diff --git a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp index 0b17c2563c..1839dd4d7f 100644 --- a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp +++ b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp @@ -1,1028 +1,1068 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ // Blueberry #include #include // Qmitk #include "QmitkIGTTrackingLabView.h" #include "QmitkStdMultiWidget.h" #include #include #include #include #include #include #include #include #include #include #include #include // Qt #include #include const std::string QmitkIGTTrackingLabView::VIEW_ID = "org.mitk.views.igttrackinglab"; QmitkIGTTrackingLabView::QmitkIGTTrackingLabView() : QmitkFunctionality() ,m_Source(NULL) ,m_FiducialRegistrationFilter(NULL) ,m_PermanentRegistrationFilter(NULL) ,m_Visualizer(NULL) ,m_VirtualView(NULL) ,m_PSRecordingPointSet(NULL) ,m_RegistrationTrackingFiducialsName("Tracking Fiducials") ,m_RegistrationImageFiducialsName("Image Fiducials") ,m_PointSetRecordingDataNodeName("Recorded Points") ,m_PointSetRecording(false) ,m_ImageFiducialsDataNode(NULL) ,m_TrackerFiducialsDataNode(NULL) ,m_PermanentRegistrationSourcePoints(NULL) { //[-1;0;0] for WOLF_6D bronchoscope m_DirectionOfProjectionVector[0]=0; m_DirectionOfProjectionVector[1]=0; m_DirectionOfProjectionVector[2]=-1;} QmitkIGTTrackingLabView::~QmitkIGTTrackingLabView() { } void QmitkIGTTrackingLabView::CreateQtPartControl( QWidget *parent ) { // create GUI widgets from the Qt Designer's .ui file m_Controls.setupUi( parent ); m_ToolBox = m_Controls.m_ToolBox; this->CreateBundleWidgets( parent ); this->CreateConnections(); } void QmitkIGTTrackingLabView::CreateBundleWidgets( QWidget* parent ) { //initialize configuration widget //m_NDIConfigWidget = m_Controls.m_NDIConfigWidget; //m_NDIConfigWidget->SetToolTypes(QStringList () << "Instrument" << "Fiducial" << "Skinmarker" << "Unknown" ); //initialize registration widget m_RegistrationWidget = m_Controls.m_RegistrationWidget; m_RegistrationWidget->HideStaticRegistrationRadioButton(true); m_RegistrationWidget->HideContinousRegistrationRadioButton(true); m_RegistrationWidget->HideUseICPRegistrationCheckbox(true); - //initialize permanent registration widget - m_PermanentRegistrationToolSelectionWidget = m_Controls.m_PermanentRegistrationToolSelectionWidget; - m_PermanentRegistrationToolSelectionWidget->SetCheckboxtText("Use this tool for permanent registration"); - - //create widget for pointset recording m_Controls.m_PointSetRecordingLayout->addWidget(this->CreatePointSetRecordingWidget(parent)); //initialize virtual view tab m_VirtualViewToolSelectionWidget = m_Controls.m_VirtualViewToolSelectionWidget; m_VirtualViewToolSelectionWidget->SetCheckboxtText("Enable Virtual Camera"); //initialize tracking status widget m_ToolStatusWidget = m_Controls.m_ToolStatusWidget; //initialize update timer m_RenderingTimerWidget = m_Controls.m_RenderingTimerWidget; m_RenderingTimerWidget->SetPurposeLabelText(QString("Navigation")); m_RenderingTimerWidget->SetTimerInterval( 50 ); // set rendering timer at 20Hz (updating every 50msec) } void QmitkIGTTrackingLabView::CreateConnections() { connect( m_ToolBox, SIGNAL(currentChanged(int)), this, SLOT(OnToolBoxCurrentChanged(int)) ); //connect( m_NDIConfigWidget, SIGNAL(Connected()), m_RenderingTimerWidget, SLOT(EnableWidget()) ); /*connect( m_NDIConfigWidget, SIGNAL(Disconnected()), this, SLOT(OnTrackerDisconnected()) ); connect( m_NDIConfigWidget, SIGNAL(Connected()), this, SLOT(OnSetupNavigation()) ); connect( m_NDIConfigWidget, SIGNAL(SignalToolNameChanged(int, QString)), this, SLOT(OnChangeToolName(int, QString)) ); connect( m_NDIConfigWidget, SIGNAL(SignalLoadTool(int, mitk::DataNode::Pointer)), this, SLOT(OnToolLoaded(int, mitk::DataNode::Pointer)) ); connect( m_NDIConfigWidget, SIGNAL(ToolsAdded(QStringList)), this, SLOT(OnToolsAdded(QStringList)) ); connect( m_NDIConfigWidget, SIGNAL(RepresentationChanged( int ,mitk::Surface::Pointer )), this, SLOT(ChangeToolRepresentation( int, mitk::Surface::Pointer )));*/ connect( m_Controls.m_TrackingDeviceSelectionWidget, SIGNAL(NavigationDataSourceSelected(mitk::NavigationDataSource::Pointer)), m_RenderingTimerWidget, SLOT(EnableWidget()) ); connect( m_Controls.m_TrackingDeviceSelectionWidget, SIGNAL(NavigationDataSourceSelected(mitk::NavigationDataSource::Pointer)), this, SLOT(OnSetupNavigation()) ); + connect( m_Controls.m_UseAsPointerButton, SIGNAL(clicked()), this, SLOT(OnInstrumentSelected()) ); + connect( m_Controls.m_UseAsObjectmarkerButton, SIGNAL(clicked()), this, SLOT(OnObjectmarkerSelected()) ); + + + + connect( m_RegistrationWidget, SIGNAL(AddedTrackingFiducial()), this, SLOT(OnAddRegistrationTrackingFiducial()) ); connect( m_RegistrationWidget, SIGNAL(PerformFiducialRegistration()), this, SLOT(OnRegisterFiducials()) ); connect( m_RenderingTimerWidget, SIGNAL(Started()), this, SLOT(OnStartNavigation()) ); connect( m_RenderingTimerWidget, SIGNAL(Stopped()), this, SLOT(OnStopNavigation()) ); - connect( m_VirtualViewToolSelectionWidget, SIGNAL(SignalUseTool(int, bool)), this, SLOT(OnVirtualCamera(int, bool))); + //TODO + //connect( m_VirtualViewToolSelectionWidget, SIGNAL(SignalUseTool(int, bool)), this, SLOT(OnVirtualCamera(int, bool))); - connect( m_PermanentRegistrationToolSelectionWidget, SIGNAL(SignalUseTool(int, bool)), this, SLOT(OnPermanentRegistration(int, bool)) ); - } void QmitkIGTTrackingLabView::OnAddRegistrationTrackingFiducial() { mitk::DataStorage* ds = this->GetDefaultDataStorage(); // check if DataStorage available if(ds == NULL) throw