diff --git a/Modules/IGT/DataManagement/mitkNavigationDataSource.cpp b/Modules/IGT/DataManagement/mitkNavigationDataSource.cpp index 3de7925cdf..45d3b67ef0 100644 --- a/Modules/IGT/DataManagement/mitkNavigationDataSource.cpp +++ b/Modules/IGT/DataManagement/mitkNavigationDataSource.cpp @@ -1,145 +1,155 @@ /*=================================================================== 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 "mitkNavigationDataSource.h" #include "mitkUIDGenerator.h" //Microservices #include #include #include #include const std::string mitk::NavigationDataSource::US_INTERFACE_NAME = "org.mitk.services.NavigationDataSource"; const std::string mitk::NavigationDataSource::US_PROPKEY_DEVICENAME = US_INTERFACE_NAME + ".devicename"; const std::string mitk::NavigationDataSource::US_PROPKEY_ID = US_INTERFACE_NAME + ".id"; const std::string mitk::NavigationDataSource::US_PROPKEY_ISACTIVE = US_INTERFACE_NAME + ".isActive"; mitk::NavigationDataSource::NavigationDataSource() - : itk::ProcessObject(), m_Name("NavigationDataSource (no defined type)") +: itk::ProcessObject(), m_Name("NavigationDataSource (no defined type)"), m_IsFrozen(false) { } mitk::NavigationDataSource::~NavigationDataSource() { } mitk::NavigationData* mitk::NavigationDataSource::GetOutput() { if (this->GetNumberOfIndexedOutputs() < 1) return NULL; return static_cast(this->ProcessObject::GetPrimaryOutput()); } mitk::NavigationData* mitk::NavigationDataSource::GetOutput(DataObjectPointerArraySizeType idx) { NavigationData* out = dynamic_cast( this->ProcessObject::GetOutput(idx) ); if ( out == NULL && this->ProcessObject::GetOutput(idx) != NULL ) { itkWarningMacro (<< "Unable to convert output number " << idx << " to type " << typeid( NavigationData ).name () ); } return out; } mitk::NavigationData* mitk::NavigationDataSource::GetOutput(const std::string& navDataName) { DataObjectPointerArray outputs = this->GetOutputs(); for (DataObjectPointerArray::iterator it = outputs.begin(); it != outputs.end(); ++it) if (navDataName == (static_cast(it->GetPointer()))->GetName()) return static_cast(it->GetPointer()); return NULL; } itk::ProcessObject::DataObjectPointerArraySizeType mitk::NavigationDataSource::GetOutputIndex( std::string navDataName ) { DataObjectPointerArray outputs = this->GetOutputs(); for (DataObjectPointerArray::size_type i = 0; i < outputs.size(); ++i) if (navDataName == (static_cast(outputs.at(i).GetPointer()))->GetName()) return i; throw std::invalid_argument("output name does not exist"); } void mitk::NavigationDataSource::RegisterAsMicroservice(){ // Get Context us::ModuleContext* context = us::GetModuleContext(); // Define ServiceProps us::ServiceProperties props; mitk::UIDGenerator uidGen = mitk::UIDGenerator ("org.mitk.services.NavigationDataSource.id_", 16); props[ US_PROPKEY_ID ] = uidGen.GetUID(); props[ US_PROPKEY_DEVICENAME ] = m_Name; m_ServiceRegistration = context->RegisterService(this, props); } void mitk::NavigationDataSource::UnRegisterMicroservice(){ if (m_ServiceRegistration != NULL) m_ServiceRegistration.Unregister(); m_ServiceRegistration = 0; } std::string mitk::NavigationDataSource::GetMicroserviceID(){ return this->m_ServiceRegistration.GetReference().GetProperty(US_PROPKEY_ID).ToString(); } void mitk::NavigationDataSource::GraftOutput(itk::DataObject *graft) { this->GraftNthOutput(0, graft); } void mitk::NavigationDataSource::GraftNthOutput(unsigned int idx, itk::DataObject *graft) { if ( idx >= this->GetNumberOfIndexedOutputs() ) { itkExceptionMacro(<<"Requested to graft output " << idx << " but this filter only has " << this->GetNumberOfIndexedOutputs() << " Outputs."); } if ( !graft ) { itkExceptionMacro(<<"Requested to graft output with a NULL pointer object" ); } itk::DataObject* output = this->GetOutput(idx); if ( !output ) { itkExceptionMacro(<<"Requested to graft output that is a NULL pointer" ); } // Call Graft on NavigationData to copy member data output->Graft( graft ); } itk::DataObject::Pointer mitk::NavigationDataSource::MakeOutput ( DataObjectPointerArraySizeType /*idx*/ ) { return mitk::NavigationData::New().GetPointer(); } itk::DataObject::Pointer mitk::NavigationDataSource::MakeOutput( const DataObjectIdentifierType & name ) { itkDebugMacro("MakeOutput(" << name << ")"); if( this->IsIndexedOutputName(name) ) { return this->MakeOutput( this->MakeIndexFromOutputName(name) ); } return static_cast(mitk::NavigationData::New().GetPointer()); } mitk::PropertyList::ConstPointer mitk::NavigationDataSource::GetParameters() const { mitk::PropertyList::Pointer p = mitk::PropertyList::New(); // add properties to p like this: //p->SetProperty("MyFilter_MyParameter", mitk::PropertyDataType::New(m_MyParameter)); return mitk::PropertyList::ConstPointer(p); -} \ No newline at end of file +} + +void mitk::NavigationDataSource::Freeze() +{ + m_IsFrozen = true; +} + +void mitk::NavigationDataSource::UnFreeze() +{ + m_IsFrozen = false; +} diff --git a/Modules/IGT/DataManagement/mitkNavigationDataSource.h b/Modules/IGT/DataManagement/mitkNavigationDataSource.h index f3aea6cef8..7dc16dbe7f 100644 --- a/Modules/IGT/DataManagement/mitkNavigationDataSource.h +++ b/Modules/IGT/DataManagement/mitkNavigationDataSource.h @@ -1,171 +1,185 @@ /*=================================================================== 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 MITKNAVIGATIONDATASOURCE_H_HEADER_INCLUDED_ #define MITKNAVIGATIONDATASOURCE_H_HEADER_INCLUDED_ #include #include "mitkNavigationData.h" #include "mitkPropertyList.h" // Microservices #include #include namespace mitk { /**Documentation * \brief Navigation Data source * * Base class for all navigation filters that produce NavigationData objects as output. * This class defines the output-interface for NavigationDataFilters. * \warning: if Update() is called on any output object, all NavigationData filters will * generate new output data for all outputs, not just the one on which Update() was called. * * \ingroup IGT */ class MitkIGT_EXPORT NavigationDataSource : public itk::ProcessObject { public: mitkClassMacro(NavigationDataSource, itk::ProcessObject); /** @return Returns a human readable name of this source. There will be a default name, * or you can set the name with the method SetName() if you want to change it. */ itkGetMacro(Name,std::string); /** @brief Sets the human readable name of this source. There is also a default name, * but you can use this method if you need to define it on your own. */ itkSetMacro(Name,std::string); /** *\brief return the output (output with id 0) of the filter */ NavigationData* GetOutput(void); /** *\brief return the output with id idx of the filter */ NavigationData* GetOutput(DataObjectPointerArraySizeType idx); /** *\brief return the output with name navDataName of the filter */ NavigationData* GetOutput(const std::string& navDataName); /** *\brief return the index of the output with name navDataName, -1 if no output with that name was found * * \warning if a subclass has outputs that have different data type than mitk::NavigationData, they have to overwrite this method */ DataObjectPointerArraySizeType GetOutputIndex(std::string navDataName); /** *\brief Registers this object as a Microservice, making it available to every module and/or plugin. * To unregister, call UnregisterMicroservice(). */ virtual void RegisterAsMicroservice(); /** *\brief Registers this object as a Microservice, making it available to every module and/or plugin. */ virtual void UnRegisterMicroservice(); /** *\brief Returns the id that this device is registered with. The id will only be valid, if the * NavigationDataSource has been registered using RegisterAsMicroservice(). */ std::string GetMicroserviceID(); /** *\brief These Constants are used in conjunction with Microservices */ static const std::string US_INTERFACE_NAME; static const std::string US_PROPKEY_DEVICENAME; static const std::string US_PROPKEY_ID; static const std::string US_PROPKEY_ISACTIVE; //NOT IMPLEMENTED YET! /** *\brief Graft the specified DataObject onto this ProcessObject's output. * * See itk::ImageSource::GraftNthOutput for details */ virtual void GraftNthOutput(unsigned int idx, itk::DataObject *graft); /** * \brief Graft the specified DataObject onto this ProcessObject's output. * * See itk::ImageSource::Graft Output for details */ virtual void GraftOutput(itk::DataObject *graft); /** * Allocates a new output object and returns it. Currently the * index idx is not evaluated. * @param idx the index of the output for which an object should be created * @returns the new object */ virtual itk::DataObject::Pointer MakeOutput ( DataObjectPointerArraySizeType idx ); /** * This is a default implementation to make sure we have something. * Once all the subclasses of ProcessObject provide an appopriate * MakeOutput(), then ProcessObject::MakeOutput() can be made pure * virtual. */ virtual itk::DataObject::Pointer MakeOutput(const DataObjectIdentifierType &name); /** * \brief Set all filter parameters as the PropertyList p * * This method allows to set all parameters of a filter with one * method call. For the names of the parameters, take a look at * the GetParameters method of the filter * This method has to be overwritten by each MITK-IGT filter. */ virtual void SetParameters(const mitk::PropertyList*){}; /** * \brief Get all filter parameters as a PropertyList * * This method allows to get all parameters of a filter with one * method call. The returned PropertyList must be assigned to a * SmartPointer immediately, or else it will get destroyed. * Every filter must overwrite this method to create a filter-specific * PropertyList. Note that property names must be unique over all * MITK-IGT filters. Therefore each filter should use its name as a prefix * for each property name. * Secondly, each filter should list the property names and data types * in the method documentation. */ virtual mitk::PropertyList::ConstPointer GetParameters() const; + /** Freezes the navigation data source which means the current state is frozen and the output + * navigation data stays at it is. Calling Update() does not have any effect until UnFreeze() + * is called. This also means that the data source is not updated any more. */ + virtual void Freeze(); + + /** Unfreezes the data source. */ + virtual void UnFreeze(); + + /** @return Returns whether the data source is currently frozen. */ + itkGetMacro(IsFrozen,bool); + + protected: NavigationDataSource(); virtual ~NavigationDataSource(); std::string m_Name; + bool m_IsFrozen; + private: us::ServiceRegistration m_ServiceRegistration; }; } // namespace mitk // This is the microservice declaration. Do not meddle! MITK_DECLARE_SERVICE_INTERFACE(mitk::NavigationDataSource, "org.mitk.services.NavigationDataSource") #endif /* MITKNAVIGATIONDATASOURCE_H_HEADER_INCLUDED_ */ diff --git a/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp b/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp index bc7b5c929d..38929bef77 100644 --- a/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp +++ b/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp @@ -1,213 +1,213 @@ /*=================================================================== 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 "mitkTrackingDeviceSource.h" #include "mitkTrackingDevice.h" #include "mitkTrackingTool.h" #include "mitkIGTTimeStamp.h" #include "mitkIGTException.h" mitk::TrackingDeviceSource::TrackingDeviceSource() : mitk::NavigationDataSource(), m_TrackingDevice(NULL) { } mitk::TrackingDeviceSource::~TrackingDeviceSource() { if (m_TrackingDevice.IsNotNull()) { if (m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking) { this->StopTracking(); } if (m_TrackingDevice->GetState() == mitk::TrackingDevice::Ready) { this->Disconnect(); } m_TrackingDevice = NULL; } } void mitk::TrackingDeviceSource::GenerateData() { - if (m_TrackingDevice.IsNull()) - return; + if (m_IsFrozen) {return;} //no update at all if device is frozen + else if (m_TrackingDevice.IsNull()) {return;} if (m_TrackingDevice->GetToolCount() < 1) return; if (this->GetNumberOfIndexedOutputs() != m_TrackingDevice->GetToolCount()) // mismatch between tools and outputs. What should we do? Were tools added to the tracking device after SetTrackingDevice() was called? { //check this: TODO: ////this might happen if a tool is plugged into an aurora during tracking. //this->CreateOutputs(); std::stringstream ss; ss << "mitk::TrackingDeviceSource: not enough outputs available for all tools. " << this->GetNumberOfOutputs() << " outputs available, but " << m_TrackingDevice->GetToolCount() << " tools available in the tracking device."; throw std::out_of_range(ss.str()); } /* update outputs with tracking data from tools */ unsigned int toolCount = m_TrackingDevice->GetToolCount(); for (unsigned int i = 0; i < toolCount; ++i) { mitk::NavigationData* nd = this->GetOutput(i); assert(nd); mitk::TrackingTool* t = m_TrackingDevice->GetTool(i); assert(t); if ((t->IsEnabled() == false) || (t->IsDataValid() == false)) { nd->SetDataValid(false); continue; } nd->SetDataValid(true); mitk::NavigationData::PositionType p; t->GetPosition(p); nd->SetPosition(p); mitk::NavigationData::OrientationType o; t->GetOrientation(o); nd->SetOrientation(o); nd->SetOrientationAccuracy(t->GetTrackingError()); nd->SetPositionAccuracy(t->GetTrackingError()); nd->SetIGTTimeStamp(t->GetIGTTimeStamp()); //for backward compatibility: check if the timestamp was set, if not create a default timestamp if (nd->GetIGTTimeStamp()==0) nd->SetIGTTimeStamp(mitk::IGTTimeStamp::GetInstance()->GetElapsed()); } } void mitk::TrackingDeviceSource::SetTrackingDevice( mitk::TrackingDevice* td ) { MITK_DEBUG << "Setting TrackingDevice to " << td; if (this->m_TrackingDevice.GetPointer() != td) { this->m_TrackingDevice = td; this->CreateOutputs(); std::stringstream name; // create a human readable name for the source name << td->GetData().Model << " Tracking Source"; this->SetName(name.str()); } } void mitk::TrackingDeviceSource::CreateOutputs(){ //if outputs are set then delete them if (this->GetNumberOfOutputs() > 0) { for (int numOP = this->GetNumberOfOutputs() -1; numOP >= 0; numOP--) this->RemoveOutput(numOP); this->Modified(); } //fill the outputs if a valid tracking device is set if (m_TrackingDevice.IsNull()) return; this->SetNumberOfIndexedOutputs(m_TrackingDevice->GetToolCount()); // create outputs for all tools unsigned int numberOfOutputs = this->GetNumberOfIndexedOutputs(); MITK_DEBUG << "Number of tools at start of method CreateOutputs(): " << m_TrackingDevice->GetToolCount(); MITK_DEBUG << "Number of outputs at start of method CreateOutputs(): " << numberOfOutputs; for (unsigned int idx = 0; idx < m_TrackingDevice->GetToolCount(); ++idx) { if (this->GetOutput(idx) == NULL) { DataObjectPointer newOutput = this->MakeOutput(idx); static_cast(newOutput.GetPointer())->SetName(m_TrackingDevice->GetTool(idx)->GetToolName()); // set NavigationData name to ToolName this->SetNthOutput(idx, newOutput); this->Modified(); } } } void mitk::TrackingDeviceSource::Connect() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (this->IsConnected()) return; try {m_TrackingDevice->OpenConnection();} catch (mitk::IGTException &e) { throw std::runtime_error(std::string("mitk::TrackingDeviceSource: Could not open connection to tracking device. Error: ") + e.GetDescription()); } /* NDI Aurora needs a connection to discover tools that are connected to it. Therefore we need to create outputs for these tools now */ //if (m_TrackingDevice->GetType() == mitk::NDIAurora) //this->CreateOutputs(); } void mitk::TrackingDeviceSource::StartTracking() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking) return; if (m_TrackingDevice->StartTracking() == false) throw std::runtime_error("mitk::TrackingDeviceSource: Could not start tracking"); } void mitk::TrackingDeviceSource::Disconnect() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (m_TrackingDevice->CloseConnection() == false) throw std::runtime_error("mitk::TrackingDeviceSource: Could not close connection to tracking device"); } void mitk::TrackingDeviceSource::StopTracking() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (m_TrackingDevice->StopTracking() == false) throw std::runtime_error("mitk::TrackingDeviceSource: Could not stop tracking"); } void mitk::TrackingDeviceSource::UpdateOutputInformation() { if(this->GetTrackingDevice()->GetToolCount() != this->GetNumberOfIndexedOutputs()) this->CreateOutputs(); this->Modified(); // make sure that we need to be updated Superclass::UpdateOutputInformation(); } //unsigned int mitk::TrackingDeviceSource::GetToolCount() //{ // if (m_TrackingDevice) // return m_TrackingDevice->GetToolCount(); // return 0; //} bool mitk::TrackingDeviceSource::IsConnected() { if (m_TrackingDevice.IsNull()) return false; return (m_TrackingDevice->GetState() == mitk::TrackingDevice::Ready) || (m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking); } bool mitk::TrackingDeviceSource::IsTracking() { if (m_TrackingDevice.IsNull()) return false; return m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking; } diff --git a/Modules/IGT/DataManagement/mitkTrackingDeviceSourceConfigurator.cpp b/Modules/IGT/DataManagement/mitkTrackingDeviceSourceConfigurator.cpp index 22bfb69930..6c49aab91b 100644 --- a/Modules/IGT/DataManagement/mitkTrackingDeviceSourceConfigurator.cpp +++ b/Modules/IGT/DataManagement/mitkTrackingDeviceSourceConfigurator.cpp @@ -1,306 +1,332 @@ /*=================================================================== 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 "mitkTrackingDeviceSourceConfigurator.h" #include "mitkNDITrackingDevice.h" #include "mitkClaronTrackingDevice.h" #include "mitkOptitrackTrackingDevice.h" +#include "mitkVirtualTrackingDevice.h" #include #include mitk::TrackingDeviceSourceConfigurator::TrackingDeviceSourceConfigurator(mitk::NavigationToolStorage::Pointer NavigationTools, mitk::TrackingDevice::Pointer TrackingDevice) { //make a copy of the navigation tool storage because we will modify the storage if (NavigationTools.IsNotNull()) { m_NavigationTools = mitk::NavigationToolStorage::New(); for (int i=0; iGetToolCount(); i++) { m_NavigationTools->AddTool(NavigationTools->GetTool(i)); } } m_TrackingDevice = TrackingDevice; m_ToolCorrespondencesInToolStorage = std::vector(); m_ErrorMessage = ""; } mitk::NavigationToolStorage::Pointer mitk::TrackingDeviceSourceConfigurator::GetUpdatedNavigationToolStorage() { return m_NavigationTools; } mitk::TrackingDeviceSourceConfigurator::~TrackingDeviceSourceConfigurator() { } bool mitk::TrackingDeviceSourceConfigurator::IsCreateTrackingDeviceSourcePossible() { if (m_NavigationTools.IsNull()) { m_ErrorMessage = "NavigationToolStorage is NULL!"; return false; } else if (m_TrackingDevice.IsNull()) { m_ErrorMessage = "TrackingDevice is NULL!"; return false; } else { for (int i=0; iGetToolCount(); i++) { if (m_NavigationTools->GetTool(i)->GetTrackingDeviceType() != m_TrackingDevice->GetType()) { m_ErrorMessage = "At least one tool is not of the same type like the tracking device."; return false; } } //TODO in case of Aurora: check if the tools are automatically detected by comparing the serial number return true; } } mitk::TrackingDeviceSource::Pointer mitk::TrackingDeviceSourceConfigurator::CreateTrackingDeviceSource() { mitk::NavigationDataObjectVisualizationFilter::Pointer dummy; //this dummy is lost directly after creating the device return this->CreateTrackingDeviceSource(dummy); } mitk::TrackingDeviceSource::Pointer mitk::TrackingDeviceSourceConfigurator::CreateTrackingDeviceSource(mitk::NavigationDataObjectVisualizationFilter::Pointer &visualizationFilter) { if (!this->IsCreateTrackingDeviceSourcePossible()) {MITK_WARN << "Cannot create tracking decive: " << m_ErrorMessage; return NULL;} mitk::TrackingDeviceSource::Pointer returnValue; //create tracking device source if (m_TrackingDevice->GetType()==mitk::NDIAurora) {returnValue = CreateNDIAuroraTrackingDeviceSource(m_TrackingDevice,m_NavigationTools);} else if (m_TrackingDevice->GetType()==mitk::NDIPolaris) {returnValue = CreateNDIPolarisTrackingDeviceSource(m_TrackingDevice,m_NavigationTools);} else if (m_TrackingDevice->GetType()==mitk::ClaronMicron) {returnValue = CreateMicronTrackerTrackingDeviceSource(m_TrackingDevice,m_NavigationTools);} else if (m_TrackingDevice->GetType()==mitk::NPOptitrack) {returnValue = CreateNPOptitrackTrackingDeviceSource(m_TrackingDevice,m_NavigationTools);} + else if (m_TrackingDevice->GetType()==mitk::VirtualTracker) {returnValue = CreateVirtualTrackingDeviceSource(m_TrackingDevice,m_NavigationTools);} //TODO: insert other tracking systems? if (returnValue.IsNull()) {MITK_WARN << "Cannot create tracking decive: " << m_ErrorMessage; return NULL;} //create visualization filter visualizationFilter = CreateNavigationDataObjectVisualizationFilter(returnValue,m_NavigationTools); if (visualizationFilter.IsNull()) {MITK_WARN << "Cannot create tracking decive: " << m_ErrorMessage; return NULL;} return returnValue; } std::string mitk::TrackingDeviceSourceConfigurator::GetErrorMessage() { return this->m_ErrorMessage; } //############################ internal help methods ######################################## mitk::TrackingDeviceSource::Pointer mitk::TrackingDeviceSourceConfigurator::CreateNDIPolarisTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools) { mitk::TrackingDeviceSource::Pointer returnValue = mitk::TrackingDeviceSource::New(); mitk::NDITrackingDevice::Pointer thisDevice = dynamic_cast(trackingDevice.GetPointer()); m_ToolCorrespondencesInToolStorage = std::vector(); //add the tools to the tracking device for (int i=0; iGetToolCount(); i++) { mitk::NavigationTool::Pointer thisNavigationTool = m_NavigationTools->GetTool(i); m_ToolCorrespondencesInToolStorage.push_back(i); bool toolAddSuccess = thisDevice->AddTool(thisNavigationTool->GetToolName().c_str(),thisNavigationTool->GetCalibrationFile().c_str()); if (!toolAddSuccess) { //todo: error handling this->m_ErrorMessage = "Can't add tool, is the SROM-file valid?"; return NULL; } thisDevice->GetTool(i)->SetToolTip(thisNavigationTool->GetToolTipPosition(),thisNavigationTool->GetToolTipOrientation()); } returnValue->SetTrackingDevice(thisDevice); return returnValue; } mitk::TrackingDeviceSource::Pointer mitk::TrackingDeviceSourceConfigurator::CreateNDIAuroraTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools) { MITK_DEBUG << "Creating Aurora tracking device."; mitk::TrackingDeviceSource::Pointer returnValue = mitk::TrackingDeviceSource::New(); mitk::NDITrackingDevice::Pointer thisDevice = dynamic_cast(trackingDevice.GetPointer()); try { //connect to aurora to dectect tools automatically thisDevice->OpenConnection(); } catch (mitk::IGTHardwareException& e) { m_ErrorMessage = std::string("Hardware error on opening the connection (") + e.GetDescription() + ")"; return NULL; } catch (mitk::IGTException& e) { m_ErrorMessage = std::string("Error on opening the connection (") + e.GetDescription() + ")"; return NULL; } //now search for automatically detected tools in the tool storage and save them mitk::NavigationToolStorage::Pointer newToolStorageInRightOrder = mitk::NavigationToolStorage::New(); std::vector alreadyFoundTools = std::vector(); m_ToolCorrespondencesInToolStorage = std::vector(); for (unsigned int i=0; iGetToolCount(); i++) { bool toolFound = false; for (int j=0; jGetToolCount(); j++) { //check if the serial number is the same to identify the tool if ((dynamic_cast(thisDevice->GetTool(i)))->GetSerialNumber() == navigationTools->GetTool(j)->GetSerialNumber()) { //check if this tool was already added to make sure that every tool is only added once (in case of same serial numbers) bool toolAlreadyAdded = false; for(unsigned int k=0; kAddTool(navigationTools->GetTool(j)); m_ToolCorrespondencesInToolStorage.push_back(j); //adapt name of tool dynamic_cast(thisDevice->GetTool(i))->SetToolName(navigationTools->GetTool(j)->GetToolName()); //set tip of tool dynamic_cast(thisDevice->GetTool(i))->SetToolTip(navigationTools->GetTool(j)->GetToolTipPosition(),navigationTools->GetTool(j)->GetToolTipOrientation()); //rember that this tool was already found alreadyFoundTools.push_back(j); toolFound = true; break; } } } if (!toolFound) { this->m_ErrorMessage = "Error: did not find every automatically detected tool in the loaded tool storage: aborting initialization."; return NULL; } } //delete all tools from the tool storage navigationTools->DeleteAllTools(); //and add only the detected tools in the right order for (int i=0; iGetToolCount(); i++) { navigationTools->AddTool(newToolStorageInRightOrder->GetTool(i)); } returnValue->SetTrackingDevice(thisDevice); MITK_DEBUG << "Number of tools of created tracking device: " << thisDevice->GetToolCount(); MITK_DEBUG << "Number of outputs of created source: " << returnValue->GetNumberOfOutputs(); return returnValue; } mitk::TrackingDeviceSource::Pointer mitk::TrackingDeviceSourceConfigurator::CreateMicronTrackerTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools) { mitk::TrackingDeviceSource::Pointer returnValue = mitk::TrackingDeviceSource::New(); mitk::ClaronTrackingDevice::Pointer thisDevice = dynamic_cast(trackingDevice.GetPointer()); m_ToolCorrespondencesInToolStorage = std::vector(); //add the tools to the tracking device for (int i=0; iGetToolCount(); i++) { mitk::NavigationTool::Pointer thisNavigationTool = m_NavigationTools->GetTool(i); m_ToolCorrespondencesInToolStorage.push_back(i); bool toolAddSuccess = thisDevice->AddTool(thisNavigationTool->GetToolName().c_str(),thisNavigationTool->GetCalibrationFile().c_str()); if (!toolAddSuccess) { //todo error handling this->m_ErrorMessage = "Can't add tool, is the toolfile valid?"; return NULL; } thisDevice->GetTool(i)->SetToolTip(thisNavigationTool->GetToolTipPosition(),thisNavigationTool->GetToolTipOrientation()); } returnValue->SetTrackingDevice(thisDevice); return returnValue; } mitk::TrackingDeviceSource::Pointer mitk::TrackingDeviceSourceConfigurator::CreateNPOptitrackTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools) { mitk::TrackingDeviceSource::Pointer returnValue = mitk::TrackingDeviceSource::New(); mitk::OptitrackTrackingDevice::Pointer thisDevice = dynamic_cast(trackingDevice.GetPointer()); m_ToolCorrespondencesInToolStorage = std::vector(); //OpenConnection with Optitrack thisDevice->OpenConnection(); //add the tools to the tracking device for (int i=0; iGetToolCount(); i++) { mitk::NavigationTool::Pointer thisNavigationTool = m_NavigationTools->GetTool(i); m_ToolCorrespondencesInToolStorage.push_back(i); bool toolAddSuccess = thisDevice->AddToolByDefinitionFile(thisNavigationTool->GetCalibrationFile()); thisDevice->GetOptitrackTool(i)->SetToolName(thisNavigationTool->GetToolName().c_str()); if (!toolAddSuccess) { //todo error handling this->m_ErrorMessage = "Can't add tool, is the toolfile valid?"; return NULL; } //thisDevice->GetTool(i)->SetToolTip(thisNavigationTool->GetToolTipPosition(),thisNavigationTool->GetToolTipOrientation()); } returnValue->SetTrackingDevice(thisDevice); return returnValue; } + +mitk::TrackingDeviceSource::Pointer mitk::TrackingDeviceSourceConfigurator::CreateVirtualTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools) + { + mitk::TrackingDeviceSource::Pointer returnValue = mitk::TrackingDeviceSource::New(); + mitk::VirtualTrackingDevice::Pointer thisDevice = dynamic_cast(trackingDevice.GetPointer()); + m_ToolCorrespondencesInToolStorage = std::vector(); + + //add the tools to the tracking device + for (int i=0; iGetToolCount(); i++) + { + mitk::NavigationTool::Pointer thisNavigationTool = m_NavigationTools->GetTool(i); + m_ToolCorrespondencesInToolStorage.push_back(i); + bool toolAddSuccess = thisDevice->AddTool(thisNavigationTool->GetToolName().c_str()); + if (!toolAddSuccess) + { + //todo error handling + this->m_ErrorMessage = "Can't add tool, is the toolfile valid?"; + return NULL; + } + } + returnValue->SetTrackingDevice(thisDevice); + return returnValue; + } + mitk::NavigationDataObjectVisualizationFilter::Pointer mitk::TrackingDeviceSourceConfigurator::CreateNavigationDataObjectVisualizationFilter(mitk::TrackingDeviceSource::Pointer trackingDeviceSource, mitk::NavigationToolStorage::Pointer navigationTools) { mitk::NavigationDataObjectVisualizationFilter::Pointer returnValue = mitk::NavigationDataObjectVisualizationFilter::New(); for (unsigned int i=0; iGetNumberOfIndexedOutputs(); i++) { mitk::NavigationTool::Pointer currentTool = navigationTools->GetToolByName(trackingDeviceSource->GetOutput(i)->GetName()); if (currentTool.IsNull()) { this->m_ErrorMessage = "Error: did not find correspondig tool in tracking device after initialization."; return NULL; } returnValue->SetInput(i,trackingDeviceSource->GetOutput(i)); returnValue->SetRepresentationObject(i,currentTool->GetDataNode()->GetData()); } return returnValue; } int mitk::TrackingDeviceSourceConfigurator::GetToolNumberInToolStorage(unsigned int outputID) { if (outputID < m_ToolCorrespondencesInToolStorage.size()) return m_ToolCorrespondencesInToolStorage.at(outputID); else return -1; } std::string mitk::TrackingDeviceSourceConfigurator::GetToolIdentifierInToolStorage(unsigned int outputID) { if (outputID < m_ToolCorrespondencesInToolStorage.size()) return m_NavigationTools->GetTool(m_ToolCorrespondencesInToolStorage.at(outputID))->GetIdentifier(); else return ""; } std::vector mitk::TrackingDeviceSourceConfigurator::GetToolNumbersInToolStorage() { return m_ToolCorrespondencesInToolStorage; } std::vector mitk::TrackingDeviceSourceConfigurator::GetToolIdentifiersInToolStorage() { std::vector returnValue = std::vector(); for (unsigned int i=0; iGetTool(m_ToolCorrespondencesInToolStorage.at(i))->GetIdentifier());} return returnValue; } diff --git a/Modules/IGT/DataManagement/mitkTrackingDeviceSourceConfigurator.h b/Modules/IGT/DataManagement/mitkTrackingDeviceSourceConfigurator.h index 9ff927714f..97362bfc18 100644 --- a/Modules/IGT/DataManagement/mitkTrackingDeviceSourceConfigurator.h +++ b/Modules/IGT/DataManagement/mitkTrackingDeviceSourceConfigurator.h @@ -1,106 +1,107 @@ /*=================================================================== 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 MITKTRACKINGDEVICESOURCECONFIGURATOR_H_HEADER_INCLUDED_ #define MITKTRACKINGDEVICESOURCECONFIGURATOR_H_HEADER_INCLUDED_ #include //itk includes #include //mitk IGT includes #include "mitkTrackingDeviceSource.h" #include "mitkNavigationToolStorage.h" #include "mitkNavigationDataObjectVisualizationFilter.h" namespace mitk { /**Documentation * \brief This class offers a factory method for objects of the class TrackingDeviceSource. It initializes this TrackingDeviceSource with * the given navigation tools and the given tracking device. The factory method also checks if all tools are valid and of the same * type like the TrackingDevice. You can do this check before trying to create the TrackingDeviceSource by calling the method * IsCreateTrackingDeviceSourcePossible(), if it returns false you might want to get the error message by calling the method * GetErrorMessage(). * \ingroup IGT */ class MitkIGT_EXPORT TrackingDeviceSourceConfigurator : public itk::Object { public: mitkClassMacro(TrackingDeviceSourceConfigurator, itk::Object); mitkNewMacro2Param(Self,mitk::NavigationToolStorage::Pointer,mitk::TrackingDevice::Pointer); /** @return Returns if it's possible to create a tracking device source, which means the tools are checked * if they are of the same type like the tracking device, etc. If it returns false you can get * the reason for this by getting the error message. */ bool IsCreateTrackingDeviceSourcePossible(); /** @return Returns a new TrackingDeviceSource. Returns NULL if there was an error on creating the * TrackingDeviceSource. If there was an error it's availiable as error message. */ mitk::TrackingDeviceSource::Pointer CreateTrackingDeviceSource(); /** @return Returns a new TrackingDeviceSource. Returns NULL if there was an error on creating the * TrackingDeviceSource. If there was an error it's availiable as error message. * @param visualizationFilter (return value) returns a visualization filter which is already connected to the tracking device source. * This filter visualises the surfaces which are availiable by the navigation tool storage. */ mitk::TrackingDeviceSource::Pointer CreateTrackingDeviceSource(mitk::NavigationDataObjectVisualizationFilter::Pointer &visualizationFilter); /** @return Returns the internal number of the corresponding tool in the tool storage of a output navigation data. Returns -1 if there was an error. */ int GetToolNumberInToolStorage(unsigned int outputID); /** @return Returns the identifier of the corresponding tool in the tool storage of a output navigation data. Returns an empty string if there was an error.