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       // TODO SR and BP: check on the list of transforms and not the first only
 122       mInitialMatrix->SetElement(i,j, mCurrentSlicerManager->GetImage()->GetTransform()[0]->GetMatrix()->GetElement(i,j));
 123   QString origTransformString = dynamic_cast<vvMainWindow*>(mMainWindow)->Get4x4MatrixDoubleAsString(mInitialMatrix);
 124   transformationLabel->setText(origTransformString);
 125   SetTransform(mInitialMatrix);
 126
 127   //connect all sigs to slots
 128   connect(resetbutton, SIGNAL(pressed()), this, SLOT(ResetTransform()));
 129   connect(loadbutton, SIGNAL(pressed()), this, SLOT(LoadFile()));
 130   connect(savebutton, SIGNAL(pressed()), this, SLOT(SaveFile()));
 131
 132   connect(xtrans_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 133   connect(ytrans_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 134   connect(ztrans_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 135   connect(xrot_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 136   connect(yrot_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 137   connect(zrot_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 138   connect(xtrans_sb, SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 139   connect(ytrans_sb, SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 140   connect(ztrans_sb, SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 141   connect(xrot_sb,   SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 142   connect(yrot_sb,   SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 143   connect(zrot_sb,   SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 144
 145   connect(stepTransSpinBox, SIGNAL(valueChanged(double)), this, SLOT(SetTranslationStep(double)));
 146   connect(stepRotSpinBox, SIGNAL(valueChanged(double)), this, SLOT(SetRotationStep(double)));
 147
 148   connect(checkBoxDegrees, SIGNAL(stateChanged(int)), this, SLOT(ToggleSpinBoxAnglesUnit()));
 149
 150   connect(Xval, SIGNAL(editingFinished()), this, SLOT(ChangeOfRotationCenter()));
 151   connect(Yval, SIGNAL(editingFinished()), this, SLOT(ChangeOfRotationCenter()));
 152   connect(Zval, SIGNAL(editingFinished()), this, SLOT(ChangeOfRotationCenter()));
 153
 154   // Init step modifiers
 155   stepTransSpinBox->setValue(1.);
 156   stepRotSpinBox->setValue(1.);
 157 }
 158 //------------------------------------------------------------------------------
 159
 160 //------------------------------------------------------------------------------
 161 void vvToolRigidReg::apply()
 162 {
 163   vvToolWidgetBase::close();
 164 }
 165 //------------------------------------------------------------------------------
 166
 167 //------------------------------------------------------------------------------
 168 bool vvToolRigidReg::close()
 169 {
 170   QString warning = "Are you sure you want to reset the original transform?";
 171   QMessageBox msgBox(QMessageBox::Warning, tr("Reset transform"),warning, 0, this);
 172   msgBox.addButton(tr("Yes"), QMessageBox::AcceptRole);
 173   msgBox.addButton(tr("No"), QMessageBox::RejectRole);
 174   if (msgBox.exec() == QMessageBox::AcceptRole) {
 175     SetTransform(mInitialMatrix);
 176     return vvToolWidgetBase::close();
 177   }
 178   return false;
 179 }
 180 //------------------------------------------------------------------------------
 181
 182 //------------------------------------------------------------------------------
 183 void vvToolRigidReg::reject()
 184 {
 185   return vvToolWidgetBase::reject();
 186 }
 187 //------------------------------------------------------------------------------
 188
 189 //------------------------------------------------------------------------------
 190 void vvToolRigidReg::SetTranslationStep(double v)
 191 {
 192   xtrans_sb->setSingleStep(v);
 193   ytrans_sb->setSingleStep(v);
 194   ztrans_sb->setSingleStep(v);
 195 }
 196 //------------------------------------------------------------------------------
 197
 198 //------------------------------------------------------------------------------
 199 void vvToolRigidReg::SetRotationStep(double v)
 200 {
 201   xrot_sb->setSingleStep(v);
 202   yrot_sb->setSingleStep(v);
 203   zrot_sb->setSingleStep(v);
 204 }
 205 //------------------------------------------------------------------------------
 206
 207 //------------------------------------------------------------------------------
 208 void vvToolRigidReg::SliderChange(int newVal)
 209 {
 210   std::vector<QSlider *> transSliders, rotSliders;
 211   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 212   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 213   for(int i=0; i<3; i++) {
 214     if(transSliders[i] == QObject::sender()) {
 215       transSBs[i]->setValue(newVal);
 216     }
 217     if(rotSliders[i] == QObject::sender()) {
 218       double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?itk::Math::pi/180.:1.;
 219       rotSBs[i]->setValue(newVal*rad);
 220     }
 221   }
 222 }
