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/************************************************************************
*
* Copyright (C) 2019-2023 IRCAD France
* Copyright (C) 2019-2020 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight 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 for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "module/geometry/__/point_to_landmark_vector.hpp"
#include <core/com/signal.hxx>
#include <core/com/slots.hxx>
#include <geometry/data/matrix4.hpp>
#include <glm/glm.hpp>
namespace sight::module::geometry
{
// -----------------------------------------------------------------------------
static const core::com::signals::key_t LENGTH_CHANGED_SIG = "lengthChanged";
static const core::com::signals::key_t LENGTH_STR_CHANGED_SIG = "lengthChangedStr";
static const core::com::signals::key_t SAME_SLICE_SIG = "sameSlice";
// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
point_to_landmark_vector::point_to_landmark_vector() noexcept
{
new_signal<length_changed_signal_t>(LENGTH_CHANGED_SIG);
new_signal<length_str_changed_signal_t>(LENGTH_STR_CHANGED_SIG);
new_signal<same_slice_signal_t>(SAME_SLICE_SIG);
}
// -----------------------------------------------------------------------------
point_to_landmark_vector::~point_to_landmark_vector() noexcept =
default;
// -----------------------------------------------------------------------------
void point_to_landmark_vector::starting()
{
auto computed_landmark = m_computed_landmark.lock();
computed_landmark->add_group(m_group_label);
}
// -----------------------------------------------------------------------------
void point_to_landmark_vector::stopping()
{
}
// -----------------------------------------------------------------------------
void point_to_landmark_vector::configuring()
{
const config_t configuration = this->get_config();
m_origin_label = configuration.get<std::string>("originLabel", m_origin_label);
m_end_label = configuration.get<std::string>("endLabel", m_end_label);
m_group_label = configuration.get<std::string>("computedLandmarkLabel", m_group_label);
m_tolerance = configuration.get<double>("sameAxialSliceTolerance", m_tolerance);
m_same_slice_label = configuration.get<std::string>("sameAxialSliceLabel", m_same_slice_label);
}
// -----------------------------------------------------------------------------
void point_to_landmark_vector::updating()
{
auto transform = m_transform.lock();
auto translation_matrix = m_translation_matrix.lock();
const auto landmark = m_landmark.lock();
std::array<double, 3> source_point {};
std::array<double, 3> target_point {};
if(landmark->get_group(m_origin_label).m_size >= 1)
{
source_point = landmark->get_point(m_origin_label, 0);
}
if(landmark->get_group(m_end_label).m_size >= 1)
{
target_point = landmark->get_point(m_end_label, 0);
}
if(std::abs(source_point[2] - target_point[2]) < m_tolerance)
{
this->signal<same_slice_signal_t>(SAME_SLICE_SIG)->async_emit(m_same_slice_label + ": Yes");
}
else
{
this->signal<same_slice_signal_t>(SAME_SLICE_SIG)->async_emit(m_same_slice_label + ": No");
}
// Compute the vector and put the result in the translation part of the matrix.
const glm::dvec3 source_pt(source_point[0], source_point[1], source_point[2]);
const glm::dvec3 target_pt(target_point[0], target_point[1], target_point[2]);
const glm::dvec3 point_to_target = target_pt - source_pt;
const auto length = static_cast<float>(glm::length(point_to_target));
this->signal<length_changed_signal_t>(LENGTH_CHANGED_SIG)->async_emit(length);
const std::string length_str = std::to_string(length) + " mm";
this->signal<length_str_changed_signal_t>(LENGTH_STR_CHANGED_SIG)->async_emit(length_str);
glm::dmat4x4 point_to_target_mat(1.0);
const glm::dvec3 front = glm::normalize(point_to_target);
// compute an orthogonal vector to front ( vec(a,b,c) --> vecOrtho(-b,a,0))
glm::dvec3 up = glm::dvec3(-front[1], front[0], 0);
const glm::dvec3 right = glm::normalize(cross(up, front));
up = glm::cross(front, right);
point_to_target_mat[0] = glm::dvec4(right, 0.0);
point_to_target_mat[1] = glm::dvec4(up, 0.0);
point_to_target_mat[2] = glm::dvec4(front, 0.0);
point_to_target_mat[3] = glm::dvec4(source_pt, 1.0);
sight::geometry::data::from_glm_mat(*transform, point_to_target_mat);
auto sig = transform->signal<data::object::modified_signal_t>(data::object::MODIFIED_SIG);
sig->async_emit();
// Create the computed landmark containing the position of the target point
auto computed_landmark = m_computed_landmark.lock();
if(computed_landmark->get_group(m_group_label).m_size > 0)
{
computed_landmark->clear_points(m_group_label);
}
computed_landmark->add_point(m_group_label, target_point);
auto sig1 = computed_landmark->signal<data::landmarks::point_added_signal_t>(data::landmarks::POINT_ADDED_SIG);
sig1->async_emit(m_group_label);
(*translation_matrix)(0, 3) = point_to_target[0];
(*translation_matrix)(1, 3) = point_to_target[1];
(*translation_matrix)(2, 3) = point_to_target[2];
auto sig2 = translation_matrix->signal<data::object::modified_signal_t>(data::object::MODIFIED_SIG);
sig2->async_emit();
}
// -----------------------------------------------------------------------------
service::connections_t point_to_landmark_vector::auto_connections() const
{
return {{LANDMARK_INPUT, data::landmarks::POINT_ADDED_SIG, service::slots::UPDATE}};
}
// -----------------------------------------------------------------------------
} // namespace sight::module::geometry
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