diff --git a/Modules/Bundles/org.mitk.gui.qt.igttrackingtoolbox/src/internal/QmitkMITKIGTTrackingToolboxView.cpp b/Modules/Bundles/org.mitk.gui.qt.igttrackingtoolbox/src/internal/QmitkMITKIGTTrackingToolboxView.cpp
index 51f20034a9..061719a14e 100644
--- a/Modules/Bundles/org.mitk.gui.qt.igttrackingtoolbox/src/internal/QmitkMITKIGTTrackingToolboxView.cpp
+++ b/Modules/Bundles/org.mitk.gui.qt.igttrackingtoolbox/src/internal/QmitkMITKIGTTrackingToolboxView.cpp
@@ -1,285 +1,287 @@
 /*=========================================================================
 
 Program:   Medical Imaging & Interaction Toolkit
 Language:  C++
 Date:      $Date$
 Version:   $Revision$ 
  
 Copyright (c) German Cancer Research Center, Division of Medical and
 Biological Informatics. All rights reserved.
 See MITKCopyright.txt or http://www.mitk.org/copyright.html for details.
 
 This software is distributed WITHOUT ANY WARRANTY; without even
 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 PURPOSE.  See the above copyright notices for more information.
 
 =========================================================================*/
 
 // Blueberry
 #include <berryISelectionService.h>
 #include <berryIWorkbenchWindow.h>
 
 // Qmitk
 #include "QmitkMITKIGTTrackingToolboxView.h"
 #include "QmitkStdMultiWidget.h"
 
 // Qt
 #include <QMessageBox>
 #include <qfiledialog.h>
 
 // MITK
 #include <mitkNavigationToolStorageDeserializer.h>
 #include <mitkTrackingDeviceSourceConfigurator.h>
 #include <mitkTrackingVolumeGenerator.h>
 
 
 
 const std::string QmitkMITKIGTTrackingToolboxView::VIEW_ID = "org.mitk.views.mitkigttrackingtoolbox";
 
 QmitkMITKIGTTrackingToolboxView::QmitkMITKIGTTrackingToolboxView()
 : QmitkFunctionality()
 , m_Controls( 0 )
 , m_MultiWidget( NULL )
 {
   m_TrackingTimer = new QTimer(this);	
   m_tracking = false;
   m_logging = false;
   m_loggedFrames = 0;
 }
 
 QmitkMITKIGTTrackingToolboxView::~QmitkMITKIGTTrackingToolboxView()
 {
   
 }
 
 
 void QmitkMITKIGTTrackingToolboxView::CreateQtPartControl( QWidget *parent )
 {
   // build up qt view, unless already done
   if ( !m_Controls )
   {
     // create GUI widgets from the Qt Designer's .ui file
     m_Controls = new Ui::QmitkMITKIGTTrackingToolboxViewControls;
     m_Controls->setupUi( parent );
  
     //create connections
     connect( m_Controls->m_LoadTools, SIGNAL(clicked()), this, SLOT(OnLoadTools()) );
     connect( m_Controls->m_StartTracking, SIGNAL(clicked()), this, SLOT(OnStartTracking()) );
     connect( m_Controls->m_StopTracking, SIGNAL(clicked()), this, SLOT(OnStopTracking()) );
     connect( m_TrackingTimer, SIGNAL(timeout()), this, SLOT(UpdateTrackingTimer()));
     connect( m_Controls->m_ChooseFile, SIGNAL(clicked()), this, SLOT(OnChooseFileClicked()));
     connect( m_Controls->m_StartLogging, SIGNAL(clicked()), this, SLOT(StartLogging()));
     connect( m_Controls->m_StopLogging, SIGNAL(clicked()), this, SLOT(StopLogging()));
 
     //initialize widgets
     m_Controls->m_configurationWidget->EnableAdvancedUserControl(false);
     m_Controls->m_TrackingToolsStatusWidget->SetShowPositions(true);
     m_Controls->m_TrackingToolsStatusWidget->SetTextAlignment(Qt::AlignLeft);
 
