diff --git a/Modules/US/USNavigation/mitkAbstractUltrasoundTrackerDevice.cpp b/Modules/US/USNavigation/mitkAbstractUltrasoundTrackerDevice.cpp
index 8bb5a8975b..19e989ad48 100644
--- a/Modules/US/USNavigation/mitkAbstractUltrasoundTrackerDevice.cpp
+++ b/Modules/US/USNavigation/mitkAbstractUltrasoundTrackerDevice.cpp
@@ -1,473 +1,474 @@
/*===================================================================
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.
===================================================================*/
#include "mitkAbstractUltrasoundTrackerDevice.h"
#include "mitkImageReadAccessor.h"
#include "mitkNavigationDataSmoothingFilter.h"
#include "mitkNavigationDataDelayFilter.h"
#include "mitkNavigationDataDisplacementFilter.h"
#include "mitkTrackingDeviceSource.h"
// US Control Interfaces
#include "mitkUSControlInterfaceProbes.h"
#include "mitkUSControlInterfaceBMode.h"
#include "mitkUSControlInterfaceDoppler.h"
//Microservices
#include <usGetModuleContext.h>
#include <usModule.h>
#include <usServiceProperties.h>
#include <usModuleContext.h>
#include <algorithm>
//TempIncludes
#include <tinyxml.h>
const std::string mitk::AbstractUltrasoundTrackerDevice::DeviceClassIdentifier = "org.mitk.modules.us.AbstractUltrasoundTrackerDevice";
const char* mitk::AbstractUltrasoundTrackerDevice::DefaultProbeIdentifier = "default";
const char* mitk::AbstractUltrasoundTrackerDevice::ProbeAndDepthSeperator = "_";
const std::string mitk::AbstractUltrasoundTrackerDevice::US_INTERFACE_NAME = "org.mitk.services.AbstractUltrasoundTrackerDevice";
const std::string mitk::AbstractUltrasoundTrackerDevice::US_PROPKEY_DEVICENAME = US_INTERFACE_NAME + ".devicename";
const std::string mitk::AbstractUltrasoundTrackerDevice::US_PROPKEY_CLASS = US_INTERFACE_NAME + ".class";
const std::string mitk::AbstractUltrasoundTrackerDevice::US_PROPKEY_ID = US_INTERFACE_NAME + ".id";
//____
mitk::AbstractUltrasoundTrackerDevice::AbstractUltrasoundTrackerDevice(
USDevice::Pointer usDevice, NavigationDataSource::Pointer trackingDevice,
bool trackedUltrasoundActive ) :
m_UltrasoundDevice(usDevice), m_TrackingDeviceDataSource(trackingDevice),
m_SmoothingFilter(mitk::NavigationDataSmoothingFilter::New()),
m_DelayFilter(mitk::NavigationDataDelayFilter::New(0)),
m_DisplacementFilter(mitk::NavigationDataDisplacementFilter::New()),
m_LastFilterOfIGTPipeline(nullptr),
m_NumberOfSmoothingValues(0), m_DelayCount(0),
m_IsTrackedUltrasoundActive( trackedUltrasoundActive )
{
m_DisplacementFilter->SetTransform6DOF(true);
this->RebuildFilterPipeline();
//create a new output (for the image data)
//___ mitk::Image::Pointer newOutput = mitk::Image::New();
//___ this->SetNthOutput(0, newOutput);
// Combined Modality should not spawn an own acquire thread, because
// image acquiring is done by the included us device
//___ m_UltrasoundDevice->SetSpawnAcquireThread(false);
}
mitk::AbstractUltrasoundTrackerDevice::~AbstractUltrasoundTrackerDevice()
{
if (m_ServiceRegistration != nullptr)
{
m_ServiceRegistration.Unregister();
}
m_ServiceRegistration = 0;
}
mitk::AffineTransform3D::Pointer
mitk::AbstractUltrasoundTrackerDevice::GetCalibration()
{
return this->GetCalibration( this->GetCurrentDepthValue(),
this->GetIdentifierForCurrentProbe() );
}
mitk::AffineTransform3D::Pointer
mitk::AbstractUltrasoundTrackerDevice::GetCalibration(std::string depth)
{
return this->GetCalibration(depth, this->GetIdentifierForCurrentProbe());
}
mitk::AffineTransform3D::Pointer
mitk::AbstractUltrasoundTrackerDevice::GetCalibration( std::string depth,
std::string probe )
{
// make sure that there is no '/' which would cause problems for TinyXML
std::replace(probe.begin(), probe.end(), '/', '-');
// create identifier for calibration from probe and depth
std::string calibrationKey =
probe +
mitk::AbstractUltrasoundTrackerDevice::ProbeAndDepthSeperator +
depth;
// find calibration for combination of probe identifier and depth
std::map<std::string, mitk::AffineTransform3D::Pointer>::iterator calibrationIterator
= m_Calibrations.find(calibrationKey);
if (calibrationIterator == m_Calibrations.end()) { return 0; }
return calibrationIterator->second;
}
void mitk::AbstractUltrasoundTrackerDevice::SetCalibration(
mitk::AffineTransform3D::Pointer calibration )
{
if( calibration.IsNull() )
{
MITK_WARN << "Null pointer passed to SetCalibration of mitk::USDevice. Ignoring call.";
return;
}
std::string calibrationKey = this->GetIdentifierForCurrentCalibration();
if( calibrationKey.empty() )
{
MITK_WARN << "Could not get a key for the calibration -> Calibration cannot be set.";
return;
}
m_Calibrations[calibrationKey] = calibration;
}
bool mitk::AbstractUltrasoundTrackerDevice::RemoveCalibration()
{
return this->RemoveCalibration( this->GetCurrentDepthValue(),
this->GetIdentifierForCurrentProbe() );
}
bool mitk::AbstractUltrasoundTrackerDevice::RemoveCalibration(std::string depth)
{
return this->RemoveCalibration( depth,
this->GetIdentifierForCurrentProbe() );
}
bool mitk::AbstractUltrasoundTrackerDevice::RemoveCalibration( std::string depth,
std::string probe )
{
// make sure that there is no '/' which would cause problems for TinyXML
std::replace(probe.begin(), probe.end(), '/', '-');
// create identifier for calibration from probe and depth
std::string calibrationKey =
probe +
mitk::AbstractUltrasoundTrackerDevice::ProbeAndDepthSeperator +
depth;
return m_Calibrations.erase(calibrationKey) > 0;
}
std::string mitk::AbstractUltrasoundTrackerDevice::GetDeviceClass()
{
return DeviceClassIdentifier;
}
mitk::USImageSource::Pointer mitk::AbstractUltrasoundTrackerDevice::GetUSImageSource()
{
if (m_UltrasoundDevice.IsNull())
{
MITK_ERROR("AbstractUltrasoundTrackerDevice")("USDevice") << "UltrasoundDevice must not be null.";
mitkThrow() << "UltrasoundDevice must not be null.";
}
return m_UltrasoundDevice->GetUSImageSource();
}
mitk::NavigationDataSource::Pointer mitk::AbstractUltrasoundTrackerDevice::GetNavigationDataSource()
{
if( m_LastFilterOfIGTPipeline.IsNull() )
{
this->RebuildFilterPipeline();
}
+ m_LastFilterOfIGTPipeline->SetToolMetaDataCollection(this->m_TrackingDeviceDataSource->GetToolMetaDataCollection());
return m_LastFilterOfIGTPipeline;
}
bool mitk::AbstractUltrasoundTrackerDevice::GetIsCalibratedForCurrentStatus()
{
return m_Calibrations.find(this->GetIdentifierForCurrentCalibration()) != m_Calibrations.end();
}
bool mitk::AbstractUltrasoundTrackerDevice::GetContainsAtLeastOneCalibration()
{
return !m_Calibrations.empty();
}
std::string mitk::AbstractUltrasoundTrackerDevice::SerializeCalibration()
{
std::stringstream result;
result << "<calibrations>" << std::endl;
// For each calibration in the set
for( std::map<std::string,
mitk::AffineTransform3D::Pointer>::iterator it = m_Calibrations.begin();
it != m_Calibrations.end(); it++ )
{
mitk::AffineTransform3D::MatrixType matrix = it->second->GetMatrix();
mitk::AffineTransform3D::TranslationType translation = it->second->GetTranslation();
TiXmlElement elem(it->first);
// Serialize Matrix
elem.SetDoubleAttribute("M00", matrix[0][0]);
elem.SetDoubleAttribute("M01", matrix[0][1]);
elem.SetDoubleAttribute("M02", matrix[0][2]);
elem.SetDoubleAttribute("M10", matrix[1][0]);
elem.SetDoubleAttribute("M11", matrix[1][1]);
elem.SetDoubleAttribute("M12", matrix[1][2]);
elem.SetDoubleAttribute("M20", matrix[2][0]);
elem.SetDoubleAttribute("M21", matrix[2][1]);
elem.SetDoubleAttribute("M22", matrix[2][2]);
// Serialize Offset
elem.SetDoubleAttribute("T0", translation[0]);
elem.SetDoubleAttribute("T1", translation[1]);
elem.SetDoubleAttribute("T2", translation[2]);
result << elem << std::endl;
}
result << "</calibrations>" << std::endl;
