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://oncora1.lyon.fnclcc.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 "vvImageReader.h"
  22 #include "vvSlicer.h"
  23
  24 // vtk
  25 #include <vtkImageData.h>
  26 #include <vtkSmartPointer.h>
  27 #include <vtkTransform.h>
  28
  29 // clitk
  30 #include "clitkTransformUtilities.h"
  31
  32 // qt
  33 #include <QMessageBox>
  34 #include <QFileDialog>
  35 #include <QTextStream>
  36 #include <QComboBox>
  37 #include <QCursor>
  38
  39 //------------------------------------------------------------------------------
  40 // Create the tool and automagically (I like this word) insert it in
  41 // the main window menu.
  42 ADD_TOOL(vvToolRigidReg);
  43 //------------------------------------------------------------------------------
  44
  45 //------------------------------------------------------------------------------
  46 vvToolRigidReg::vvToolRigidReg(vvMainWindowBase * parent, Qt::WindowFlags f):
  47     vvToolWidgetBase(parent, f),
  48     vvToolBase<vvToolRigidReg>(parent),
  49     Ui::vvToolRigidReg()
  50 {
  51   // GUI Initialization
  52   Ui_vvToolRigidReg::setupUi(mToolWidget);
  53    // QSize qsize;
  54 //    qsize.setHeight(470);
  55 //    qsize.setWidth(850);
  56 //    mToolWidget->setFixedSize(qsize);
  57
  58
  59   // Set how many inputs are needed for this tool
  60  // mFilter = new clitk::AffineTransformGenericFilter<args_info_clitkAffineTransform>;
  61
  62   // Set how many inputs are needed for this tool
  63  AddInputSelector("Select moving image");
  64  AddInputSelector("Select fixed image");
  65 }
  66 //------------------------------------------------------------------------------
  67
  68 //------------------------------------------------------------------------------
  69 vvToolRigidReg::~vvToolRigidReg()
  70 {
  71 }
  72 //------------------------------------------------------------------------------
  73
  74 //------------------------------------------------------------------------------
  75 bool vvToolRigidReg::close()
  76 {
  77   ResetTransform();
  78   RemoveOverlay();
  79   return vvToolWidgetBase::close();
  80 }
  81 //------------------------------------------------------------------------------
  82
  83 //------------------------------------------------------------------------------
  84 void vvToolRigidReg::reject()
  85 {
  86    return vvToolWidgetBase::reject();
  87 }
  88 //------------------------------------------------------------------------------
  89
  90 //------------------------------------------------------------------------------
  91 void vvToolRigidReg::GetArgsInfoFromGUI()
  92 {
  93   DD("works");
  94 }
  95 //------------------------------------------------------------------------------
  96
  97 //------------------------------------------------------------------------------
  98 void vvToolRigidReg::InputIsSelected(std::vector<vvSlicerManager *> & l)
  99 {
 100   //inputs
 101   mInput1 = l[0];
 102   mInput2 = l[1];
 103
 104   UpdateTextEditor(mCurrentSlicerManager->GetImage()->GetTransform()->GetMatrix(),textEdit_2);
 105
 106   for(int i =0;i<4;i++)
 107     for(int j=0;j<4;j++)
 108      mInitialMatrix[i*4+j]=mCurrentSlicerManager->GetImage()->GetTransform()->GetMatrix()->GetElement(i,j);
 109
 110   if(mInput1->GetFileName()==mInput2->GetFileName())
 111   {
 112     QMessageBox::information(this, "Warning","Your Reference and Target Images are the same");
 113   }
 114   mTwoInputs = true;
 115   SetOverlay();
 116   mImageSize=mInput1->GetImage()->GetSize();
 117   SetRotationCenter();
 118   SetSliderRanges();
 119
 120     //connect all sigs to slots
 121    connect(resetbutton, SIGNAL(pressed()), this, SLOT(ResetTransform()));
 122    connect(tab2loadbutton, SIGNAL(pressed()), this, SLOT(AutoRegister()));
 123
 124    connect(Xval, SIGNAL(editingFinished()), this, SLOT(SetXvalue()));
 125    connect(Yval, SIGNAL(editingFinished()), this, SLOT(SetYvalue()));
 126    connect(Zval, SIGNAL(editingFinished()), this, SLOT(SetZvalue()));
