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 cf920de9de..24b023ca14 100644 --- a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp +++ b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp @@ -1,840 +1,845 @@ /*=================================================================== 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 #include #include #include #include #include #include // Qt #include #include // vtk #include const std::string QmitkIGTTrackingLabView::VIEW_ID = "org.mitk.views.igttrackinglab"; QmitkIGTTrackingLabView::QmitkIGTTrackingLabView() : QmitkFunctionality() ,m_Source(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_PermanentRegistration(false) ,m_CameraView(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() { if (m_Timer->isActive()) m_Timer->stop(); } 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 registration widget m_RegistrationWidget = m_Controls.m_RegistrationWidget; m_RegistrationWidget->HideStaticRegistrationRadioButton(true); m_RegistrationWidget->HideContinousRegistrationRadioButton(true); m_RegistrationWidget->HideUseICPRegistrationCheckbox(true); } void QmitkIGTTrackingLabView::CreateConnections() { m_Timer = new QTimer(this); connect(m_Timer, SIGNAL(timeout()), this, SLOT(UpdateTimer())); connect( m_ToolBox, SIGNAL(currentChanged(int)), this, SLOT(OnToolBoxCurrentChanged(int)) ); connect( m_Controls.m_UsePermanentRegistrationToggle, SIGNAL(toggled(bool)), this, SLOT(OnPermanentRegistration(bool)) ); 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_Controls.m_PointSetRecordCheckBox, SIGNAL(toggled(bool)), this, SLOT(OnPointSetRecording(bool)) ); connect( m_Controls.m_ActivateNeedleView, SIGNAL(toggled(bool)), this, SLOT(OnVirtualCamera(bool)) ); //start timer m_Timer->start(30); //initialize Combo Boxes m_Controls.m_ObjectComboBox->SetDataStorage(this->GetDataStorage()); m_Controls.m_ObjectComboBox->SetAutoSelectNewItems(false); m_Controls.m_ObjectComboBox->SetPredicate(mitk::NodePredicateDataType::New("Surface")); m_Controls.m_ImageComboBox->SetDataStorage(this->GetDataStorage()); m_Controls.m_ImageComboBox->SetAutoSelectNewItems(false); m_Controls.m_ImageComboBox->SetPredicate(mitk::NodePredicateDataType::New("Image")); } void QmitkIGTTrackingLabView::UpdateTimer() { if (m_PermanentRegistration && m_PermanentRegistrationFilter.IsNotNull()) { mitk::Transform::Pointer ObjectMarkerCurrentTransform = mitk::Transform::New(m_ObjectmarkerNavigationData); if(IsTransformDifferenceHigh(ObjectMarkerCurrentTransform, m_ObjectmarkerNavigationDataLastUpdate)) { m_ObjectmarkerNavigationDataLastUpdate = mitk::Transform::New(m_ObjectmarkerNavigationData); - if(m_Controls.m_SurfaceActive->isChecked()) + + if(m_Controls.m_SurfaceActive->isChecked()) //m_PermanentRegistrationFilter->Update(); { mitk::Transform::Pointer newTransform = mitk::Transform::New(); newTransform->Concatenate(m_T_MarkerRel); newTransform->Concatenate(ObjectMarkerCurrentTransform); this->m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(newTransform->GetAffineTransform3D()); } + if(m_Controls.m_ImageActive->isChecked()) { /* mitk::AffineTransform3D::Pointer imageTransform = m_T_ImageGeo; imageTransform->Compose(newTransform->GetAffineTransform3D()); mitk::AffineTransform3D::Pointer newImageTransform = mitk::AffineTransform3D::New(); //create new image transform... setting the composed directly leads to an error itk::Matrix rotationFloatNew = imageTransform->GetMatrix(); itk::Vector translationFloatNew = imageTransform->GetOffset(); newImageTransform->SetMatrix(rotationFloatNew); newImageTransform->SetOffset(translationFloatNew); m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(newImageTransform); */ mitk::AffineTransform3D::Pointer newTransform = mitk::AffineTransform3D::New(); newTransform->SetIdentity(); newTransform->Compose(m_T_ImageGeo); newTransform->Compose(m_T_MarkerRel->GetAffineTransform3D()); newTransform->Compose(ObjectMarkerCurrentTransform->GetAffineTransform3D()); this->m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(newTransform); } } } if (m_CameraView && m_VirtualView.IsNotNull()) {m_VirtualView->Update();} if(m_PointSetRecording && m_PSRecordingPointSet.IsNotNull()) { int size = m_PSRecordingPointSet->GetSize(); mitk::NavigationData::Pointer nd = m_PointSetRecordingNavigationData; if(size > 0) { mitk::Point3D p = m_PSRecordingPointSet->GetPoint(size-1); if(p.EuclideanDistanceTo(nd->GetPosition()) > (double) m_Controls.m_PSRecordingSpinBox->value()) m_PSRecordingPointSet->InsertPoint(size, nd->GetPosition()); } else m_PSRecordingPointSet->InsertPoint(size, nd->GetPosition()); } } void QmitkIGTTrackingLabView::OnAddRegistrationTrackingFiducial() { 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 ); return; } 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() { this->InitializeRegistration(); //initializes the registration widget } void QmitkIGTTrackingLabView::InitializeFilters() { } void QmitkIGTTrackingLabView::OnRegisterFiducials() { //Check for initialization if (!CheckRegistrationInitialization()) 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()); //convert point sets to vtk poly data vtkSmartPointer sourcePoints = vtkSmartPointer::New(); vtkSmartPointer targetPoints = vtkSmartPointer::New(); for (int i=0; iGetSize(); i++) { double point[3] = {imageFiducials->GetPoint(i)[0],imageFiducials->GetPoint(i)[1],imageFiducials->GetPoint(i)[2]}; sourcePoints->InsertNextPoint(point); double point_targets[3] = {trackerFiducials->GetPoint(i)[0],trackerFiducials->GetPoint(i)[1],trackerFiducials->GetPoint(i)[2]}; targetPoints->InsertNextPoint(point_targets); } //compute transform vtkSmartPointer transform = vtkSmartPointer::New(); transform->SetSourceLandmarks(sourcePoints); transform->SetTargetLandmarks(targetPoints); transform->SetModeToRigidBody(); transform->Modified(); transform->Update(); //compute FRE double FRE = 0; for(unsigned int i = 0; i < imageFiducials->GetSize(); i++) { itk::Point transformed = transform->TransformPoint(imageFiducials->GetPoint(i)[0],imageFiducials->GetPoint(i)[1],imageFiducials->GetPoint(i)[2]); double cur_error_squared = transformed.SquaredEuclideanDistanceTo(trackerFiducials->GetPoint(i)); FRE += cur_error_squared; } FRE = sqrt(FRE/ (double) imageFiducials->GetSize()); m_Controls.m_RegistrationWidget->SetQualityDisplayText("FRE: " + QString::number(FRE) + " mm"); //convert from vtk to itk data types itk::Matrix rotationFloat = itk::Matrix(); itk::Vector translationFloat = itk::Vector(); itk::Matrix rotationDouble = itk::Matrix(); itk::Vector translationDouble = itk::Vector(); vtkSmartPointer m = transform->GetMatrix(); for(int k=0; k<3; k++) for(int l=0; l<3; l++) { rotationFloat[k][l] = m->GetElement(k,l); rotationDouble[k][l] = m->GetElement(k,l); } for(int k=0; k<3; k++) { translationFloat[k] = m->GetElement(k,3); translationDouble[k] = m->GetElement(k,3); } /*MITK_INFO << "MATRIX: "; for(int k=0; k<=3; k++) { MITK_INFO << m->GetElement(k,0) << " " << m->GetElement(k,1) << " " << m->GetElement(k,2) << " " << m->GetElement(k,3); }*/ //save transform m_T_ObjectReg = mitk::Transform::New(); m_T_ObjectReg->SetMatrix(m); //transform surface mitk::AffineTransform3D::Pointer newTransform = mitk::AffineTransform3D::New(); newTransform->SetMatrix(rotationFloat); newTransform->SetOffset(translationFloat); //transform surface if(m_Controls.m_SurfaceActive->isChecked() && m_Controls.m_ObjectComboBox->GetSelectedNode().IsNotNull()) { m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(newTransform); } //transform ct image if(m_Controls.m_ImageActive->isChecked() && m_Controls.m_ImageComboBox->GetSelectedNode().IsNotNull()) { mitk::AffineTransform3D::Pointer imageTransform = m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->GetIndexToWorldTransform(); m_T_ImageGeo = mitk::AffineTransform3D::New(); m_T_ImageGeo->Compose(imageTransform); imageTransform->Compose(newTransform); mitk::AffineTransform3D::Pointer newImageTransform = mitk::AffineTransform3D::New(); //create new image transform... setting the composed directly leads to an error itk::Matrix rotationFloatNew = imageTransform->GetMatrix(); itk::Vector translationFloatNew = imageTransform->GetOffset(); newImageTransform->SetMatrix(rotationFloatNew); newImageTransform->SetOffset(translationFloatNew); m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(newImageTransform); m_T_ImageReg = m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->GetIndexToWorldTransform(); } } void QmitkIGTTrackingLabView::DestroyIGTPipeline() { if(m_Source.IsNotNull()) { m_Source->StopTracking(); m_Source->Disconnect(); m_Source = NULL; } m_PermanentRegistrationFilter = NULL; m_Visualizer = NULL; m_VirtualView = NULL; } 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; } } void QmitkIGTTrackingLabView::OnPointSetRecording(bool record) { mitk::DataStorage* ds = this->GetDefaultDataStorage(); if(record) { if (m_Controls.m_PointSetRecordingToolSelectionWidget->GetSelectedToolID() == -1) { QMessageBox::warning(NULL, "Error", "No tool selected for point set recording!"); m_Controls.m_PointSetRecordCheckBox->setChecked(false); return; } m_PointSetRecordingNavigationData = m_Controls.m_PointSetRecordingToolSelectionWidget->GetSelectedNavigationDataSource()->GetOutput(m_Controls.m_PointSetRecordingToolSelectionWidget->GetSelectedToolID()); //initialize point set 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; } else { m_PointSetRecording = false; } } 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(bool on) { if (m_Controls.m_CameraViewSelection->GetSelectedToolID() == -1) { m_Controls.m_ActivateNeedleView->setChecked(false); QMessageBox::warning(NULL, "Error", "No tool selected for camera view!"); return; } if(on) { m_VirtualView = mitk::CameraVisualization::New(); m_VirtualView->SetInput(m_Controls.m_CameraViewSelection->GetSelectedNavigationDataSource()->GetOutput(m_Controls.m_CameraViewSelection->GetSelectedToolID())); mitk::Vector3D viewDirection; viewDirection[0] = (int)(m_Controls.m_NeedleViewX->isChecked()); viewDirection[1] = (int)(m_Controls.m_NeedleViewY->isChecked()); viewDirection[2] = (int)(m_Controls.m_NeedleViewZ->isChecked()); if (m_Controls.m_NeedleViewInvert->isChecked()) viewDirection *= -1; m_VirtualView->SetDirectionOfProjectionInToolCoordinates(viewDirection); mitk::Vector3D viewUpVector; viewUpVector[0] = (int)(m_Controls.m_NeedleUpX->isChecked()); viewUpVector[1] = (int)(m_Controls.m_NeedleUpY->isChecked()); viewUpVector[2] = (int)(m_Controls.m_NeedleUpZ->isChecked()); if (m_Controls.m_NeedleUpInvert->isChecked()) viewUpVector *= -1; m_VirtualView->SetViewUpInToolCoordinates(viewUpVector); m_VirtualView->SetRenderer(this->GetActiveStdMultiWidget()->GetRenderWindow4()->GetRenderer()); //next line: better code when this plugin is migrated to mitk::abstractview //m_VirtualView->SetRenderer(mitk::BaseRenderer::GetInstance(this->GetRenderWindowPart()->GetRenderWindow("3d")->GetRenderWindow())); m_CameraView = true; //make pointer itself invisible m_Controls.m_CameraViewSelection->GetSelectedNavigationTool()->GetDataNode()->SetBoolProperty("visible",false); //disable UI elements m_Controls.m_ViewDirectionBox->setEnabled(false); m_Controls.m_ViewUpBox->setEnabled(false); } else { m_VirtualView = NULL; m_CameraView = false; m_Controls.m_CameraViewSelection->GetSelectedNavigationTool()->GetDataNode()->SetBoolProperty("visible",true); m_Controls.m_ViewDirectionBox->setEnabled(true); m_Controls.m_ViewUpBox->setEnabled(true); } } bool QmitkIGTTrackingLabView::CheckRegistrationInitialization() { mitk::DataStorage* ds = this->GetDefaultDataStorage(); mitk::PointSet::Pointer imageFiducials = dynamic_cast(m_ImageFiducialsDataNode->GetData()); mitk::PointSet::Pointer trackerFiducials = dynamic_cast(m_TrackerFiducialsDataNode->GetData()); if (m_Controls.m_SurfaceActive->isChecked() && m_Controls.m_ObjectComboBox->GetSelectedNode().IsNull()) { std::string warningMessage = "No surface selected for registration.\nRegistration is not possible"; MITK_WARN << warningMessage; QMessageBox::warning(NULL, "Registration not possible", warningMessage.c_str()); return false; } if (m_Controls.m_ImageActive->isChecked() && m_Controls.m_ImageComboBox->GetSelectedNode().IsNull()) { std::string warningMessage = "No image selected for registration.