std::invalid_argument("DataStorage is not available"); if (m_FiducialRegistrationFilter.IsNull()) { std::string message( "IGT Pipeline is not ready. Please 'Start Navigation' before adding points"); QMessageBox::warning(NULL, "Adding Fiducials not possible", message.c_str()); return; } if (m_FiducialRegistrationFilter->GetNumberOfOutputs() < 1 || m_FiducialRegistrationFilter->GetNumberOfInputs() < 1) { std::string message("There are no tracking instruments! Please add an instrument first!"); QMessageBox::warning(NULL, "Adding Fiducials not possible", message.c_str()); return; } if (m_FiducialRegistrationFilter->GetInput()->IsDataValid() == false) { std::string message("instrument can currently not be tracked. Please make sure that the instrument is visible to the tracker"); QMessageBox::warning(NULL, "Adding Fiducials not possible", message.c_str()); return; } - mitk::NavigationData::Pointer nd = m_Source->GetOutput(0); + mitk::NavigationData::Pointer nd = m_InstrumentNavigationData; if( nd.IsNull() || !nd->IsDataValid()) QMessageBox::warning( 0, "Invalid tracking data", "Navigation data is not available or invalid!", QMessageBox::Ok ); // in case the tracker fiducials datanode has been renamed or removed //if(trackerFiducialsPS.IsNull()) //{ // mitk::DataNode::Pointer trackerFiducialsDN = mitk::DataNode::New(); // trackerFiducialsDN->SetName(m_RegistrationTrackingFiducialsName); // trackerFiducialsPS = mitk::PointSet::New(); // trackerFiducialsDN->SetData(trackerFiducialsPS); // m_RegistrationWidget->SetTrackerFiducialsNode(trackerFiducialsDN); //} if(m_TrackerFiducialsDataNode.IsNotNull() && m_TrackerFiducialsDataNode->GetData() != NULL) { mitk::PointSet::Pointer ps = dynamic_cast(m_TrackerFiducialsDataNode->GetData()); ps->InsertPoint(ps->GetSize(), nd->GetPosition()); } else QMessageBox::warning(NULL, "IGTSurfaceTracker: Error", "Can not access Tracker Fiducials. Adding fiducial not possible!"); } +void QmitkIGTTrackingLabView::OnInstrumentSelected() +{ + if (m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedNavigationDataSource().IsNotNull()) + { + m_InstrumentNavigationData = m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedNavigationDataSource()->GetOutput(m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedToolID()); + } + else + { + m_Controls.m_PointerNameLabel->setText(""); + return; + } + + if (m_InstrumentNavigationData.IsNotNull()) + { + m_Controls.m_PointerNameLabel->setText(m_InstrumentNavigationData->GetName()); + } + else + { + m_Controls.m_PointerNameLabel->setText(""); + } +} + +void QmitkIGTTrackingLabView::OnObjectmarkerSelected() +{ + +if (m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedNavigationDataSource().IsNotNull()) + { + m_ObjectmarkerNavigationData = m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedNavigationDataSource()->GetOutput(m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedToolID()); + } + else + { + m_Controls.m_ObjectmarkerNameLabel->setText(""); + return; + } + + if (m_ObjectmarkerNavigationData.IsNotNull()) + { + m_Controls.m_ObjectmarkerNameLabel->setText(m_ObjectmarkerNavigationData->GetName()); + } + else + { + m_Controls.m_ObjectmarkerNameLabel->setText(""); + } +} + void QmitkIGTTrackingLabView::OnSetupNavigation() { MITK_INFO << "SetupNavigationCalled"; if(m_Source.IsNotNull()) if(m_Source->IsTracking()) return; mitk::DataStorage* ds = this->GetDefaultDataStorage(); if(ds == NULL) { QMessageBox::warning(NULL, "IGTSurfaceTracker: Error", "can not access DataStorage. Navigation not possible"); return; } // Building up the filter pipeline try { this->SetupIGTPipeline(); } catch(std::exception& e) { QMessageBox::warning(NULL, QString("IGTSurfaceTracker: Error"), QString("Error while building the IGT-Pipeline: %1").arg(e.what())); this->DestroyIGTPipeline(); // destroy the pipeline if building is incomplete return; } catch(...) { QMessageBox::warning(NULL, QString("IGTSurfaceTracker: Error"), QString("Error while building the IGT-Pipeline")); this->DestroyIGTPipeline(); return; } } void QmitkIGTTrackingLabView::SetupIGTPipeline() { mitk::DataStorage* ds = this->GetDefaultDataStorage(); // check if DataStorage is available if(ds == NULL) throw std::invalid_argument("DataStorage is not available"); //Get selected source m_Source = dynamic_cast(m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedNavigationDataSource().GetPointer()); if (m_Source.IsNull()) {mitkThrow() << "Error: no tracking device";} this->InitializeFilters(); // initialize all needed filters for (unsigned int i=0; i < m_Source->GetNumberOfOutputs(); ++i) { m_FiducialRegistrationFilter->SetInput(i, m_Source->GetOutput(i)); // set input for registration filter m_Visualizer->SetInput(i, m_FiducialRegistrationFilter->GetOutput(i)); // set input for visualization filter } for(unsigned int i= 0; i < m_Visualizer->GetNumberOfOutputs(); ++i) { const char* toolName = m_Source->GetOutput(i)->GetName(); mitk::DataNode::Pointer representation = this->CreateInstrumentVisualization(this->GetDefaultDataStorage(), toolName); m_PSRecToolSelectionComboBox->addItem(QString(toolName)); - m_PermanentRegistrationToolSelectionWidget->AddToolName(QString(toolName)); m_VirtualViewToolSelectionWidget->AddToolName(QString(toolName)); m_Visualizer->SetRepresentationObject(i, representation->GetData()); } if(m_Source->GetTrackingDevice()->GetToolCount() > 0) m_RenderingTimerWidget->setEnabled(true); mitk::RenderingManager::GetInstance()->RequestUpdateAll(mitk::RenderingManager::REQUEST_UPDATE_ALL); this->GlobalReinit(); } void