 150   connect(Yval, SIGNAL(editingFinished()), this, SLOT(ChangeOfRotationCenter()));
 151   connect(Zval, SIGNAL(editingFinished()), this, SLOT(ChangeOfRotationCenter()));
 152
 153   // Init step modifiers
 154   stepTransSpinBox->setValue(1.);
 155   stepRotSpinBox->setValue(1.);
 156 }
 157 //------------------------------------------------------------------------------
 158
 159 //------------------------------------------------------------------------------
 160 void vvToolRigidReg::apply()
 161 {
 162   vvToolWidgetBase::close();
 163 }
 164 //------------------------------------------------------------------------------
 165
 166 //------------------------------------------------------------------------------
 167 bool vvToolRigidReg::close()
 168 {
 169   QString warning = "Are you sure you want to reset the original transform?";
 170   QMessageBox msgBox(QMessageBox::Warning, tr("Reset transform"),warning, 0, this);
 171   msgBox.addButton(tr("Yes"), QMessageBox::AcceptRole);
 172   msgBox.addButton(tr("No"), QMessageBox::RejectRole);
 173   if (msgBox.exec() == QMessageBox::AcceptRole) {
 174     SetTransform(mInitialMatrix);
 175     return vvToolWidgetBase::close();
 176   }
 177   return false;
 178 }
 179 //------------------------------------------------------------------------------
 180
 181 //------------------------------------------------------------------------------
 182 void vvToolRigidReg::reject()
 183 {
 184   return vvToolWidgetBase::reject();
 185 }
 186 //------------------------------------------------------------------------------
 187
 188 //------------------------------------------------------------------------------
 189 void vvToolRigidReg::SetTranslationStep(double v)
 190 {
 191   xtrans_sb->setSingleStep(v);
 192   ytrans_sb->setSingleStep(v);
 193   ztrans_sb->setSingleStep(v);
 194 }
 195 //------------------------------------------------------------------------------
 196
 197 //------------------------------------------------------------------------------
 198 void vvToolRigidReg::SetRotationStep(double v)
 199 {
 200   xrot_sb->setSingleStep(v);
 201   yrot_sb->setSingleStep(v);
 202   zrot_sb->setSingleStep(v);
 203 }
 204 //------------------------------------------------------------------------------
 205
 206 //------------------------------------------------------------------------------
 207 void vvToolRigidReg::SliderChange(int newVal)
 208 {
 209   std::vector<QSlider *> transSliders, rotSliders;
 210   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 211   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 212   for(int i=0; i<3; i++) {
 213     if(transSliders[i] == QObject::sender()) {
 214       transSBs[i]->setValue(newVal);
 215     }
 216     if(rotSliders[i] == QObject::sender()) {
 217       double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?itk::Math::pi/180.:1.;
 218       rotSBs[i]->setValue(newVal*rad);
 219     }
 220   }
 221 }
 222 //------------------------------------------------------------------------------
 223
 224 //------------------------------------------------------------------------------
 225 void vvToolRigidReg::SpinBoxChange(double newVal)
 226 {
 227   std::vector<QSlider *> transSliders, rotSliders;
 228   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 229   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 230   for(int i=0; i<3; i++) {
 231     if(transSBs[i] == QObject::sender()) {
 232       transSliders[i]->blockSignals(true);
 233       transSliders[i]->setValue(itk::Math::Round<double,double>(newVal));
 234       transSliders[i]->blockSignals(false);
 235     }
 236     if(rotSBs[i] == QObject::sender()) {
 237       double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?180./itk::Math::pi:1.;
 238       rotSliders[i]->blockSignals(true);
 239       rotSliders[i]->setValue(itk::Math::Round<double,double>(newVal*rad));
 240       rotSliders[i]->blockSignals(false);
 241     }
 242   }
 243
 244   // Compute transform and set
 245   vtkSmartPointer<vtkTransform> transform_final=mInput->GetImage()->GetTransform();
 246   transform_final->Identity();
 247   transform_final->PostMultiply();
 248
 249   // Rotations
 250   double x=0, y=0 ,z=0;