*/ std::string GetToolIdentifierInToolStorage(unsigned int outputID); /** @return Returns a vector with all internal numbers of the corresponding tools in the tool storage of all outputs. * The order is the same like the order of the outputs. Returns an empty vector if there was an error. */ std::vector GetToolNumbersInToolStorage(); /** @return Returns a vector with all identifier of the corresponding tools in the tool storage of all outputs. * The order is the same like the order of the outputs. Returns an empty vector if there was an error. */ std::vector GetToolIdentifiersInToolStorage(); /** @return Returns a modified navigation tool storage which holds the tools currently in use in * the same order like the output ids of the pipline. */ mitk::NavigationToolStorage::Pointer GetUpdatedNavigationToolStorage(); /** @return Returns the current error message. Returns an empty string if there was no error. */ std::string GetErrorMessage(); protected: TrackingDeviceSourceConfigurator(mitk::NavigationToolStorage::Pointer NavigationTools, mitk::TrackingDevice::Pointer TrackingDevice); virtual ~TrackingDeviceSourceConfigurator(); mitk::NavigationToolStorage::Pointer m_NavigationTools; mitk::TrackingDevice::Pointer m_TrackingDevice; std::string m_ErrorMessage; std::vector m_ToolCorrespondencesInToolStorage; mitk::TrackingDeviceSource::Pointer CreateNDIPolarisTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools); mitk::TrackingDeviceSource::Pointer CreateNDIAuroraTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools); mitk::TrackingDeviceSource::Pointer CreateMicronTrackerTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools); mitk::TrackingDeviceSource::Pointer CreateNPOptitrackTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools); + mitk::TrackingDeviceSource::Pointer CreateVirtualTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools); mitk::NavigationDataObjectVisualizationFilter::Pointer CreateNavigationDataObjectVisualizationFilter(mitk::TrackingDeviceSource::Pointer trackingDeviceSource, mitk::NavigationToolStorage::Pointer navigationTools); }; } // namespace mitk #endif /* MITKTrackingDeviceSource_H_HEADER_INCLUDED_ */ diff --git a/Modules/IGT/IO/mitkNavigationToolWriter.cpp b/Modules/IGT/IO/mitkNavigationToolWriter.cpp index 6895d06bae..2b9aed6d9a 100644 --- a/Modules/IGT/IO/mitkNavigationToolWriter.cpp +++ b/Modules/IGT/IO/mitkNavigationToolWriter.cpp @@ -1,142 +1,151 @@ /*=================================================================== 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. ===================================================================*/ //Poco headers #include #include //mitk headers #include "mitkNavigationToolWriter.h" #include #include #include #include #include //std headers #include mitk::NavigationToolWriter::NavigationToolWriter() { } mitk::NavigationToolWriter::~NavigationToolWriter() { } bool mitk::NavigationToolWriter::DoWrite(std::string FileName,mitk::NavigationTool::Pointer Tool) { + // Workaround for a problem: the geometry might be modified if the tool is tracked. If this + // modified geometry is saved the surface representation is moved by this offset. To avoid + // this bug, the geometry is set to identity for the saving progress and restored later. + mitk::BaseGeometry::Pointer geometryBackup = Tool->GetDataNode()->GetData()->GetGeometry()->Clone(); + Tool->GetDataNode()->GetData()->GetGeometry()->SetIdentity(); + //convert whole data to a mitk::DataStorage mitk::StandaloneDataStorage::Pointer saveStorage = mitk::StandaloneDataStorage::New(); mitk::DataNode::Pointer thisTool = ConvertToDataNode(Tool); saveStorage->Add(thisTool); //use SceneSerialization to save the DataStorage std::string DataStorageFileName = mitk::IOUtil::CreateTemporaryDirectory() + Poco::Path::separator() + GetFileWithoutPath(FileName) + ".storage"; mitk::SceneIO::Pointer mySceneIO = mitk::SceneIO::New(); mySceneIO->SaveScene(saveStorage->GetAll(),saveStorage,DataStorageFileName); //now put the DataStorage and the Toolfile in a ZIP-file std::ofstream file( FileName.c_str(), std::ios::binary | std::ios::out); if (!file.good()) { m_ErrorMessage = "Could not open a zip file for writing: '" + FileName + "'"; return false; } else { Poco::Zip::Compress zipper( file, true ); zipper.addFile(DataStorageFileName,GetFileWithoutPath(DataStorageFileName)); if (Tool->GetCalibrationFile()!="none") zipper.addFile(Tool->GetCalibrationFile(),GetFileWithoutPath(Tool->GetCalibrationFile())); zipper.close(); } //delete the data storage std::remove(DataStorageFileName.c_str()); + //restore original geometry + Tool->GetDataNode()->GetData()->SetGeometry(geometryBackup); + return true; } mitk::DataNode::Pointer mitk::NavigationToolWriter::ConvertToDataNode(mitk::NavigationTool::Pointer Tool) { mitk::DataNode::Pointer thisTool = mitk::DataNode::New(); //Name if (Tool->GetDataNode().IsNull()) thisTool->SetName("none"); else thisTool->SetName(Tool->GetDataNode()->GetName().c_str()); //Identifier thisTool->AddProperty("identifier",mitk::StringProperty::New(Tool->GetIdentifier().c_str())); //Serial Number thisTool->AddProperty("serial number",mitk::StringProperty::New(Tool->GetSerialNumber().c_str())); //Tracking Device thisTool->AddProperty("tracking device type",mitk::IntProperty::New(Tool->GetTrackingDeviceType())); //Tool Type thisTool->AddProperty("tracking tool type",mitk::IntProperty::New(Tool->GetType())); //Calibration File Name thisTool->AddProperty("toolfileName",mitk::StringProperty::New(GetFileWithoutPath(Tool->GetCalibrationFile()))); //Surface if (Tool->GetDataNode().IsNotNull()) if (Tool->GetDataNode()->GetData()!=NULL) thisTool->SetData(Tool->GetDataNode()->GetData()); //Tool Landmarks thisTool->AddProperty("ToolRegistrationLandmarks",mitk::StringProperty::New(ConvertPointSetToString(Tool->GetToolRegistrationLandmarks()))); thisTool->AddProperty("ToolCalibrationLandmarks",mitk::StringProperty::New(ConvertPointSetToString(Tool->GetToolCalibrationLandmarks()))); //Tool Tip if (Tool->IsToolTipSet()) { thisTool->AddProperty("ToolTipPosition",mitk::StringProperty::New(ConvertPointToString(Tool->GetToolTipPosition()))); thisTool->AddProperty("ToolTipOrientation",mitk::StringProperty::New(ConvertQuaternionToString(Tool->GetToolTipOrientation()))); } //Material is not needed, to avoid errors in scene serialization we have to do this: thisTool->ReplaceProperty("material",NULL); return thisTool; } std::string mitk::NavigationToolWriter::GetFileWithoutPath(std::string FileWithPath) { Poco::Path myFile(FileWithPath.c_str()); return myFile.getFileName(); } std::string mitk::NavigationToolWriter::ConvertPointSetToString(mitk::PointSet::Pointer pointSet) { std::stringstream returnValue; mitk::PointSet::PointDataIterator it; for ( it = pointSet->GetPointSet()->GetPointData()->Begin();it != pointSet->GetPointSet()->GetPointData()->End();it++ ) { mitk::Point3D thisPoint = pointSet->GetPoint(it->Index()); returnValue << it->Index() << ";" << ConvertPointToString(thisPoint) << "|"; } return returnValue.str(); } std::string mitk::NavigationToolWriter::ConvertPointToString(mitk::Point3D point) { std::stringstream returnValue; returnValue << point[0] << ";" << point[1] << ";" << point[2]; return returnValue.str(); } std::string mitk::NavigationToolWriter::ConvertQuaternionToString(mitk::Quaternion quat) { std::stringstream returnValue; returnValue << quat.x() << ";" << quat.y() << ";" << quat.z() << ";" << quat.r(); return returnValue.str(); } diff --git a/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.cpp b/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.cpp index 5b65583c4b..7afb644a11 100644 --- a/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.cpp @@ -1,341 +1,346 @@ /*=================================================================== 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 "QmitkNavigationToolCreationWidget.h" //mitk headers -#include "mitkTrackingTypes.h" +#include #include #include -#include "mitkNavigationData.h" -#include "mitkRenderingManager.h" +#include +#include //qt headers #include #include #include //poco headers #include // vtk #include -#include "vtkConeSource.h" +#include const std::string QmitkNavigationToolCreationWidget::VIEW_ID = "org.mitk.views.navigationtoolcreationwizardwidget"; QmitkNavigationToolCreationWidget::QmitkNavigationToolCreationWidget(QWidget* parent, Qt::WindowFlags f) : QWidget(parent, f) { m_Controls = NULL; m_AdvancedWidget = new QmitkNavigationToolCreationAdvancedWidget(this); m_AdvancedWidget->setWindowFlags(Qt::Tool | Qt::WindowStaysOnTopHint); m_AdvancedWidget->setWindowTitle("Tool Creation Advanced Options"); m_AdvancedWidget->setModal(false); CreateQtPartControl(this); CreateConnections(); } QmitkNavigationToolCreationWidget::~QmitkNavigationToolCreationWidget() { m_Controls->m_CalibrationLandmarksList->SetPointSetNode(NULL); m_Controls->m_RegistrationLandmarksList->SetPointSetNode(NULL); delete m_AdvancedWidget; } void QmitkNavigationToolCreationWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkNavigationToolCreationWidgetControls; m_Controls->setupUi(parent); } } void QmitkNavigationToolCreationWidget::CreateConnections() { if ( m_Controls ) { connect( (QObject*)(m_Controls->m_cancel), SIGNAL(clicked()), this, SLOT(OnCancel()) ); connect( (QObject*)(m_Controls->m_finished), SIGNAL(clicked()), this, SLOT(OnFinished()) ); connect( (QObject*)(m_Controls->m_LoadSurface), SIGNAL(clicked()), this, SLOT(OnLoadSurface()) ); connect( (QObject*)(m_Controls->m_LoadCalibrationFile), SIGNAL(clicked()), this, SLOT(OnLoadCalibrationFile()) ); connect( (QObject*)(m_Controls->m_ShowAdvancedOptionsPB), SIGNAL(toggled(bool)), this, SLOT(OnShowAdvancedOptions(bool)) ); connect( (QObject*)(m_AdvancedWidget), SIGNAL(DialogCloseRequested()), this, SLOT(OnProcessDialogCloseRequest()) ); connect( (QObject*)(m_AdvancedWidget), SIGNAL(RetrieveDataForManualToolTipManipulation()), this, SLOT(OnRetrieveDataForManualTooltipManipulation()) ); connect( m_Controls->m_Surface_Use_Other, SIGNAL(toggled(bool)), this, SLOT(OnSurfaceUseOtherToggled(bool))); } } void QmitkNavigationToolCreationWidget::Initialize(mitk::DataStorage* dataStorage, std::string supposedIdentifier, std::string supposedName) { m_DataStorage = dataStorage; //initialize UI components m_Controls->m_SurfaceChooser->SetDataStorage(m_DataStorage); m_Controls->m_SurfaceChooser->SetAutoSelectNewItems(true); m_Controls->m_SurfaceChooser->SetPredicate(mitk::NodePredicateDataType::New("Surface")); //set default data m_Controls->m_ToolNameEdit->setText(supposedName.c_str()); m_Controls->m_CalibrationFileName->setText("none"); m_Controls->m_Surface_Use_Sphere->setChecked(true); m_AdvancedWidget->SetDataStorage(m_DataStorage); m_Controls->m_IdentifierEdit->setText(supposedIdentifier.c_str()); this->InitializeUIToolLandmarkLists(); m_Controls->m_CalibrationLandmarksList->EnableEditButton(false); m_Controls->m_RegistrationLandmarksList->EnableEditButton(false); } void QmitkNavigationToolCreationWidget::SetTrackingDeviceType(mitk::TrackingDeviceType type, bool changeable) { switch(type) { -case mitk::NDIAurora: -m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(0);break; -case mitk::NDIPolaris: -m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(1);break; -case mitk::ClaronMicron: -m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(2);break; -case mitk::NPOptitrack: -m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(3);break; -default: -m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(0); + case mitk::NDIAurora: + m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(0);break; + case mitk::NDIPolaris: + m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(1);break; + case mitk::ClaronMicron: + m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(2);break; + case mitk::NPOptitrack: + m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(3);break; + case mitk::VirtualTracker: + m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(4);break; + default: + m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(4); } m_Controls->m_TrackingDeviceTypeChooser->setEnabled(changeable); } mitk::NavigationTool::Pointer QmitkNavigationToolCreationWidget::GetCreatedTool() { return m_CreatedTool; } //################################################################################## //############################## slots ############################ //################################################################################## void QmitkNavigationToolCreationWidget::OnFinished() { //here we create a new tool m_CreatedTool = mitk::NavigationTool::New(); //create DataNode... mitk::DataNode::Pointer newNode = mitk::DataNode::New(); if(m_Controls->m_Surface_Use_Sphere->isChecked()) { //create small sphere and use it as surface mitk::Surface::Pointer mySphere = mitk::Surface::New(); vtkConeSource *vtkData = vtkConeSource::New(); vtkData->SetAngle(5.0); vtkData->SetResolution(50); vtkData->SetHeight(6.0f); vtkData->SetRadius(2.0f); vtkData->SetCenter(0.0, 0.0, 0.0); vtkData->Update(); mySphere->SetVtkPolyData(vtkData->GetOutput()); vtkData->Delete(); newNode->SetData(mySphere); } else { newNode->SetData(m_Controls->m_SurfaceChooser->GetSelectedNode()->GetData()); } newNode->SetName(m_Controls->m_ToolNameEdit->text().toLatin1()); m_CreatedTool->SetDataNode(newNode); //fill NavigationTool object m_CreatedTool->SetCalibrationFile(m_Controls->m_CalibrationFileName->text().toLatin1().data()); m_CreatedTool->SetIdentifier(m_Controls->m_IdentifierEdit->text().toLatin1().data()); m_CreatedTool->SetSerialNumber(m_Controls->m_SerialNumberEdit->text().toLatin1().data()); //Tracking Device if (m_Controls->m_TrackingDeviceTypeChooser->currentText()=="NDI Aurora") m_CreatedTool->SetTrackingDeviceType(mitk::NDIAurora); else if (m_Controls->m_TrackingDeviceTypeChooser->currentText()=="NDI Polaris") m_CreatedTool->SetTrackingDeviceType(mitk::NDIPolaris); -else if (m_Controls->m_TrackingDeviceTypeChooser->currentText()=="Claron Technology Micron Tracker") m_CreatedTool->SetTrackingDeviceType(mitk::ClaronMicron); +else if (m_Controls->m_TrackingDeviceTypeChooser->currentText()=="CT MicronTracker") m_CreatedTool->SetTrackingDeviceType(mitk::ClaronMicron); else if (m_Controls->m_TrackingDeviceTypeChooser->currentText()=="NP Optitrack") m_CreatedTool->SetTrackingDeviceType(mitk::NPOptitrack); +else if (m_Controls->m_TrackingDeviceTypeChooser->currentText()=="Virtual Tracker") m_CreatedTool->SetTrackingDeviceType(mitk::VirtualTracker); else m_CreatedTool->SetTrackingDeviceType(mitk::TrackingSystemNotSpecified); //ToolType if (m_Controls->m_ToolTypeChooser->currentText()=="Instrument") m_CreatedTool->SetType(mitk::NavigationTool::Instrument); else if (m_Controls->m_ToolTypeChooser->currentText()=="Fiducial") m_CreatedTool->SetType(mitk::NavigationTool::Fiducial); else if (m_Controls->m_ToolTypeChooser->currentText()=="Skinmarker") m_CreatedTool->SetType(mitk::NavigationTool::Skinmarker); else m_CreatedTool->SetType(mitk::NavigationTool::Unknown); //Tool Tip mitk::NavigationData::Pointer tempND = mitk::NavigationData::New(m_AdvancedWidget->GetManipulatedToolTip()); m_CreatedTool->SetToolTipOrientation(tempND->GetOrientation()); m_CreatedTool->SetToolTipPosition(tempND->GetPosition()); //Tool Landmarks mitk::PointSet::Pointer toolCalLandmarks, toolRegLandmarks; GetUIToolLandmarksLists(toolCalLandmarks,toolRegLandmarks); m_CreatedTool->SetToolCalibrationLandmarks(toolCalLandmarks); m_CreatedTool->SetToolRegistrationLandmarks(toolRegLandmarks); emit NavigationToolFinished(); } void QmitkNavigationToolCreationWidget::OnCancel() { m_CreatedTool = NULL; emit Canceled(); } void QmitkNavigationToolCreationWidget::OnLoadSurface() { std::string filename = QFileDialog::getOpenFileName(NULL,tr("Open Surface"), "/", tr("STL (*.stl)")).toLatin1().data(); mitk::STLFileReader::Pointer stlReader = mitk::STLFileReader::New(); try { stlReader->SetFileName( filename.c_str() ); stlReader->Update(); } catch (...) { } if ( stlReader->GetOutput() == NULL ); else { mitk::DataNode::Pointer newNode = mitk::DataNode::New(); newNode->SetName(filename); newNode->SetData(stlReader->GetOutput()); m_DataStorage->Add(newNode); } } void QmitkNavigationToolCreationWidget::OnLoadCalibrationFile() { m_Controls->m_CalibrationFileName->setText(QFileDialog::getOpenFileName(NULL,tr("Open Calibration File"), "/", "*.*")); } void QmitkNavigationToolCreationWidget::SetDefaultData(mitk::NavigationTool::Pointer DefaultTool) { m_Controls->m_ToolNameEdit->setText(QString(DefaultTool->GetDataNode()->GetName().c_str())); m_Controls->m_IdentifierEdit->setText(QString(DefaultTool->GetIdentifier().c_str())); m_Controls->m_SerialNumberEdit->setText(QString(DefaultTool->GetSerialNumber().c_str())); m_AdvancedWidget->SetDefaultTooltip( DefaultTool->GetToolTipTransform() ); switch(DefaultTool->GetTrackingDeviceType()) { case mitk::NDIAurora: m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(0);break; case mitk::NDIPolaris: m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(1);break; case mitk::ClaronMicron: m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(2);break; case mitk::NPOptitrack: m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(3);break; +case mitk::VirtualTracker: +m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(4);break; default: m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(0); } m_Controls->m_CalibrationFileName->setText(QString(DefaultTool->GetCalibrationFile().c_str())); m_Controls->m_Surface_Use_Other->setChecked(true); switch(DefaultTool->GetType()) { case mitk::NavigationTool::Instrument: m_Controls->m_ToolTypeChooser->setCurrentIndex(0); break; case mitk::NavigationTool::Fiducial: m_Controls->m_ToolTypeChooser->setCurrentIndex(1); break; case mitk::NavigationTool::Skinmarker: m_Controls->m_ToolTypeChooser->setCurrentIndex(2); break; case mitk::NavigationTool::Unknown: m_Controls->m_ToolTypeChooser->setCurrentIndex(3); break; } m_Controls->m_SurfaceChooser->SetSelectedNode(DefaultTool->GetDataNode()); FillUIToolLandmarkLists(DefaultTool->GetToolCalibrationLandmarks(),DefaultTool->GetToolRegistrationLandmarks()); } //################################################################################## //############################## internal help methods ############################# //################################################################################## void QmitkNavigationToolCreationWidget::MessageBox(std::string s) { QMessageBox msgBox; msgBox.setText(s.c_str()); msgBox.exec(); } void QmitkNavigationToolCreationWidget::OnShowAdvancedOptions(bool state) { if(state) { m_AdvancedWidget->show(); m_AdvancedWidget->SetDefaultTooltip(m_AdvancedWidget->GetManipulatedToolTip()); //use the last one, if there is one m_AdvancedWidget->ReInitialize(); // reinit the views with the new nodes mitk::DataStorage::SetOfObjects::ConstPointer rs = m_DataStorage->GetAll(); mitk::TimeGeometry::Pointer bounds = m_DataStorage->ComputeBoundingGeometry3D(rs, "visible"); // initialize the views to the bounding geometry mitk::RenderingManager::GetInstance()->InitializeViews(bounds); } else { m_AdvancedWidget->hide(); } } void QmitkNavigationToolCreationWidget::OnProcessDialogCloseRequest() { m_AdvancedWidget->hide(); m_Controls->m_ShowAdvancedOptionsPB->setChecked(false); } void QmitkNavigationToolCreationWidget::OnRetrieveDataForManualTooltipManipulation() { if(m_Controls->m_Surface_Use_Sphere->isChecked()) { m_AdvancedWidget->SetToolTipSurface(true); } else { m_AdvancedWidget->SetToolTipSurface(false, dynamic_cast(m_Controls->m_SurfaceChooser->GetSelectedNode().GetPointer())); } } void QmitkNavigationToolCreationWidget::OnSurfaceUseOtherToggled(bool checked) { m_Controls->m_LoadSurface->setEnabled(checked); } void QmitkNavigationToolCreationWidget::FillUIToolLandmarkLists(mitk::PointSet::Pointer calLandmarks, mitk::PointSet::Pointer regLandmarks) { m_calLandmarkNode->SetData(calLandmarks); m_regLandmarkNode->SetData(regLandmarks); m_Controls->m_CalibrationLandmarksList->SetPointSetNode(m_calLandmarkNode); m_Controls->m_RegistrationLandmarksList->SetPointSetNode(m_regLandmarkNode); } void QmitkNavigationToolCreationWidget::GetUIToolLandmarksLists(mitk::PointSet::Pointer& calLandmarks, mitk::PointSet::Pointer& regLandmarks) { calLandmarks = dynamic_cast(m_calLandmarkNode->GetData()); regLandmarks = dynamic_cast(m_regLandmarkNode->GetData()); } void QmitkNavigationToolCreationWidget::InitializeUIToolLandmarkLists() { m_calLandmarkNode = mitk::DataNode::New(); m_regLandmarkNode = mitk::DataNode::New(); FillUIToolLandmarkLists(mitk::PointSet::New(),mitk::PointSet::New()); } diff --git a/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.ui b/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.ui index 28beb9ffb6..079e60455e 100644 --- a/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.ui +++ b/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.ui @@ -1,531 +1,536 @@ QmitkNavigationToolCreationWidgetControls 0 0 254 309 Form Device Type: 150 0 150 16777215 NDI Aurora NDI Polaris - Claron Technology Micron Tracker + CT MicronTracker NP Optitrack + + + Virtual Tracker + + 0 0 0 236 - 90 + 115 Basic Information 100 0 Name: NewTool 100 0 Calibration File: none 40 16777215 Load Qt::Vertical 20 40 0 0 - 310 - 113 + 303 + 98 Tool Visualization Use Simple Cone true Use Surface: Qt::Horizontal QSizePolicy::Fixed 25 20 200 0 150 16777215 false 40 16777215 Load Qt::Horizontal 40 20 Qt::Vertical 20 8 0 0 - 232 - 85 + 236 + 115 Tool Landmarks 0 Calibration Landmarks Registration Landmarks 0 0 - 281 - 152 + 276 + 133 Advanced 100 0 Tool Type: 150 0 150 16777215 Instrument Fiducial Skinmarker Unkown 100 0 Identifier: <not given> 100 0 Serial Number: <not given> Tooltip: Qt::Horizontal 40 20 Edit Tooltip true Qt::Vertical 20 40 Qt::Horizontal Qt::Horizontal 40 20 Cancel Finished QmitkDataStorageComboBox QComboBox
QmitkDataStorageComboBox.h
1 QmitkPointListWidget QWidget
QmitkPointListWidget.h
1 diff --git a/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp b/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp index f35c1781bb..37d457de5d 100644 --- a/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp @@ -1,357 +1,359 @@ /*=================================================================== 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 "QmitkNavigationToolManagementWidget.h" //mitk headers #include "mitkTrackingTypes.h" #include #include #include #include #include #include #include //qt headers #include #include #include //poco headers #include const std::string QmitkNavigationToolManagementWidget::VIEW_ID = "org.mitk.views.navigationtoolmanagementwidget"; QmitkNavigationToolManagementWidget::QmitkNavigationToolManagementWidget(QWidget* parent, Qt::WindowFlags f) : QWidget(parent, f) { m_Controls = NULL; CreateQtPartControl(this); CreateConnections(); } QmitkNavigationToolManagementWidget::~QmitkNavigationToolManagementWidget() { } void QmitkNavigationToolManagementWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkNavigationToolManagementWidgetControls; m_Controls->setupUi(parent); } //Disable StorageControls in the beginning, because there is no storage to edit DisableStorageControls(); } void QmitkNavigationToolManagementWidget::OnLoadTool() { if(m_NavigationToolStorage->isLocked()) { MessageBox("Storage is locked, cannot modify it. Maybe the tracking device which uses this storage is connected. If you want to modify the storage please disconnect the device first."); return; } mitk::NavigationToolReader::Pointer myReader = mitk::NavigationToolReader::New(); std::string filename = QFileDialog::getOpenFileName(NULL,tr("Add Navigation Tool"), "/", "*.IGTTool").toLatin1().data(); if (filename == "") return; mitk::NavigationTool::Pointer readTool = myReader->DoRead(filename); if (readTool.IsNull()) MessageBox("Error: " + myReader->GetErrorMessage()); else { if (!m_NavigationToolStorage->AddTool(readTool)) { MessageBox("Error: Can't add tool!"); m_DataStorage->Remove(readTool->GetDataNode()); } UpdateToolTable(); } } void QmitkNavigationToolManagementWidget::OnSaveTool() { //if no item is selected, show error message: if (m_Controls->m_ToolList->currentItem() == NULL) {MessageBox("Error: Please select tool first!");return;} mitk::NavigationToolWriter::Pointer myWriter = mitk::NavigationToolWriter::New(); std::string filename = QFileDialog::getSaveFileName(NULL,tr("Save Navigation Tool"), "/", "*.IGTTool").toLatin1().data(); if (filename == "") return; if (!myWriter->DoWrite(filename,m_NavigationToolStorage->GetTool(m_Controls->m_ToolList->currentIndex().row()))) MessageBox("Error: "+ myWriter->GetErrorMessage()); } void QmitkNavigationToolManagementWidget::CreateConnections() { if ( m_Controls ) { //main widget page: connect( (QObject*)(m_Controls->m_AddTool), SIGNAL(clicked()), this, SLOT(OnAddTool()) ); connect( (QObject*)(m_Controls->m_DeleteTool), SIGNAL(clicked()), this, SLOT(OnDeleteTool()) ); connect( (QObject*)(m_Controls->m_EditTool), SIGNAL(clicked()), this, SLOT(OnEditTool()) ); connect( (QObject*)(m_Controls->m_LoadStorage), SIGNAL(clicked()), this, SLOT(OnLoadStorage()) ); connect( (QObject*)(m_Controls->m_SaveStorage), SIGNAL(clicked()), this, SLOT(OnSaveStorage()) ); connect( (QObject*)(m_Controls->m_LoadTool), SIGNAL(clicked()), this, SLOT(OnLoadTool()) ); connect( (QObject*)(m_Controls->m_SaveTool), SIGNAL(clicked()), this, SLOT(OnSaveTool()) ); connect( (QObject*)(m_Controls->m_CreateNewStorage), SIGNAL(clicked()), this, SLOT(OnCreateStorage()) ); //widget page "add tool": connect( (QObject*)(m_Controls->m_ToolCreationWidget), SIGNAL(Canceled()), this, SLOT(OnAddToolCancel()) ); connect( (QObject*)(m_Controls->m_ToolCreationWidget), SIGNAL(NavigationToolFinished()), this, SLOT(OnAddToolSave()) ); } } void QmitkNavigationToolManagementWidget::Initialize(mitk::DataStorage* dataStorage) { m_DataStorage = dataStorage; m_Controls->m_ToolCreationWidget->Initialize(m_DataStorage,"Tool0"); } void QmitkNavigationToolManagementWidget::LoadStorage(mitk::NavigationToolStorage::Pointer storageToLoad) { if(storageToLoad.IsNotNull()) { m_NavigationToolStorage = storageToLoad; m_Controls->m_StorageName->setText(m_NavigationToolStorage->GetName().c_str()); EnableStorageControls(); } else { m_NavigationToolStorage = NULL; DisableStorageControls(); } UpdateToolTable(); } //################################################################################## //############################## slots: main widget ################################ //################################################################################## void QmitkNavigationToolManagementWidget::OnAddTool() { if(m_NavigationToolStorage->isLocked()) { MessageBox("Storage is locked, cannot modify it. Maybe the tracking device which uses this storage is connected. If you want to modify the storage please disconnect the device first."); return; } QString defaultIdentifier = "NavigationTool#"+QString::number(m_NavigationToolStorage->GetToolCount()); m_Controls->m_ToolCreationWidget->Initialize(m_DataStorage,defaultIdentifier.toStdString()); m_edit = false; m_Controls->m_MainWidgets->setCurrentIndex(1); } void QmitkNavigationToolManagementWidget::OnDeleteTool() { //first: some checks if(m_NavigationToolStorage->isLocked()) { MessageBox("Storage is locked, cannot modify it. Maybe the tracking device which uses this storage is connected. If you want to modify the storage please disconnect the device first."); return; } else if (m_Controls->m_ToolList->currentItem() == NULL) //if no item is selected, show error message: { MessageBox("Error: Please select tool first!"); return; } m_DataStorage->Remove(m_NavigationToolStorage->GetTool(m_Controls->m_ToolList->currentIndex().row())->GetDataNode()); m_NavigationToolStorage->DeleteTool(m_Controls->m_ToolList->currentIndex().row()); UpdateToolTable(); } void QmitkNavigationToolManagementWidget::OnEditTool() { if(m_NavigationToolStorage->isLocked()) { MessageBox("Storage is locked, cannot modify it. Maybe the tracking device which uses this storage is connected. If you want to modify the storage please disconnect the device first."); return; } else if (m_Controls->m_ToolList->currentItem() == NULL) //if no item is selected, show error message: { MessageBox("Error: Please select tool first!"); return; } mitk::NavigationTool::Pointer selectedTool = m_NavigationToolStorage->GetTool(m_Controls->m_ToolList->currentIndex().row()); m_Controls->m_ToolCreationWidget->SetDefaultData(selectedTool); m_edit = true; m_Controls->m_MainWidgets->setCurrentIndex(1); } void QmitkNavigationToolManagementWidget::OnCreateStorage() { QString storageName = QInputDialog::getText(NULL,"Storage Name","Name of the new tool storage:"); if (storageName.isNull()) return; m_NavigationToolStorage = mitk::NavigationToolStorage::New(this->m_DataStorage); m_NavigationToolStorage->SetName(storageName.toStdString()); m_Controls->m_StorageName->setText(m_NavigationToolStorage->GetName().c_str()); EnableStorageControls(); emit NewStorageAdded(m_NavigationToolStorage, storageName.toStdString()); } void QmitkNavigationToolManagementWidget::OnLoadStorage() { mitk::NavigationToolStorageDeserializer::Pointer myDeserializer = mitk::NavigationToolStorageDeserializer::New(m_DataStorage); std::string filename = QFileDialog::getOpenFileName(NULL, tr("Open Navigation Tool Storage"), "/", tr("IGT Tool Storage (*.IGTToolStorage)")).toStdString(); if (filename == "") return; try { mitk::NavigationToolStorage::Pointer tempStorage = myDeserializer->Deserialize(filename); if (tempStorage.IsNull()) MessageBox("Error" + myDeserializer->GetErrorMessage()); else { Poco::Path myPath = Poco::Path(filename.c_str()); tempStorage->SetName(myPath.getFileName()); //set the filename as name for the storage, so the user can identify it this->LoadStorage(tempStorage); emit NewStorageAdded(m_NavigationToolStorage,myPath.getFileName()); } } catch (const mitk::Exception& exception) { MessageBox(exception.GetDescription()); } } void QmitkNavigationToolManagementWidget::OnSaveStorage() { //read in filename QString filename = QFileDialog::getSaveFileName(NULL, tr("Save Navigation Tool Storage"), "/", tr("IGT Tool Storage (*.IGTToolStorage)")); if (filename.isEmpty()) return; //canceled by the user // add file extension if it wasn't added by the file dialog if ( filename.right(15) != ".IGTToolStorage" ) { filename += ".IGTToolStorage"; } //serialize tool storage mitk::NavigationToolStorageSerializer::Pointer mySerializer = mitk::NavigationToolStorageSerializer::New(); if (!mySerializer->Serialize(filename.toStdString(),m_NavigationToolStorage)) { MessageBox("Error: " + mySerializer->GetErrorMessage()); return; } Poco::Path myPath = Poco::Path(filename.toStdString()); m_Controls->m_StorageName->setText(QString::fromStdString(myPath.getFileName())); } //################################################################################## //############################## slots: add tool widget ############################ //################################################################################## void QmitkNavigationToolManagementWidget::OnAddToolSave() { mitk::NavigationTool::Pointer newTool = m_Controls->m_ToolCreationWidget->GetCreatedTool(); if (m_edit) //here we edit a existing tool { mitk::NavigationTool::Pointer editedTool = m_NavigationToolStorage->GetTool(m_Controls->m_ToolList->currentIndex().row()); editedTool->Graft(newTool); } else //here we create a new tool { m_NavigationToolStorage->AddTool(newTool); } UpdateToolTable(); m_Controls->m_MainWidgets->setCurrentIndex(0); } void QmitkNavigationToolManagementWidget::OnAddToolCancel() { m_Controls->m_MainWidgets->setCurrentIndex(0); } //################################################################################## //############################## private help methods ############################## //################################################################################## void QmitkNavigationToolManagementWidget::UpdateToolTable() { m_Controls->m_ToolList->clear(); if(m_NavigationToolStorage.IsNull()) return; for(int i=0; iGetToolCount(); i++) { QString currentTool = "Tool" + QString::number(i) + ": " + QString(m_NavigationToolStorage->GetTool(i)->GetDataNode()->GetName().c_str())+ " "; switch (m_NavigationToolStorage->GetTool(i)->GetTrackingDeviceType()) { case mitk::ClaronMicron: currentTool += "(MicronTracker/"; break; case mitk::NDIAurora: currentTool += "(NDI Aurora/"; break; case mitk::NDIPolaris: currentTool += "(NDI Polaris/"; break; - case mitk::NPOptitrack: + case mitk::NPOptitrack: currentTool += "(NP Optitrack/"; break; + case mitk::VirtualTracker: + currentTool += "(Virtual Tracker/"; break; default: currentTool += "(unknown tracking system/"; break; } switch (m_NavigationToolStorage->GetTool(i)->GetType()) { case mitk::NavigationTool::Instrument: currentTool += "Instrument)"; break; case mitk::NavigationTool::Fiducial: currentTool += "Fiducial)"; break; case mitk::NavigationTool::Skinmarker: currentTool += "Skinmarker)"; break; default: currentTool += "Unknown)"; } m_Controls->m_ToolList->addItem(currentTool); } } void QmitkNavigationToolManagementWidget::MessageBox(std::string s) { QMessageBox msgBox; msgBox.setText(s.c_str()); msgBox.exec(); } void QmitkNavigationToolManagementWidget::DisableStorageControls() { m_Controls->m_StorageName->setText(""); m_Controls->m_AddTool->setEnabled(false); m_Controls->m_LoadTool->setEnabled(false); m_Controls->m_selectedLabel->setEnabled(false); m_Controls->m_DeleteTool->setEnabled(false); m_Controls->m_EditTool->setEnabled(false); m_Controls->m_SaveTool->setEnabled(false); m_Controls->m_ToolList->setEnabled(false); m_Controls->m_SaveStorage->setEnabled(false); m_Controls->m_ToolLabel->setEnabled(false); } void QmitkNavigationToolManagementWidget::EnableStorageControls() { m_Controls->m_AddTool->setEnabled(true); m_Controls->m_LoadTool->setEnabled(true); m_Controls->m_selectedLabel->setEnabled(true); m_Controls->m_DeleteTool->setEnabled(true); m_Controls->m_EditTool->setEnabled(true); m_Controls->m_SaveTool->setEnabled(true); m_Controls->m_ToolList->setEnabled(true); m_Controls->m_SaveStorage->setEnabled(true); m_Controls->m_ToolLabel->setEnabled(true); } diff --git a/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp b/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp index f5cb6899d9..e28ee0ee90 100644 --- a/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp @@ -1,728 +1,732 @@ /*=================================================================== 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 "QmitkTrackingDeviceConfigurationWidget.h" #include +#include #include #include #include #include #include #include #include #include #include #include #include #include const std::string QmitkTrackingDeviceConfigurationWidget::VIEW_ID = "org.mitk.views.trackingdeviceconfigurationwidget"; QmitkTrackingDeviceConfigurationWidget::QmitkTrackingDeviceConfigurationWidget(QWidget* parent, Qt::WindowFlags f) : QWidget(parent, f) { //initialize worker thread m_TestConnectionWorker = new QmitkTrackingDeviceConfigurationWidgetConnectionWorker(); m_ScanPortsWorker = new QmitkTrackingDeviceConfigurationWidgetScanPortsWorker(); m_ScanPortsWorkerThread = new QThread(); m_TestConnectionWorkerThread = new QThread(); //initializations m_Controls = NULL; CreateQtPartControl(this); CreateConnections(); m_MTCalibrationFile = ""; m_AdvancedUserControl = true; //initialize a few UI elements this->m_TrackingDeviceConfigurated = false; AddOutput("
