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@@ -33,7 +33,7 @@ class SeekTransformModuleWidget(ScriptedLoadableModuleWidget):
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# Dropdown menu za izbiro metode
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self.rotationMethodComboBox = qt.QComboBox()
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- self.rotationMethodComboBox.addItems(["Kabsch", "Horn", "Quaternion"])
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+ self.rotationMethodComboBox.addItems(["Kabsch", "Horn"])
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self.layout.addWidget(self.rotationMethodComboBox)
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# Load button
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@@ -215,47 +215,8 @@ class MyTransformModuleLogic(ScriptedLoadableModuleLogic):
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return Rotate_optimal
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- def compute_Horn_rotation(moving_points, fixed_points):
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- """
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- Computes the optimal rotation matrix using Horn's method.
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- Parameters:
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- moving_points (list or ndarray): List of points to be rotated, CBCT
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- fixed_points (list or ndarray): List of reference points, CT
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-
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- Returns:
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- ndarray: Optimal rotation matrix.
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- """
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- assert len(moving_points) == len(fixed_points), "Point lists must be the same length."
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-
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- moving = np.array(moving_points)
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- fixed = np.array(fixed_points)
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-
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- # Compute centroids
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- centroid_moving = np.mean(moving, axis=0)
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- centroid_fixed = np.mean(fixed, axis=0)
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-
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- # Center the points
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- moving_centered = moving - centroid_moving
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- fixed_centered = fixed - centroid_fixed
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-
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- # Compute cross-dispersion matrix
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- H = np.dot(moving_centered.T, fixed_centered)
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-
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- # Compute SVD of H
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- U, _, Vt = np.linalg.svd(H)
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-
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- # Compute rotation matrix
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- R = np.dot(Vt.T, U.T)
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-
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- # Ensure a proper rotation (avoid reflection)
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- if np.linalg.det(R) < 0:
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- Vt[-1, :] *= -1
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- R = np.dot(Vt.T, U.T)
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-
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- return R
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-
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- def compute_quaternion_rotation(moving_points, fixed_points):
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+ def compute_Horn_rotation(moving_points, fixed_points):
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"""
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Computes the optimal rotation matrix using quaternions.
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@@ -428,7 +389,7 @@ class MyTransformModuleLogic(ScriptedLoadableModuleLogic):
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# print("Translation Vector:\n", quaternion_translation_vector)
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# Izberi metodo glede na uporabnikov izbor
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- if selectedMethod == "SVD":
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+ if selectedMethod == "Kabsch":
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chosen_rotation_matrix = compute_Kabsch_rotation(cbct_points, ct_points)
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chosen_translation_vector = compute_translation(cbct_points, ct_points, chosen_rotation_matrix)
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print("\nKabsch Method:")
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@@ -440,12 +401,12 @@ class MyTransformModuleLogic(ScriptedLoadableModuleLogic):
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print("\nHorn Method:")
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print("Rotation Matrix:\n", chosen_rotation_matrix)
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print("Translation Vector:\n", chosen_translation_vector)
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- elif selectedMethod == "Quaternion":
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- chosen_rotation_matrix = compute_quaternion_rotation(cbct_points, ct_points)
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- chosen_translation_vector = compute_translation(cbct_points, ct_points, chosen_rotation_matrix)
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- print("\nQuaternion Method:")
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- print("Rotation Matrix:\n", chosen_rotation_matrix)
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- print("Translation Vector:\n", chosen_translation_vector)
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+ # elif selectedMethod == "Quaternion":
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+ # chosen_rotation_matrix = compute_quaternion_rotation(cbct_points, ct_points)
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+ # chosen_translation_vector = compute_translation(cbct_points, ct_points, chosen_rotation_matrix)
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+ # print("\nQuaternion Method:")
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+ # print("Rotation Matrix:\n", chosen_rotation_matrix)
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+ # print("Translation Vector:\n", chosen_translation_vector)
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imeTransformNoda = cbct_volume_name + " Transform"
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# Ustvari vtkTransformNode in ga poveži z CBCT volumenom
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Luka