return result.str();
}
void mitk::AbstractUltrasoundTrackerDevice::DeserializeCalibration(
const std::string& xmlString,
bool clearPreviousCalibrations )
{
// Sanitize Input
if (xmlString == "")
{
MITK_ERROR << "Empty string passed to Deserialize() method of CombinedModality. Aborting...";
mitkThrow() << "Empty string passed to Deserialize() method of CombinedModality. Aborting...";
return;
}
// Clear previous calibrations if necessary
if (clearPreviousCalibrations) m_Calibrations.clear();
// Parse Input
TiXmlDocument doc;
if (!doc.Parse(xmlString.c_str()))
{
MITK_ERROR << "Unable to deserialize calibrations in CombinedModality. Error was: " << doc.ErrorDesc();
mitkThrow() << "Unable to deserialize calibrations in CombinedModality. Error was: " << doc.ErrorDesc();
return;
}
TiXmlElement* root = doc.FirstChildElement();
if (root == nullptr)
{
MITK_ERROR << "Unable to deserialize calibrations in CombinedModality. String contained no root element.";
mitkThrow() << "Unable to deserialize calibrations in CombinedModality. String contained no root element.";
return;
}
// Read Calibrations
for (TiXmlElement* elem = root->FirstChildElement(); elem != nullptr; elem = elem->NextSiblingElement())
{
mitk::AffineTransform3D::MatrixType matrix;
mitk::AffineTransform3D::OffsetType translation;
std::string calibName = elem->Value();
// Deserialize Matrix
elem->QueryDoubleAttribute("M00", &matrix[0][0]);
elem->QueryDoubleAttribute("M01", &matrix[0][1]);
elem->QueryDoubleAttribute("M02", &matrix[0][2]);
elem->QueryDoubleAttribute("M10", &matrix[1][0]);
elem->QueryDoubleAttribute("M11", &matrix[1][1]);
elem->QueryDoubleAttribute("M12", &matrix[1][2]);
elem->QueryDoubleAttribute("M20", &matrix[2][0]);
elem->QueryDoubleAttribute("M21", &matrix[2][1]);
elem->QueryDoubleAttribute("M22", &matrix[2][2]);
// Deserialize Offset
elem->QueryDoubleAttribute("T0", &translation[0]);
elem->QueryDoubleAttribute("T1", &translation[1]);
elem->QueryDoubleAttribute("T2", &translation[2]);
mitk::AffineTransform3D::Pointer calibration = mitk::AffineTransform3D::New();
calibration->SetMatrix(matrix);
calibration->SetTranslation(translation);
m_Calibrations[calibName] = calibration;
}
}
void mitk::AbstractUltrasoundTrackerDevice::SetNumberOfSmoothingValues(
unsigned int numberOfSmoothingValues )
{
unsigned int oldNumber = m_NumberOfSmoothingValues;
m_NumberOfSmoothingValues = numberOfSmoothingValues;
// if filter should be activated or deactivated
if ((oldNumber == 0 && numberOfSmoothingValues != 0) ||
(oldNumber != 0 && numberOfSmoothingValues == 0))
{
this->RebuildFilterPipeline();
}
m_SmoothingFilter->SetNumerOfValues(numberOfSmoothingValues);
}
void mitk::AbstractUltrasoundTrackerDevice::SetDelayCount( unsigned int delayCount )
{
unsigned int oldCount = m_DelayCount;
m_DelayCount = delayCount;
// if filter should be activated or deactivated
if ((oldCount == 0 && delayCount != 0) ||
(oldCount != 0 && delayCount == 0))
{
this->RebuildFilterPipeline();
}
m_DelayFilter->SetDelay(delayCount);
}
void mitk::AbstractUltrasoundTrackerDevice::GenerateData()
{
}
std::string mitk::AbstractUltrasoundTrackerDevice::GetIdentifierForCurrentCalibration()
{
return this->GetIdentifierForCurrentProbe()
+ mitk::AbstractUltrasoundTrackerDevice::ProbeAndDepthSeperator
+ this->GetCurrentDepthValue();
}
std::string mitk::AbstractUltrasoundTrackerDevice::GetIdentifierForCurrentProbe()
{
us::ServiceProperties usdeviceProperties = m_UltrasoundDevice->GetServiceProperties();
us::ServiceProperties::const_iterator probeIt = usdeviceProperties.find(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_PROBES_SELECTED);
// get probe identifier from control interface for probes
std::string probeName = mitk::AbstractUltrasoundTrackerDevice::DefaultProbeIdentifier;
if (probeIt != usdeviceProperties.end())
{
probeName = (probeIt->second).ToString();
}
// make sure that there is no '/' which would cause problems for TinyXML
std::replace(probeName.begin(), probeName.end(), '/', '-');
return probeName;
}
std::string mitk::AbstractUltrasoundTrackerDevice::GetCurrentDepthValue()
{
us::ServiceProperties usdeviceProperties = m_UltrasoundDevice->GetServiceProperties();
// get string for depth value from the micro service properties
std::string depth;
us::ServiceProperties::iterator depthIterator = usdeviceProperties.find(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_BMODE_DEPTH);
if (depthIterator != usdeviceProperties.end())
{
depth = depthIterator->second.ToString();
}
else
{
depth = "0";
}
return depth;
}
void mitk::AbstractUltrasoundTrackerDevice::RebuildFilterPipeline()
{
m_LastFilterOfIGTPipeline = m_TrackingDeviceDataSource;
if( m_NumberOfSmoothingValues > 0 )
{
m_SmoothingFilter->ConnectTo(m_LastFilterOfIGTPipeline.GetPointer());
m_LastFilterOfIGTPipeline = m_SmoothingFilter;
}
if( m_DelayCount > 0 )
{
m_DelayFilter->ConnectTo(m_LastFilterOfIGTPipeline.GetPointer());
m_LastFilterOfIGTPipeline = m_DelayFilter;
}
if( m_IsTrackedUltrasoundActive )
{
m_DisplacementFilter->ConnectTo(m_LastFilterOfIGTPipeline.GetPointer());
m_LastFilterOfIGTPipeline = m_DisplacementFilter;
}
}
void mitk::AbstractUltrasoundTrackerDevice::UnregisterOnService()
{
if (m_UltrasoundDevice->GetDeviceState() == USDevice::State_Activated)
{
m_UltrasoundDevice->Deactivate();
}
if (m_UltrasoundDevice->GetDeviceState() == USDevice::State_Connected)
{
m_UltrasoundDevice->Disconnect();
}
if (m_ServiceRegistration != nullptr)
m_ServiceRegistration.Unregister();
m_ServiceRegistration = 0;
}
void mitk::AbstractUltrasoundTrackerDevice::RegisterAsMicroservice()
{
//Get Context
us::ModuleContext* context = us::GetModuleContext();
//Define ServiceProps
//us::ServiceProperties props;
mitk::UIDGenerator uidGen =
mitk::UIDGenerator("org.mitk.services.AbstractUltrasoundTrackerDevice", 16);
m_ServiceProperties[US_PROPKEY_ID] = uidGen.GetUID();
m_ServiceProperties[US_PROPKEY_DEVICENAME] = m_UltrasoundDevice->GetName();
m_ServiceProperties[US_PROPKEY_CLASS] = mitk::AbstractUltrasoundTrackerDevice::DeviceClassIdentifier;
m_ServiceRegistration = context->RegisterService(this, m_ServiceProperties);
}
mitk::USAbstractControlInterface::Pointer mitk::AbstractUltrasoundTrackerDevice::GetControlInterfaceCustom()
{
if (m_UltrasoundDevice.IsNull())
{
MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
mitkThrow() << "UltrasoundDevice must not be null.";
}
return m_UltrasoundDevice->GetControlInterfaceCustom();
}
mitk::USControlInterfaceBMode::Pointer mitk::AbstractUltrasoundTrackerDevice::GetControlInterfaceBMode()
{
if (m_UltrasoundDevice.IsNull())
{
MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
mitkThrow() << "UltrasoundDevice must not be null.";
}
return m_UltrasoundDevice->GetControlInterfaceBMode();
}
mitk::USControlInterfaceProbes::Pointer mitk::AbstractUltrasoundTrackerDevice::GetControlInterfaceProbes()
{
if (m_UltrasoundDevice.IsNull())
{
MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
mitkThrow() << "UltrasoundDevice must not be null.";
}
return m_UltrasoundDevice->GetControlInterfaceProbes();
}
mitk::USControlInterfaceDoppler::Pointer mitk::AbstractUltrasoundTrackerDevice::GetControlInterfaceDoppler()
{
if (m_UltrasoundDevice.IsNull())
{
MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
mitkThrow() << "UltrasoundDevice must not be null.";
}
return m_UltrasoundDevice->GetControlInterfaceDoppler();
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.cpp
index 877b8848f2..7cbe1a69bf 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.cpp
@@ -1,698 +1,760 @@
/*===================================================================
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.
