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 #include <vvBlendImageActor.h>
  23
  24 // vtk
  25 #include <vtkImageData.h>
  26 #include <vtkSmartPointer.h>
  27 #include <vtkInformation.h>
  28 #include <vtkTransform.h>
  29 #include <vtkImageActor.h>
  30 #include <vtkImageMapper3D.h>
  31 #include <vtkOpenGLImageSliceMapper.h>
  32
  33 // itk
  34 #include <itkEuler3DTransform.h>
  35
  36 // clitk
  37 #include "clitkTransformUtilities.h"
  38 #include "clitkMatrix.h"
  39
  40 // qt
  41 #include <QMessageBox>
  42 #include <QFileDialog>
  43 #include <QTextStream>
  44
  45
  46 //------------------------------------------------------------------------------
  47 // Create the tool and automagically (I like this word) insert it in
  48 // the main window menu.
  49 ADD_TOOL(vvToolRigidReg);
  50 //------------------------------------------------------------------------------
  51
  52 //------------------------------------------------------------------------------
  53 vvToolRigidReg::vvToolRigidReg(vvMainWindowBase * parent, Qt::WindowFlags f):
  54     vvToolWidgetBase(parent, f),
  55     vvToolBase<vvToolRigidReg>(parent),
  56     Ui::vvToolRigidReg()
  57 {
  58   // GUI Initialization
  59   Ui_vvToolRigidReg::setupUi(mToolWidget);
  60
  61   // Set how many inputs are needed for this tool
  62   AddInputSelector("Select moving image");
  63
  64   QFont font = transformationLabel->font();
  65   font.setStyleHint(QFont::TypeWriter);
  66   transformationLabel->setFont(font);
  67
  68   mInitialMatrix = vtkSmartPointer<vtkMatrix4x4>::New();
  69
  70   // Set slider ranges, assume degrees, will not be changed for radians
  71   std::vector<QSlider *> transSliders, rotSliders;
  72   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
  73   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
  74   for(int i=0; i<3; i++) {
  75     transSliders[i]->setRange(-2000,2000);
  76     rotSliders[i]->setRange(-360,360);
  77     transSBs[i]->setRange(-2000,2000);
  78     transSBs[i]->setDecimals(3);
  79     rotSBs[i]->setRange(-360,360);
  80     rotSBs[i]->setDecimals(3);
  81   }
  82 }
  83 //------------------------------------------------------------------------------
  84
  85 //------------------------------------------------------------------------------
  86 vvToolRigidReg::~vvToolRigidReg()
  87 {
  88 }
  89 //------------------------------------------------------------------------------
  90
  91 //------------------------------------------------------------------------------
  92 void vvToolRigidReg::Initialize()
  93 {
  94   SetToolName("Register");
  95   SetToolMenuName("Register manually");
  96   SetToolIconFilename(":/common/icons/register.png");
  97   SetToolTip("Register manually.");
  98   SetToolExperimental(false);
  99 }
 100 //------------------------------------------------------------------------------
 101
 102 //------------------------------------------------------------------------------
 103 void vvToolRigidReg::InputIsSelected(vvSlicerManager *input)
 104 {
 105   mInput = input;
 106   HideInputSelector();
 107   QTabWidget * tab = dynamic_cast<vvMainWindow*>(mMainWindow)->GetTab();
 108   move(tab->mapToGlobal(tab->pos()));
 109   resize(tab->width(), 0);
 110
 111   //default image rotation center is the center of the image
 112   QString xcord,ycord,zcord;
 113   std::vector<double> imageorigin;
 114   imageorigin=mInput->GetImage()->GetOrigin();
 115   std::vector<int> imageSize = mInput->GetImage()->GetSize();
 116   std::vector<double> imageSpacing = mInput->GetImage()->GetSpacing();
 117   xcord=xcord.setNum(imageorigin[0]+(imageSize[0]-1)*imageSpacing[0]*0.5, 'g', 3);
 118   ycord=ycord.setNum(imageorigin[1]+(imageSize[1]-1)*imageSpacing[1]*0.5, 'g', 3);
 119   zcord=zcord.setNum(imageorigin[2]+(imageSize[2]-1)*imageSpacing[2]*0.5, 'g', 3);
 120   Xval->setText(xcord);
 121   Yval->setText(ycord);
 122   Zval->setText(zcord);
 123
 124   //backup original matrix
 125   for(int j=0; j<4; j++)
 126     for(int i=0; i<4; i++)