     //initialize tracking volume node
     TrackingVolumeNode = mitk::DataNode::New();
     TrackingVolumeNode->SetName("TrackingVolume");
     this->GetDataStorage()->Add(TrackingVolumeNode);
 
     //initialize buttons
     m_Controls->m_StopTracking->setEnabled(false);
   }
 }
 
 
 void QmitkMITKIGTTrackingToolboxView::StdMultiWidgetAvailable (QmitkStdMultiWidget &stdMultiWidget)
 {
   m_MultiWidget = &stdMultiWidget;
 }
 
 
 void QmitkMITKIGTTrackingToolboxView::StdMultiWidgetNotAvailable()
 {
   m_MultiWidget = NULL;
 }
 
 void QmitkMITKIGTTrackingToolboxView::OnLoadTools()
 {
   //read in filename
   QString filename = QFileDialog::getOpenFileName(NULL,tr("Open Toolfile"), "/", tr("All Files (*.*)")); //later perhaps: tr("Toolfile (*.tfl)"
   if (filename.isNull()) return;
   
   //initialize tool storage
   m_toolStorage = mitk::NavigationToolStorage::New();
   
   //read tool storage from disk
   mitk::NavigationToolStorageDeserializer::Pointer myDeserializer = mitk::NavigationToolStorageDeserializer::New(GetDataStorage());
   m_toolStorage = myDeserializer->Deserialize(filename.toStdString());
   if (m_toolStorage.IsNull()) 
 	{
 	MessageBox(myDeserializer->GetErrorMessage());
 	m_toolStorage = NULL;
 	return;
   }
 
   //update label
   Poco::Path myPath = Poco::Path(filename.toStdString()); //use this to seperate filename from path
   QString toolLabel = QString("Loaded Tools: ") + QString::number(m_toolStorage->GetToolCount()) + " Tools from " + myPath.getFileName().c_str();
   m_Controls->m_toolLabel->setText(toolLabel);
 
   //update tool preview
   m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels();
   m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage);
 }
 
 void QmitkMITKIGTTrackingToolboxView::OnStartTracking()
 {
 //check if everything is ready to start tracking
 if (this->m_toolStorage.IsNull())
   {
   MessageBox("Error: No Tools Loaded Yet!");
   return;
   }
 else if (this->m_toolStorage->GetToolCount() == 0)
   {
   MessageBox("Error: No Way To Track Without Tools!");
   return;
   }
 
 //build the IGT pipeline
 mitk::TrackingDeviceSourceConfigurator::Pointer myTrackingDeviceSourceFactory = mitk::TrackingDeviceSourceConfigurator::New(this->m_toolStorage,this->m_Controls->m_configurationWidget->GetTrackingDevice());
 m_TrackingDeviceSource = myTrackingDeviceSourceFactory->CreateTrackingDeviceSource(this->m_ToolVisualizationFilter);
 if (m_TrackingDeviceSource.IsNull()) 
   {
   MessageBox(myTrackingDeviceSourceFactory->GetErrorMessage());
   return;
   }
 
 //initialize tracking
 try 
   {
   m_TrackingDeviceSource->Connect();
   m_TrackingDeviceSource->StartTracking();
   }
 catch (...)
   {
   MessageBox("Error while starting the tracking device!");
   return;
   }
 m_TrackingTimer->start(1000/(m_Controls->m_UpdateRate->value()));
 m_Controls->m_TrackingControlLabel->setText("Status: tracking");
 
 //connect the tool visualization widget
 for(int i=0; i<m_TrackingDeviceSource->GetNumberOfOutputs(); i++) 
   {
     m_Controls->m_TrackingToolsStatusWidget->AddNavigationData(m_TrackingDeviceSource->GetOutput(i));
   }
 m_Controls->m_TrackingToolsStatusWidget->ShowStatusLabels();
+if (m_Controls->m_ShowToolQuaternions->isChecked()) {m_Controls->m_TrackingToolsStatusWidget->SetShowQuaternions(true);}
+else {m_Controls->m_TrackingToolsStatusWidget->SetShowQuaternions(false);}
 