===================================================================*/
#include "QmitkUSNavigationMarkerPlacement.h"
#include "ui_QmitkUSNavigationMarkerPlacement.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepMarkerIntervention.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepPlacementPlanning.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepPunctuationIntervention.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepTumourSelection.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepZoneMarking.h"
#include "SettingsWidgets/QmitkUSNavigationCombinedSettingsWidget.h"
+#include "mitkAbstractUltrasoundTrackerDevice.h"
#include "mitkIRenderingManager.h"
#include "mitkNodeDisplacementFilter.h"
-#include "mitkAbstractUltrasoundTrackerDevice.h"
+#include "mitkTrackedUltrasound.h"
#include <mitkIOUtil.h>
#include "IO/mitkUSNavigationStepTimer.h"
#include <QDateTime>
#include <QDir>
#include <QInputDialog>
#include <QMessageBox>
#include <QSignalMapper>
#include <QTimer>
#include "QmitkRenderWindow.h"
#include "QmitkStdMultiWidget.h"
#include "QmitkStdMultiWidgetEditor.h"
-#include "mitkLayoutAnnotationRenderer.h"
#include "mitkCameraController.h"
+#include "mitkLayoutAnnotationRenderer.h"
#include <vtkSmartPointer.h>
// scene serialization
#include <mitkConvert2Dto3DImageFilter.h>
#include <mitkNodePredicateNot.h>
#include <mitkNodePredicateProperty.h>
#include <mitkSceneIO.h>
#include <mitkSurface.h>
const std::string QmitkUSNavigationMarkerPlacement::VIEW_ID = "org.mitk.views.usmarkerplacement";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_TUMOUR = "Tumour";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_TARGETSURFACE = "Target Surface";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_ZONES = "Zones";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_TARGETS = "Targets";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_TARGETS_PATHS = "Target Paths";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_REACHED_TARGETS = "Reached Targets";
QmitkUSNavigationMarkerPlacement::QmitkUSNavigationMarkerPlacement()
: m_Parent(nullptr),
- m_UpdateTimer(new QTimer(this)),
- m_ImageAndNavigationDataLoggingTimer(new QTimer(this)),
- m_StdMultiWidget(nullptr),
- m_CombinedModality(nullptr),
- m_ImageStreamNode(nullptr),
- m_ReinitAlreadyDone(false),
- m_IsExperimentRunning(false),
- m_CurrentApplicationName(),
- m_NavigationStepTimer(mitk::USNavigationStepTimer::New()),
- m_IconRunning(QPixmap(":/USNavigation/record.png")),
- m_IconNotRunning(QPixmap(":/USNavigation/record-gray.png")),
- m_ResultsDirectory(),
- m_ExperimentName(),
- m_ExperimentResultsSubDirectory(),
- m_NavigationStepNames(),
- m_LoggingBackend(),
- m_USImageLoggingFilter(mitk::USImageLoggingFilter::New()),
- m_NavigationDataRecorder(mitk::NavigationDataRecorder::New()),
- m_TargetNodeDisplacementFilter(nullptr),
- m_AblationZonesDisplacementFilter(mitk::NodeDisplacementFilter::New()),
- m_AblationZonesVector(),
- m_NeedleIndex(0),
- m_MarkerIndex(1),
- m_SceneNumber(1),
- m_WarnOverlay(mitk::TextAnnotation2D::New()),
- m_NavigationDataSource(nullptr),
- m_CurrentStorage(nullptr),
- ui(new Ui::QmitkUSNavigationMarkerPlacement )
+ m_UpdateTimer(new QTimer(this)),
+ m_ImageAndNavigationDataLoggingTimer(new QTimer(this)),
+ m_StdMultiWidget(nullptr),
+ m_CombinedModality(nullptr),
+ m_ImageStreamNode(nullptr),
+ m_ReinitAlreadyDone(false),
+ m_IsExperimentRunning(false),
+ m_CurrentApplicationName(),
+ m_NavigationStepTimer(mitk::USNavigationStepTimer::New()),
+ m_IconRunning(QPixmap(":/USNavigation/record.png")),
+ m_IconNotRunning(QPixmap(":/USNavigation/record-gray.png")),
+ m_ResultsDirectory(),
+ m_ExperimentName(),
+ m_ExperimentResultsSubDirectory(),
+ m_NavigationStepNames(),
+ m_LoggingBackend(),
+ m_USImageLoggingFilter(mitk::USImageLoggingFilter::New()),
+ m_NavigationDataRecorder(mitk::NavigationDataRecorder::New()),
+ m_TargetNodeDisplacementFilter(nullptr),
+ m_AblationZonesDisplacementFilter(mitk::NodeDisplacementFilter::New()),
+ m_AblationZonesVector(),
+ m_NeedleIndex(0),
+ m_MarkerIndex(1),
+ m_SceneNumber(1),
+ m_WarnOverlay(mitk::TextAnnotation2D::New()),
+ m_NavigationDataSource(nullptr),
+ m_CurrentStorage(nullptr),
+ ui(new Ui::QmitkUSNavigationMarkerPlacement),
+ m_ToolVisualizationFilter(nullptr)
{
connect(m_UpdateTimer, SIGNAL(timeout()), this, SLOT(OnTimeout()));
connect(
m_ImageAndNavigationDataLoggingTimer, SIGNAL(timeout()), this, SLOT(OnImageAndNavigationDataLoggingTimeout()));
// scale running (and not running) icon the specific height
m_IconRunning = m_IconRunning.scaledToHeight(20, Qt::SmoothTransformation);
m_IconNotRunning = m_IconNotRunning.scaledToHeight(20, Qt::SmoothTransformation);
- m_UpdateTimer->start(33); // every 33 Milliseconds = 30 Frames/Second
+ m_UpdateTimer->start(50); // every 50 Milliseconds = 20 Frames/Second
}
QmitkUSNavigationMarkerPlacement::~QmitkUSNavigationMarkerPlacement()
{
+ this->GetDataStorage()->Remove(m_InstrumentNode);
delete ui;
}
void QmitkUSNavigationMarkerPlacement::OnChangeAblationZone(int id, int newSize)
{
if ((static_cast<int>(m_AblationZonesVector.size()) < id) || (id < 0))
{
return;
}
MITK_INFO << "Ablation Zone " << id << " changed, new size: " << newSize;
// create a vtk sphere with given radius
vtkSmartPointer<vtkSphereSource> vtkSphere = vtkSmartPointer<vtkSphereSource>::New();
vtkSphere->SetRadius(newSize / 2);
vtkSphere->SetCenter(0, 0, 0);
vtkSphere->SetPhiResolution(20);
vtkSphere->SetThetaResolution(20);
vtkSphere->Update();
mitk::Surface::Pointer zoneSurface = dynamic_cast<mitk::Surface *>(m_AblationZonesVector.at(id)->GetData());
zoneSurface->SetVtkPolyData(vtkSphere->GetOutput());
}
void QmitkUSNavigationMarkerPlacement::OnAddAblationZone(int size)
{
m_AblationZonesDisplacementFilter->SetInitialReferencePose(
m_CombinedModality->GetNavigationDataSource()->GetOutput(m_MarkerIndex));
mitk::DataNode::Pointer NewAblationZone = mitk::DataNode::New();
mitk::Point3D origin = m_CombinedModality->GetNavigationDataSource()->GetOutput(m_NeedleIndex)->GetPosition();
MITK_INFO("USNavigationLogging") << "Ablation Zone Added, initial size: " << size << ", origin: " << origin;