NDI Polaris selected"); //Polaris is selected by default m_Controls->m_trackingDeviceChooser->setCurrentIndex(0); m_Controls->m_TrackingSystemWidget->setCurrentIndex(0); //reset a few things ResetOutput(); //restore old UI settings LoadUISettings(); } void QmitkTrackingDeviceConfigurationWidget::SetGUIStyle(QmitkTrackingDeviceConfigurationWidget::Style style) { switch(style) { case QmitkTrackingDeviceConfigurationWidget::SIMPLE: //move all UI elements to an empty dummy layout //m_Controls->dummyLayout->addItem(m_Controls->mainLayout); m_Controls->dummyLayout->addWidget(m_Controls->widget_title_label); m_Controls->dummyLayout->addWidget(m_Controls->choose_tracking_device_label); m_Controls->dummyLayout->addWidget(m_Controls->polaris_label); m_Controls->dummyLayout->addWidget(m_Controls->aurora_label); //m_Controls->dummyLayout->addWidget(m_Controls->aurora_label); m_Controls->dummyLayout->addWidget(m_Controls->microntracker_label); m_Controls->dummyLayout->addWidget(m_Controls->m_testConnectionMicronTracker); m_Controls->dummyLayout->addWidget(m_Controls->m_outputTextMicronTracker); m_Controls->dummyLayout->addWidget(m_Controls->m_outputTextAurora); m_Controls->dummyLayout->addWidget(m_Controls->m_testConnectionAurora); m_Controls->dummyLayout->addWidget(m_Controls->m_outputTextPolaris); m_Controls->dummyLayout->addWidget(m_Controls->m_testConnectionPolaris); m_Controls->dummyLayout->addWidget(m_Controls->m_polarisTrackingModeBox); m_Controls->dummyLayout->addWidget(m_Controls->m_testConnectionOptitrack); m_Controls->dummyLayout->addWidget(m_Controls->m_outputTextOptitrack); m_Controls->dummyLayout->addWidget(m_Controls->m_OptitrackExp); m_Controls->dummyLayout->addWidget(m_Controls->m_OptitrackThr); m_Controls->dummyLayout->addWidget(m_Controls->m_OptitrackLed); m_Controls->dummyLayout->addWidget(m_Controls->Optitrack_label); m_Controls->dummyLayout->addWidget(m_Controls->m_finishedLine); m_Controls->dummyLayout->addWidget(m_Controls->line); m_Controls->dummyLayout->addWidget(m_Controls->configuration_finished_label); m_Controls->dummyLayout->addItem(m_Controls->horizontalLayout_4); m_Controls->mainLayout->removeItem(m_Controls->horizontalLayout_4); m_Controls->dummyLayout->addWidget(m_Controls->configuration_finished_label); m_Controls->dummyLayout->addItem(m_Controls->verticalSpacer_2); m_Controls->verticalLayout_3->removeItem(m_Controls->verticalSpacer_2); m_Controls->dummyLayout->addItem(m_Controls->horizontalSpacer_9); m_Controls->horizontalLayout_9->removeItem(m_Controls->horizontalSpacer_9); m_Controls->dummyLayout->addItem(m_Controls->horizontalSpacer_3); m_Controls->horizontalLayout_11->removeItem(m_Controls->horizontalSpacer_3); m_Controls->dummyLayout->addItem(m_Controls->verticalSpacer_3); m_Controls->verticalLayout_7->removeItem(m_Controls->verticalSpacer_3); m_Controls->dummyLayout->addItem(m_Controls->verticalSpacer_4); m_Controls->verticalLayout_10->removeItem(m_Controls->verticalSpacer_4); m_Controls->dummyLayout->addItem(m_Controls->horizontalSpacer_10); m_Controls->verticalLayout_10->removeItem(m_Controls->horizontalSpacer_10); //set height to min m_Controls->m_outputTextPolaris->setMinimumHeight(0); m_Controls->m_outputTextPolaris->setMaximumHeight(0); m_Controls->m_outputTextMicronTracker->setMinimumHeight(0); m_Controls->m_outputTextMicronTracker->setMaximumHeight(0); m_Controls->m_outputTextAurora->setMinimumHeight(0); m_Controls->m_outputTextAurora->setMaximumHeight(0); m_Controls->m_finishedButton->setMinimumHeight(0); m_Controls->m_finishedButton->setMaximumHeight(0); m_Controls->m_resetButton->setMinimumHeight(0); m_Controls->m_resetButton->setMaximumHeight(0); //set the height of the tracking device combo box m_Controls->m_trackingDeviceChooser->setMinimumHeight(50); //move back the used elemets to the main layout m_Controls->simpleLayout->addWidget(m_Controls->m_trackingDeviceChooser); m_Controls->simpleLayout->addWidget(m_Controls->m_TrackingSystemWidget); m_Controls->mainWidget->setCurrentIndex(1); this->setMaximumHeight(150); this->EnableAdvancedUserControl(false); break; case QmitkTrackingDeviceConfigurationWidget::ADVANCED: //default at the moment => start settings are advanced break; } } QmitkTrackingDeviceConfigurationWidget::~QmitkTrackingDeviceConfigurationWidget() { StoreUISettings(); if (m_ScanPortsWorker) delete m_ScanPortsWorker; if (m_TestConnectionWorker) delete m_TestConnectionWorker; if (m_ScanPortsWorkerThread) delete m_ScanPortsWorkerThread; if (m_TestConnectionWorkerThread) delete m_TestConnectionWorkerThread; } void QmitkTrackingDeviceConfigurationWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkTrackingDeviceConfigurationWidgetControls; m_Controls->setupUi(parent); } } void QmitkTrackingDeviceConfigurationWidget::CreateConnections() { if ( m_Controls ) { connect( (QObject*)(m_Controls->m_trackingDeviceChooser), SIGNAL(currentIndexChanged(int)), this, SLOT(TrackingDeviceChanged()) ); connect( (QObject*)(m_Controls->m_testConnectionPolaris), SIGNAL(clicked()), this, SLOT(TestConnection()) ); connect( (QObject*)(m_Controls->m_testConnectionAurora), SIGNAL(clicked()), this, SLOT(TestConnection()) ); connect( (QObject*)(m_Controls->m_testConnectionMicronTracker), SIGNAL(clicked()), this, SLOT(TestConnection()) ); connect( (QObject*)(m_Controls->m_testConnectionOptitrack), SIGNAL(clicked()), this, SLOT(TestConnection()) ); connect( (QObject*)(m_Controls->m_resetButton), SIGNAL(clicked()), this, SLOT(ResetByUser()) ); connect( (QObject*)(m_Controls->m_finishedButton), SIGNAL(clicked()), this, SLOT(Finished()) ); connect( (QObject*)(m_Controls->m_AutoScanPolaris), SIGNAL(clicked()), this, SLOT(AutoScanPorts()) ); connect( (QObject*)(m_Controls->m_AutoScanAurora), SIGNAL(clicked()), this, SLOT(AutoScanPorts()) ); connect( (QObject*)(m_Controls->m_SetMTCalibrationFile), SIGNAL(clicked()), this, SLOT(SetMTCalibrationFileClicked()) ); connect( (QObject*)(m_Controls->m_SetOptitrackCalibrationFile), SIGNAL(clicked()), this, SLOT(SetOptitrackCalibrationFileClicked()) ); //slots for the worker thread connect(m_ScanPortsWorker, SIGNAL(PortsScanned(int,int,QString,int,int)), this, SLOT(AutoScanPortsFinished(int,int,QString,int,int)) ); connect(m_TestConnectionWorker, SIGNAL(ConnectionTested(bool,QString)), this, SLOT(TestConnectionFinished(bool,QString)) ); connect(m_ScanPortsWorkerThread,SIGNAL(started()), m_ScanPortsWorker, SLOT(ScanPortsThreadFunc()) ); connect(m_TestConnectionWorkerThread,SIGNAL(started()), m_TestConnectionWorker, SLOT(TestConnectionThreadFunc()) ); //move the worker to the thread m_ScanPortsWorker->moveToThread(m_ScanPortsWorkerThread); m_TestConnectionWorker->moveToThread(m_TestConnectionWorkerThread); //set a few UI components depending on Windows / Linux #ifdef WIN32 m_Controls->portTypeLabelPolaris->setVisible(false); m_Controls->portTypePolaris->setVisible(false); m_Controls->portTypeLabelAurora->setVisible(false); m_Controls->portTypeAurora->setVisible(false); #else m_Controls->comPortLabelAurora->setText("Port Nr:"); m_Controls->m_comPortLabelPolaris->setText("Port Nr:"); m_Controls->m_portSpinBoxAurora->setPrefix(""); m_Controls->m_portSpinBoxPolaris->setPrefix(""); #endif //disable unused UI component m_Controls->m_polarisTrackingModeBox->setVisible(false); //don't delete this component, because it is used in the MBI part of MITK } } void QmitkTrackingDeviceConfigurationWidget::TrackingDeviceChanged() { //show the correspondig widget m_Controls->m_TrackingSystemWidget->setCurrentIndex(m_Controls->m_trackingDeviceChooser->currentIndex()); //the new trackingdevice is not configurated yet m_TrackingDeviceConfigurated = false; //reset output ResetOutput(); //print output and do further initializations if (m_Controls->m_trackingDeviceChooser->currentIndex()==0)//NDI Polaris { AddOutput("
NDI Polaris selected"); } else if (m_Controls->m_trackingDeviceChooser->currentIndex()==1) //NDI Aurora { AddOutput("
NDI Aurora selected"); } else if (m_Controls->m_trackingDeviceChooser->currentIndex()==2) //ClaronTechnology MicronTracker 2 { AddOutput("
Microntracker selected"); if (!mitk::ClaronTrackingDevice::New()->IsDeviceInstalled()) { AddOutput("
ERROR: not installed!"); } else if (this->m_MTCalibrationFile == "") //if configuration file for MicronTracker is empty: load default { mitk::ClaronTrackingDevice::Pointer tempDevice = mitk::ClaronTrackingDevice::New(); m_MTCalibrationFile = tempDevice->GetCalibrationDir(); Poco::Path myPath = Poco::Path(m_MTCalibrationFile.c_str()); m_Controls->m_MTCalibrationFile->setText("Calibration File: " + QString(myPath.getFileName().c_str())); } } else if (m_Controls->m_trackingDeviceChooser->currentIndex()==3) { AddOutput("
Optitrack selected"); if (!mitk::OptitrackTrackingDevice::New()->IsDeviceInstalled()) { AddOutput("
ERROR: not installed!"); } } emit TrackingDeviceSelectionChanged(); } void QmitkTrackingDeviceConfigurationWidget::EnableUserReset(bool enable) { if (enable) m_Controls->m_resetButton->setVisible(true); else m_Controls->m_resetButton->setVisible(false); } void QmitkTrackingDeviceConfigurationWidget::TestConnection() { this->setEnabled(false); //construct a tracking device: mitk::TrackingDevice::Pointer testTrackingDevice = ConstructTrackingDevice(); m_TestConnectionWorker->SetTrackingDevice(testTrackingDevice); m_TestConnectionWorkerThread->start(); emit ProgressStarted(); } void QmitkTrackingDeviceConfigurationWidget::TestConnectionFinished(bool connected, QString output) { m_TestConnectionWorkerThread->quit(); AddOutput(output.toStdString()); MITK_INFO << "Test connection: " << connected; this->setEnabled(true); emit ProgressFinished(); } void QmitkTrackingDeviceConfigurationWidget::Finished() { m_TrackingDevice = ConstructTrackingDevice(); m_Controls->m_TrackingSystemWidget->setEnabled(false); m_Controls->m_trackingDeviceChooser->setEnabled(false); m_Controls->choose_tracking_device_label->setEnabled(false); m_Controls->configuration_finished_label->setText("\n\n

Configuration finished

"); this->m_TrackingDeviceConfigurated = true; emit TrackingDeviceConfigurationFinished(); } void QmitkTrackingDeviceConfigurationWidget::Reset() { m_TrackingDevice = NULL; m_Controls->m_TrackingSystemWidget->setEnabled(true); m_Controls->m_trackingDeviceChooser->setEnabled(true); m_Controls->choose_tracking_device_label->setEnabled(true); m_Controls->configuration_finished_label->setText("\n\n

Press \"Finished\" to confirm configuration

"); this->m_TrackingDeviceConfigurated = false; emit TrackingDeviceConfigurationReseted(); } void QmitkTrackingDeviceConfigurationWidget::ResetByUser() { Reset(); } void QmitkTrackingDeviceConfigurationWidget::AutoScanPorts() { this->setEnabled(false); AddOutput("