 //disable loading new tools
 this->m_Controls->m_LoadTools->setEnabled(false);
 
 //set configuration finished
 this->m_Controls->m_configurationWidget->ConfigurationFinished();
 
 //show tracking volume
 if (m_Controls->m_ShowTrackingVolume->isChecked())
   {
   mitk::TrackingVolumeGenerator::Pointer volumeGenerator= mitk::TrackingVolumeGenerator::New();
   volumeGenerator->SetTrackingDeviceType(m_TrackingDeviceSource->GetTrackingDevice()->GetType());
   volumeGenerator->Update();
 
   mitk::Surface::Pointer volumeSurface = volumeGenerator->GetOutput();
 
   TrackingVolumeNode->SetData(volumeSurface);
   TrackingVolumeNode->SetOpacity(0.25);
   mitk::Color red;
   red.SetRed(1);
   TrackingVolumeNode->SetColor(red);
   }
 
 m_tracking = true;
 m_Controls->m_StopTracking->setEnabled(true);
 m_Controls->m_StartTracking->setEnabled(false);
 
 }
 
 void QmitkMITKIGTTrackingToolboxView::OnStopTracking()
 {
 if (!m_tracking) return;
 m_TrackingTimer->stop();
 m_TrackingDeviceSource->StopTracking();
 m_TrackingDeviceSource->Disconnect();
 this->m_Controls->m_configurationWidget->Reset();
 m_Controls->m_TrackingControlLabel->setText("Status: stopped");
 if (m_logging) StopLogging();
 this->m_Controls->m_LoadTools->setEnabled(true);
 m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels();
 m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage);
 TrackingVolumeNode->SetData(NULL);
 m_tracking = false;
 m_Controls->m_StopTracking->setEnabled(false);
 m_Controls->m_StartTracking->setEnabled(true);
 }
 
 void QmitkMITKIGTTrackingToolboxView::MessageBox(std::string s)
   {
   QMessageBox msgBox;
   msgBox.setText(s.c_str());
   msgBox.exec();
   }
 
 void QmitkMITKIGTTrackingToolboxView::UpdateTrackingTimer()
   {
   m_ToolVisualizationFilter->Update();
   mitk::RenderingManager::GetInstance()->RequestUpdateAll();
   if (m_logging) 
     {
     this->m_loggingFilter->Update();
     m_loggedFrames = this->m_loggingFilter->GetRecordCounter();
     this->m_Controls->m_LoggedFramesLabel->setText("Logged Frames: "+QString::number(m_loggedFrames));
     //check if logging stopped automatically
     if((m_loggedFrames>1)&&(!m_loggingFilter->GetRecording())) 
       {
       m_Controls->m_LoggingLabel->setText("Logging OFF");
       m_logging = false;
       }
     }
   m_Controls->m_TrackingToolsStatusWidget->Refresh();
   }
 
 void QmitkMITKIGTTrackingToolboxView::OnChooseFileClicked()
   {
   QString filename = QFileDialog::getSaveFileName(NULL,tr("Choose Logging File"), "/", "*.*");
   this->m_Controls->m_LoggingFileName->setText(filename);
   }
 
 void QmitkMITKIGTTrackingToolboxView::StartLogging()
   {
   //initialize logging filter
   m_loggingFilter = mitk::NavigationDataRecorder::New();
   m_loggingFilter->SetRecordingMode(mitk::NavigationDataRecorder::NormalFile);
   if (m_Controls->m_xmlFormat->isChecked()) m_loggingFilter->SetOutputFormat(mitk::NavigationDataRecorder::xml);
   else if (m_Controls->m_csvFormat->isChecked()) m_loggingFilter->SetOutputFormat(mitk::NavigationDataRecorder::csv);
   m_loggingFilter->SetFileName(m_Controls->m_LoggingFileName->text().toStdString().c_str());
   if (m_Controls->m_LoggingLimit->isChecked()){m_loggingFilter->SetRecordCountLimit(m_Controls->m_LoggedFramesLimit->value());}
   