QmitkIGTTrackingLabView::InitializeFilters() { //1. Fiducial Registration Filters m_FiducialRegistrationFilter = mitk::NavigationDataLandmarkTransformFilter::New(); // filter used for initial fiducial registration //2. Visualization Filter m_Visualizer = mitk::NavigationDataObjectVisualizationFilter::New(); // filter to display NavigationData m_PermanentRegistrationFilter = mitk::NavigationDataLandmarkTransformFilter::New(); //3. Virtual Camera m_VirtualView = mitk::CameraVisualization::New(); // filter to update the vtk camera according to the reference navigation data m_VirtualView->SetRenderer(mitk::BaseRenderer::GetInstance(this->GetActiveStdMultiWidget()->mitkWidget4->GetRenderWindow())); mitk::Vector3D viewUpInToolCoordinatesVector; viewUpInToolCoordinatesVector[0]=1; viewUpInToolCoordinatesVector[1]=0; viewUpInToolCoordinatesVector[2]=0; m_VirtualView->SetDirectionOfProjectionInToolCoordinates(m_DirectionOfProjectionVector); m_VirtualView->SetFocalLength(5000.0); m_VirtualView->SetViewUpInToolCoordinates(viewUpInToolCoordinatesVector); } void QmitkIGTTrackingLabView::OnRegisterFiducials( ) { /* filter pipeline can only be build, if source and visualization filters exist */ if (m_Source.IsNull() || m_Visualizer.IsNull() || m_FiducialRegistrationFilter.IsNull()) { QMessageBox::warning(NULL, "Registration not possible", "Navigation pipeline is not ready. Please (re)start the navigation"); return; } if (m_Source->IsTracking() == false) { QMessageBox::warning(NULL, "Registration not possible", "Registration only possible if navigation is running"); return; } /* retrieve fiducials from data storage */ mitk::DataStorage* ds = this->GetDefaultDataStorage(); mitk::PointSet::Pointer imageFiducials = dynamic_cast(m_ImageFiducialsDataNode->GetData()); mitk::PointSet::Pointer trackerFiducials = dynamic_cast(m_TrackerFiducialsDataNode->GetData()); //mitk::PointSet::Pointer imageFiducials = ds->GetNamedObject(m_RegistrationImageFiducialsName.c_str()); //mitk::PointSet::Pointer trackerFiducials = ds->GetNamedObject(m_RegistrationTrackingFiducialsName.c_str()); if (imageFiducials.IsNull() || trackerFiducials.IsNull()) { QMessageBox::warning(NULL, "Registration not possible", "Fiducial data objects not found. \n" "Please set 3 or more fiducials in the image and with the tracking system.\n\n" "Registration is not possible"); return; } unsigned int minFiducialCount = 3; // \Todo: move to view option if ((imageFiducials->GetSize() < minFiducialCount) || (trackerFiducials->GetSize() < minFiducialCount) || (imageFiducials->GetSize() != trackerFiducials->GetSize())) { QMessageBox::warning(NULL, "Registration not possible", QString("Not enough fiducial pairs found. At least %1 fiducial must " "exist for the image and the tracking system respectively.\n" "Currently, %2 fiducials exist for the image, %3 fiducials exist for the tracking system").arg(minFiducialCount).arg(imageFiducials->GetSize()).arg(trackerFiducials->GetSize())); return; } /* now we have two PointSets with enough points to perform a landmark based transform */ if ( m_RegistrationWidget->UseICPIsChecked() ) m_FiducialRegistrationFilter->UseICPInitializationOn(); else m_FiducialRegistrationFilter->UseICPInitializationOff(); m_FiducialRegistrationFilter->SetSourceLandmarks(trackerFiducials); m_FiducialRegistrationFilter->SetTargetLandmarks(imageFiducials); if (m_FiducialRegistrationFilter.IsNotNull() && m_FiducialRegistrationFilter->IsInitialized()) // update registration quality display { QString registrationQuality = QString("%0: FRE is %1mm (Std.Dev. %2), \n" "RMS error is %3mm,\n" "Minimum registration error (best fitting landmark) is %4mm,\n" "Maximum registration error (worst fitting landmark) is %5mm.") .arg("Fiducial Registration") .arg(m_FiducialRegistrationFilter->GetFRE(), 3, 'f', 3) .arg(m_FiducialRegistrationFilter->GetFREStdDev(), 3, 'f', 3) .arg(m_FiducialRegistrationFilter->GetRMSError(), 3, 'f', 3) .arg(m_FiducialRegistrationFilter->GetMinError(), 3, 'f', 3) .arg(m_FiducialRegistrationFilter->GetMaxError(), 3, 'f', 3); m_RegistrationWidget->SetQualityDisplayText(registrationQuality); } //trackerFiducials->Clear(); //this->GlobalReinit(); } void QmitkIGTTrackingLabView::OnTrackerDisconnected() { m_RenderingTimerWidget->DisableWidget(); this->DestroyInstrumentVisualization(this->GetDefaultDataStorage(), m_NDIConfigWidget->GetTracker()); } mitk::DataNode::Pointer QmitkIGTTrackingLabView::CreateInstrumentVisualization(mitk::DataStorage* ds, const char* toolName) { //const char* toolName = tracker->GetTool(i)->GetToolName(); mitk::DataNode::Pointer toolRepresentationNode; toolRepresentationNode = ds->GetNamedNode(toolName); // check if node with same name already exists if(toolRepresentationNode.IsNotNull()) ds->Remove(toolRepresentationNode); // remove old node with same name toolRepresentationNode = this->CreateConeRepresentation( toolName ); // m_Visualizer->SetRepresentationObject(i, toolRepresentationNode->GetData()); ds->Add(toolRepresentationNode); // adds node to data storage return toolRepresentationNode; } mitk::DataNode::Pointer QmitkIGTTrackingLabView::CreateConeRepresentation( const char* label ) { //new data mitk::Cone::Pointer activeToolData = mitk::Cone::New(); vtkConeSource* vtkData = vtkConeSource::New(); vtkData->SetRadius(7.5); vtkData->SetHeight(15.0); vtkData->SetDirection(m_DirectionOfProjectionVector[0],m_DirectionOfProjectionVector[1],m_DirectionOfProjectionVector[2]); vtkData->SetCenter(0.0, 0.0, 7.5); vtkData->SetResolution(20); vtkData->CappingOn(); vtkData->Update(); activeToolData->SetVtkPolyData(vtkData->GetOutput()); vtkData->Delete(); //new