 127       // TODO SR and BP: check on the list of transforms and not the first only
 128       mInitialMatrix->SetElement(i,j, mCurrentSlicerManager->GetImage()->GetTransform()[0]->GetMatrix()->GetElement(i,j));
 129   QString origTransformString(clitk::Get4x4MatrixDoubleAsString(mInitialMatrix).c_str());
 130   transformationLabel->setText(origTransformString);
 131   SetTransform(mInitialMatrix);
 132
 133   //connect all sigs to slots
 134   connect(resetbutton, SIGNAL(pressed()), this, SLOT(ResetTransform()));
 135   connect(loadbutton, SIGNAL(pressed()), this, SLOT(LoadFile()));
 136   connect(savebutton, SIGNAL(pressed()), this, SLOT(SaveFile()));
 137
 138   connect(xtrans_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 139   connect(ytrans_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 140   connect(ztrans_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 141   connect(xrot_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 142   connect(yrot_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 143   connect(zrot_slider, SIGNAL(valueChanged(int)), this, SLOT(SliderChange(int)));
 144   connect(xtrans_sb, SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 145   connect(ytrans_sb, SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 146   connect(ztrans_sb, SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 147   connect(xrot_sb,   SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 148   connect(yrot_sb,   SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 149   connect(zrot_sb,   SIGNAL(valueChanged(double)), this, SLOT(SpinBoxChange(double)));
 150
 151   connect(stepTransSpinBox, SIGNAL(valueChanged(double)), this, SLOT(SetTranslationStep(double)));
 152   connect(stepRotSpinBox, SIGNAL(valueChanged(double)), this, SLOT(SetRotationStep(double)));
 153
 154   connect(checkBoxDegrees, SIGNAL(stateChanged(int)), this, SLOT(ToggleSpinBoxAnglesUnit()));
 155
 156   connect(Xval, SIGNAL(editingFinished()), this, SLOT(ChangeOfRotationCenter()));
 157   connect(Yval, SIGNAL(editingFinished()), this, SLOT(ChangeOfRotationCenter()));
 158   connect(Zval, SIGNAL(editingFinished()), this, SLOT(ChangeOfRotationCenter()));
 159
 160   // Init step modifiers
 161   stepTransSpinBox->setValue(1.);
 162   stepRotSpinBox->setValue(1.);
 163 }
 164 //------------------------------------------------------------------------------
 165
 166 //------------------------------------------------------------------------------
 167 void vvToolRigidReg::apply()
 168 {
 169   vvToolWidgetBase::close();
 170 }
 171 //------------------------------------------------------------------------------
 172
 173 //------------------------------------------------------------------------------
 174 bool vvToolRigidReg::close()
 175 {
 176   QString warning = "Are you sure you want to reset the original transform?";
 177   QMessageBox msgBox(QMessageBox::Warning, tr("Reset transform"),warning, 0, this);
 178   msgBox.addButton(tr("Yes"), QMessageBox::AcceptRole);
 179   msgBox.addButton(tr("No"), QMessageBox::RejectRole);
 180   if (msgBox.exec() == QMessageBox::AcceptRole) {
 181     SetTransform(mInitialMatrix);
 182     return vvToolWidgetBase::close();
 183   }
 184   return false;
 185 }
 186 //------------------------------------------------------------------------------
 187
 188 //------------------------------------------------------------------------------
 189 void vvToolRigidReg::reject()
 190 {
 191   return vvToolWidgetBase::reject();
 192 }
 193 //------------------------------------------------------------------------------
 194
 195 //------------------------------------------------------------------------------
 196 void vvToolRigidReg::SetTranslationStep(double v)
 197 {
 198   xtrans_sb->setSingleStep(v);
 199   ytrans_sb->setSingleStep(v);
 200   ztrans_sb->setSingleStep(v);
 201 }
 202 //------------------------------------------------------------------------------
 203
 204 //------------------------------------------------------------------------------
 205 void vvToolRigidReg::SetRotationStep(double v)