mitk::Surface::Pointer zone = mitk::Surface::New();
// create a vtk sphere with given radius
vtkSmartPointer<vtkSphereSource> vtkSphere = vtkSmartPointer<vtkSphereSource>::New();
vtkSphere->SetRadius(size / 2);
vtkSphere->SetCenter(0, 0, 0);
vtkSphere->SetPhiResolution(20);
vtkSphere->SetThetaResolution(20);
vtkSphere->Update();
zone->SetVtkPolyData(vtkSphere->GetOutput());
// set vtk sphere and origin to data node (origin must be set
// again, because of the new sphere set as data)
NewAblationZone->SetData(zone);
NewAblationZone->GetData()->GetGeometry()->SetOrigin(origin);
mitk::Color SphereColor = mitk::Color();
// default color
SphereColor[0] = 102;
SphereColor[1] = 0;
SphereColor[2] = 204;
NewAblationZone->SetColor(SphereColor);
NewAblationZone->SetOpacity(0.3);
// set name of zone
std::stringstream name;
name << "Ablation Zone" << m_AblationZonesVector.size();
NewAblationZone->SetName(name.str());
// add zone to filter
m_AblationZonesDisplacementFilter->AddNode(NewAblationZone);
m_AblationZonesVector.push_back(NewAblationZone);
this->GetDataStorage()->Add(NewAblationZone);
}
void QmitkUSNavigationMarkerPlacement::CreateQtPartControl(QWidget *parent)
{
m_Parent = parent;
ui->setupUi(parent);
connect(ui->startExperimentButton, SIGNAL(clicked()), this, SLOT(OnStartExperiment()));
connect(ui->finishExperimentButton, SIGNAL(clicked()), this, SLOT(OnFinishExperiment()));
connect(ui->m_enableNavigationLayout, SIGNAL(clicked()), this, SLOT(OnChangeLayoutClicked()));
connect(ui->m_RenderWindowSelection, SIGNAL(valueChanged(int)), this, SLOT(OnRenderWindowSelection()));
connect(ui->m_RefreshView, SIGNAL(clicked()), this, SLOT(OnRefreshView()));
m_BaseNode = this->GetDataStorage()->GetNamedNode(QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
if (m_BaseNode.IsNull())
{
m_BaseNode = mitk::DataNode::New();
m_BaseNode->SetName(QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
this->GetDataStorage()->Add(m_BaseNode);
}
connect(ui->m_initializeTargetMarking, SIGNAL(clicked()), this, SLOT(OnInitializeTargetMarking()));
connect(ui->m_initializeCritStructureMarking, SIGNAL(clicked()), this, SLOT(OnInitializeCriticalStructureMarking()));
connect(ui->m_initializeNavigation, SIGNAL(clicked()), this, SLOT(OnInitializeNavigation()));
// indicate that no experiment is running at start
ui->runningLabel->setPixmap(m_IconNotRunning);
- connect(ui->m_settingsWidget, SIGNAL(SettingsChanged(itk::SmartPointer<mitk::DataNode>)), this, SLOT(OnSettingsChanged(itk::SmartPointer<mitk::DataNode>)));
-
+ connect(ui->m_settingsWidget,
+ SIGNAL(SettingsChanged(itk::SmartPointer<mitk::DataNode>)),
+ this,
+ SLOT(OnSettingsChanged(itk::SmartPointer<mitk::DataNode>)));
}
void QmitkUSNavigationMarkerPlacement::ReInitializeSettingsNodesAndImageStream()
{
m_SettingsNode = mitk::DataNode::New();
ui->m_settingsWidget->OnSetSettingsNode(m_SettingsNode, true);
InitImageStream();
m_CombinedModality = ui->m_CombinedModalityCreationWidget->GetSelectedCombinedModality();
}
void QmitkUSNavigationMarkerPlacement::OnInitializeTargetMarking()
{
ReInitializeSettingsNodesAndImageStream();
ui->m_TargetMarkingWidget->SetCombinedModality(m_CombinedModality);
ui->m_TargetMarkingWidget->SetDataStorage(this->GetDataStorage());
ui->m_TargetMarkingWidget->OnSettingsChanged(m_SettingsNode);
ui->m_TargetMarkingWidget->OnActivateStep();
ui->m_TargetMarkingWidget->OnStartStep();
ui->m_TargetMarkingWidget->Update();
-
}
void QmitkUSNavigationMarkerPlacement::OnInitializeCriticalStructureMarking()
{
ReInitializeSettingsNodesAndImageStream();
ui->m_CriticalStructuresWidget->SetCombinedModality(m_CombinedModality);
ui->m_CriticalStructuresWidget->SetDataStorage(this->GetDataStorage());
ui->m_CriticalStructuresWidget->OnSettingsChanged(m_SettingsNode);
ui->m_CriticalStructuresWidget->OnActivateStep();
ui->m_CriticalStructuresWidget->OnStartStep();
ui->m_CriticalStructuresWidget->Update();
}
void QmitkUSNavigationMarkerPlacement::OnInitializeNavigation()
{
-
ReInitializeSettingsNodesAndImageStream();
ui->m_NavigationWidget->SetCombinedModality(m_CombinedModality);
ui->m_NavigationWidget->SetDataStorage(this->GetDataStorage());
ui->m_NavigationWidget->OnSettingsChanged(m_SettingsNode);
ui->m_NavigationWidget->OnActivateStep();
ui->m_NavigationWidget->OnStartStep();
ui->m_NavigationWidget->Update();
+ // test if it is tracked US, if yes add visualization filter
+ if (m_CombinedModality->GetIsTrackedUltrasoundActive())
+ {
+ mitk::TrackedUltrasound *test = dynamic_cast<mitk::TrackedUltrasound *>(this->m_CombinedModality.GetPointer());
+ m_InstrumentNode = mitk::DataNode::New();
+ m_InstrumentNode->SetName("Tracked US Instrument");
+ m_InstrumentNode->SetData(
+ m_CombinedModality->GetNavigationDataSource()->GetToolMetaData(0)->GetToolSurface()->Clone());
+ this->GetDataStorage()->Add(m_InstrumentNode);
+ m_ToolVisualizationFilter = mitk::NavigationDataObjectVisualizationFilter::New();
+ m_ToolVisualizationFilter->ConnectTo(m_CombinedModality->GetNavigationDataSource());
+ m_ToolVisualizationFilter->SetRepresentationObject(0, m_InstrumentNode->GetData());
+ }
}
void QmitkUSNavigationMarkerPlacement::InitImageStream()
{
if (m_ImageStreamNode.IsNull())
{
m_ImageStreamNode = mitk::DataNode::New();
m_ImageStreamNode->SetName("US Navigation Viewing Stream");
this->GetDataStorage()->Add(m_ImageStreamNode);
}
}
void QmitkUSNavigationMarkerPlacement::OnCombinedModalityPropertyChanged(const std::string &key, const std::string &)
{
if (key == mitk::USDevice::GetPropertyKeys().US_PROPKEY_BMODE_DEPTH)
{
m_ReinitAlreadyDone = false;
this->ReinitOnImage();
if (m_CombinedModality.IsNotNull() && !m_CombinedModality->GetIsCalibratedForCurrentStatus())
{
mitk::LayoutAnnotationRenderer::AddAnnotation(
m_WarnOverlay.GetPointer(), "stdmulti.widget1", mitk::LayoutAnnotationRenderer::TopLeft);
MITK_WARN << "No calibration available for the selected ultrasound image depth.";
}
}
}
void QmitkUSNavigationMarkerPlacement::SetFocus()
{
this->ReinitOnImage();
}
void QmitkUSNavigationMarkerPlacement::OnTimeout()
{
- if (m_CombinedModality.IsNull()) return;
- m_CombinedModality->Modified(); //shouldn't be nessecary ... fix in abstract ultrasound tracker device!