   //connect filter
   for(int i=0; i<m_ToolVisualizationFilter->GetNumberOfOutputs(); i++){m_loggingFilter->AddNavigationData(m_ToolVisualizationFilter->GetOutput(i));}
  
   //start filter
   m_loggingFilter->StartRecording();
 
   //update labels / logging variables
   this->m_Controls->m_LoggingLabel->setText("Logging ON");
   this->m_Controls->m_LoggedFramesLabel->setText("Logged Frames: 0");
   m_loggedFrames = 0;
   m_logging = true;
   }
 
 void QmitkMITKIGTTrackingToolboxView::StopLogging()
   {
   //update label
   this->m_Controls->m_LoggingLabel->setText("Logging OFF");
 
   m_loggingFilter->StopRecording();
   m_logging = false;
   }
 
 
 
diff --git a/Modules/Bundles/org.mitk.gui.qt.igttrackingtoolbox/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui b/Modules/Bundles/org.mitk.gui.qt.igttrackingtoolbox/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui
index a640c6e97f..1da3126058 100644
--- a/Modules/Bundles/org.mitk.gui.qt.igttrackingtoolbox/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui
+++ b/Modules/Bundles/org.mitk.gui.qt.igttrackingtoolbox/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui
@@ -1,454 +1,461 @@
 <?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>335</width>
     <height>685</height>
    </rect>
   </property>
   <property name="minimumSize">
    <size>
     <width>0</width>
     <height>0</height>
    </size>
   </property>
   <property name="windowTitle">
    <string>QmitkTemplate</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_3">
    <item>
     <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_5">
        <item>
         <widget class="QGroupBox" name="groupBox_3">
          <property name="minimumSize">
           <size>
            <width>0</width>
            <height>280</height>
           </size>
          </property>
          <property name="maximumSize">
           <size>
            <width>16777215</width>
            <height>280</height>
           </size>
          </property>
          <property name="title">
           <string/>
          </property>
          <layout class="QVBoxLayout" name="verticalLayout_4">
           <item>
            <widget class="QmitkTrackingDeviceConfigurationWidget" name="m_configurationWidget" native="true"/>
           </item>
          </layout>
         </widget>
        </item>
        <item>
         <widget class="QGroupBox" name="groupBox">
          <property name="title">
           <string/>
          </property>
          <layout class="QVBoxLayout" name="verticalLayout">
           <item>
            <widget class="QLabel" name="label_2">
             <property name="text">
              <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:14pt; font-weight:600;&quot;&gt;Tracking Tools&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
             </property>
            </widget>
           </item>
           <item>
            <widget class="QLabel" name="m_toolLabel">
             <property name="text">
              <string>Loaded Tools: &lt;none&gt;</string>
             </property>
            </widget>
           </item>
           <item>
            <widget class="QmitkToolTrackingStatusWidget" name="m_TrackingToolsStatusWidget" native="true"/>
           </item>
           <item>
            <widget class="QLabel" name="label_4">
             <property name="text">
              <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-style:italic;&quot;&gt;(only load tool storage files which can be created &lt;/span&gt;&lt;/p&gt;
 &lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-style:italic;&quot;&gt;with the bundle &amp;quot;NavigationToolManager&amp;quot;)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
             </property>
             <property name="alignment">
              <set>Qt::AlignJustify|Qt::AlignVCenter</set>
             </property>
            </widget>
           </item>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout">
             <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>
             <item>
              <widget class="QPushButton" name="m_LoadTools">
               <property name="text">
                <string>Load Tools</string>
               </property>
              </widget>
             </item>
            </layout>
           </item>