 127
 128    connect(xtrans_slider, SIGNAL(valueChanged(int)), this, SLOT(UpdateTransform_sliders()));
 129    connect(ytrans_slider, SIGNAL(valueChanged(int)), this, SLOT(UpdateTransform_sliders()));
 130    connect(ztrans_slider, SIGNAL(valueChanged(int)), this, SLOT(UpdateTransform_sliders()));
 131
 132
 133    connect(xrot_slider, SIGNAL(valueChanged(int)), this, SLOT(UpdateTransform_sliders()));
 134    connect(yrot_slider, SIGNAL(valueChanged(int)), this, SLOT(UpdateTransform_sliders()));
 135    connect(zrot_slider, SIGNAL(valueChanged(int)), this, SLOT(UpdateTransform_sliders()));
 136
 137    connect(xtrans_sb, SIGNAL(valueChanged(double)), this, SLOT(UpdateTransform_sb()));
 138    connect(ytrans_sb, SIGNAL(valueChanged(double)), this, SLOT(UpdateTransform_sb()));
 139    connect(ztrans_sb, SIGNAL(valueChanged(double)), this, SLOT(UpdateTransform_sb()));
 140    connect(xrot_sb, SIGNAL(valueChanged(double)), this, SLOT(UpdateTransform_sb()));
 141    connect(yrot_sb, SIGNAL(valueChanged(double)), this, SLOT(UpdateTransform_sb()));
 142    connect(zrot_sb, SIGNAL(valueChanged(double)), this, SLOT(UpdateTransform_sb()));
 143
 144    connect(loadbutton, SIGNAL(pressed()), this, SLOT(ReadFile()));
 145    connect(savebutton, SIGNAL(pressed()), this, SLOT(SaveFile()));
 146
 147 }
 148 //------------------------------------------------------------------------------
 149
 150 //------------------------------------------------------------------------------
 151 void vvToolRigidReg::apply()
 152 {
 153   RemoveOverlay();
 154 }
 155 //------------------------------------------------------------------------------
 156
 157 //------------------------------------------------------------------------------
 158 void vvToolRigidReg::SetOverlay()
 159 {
 160     for (int i =0; i<mCurrentSlicerManager->NumberOfSlicers(); i++) {
 161    mCurrentSlicerManager->GetSlicer(i)->SetOverlay(mInput2->GetImage());
 162    mCurrentSlicerManager->GetSlicer(i)->SetActorVisibility("overlay",0,true);
 163    mCurrentSlicerManager->SetColorMap();
 164    mCurrentSlicerManager->Render();
 165    }
 166   }
 167 //------------------------------------------------------------------------------
 168
 169 //------------------------------------------------------------------------------
 170 void vvToolRigidReg::RemoveOverlay()
 171 {
 172    for(int i=0;i<mCurrentSlicerManager->NumberOfSlicers();i++)
 173          {
 174            mInput1->RemoveActor("overlay",0);
 175            mInput1->SetColorMap(0);
 176            mInput1->Render();
 177            hide();
 178          }
 179 }
 180 //------------------------------------------------------------------------------
 181
 182 //------------------------------------------------------------------------------
 183 void vvToolRigidReg::SetXvalue()
 184 {
 185   QString xstr = Xval->text();
 186 }
 187 //------------------------------------------------------------------------------
 188
 189 //------------------------------------------------------------------------------
 190 void vvToolRigidReg::SetYvalue()
 191 {
 192   QString ystr = Yval->text();
 193 }
 194 //------------------------------------------------------------------------------
 195
 196 //------------------------------------------------------------------------------
 197 void vvToolRigidReg::SetZvalue()
 198 {
 199   QString zstr = Zval->text();
 200 }
 201 //------------------------------------------------------------------------------
 202
 203 //------------------------------------------------------------------------------
 204 void vvToolRigidReg::SetTransform(double tX, double tY, double tZ, double aX, double aY, double aZ,bool update)
 205 {
 206   vtkSmartPointer<vtkTransform> transform = mInput1->GetImage()->GetTransform();
 207   transform->PostMultiply();
 208   //Rotations
 209   if (aX!=0 || aY!=0 || aZ!=0) {
 210     double x, y ,z;
 211     x= Xval->text().toDouble();
 212     y= Yval->text().toDouble();
 213     z= Zval->text().toDouble();
 214     transform->Translate(-x,-y,-z);