+ if (m_CombinedModality.IsNull())
+ return;
+ m_CombinedModality->Modified(); // shouldn't be nessecary ... fix in abstract ultrasound tracker device!
m_CombinedModality->Update();
+ if (m_ToolVisualizationFilter.IsNotNull())
+ {
+ m_ToolVisualizationFilter->Update();
+ }
ui->m_TargetMarkingWidget->Update();
ui->m_CriticalStructuresWidget->Update();
ui->m_NavigationWidget->Update();
mitk::Image::Pointer image = m_CombinedModality->GetOutput();
// make sure that always the current image is set to the data node
if (image.IsNotNull() && m_ImageStreamNode->GetData() != image.GetPointer() && image->IsInitialized())
{
m_ImageStreamNode->SetData(image);
}
if (!m_StdMultiWidget)
{
// try to get the standard multi widget if it couldn't be got before
mitk::IRenderWindowPart *renderWindow = this->GetRenderWindowPart();
QmitkStdMultiWidgetEditor *multiWidgetEditor = dynamic_cast<QmitkStdMultiWidgetEditor *>(renderWindow);
// if there is a standard multi widget now, disable the level window and
// change the layout to 2D up and 3d down
if (multiWidgetEditor)
{
m_StdMultiWidget = multiWidgetEditor->GetStdMultiWidget();
SetTwoWindowView();
}
this->CreateOverlays();
}
- if (m_CombinedModality.IsNotNull() &&
- !this->m_CombinedModality->GetUltrasoundDevice()->GetIsFreezed()) // if the combined modality is freezed: do nothing
+ if (m_CombinedModality.IsNotNull() && !this->m_CombinedModality->GetUltrasoundDevice()
+ ->GetIsFreezed()) // if the combined modality is freezed: do nothing
{
m_AblationZonesDisplacementFilter->Update();
-
-
// update the 3D window only every fourth time to speed up the rendering (at least in 2D)
this->RequestRenderWindowUpdate(mitk::RenderingManager::REQUEST_UPDATE_2DWINDOWS);
// make sure that a reinit was performed on the image
this->ReinitOnImage();
}
}
void QmitkUSNavigationMarkerPlacement::OnEnableNavigationLayout()
{
MITK_INFO << "Navigation Layout";
// try to get the standard multi widget if it couldn't be got before
mitk::IRenderWindowPart *renderWindow = this->GetRenderWindowPart();
QmitkStdMultiWidgetEditor *multiWidgetEditor = dynamic_cast<QmitkStdMultiWidgetEditor *>(renderWindow);
// if there is a standard multi widget now, disable the level window and
// change the layout to 2D up and 3d down
if (multiWidgetEditor)
{
m_StdMultiWidget = multiWidgetEditor->GetStdMultiWidget();
SetTwoWindowView();
}
}
void QmitkUSNavigationMarkerPlacement::OnRenderWindowSelection()
{
SetTwoWindowView();
}
void QmitkUSNavigationMarkerPlacement::OnRefreshView()
{
if (!ui->m_enableNavigationLayout->isChecked())
OnResetStandardLayout();
else
{
- //Reinit the US Image Stream (this might be broken if there was a global reinit somewhere...)
+ // Reinit the US Image Stream (this might be broken if there was a global reinit somewhere...)
try
{
- mitk::RenderingManager::GetInstance()->InitializeViews(//Reinit
- this->GetDataStorage()//GetDataStorage
- ->GetNamedNode("US Support Viewing Stream")->GetData()->GetTimeGeometry());//GetNode
+ mitk::RenderingManager::GetInstance()->InitializeViews( // Reinit
+ this
+ ->GetDataStorage() // GetDataStorage
+ ->GetNamedNode("US Support Viewing Stream")
+ ->GetData()
+ ->GetTimeGeometry()); // GetNode
}
catch (...)
{
MITK_DEBUG << "No reinit possible";
}
SetTwoWindowView();
}
}
void QmitkUSNavigationMarkerPlacement::SetTwoWindowView()
{
if (m_StdMultiWidget)
{
m_StdMultiWidget->DisableStandardLevelWindow();
int i, j, k;
switch (this->ui->m_RenderWindowSelection->value())
{
- case 1:
- mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))->GetCameraController()->SetViewToCaudal();
- i = 2; j = 3; //other windows
- k = 1;
- break;
- case 2:
- mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))->GetCameraController()->SetViewToSinister();
- i = 1; j = 3;
- k = 2;
- break;
- case 3:
- mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))->GetCameraController()->SetViewToAnterior();
- i = 2; j = 1;
- k = 3;
- break;
- default:
- return;
+ case 1:
+ mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))
+ ->GetCameraController()
+ ->SetViewToCaudal();
+ i = 2;
+ j = 3; // other windows
+ k = 1;
+ break;
+ case 2:
+ mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))
+ ->GetCameraController()
+ ->SetViewToSinister();
+ i = 1;
+ j = 3;
+ k = 2;
+ break;
+ case 3:
+ mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))
+ ->GetCameraController()
+ ->SetViewToAnterior();
+ i = 2;
+ j = 1;
+ k = 3;
+ break;
+ default:
+ return;
}
m_StdMultiWidget->changeLayoutTo2DUpAnd3DDown(k);
////Crosshair invisible in 3D view
- this->GetDataStorage()->GetNamedNode("stdmulti.widget" + std::to_string(i) + ".plane")->
- SetBoolProperty("visible", false, mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4")));
- this->GetDataStorage()->GetNamedNode("stdmulti.widget" + std::to_string(j) + ".plane")->
- SetBoolProperty("visible", false, mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4")));
- this->GetDataStorage()->GetNamedNode("stdmulti.widget" + std::to_string(k) + ".plane")->
- SetBoolProperty("visible", true, mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4")));
- this->GetDataStorage()->GetNamedNode("stdmulti.widget" + std::to_string(i) + ".plane")->
- SetIntProperty("Crosshair.Gap Size", 0);
- this->GetDataStorage()->GetNamedNode("stdmulti.widget" + std::to_string(j) + ".plane")->
- SetIntProperty("Crosshair.Gap Size", 0);
+ this->GetDataStorage()
+ ->GetNamedNode("stdmulti.widget" + std::to_string(i) + ".plane")
+ ->SetBoolProperty("visible",
+ false,
+ mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4")));
+ this->GetDataStorage()
+ ->GetNamedNode("stdmulti.widget" + std::to_string(j) + ".plane")
+ ->SetBoolProperty("visible",
+ false,
+ mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4")));
+ this->GetDataStorage()
+ ->GetNamedNode("stdmulti.widget" + std::to_string(k) + ".plane")
+ ->SetBoolProperty("visible",
+ true,
+ mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4")));
+ this->GetDataStorage()
+ ->GetNamedNode("stdmulti.widget" + std::to_string(i) + ".plane")
+ ->SetIntProperty("Crosshair.Gap Size", 0);
+ this->GetDataStorage()
+ ->GetNamedNode("stdmulti.widget" + std::to_string(j) + ".plane")
+ ->SetIntProperty("Crosshair.Gap Size", 0);
}
}
void QmitkUSNavigationMarkerPlacement::OnResetStandardLayout()
{
- //reset render windows
+ // reset render windows
mitk::DataNode::Pointer widget1 = this->GetDataStorage()->GetNamedNode("stdmulti.widget1.plane");
- if (widget1.IsNotNull()) { widget1->SetVisibility(true); }
+ if (widget1.IsNotNull())
+ {
+ widget1->SetVisibility(true);
+ }
mitk::DataNode::Pointer widget2 = this->GetDataStorage()->GetNamedNode("stdmulti.widget2.plane");
- if (widget2.IsNotNull()) { widget2->SetVisibility(true); }
+ if (widget2.IsNotNull())
+ {
+ widget2->SetVisibility(true);
+ }
mitk::DataNode::Pointer widget3 = this->GetDataStorage()->GetNamedNode("stdmulti.widget3.plane");
- if (widget3.IsNotNull()) { widget3->SetVisibility(true); }
+ if (widget3.IsNotNull())
+ {
+ widget3->SetVisibility(true);
+ }
m_StdMultiWidget->changeLayoutToDefault();
}
void QmitkUSNavigationMarkerPlacement::OnChangeLayoutClicked()
{
- if (ui->m_enableNavigationLayout->isChecked()) OnEnableNavigationLayout();
- else OnResetStandardLayout();
+ if (ui->m_enableNavigationLayout->isChecked())
+ OnEnableNavigationLayout();
+ else
+ OnResetStandardLayout();
}
void QmitkUSNavigationMarkerPlacement::OnImageAndNavigationDataLoggingTimeout()
{
// update filter for logging navigation data and ultrasound images