          </layout>
         </widget>
        </item>
        <item>
         <widget class="QGroupBox" name="groupBox_2">
          <property name="title">
           <string/>
          </property>
          <layout class="QVBoxLayout" name="verticalLayout_2">
           <item>
            <widget class="QLabel" name="label_3">
             <property name="text">
              <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:14pt; font-weight:600;&quot;&gt;Tracking Control&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
             </property>
            </widget>
           </item>
           <item>
            <widget class="QLabel" name="m_TrackingControlLabel">
             <property name="text">
              <string>Status: &lt;not configured&gt;</string>
             </property>
            </widget>
           </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_StartTracking">
               <property name="text">
                <string>Start Tracking</string>
               </property>
              </widget>
             </item>
            </layout>
           </item>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_3">
             <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="QPushButton" name="m_StopTracking">
               <property name="text">
                <string>Stop 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="QVBoxLayout" name="verticalLayout_7">
        <item>
         <widget class="QCheckBox" name="m_ShowTrackingVolume">
          <property name="text">
           <string>Show Tracking Volume</string>
          </property>
          <property name="checked">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_6">
          <item>
           <widget class="QLabel" name="label_5">
            <property name="text">
             <string>Update Rate (Times 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>999</number>
            </property>
            <property name="value">
             <number>10</number>
            </property>
           </widget>
          </item>
         </layout>
        </item>
+       <item>
+        <widget class="QCheckBox" name="m_ShowToolQuaternions">
+         <property name="text">
+          <string>Show Tool Quaternions</string>
+         </property>
+        </widget>
+       </item>
        <item>
         <spacer name="verticalSpacer_3">
          <property name="orientation">
           <enum>Qt::Vertical</enum>
          </property>
          <property name="sizeHint" stdset="0">
           <size>
            <width>20</width>
            <height>597</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">
            <property name="text">
             <string>C:/logfile.csv</string>
            </property>
           </widget>
          </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="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>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>
   <customwidget>
    <class>QmitkTrackingDeviceConfigurationWidget</class>
    <extends>QWidget</extends>
    <header>QmitkTrackingDeviceConfigurationWidget.h</header>
    <container>1</container>
   </customwidget>
   <customwidget>
    <class>QmitkToolTrackingStatusWidget</class>
    <extends>QWidget</extends>
    <header>QmitkToolTrackingStatusWidget.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>
  <resources/>
  <connections/>
 </ui>
diff --git a/Modules/IGTUI/Qmitk/QmitkToolTrackingStatusWidget.cpp b/Modules/IGTUI/Qmitk/QmitkToolTrackingStatusWidget.cpp
index bd655b92e7..c012803294 100644
--- a/Modules/IGTUI/Qmitk/QmitkToolTrackingStatusWidget.cpp
+++ b/Modules/IGTUI/Qmitk/QmitkToolTrackingStatusWidget.cpp
@@ -1,213 +1,225 @@
 /*=========================================================================
 
 Program:   Medical Imaging & Interaction Toolkit
 Language:  C++
 Date:      $Date: 2009-03-21 19:27:37 +0100 (Sa, 21 Mrz 2009) $
 Version:   $Revision: 16719 $ 
 
 Copyright (c) German Cancer Research Center, Division of Medical and
 Biological Informatics. All rights reserved.
 See MITKCopyright.txt or http://www.mitk.org/copyright.html for details.
 
 This software is distributed WITHOUT ANY WARRANTY; without even
 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 PURPOSE.  See the above copyright notices for more information.
 