 215     if (aX!=0) transform->RotateX(aX);
 216     if (aY!=0) transform->RotateY(aY);
 217     if (aZ!=0) transform->RotateZ(aZ);
 218     transform->Translate(x,y,z);
 219   }
 220   //Translations
 221   if (tX!=0||tY!=0||tZ!=0)
 222     transform->Translate(tX*mInput1->GetImage()->GetSpacing()[0],tY*mInput1->GetImage()->GetSpacing()[1],tZ*mInput1->GetImage()->GetSpacing()[2]);
 223 }
 224 //------------------------------------------------------------------------------
 225
 226 //------------------------------------------------------------------------------
 227 void vvToolRigidReg::SetTransform(vtkMatrix4x4 *matrix)
 228 {
 229     vtkSmartPointer<vtkTransform> transform =mCurrentSlicerManager->GetImage()->GetTransform();
 230     transform->SetMatrix(matrix);
 231     Render();
 232 }
 233 //------------------------------------------------------------------------------
 234
 235 //------------------------------------------------------------------------------
 236 void vvToolRigidReg::Render()
 237 {
 238     for (int i=0; i<mCurrentSlicerManager->NumberOfSlicers(); i++) {
 239       mCurrentSlicerManager->GetSlicer(i)->ForceUpdateDisplayExtent();
 240       mCurrentSlicerManager->GetSlicer(i)->Render();
 241       }
 242 }
 243 //------------------------------------------------------------------------------
 244
 245 //------------------------------------------------------------------------------
 246   void vvToolRigidReg::UpdateTextEditor(vtkMatrix4x4 *matrix,QTextEdit* textEdit)
 247 {
 248     QFont font=QFont("Times New Roman",11);
 249     textEdit->setCurrentFont(font);
 250     textEdit->update();
 251
 252     QString str1,str2,str3;
 253     QColor color;
 254     textEdit->clear();
 255     textEdit->setAcceptRichText(true);
 256     str2=textEdit->toPlainText();
 257     str2.append("#Rotation Center(mm): \n#");
 258     textEdit->setText(str2);
 259
 260     str2=textEdit->toPlainText();
 261     textEdit->setTextColor(QColor(255,0,0));
 262     str2.append(str3.append(Xval->text()));
 263     textEdit->setText(str2);
 264     str3.clear();
 265
 266     str2=textEdit->toPlainText();
 267     str2.append("\t");
 268     textEdit->setText(str2);
 269
 270     str2=textEdit->toPlainText();
 271     str2.append(str3.append(Yval->text()));
 272     textEdit->setText(str2);
 273     str3.clear();
 274
 275     str2=textEdit->toPlainText();
 276     str2.append("\t");
 277     textEdit->setText(str2);
 278
 279
 280     str2=textEdit->toPlainText();
 281     str2.append(str3.append(Zval->text()));
 282     textEdit->setText(str2);
 283
 284
 285     str2=textEdit->toPlainText();
 286     str2.append("\n");
 287     textEdit->setText(str2);
 288
 289
 290     str2=textEdit->toPlainText();
 291     str2.append("#Transformation Matrix(mm):\n");
 292     textEdit->setText(str2);
 293     for(int i=0;i<4;i++)
 294     {
 295     for(int j=0;j<4;j++)
 296       {
 297     str2=textEdit->toPlainText();
 298    // str2.append("\t"+str1.setNum(matrix->Element[i][j]));
 299     str2.append(QString("%1\t").arg(str1.setNum(matrix->Element[i][j]),2));
 300     textEdit->setText(str2);
 301       }
 302     str2=textEdit->toPlainText();
 303     str2.append("\n");
 304     textEdit->setText(str2);
 305     }
 306     //QString str = QFileDialog::getOpenFileName();
 307     textEdit->setTextColor(QColor(255,0,0));
 308     textEdit->setFont(QFont("courrier new",12,4,true));
 309     textEdit->toPlainText().toAscii();
 310
 311     str2=textEdit->toPlainText();
 312     textEdit->setText(str2);
 313 }
 314 //------------------------------------------------------------------------------
 315
 316 //------------------------------------------------------------------------------
 317 void vvToolRigidReg::UpdateTransform_sliders()
 318 {
 319        InitializeSliders(xtrans_slider->value()*mInput1->GetImage()->GetSpacing()[0],
 320                          ytrans_slider->value()*mInput1->GetImage()->GetSpacing()[1],
 321                          ztrans_slider->value()*mInput1->GetImage()->GetSpacing()[2],