\nRegistration is not possible"; MITK_WARN << warningMessage; QMessageBox::warning(NULL, "Registration not possible", warningMessage.c_str()); return false; } if (imageFiducials.IsNull() || trackerFiducials.IsNull()) { std::string warningMessage = "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"; MITK_WARN << warningMessage; QMessageBox::warning(NULL, "Registration not possible", warningMessage.c_str()); return false; } 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 false; } return true; } bool QmitkIGTTrackingLabView::IsTransformDifferenceHigh(mitk::Transform::Pointer transformA, mitk::Transform::Pointer transformB) { double euclideanDistanceThreshold = .8; double angularDifferenceThreshold = .8; if(transformA.IsNull() || transformA.IsNull()) {return false;} mitk::Point3D posA,posB; posA = transformA->GetPosition(); posB = transformB->GetPosition(); if(posA.EuclideanDistanceTo(posB) > euclideanDistanceThreshold) {return true;} double returnValue; mitk::Quaternion rotA,rotB; rotA = transformA->GetOrientation(); rotB = transformB->GetOrientation(); itk::Vector point; //caution 5D-Tools: Vector must lie in the YZ-plane for a correct result. point[0] = 0.0; point[1] = 0.0; point[2] = 100000.0; rotA.normalize(); rotB.normalize(); itk::Matrix rotMatrixA; for(int i=0; i<3; i++) for(int j=0; j<3; j++) rotMatrixA[i][j] = rotA.rotation_matrix_transpose().transpose()[i][j]; itk::Matrix rotMatrixB; for(int i=0; i<3; i++) for(int j=0; j<3; j++) rotMatrixB[i][j] = rotB.rotation_matrix_transpose().transpose()[i][j]; itk::Vector pt1 = rotMatrixA * point; itk::Vector pt2 = rotMatrixB * point; returnValue = (pt1[0]*pt2[0]+pt1[1]*pt2[1]+pt1[2]*pt2[2]) / ( sqrt(pow(pt1[0],2.0)+pow(pt1[1],2.0)+pow(pt1[2],2.0)) * sqrt(pow(pt2[0],2.0)+pow(pt2[1],2.0)+pow(pt2[2],2.0))); returnValue = acos(returnValue); if(returnValue*57.3 > angularDifferenceThreshold){return true;} return false; } void QmitkIGTTrackingLabView::OnPermanentRegistration(bool on) { MITK_INFO << "Permanent registration: " << on; if(on) { if(!CheckRegistrationInitialization()) { m_Controls.m_UsePermanentRegistrationToggle->setChecked(false); return; } //remember initial object transform to calculate the object to marker transform later on mitk::Transform::Pointer T_Object = mitk::Transform::New(this->m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()->GetGeometry()->GetIndexToWorldTransform()); //then reset the transform because we will now start to calculate the permenent registration this->m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIdentity(); if(m_Controls.m_ImageActive->isChecked()) this->m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(m_T_ImageGeo); //create the permanent registration filter m_PermanentRegistrationFilter = mitk::NavigationDataObjectVisualizationFilter::New(); //connect filter to source m_PermanentRegistrationFilter->SetInput(this->m_ObjectmarkerNavigationData); //set representation object m_PermanentRegistrationFilter->SetRepresentationObject(0,this->m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()); //get the marker transform out of the navigation data mitk::Transform::Pointer T_Marker = mitk::Transform::New(this->m_ObjectmarkerNavigationData); - + //compute transform from object to marker mitk::Transform::Pointer T_MarkerRel = mitk::Transform::New(); T_MarkerRel->Concatenate(T_Object); T_Marker->Invert(); T_MarkerRel->Concatenate(T_Marker); + m_T_MarkerRel = T_MarkerRel; //m_PermanentRegistrationFilter->SetOffset(0,T_MarkerRel->GetAffineTransform3D()); - m_T_MarkerRel = T_MarkerRel; + m_PermanentRegistration = true; m_ObjectmarkerNavigationDataLastUpdate = mitk::Transform::New(); //set interpolation mode - this->m_Controls.m_ImageComboBox->GetSelectedNode()->AddProperty( "reslice interpolation", mitk::VtkResliceInterpolationProperty::New(VTK_RESLICE_LINEAR) ); + mitk::DataNode::Pointer imageNode = this->m_Controls.m_ImageComboBox->GetSelectedNode(); + if (imageNode.IsNotNull() && m_Controls.m_ImageActive->isChecked()) + {imageNode->AddProperty( "reslice interpolation", mitk::VtkResliceInterpolationProperty::New(VTK_RESLICE_LINEAR) );} } else { //stop permanent registration m_PermanentRegistration = false; //restore old registration if(m_T_ObjectReg.IsNotNull()) this->m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(m_T_ObjectReg->GetAffineTransform3D()); if(m_T_ImageReg.IsNotNull()) this->m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(m_T_ImageReg); //delete filter m_PermanentRegistrationFilter = NULL; } } 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; }