 =========================================================================*/
 
 #include "QmitkToolTrackingStatusWidget.h"
 
 
 
 
 
 QmitkToolTrackingStatusWidget::QmitkToolTrackingStatusWidget(QWidget* parent)  
 : QWidget(parent), m_Controls(NULL), m_StatusLabels (NULL), m_NavigationDatas(NULL)
 {
   this->CreateQtPartControl( this );
   m_ShowPositions = false;
+  m_ShowQuaternions = false;
   m_Alignment = Qt::AlignHCenter;
   m_Style = QmitkToolTrackingStatusWidget::VerticalUpperStyle;
 }
 
 
 void QmitkToolTrackingStatusWidget::SetStyle(QmitkToolTrackingStatusWidget::Style newStyle)
   {
   m_Style = newStyle;
   }
 
 void QmitkToolTrackingStatusWidget::SetShowPositions(bool enable)
 {
   m_ShowPositions = enable;
 }
 
+void QmitkToolTrackingStatusWidget::SetShowQuaternions(bool enable)
+{
+  m_ShowQuaternions = enable;
+}
+
 void QmitkToolTrackingStatusWidget::SetTextAlignment(Qt::AlignmentFlag alignment)
 {
   m_Alignment = alignment;
 }
 
 QmitkToolTrackingStatusWidget::~QmitkToolTrackingStatusWidget()
 {
   //m_Controls = NULL;
   delete m_StatusLabels;
   delete m_NavigationDatas;
 }
 
 void QmitkToolTrackingStatusWidget::CreateQtPartControl(QWidget *parent)
 {
   if (!m_Controls)
   {
     // create GUI widgets
     m_Controls = new Ui::QmitkToolTrackingStatusWidgetControls;
     m_Controls->setupUi(parent);
 
     this->CreateConnections();
   }
 }
 
 void QmitkToolTrackingStatusWidget::CreateConnections()
 {
 
 }
 
 
 void QmitkToolTrackingStatusWidget::SetNavigationDatas(std::vector<mitk::NavigationData::Pointer>* navDatas)
 {  
   m_NavigationDatas = navDatas;
 }
 
 
 void QmitkToolTrackingStatusWidget::AddNavigationData(mitk::NavigationData::Pointer nd)
 {
   if(m_NavigationDatas == NULL)
     m_NavigationDatas = new std::vector<mitk::NavigationData::Pointer>();
 
   m_NavigationDatas->push_back(nd);
 }
 
 
 void QmitkToolTrackingStatusWidget::Refresh()
 {
 
   if(m_NavigationDatas == NULL || m_NavigationDatas->size() <= 0)
     return;
 
   mitk::NavigationData* navData; 
 
   for(unsigned int i = 0; i < m_NavigationDatas->size(); i++)
   {
     navData = m_NavigationDatas->at(i).GetPointer();
     QString name(navData->GetName());
     QString pos = "";
+    QString quat = "";
     if (m_ShowPositions)
       {
       mitk::Point3D position = navData->GetPosition();
       pos = " [" + QString::number(position[0]) + ";" + QString::number(position[1]) + ";" + QString::number(position[2]) + "]";
       }
+    if (m_ShowQuaternions)
+      {
+      mitk::Quaternion quaternion = navData->GetOrientation();
+      quat = " / [qx:" + QString::number(quaternion.x()) + ";qy:" + QString::number(quaternion.y()) + ";qz:" + QString::number(quaternion.z()) + ";qr:" + QString::number(quaternion.r()) + "]";
+      }
 
     if(name.compare(m_StatusLabels->at(i)->objectName()) == 0)
-    {
-      m_StatusLabels->at(i)->setText(name+pos);
+      {
+      m_StatusLabels->at(i)->setText(name+pos+quat);
       if(navData->IsDataValid())
         m_StatusLabels->at(i)->setStyleSheet("QLabel{background-color: #8bff8b }");
       
       else
         m_StatusLabels->at(i)->setStyleSheet("QLabel{background-color: #ff7878 }");
-    }
+      }
   }
 }
 
 
 void QmitkToolTrackingStatusWidget::ShowStatusLabels()
 {
   RemoveGuiLabels(); 
 
   if(m_NavigationDatas == NULL || m_NavigationDatas->size() <= 0)
     return;
 
 
   m_StatusLabels = new QVector<QLabel*>();
   mitk::NavigationData* navData;
   QLabel* label;
 
 
   for(unsigned int i = 0; i < m_NavigationDatas->size(); i++)
   {
     navData = m_NavigationDatas->at(i).GetPointer();
 