node mitk::DataNode::Pointer coneNode = mitk::DataNode::New(); coneNode->SetData(activeToolData); coneNode->GetPropertyList()->SetProperty("name", mitk::StringProperty::New( label )); coneNode->GetPropertyList()->SetProperty("layer", mitk::IntProperty::New(0)); coneNode->GetPropertyList()->SetProperty("visible", mitk::BoolProperty::New(true)); coneNode->SetColor(1.0,0.0,0.0); coneNode->SetOpacity(0.85); coneNode->Modified(); return coneNode; } void QmitkIGTTrackingLabView::DestroyIGTPipeline() { if(m_Source.IsNotNull()) { m_Source->StopTracking(); m_Source->Disconnect(); m_Source = NULL; } m_FiducialRegistrationFilter = NULL; m_PermanentRegistrationFilter = NULL; m_Visualizer = NULL; m_VirtualView = NULL; } void QmitkIGTTrackingLabView::OnChangeToolName(int index, QString name) { if(m_Source.IsNull()) return; mitk::DataStorage* ds = this->GetDefaultDataStorage(); if(ds == NULL) { QMessageBox::warning(NULL,"DataStorage Access Error", "Could not access DataStorage. Tool Name can not be changed!"); return; } mitk::NavigationData::Pointer tempND = m_Source->GetOutput(index); if(tempND.IsNull()) return; const char* oldName = tempND->GetName(); mitk::DataNode::Pointer tempNode = ds->GetNamedNode(oldName); if(tempNode.IsNotNull()) { tempNode->SetName(name.toStdString().c_str()); tempND->SetName(name.toStdString().c_str()); } else QMessageBox::warning(NULL, "Rename Tool Error", "Couldn't find the corresponding tool for changing it's name!"); } void QmitkIGTTrackingLabView::OnToolLoaded(int index, mitk::DataNode::Pointer toolNode) { if(m_Source.IsNull() || m_Visualizer.IsNull()) return; mitk::DataStorage* ds = this->GetDefaultDataStorage(); if(ds == NULL) { QMessageBox::warning(NULL,"DataStorage Access Error", "Could not access DataStorage. Loaded tool representation can not be shown!"); return; } mitk::NavigationData::Pointer tempND = m_Source->GetOutput(index); if(tempND.IsNull()) return; // try to find DataNode for tool in DataStorage const char* toolName = tempND->GetName(); mitk::DataNode::Pointer tempNode = ds->GetNamedNode(toolName); if(tempNode.IsNull()) { tempNode = mitk::DataNode::New(); // create new node, if none was found ds->Add(tempNode); } tempNode->SetData(toolNode->GetData()); tempNode->SetName(toolNode->GetName()); m_PSRecToolSelectionComboBox->setItemText(index,toolNode->GetName().c_str()); m_VirtualViewToolSelectionWidget->ChangeToolName(index, QString(toolNode->GetName().c_str())); - m_PermanentRegistrationToolSelectionWidget->ChangeToolName(index, QString(toolNode->GetName().c_str())); m_Visualizer->SetRepresentationObject(index, tempNode->GetData()); m_Visualizer->Update(); tempNode->Modified(); this->GlobalReinit(); } void QmitkIGTTrackingLabView::OnStartNavigation() { if(m_Source.IsNull()) { QMessageBox::warning(NULL, "IGTTrackingLab: Error", "can not access tracking source. Navigation not possible"); return; } if(!m_Source->IsTracking()) { m_Source->StartTracking(); try { m_RenderingTimerWidget->GetTimerInterval(); this->StartContinuousUpdate(); // start tracker with set interval for(unsigned int i = 0; i < m_Source->GetNumberOfOutputs(); i++) // add navigation data to bundle widgets { m_ToolStatusWidget->AddNavigationData(dynamic_cast(m_Source->GetOutputs().at(i).GetPointer())); } m_ToolStatusWidget->ShowStatusLabels(); // show status for every tool if ND is valid or not //m_IGTPlayerWidget->setEnabled(true); } catch(...) { //m_IGTPlayerWidget->setDisabled(true); this->StopContinuousUpdate(); this->DestroyIGTPipeline(); return; } m_NDIConfigWidget->EnableAddToolsButton(false); } } void QmitkIGTTrackingLabView::StopContinuousUpdate() { if (this->m_RenderingTimerWidget->GetUpdateTimer() != NULL) { m_RenderingTimerWidget->StopTimer(); disconnect( (QTimer*) m_RenderingTimerWidget->GetUpdateTimer(), SIGNAL(timeout()), this, SLOT(RenderScene()) ); // disconnect timer from RenderScene() method } if(m_PointSetRecordPushButton) m_PointSetRecordPushButton->setDisabled(true); } void QmitkIGTTrackingLabView::RenderScene( ) { try { if (m_Visualizer.IsNull() || this->GetActiveStdMultiWidget() == NULL) return; try { if(m_Source.IsNotNull() && m_Source->IsTracking()) m_ToolStatusWidget->Refresh(); if(m_VirtualViewToolSelectionWidget->IsSelectedToolActivated()) { m_VirtualView->Update(); mitk::Point3D p = m_Visualizer->GetOutput(m_VirtualViewToolSelectionWidget->GetCurrentSelectedIndex())->GetPosition(); this->GetActiveStdMultiWidget()->MoveCrossToPosition(p); } - if(m_PermanentRegistrationToolSelectionWidget->IsSelectedToolActivated() && m_PermanentRegistrationToolSelectionWidget->GetCurrentSelectedIndex() >= 0 ) - { - mitk::NavigationData::Pointer permRegTool = m_Source->GetOutput((unsigned int) m_PermanentRegistrationToolSelectionWidget->GetCurrentSelectedIndex()); + mitk::NavigationData::Pointer permRegTool = this->m_ObjectmarkerNavigationData; - m_PermanentRegistrationFilter->SetSourceLandmarks(this->GetVirtualPointSetFromPosition(permRegTool)); - } + m_PermanentRegistrationFilter->SetSourceLandmarks(this->GetVirtualPointSetFromPosition(permRegTool)); + if(m_PointSetRecording && m_PSRecordingPointSet.IsNotNull()) { int size = m_PSRecordingPointSet->GetSize(); mitk::NavigationData::Pointer nd= m_Visualizer->GetOutput(m_PSRecToolSelectionComboBox->currentIndex()); if(size > 0) { mitk::Point3D p = m_PSRecordingPointSet->GetPoint(size-1); if(p.EuclideanDistanceTo(nd->GetPosition()) > (double) m_PSRecordingSpinBox->value()) m_PSRecordingPointSet->InsertPoint(size, nd->GetPosition()); } else