if (m_CombinedModality.IsNotNull())
{
m_NavigationDataRecorder->Update();
// get last messages for logging filer and store them
std::vector<std::string> messages = m_LoggingBackend.GetNavigationMessages();
std::string composedMessage = "";
for (std::size_t i = 0; i < messages.size(); i++)
{
composedMessage += messages.at(i);
}
m_USImageLoggingFilter->AddMessageToCurrentImage(composedMessage);
m_LoggingBackend.ClearNavigationMessages();
// update logging filter
m_USImageLoggingFilter->Update();
}
}
void QmitkUSNavigationMarkerPlacement::OnStartExperiment()
{
// get name for the experiment by a QInputDialog
bool ok;
if (m_ExperimentName.isEmpty())
{ // default: current date
m_ExperimentName = QString::number(QDateTime::currentDateTime().date().year()) + "_" +
- QString::number(QDateTime::currentDateTime().date().month()) + "_" +
- QString::number(QDateTime::currentDateTime().date().day()) + "_experiment_" +
- QString::number(QDateTime::currentDateTime().time().hour()) + "." +
- QString::number(QDateTime::currentDateTime().time().minute());
+ QString::number(QDateTime::currentDateTime().date().month()) + "_" +
+ QString::number(QDateTime::currentDateTime().date().day()) + "_experiment_" +
+ QString::number(QDateTime::currentDateTime().time().hour()) + "." +
+ QString::number(QDateTime::currentDateTime().time().minute());
}
m_ExperimentName = QInputDialog::getText(
m_Parent, QString("Experiment Name"), QString("Name of the Experiment"), QLineEdit::Normal, m_ExperimentName, &ok);
MITK_INFO("USNavigationLogging") << "Experiment started: " << m_ExperimentName.toStdString();
if (ok && !m_ExperimentName.isEmpty())
{
// display error message and call the function recursivly if a directory
// with the given name already exists
QDir experimentResultsDir(m_ResultsDirectory + QDir::separator() + m_ExperimentName);
if (experimentResultsDir.exists())
{
QMessageBox::critical(
m_Parent, "Results Directory Exists", "The result directory already exists.\nPlease choose an other name.");
this->OnStartExperiment();
}
else
{
QDir(m_ResultsDirectory).mkdir(m_ExperimentName);
m_ExperimentResultsSubDirectory = m_ResultsDirectory + QDir::separator() + m_ExperimentName;
// experiment is running now
ui->runningLabel->setPixmap(m_IconRunning);
// (re)start timer for navigation step durations
m_NavigationStepTimer->Reset();
m_NavigationStepTimer->SetOutputFileName(
QString(m_ExperimentResultsSubDirectory + QDir::separator() + QString("durations.cvs")).toStdString());
m_NavigationStepTimer->SetActiveIndex(0, "Initialization");
ui->finishExperimentButton->setEnabled(true);
ui->startExperimentButton->setDisabled(true);
// initialize and register logging backend
QString loggingFilename = m_ExperimentResultsSubDirectory + QDir::separator() + "logging.txt";
m_LoggingBackend.SetOutputFileName(loggingFilename.toStdString());
mbilog::RegisterBackend(&m_LoggingBackend);
// initialize and start navigation data recorder form xml recording
m_NavigationDataRecorder->StartRecording();
m_IsExperimentRunning = true;
m_ImageAndNavigationDataLoggingTimer->start(1000);
}
}
}
void QmitkUSNavigationMarkerPlacement::OnFinishExperiment()
{
this->WaitCursorOn();
MITK_INFO("USNavigationLogging") << "Experiment finished!";
- MITK_INFO("USNavigationLogging")
- << "Position/Orientation of needle tip: "
- << (dynamic_cast<mitk::NavigationData *>(m_CombinedModality->GetTrackingDeviceDataSource()->GetOutput(0)))->GetPosition();
+ MITK_INFO("USNavigationLogging") << "Position/Orientation of needle tip: "
+ << (dynamic_cast<mitk::NavigationData *>(
+ m_CombinedModality->GetTrackingDeviceDataSource()->GetOutput(0)))
+ ->GetPosition();
MITK_INFO("USNavigationLogging")
<< "Position of target: " << m_TargetNodeDisplacementFilter->GetRawDisplacementNavigationData(0)->GetPosition();
MITK_INFO("USNavigationLogging") << "Total duration: " << m_NavigationStepTimer->GetTotalDuration();
m_ImageAndNavigationDataLoggingTimer->stop();
ui->runningLabel->setPixmap(m_IconNotRunning);
m_NavigationStepTimer->Stop();
-
ui->finishExperimentButton->setDisabled(true);
ui->startExperimentButton->setEnabled(true);
MITK_INFO("USNavigationLogging") << "Writing logging data to " << m_ExperimentResultsSubDirectory.toStdString();
// save ultrasound images to the file system
QDir(m_ExperimentResultsSubDirectory).mkdir("ImageStream");
m_USImageLoggingFilter->Update();
m_USImageLoggingFilter->SetImageFilesExtension(".jpg");
m_USImageLoggingFilter->SaveImages(
QString(m_ExperimentResultsSubDirectory + QDir::separator() + "ImageStream" + QDir::separator()).toStdString());
m_USImageLoggingFilter = mitk::USImageLoggingFilter::New();
m_NavigationDataRecorder->StopRecording();
// Write data to csv and xml file
mitk::IOUtil::Save(
m_NavigationDataRecorder->GetNavigationDataSet(),
(QString(m_ExperimentResultsSubDirectory + QDir::separator() + "navigation-data.xml").toStdString().c_str()));
mitk::IOUtil::Save(
m_NavigationDataRecorder->GetNavigationDataSet(),
(QString(m_ExperimentResultsSubDirectory + QDir::separator() + "navigation-data.csv").toStdString().c_str()));
// write logged navigation data messages to separate file
std::stringstream csvNavigationMessagesFilename;
csvNavigationMessagesFilename << m_ExperimentResultsSubDirectory.toStdString() << QDir::separator().toLatin1()
- << "CSVNavigationMessagesLogFile.csv";
+ << "CSVNavigationMessagesLogFile.csv";
MITK_INFO("USNavigationLogging") << "Writing logged navigation messages to separate csv file: "
- << csvNavigationMessagesFilename.str();
+ << csvNavigationMessagesFilename.str();
m_LoggingBackend.WriteCSVFileWithNavigationMessages(csvNavigationMessagesFilename.str());
mbilog::UnregisterBackend(&m_LoggingBackend);
m_IsExperimentRunning = false;
m_ImageAndNavigationDataLoggingTimer->stop();
m_CombinedModality = nullptr;
// reset scene number for next experiment
m_SceneNumber = 1;
this->WaitCursorOff();
MITK_INFO("USNavigationLogging") << "Finished!";
}
void QmitkUSNavigationMarkerPlacement::OnSettingsChanged(itk::SmartPointer<mitk::DataNode> settings)
{
// initialize gui according to the experiment mode setting
bool experimentMode = false;
settings->GetBoolProperty("settings.experiment-mode", experimentMode);
ui->startExperimentButton->setVisible(experimentMode);
ui->finishExperimentButton->setVisible(experimentMode);
ui->runningLabel->setVisible(experimentMode);
if (experimentMode && !m_IsExperimentRunning)
{
ui->runningLabel->setPixmap(m_IconNotRunning);
}
else if (!experimentMode)
{
if (m_IsExperimentRunning)
{
this->OnFinishExperiment();
}
}
// get the results directory from the settings and use home directory if
// there is no results directory configured
std::string resultsDirectory;
if (settings->GetStringProperty("settings.experiment-results-directory", resultsDirectory))
{
m_ResultsDirectory = QString::fromStdString(resultsDirectory);
}
else
{
m_ResultsDirectory = QDir::homePath();
}
// make sure that the results directory exists
QDir resultsDirectoryQDir = QDir(m_ResultsDirectory);
if (!resultsDirectoryQDir.exists())
{
resultsDirectoryQDir.mkpath(m_ResultsDirectory);
}
MITK_INFO("USNavigation") << "Results Directory: " << m_ResultsDirectory.toStdString();
}
void QmitkUSNavigationMarkerPlacement::ReinitOnImage()
{
if (!m_ReinitAlreadyDone && m_CombinedModality.IsNotNull())
{
// make sure that the output is already calibrated correctly
// (if the zoom level was changed recently)
m_CombinedModality->Modified();
m_CombinedModality->Update();
mitk::Image::Pointer image = m_CombinedModality->GetOutput();