 322                         xrot_slider->value(),yrot_slider->value(),zrot_slider->value(),false);
 323       UpdateTransform(true);
 324       Render();
 325 }
 326 //------------------------------------------------------------------------------
 327
 328 //------------------------------------------------------------------------------
 329 void vvToolRigidReg::UpdateTransform_sb()
 330 {
 331    InitializeSliders(xtrans_sb->value(),
 332       ytrans_sb->value(),
 333       ztrans_sb->value(),
 334                         xrot_sb->value(),yrot_sb->value(),zrot_sb->value(),false);
 335       UpdateTransform(false);
 336       Render();
 337 }
 338 //------------------------------------------------------------------------------
 339
 340 //------------------------------------------------------------------------------
 341 void vvToolRigidReg::AutoRegister()
 342 {
 343  GetArgsInfoFromGUI();
 344     //clitk::AffineRegistrationGenericFilter::Pointer filter =
 345    // clitk::AffineRegistrationGenericFilter::New();
 346     //filter->SetArgsInfo(mArgsInfo);
 347    // filter->Update();
 348
 349 }
 350 //------------------------------------------------------------------------------
 351
 352 //------------------------------------------------------------------------------
 353 void vvToolRigidReg::UpdateTransform(bool slider_enabled)
 354 {
 355      vtkSmartPointer<vtkTransform> transform_final=vtkSmartPointer<vtkTransform>::New();
 356      transform_final->SetMatrix(mInitialMatrix);
 357      transform_final->PostMultiply();
 358   //Rotations
 359     double x=0, y=0 ,z=0;
 360     x= Xval->text().toDouble();
 361     y= Yval->text().toDouble();
 362     z= Zval->text().toDouble();
 363     transform_final->Translate(-x,-y,-z);
 364     if(slider_enabled){
 365     transform_final->RotateY(yrot_slider->value());
 366     transform_final->RotateX(xrot_slider->value());
 367     transform_final->RotateZ(zrot_slider->value());
 368     }
 369     else{
 370     transform_final->RotateY(yrot_sb->value());
 371     transform_final->RotateX(xrot_sb->value());
 372     transform_final->RotateZ(zrot_sb->value());
 373     }
 374     transform_final->Translate(x,y,z);
 375     transform_final->PreMultiply();
 376     if(slider_enabled){
 377     transform_final->Translate(xtrans_slider->value()*mInput1->GetImage()->GetSpacing()[0],0,0);
 378     transform_final->Translate(0,ytrans_slider->value()*mInput1->GetImage()->GetSpacing()[1],0);
 379     transform_final->Translate(0,0,ztrans_slider->value()*mInput1->GetImage()->GetSpacing()[2]);
 380     }
 381     else{
 382     transform_final->Translate(xtrans_sb->value(),0,0);
 383     transform_final->Translate(0,ytrans_sb->value(),0);
 384     transform_final->Translate(0,0,ztrans_sb->value());
 385     }
 386     SetTransform(transform_final->GetMatrix());
 387     UpdateTextEditor(transform_final->GetMatrix(),textEdit);
 388 }
 389 //------------------------------------------------------------------------------
 390
 391
 392 //------------------------------------------------------------------------------
 393 void vvToolRigidReg::SaveFile()
 394 {
 395   //Write the Transformation Matrix
 396     QString f1 = QFileDialog::getSaveFileName(this, tr("Save Transformation Matrix File"),
 397                                               mMainWindow->GetInputPathName(),
 398                                               tr("Text (*.mat *.txt *.doc *.rtf)"));
 399     QFile file1(f1);
 400     std::vector<QString> transparameters;
 401     QString line1;
 402
 403     for(int i =0;i<4;i++)
 404       for(int j=0;j<4;j++)
 405     transparameters.push_back(line1.setNum(mCurrentSlicerManager->GetImage()->GetTransform()->GetMatrix()->Element[i][j]));
 406
 407     if (file1.open(QFile::WriteOnly | QFile::Truncate)) {
 408     QTextStream out1(&file1);
 409      for(int i =0;i<4;i++){
 410       for(int j=0;j<4;j++) {
 411       out1<<transparameters[i*4+j]+"\t";
 412       }
 413       out1<<"\n";
 414      }
 415     }