 206 {
 207   xrot_sb->setSingleStep(v);
 208   yrot_sb->setSingleStep(v);
 209   zrot_sb->setSingleStep(v);
 210 }
 211 //------------------------------------------------------------------------------
 212
 213 //------------------------------------------------------------------------------
 214 void vvToolRigidReg::SliderChange(int newVal)
 215 {
 216   std::vector<QSlider *> transSliders, rotSliders;
 217   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 218   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 219   for(int i=0; i<3; i++) {
 220     if(transSliders[i] == QObject::sender()) {
 221       transSBs[i]->setValue(newVal);
 222     }
 223     if(rotSliders[i] == QObject::sender()) {
 224       double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?itk::Math::pi/180.:1.;
 225       rotSBs[i]->setValue(newVal*rad);
 226     }
 227   }
 228 }
 229 //------------------------------------------------------------------------------
 230
 231 //------------------------------------------------------------------------------
 232 void vvToolRigidReg::SpinBoxChange(double newVal)
 233 {
 234   std::vector<QSlider *> transSliders, rotSliders;
 235   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 236   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 237   for(int i=0; i<3; i++) {
 238     if(transSBs[i] == QObject::sender()) {
 239       transSliders[i]->blockSignals(true);
 240       transSliders[i]->setValue(itk::Math::Round<double,double>(newVal));
 241       transSliders[i]->blockSignals(false);
 242     }
 243     if(rotSBs[i] == QObject::sender()) {
 244       double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?180./itk::Math::pi:1.;
 245       rotSliders[i]->blockSignals(true);
 246       rotSliders[i]->setValue(itk::Math::Round<double,double>(newVal*rad));
 247       rotSliders[i]->blockSignals(false);
 248     }
 249   }
 250
 251   // Compute transform and set
 252   // TODO SR and BP: check on the list of transforms and not the first only
 253   vtkSmartPointer<vtkTransform> transform_final=mInput->GetImage()->GetTransform()[0];
 254   transform_final->Identity();
 255   transform_final->PostMultiply();
 256
 257   // Rotations
 258   double x=0, y=0 ,z=0;
 259   x= Xval->text().toDouble();
 260   y= Yval->text().toDouble();
 261   z= Zval->text().toDouble();
 262   double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?180./itk::Math::pi:1.;
 263   transform_final->Translate(-x,-y,-z);
 264   transform_final->RotateY(yrot_sb->value()*rad);
 265   transform_final->RotateX(xrot_sb->value()*rad);
 266   transform_final->RotateZ(zrot_sb->value()*rad);
 267   transform_final->Translate(x,y,z);
 268
 269   // Translation
 270   transform_final->Translate(xtrans_sb->value(),
 271                              ytrans_sb->value(),
 272                              ztrans_sb->value());
 273   transform_final->Update();
 274   SetTransform(transform_final->GetMatrix());
 275 }
 276 //------------------------------------------------------------------------------
 277
 278 //------------------------------------------------------------------------------
 279 void vvToolRigidReg::ToggleSpinBoxAnglesUnit()
 280 {
 281   double rad = (checkBoxDegrees->checkState()==Qt::Unchecked)?itk::Math::pi/180.:180./itk::Math::pi;
 282   std::vector<QSlider *> transSliders, rotSliders;
 283   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 284   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 285   for(int i=0; i<3; i++) {
 286     rotSBs[i]->blockSignals(true);
 287     rotSBs[i]->setValue(rotSBs[i]->value()*rad);
 288     rotSBs[i]->blockSignals(false);
 289   }
 290 }
 291 //------------------------------------------------------------------------------
 292
 293 //------------------------------------------------------------------------------
 294 void vvToolRigidReg::SaveFile()
 295 {
 296   //Write the Transformation Matrix
 297   std::string absPath = mCurrentSlicerManager->GetFileName();
 298   absPath = itksys::SystemTools::GetFilenameWithoutExtension(absPath) + std::string(".mat");
