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Commit fb3be70a185a1670ede4105f4e5dad4e954b9de0

Authored by rmatsuda
1 parent f6aaa89a
Exists in master

ENH: Dialog to show ICP error 

-ICP error: Mean distance between points and the closest surface
Showing 2 changed files with 57 additions and 23 deletions   Show diff stats
invesalius/gui/dialogs.py
  Diff comments   View file @fb3be70
... ... @@ -908,6 +908,18 @@ def ICPcorregistration(fre):
908 908 dlg.Destroy()
909 909 return flag
910 910  
  911 +def ReportICPerror(prev_error, final_error):
  912 + msg = _("The average error after ICP is: ") + str(round(final_error, 2)) + ' mm' + '\n\n' + \
  913 + _("The previously average error was: ") + str(round(prev_error, 2)) + ' mm'
  914 + if sys.platform == 'darwin':
  915 + dlg = wx.MessageDialog(None, "", msg,
  916 + wx.OK)
  917 + else:
  918 + dlg = wx.MessageDialog(None, msg, "InVesalius 3",
  919 + wx.OK)
  920 + dlg.ShowModal()
  921 + dlg.Destroy()
  922 +
911 923 def ShowEnterMarkerID(default):
912 924 msg = _("Edit marker ID")
913 925 if sys.platform == 'darwin':
... ... @@ -3719,6 +3731,45 @@ class ICPCorregistrationDialog(wx.Dialog):
3719 3731 m[i, j] = matrix.GetElement(i, j)
3720 3732 return m
3721 3733  
  3734 + def SetCameraVolume(self, position):
  3735 + cam_focus = np.array([position[0], -position[1], position[2]])
  3736 + cam = self.ren.GetActiveCamera()
  3737 +
  3738 + if self.initial_focus is None:
  3739 + self.initial_focus = np.array(cam.GetFocalPoint())
  3740 +
  3741 + cam_pos0 = np.array(cam.GetPosition())
  3742 + cam_focus0 = np.array(cam.GetFocalPoint())
  3743 + v0 = cam_pos0 - cam_focus0
  3744 + v0n = np.sqrt(inner1d(v0, v0))
  3745 +
  3746 + v1 = (cam_focus - self.initial_focus)
  3747 +
  3748 + v1n = np.sqrt(inner1d(v1, v1))
  3749 + if not v1n:
  3750 + v1n = 1.0
  3751 + cam_pos = (v1/v1n)*v0n + cam_focus
  3752 +
  3753 + cam.SetFocalPoint(cam_focus)
  3754 + cam.SetPosition(cam_pos)
  3755 + self.Refresh()
  3756 +
  3757 + def ErrorEstimation(self, surface, Points):
  3758 + cell_locator = vtk.vtkCellLocator()
  3759 + cell_locator.SetDataSet(surface)
  3760 + cell_locator.BuildLocator()
  3761 +
  3762 + cellId = vtk.mutable(0)
  3763 + c = [0.0, 0.0, 0.0]
  3764 + subId = vtk.mutable(0)
  3765 + d = vtk.mutable(0.0)
  3766 + error = []
  3767 + for i in range(len(Points)):
  3768 + cell_locator.FindClosestPoint(Points[i], c, cellId, subId, d)
  3769 + error.append(np.sqrt(float(d)))
  3770 +
  3771 + return np.mean(error)
  3772 +
3722 3773 def OnChoiceICPMethod(self, evt):
3723 3774 self.icp_mode = evt.GetSelection()
3724 3775  
... ... @@ -3787,29 +3838,10 @@ class ICPCorregistrationDialog(wx.Dialog):
3787 3838 actor.GetProperty().SetColor((0,1,0))
3788 3839  
3789 3840 self.ren.AddActor(actor)
3790   - self.Refresh()
3791 3841  
3792   - def SetCameraVolume(self, position):
3793   - cam_focus = np.array([position[0], -position[1], position[2]])
3794   - cam = self.ren.GetActiveCamera()
  3842 + self.prev_error = self.ErrorEstimation(self.surface, sourcePoints)
  3843 + self.final_error = self.ErrorEstimation(self.surface, self.transformed_points)
3795 3844  
3796   - if self.initial_focus is None:
3797   - self.initial_focus = np.array(cam.GetFocalPoint())
3798   -
3799   - cam_pos0 = np.array(cam.GetPosition())
3800   - cam_focus0 = np.array(cam.GetFocalPoint())
3801   - v0 = cam_pos0 - cam_focus0
3802   - v0n = np.sqrt(inner1d(v0, v0))
3803   -
3804   - v1 = (cam_focus - self.initial_focus)
3805   -
3806   - v1n = np.sqrt(inner1d(v1, v1))
3807   - if not v1n:
3808   - v1n = 1.0
3809   - cam_pos = (v1/v1n)*v0n + cam_focus
3810   -
3811   - cam.SetFocalPoint(cam_focus)
3812   - cam.SetPosition(cam_pos)
3813 3845 self.Refresh()
3814 3846  
3815 3847 def OnContinuousAcquisition(self, evt=None, btn=None):
... ... @@ -3832,7 +3864,7 @@ class ICPCorregistrationDialog(wx.Dialog):
3832 3864 self.LoadActor()
3833 3865  
3834 3866 def GetValue(self):
3835   - return self.m_icp, self.point_coord, self.transformed_points
  3867 + return self.m_icp, self.point_coord, self.transformed_points, self.prev_error, self.final_error
3836 3868  
3837 3869 class SurfaceProgressWindow(object):
3838 3870 def __init__(self):
... ...
invesalius/gui/task_navigator.py
  Diff comments   View file @fb3be70
... ... @@ -702,7 +702,9 @@ class NeuronavigationPanel(wx.Panel):
702 702 def OnICP(self):
703 703 dialog = dlg.ICPCorregistrationDialog(nav_prop=(self.tracker_id, self.trk_init, self.ref_mode_id))
704 704 if dialog.ShowModal() == wx.ID_OK:
705   - self.m_icp, point_coord, transformed_points = dialog.GetValue()
  705 + self.m_icp, point_coord, transformed_points, prev_error, final_error = dialog.GetValue()
  706 + dlg.ReportICPerror(prev_error, final_error)
  707 + #TODO: checkbox in the dialog to transfer the icp points to 3D viewer
706 708 #create markers
707 709 # for i in range(len(point_coord)):
708 710 # img_coord = point_coord[i][0],-point_coord[i][1],point_coord[i][2], 0, 0, 0
... ...