 251   x= Xval->text().toDouble();
 252   y= Yval->text().toDouble();
 253   z= Zval->text().toDouble();
 254   double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?180./itk::Math::pi:1.;
 255   transform_final->Translate(-x,-y,-z);
 256   transform_final->RotateY(yrot_sb->value()*rad);
 257   transform_final->RotateX(xrot_sb->value()*rad);
 258   transform_final->RotateZ(zrot_sb->value()*rad);
 259   transform_final->Translate(x,y,z);
 260
 261   // Translation
 262   transform_final->Translate(xtrans_sb->value(),
 263                              ytrans_sb->value(),
 264                              ztrans_sb->value());
 265   transform_final->Update();
 266   SetTransform(transform_final->GetMatrix());
 267 }
 268 //------------------------------------------------------------------------------
 269
 270 //------------------------------------------------------------------------------
 271 void vvToolRigidReg::ToggleSpinBoxAnglesUnit()
 272 {
 273   double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?itk::Math::pi/180.:180./itk::Math::pi;
 274   std::vector<QSlider *> transSliders, rotSliders;
 275   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 276   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 277   for(int i=0; i<3; i++) {
 278     rotSBs[i]->blockSignals(true);
 279     rotSBs[i]->setValue(rotSBs[i]->value()*rad);
 280     rotSBs[i]->blockSignals(false);
 281   }
 282 }
 283 //------------------------------------------------------------------------------
 284
 285 //------------------------------------------------------------------------------
 286 void vvToolRigidReg::SaveFile()
 287 {
 288   //Write the Transformation Matrix
 289   std::string absPath = mCurrentSlicerManager->GetFileName();
 290   absPath = itksys::SystemTools::GetFilenameWithoutExtension(absPath) + std::string(".mat");
 291   QString filename = QFileDialog::getSaveFileName(this, tr("Save Transformation Matrix File"),
 292                                             absPath.c_str(),
 293                                             tr("Text (*.mat *.txt *.doc *.rtf)"));
 294
 295   QFile file(filename);
 296   if (file.open(QFile::WriteOnly | QFile::Truncate)) {
 297     vtkMatrix4x4* matrix = mCurrentSlicerManager->GetImage()->GetTransform()->GetMatrix();
 298     QString matrixStr = dynamic_cast<vvMainWindow*>(mMainWindow)->Get4x4MatrixDoubleAsString(matrix,16);
 299     QTextStream out(&file);
 300     out << matrixStr;
 301   }
 302   else
 303   {
 304     QMessageBox::information(this,"Error","Unable to open file for writing");
 305   }
 306 }
 307 //------------------------------------------------------------------------------
 308
 309 //------------------------------------------------------------------------------
 310 void vvToolRigidReg::LoadFile()
 311 {
 312   //Open File to read the transformation parameters
 313   QString file = QFileDialog::getOpenFileName(
 314                    this,
 315                    "Choose the filename for the transformation matrix",
 316                    vtksys::SystemTools::GetFilenamePath(mCurrentSlicerManager->GetFileName()).c_str(),
 317                    "Text (*.mat *.txt *.rtf *.doc)");
 318    if (file.isEmpty())
 319      return;
 320
 321
 322   itk::Matrix<double, 4, 4> itkMat = clitk::ReadMatrix3D(file.toStdString());
 323   vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New();
 324   matrix->Identity();
 325   for(int j=0; j<4; j++)
 326     for(int i=0; i<4; i++)
 327       matrix->SetElement(j,i,itkMat[j][i]);
 328   SetTransform(matrix);
 329 }
 330 //------------------------------------------------------------------------------
 331
 332 //------------------------------------------------------------------------------
 333 void vvToolRigidReg::ChangeOfRotationCenter()
 334 {
 335   SetTransform(mCurrentSlicerManager->GetImage()->GetTransform()->GetMatrix());
 336 }
 337 //------------------------------------------------------------------------------
 338
 339 //------------------------------------------------------------------------------
 340 void vvToolRigidReg::ResetTransform()
 341 {
 342   SetTransform(mInitialMatrix);
 343 }
 344 //------------------------------------------------------------------------------
