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/*****************************************************************************
* $CAMITK_LICENCE_BEGIN$
*
* CamiTK - Computer Assisted Medical Intervention ToolKit
* (c) 2001-2025 Univ. Grenoble Alpes, CNRS, Grenoble INP - UGA, TIMC, 38000 Grenoble, France
*
* Visit http://camitk.imag.fr for more information
*
* This file is part of CamiTK.
*
* CamiTK is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License version 3
* only, as published by the Free Software Foundation.
*
* CamiTK is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License version 3 for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* version 3 along with CamiTK. If not, see <http://www.gnu.org/licenses/>.
*
* $CAMITK_LICENCE_END$
****************************************************************************/
#include "Transformation.h"
#include "Log.h"
#include "FrameOfReference.h"
namespace camitk {
// -------------------- Transformation constructors --------------------
Transformation::Transformation(const std::shared_ptr<FrameOfReference>& from, const std::shared_ptr<FrameOfReference>& to, QUuid id): from(from), to(to), uuid(id), transform(vtkSmartPointer<vtkTransform>::New()) {
transform->Identity();
setName(from->getName() + " → " + to->getName());
};
Transformation::Transformation(const std::shared_ptr<FrameOfReference>& from, const std::shared_ptr<FrameOfReference>& to, vtkSmartPointer<vtkTransform> tr, QUuid id): from(from), to(to), uuid(id), transform(tr) {
setName(from->getName() + " → " + to->getName());
}
// -------------------- getInverse --------------------
Transformation* Transformation::getInverse() {
if (transform != nullptr) {
return new Transformation(to, from, vtkTransform::SafeDownCast(transform->GetInverse()));
}
else {
return nullptr;
}
}
// -------------------- getName --------------------
QString Transformation::getName() const {
return name;
}
// -------------------- setTransform --------------------
void Transformation::setTransform(vtkSmartPointer<vtkTransform> tr) {
if (transform == nullptr) {
transform = vtkSmartPointer<vtkTransform>::New();
}
// update the matrix
transform->SetMatrix(tr->GetMatrix());
}
// -------------------- setMatrix --------------------
void Transformation::setMatrix(vtkSmartPointer<vtkMatrix4x4> m) {
if (transform == nullptr) {
transform = vtkSmartPointer<vtkTransform>::New();
}
transform->SetMatrix(m);
}
// -------------------- getMatrix --------------------
vtkMatrix4x4* Transformation::getMatrix() const {
if (transform != nullptr) {
return transform->GetMatrix();
}
else {
return nullptr;
}
}
// -------------------- setUuid --------------------
bool Transformation::setUuid(QUuid id) {
if (uuid.isNull()) {
uuid = id;
return true;
}
else {
return false;
}
}
// -------------------- toVariant --------------------
QVariant Transformation::toVariant() const {
QVariantMap data = {
{"uuid", uuid},
{"name", name},
{"description", description},
{"from", from == nullptr ? QUuid() : from->getUuid()},
{"to", to == nullptr ? QUuid() : to->getUuid()}
};
data.insert("type", "linear");
auto matrix = transform->GetMatrix();
data.insert("matrix", QList<QVariant> {
QList<QVariant>{matrix->GetElement(0, 0), matrix->GetElement(0, 1), matrix->GetElement(0, 2), matrix->GetElement(0, 3)},
QList<QVariant>{matrix->GetElement(1, 0), matrix->GetElement(1, 1), matrix->GetElement(1, 2), matrix->GetElement(1, 3)},
QList<QVariant>{matrix->GetElement(2, 0), matrix->GetElement(2, 1), matrix->GetElement(2, 2), matrix->GetElement(2, 3)},
QList<QVariant>{matrix->GetElement(3, 0), matrix->GetElement(3, 1), matrix->GetElement(3, 2), matrix->GetElement(3, 3)}
});
return data;
}
// -------------------- fromVariant --------------------
void Transformation::fromVariant(const QVariant& v) {
QVariantMap data = v.toMap();
uuid = data.value("uuid").toUuid();
name = data.value("name").toString();
description = data.value("description").toString();
// WARNING: from and to are saved as uuid, it is up to the caller
// to set the from and to pointers to the correct Frames
// (e.g. in TransformationManager which has the UUID->FrameOfReference* table)
if (data.value("type").toString() == "linear") {
auto trMatrix = vtkMatrix4x4::New();
trMatrix->Identity();
QVariantList matrixRows = data.value("matrix").toList();
if (matrixRows.size() == 4) {
for (int i = 0; i < 4; ++i) {
QVariantList matrixRow = matrixRows[i].toList();
if (matrixRow.size() == 4) {
for (int j = 0; j < 4; ++j) {
trMatrix->SetElement(i, j, matrixRow[j].toDouble());
}
}
else {
CAMITK_WARNING_ALT("Invalid matrix does not have 4 columns: " + name)
}
}
}
else {
CAMITK_WARNING_ALT("Invalid matrix does not have 4 rows: " + name)
}
setMatrix(trMatrix);
}
else {
CAMITK_INFO_ALT("Nonlinear transformations are not supported")
}
}
} // namespace
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