 223 //------------------------------------------------------------------------------
 224
 225 //------------------------------------------------------------------------------
 226 void vvToolRigidReg::SpinBoxChange(double newVal)
 227 {
 228   std::vector<QSlider *> transSliders, rotSliders;
 229   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 230   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 231   for(int i=0; i<3; i++) {
 232     if(transSBs[i] == QObject::sender()) {
 233       transSliders[i]->blockSignals(true);
 234       transSliders[i]->setValue(itk::Math::Round<double,double>(newVal));
 235       transSliders[i]->blockSignals(false);
 236     }
 237     if(rotSBs[i] == QObject::sender()) {
 238       double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?180./itk::Math::pi:1.;
 239       rotSliders[i]->blockSignals(true);
 240       rotSliders[i]->setValue(itk::Math::Round<double,double>(newVal*rad));
 241       rotSliders[i]->blockSignals(false);
 242     }
 243   }
 244
 245   // Compute transform and set
 246   // TODO SR and BP: check on the list of transforms and not the first only
 247   vtkSmartPointer<vtkTransform> transform_final=mInput->GetImage()->GetTransform()[0];
 248   transform_final->Identity();
 249   transform_final->PostMultiply();
 250
 251   // Rotations
 252   double x=0, y=0 ,z=0;
 253   x= Xval->text().toDouble();
 254   y= Yval->text().toDouble();
 255   z= Zval->text().toDouble();
 256   double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?180./itk::Math::pi:1.;
 257   transform_final->Translate(-x,-y,-z);
 258   transform_final->RotateY(yrot_sb->value()*rad);
 259   transform_final->RotateX(xrot_sb->value()*rad);
 260   transform_final->RotateZ(zrot_sb->value()*rad);
 261   transform_final->Translate(x,y,z);
 262
 263   // Translation
 264   transform_final->Translate(xtrans_sb->value(),
 265                              ytrans_sb->value(),
 266                              ztrans_sb->value());
 267   transform_final->Update();
 268   SetTransform(transform_final->GetMatrix());
 269 }
 270 //------------------------------------------------------------------------------
 271
 272 //------------------------------------------------------------------------------
 273 void vvToolRigidReg::ToggleSpinBoxAnglesUnit()
 274 {
 275   double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?itk::Math::pi/180.:180./itk::Math::pi;
 276   std::vector<QSlider *> transSliders, rotSliders;
 277   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 278   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 279   for(int i=0; i<3; i++) {
 280     rotSBs[i]->blockSignals(true);
 281     rotSBs[i]->setValue(rotSBs[i]->value()*rad);
 282     rotSBs[i]->blockSignals(false);
 283   }
 284 }
 285 //------------------------------------------------------------------------------
 286
 287 //------------------------------------------------------------------------------
 288 void vvToolRigidReg::SaveFile()
 289 {
 290   //Write the Transformation Matrix
 291   std::string absPath = mCurrentSlicerManager->GetFileName();
 292   absPath = itksys::SystemTools::GetFilenameWithoutExtension(absPath) + std::string(".mat");
 293   QString filename = QFileDialog::getSaveFileName(this, tr("Save Transformation Matrix File"),
 294                                             absPath.c_str(),
 295                                             tr("Text (*.mat *.txt *.doc *.rtf)"));
 296
 297   QFile file(filename);
 298   if (file.open(QFile::WriteOnly | QFile::Truncate)) {
 299     // TODO SR and BP: check on the list of transforms and not the first only
 300     vtkMatrix4x4* matrix = mCurrentSlicerManager->GetImage()->GetTransform()[0]->GetMatrix();
 301     QString matrixStr = dynamic_cast<vvMainWindow*>(mMainWindow)->Get4x4MatrixDoubleAsString(matrix,16);
 302     QTextStream out(&file);
 303     out << matrixStr;
 304   }
 305   else
 306   {
 307     QMessageBox::information(this,"Error","Unable to open file for writing");
 308   }
 309 }
 310 //------------------------------------------------------------------------------
 311
 312 //------------------------------------------------------------------------------
 313 void vvToolRigidReg::LoadFile()
 314 {
 315   //Open File to read the transformation parameters
 316   QString file = QFileDialog::getOpenFileName(
 317                    this,
 318                    "Choose the filename for the transformation matrix",
 319                    vtksys::SystemTools::GetFilenamePath(mCurrentSlicerManager->GetFileName()).c_str(),
 320                    "Text (*.mat *.txt *.rtf *.doc)");
 321    if (file.isEmpty())
 322      return;
 323
 324
 325   itk::Matrix<double, 4, 4> itkMat = clitk::ReadMatrix3D(file.toStdString());
 326   vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New();
 327   matrix->Identity();
 328   for(int j=0; j<4; j++)
 329     for(int i=0; i<4; i++)
 330       matrix->SetElement(j,i,itkMat[j][i]);
 331   SetTransform(matrix);
 332 }
