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Commit 96989be92f00bcf52490d63b6316dd88d4c89176

Authored by okahilak
Committed by GitHub
1 parent 75b09af5
Exists in master

CLP: Move ICP class to its own file (icp.py) (#356) 

* CLP: Move ICP class to its own file (icp.py)

* CLP: Remove unused imports from task_navigator.py
Showing 2 changed files with 81 additions and 67 deletions   Show diff stats
invesalius/gui/task_navigator.py
  Diff comments   View file @96989be
... ... @@ -19,11 +19,7 @@
19 19  
20 20 from functools import partial
21 21 import csv
22   -import os
23   -import queue
24   -import sys
25 22 import time
26   -import threading
27 23  
28 24 import nibabel as nb
29 25 import numpy as np
... ... @@ -35,10 +31,8 @@ except ImportError:
35 31 import wx
36 32  
37 33 try:
38   - import wx.lib.agw.hyperlink as hl
39 34 import wx.lib.agw.foldpanelbar as fpb
40 35 except ImportError:
41   - import wx.lib.hyperlink as hl
42 36 import wx.lib.foldpanelbar as fpb
43 37  
44 38 import wx.lib.colourselect as csel
... ... @@ -47,24 +41,19 @@ from invesalius.pubsub import pub as Publisher
47 41 from time import sleep
48 42  
49 43 import invesalius.constants as const
50   -import invesalius.data.bases as db
51 44  
52 45 if has_trekker:
53 46 import invesalius.data.brainmesh_handler as brain
54 47  
55   -import invesalius.data.coordinates as dco
56   -import invesalius.data.coregistration as dcr
57   -import invesalius.data.serial_port_connection as spc
58 48 import invesalius.data.slice_ as sl
59   -import invesalius.data.trackers as dt
60 49 import invesalius.data.tractography as dti
61   -import invesalius.data.transformations as tr
62 50 import invesalius.data.record_coords as rec
63 51 import invesalius.data.vtk_utils as vtk_utils
64 52 import invesalius.gui.dialogs as dlg
65 53 import invesalius.project as prj
66 54 from invesalius import utils
67 55 from invesalius.gui import utils as gui_utils
  56 +from invesalius.navigation.icp import ICP
68 57 from invesalius.navigation.navigation import Navigation
69 58 from invesalius.navigation.tracker import Tracker
70 59  
... ... @@ -317,61 +306,6 @@ class InnerFoldPanel(wx.Panel):
317 306 Publisher.sendMessage('Update volume camera state', camera_state=self.checkcamera.GetValue())
318 307  
319 308  
320   -class ICP():
321   - def __init__(self):
322   - self.use_icp = False
323   - self.m_icp = None
324   - self.icp_fre = None
325   -
326   - def StartICP(self, navigation, tracker):
327   - ref_mode_id = navigation.GetReferenceMode()
328   -
329   - if not self.use_icp:
330   - if dlg.ICPcorregistration(navigation.fre):
331   - Publisher.sendMessage('Stop navigation')
332   - use_icp, self.m_icp = self.OnICP(navigation, tracker, navigation.m_change)
333   - if use_icp:
334   - self.icp_fre = db.calculate_fre(tracker.tracker_fiducials_raw, navigation.all_fiducials,
335   - ref_mode_id, navigation.m_change, self.m_icp)
336   - self.SetICP(navigation, use_icp)
337   - else:
338   - print("ICP canceled")
339   - Publisher.sendMessage('Start navigation')
340   -
341   - def OnICP(self, navigation, tracker, m_change):
342   - ref_mode_id = navigation.GetReferenceMode()
343   -
344   - dialog = dlg.ICPCorregistrationDialog(nav_prop=(m_change, tracker.tracker_id, tracker.trk_init, ref_mode_id))
345   -
346   - if dialog.ShowModal() == wx.ID_OK:
347   - m_icp, point_coord, transformed_points, prev_error, final_error = dialog.GetValue()
348   - # TODO: checkbox in the dialog to transfer the icp points to 3D viewer
349   - #create markers
350   - # for i in range(len(point_coord)):
351   - # img_coord = point_coord[i][0],-point_coord[i][1],point_coord[i][2], 0, 0, 0
352   - # transf_coord = transformed_points[i][0],-transformed_points[i][1],transformed_points[i][2], 0, 0, 0
353   - # Publisher.sendMessage('Create marker', coord=img_coord, marker_id=None, colour=(1,0,0))
354   - # Publisher.sendMessage('Create marker', coord=transf_coord, marker_id=None, colour=(0,0,1))
355   - if m_icp is not None:
356   - dlg.ReportICPerror(prev_error, final_error)
357   - use_icp = True