     QString name(navData->GetName());
    
     label = new QLabel(name, this);
     label->setObjectName(name);
     label->setAlignment(m_Alignment | Qt::AlignVCenter);
     label->setFrameStyle(QFrame::Panel | QFrame::Sunken);
 
     m_StatusLabels->append(label);
     if (m_Style == QmitkToolTrackingStatusWidget::VerticalUpperStyle) m_Controls->m_VerticalLayout->addWidget(m_StatusLabels->at(i));
     else m_Controls->m_GridLayout->addWidget(m_StatusLabels->at(i),0,i);
     
   }
 }
 
 void QmitkToolTrackingStatusWidget::PreShowTools(mitk::NavigationToolStorage::Pointer toolStorage)
   {
   QLabel* label;
 
   for(unsigned int i = 0; i < toolStorage->GetToolCount(); i++)
     {
     QString name(toolStorage->GetTool(i)->GetToolName().c_str());
    
     label = new QLabel(name, this);
     label->setObjectName(name);
     label->setAlignment(m_Alignment | Qt::AlignVCenter);
     label->setFrameStyle(QFrame::Panel | QFrame::Sunken);
     if (m_Style == QmitkToolTrackingStatusWidget::VerticalUpperStyle) m_Controls->m_VerticalLayout->addWidget(label);
     else m_Controls->m_GridLayout->addWidget(label);
     
     }
 
   }
 
 
 void QmitkToolTrackingStatusWidget::RemoveStatusLabels()
 {
   //remove GUI elements
   RemoveGuiLabels();  
 
   //clear members
   if(m_StatusLabels != NULL && m_StatusLabels->size() > 0)
     {
     delete m_StatusLabels;
     m_StatusLabels = new QVector< QLabel* >();
     }
 
   if(m_NavigationDatas != NULL && m_NavigationDatas->size() > 0)
     {
     delete m_NavigationDatas;
     m_NavigationDatas = new std::vector<mitk::NavigationData::Pointer>();
     }
 
 }
 
 void QmitkToolTrackingStatusWidget::RemoveGuiLabels()
   {
   while(m_Controls->m_GridLayout->count() > 0 || m_Controls->m_VerticalLayout->count() > 0)
     {
     if (m_Controls->m_GridLayout->count() > 0)
       {
       QWidget* actWidget = m_Controls->m_GridLayout->itemAt(0)->widget();
       m_Controls->m_GridLayout->removeWidget(actWidget);
       delete actWidget;
       }
     else if (m_Controls->m_VerticalLayout->count() > 0)
       {
       QWidget* actWidget = m_Controls->m_VerticalLayout->itemAt(0)->widget();
       m_Controls->m_VerticalLayout->removeWidget(actWidget);
       delete actWidget;
       }
     }
   }
 
 
 
 
diff --git a/Modules/IGTUI/Qmitk/QmitkToolTrackingStatusWidget.h b/Modules/IGTUI/Qmitk/QmitkToolTrackingStatusWidget.h
index 18123a1263..f3272764e9 100644
--- a/Modules/IGTUI/Qmitk/QmitkToolTrackingStatusWidget.h
+++ b/Modules/IGTUI/Qmitk/QmitkToolTrackingStatusWidget.h
@@ -1,128 +1,133 @@
 /*=========================================================================
 
 Program:   Medical Imaging & Interaction Toolkit
 Language:  C++
 Date:      $Date: 2009-03-21 19:27:37 +0100 (Sa, 21 Mrz 2009) $
 Version:   $Revision: 16719 $ 
 
 Copyright (c) German Cancer Research Center, Division of Medical and
 Biological Informatics. All rights reserved.
 See MITKCopyright.txt or http://www.mitk.org/copyright.html for details.
 