 333 //------------------------------------------------------------------------------
 334
 335 //------------------------------------------------------------------------------
 336 void vvToolRigidReg::ChangeOfRotationCenter()
 337 {
 338   // TODO SR and BP: check on the list of transforms and not the first only
 339   SetTransform(mCurrentSlicerManager->GetImage()->GetTransform()[0]->GetMatrix());
 340 }
 341 //------------------------------------------------------------------------------
 342
 343 //------------------------------------------------------------------------------
 344 void vvToolRigidReg::ResetTransform()
 345 {
 346   SetTransform(mInitialMatrix);
 347 }
 348 //------------------------------------------------------------------------------
 349
 350 //------------------------------------------------------------------------------
 351 void vvToolRigidReg::SetTransform(vtkMatrix4x4 *matrix)
 352 {
 353   vtkSmartPointer<vtkTransform> transform=vtkSmartPointer<vtkTransform>::New();
 354   // TODO SR and BP: check on the list of transforms and not the first only
 355   mCurrentSlicerManager->GetImage()->GetTransform()[0]->SetMatrix(matrix);
 356   transform->Update();
 357   Render();
 358   dynamic_cast<vvMainWindow*>(mMainWindow)->ImageInfoChanged();
 359
 360   // Compute parameters from transfer using itk Euler transform
 361   itk::Euler3DTransform<double>::CenterType center;
 362   center[0] = Xval->text().toDouble();
 363   center[1] = Yval->text().toDouble();
 364   center[2] = Zval->text().toDouble();
 365   itk::Euler3DTransform<double>::MatrixType rotMat;
 366   itk::Euler3DTransform<double>::OutputVectorType transVec;
 367   for(int i=0; i<3; i++) {
 368     transVec[i] = matrix->GetElement(i,3);
 369     for(int j=0; j<3; j++)
 370       rotMat[i][j] = matrix->GetElement(i,j);
 371   }
 372   itk::Euler3DTransform<double>::Pointer euler;
 373   euler = itk::Euler3DTransform<double>::New();
 374   euler->SetCenter(center);
 375   euler->SetMatrix(rotMat);
 376   euler->SetOffset(transVec);
 377
 378   // Modify GUI according to the new parameters
 379   std::vector<QSlider *> transSliders, rotSliders;
 380   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 381   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 382   for(int i=0; i<3; i++) {
 383     // Translations
 384     transSBs[i]->blockSignals(true);
 385     transSBs[i]->setValue( euler->GetParameters()[i+3] );
 386     transSBs[i]->blockSignals(false);
 387     transSliders[i]->blockSignals(true);
 388     transSliders[i]->setValue( itk::Math::Round<double,double>(euler->GetParameters()[i+3]) );
 389     transSliders[i]->blockSignals(false);
 390
 391     // Rotations
 392     double rad = (checkBoxDegrees->checkState()==Qt::Checked)?180./itk::Math::pi:1.;
 393     double angleDiff = euler->GetParameters()[i]-rotSBs[i]->value()/rad+2*itk::Math::pi;
 394     angleDiff = angleDiff - 2*itk::Math::pi*itk::Math::Round<double,double>(angleDiff/(2*itk::Math::pi));
 395     if(angleDiff>1.e-4) {
 396       rotSBs[i]->blockSignals(true);
 397       rotSBs[i]->setValue( euler->GetParameters()[i]*rad );
 398       rotSBs[i]->blockSignals(false);
 399     }
 400     int iAngle = itk::Math::Round<int,double>(euler->GetParameters()[i]*180./itk::Math::pi);
 401     if((iAngle-rotSliders[i]->value()+360)%360!=0) {
 402       rotSliders[i]->blockSignals(true);
 403       rotSliders[i]->setValue(iAngle);
 404       rotSliders[i]->blockSignals(false);
 405     }
 406   }
 407 }
 408 //------------------------------------------------------------------------------
 409
 410 //------------------------------------------------------------------------------
 411 // Just an helper function to shorten the code with loops on sliders and spinboxes
 412 void vvToolRigidReg::GetSlidersAndSpinBoxes(std::vector<QSlider *>&transSliders, std::vector<QSlider *>&rotSliders,
 413                                             std::vector<QDoubleSpinBox *>&transSBs, std::vector<QDoubleSpinBox *>&rotSBs)
 414 {
 415   transSliders.push_back(xtrans_slider);
 416   transSliders.push_back(ytrans_slider);
 417   transSliders.push_back(ztrans_slider);
 418
 419   rotSliders.push_back(xrot_slider);
 420   rotSliders.push_back(yrot_slider);
 421   rotSliders.push_back(zrot_slider);
 422
 423   transSBs.push_back(xtrans_sb);
 424   transSBs.push_back(ytrans_sb);
 425   transSBs.push_back(ztrans_sb);
 426
 427   rotSBs.push_back(xrot_sb);
 428   rotSBs.push_back(yrot_sb);
 429   rotSBs.push_back(zrot_sb);
 430 }
 431 //------------------------------------------------------------------------------
 432
 433 //------------------------------------------------------------------------------
 434 void vvToolRigidReg::Render()
 435 {
 436   for (int i=0; i<mCurrentSlicerManager->GetNumberOfSlicers(); i++)
 437     {
 438     mCurrentSlicerManager->GetSlicer(i)->ForceUpdateDisplayExtent();
 439     mCurrentSlicerManager->GetSlicer(i)->Render();
 440     }
 441 }
 442 //------------------------------------------------------------------------------
 443