m_PSRecordingPointSet->InsertPoint(size, nd->GetPosition()); } } catch(std::exception& e) { MITK_WARN << "Exception during QmitkIGTTrackingLab::RenderScene():" << e.what() << "\n"; } //if(m_VirtualViewCheckBox->isChecked()) // mitk::RenderingManager::GetInstance()->RequestUpdateAll(mitk::RenderingManager::REQUEST_UPDATE_ALL); ////update all Widgets //else m_Visualizer->Update(); mitk::RenderingManager::GetInstance()->RequestUpdateAll(mitk::RenderingManager::REQUEST_UPDATE_ALL); } catch (std::exception& e) { MITK_WARN << "RenderAll exception: " << e.what() << "\n"; } catch (...) { MITK_WARN << "RenderAll unknown exception\n"; } } void QmitkIGTTrackingLabView::StartContinuousUpdate( ) { if (m_Source.IsNull() || m_Visualizer.IsNull() ) throw std::invalid_argument("Pipeline is not set up correctly"); if (m_RenderingTimerWidget->GetUpdateTimer() == NULL) return; else { connect( (QTimer*) m_RenderingTimerWidget->GetUpdateTimer(), SIGNAL(timeout()), this, SLOT(RenderScene()) ); // connect update timer to RenderScene() method } if(m_PointSetRecordPushButton) m_PointSetRecordPushButton->setEnabled(true); } void QmitkIGTTrackingLabView::OnStopNavigation() { if(m_Source.IsNull()) { QMessageBox::warning(NULL, "IGTSurfaceTracker: Error", "can not access tracking source. Navigation not possible"); return; } if(m_Source->IsTracking()) { m_Source->StopTracking(); this->StopContinuousUpdate(); m_ToolStatusWidget->RemoveStatusLabels(); m_NDIConfigWidget->EnableAddToolsButton(true); } } void QmitkIGTTrackingLabView::OnToolsAdded(QStringList toolsList) { if(m_Source.IsNull() || m_FiducialRegistrationFilter.IsNull() || m_Visualizer.IsNull()) return; m_Source->UpdateOutputInformation(); unsigned int nrOfOldOutputs = m_Visualizer->GetNumberOfOutputs(); for(unsigned int i = nrOfOldOutputs; i < m_Source->GetNumberOfOutputs(); ++i) { m_FiducialRegistrationFilter->SetInput(i, m_Source->GetOutput(i)); m_Visualizer->SetInput(i, m_FiducialRegistrationFilter->GetOutput(i)); } for(unsigned int j = nrOfOldOutputs; j < m_Visualizer->GetNumberOfOutputs(); ++j) { mitk::DataNode::Pointer representation = this->CreateInstrumentVisualization(this->GetDefaultDataStorage(), m_Source->GetTrackingDevice()->GetTool(j)->GetToolName()); m_PSRecToolSelectionComboBox->addItem(QString(m_Source->GetTrackingDevice()->GetTool(j)->GetToolName())); - m_PermanentRegistrationToolSelectionWidget->AddToolName(QString(m_Source->GetTrackingDevice()->GetTool(j)->GetToolName())); m_VirtualViewToolSelectionWidget->AddToolName(QString(m_Source->GetTrackingDevice()->GetTool(j)->GetToolName())); m_Visualizer->SetRepresentationObject(j, representation->GetData()); } if(m_Source->GetTrackingDevice()->GetToolCount() > 0) m_RenderingTimerWidget->setEnabled(true); mitk::RenderingManager::GetInstance()->RequestUpdateAll(mitk::RenderingManager::REQUEST_UPDATE_ALL); this->GlobalReinit(); //mitk::RenderingManager::GetInstance()->RequestUpdateAll(mitk::RenderingManager::REQUEST_UPDATE_ALL); } void QmitkIGTTrackingLabView::InitializeRegistration() { mitk::DataStorage* ds = this->GetDefaultDataStorage(); if( ds == NULL ) return; m_RegistrationWidget->SetMultiWidget(this->GetActiveStdMultiWidget()); // passing multiwidget to pointsetwidget if(m_ImageFiducialsDataNode.IsNull()) { m_ImageFiducialsDataNode = mitk::DataNode::New(); mitk::PointSet::Pointer ifPS = mitk::PointSet::New(); m_ImageFiducialsDataNode->SetData(ifPS); mitk::Color color; color.Set(1.0f, 0.0f, 0.0f); m_ImageFiducialsDataNode->SetName(m_RegistrationImageFiducialsName); m_ImageFiducialsDataNode->SetColor(color); m_ImageFiducialsDataNode->SetBoolProperty( "updateDataOnRender", false ); ds->Add(m_ImageFiducialsDataNode); } m_RegistrationWidget->SetMultiWidget(this->GetActiveStdMultiWidget()); m_RegistrationWidget->SetImageFiducialsNode(m_ImageFiducialsDataNode); if(m_TrackerFiducialsDataNode.IsNull()) { m_TrackerFiducialsDataNode = mitk::DataNode::New(); mitk::PointSet::Pointer tfPS = mitk::PointSet::New(); m_TrackerFiducialsDataNode->SetData(tfPS); mitk::Color color; color.Set(0.0f, 1.0f, 0.0f); m_TrackerFiducialsDataNode->SetName(m_RegistrationTrackingFiducialsName); m_TrackerFiducialsDataNode->SetColor(color); m_TrackerFiducialsDataNode->SetBoolProperty( "updateDataOnRender", false ); ds->Add(m_TrackerFiducialsDataNode); } m_RegistrationWidget->SetTrackerFiducialsNode(m_TrackerFiducialsDataNode); } void QmitkIGTTrackingLabView::OnToolBoxCurrentChanged(const int index) { switch (index) { case RegistrationWidget: this->InitializeRegistration(); break; default: break; } } mitk::DataNode::Pointer QmitkIGTTrackingLabView::CreateRegistrationFiducialsNode( const std::string& label, const mitk::Color& color) { mitk::DataNode::Pointer fiducialsNode = mitk::DataNode::New(); mitk::PointSet::Pointer fiducialsPointSet = mitk::PointSet::New(); fiducialsNode->SetData(fiducialsPointSet); fiducialsNode->SetName( label ); fiducialsNode->SetColor( color ); fiducialsNode->SetBoolProperty( "updateDataOnRender", false ); return fiducialsNode; } void QmitkIGTTrackingLabView::ChangeToolRepresentation( int toolID , mitk::Surface::Pointer surface ) { mitk::DataStorage* ds = this->GetDefaultDataStorage(); if(ds == NULL) { QMessageBox::warning(NULL, "IGTSurfaceTracker: Error", "Can not access DataStorage. Changing tool representation not possible!"); return; } mitk::TrackingDevice::Pointer tracker = m_NDIConfigWidget->GetTracker(); if(tracker.IsNull()) { QMessageBox::warning(NULL, "IGTSurfaceTracker: Error", "Can not access Tracker. Changing tool representation not possible!"); return; } try { const char* name = tracker->GetTool(toolID)->GetToolName(); // get tool name by id mitk::DataNode::Pointer toolNode = ds->GetNamedNode(name); if(toolNode.IsNull()) return; toolNode->SetData(surface); // change surface representation of node toolNode->SetColor(0.45,0.70,0.85); //light blue like old 5D sensors toolNode->Modified(); m_Visualizer->SetRepresentationObject( toolID, toolNode->GetData()); // updating node with changed surface back in visualizer mitk::RenderingManager::GetInstance()->RequestUpdateAll(); } catch(std::exception& e) { QMessageBox::warning(NULL, QString("IGTSurfaceTracker: Error"), QString("Can not change tool representation!").arg(e.what())); return; } } QWidget* QmitkIGTTrackingLabView::CreatePointSetRecordingWidget(QWidget* parent) { QWidget* pointSetRecordingWidget = new QWidget(parent); m_PSRecToolSelectionComboBox = new QComboBox(pointSetRecordingWidget); m_PSRecordingSpinBox = new QSpinBox(pointSetRecordingWidget); QLabel* psRecordingEpsilonDistance = new QLabel("mm (point distance)", pointSetRecordingWidget); // the recording button m_PointSetRecordPushButton = new QPushButton("Start PointSet Recording", pointSetRecordingWidget); m_PointSetRecordPushButton->setDisabled(true); m_PointSetRecordPushButton->setIcon(QIcon(":/QmitkQmitkIGTTrackingLabView/start_rec.png")); m_PointSetRecordPushButton->setCheckable(true); connect( m_PointSetRecordPushButton, SIGNAL(toggled(bool)), this, SLOT(OnPointSetRecording(bool)) ); // distances spin m_PSRecordingSpinBox->setValue(1); m_PSRecordingSpinBox->setMinimum(1); m_PSRecordingSpinBox->setMaximum(20); QLabel* toolSelectLabel = new QLabel("Select tool for recording:", pointSetRecordingWidget); QGridLayout* layout = new QGridLayout(pointSetRecordingWidget); int row = 0; int col = 0; layout->addWidget(toolSelectLabel,row,col++,1,1,Qt::AlignRight); layout->addWidget(m_PSRecToolSelectionComboBox,row,col++,1,3,Qt::AlignLeft); col +=2; layout->addWidget(m_PSRecordingSpinBox,row,col++,1,1,Qt::AlignRight); layout->addWidget(psRecordingEpsilonDistance, row, col++,1,1,Qt::AlignLeft); row++; col=4; layout->addWidget(m_PointSetRecordPushButton,row,col++,1,2,Qt::AlignRight); return pointSetRecordingWidget; } void QmitkIGTTrackingLabView::OnPointSetRecording(bool record) { mitk::DataStorage* ds = this->GetDefaultDataStorage(); if(ds == NULL) return; if(record) { mitk::DataNode::Pointer psRecND = ds->GetNamedNode(m_PointSetRecordingDataNodeName); if(m_PSRecordingPointSet.IsNull() || psRecND.IsNull()) { m_PSRecordingPointSet = NULL; m_PSRecordingPointSet = mitk::PointSet::New(); mitk::DataNode::Pointer dn = mitk::DataNode::New(); dn->SetName(m_PointSetRecordingDataNodeName); dn->SetColor(0.,1.,0.); dn->SetData(m_PSRecordingPointSet); ds->Add(dn); } else m_PSRecordingPointSet->Clear(); m_PointSetRecording = true; m_PointSetRecordPushButton->setText("Stop PointSet Recording"); m_PSRecToolSelectionComboBox->setDisabled(true); } else { m_PointSetRecording = false; m_PointSetRecordPushButton->setText("Start PointSet Recording"); m_PSRecToolSelectionComboBox->setEnabled(true); } } void QmitkIGTTrackingLabView::DestroyInstrumentVisualization(mitk::DataStorage* ds, mitk::TrackingDevice::Pointer tracker) { if(ds == NULL || tracker.IsNull()) return; for(int i=0; i < tracker->GetToolCount(); ++i) { mitk::DataNode::Pointer dn = ds->GetNamedNode(tracker->GetTool(i)->GetToolName()); if(dn.IsNotNull()) ds->Remove(dn); } } void QmitkIGTTrackingLabView::GlobalReinit() { // request global reiinit mitk::NodePredicateNot::Pointer pred = mitk::NodePredicateNot::New(mitk::NodePredicateProperty::New("includeInBoundingBox", mitk::BoolProperty::New(false))); mitk::DataStorage::SetOfObjects::ConstPointer rs = this->GetDataStorage()->GetSubset(pred); // calculate bounding geometry of these nodes mitk::TimeSlicedGeometry::Pointer bounds = this->GetDataStorage()->ComputeBoundingGeometry3D(rs, "visible"); // initialize the views to the bounding geometry mitk::RenderingManager::GetInstance()->InitializeViews(bounds); //global reinit end } void QmitkIGTTrackingLabView::OnVirtualCamera(int toolNr, bool on) { if(m_VirtualView.IsNull() || m_FiducialRegistrationFilter.IsNull()) return; if(on) { m_VirtualView->SetInput(m_FiducialRegistrationFilter->GetOutput(toolNr)); this->GetActiveStdMultiWidget()->SetWidgetPlaneModeToRotation(true); } else this->GetActiveStdMultiWidget()->SetWidgetPlaneModeToSlicing(true); } void QmitkIGTTrackingLabView::OnPermanentRegistration(int toolID, bool on) { if (m_PermanentRegistrationFilter.IsNull() || m_FiducialRegistrationFilter.IsNull()) return; if(on) { if(m_PermanentRegistrationSourcePoints.IsNull()) m_PermanentRegistrationSourcePoints = mitk::PointSet::New(); // interconnectiong permanent registration filter between tracking source and fiducial registration filter for(unsigned int i=0; i < m_Source->GetNumberOfOutputs(); ++i) { m_PermanentRegistrationFilter->SetInput(i,m_Source->GetOutput(i)); m_FiducialRegistrationFilter->SetInput(i,m_PermanentRegistrationFilter->GetOutput(i)); } mitk::NavigationData::Pointer nd = m_Source->GetOutput((unsigned int) toolID); m_PermanentRegistrationFilter->SetTargetLandmarks(this->GetVirtualPointSetFromPosition(nd)); } else { for(unsigned int i=0; i < m_FiducialRegistrationFilter->GetNumberOfOutputs(); ++i) m_FiducialRegistrationFilter->SetInput(i,m_Source->GetOutput()); } } mitk::PointSet::Pointer QmitkIGTTrackingLabView::GetVirtualPointSetFromPosition(mitk::NavigationData::Pointer navigationData) { typedef itk::QuaternionRigidTransform QuaternionTransformType; mitk::NavigationData::PositionType pointA; mitk::NavigationData::PositionType