 299   QString filename = QFileDialog::getSaveFileName(this, tr("Save Transformation Matrix File"),
 300                                             absPath.c_str(),
 301                                             tr("Text (*.mat *.txt *.doc *.rtf)"));
 302
 303   QFile file(filename);
 304   if (file.open(QFile::WriteOnly | QFile::Truncate)) {
 305     // TODO SR and BP: check on the list of transforms and not the first only
 306     vtkMatrix4x4* matrix = mCurrentSlicerManager->GetImage()->GetTransform()[0]->GetMatrix();
 307     QString matrixStr = clitk::Get4x4MatrixDoubleAsString(matrix,16).c_str();
 308     QTextStream out(&file);
 309     out << matrixStr;
 310   }
 311   else
 312   {
 313     QMessageBox::information(this,"Error","Unable to open file for writing");
 314   }
 315 }
 316 //------------------------------------------------------------------------------
 317
 318 //------------------------------------------------------------------------------
 319 void vvToolRigidReg::LoadFile()
 320 {
 321   //Open File to read the transformation parameters
 322   QString file = QFileDialog::getOpenFileName(
 323                    this,
 324                    "Choose the filename for the transformation matrix",
 325                    vtksys::SystemTools::GetFilenamePath(mCurrentSlicerManager->GetFileName()).c_str(),
 326                    "Text (*.mat *.txt *.rtf *.doc)");
 327    if (file.isEmpty())
 328      return;
 329
 330
 331   itk::Matrix<double, 4, 4> itkMat = clitk::ReadMatrix3D(file.toStdString());
 332   vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New();
 333   matrix->Identity();
 334   for(int j=0; j<4; j++)
 335     for(int i=0; i<4; i++)
 336       matrix->SetElement(j,i,itkMat[j][i]);
 337   SetTransform(matrix);
 338 }
 339 //------------------------------------------------------------------------------
 340
 341 //------------------------------------------------------------------------------
 342 void vvToolRigidReg::ChangeOfRotationCenter()
 343 {
 344   // TODO SR and BP: check on the list of transforms and not the first only
 345   SetTransform(mCurrentSlicerManager->GetImage()->GetTransform()[0]->GetMatrix());
 346 }
 347 //------------------------------------------------------------------------------
 348
 349 //------------------------------------------------------------------------------
 350 void vvToolRigidReg::ResetTransform()
 351 {
 352   SetTransform(mInitialMatrix);
 353 }
 354 //------------------------------------------------------------------------------
 355
 356 //------------------------------------------------------------------------------
 357 void vvToolRigidReg::SetTransform(vtkMatrix4x4 *matrix)
 358 {
 359   vtkSmartPointer<vtkTransform> transform=vtkSmartPointer<vtkTransform>::New();
 360   // TODO SR and BP: check on the list of transforms and not the first only
 361   mCurrentSlicerManager->GetImage()->GetTransform()[0]->SetMatrix(matrix);
 362   transform->Update();
 363   Render();
 364   dynamic_cast<vvMainWindow*>(mMainWindow)->ImageInfoChanged();
 365
 366   // Compute parameters from transfer using itk Euler transform
 367   itk::Euler3DTransform<double>::CenterType center;
 368   center[0] = Xval->text().toDouble();
 369   center[1] = Yval->text().toDouble();
 370   center[2] = Zval->text().toDouble();
 371   itk::Euler3DTransform<double>::MatrixType rotMat;
 372   itk::Euler3DTransform<double>::OutputVectorType transVec;
 373   for(int i=0; i<3; i++) {
 374     transVec[i] = matrix->GetElement(i,3);
 375     for(int j=0; j<3; j++)
 376       rotMat[i][j] = matrix->GetElement(i,j);
 377   }
 378   itk::Euler3DTransform<double>::Pointer euler;
 379   euler = itk::Euler3DTransform<double>::New();
 380   euler->SetCenter(center);
 381   try {
 382     euler->SetMatrix(rotMat,0.00001);
 383   } catch (itk::ExceptionObject) {
 384     QString warning = "The matrice is a non-orthogonal rotation matrix.\nThe manual registration doesn't work.";
 385     QMessageBox msgBox(QMessageBox::Warning, tr("Reset transform"),warning, 0, this);