 416      else
 417      {
 418       QMessageBox::information(this,"Warning","Error Reading Parameters");
 419      }
 420 }
 421 //------------------------------------------------------------------------------
 422
 423 //------------------------------------------------------------------------------
 424 void vvToolRigidReg::ReadFile()
 425 {
 426    std::string x;
 427    QString center;
 428    double * orientations=new double[3];
 429    double * translations=new double[3];
 430    vtkMatrix4x4 *matrix=vtkMatrix4x4::New();
 431    vtkSmartPointer<vtkTransform> transform = mCurrentSlicerManager->GetImage()->GetTransform();
 432
 433    //Open File to read the transformation parameters
 434    QString file1 = QFileDialog::getOpenFileName(
 435                     this,
 436                     "Choose the Transformation Parameters file",
 437                     mMainWindow->GetInputPathName(),
 438                     "Text (*.mat *.txt *.rtf *.doc)");
 439     if (file1.isEmpty())
 440     return;
 441    QFile Qfile1(file1);
 442   // ifstream readfile;
 443    std::string transfile= file1.toStdString();
 444    std::string filename1(transfile);
 445    std::ifstream f1(filename1.c_str());
 446    if(f1.is_open())
 447    {
 448    f1.close();
 449    itk::Matrix<double, 4, 4> itkMat = clitk::ReadMatrix3D(transfile);
 450    for(int j=0; j<4; j++)
 451       for(int i=0; i<4; i++)
 452     matrix->SetElement(i,j,itkMat[i][j]);
 453    }
 454     UpdateTextEditor(matrix,textEdit);
 455     transform->SetMatrix(matrix);
 456     transform->GetOrientation(orientations);
 457     transform->PostMultiply();
 458
 459      //Obtain the Rotation Center , set it to origin
 460     Xval->setText(center.setNum(0));
 461     Yval->setText(center.setNum(0));
 462     Zval->setText(center.setNum(0));
 463
 464     //In the Order or Y X Z //
 465     //now  postmultiply for the rotations
 466     SetTransform(0,0,0,0,0,-round(orientations[2]),false);
 467     SetTransform(0,0,0,-round(orientations[0]),0,0,false);
 468     SetTransform(0,0,0,0,-round(orientations[1]),0,false);
 469
 470     transform->GetPosition(translations);
 471     transform->Identity();
 472
 473     DD(translations[0]/mInput1->GetImage()->GetSpacing()[0]);
 474     DD(translations[1]/mInput1->GetImage()->GetSpacing()[1]);
 475     DD(translations[2]/mInput1->GetImage()->GetSpacing()[2]);
 476     DD(orientations[0]);
 477     DD(orientations[1]);
 478     DD(orientations[2]);
 479       //set the sliders  and spin box values
 480     InitializeSliders(rint(translations[0]),rint(translations[1])
 481     ,rint(translations[2]),rint(orientations[0]),rint(orientations[1]),rint(orientations[2]),true);
 482     SetTransform(matrix);
 483 }
 484 //------------------------------------------------------------------------------
 485
 486 //------------------------------------------------------------------------------
 487 void vvToolRigidReg::ResetTransform()
 488 {
 489   vtkMatrix4x4 *matrix = vtkMatrix4x4::New();
 490   for(int i=0;i<4;i++)
 491     for(int j=0;j<4;j++)
 492           matrix->SetElement(i,j,mInitialMatrix[i*4+j]);
 493    SetTransform(matrix);
 494    SetRotationCenter();
 495    SetSliderRanges();
 496    UpdateTextEditor(matrix,textEdit);
 497 }
 498 //------------------------------------------------------------------------------
 499
 500 //------------------------------------------------------------------------------
 501 void vvToolRigidReg::SetRotationCenter()
 502 {
 503     //default image rotation center is the center of the image
 504     QString xcord,ycord,zcord;
 505     std::vector<double> imageorigin;
 506     imageorigin=mInput1->GetImage()->GetOrigin();
 507
 508     xcord=xcord.setNum(imageorigin[0]+mImageSize[0]*mInput1->GetImage()->GetSpacing()[0]/2, 'g', 3);
 509     ycord=ycord.setNum(imageorigin[1]+mImageSize[1]*mInput1->GetImage()->GetSpacing()[1]/2, 'g', 3);
 510     zcord=zcord.setNum(imageorigin[2]+mImageSize[2]*mInput1->GetImage()->GetSpacing()[2]/2, 'g', 3);
 511