358   - else:
359   - use_icp = False
360   -
361   - return use_icp, m_icp
362   -
363   - else:
364   - return self.use_icp, self.m_icp
365   -
366   - def SetICP(self, navigation, use_icp):
367   - self.use_icp = use_icp
368   - navigation.icp_queue.put_nowait([self.use_icp, self.m_icp])
369   -
370   - def ResetICP(self):
371   - self.use_icp = False
372   - self.m_icp = None
373   - self.icp_fre = None
374   -
375 309 class NeuronavigationPanel(wx.Panel):
376 310 def __init__(self, parent, tracker, pedal_connection):
377 311 wx.Panel.__init__(self, parent)
... ...
invesalius/navigation/icp.py 0 → 100644
  Diff comments   View file @96989be
... ... @@ -0,0 +1,80 @@
  1 +#--------------------------------------------------------------------------
  2 +# Software: InVesalius - Software de Reconstrucao 3D de Imagens Medicas
  3 +# Copyright: (C) 2001 Centro de Pesquisas Renato Archer
  4 +# Homepage: http://www.softwarepublico.gov.br
  5 +# Contact: invesalius@cti.gov.br
  6 +# License: GNU - GPL 2 (LICENSE.txt/LICENCA.txt)
  7 +#--------------------------------------------------------------------------
  8 +# Este programa e software livre; voce pode redistribui-lo e/ou
  9 +# modifica-lo sob os termos da Licenca Publica Geral GNU, conforme
  10 +# publicada pela Free Software Foundation; de acordo com a versao 2
  11 +# da Licenca.
  12 +#
  13 +# Este programa eh distribuido na expectativa de ser util, mas SEM
  14 +# QUALQUER GARANTIA; sem mesmo a garantia implicita de
  15 +# COMERCIALIZACAO ou de ADEQUACAO A QUALQUER PROPOSITO EM
  16 +# PARTICULAR. Consulte a Licenca Publica Geral GNU para obter mais
  17 +# detalhes.
  18 +#--------------------------------------------------------------------------
  19 +
  20 +import wx
  21 +
  22 +import invesalius.data.bases as db
  23 +import invesalius.gui.dialogs as dlg
  24 +from invesalius.pubsub import pub as Publisher
  25 +
  26 +
  27 +class ICP():
  28 + def __init__(self):
  29 + self.use_icp = False
  30 + self.m_icp = None
  31 + self.icp_fre = None
  32 +
  33 + def StartICP(self, navigation, tracker):
  34 + ref_mode_id = navigation.GetReferenceMode()
  35 +
  36 + if not self.use_icp:
  37 + if dlg.ICPcorregistration(navigation.fre):
  38 + Publisher.sendMessage('Stop navigation')
  39 + use_icp, self.m_icp = self.OnICP(navigation, tracker, navigation.m_change)
  40 + if use_icp:
  41 + self.icp_fre = db.calculate_fre(tracker.tracker_fiducials_raw, navigation.all_fiducials,
  42 + ref_mode_id, navigation.m_change, self.m_icp)
  43 + self.SetICP(navigation, use_icp)
  44 + else:
  45 + print("ICP canceled")
  46 + Publisher.sendMessage('Start navigation')
  47 +
  48 + def OnICP(self, navigation, tracker, m_change):
  49 + ref_mode_id = navigation.GetReferenceMode()
  50 +
  51 + dialog = dlg.ICPCorregistrationDialog(nav_prop=(m_change, tracker.tracker_id, tracker.trk_init, ref_mode_id))
  52 +
  53 + if dialog.ShowModal() == wx.ID_OK:
  54 + m_icp, point_coord, transformed_points, prev_error, final_error = dialog.GetValue()
  55 + # TODO: checkbox in the dialog to transfer the icp points to 3D viewer
  56 + #create markers
  57 + # for i in range(len(point_coord)):
  58 + # img_coord = point_coord[i][0],-point_coord[i][1],point_coord[i][2], 0, 0, 0
  59 + # transf_coord = transformed_points[i][0],-transformed_points[i][1],transformed_points[i][2], 0, 0, 0
  60 + # Publisher.sendMessage('Create marker', coord=img_coord, marker_id=None, colour=(1,0,0))
  61 + # Publisher.sendMessage('Create marker', coord=transf_coord, marker_id=None, colour=(0,0,1))
  62 + if m_icp is not None:
  63 + dlg.ReportICPerror(prev_error, final_error)
  64 + use_icp = True
  65 + else:
  66 + use_icp = False
  67 +
  68 + return use_icp, m_icp
  69 +
  70 + else:
  71 + return self.use_icp, self.m_icp
  72 +
  73 + def SetICP(self, navigation, use_icp):
  74 + self.use_icp = use_icp
  75 + navigation.icp_queue.put_nowait([self.use_icp, self.m_icp])
  76 +
  77 + def ResetICP(self):
  78 + self.use_icp = False
  79 + self.m_icp = None
  80 + self.icp_fre = None
... ...