 345
 346 //------------------------------------------------------------------------------
 347 void vvToolRigidReg::SetTransform(vtkMatrix4x4 *matrix)
 348 {
 349   vtkSmartPointer<vtkTransform> transform=vtkSmartPointer<vtkTransform>::New();
 350   mCurrentSlicerManager->GetImage()->GetTransform()->SetMatrix(matrix);
 351   transform->Update();
 352   Render();
 353   dynamic_cast<vvMainWindow*>(mMainWindow)->ImageInfoChanged();
 354
 355   // Compute parameters from transfer using itk Euler transform
 356   itk::Euler3DTransform<double>::CenterType center;
 357   center[0] = Xval->text().toDouble();
 358   center[1] = Yval->text().toDouble();
 359   center[2] = Zval->text().toDouble();
 360   itk::Euler3DTransform<double>::MatrixType rotMat;
 361   itk::Euler3DTransform<double>::OutputVectorType transVec;
 362   for(int i=0; i<3; i++) {
 363     transVec[i] = matrix->GetElement(i,3);
 364     for(int j=0; j<3; j++)
 365       rotMat[i][j] = matrix->GetElement(i,j);
 366   }
 367   itk::Euler3DTransform<double>::Pointer euler;
 368   euler = itk::Euler3DTransform<double>::New();
 369   euler->SetCenter(center);
 370   euler->SetMatrix(rotMat);
 371   euler->SetOffset(transVec);
 372
 373   // Modify GUI according to the new parameters
 374   std::vector<QSlider *> transSliders, rotSliders;
 375   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 376   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 377   for(int i=0; i<3; i++) {
 378     // Translations
 379     transSBs[i]->blockSignals(true);
 380     transSBs[i]->setValue( euler->GetParameters()[i+3] );
 381     transSBs[i]->blockSignals(false);
 382     transSliders[i]->blockSignals(true);
 383     transSliders[i]->setValue( itk::Math::Round<double,double>(euler->GetParameters()[i+3]) );
 384     transSliders[i]->blockSignals(false);
 385
 386     // Rotations
 387     double rad = (checkBoxDegrees->checkState()==Qt::Checked)?180./itk::Math::pi:1.;
 388     double angleDiff = euler->GetParameters()[i]-rotSBs[i]->value()/rad+2*itk::Math::pi;
 389     angleDiff = angleDiff - 2*itk::Math::pi*itk::Math::Round<double,double>(angleDiff/(2*itk::Math::pi));
 390     if(angleDiff>1.e-4) {
 391       rotSBs[i]->blockSignals(true);
 392       rotSBs[i]->setValue( euler->GetParameters()[i]*rad );
 393       rotSBs[i]->blockSignals(false);
 394     }
 395     int iAngle = itk::Math::Round<int,double>(euler->GetParameters()[i]*180./itk::Math::pi);
 396     if((iAngle-rotSliders[i]->value()+360)%360!=0) {
 397       rotSliders[i]->blockSignals(true);
 398       rotSliders[i]->setValue(iAngle);
 399       rotSliders[i]->blockSignals(false);
 400     }
 401   }
 402 }
 403 //------------------------------------------------------------------------------
 404
 405 //------------------------------------------------------------------------------
 406 // Just an helper function to shorten the code with loops on sliders and spinboxes
 407 void vvToolRigidReg::GetSlidersAndSpinBoxes(std::vector<QSlider *>&transSliders, std::vector<QSlider *>&rotSliders,
 408                                             std::vector<QDoubleSpinBox *>&transSBs, std::vector<QDoubleSpinBox *>&rotSBs)
 409 {
 410   transSliders.push_back(xtrans_slider);
 411   transSliders.push_back(ytrans_slider);
 412   transSliders.push_back(ztrans_slider);
 413
 414   rotSliders.push_back(xrot_slider);
 415   rotSliders.push_back(yrot_slider);
 416   rotSliders.push_back(zrot_slider);
 417
 418   transSBs.push_back(xtrans_sb);
 419   transSBs.push_back(ytrans_sb);
 420   transSBs.push_back(ztrans_sb);
 421
 422   rotSBs.push_back(xrot_sb);
 423   rotSBs.push_back(yrot_sb);
 424   rotSBs.push_back(zrot_sb);
 425 }
 426 //------------------------------------------------------------------------------
 427
 428 //------------------------------------------------------------------------------
 429 void vvToolRigidReg::Render()
 430 {
 431   for (int i=0; i<mCurrentSlicerManager->GetNumberOfSlicers(); i++)
 432     {
 433     mCurrentSlicerManager->GetSlicer(i)->ForceUpdateDisplayExtent();
 434     mCurrentSlicerManager->GetSlicer(i)->Render();
 435     }
 436 }
 437 //------------------------------------------------------------------------------
 438