if (image.IsNotNull() && image->IsInitialized())
{
// make a reinit on the ultrasound image
mitk::IRenderWindowPart *renderWindow = this->GetRenderWindowPart();
if (renderWindow != NULL && image->GetTimeGeometry()->IsValid())
{
renderWindow->GetRenderingManager()->InitializeViews(
image->GetTimeGeometry(), mitk::RenderingManager::REQUEST_UPDATE_ALL, true);
renderWindow->GetRenderingManager()->RequestUpdateAll();
}
this->RequestRenderWindowUpdate();
m_ReinitAlreadyDone = true;
}
}
}
void QmitkUSNavigationMarkerPlacement::Convert2DImagesTo3D(mitk::DataStorage::SetOfObjects::ConstPointer nodes)
{
for (mitk::DataStorage::SetOfObjects::ConstIterator it = nodes->Begin(); it != nodes->End(); ++it)
{
if (it->Value()->GetData() && strcmp(it->Value()->GetData()->GetNameOfClass(), "Image") == 0)
{
// convert image to 3d image if it is 2d at the moment
mitk::Image::Pointer image = dynamic_cast<mitk::Image *>(it->Value()->GetData());
if (image.IsNotNull() && image->GetDimension() == 2 && !image->GetGeometry()->Is2DConvertable())
{
mitk::Convert2Dto3DImageFilter::Pointer convert2DTo3DImageFilter = mitk::Convert2Dto3DImageFilter::New();
convert2DTo3DImageFilter->SetInput(image);
convert2DTo3DImageFilter->Update();
it->Value()->SetData(convert2DTo3DImageFilter->GetOutput());
}
}
}
}
void QmitkUSNavigationMarkerPlacement::CreateOverlays()
{
// initialize warning overlay (and do not display it, yet)
m_WarnOverlay->SetText("Warning: No calibration available for current depth.");
// set position and font size for the text overlay
// (nonesense postition as a layouter is used, but it ignored
// the overlay without setting a position here)
mitk::Point2D overlayPosition;
overlayPosition.SetElement(0, -50.0f);
overlayPosition.SetElement(1, -50.0f);
m_WarnOverlay->SetPosition2D(overlayPosition);
m_WarnOverlay->SetFontSize(22);
m_WarnOverlay->SetColor(1, 0, 0); // overlay should be red
}
void QmitkUSNavigationMarkerPlacement::UpdateToolStorage()
{
- if (m_NavigationDataSource.IsNull()) { m_NavigationDataSource = m_CombinedModality->GetNavigationDataSource(); }
- if (m_NavigationDataSource.IsNull()) { MITK_WARN << "Found an invalid navigation data source object!"; }
- us::ModuleContext* context = us::GetModuleContext();
+ if (m_NavigationDataSource.IsNull())
+ {
+ m_NavigationDataSource = m_CombinedModality->GetNavigationDataSource();
+ }
+ if (m_NavigationDataSource.IsNull())
+ {
+ MITK_WARN << "Found an invalid navigation data source object!";
+ }
+ us::ModuleContext *context = us::GetModuleContext();
std::string id = m_NavigationDataSource->US_PROPKEY_ID;
std::string filter = "(" + mitk::NavigationToolStorage::US_PROPKEY_SOURCE_ID + "=" + id + ")";
// Get Storage
- std::vector<us::ServiceReference<mitk::NavigationToolStorage> > refs = context->GetServiceReferences<mitk::NavigationToolStorage>();
+ std::vector<us::ServiceReference<mitk::NavigationToolStorage>> refs =
+ context->GetServiceReferences<mitk::NavigationToolStorage>();
m_CurrentStorage = context->GetService(refs.front());
if (m_CurrentStorage.IsNull())
{
MITK_WARN << "Found an invalid storage object!";
}
- else if (m_CurrentStorage->GetToolCount() != m_NavigationDataSource->GetNumberOfOutputs()) //there is something wrong with the storage
+ else if (m_CurrentStorage->GetToolCount() !=
+ m_NavigationDataSource->GetNumberOfOutputs()) // there is something wrong with the storage
{
- MITK_WARN << "Found a tool storage, but it has not the same number of tools like the NavigationDataSource. This storage won't be used because it isn't the right one.";
+ MITK_WARN << "Found a tool storage, but it has not the same number of tools like the NavigationDataSource. This "
+ "storage won't be used because it isn't the right one.";
m_CurrentStorage = NULL;
}
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.h b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.h
index c58dfad0ba..68b9b8217b 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.h
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.h
@@ -1,207 +1,210 @@
/*===================================================================
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 QmitkUSNAVIGATIONMARKERPLACEMENT_H
#define QmitkUSNAVIGATIONMARKERPLACEMENT_H
#include <QmitkAbstractView.h>
#include "IO/mitkUSNavigationLoggingBackend.h"
#include "mitkNavigationDataRecorder.h"
#include "mitkNodeDisplacementFilter.h"
#include "mitkUSImageLoggingFilter.h"
#include <mitkMessage.h>
#include <mitkTextAnnotation2D.h>
#include <mitkAbstractUltrasoundTrackerDevice.h>
#include <mitkNavigationToolStorage.h>
+#include <mitkNavigationDataObjectVisualizationFilter.h>
namespace itk
{
template <class T>
class SmartPointer;
}
namespace mitk
{
class USNavigationStepTimer;
}
namespace Ui
{
class QmitkUSNavigationMarkerPlacement;
}
class QmitkUSAbstractNavigationStep;
class QmitkUSNavigationStepPunctuationIntervention;
class QmitkStdMultiWidget;
class QTimer;
class QSignalMapper;
/**
* \brief View for navigated marker placement using the combined modality.
* This view utilizes the QmitkUSNavigationProcessWidget to do the navigation
* process. It can be switched between widgets for marker placement and widgets
* for punctuation.
*
* An experiment mode allows for logging results, durations and the ultrasound
* images.
*/
class QmitkUSNavigationMarkerPlacement : public QmitkAbstractView
{
Q_OBJECT
protected slots:
void OnInitializeTargetMarking();
void OnInitializeCriticalStructureMarking();
void OnInitializeNavigation();
/**
* \brief Called periodically to update the rendering.
* The standard multi widget is changed to fit the navigation process once it
* is available and a reinit on the ultrasound image is done for a new image
* node.
*/
void OnTimeout();
/**
* \brief Called periodically during an experiment for logging the ultrasound images.
*/
void OnImageAndNavigationDataLoggingTimeout();
/**
* \brief Initializes anything neccessary for an experiment.
* The user is asked for a directory for storing the results and the logging
* is started.
*/
void OnStartExperiment();
/**
* \brief Stops logging and saves everything to the file system.
*/
void OnFinishExperiment();
/**
* \brief Switches the navigation step widgets if the navigation application was changed.
*/
void OnSettingsChanged(itk::SmartPointer<mitk::DataNode>);
void OnAddAblationZone(int size);
void OnEnableNavigationLayout();
void OnResetStandardLayout();
void OnChangeLayoutClicked();
void OnChangeAblationZone(int id, int newSize);
void OnRenderWindowSelection();
void OnRefreshView();
public:
static const char *DATANAME_TUMOUR;
static const char *DATANAME_TARGETSURFACE;
static const char *DATANAME_ZONES;
static const char *DATANAME_TARGETS;
static const char *DATANAME_TARGETS_PATHS;
static const char *DATANAME_REACHED_TARGETS;
explicit QmitkUSNavigationMarkerPlacement();
~QmitkUSNavigationMarkerPlacement();
virtual void CreateQtPartControl(QWidget *parent);
static const std::string VIEW_ID;
void OnCombinedModalityPropertyChanged(const std::string &, const std::string &);
protected:
/**
* \brief A reinit on the ultrasound image is performed every time the view gets the focus.
*/
virtual void SetFocus();
/**
* \brief Helper function which performs a reinit on the ultrasound image.
*/
void ReinitOnImage();
/**
* \brief Sets the multiwidget to two windows, axial on top and 3D render window on the bottom.
*/
virtual void SetTwoWindowView();
/**
* \brief Helper function for being able to serialize the 2d ultrasound image.
