Download as
Browse Code »

Commit e2f228d400ee5f53e893678e82155f42def18136

Authored by Renan Matsuda
1 parent 121e33b4
Exists in master

Fixed for obj correg

Showing 3 changed files with 17 additions and 8 deletions   Show diff stats
invesalius/data/coregistration.py
  Diff comments   View file @e2f228d
... ... @@ -105,7 +105,7 @@ def tracker_to_image(m_change, m_probe_ref, r_obj_img, m_obj_raw, s0_dyn):
105 105 return m_img
106 106  
107 107  
108   -def corregistrate_object_dynamic(inp, coord_raw, ref_mode_id):
  108 +def corregistrate_object_dynamic(inp, coord_raw, ref_mode_id, icp):
109 109  
110 110 m_change, obj_ref_mode, t_obj_raw, s0_raw, r_s0_raw, s0_dyn, m_obj_raw, r_obj_img = inp
111 111  
... ... @@ -120,6 +120,8 @@ def corregistrate_object_dynamic(inp, coord_raw, ref_mode_id):
120 120 m_probe_ref[2, -1] = -m_probe_ref[2, -1]
121 121 # corregistrate from tracker to image space
122 122 m_img = tracker_to_image(m_change, m_probe_ref, r_obj_img, m_obj_raw, s0_dyn)
  123 + if icp[0]:
  124 + m_img = bases.transform_icp(m_img, icp[1])
123 125 # compute rotation angles
124 126 _, _, angles, _, _ = tr.decompose_matrix(m_img)
125 127 # create output coordiante list
... ... @@ -169,7 +171,7 @@ def corregistrate_dynamic(inp, coord_raw, ref_mode_id, icp):
169 171  
170 172  
171 173 class CoordinateCorregistrate(threading.Thread):
172   - def __init__(self, ref_mode_id, trck_info, coreg_data, coord_queue, view_tracts, coord_tracts_queue, event, sle):
  174 + def __init__(self, ref_mode_id, trck_info, coreg_data, coord_queue, view_tracts, coord_tracts_queue, event, sle, icp_queue):
173 175 threading.Thread.__init__(self, name='CoordCoregObject')
174 176 self.ref_mode_id = ref_mode_id
175 177 self.trck_info = trck_info
... ... @@ -179,8 +181,9 @@ class CoordinateCorregistrate(threading.Thread):
179 181 self.coord_tracts_queue = coord_tracts_queue
180 182 self.event = event
181 183 self.sle = sle
  184 + self.icp_queue = icp_queue
  185 + self.icp = None
182 186 self.m_icp = None
183   - self.icp = False
184 187  
185 188 def run(self):
186 189 trck_info = self.trck_info
... ... @@ -191,9 +194,13 @@ class CoordinateCorregistrate(threading.Thread):
191 194 # print('CoordCoreg: event {}'.format(self.event.is_set()))
192 195 while not self.event.is_set():
193 196 try:
  197 + if self.icp_queue.empty():
  198 + None
  199 + else:
  200 + self.icp, self.m_icp = self.icp_queue.get_nowait()
194 201 # print(f"Set the coordinate")
195 202 coord_raw = dco.GetCoordinates(trck_init, trck_id, trck_mode)
196   - coord, m_img = corregistrate_object_dynamic(coreg_data, coord_raw, self.ref_mode_id)
  203 + coord, m_img = corregistrate_object_dynamic(coreg_data, coord_raw, self.ref_mode_id, [self.icp, self.m_icp])
197 204 m_img_flip = m_img.copy()
198 205 m_img_flip[1, -1] = -m_img_flip[1, -1]
199 206 # self.pipeline.set_message(m_img_flip)
... ... @@ -209,6 +216,9 @@ class CoordinateCorregistrate(threading.Thread):
209 216 if self.view_tracts:
210 217 self.coord_tracts_queue.put_nowait(m_img_flip)
211 218  
  219 + if not self.icp_queue.empty():
  220 + self.icp_queue.task_done()
  221 +
212 222 # The sleep has to be in both threads
213 223 sleep(self.sle)
214 224 except queue.Full:
... ... @@ -244,14 +254,13 @@ class CoordinateCorregistrateNoObject(threading.Thread):
244 254 else:
245 255 self.icp, self.m_icp = self.icp_queue.get_nowait()
246 256 # print(f"Set the coordinate")
247   - print(self.icp, self.m_icp)
  257 + #print(self.icp, self.m_icp)
248 258 coord_raw = dco.GetCoordinates(trck_init, trck_id, trck_mode)
249 259 coord, m_img = corregistrate_dynamic(coreg_data, coord_raw, self.ref_mode_id, [self.icp, self.m_icp])
250 260 # print("Coord: ", coord)
251 261 m_img_flip = m_img.copy()
252 262 m_img_flip[1, -1] = -m_img_flip[1, -1]
253 263  
254   - #print(icp)
255 264 if self.icp:
256 265 m_img = bases.transform_icp(m_img, self.m_icp)
257 266  
... ...
invesalius/gui/dialogs.py
  Diff comments   View file @e2f228d
... ... @@ -850,7 +850,7 @@ def ShowNavigationTrackerWarning(trck_id, lib_mode):
850 850 dlg.Destroy()
851 851  
852 852 def ICPcorregistration(fre):
853   - msg = _("The fiducial registration error is: ") + str(round(fre, 2)) + '\n' + \
  853 + msg = _("The fiducial registration error is: ") + str(round(fre, 2)) + '\n\n' + \
854 854 _("Would you like to improve accuracy?")
855 855 if sys.platform == 'darwin':
856 856 dlg = wx.MessageDialog(None, "", msg,
... ...
invesalius/gui/task_navigator.py
  Diff comments   View file @e2f228d
... ... @@ -809,7 +809,7 @@ class NeuronavigationPanel(wx.Panel):
809 809  
810 810 jobs_list.append(dcr.CoordinateCorregistrate(self.ref_mode_id, tracker_mode, coreg_data, self.coord_queue,
811 811 self.view_tracts, self.coord_tracts_queue,
812   - self.event, self.sleep_nav))
  812 + self.event, self.sleep_nav, self.icp_queue))
813 813  
814 814 else:
815 815 coreg_data = (m_change, 0)
... ...