 386     msgBox.addButton(tr("OK"), QMessageBox::AcceptRole);
 387     if (msgBox.exec() == QMessageBox::AcceptRole) {
 388         //SetTransform(mInitialMatrix);
 389         vvToolWidgetBase::close();
 390     }
 391   }
 392   euler->SetOffset(transVec);
 393
 394   // Modify GUI according to the new parameters
 395   std::vector<QSlider *> transSliders, rotSliders;
 396   std::vector<QDoubleSpinBox *> transSBs, rotSBs;
 397   GetSlidersAndSpinBoxes(transSliders, rotSliders, transSBs, rotSBs);
 398   for(int i=0; i<3; i++) {
 399     // Translations
 400     transSBs[i]->blockSignals(true);
 401     transSBs[i]->setValue( euler->GetParameters()[i+3] );
 402     transSBs[i]->blockSignals(false);
 403     transSliders[i]->blockSignals(true);
 404     transSliders[i]->setValue( itk::Math::Round<double,double>(euler->GetParameters()[i+3]) );
 405     transSliders[i]->blockSignals(false);
 406
 407     // Rotations
 408     double rad = (checkBoxDegrees->checkState()==Qt::Checked)?180./itk::Math::pi:1.;
 409     double angleDiff = euler->GetParameters()[i]-rotSBs[i]->value()/rad+2*itk::Math::pi;
 410     angleDiff = angleDiff - 2*itk::Math::pi*itk::Math::Round<double,double>(angleDiff/(2*itk::Math::pi));
 411     if(abs(angleDiff)>1.e-4) {
 412       rotSBs[i]->blockSignals(true);
 413       rotSBs[i]->setValue( euler->GetParameters()[i]*rad );
 414       rotSBs[i]->blockSignals(false);
 415     }
 416     int iAngle = itk::Math::Round<int,double>(euler->GetParameters()[i]*180./itk::Math::pi);
 417     if((iAngle-rotSliders[i]->value()+360)%360!=0) {
 418       rotSliders[i]->blockSignals(true);
 419       rotSliders[i]->setValue(iAngle);
 420       rotSliders[i]->blockSignals(false);
 421     }
 422   }
 423 }
 424 //------------------------------------------------------------------------------
 425
 426 //------------------------------------------------------------------------------
 427 // Just an helper function to shorten the code with loops on sliders and spinboxes
 428 void vvToolRigidReg::GetSlidersAndSpinBoxes(std::vector<QSlider *>&transSliders, std::vector<QSlider *>&rotSliders,
 429                                             std::vector<QDoubleSpinBox *>&transSBs, std::vector<QDoubleSpinBox *>&rotSBs)
 430 {
 431   transSliders.push_back(xtrans_slider);
 432   transSliders.push_back(ytrans_slider);
 433   transSliders.push_back(ztrans_slider);
 434
 435   rotSliders.push_back(xrot_slider);
 436   rotSliders.push_back(yrot_slider);
 437   rotSliders.push_back(zrot_slider);
 438
 439   transSBs.push_back(xtrans_sb);
 440   transSBs.push_back(ytrans_sb);
 441   transSBs.push_back(ztrans_sb);
 442
 443   rotSBs.push_back(xrot_sb);
 444   rotSBs.push_back(yrot_sb);
 445   rotSBs.push_back(zrot_sb);
 446 }
 447 //------------------------------------------------------------------------------
 448
 449 //------------------------------------------------------------------------------
 450 void vvToolRigidReg::ExtentMax(const double pointExtent[8][4], double maxExtent[2][3])
 451 {
 452     double max, min;
 453     for (int i=0; i<3; ++i) {
 454         max = pointExtent[0][i];
 455         min = pointExtent[0][i];
 456         for (int j=1; j<8; ++j) {
 457             if (pointExtent[j][i] > max) {
 458                 max = pointExtent[j][i];
 459             }
 460             if (pointExtent[j][i] < min) {
 461                 min = pointExtent[j][i];
 462             }
 463         }
 464         maxExtent[0][i] = min;
 465         maxExtent[1][i] = max;
 466     }
 467 }
 468 //------------------------------------------------------------------------------
 469
 470 //------------------------------------------------------------------------------
 471 void vvToolRigidReg::Render()
 472 {
 473 for (int i=0; i<mCurrentSlicerManager->GetNumberOfSlicers(); i++) {
 474     mCurrentSlicerManager->GetSlicer(i)->ForceUpdateDisplayExtent();
 475     mCurrentSlicerManager->GetSlicer(i)->Render();
 476 }
 477 }
 478 //------------------------------------------------------------------------------
 479