 This software is distributed WITHOUT ANY WARRANTY; without even
 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 PURPOSE.  See the above copyright notices for more information.
 
 =========================================================================*/
 
 #ifndef _QmitkToolTrackingStatusWidget_H_INCLUDED
 #define _QmitkToolTrackingStatusWidget_H_INCLUDED
 
 #include "ui_QmitkToolTrackingStatusWidgetControls.h"
 #include "MitkIGTUIExports.h"
 
 #include <mitkNavigationDataSource.h>
 #include <mitkNavigationToolStorage.h>
 #include <QVector>
 #include <QLabel>
 
 
 
 
 /*!
 \brief QmitkToolTrackingStatusWidget
 
 Widget for setting up and controlling an update timer in an IGT-Pipeline.
 
 */
 class MitkIGTUI_EXPORT QmitkToolTrackingStatusWidget : public QWidget
 {  
   Q_OBJECT // this is needed for all Qt objects that should have a MOC object (everything that derives from QObject)
 public: 
 
 
   typedef std::vector< mitk::NavigationData::Pointer > NavigationDataPointerArray;
 
   enum Style
     {
     GridLowerStyle,
     VerticalUpperStyle
     };
 
   /*!  
   \brief default constructor  
   */ 
   QmitkToolTrackingStatusWidget( QWidget* parent );
 
 
   /*!  
   \brief default destructor  
   */ 
   virtual ~QmitkToolTrackingStatusWidget();
 
   /*!  
   \brief Sets up the labels in this widget's QGridLayout for showing the track status of the tracking tools
   */ 
   void ShowStatusLabels();
   
   /*!
   \brief Sets the ND for this widget
   */
   void SetNavigationDatas(std::vector<mitk::NavigationData::Pointer>* navDatas);
 
 
   void AddNavigationData(mitk::NavigationData::Pointer nd);
 
   /*!  
   \brief Changes background color of status labels (green or red) to show if actual navigation data of each tool is valid.
   */ 
   void Refresh();
   
   /*!  
   \brief Removes all status labels.
   */ 
   void RemoveStatusLabels();
 
   /** @brief Enables / disables if the tool positions are shown. Default is off.*/
   void SetShowPositions(bool enable);
 
+  /** @brief Enables / disables if the tool quaternions are shown. Default is off.*/
+  void SetShowQuaternions(bool enable);
+
   /** @brief Sets the text alignment of the tool labels. Default is center. Example: Use Qt::AlignLeft for left alignment. */
   void SetTextAlignment(Qt::AlignmentFlag alignment);
 
   /** @brief Sets the alignment style of this widget:
     *         GridLowerStyle: Tool labels are at the lower side of the widget in grid alignment
     *         VerticalUpperStyle: Tool labels are at the upper side in a vertical alignment (default)
     */
   void SetStyle(QmitkToolTrackingStatusWidget::Style newStyle);
 
   /** @brief Shows tool labels for the tools in the tool storage. This method can be called BEFORE connecting the navigation data to
    *         make a preview of the tools.
    */
   void PreShowTools(mitk::NavigationToolStorage::Pointer toolStorage);
 
 protected:
   void CreateConnections();
   void CreateQtPartControl( QWidget *parent );
   Ui::QmitkToolTrackingStatusWidgetControls* m_Controls;  ///< gui widgets
 
 
 private:  
 
   /*!  
   \brief Vector for all tool tracking status labels.
   */
   QVector< QLabel* >* m_StatusLabels;
 
   std::vector<mitk::NavigationData::Pointer>*  m_NavigationDatas; 
 
   bool m_ShowPositions;
 
+  bool m_ShowQuaternions;
+
   Qt::AlignmentFlag m_Alignment;
 
   QmitkToolTrackingStatusWidget::Style m_Style;
 
   void RemoveGuiLabels();
 
 };
 #endif // _QmitkToolTrackingStatusWidget_H_INCLUDED