 512     Xval->setText(xcord);
 513     Yval->setText(ycord);
 514     Zval->setText(zcord);
 515     InitializeSliders(0,0,0,0,0,0,true);
 516 }
 517 //------------------------------------------------------------------------------
 518
 519 //------------------------------------------------------------------------------
 520 void vvToolRigidReg::InitializeSliders(double xtrans,double ytrans, double ztrans, double xrot, double yrot, double zrot,bool sliders)
 521 {
 522
 523     xtrans_sb->blockSignals(true);
 524     xtrans_sb->setSingleStep(mInput1->GetImage()->GetSpacing()[0]);
 525     xtrans_sb->setValue(xtrans);
 526     xtrans_sb->blockSignals(false);
 527     ytrans_sb->blockSignals(true);
 528     ytrans_sb->setSingleStep(mInput1->GetImage()->GetSpacing()[1]);
 529     ytrans_sb->setValue(ytrans);
 530     ytrans_sb->blockSignals(false);
 531     ztrans_sb->blockSignals(true);
 532     ztrans_sb->setSingleStep(mInput1->GetImage()->GetSpacing()[2]);
 533     ztrans_sb->setValue(ztrans);
 534     ztrans_sb->blockSignals(false);
 535
 536     if(sliders){
 537     xtrans_slider->blockSignals(true);
 538     DD(xtrans_slider->value());
 539     xtrans_slider->setValue(rint(xtrans));
 540     xtrans_slider->blockSignals(false);
 541     ytrans_slider->blockSignals(true);
 542     ytrans_slider->setValue(rint(ytrans));
 543     ytrans_slider->blockSignals(false);
 544     ztrans_slider->blockSignals(true);
 545     ztrans_slider->setValue(rint(ztrans));
 546     ztrans_slider->blockSignals(false);
 547     }
 548     xrot_sb->blockSignals(true);
 549     xrot_sb->setValue(xrot);
 550     xrot_sb->blockSignals(false);
 551     yrot_sb->blockSignals(true);
 552     yrot_sb->setValue(yrot);
 553     yrot_sb->blockSignals(false);
 554     zrot_sb->blockSignals(true);
 555     zrot_sb->setValue(zrot);
 556     zrot_sb->blockSignals(false);
 557     xrot_slider->blockSignals(true);
 558     xrot_slider->setValue(xrot);
 559     xrot_slider->blockSignals(false);
 560     yrot_slider->blockSignals(true);
 561     yrot_slider->setValue(yrot);
 562     yrot_slider->blockSignals(false);
 563     zrot_slider->blockSignals(true);
 564     zrot_slider->setValue(zrot);
 565     zrot_slider->blockSignals(false);
 566 }
 567 //------------------------------------------------------------------------------
 568
 569 //------------------------------------------------------------------------------
 570 void vvToolRigidReg::SetSliderRanges()
 571 {
 572   xtrans_slider->blockSignals(true);
 573   xtrans_slider->setRange(-2000,2000);
 574   xtrans_slider->blockSignals(false);
 575
 576   ytrans_slider->blockSignals(true);
 577   ytrans_slider->setRange(-2000,2000);
 578   ytrans_slider->blockSignals(false);
 579
 580   ztrans_slider->blockSignals(true);
 581   ztrans_slider->setRange(-2000,2000);
 582   ztrans_slider->blockSignals(false);
 583
 584   xtrans_sb->blockSignals(true);
 585   xtrans_sb->setRange(-2000,2000);
 586   xtrans_sb->setDecimals(3);
 587   xtrans_sb->blockSignals(false);
 588
 589   ytrans_sb->blockSignals(true);
 590   ytrans_sb->setRange(-2000,2000);
 591   ytrans_sb->setDecimals(3);
 592   ytrans_sb->blockSignals(false);
 593
 594   ztrans_sb->blockSignals(true);
 595   ztrans_sb->setRange(-2000,2000);
 596   ztrans_sb->setDecimals(3);
 597   ztrans_sb->blockSignals(false);
 598
 599   xrot_slider->blockSignals(true);
 600   xrot_slider->setRange(-360,360);
 601   xrot_slider->blockSignals(false);
 602
 603   yrot_slider->blockSignals(true);
 604   yrot_slider->setRange(-360,360);
 605   yrot_slider->blockSignals(false);
 606
 607   zrot_slider->blockSignals(true);
 608   zrot_slider->setRange(-360,360);
 609   zrot_slider->blockSignals(false);
 610
 611
 612   xrot_sb->blockSignals(true);
 613   xrot_sb->setRange(-360,360);
 614   xrot_sb->blockSignals(false);
 615
 616   yrot_sb->blockSignals(true);
 617   yrot_sb->setRange(-360,360);
 618   yrot_sb->blockSignals(false);
 619
 620   zrot_sb->blockSignals(true);
 621   zrot_sb->setRange(-360,360);
 622   zrot_sb->blockSignals(false);
 623 }