*/
void Convert2DImagesTo3D(mitk::DataStorage::SetOfObjects::ConstPointer nodes);
void ReInitializeSettingsNodesAndImageStream();
void UpdateToolStorage();
void CreateOverlays();
void InitImageStream();
QWidget *m_Parent;
QTimer *m_UpdateTimer;
QTimer *m_ImageAndNavigationDataLoggingTimer;
QmitkStdMultiWidget *m_StdMultiWidget;
itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice> m_CombinedModality;
itk::SmartPointer<mitk::DataNode> m_SettingsNode;
bool m_ReinitAlreadyDone;
bool m_IsExperimentRunning;
std::string m_CurrentApplicationName;
itk::SmartPointer<mitk::USNavigationStepTimer> m_NavigationStepTimer;
QPixmap m_IconRunning;
QPixmap m_IconNotRunning;
QString m_ResultsDirectory;
QString m_ExperimentName;
QString m_ExperimentResultsSubDirectory;
std::vector<QString>
m_NavigationStepNames; // stores the names of the navigation steps which are currently used (for logging purposes)
mitk::USNavigationLoggingBackend m_LoggingBackend;
mitk::USImageLoggingFilter::Pointer m_USImageLoggingFilter;
mitk::NavigationDataRecorder::Pointer m_NavigationDataRecorder; // records navigation data files
mitk::NodeDisplacementFilter::Pointer m_TargetNodeDisplacementFilter;
mitk::NodeDisplacementFilter::Pointer m_AblationZonesDisplacementFilter;
+ mitk::NavigationDataObjectVisualizationFilter::Pointer m_ToolVisualizationFilter;
+ mitk::DataNode::Pointer m_InstrumentNode;
std::vector<mitk::DataNode::Pointer> m_AblationZonesVector;
int m_NeedleIndex;
int m_MarkerIndex;
int m_SceneNumber;
itk::SmartPointer<mitk::TextAnnotation2D> m_WarnOverlay;
//To get tool storage
mitk::NavigationDataSource::Pointer m_NavigationDataSource;
mitk::NavigationToolStorage::Pointer m_CurrentStorage;
itk::SmartPointer<mitk::DataNode> m_BaseNode;
itk::SmartPointer<mitk::DataNode> m_ImageStreamNode;
private:
Ui::QmitkUSNavigationMarkerPlacement *ui;
};
#endif // USNAVIGATIONMARKERPLACEMENT_H
diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui
index 8e043ac2f8..4c4ff80a50 100644
--- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui
+++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui
@@ -1,954 +1,954 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QmitkMITKIGTTrackingToolboxViewControls</class>
<widget class="QWidget" name="QmitkMITKIGTTrackingToolboxViewControls">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>370</width>
<height>739</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="windowTitle">
<string>QmitkTemplate</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QTabWidget" name="m_MainWidget">
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="tab">
<attribute name="title">
<string>Tracking</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QFrame" name="m_ConfigurationWidgetFrame">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QmitkTrackingDeviceConfigurationWidget" name="m_ConfigurationWidget" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QFrame" name="m_TrackingToolsFrame">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QLabel" name="label_2">
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
<kerning>true</kerning>
</font>
</property>
<property name="text">
<string>Tracking Tools</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
</widget>
</item>
<item>
<widget class="QStackedWidget" name="m_TrackingToolsWidget">
<property name="lineWidth">
<number>0</number>
</property>
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="page">
<layout class="QVBoxLayout" name="verticalLayout_11">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string>ToolStorage:</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="m_ToolLabel">
<property name="text">
<string><none></string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QmitkToolTrackingStatusWidget" name="m_TrackingToolsStatusWidget" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_9">
<item>
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>13</width>
<height>49</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QPushButton" name="m_AutoDetectTools">
<property name="minimumSize">
<size>
<width>120</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Auto Detection</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_AddSingleTool">
<property name="minimumSize">
<size>
<width>120</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Add Single Tool</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_LoadTools">
<property name="minimumSize">
<size>
<width>120</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Load Tool Storage</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_ResetTools">
<property name="minimumSize">
<size>
<width>120</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_2">
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<widget class="QmitkNavigationToolCreationWidget" name="m_NavigationToolCreationWidget" native="true"/>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QFrame" name="m_TrackingControlsFrame">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QLabel" name="label_3">
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Tracking Control</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="m_TrackingControlLabel">
<property name="text">
<string>Status: disconnected</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<spacer name="horizontalSpacer_11">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="m_ConnectDisconnectButton">
<property name="minimumSize">
<size>
<width>142</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Connect</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="m_StartStopTrackingButton">
<property name="minimumSize">
<size>
<width>142</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Start Tracking</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<spacer name="horizontalSpacer_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="m_TrackingFrozenLabel">
<property name="text">
<string><html><head/><body><p><span style=" color:#ff0000;">Tracking Frozen!</span></p></body></html></string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_FreezeUnfreezeTrackingButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="minimumSize">
<size>
<width>142</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Freeze Tracking</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab_2">
<attribute name="title">
<string>Options</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_3">
<item row="1" column="0" colspan="2">
<widget class="QGroupBox" name="m_UpdateRateOptionsGroupBox">
<property name="title">
<string>Update Rate Options</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<widget class="QLabel" name="m_OptionsUpdateRateLabel">
<property name="text">
<string>Update Rate [per second]</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSpinBox" name="m_UpdateRate">
<property name="maximum">
<number>100</number>
</property>
<property name="value">
- <number>30</number>
+ <number>10</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QCheckBox" name="m_UseDifferentUpdateRates">
<property name="text">
<string>Use different Render and Log Update Rates</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8" stretch="0,0,0">
<item>
<widget class="QLabel" name="m_OptionsRenderUpdateRateLabel">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Render Update Rate [fps]</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSpinBox" name="m_RenderUpdateRate">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>30</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_10">
<item>
<widget class="QLabel" name="m_OptionsLogUpdateRateLabel">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Log Update Rate [per second]</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSpinBox" name="m_LogUpdateRate">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>120</number>
</property>
<property name="singleStep">
<number>10</number>
</property>
<property name="value">
<number>60</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item row="4" column="0" colspan="2">
<widget class="QGroupBox" name="m_OtherOptionsGroupBox">
<property name="title">
<string>Other Options</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_12">
<item>
<widget class="QCheckBox" name="m_ShowToolQuaternions">
<property name="text">
<string>Show Tool Quaternions</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="m_SimpleUI">
<property name="text">
<string>Simple UI</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_6">
<property name="text">
<string>Caution, only for backward compatibility:</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="m_InverseMode">
<property name="text">
<string>Inverse mode (Quaternions are stored inverse)</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="2" column="0" colspan="2">
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Tracking Volume Options</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
<item>
<widget class="QCheckBox" name="m_ShowTrackingVolume">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Show Tracking Volume</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_5">
<property name="text">
<string>Select Model:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="m_VolumeSelectionBox"/>
</item>
</layout>
</widget>
</item>
<item row="5" column="0" colspan="2">
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>Tool Visualization Options</string>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<item row="0" column="0">
<widget class="QCheckBox" name="showHideToolProjectionCheckBox">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Show Tool Projection</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="m_toolselector"/>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="showHideToolAxisCheckBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Show Tool Axis</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="3" column="0" colspan="2">
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Open IGT Link</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_15">
<item>
<widget class="QCheckBox" name="m_EnableOpenIGTLinkMicroService">
<property name="text">
<string>Enable Open IGT Link MicroService</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>Select Open IGT Link Data Format:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="m_OpenIGTLinkDataFormat">
<item>
<property name="text">
<string>TRANSFORM</string>
</property>
</item>
<item>
<property name="text">
<string>QTDATA</string>
</property>
</item>
<item>
<property name="text">
<string>TDATA</string>
</property>
</item>
<item>
<property name="text">
<string>POSITION</string>
</property>
</item>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="m_DisableAllTimers">
<property name="text">
<string>Disable All Timers</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="m_RenderWarningLabel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string><html><head/><body><p align="right"><span style=" color:#ff0000;">Rendering Disabled!</span></p></body></html></string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
</widget>
</item>
<item row="6" column="0">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab_3">
<attribute name="title">
<string>Logging</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_8">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Filename:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="m_LoggingFileName"/>
</item>
<item>
<widget class="QPushButton" name="m_ChooseFile">
<property name="text">
<string>Choose File</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<widget class="QCheckBox" name="m_LoggingLimit">
<property name="text">
<string>Limit Number Of Logged Frames:</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSpinBox" name="m_LoggedFramesLimit">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>300</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QRadioButton" name="m_CsvFormat">
<property name="text">
<string>CSV format</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="m_XmlFormat">
<property name="text">
<string>XML format</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="m_SkipInvalidData">
<property name="text">
<string>Skip invalid data</string>
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_4">
<property name="title">
<string>Logging Status</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QLabel" name="m_LoggingLabel">
<property name="text">
<string>Logging OFF</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="m_LoggedFramesLabel">
<property name="text">
<string>Logged Frames: 0</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="m_StartLogging">
<property name="text">
<string>Start Logging</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_StopLogging">
<property name="text">
<string>Stop Logging</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
<widget class="QWidget" name="m_simpleWidget" native="true">
<property name="geometry">
<rect>
<x>9</x>
<y>742</y>
<width>303</width>
<height>70</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_25">
<item>
<widget class="QPushButton" name="m_ConnectSimpleMode">
<property name="minimumSize">
<size>
<width>70</width>
<height>50</height>
</size>
</property>
<property name="text">
<string>Connect</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_StartTrackingSimpleMode">
<property name="minimumSize">
<size>
<width>70</width>
<height>50</height>
</size>
</property>
<property name="text">
<string>Start
Tracking</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_21">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="m_advancedUI">
<property name="minimumSize">
<size>
<width>70</width>
<height>50</height>
</size>
</property>
<property name="text">
<string>Advanced
Mode</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
<layoutdefault spacing="6" margin="11"/>
<customwidgets>
<customwidget>
<class>QmitkToolTrackingStatusWidget</class>
<extends>QWidget</extends>
<header location="global">QmitkToolTrackingStatusWidget.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>QmitkTrackingDeviceConfigurationWidget</class>
<extends>QWidget</extends>
<header>QmitkTrackingDeviceConfigurationWidget.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>QmitkNavigationToolCreationWidget</class>
<extends>QWidget</extends>
<header>QmitkNavigationToolCreationWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>