pointB; mitk::NavigationData::PositionType pointC; //initializing three points with position(0|0|0) pointA.Fill(0); pointB.Fill(0); pointC.Fill(0); // changing position off all points in order to make them orthogonal pointA[0] = 1; pointB[1] = 1; pointC[2] = 1; QuaternionTransformType::Pointer quatTransform = QuaternionTransformType::New(); // orientation of NavigationData from parameter mitk::NavigationData::OrientationType quatIn = navigationData->GetOrientation(); // set orientation to quaternion transform vnl_quaternion const vnlQuatIn(quatIn.x(), quatIn.y(), quatIn.z(), quatIn.r()); quatTransform->SetRotation(vnlQuatIn); // transform each point pointA = quatTransform->TransformPoint(pointA); pointB = quatTransform->TransformPoint(pointB); pointC = quatTransform->TransformPoint(pointC); // add position data from NavigationData parameter to each point pointA[0] += navigationData->GetPosition()[0]; pointA[1] += navigationData->GetPosition()[1]; pointA[2] += navigationData->GetPosition()[2]; pointB[0] += navigationData->GetPosition()[0]; pointB[1] += navigationData->GetPosition()[1]; pointB[2] += navigationData->GetPosition()[2]; pointC[0] += navigationData->GetPosition()[0]; pointC[1] += navigationData->GetPosition()[1]; pointC[2] += navigationData->GetPosition()[2]; // insert points in source points pointset for the permanent registration landmark transform m_PermanentRegistrationSourcePoints->InsertPoint(0,pointA); m_PermanentRegistrationSourcePoints->InsertPoint(1,pointB); m_PermanentRegistrationSourcePoints->InsertPoint(2,pointC); return m_PermanentRegistrationSourcePoints; } diff --git a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.h b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.h index db4c0f6fdd..e7df762bca 100644 --- a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.h +++ b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.h @@ -1,267 +1,274 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #ifndef QmitkIGTTrackingLabView_h #define QmitkIGTTrackingLabView_h #include #include #include "ui_QmitkIGTTrackingLabViewControls.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include class QmitkNDIConfigurationWidget; class QmitkFiducialRegistrationWidget; class QmitkUpdateTimerWidget; class QmitkToolSelectionWidget; class QmitkToolTrackingStatusWidget; /*! \brief QmitkIGTTrackingLabView \warning This class is not yet documented. Use "git blame" and ask the author to provide basic documentation. \sa QmitkFunctionality \ingroup ${plugin_target}_internal */ class QmitkIGTTrackingLabView : public QmitkFunctionality { // this is needed for all Qt objects that should have a Qt meta-object // (everything that derives from QObject and wants to have signal/slots) Q_OBJECT public: static const std::string VIEW_ID; /** \brief default constructor */ QmitkIGTTrackingLabView(); /** \brief default destructor */ virtual ~QmitkIGTTrackingLabView(); virtual void CreateQtPartControl(QWidget *parent); protected slots: /** \brief This method adds a new fiducial to the tracker fiducials PointSet. */ void OnAddRegistrationTrackingFiducial(); /** \brief This method calls the fiducial registration. */ void OnRegisterFiducials(); /** \brief This method should be called if deconnecting the tracker. */ void OnTrackerDisconnected(); /** \brief This method sets up the navigation pipeline before tracking is started. */ void OnSetupNavigation(); /** \brief This method changes the name of a specific tool. */ void OnChangeToolName(int index, QString name); /** \brief This method creates the surface representation for a tool loaded from file. */ void OnToolLoaded(int index, mitk::DataNode::Pointer toolNode); /** \brief This method starts the navigation. */ void OnStartNavigation(); /** \brief This method stops the navigation. */ void OnStopNavigation(); /** \brief This method performs the visualisation of all NavigationDatas and performs the PointSet recording if activated. */ void RenderScene(); /** \brief This method should be called if new tools have been added to the tracking device. */ void OnToolsAdded(QStringList toolsList); /** \brief This method reacts on toolbox item changes. */ void OnToolBoxCurrentChanged(int index); /** \brief This method initializes the registration for the FiducialRegistrationWidget. */ void InitializeRegistration(); /** \brief This method reacts on tool surface changes. */ void ChangeToolRepresentation( int toolID , mitk::Surface::Pointer surface ); /** \brief This method starts the PointSet recording. */ void OnPointSetRecording(bool record); /** \brief This method activates the virtual camera. */ void OnVirtualCamera(int toolNr, bool on); /** \brief This method activates the permanent registration based on one tool's position. */ void OnPermanentRegistration(int toolID, bool on); + + void OnInstrumentSelected(); + + void OnObjectmarkerSelected(); protected: enum ToolBoxElement // enums for the different ToolBox item tabs. { NDIConfigurationWidget = 0, RegistrationWidget = 1, PermanentRecording = 2, PointSetRecording = 3, VirtualCamera = 4 }; Ui::QmitkIGTTrackingLabViewControls m_Controls; /** \brief This method creates all widgets this bundle needs. */ void CreateBundleWidgets( QWidget* parent ); /** \brief This method creates the SIGNAL SLOT connections. */ void CreateConnections(); /** \brief This method sets up the filter pipeline. */ void SetupIGTPipeline(); /** \brief This method initializes all needed filters. */ void InitializeFilters(); /** \brief This method destroys the filter pipeline. */ void