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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 @@ @@ -19,11 +19,7 @@
19 19
20 from functools import partial 20 from functools import partial
21 import csv 21 import csv
22 -import os  
23 -import queue  
24 -import sys  
25 import time 22 import time
26 -import threading  
27 23
28 import nibabel as nb 24 import nibabel as nb
29 import numpy as np 25 import numpy as np
@@ -35,10 +31,8 @@ except ImportError: @@ -35,10 +31,8 @@ except ImportError:
35 import wx 31 import wx
36 32
37 try: 33 try:
38 - import wx.lib.agw.hyperlink as hl  
39 import wx.lib.agw.foldpanelbar as fpb 34 import wx.lib.agw.foldpanelbar as fpb
40 except ImportError: 35 except ImportError:
41 - import wx.lib.hyperlink as hl  
42 import wx.lib.foldpanelbar as fpb 36 import wx.lib.foldpanelbar as fpb
43 37
44 import wx.lib.colourselect as csel 38 import wx.lib.colourselect as csel
@@ -47,24 +41,19 @@ from invesalius.pubsub import pub as Publisher @@ -47,24 +41,19 @@ from invesalius.pubsub import pub as Publisher
47 from time import sleep 41 from time import sleep
48 42
49 import invesalius.constants as const 43 import invesalius.constants as const
50 -import invesalius.data.bases as db  
51 44
52 if has_trekker: 45 if has_trekker:
53 import invesalius.data.brainmesh_handler as brain 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 import invesalius.data.slice_ as sl 48 import invesalius.data.slice_ as sl
59 -import invesalius.data.trackers as dt  
60 import invesalius.data.tractography as dti 49 import invesalius.data.tractography as dti
61 -import invesalius.data.transformations as tr  
62 import invesalius.data.record_coords as rec 50 import invesalius.data.record_coords as rec
63 import invesalius.data.vtk_utils as vtk_utils 51 import invesalius.data.vtk_utils as vtk_utils
64 import invesalius.gui.dialogs as dlg 52 import invesalius.gui.dialogs as dlg
65 import invesalius.project as prj 53 import invesalius.project as prj
66 from invesalius import utils 54 from invesalius import utils
67 from invesalius.gui import utils as gui_utils 55 from invesalius.gui import utils as gui_utils
  56 +from invesalius.navigation.icp import ICP
68 from invesalius.navigation.navigation import Navigation 57 from invesalius.navigation.navigation import Navigation
69 from invesalius.navigation.tracker import Tracker 58 from invesalius.navigation.tracker import Tracker
70 59
@@ -317,61 +306,6 @@ class InnerFoldPanel(wx.Panel): @@ -317,61 +306,6 @@ class InnerFoldPanel(wx.Panel):
317 Publisher.sendMessage('Update volume camera state', camera_state=self.checkcamera.GetValue()) 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 class NeuronavigationPanel(wx.Panel): 309 class NeuronavigationPanel(wx.Panel):
376 def __init__(self, parent, tracker, pedal_connection): 310 def __init__(self, parent, tracker, pedal_connection):
377 wx.Panel.__init__(self, parent) 311 wx.Panel.__init__(self, parent)
invesalius/navigation/icp.py 0 → 100644
  Diff comments   View file @96989be
@@ -0,0 +1,80 @@ @@ -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