DestroyIGTPipeline(); /** \brief This method starts the continuos update of the tracking device and the rendering. */ void StartContinuousUpdate(); /** \brief This method stops the continuos update of the tracking device and the rendering. */ void StopContinuousUpdate(); /** \brief This method creates a DataNode for fiducial PointSets. */ mitk::DataNode::Pointer CreateRegistrationFiducialsNode( const std::string& label, const mitk::Color& color); /** \brief This method creates the visualization for all connected instruments. */ mitk::DataNode::Pointer CreateInstrumentVisualization(mitk::DataStorage* ds, const char* toolName); // create 3D models for all connected tools /** \brief This method creates a DataNode of a 3D cone object. */ mitk::DataNode::Pointer CreateConeRepresentation(const char* label = ""); // create a 3D cone as representation for a tool /** \brief This method destroys the instrument visualization. */ void DestroyInstrumentVisualization(mitk::DataStorage* ds, mitk::TrackingDevice::Pointer tracker); /** \brief This method creates a widget with all input objects needed for the PointSet recording. */ QWidget* CreatePointSetRecordingWidget(QWidget* parent); /** \brief This method returns a PointSet with three vritual points transformed from the position and orientation of the given NavigationData. This method is needed to calculate the source points for permanent registration from one tool's position. */ mitk::PointSet::Pointer GetVirtualPointSetFromPosition(mitk::NavigationData::Pointer navigationData); mitk::TrackingDeviceSource::Pointer m_Source; ///< source that connects to the tracking device mitk::NavigationDataLandmarkTransformFilter::Pointer m_FiducialRegistrationFilter; ///< this filter transforms from tracking coordinates into mitk world coordinates mitk::NavigationDataLandmarkTransformFilter::Pointer m_PermanentRegistrationFilter; ///< this filter transforms from tracking coordinates into mitk world coordinates if needed it is interconnected before the FiducialEegistrationFilter mitk::NavigationDataObjectVisualizationFilter::Pointer m_Visualizer; ///< visualization filter mitk::CameraVisualization::Pointer m_VirtualView; ///< filter to update the vtk camera according to the reference navigation data mitk::Vector3D m_DirectionOfProjectionVector;///< vector for direction of projection of instruments private: QToolBox* m_ToolBox; QComboBox* m_PSRecToolSelectionComboBox; QSpinBox* m_PSRecordingSpinBox; QPushButton* m_PointSetRecordPushButton; mitk::PointSet::Pointer m_PSRecordingPointSet; QmitkNDIConfigurationWidget* m_NDIConfigWidget; // tracking device configuration widget QmitkFiducialRegistrationWidget* m_RegistrationWidget; // landmark registration widget QmitkUpdateTimerWidget* m_RenderingTimerWidget; // update timer widget for rendering and updating QmitkToolTrackingStatusWidget* m_ToolStatusWidget; // tracking status visualizer widget std::string m_RegistrationTrackingFiducialsName; std::string m_RegistrationImageFiducialsName; std::string m_PointSetRecordingDataNodeName; bool m_PointSetRecording; mitk::DataNode::Pointer m_ImageFiducialsDataNode; mitk::DataNode::Pointer m_TrackerFiducialsDataNode; QmitkToolSelectionWidget* m_PermanentRegistrationToolSelectionWidget; QmitkToolSelectionWidget* m_VirtualViewToolSelectionWidget; mitk::NavigationData::PositionType m_TargetPosition; mitk::NavigationData::OrientationType m_PermanentRegistrationInitialOrientation; mitk::PointSet::Pointer m_PermanentRegistrationSourcePoints; + mitk::NavigationData::Pointer m_InstrumentNavigationData; + mitk::NavigationData::Pointer m_ObjectmarkerNavigationData; + /** \brief This method performs GlobalReinit() for the rendering widgets. */ void GlobalReinit(); }; #endif // QmitkIGTTrackingLabView_h diff --git a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabViewControls.ui b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabViewControls.ui index f378dc983c..28ca3db8f6 100644 --- a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabViewControls.ui +++ b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabViewControls.ui @@ -1,334 +1,409 @@ QmitkIGTTrackingLabViewControls 0 0 364 1058 0 0 QmitkTemplate + + + 0 + 600 + + 0 0 0 345 - 322 + 424 Configuration - + + + + 0 + 150 + + + Selected Device Status: Qt::Horizontal 40 20 <not available> Qt::Horizontal 40 20 Start Tracking Tool Selection Pointer: Qt::Horizontal 13 20 <not selected> Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter Use selected tool Objectmarker: Qt::Horizontal 47 20 <not selected> Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter Use selected tool 0 0 342 - 343 + 445 Initial Registration 0 0 342 - 343 + 445 Permanent Registration - + + + + + Current object marker: + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + <not available> + + + + + + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt; font-style:italic;">Please fix object marker <br> on registered object.</span></p></body></html> + + + Qt::AlignCenter + + + + + + + Activate permanent registration + + + + + + + Qt::Vertical + + + + 20 + 40 + + + 0 0 342 - 343 + 445 PointSet Recording 0 0 342 - 343 + 445 Virtual Camera Qt::Vertical QSizePolicy::Expanding 20 220 QmitkFiducialRegistrationWidget QWidget
QmitkFiducialRegistrationWidget.h
1 QmitkToolSelectionWidget QWidget
QmitkToolSelectionWidget.h
1 QmitkToolTrackingStatusWidget QWidget
QmitkToolTrackingStatusWidget.h
1 QmitkUpdateTimerWidget QWidget
QmitkUpdateTimerWidget.h
1 QmitkNavigationDataSourceSelectionWidget QWidget
QmitkNavigationDataSourceSelectionWidget.h
1