Scanning..."); m_ScanPortsWorkerThread->start(); emit ProgressStarted(); } void QmitkTrackingDeviceConfigurationWidget::AutoScanPortsFinished(int PolarisPort, int AuroraPort, QString result, int PortTypePolaris, int PortTypeAurora) { m_ScanPortsWorkerThread->quit(); #ifdef WIN32 if((PortTypePolaris!=-1)||(PortTypeAurora!=-1)) {MITK_WARN << "Port type is specified although this should not be the case for Windows. Ignoring port type.";} #else //linux systems if (PortTypePolaris!=-1) {m_Controls->portTypePolaris->setCurrentIndex(PortTypePolaris);} if (PortTypeAurora!=-1) {m_Controls->portTypeAurora->setCurrentIndex(PortTypeAurora);} #endif m_Controls->m_portSpinBoxPolaris->setValue(PolarisPort); m_Controls->m_portSpinBoxAurora->setValue(AuroraPort); AddOutput(result.toStdString()); this->setEnabled(true); emit ProgressFinished(); } void QmitkTrackingDeviceConfigurationWidget::SetMTCalibrationFileClicked() { std::string filename = QFileDialog::getOpenFileName(NULL,tr("Open Calibration File"), "/", "*.*").toLatin1().data(); if (filename=="") {return;} else { m_MTCalibrationFile = filename; Poco::Path myPath = Poco::Path(m_MTCalibrationFile.c_str()); m_Controls->m_MTCalibrationFile->setText("Calibration File: " + QString(myPath.getFileName().c_str())); } } void QmitkTrackingDeviceConfigurationWidget::SetOptitrackCalibrationFileClicked() { std::string filename = QFileDialog::getOpenFileName(NULL,tr("Open Calibration File"), "/", "*.*").toLatin1().data(); if (filename=="") {return;} else { m_OptitrackCalibrationFile = filename; Poco::Path myPath = Poco::Path(m_OptitrackCalibrationFile.c_str()); m_Controls->m_OptitrackCalibrationFile->setText("Calibration File: " + QString(myPath.getFileName().c_str())); } } //######################### internal help methods ####################################### void QmitkTrackingDeviceConfigurationWidget::ResetOutput() { m_output.str(""); m_output <<"output:"; m_Controls->m_outputTextAurora->setHtml(QString(m_output.str().c_str())); m_Controls->m_outputTextPolaris->setHtml(QString(m_output.str().c_str())); m_Controls->m_outputTextMicronTracker->setHtml(QString(m_output.str().c_str())); } void QmitkTrackingDeviceConfigurationWidget::AddOutput(std::string s) { //print output m_output << s; m_Controls->m_outputTextAurora->setHtml(QString(m_output.str().c_str())); m_Controls->m_outputTextPolaris->setHtml(QString(m_output.str().c_str())); m_Controls->m_outputTextMicronTracker->setHtml(QString(m_output.str().c_str())); m_Controls->m_outputTextOptitrack->setHtml(QString(m_output.str().c_str())); m_Controls->m_outputTextPolaris->verticalScrollBar()->setValue(m_Controls->m_outputTextPolaris->verticalScrollBar()->maximum()); m_Controls->m_outputTextAurora->verticalScrollBar()->setValue(m_Controls->m_outputTextAurora->verticalScrollBar()->maximum()); m_Controls->m_outputTextMicronTracker->verticalScrollBar()->setValue(m_Controls->m_outputTextMicronTracker->verticalScrollBar()->maximum()); m_Controls->m_outputTextOptitrack->verticalScrollBar()->setValue(m_Controls->m_outputTextOptitrack->verticalScrollBar()->maximum()); repaint(); } mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::ConstructTrackingDevice() { mitk::TrackingDevice::Pointer returnValue; //#### Step 1: configure tracking device: - MITK_INFO << "Current Index: " << m_Controls->m_trackingDeviceChooser->currentIndex(); if (m_Controls->m_trackingDeviceChooser->currentIndex()==0)//NDI Polaris { if(m_Controls->m_radioPolaris5D->isChecked()) //5D Tracking { //not yet in the open source part so we'll only get NULL here. returnValue = ConfigureNDI5DTrackingDevice(); } else //6D Tracking { returnValue = ConfigureNDI6DTrackingDevice(); returnValue->SetType(mitk::NDIPolaris); } } else if (m_Controls->m_trackingDeviceChooser->currentIndex()==1)//NDI Aurora { returnValue = ConfigureNDI6DTrackingDevice(); returnValue->SetType(mitk::NDIAurora); } else if (m_Controls->m_trackingDeviceChooser->currentIndex()==2)//ClaronTechnology MicronTracker 2 { mitk::ClaronTrackingDevice::Pointer newDevice = mitk::ClaronTrackingDevice::New(); if(this->m_MTCalibrationFile=="") AddOutput("
Warning: Calibration file is not set!"); else { //extract path from calibration file and set the calibration dir of the device std::string path = itksys::SystemTools::GetFilenamePath(m_MTCalibrationFile); newDevice->SetCalibrationDir(path); } returnValue = newDevice; } else if (m_Controls->m_trackingDeviceChooser->currentIndex()==3) { // Create the Tracking Device this->m_OptitrackDevice = mitk::OptitrackTrackingDevice::New(); returnValue = ConfigureOptitrackTrackingDevice(); returnValue->SetType(mitk::NPOptitrack); } + else if (m_Controls->m_trackingDeviceChooser->currentIndex()==4) //Virtual Tracker + { + // Create the Virtual Tracking Device + returnValue = mitk::VirtualTrackingDevice::New(); + } return returnValue; } mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::ConfigureNDI5DTrackingDevice() { return NULL; } mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::ConfigureOptitrackTrackingDevice() { mitk::OptitrackTrackingDevice::Pointer tempTrackingDevice = mitk::OptitrackTrackingDevice::New(); // Set the calibration File tempTrackingDevice->SetCalibrationPath(m_OptitrackCalibrationFile); //Set the camera parameters tempTrackingDevice->SetExp(m_Controls->m_OptitrackExp->value()); tempTrackingDevice->SetLed(m_Controls->m_OptitrackLed->value()); tempTrackingDevice->SetThr(m_Controls->m_OptitrackThr->value()); mitk::TrackingDevice::Pointer returnValue = static_cast(tempTrackingDevice); return returnValue; } mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::ConfigureNDI6DTrackingDevice() { mitk::NDITrackingDevice::Pointer tempTrackingDevice = mitk::NDITrackingDevice::New(); //get port int port = 0; if (m_Controls->m_trackingDeviceChooser->currentIndex()==1) port = m_Controls->m_portSpinBoxAurora->value(); else port = m_Controls->m_portSpinBoxPolaris->value(); //build prefix (depends on linux/win) QString prefix = ""; #ifdef WIN32 prefix ="COM"; tempTrackingDevice->SetPortNumber(static_cast(port)); //also set the com port for compatibility #else if (m_Controls->m_trackingDeviceChooser->currentIndex()==1) //Aurora prefix = m_Controls->portTypeAurora->currentText(); else //Polaris prefix = m_Controls->portTypePolaris->currentText(); #endif //build port name string QString portName = prefix + QString::number(port); tempTrackingDevice->SetDeviceName(portName.toStdString()); //set the port name tempTrackingDevice->SetBaudRate(mitk::SerialCommunication::BaudRate115200);//set baud rate mitk::TrackingDevice::Pointer returnValue = static_cast(tempTrackingDevice); return returnValue; } mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::GetTrackingDevice() { if (!m_AdvancedUserControl) m_TrackingDevice = ConstructTrackingDevice(); if (m_TrackingDevice.IsNull() || !m_TrackingDevice->IsDeviceInstalled()) return NULL; else return this->m_TrackingDevice; } bool QmitkTrackingDeviceConfigurationWidget::GetTrackingDeviceConfigured() { return this->m_TrackingDeviceConfigurated; } void QmitkTrackingDeviceConfigurationWidget::ConfigurationFinished() { Finished(); } void QmitkTrackingDeviceConfigurationWidget::EnableAdvancedUserControl(bool enable) { m_AdvancedUserControl = enable; m_Controls->configuration_finished_label->setVisible(enable); m_Controls->m_finishedLine->setVisible(enable); m_Controls->m_resetButton->setVisible(enable); m_Controls->m_finishedButton->setVisible(enable); } void QmitkTrackingDeviceConfigurationWidget::StoreUISettings() { std::string id = "org.mitk.modules.igt.ui.trackingdeviceconfigurationwidget"; int selectedDevice = m_Controls->m_trackingDeviceChooser->currentIndex(); if ( this->GetPeristenceService() ) // now save the settings using the persistence service { mitk::PropertyList::Pointer propList = this->GetPeristenceService()->GetPropertyList(id); propList->Set("PolarisPortWin",m_Controls->m_portSpinBoxPolaris->value()); propList->Set("AuroraPortWin",m_Controls->m_portSpinBoxAurora->value()); propList->Set("PortTypePolaris", m_Controls->portTypePolaris->currentIndex()); propList->Set("PortTypeAurora", m_Controls->portTypeAurora->currentIndex()); propList->Set("MTCalibrationFile",m_MTCalibrationFile); propList->Set("SelectedDevice",selectedDevice); } else // QSettings as a fallback if the persistence service is not available { QSettings settings; settings.beginGroup(QString::fromStdString(id)); settings.setValue("trackingDeviceChooser", QVariant(selectedDevice)); settings.setValue("portSpinBoxAurora", QVariant(m_Controls->m_portSpinBoxAurora->value())); settings.setValue("portSpinBoxPolaris", QVariant(m_Controls->m_portSpinBoxPolaris->value())); settings.setValue("portTypePolaris", QVariant(m_Controls->portTypePolaris->currentIndex())); settings.setValue("portTypeAurora", QVariant(m_Controls->portTypeAurora->currentIndex())); settings.setValue("mTCalibrationFile", QVariant(QString::fromStdString(m_MTCalibrationFile))); settings.endGroup(); } } void QmitkTrackingDeviceConfigurationWidget::LoadUISettings() { std::string id = "org.mitk.modules.igt.ui.trackingdeviceconfigurationwidget"; int SelectedDevice = 0; if ( this->GetPeristenceService() ) { mitk::PropertyList::Pointer propList = this->GetPeristenceService()->GetPropertyList(id); if (propList.IsNull()) {MITK_ERROR << "Property list for this UI (" << id <<") is not available, could not load UI settings!"; return;} int portPolarisWin,portAuroraWin,portTypePolaris,portTypeAurora; propList->Get("PolarisPortWin",portPolarisWin); propList->Get("AuroraPortWin",portAuroraWin); propList->Get("PortTypePolaris", portTypePolaris); propList->Get("PortTypeAurora", portTypeAurora); propList->Get("MTCalibrationFile",m_MTCalibrationFile); propList->Get("SelectedDevice",SelectedDevice); if (SelectedDevice<0) { MITK_ERROR << "Loaded data from persistence service is invalid (SelectedDevice:" <m_portSpinBoxPolaris->setValue(portPolarisWin); m_Controls->m_portSpinBoxAurora->setValue(portAuroraWin); m_Controls->portTypePolaris->setCurrentIndex(portTypePolaris); m_Controls->portTypeAurora->setCurrentIndex(portTypeAurora); MITK_INFO << "Sucessfully restored UI settings"; } else { // QSettings as a fallback if the persistence service is not available QSettings settings; settings.beginGroup(QString::fromStdString(id)); SelectedDevice = settings.value("trackingDeviceChooser", 0).toInt(); m_Controls->m_portSpinBoxAurora->setValue(settings.value("portSpinBoxAurora", 0).toInt()); m_Controls->m_portSpinBoxPolaris->setValue(settings.value("portSpinBoxPolaris", 0).toInt()); m_Controls->portTypePolaris->setCurrentIndex(settings.value("portTypePolaris", 0).toInt()); m_Controls->portTypeAurora->setCurrentIndex(settings.value("portTypeAurora", 0).toInt()); m_MTCalibrationFile = settings.value("mTCalibrationFile", "").toString().toStdString(); settings.endGroup(); } //the selected device requires some checks because a device that is not installed should not be restored to avoids bugs int selectedDeviceChecked = SelectedDevice; if (SelectedDevice==2 && !mitk::ClaronTrackingDevice::New()->IsDeviceInstalled()) {selectedDeviceChecked = 0;} //0 = Polaris (default) else if (SelectedDevice==3 && !mitk::OptitrackTrackingDevice::New()->IsDeviceInstalled()) {selectedDeviceChecked = 0;} - MITK_INFO << "SelectedDeviceChecked: " << selectedDeviceChecked; m_Controls->m_TrackingSystemWidget->setCurrentIndex(selectedDeviceChecked); m_Controls->m_trackingDeviceChooser->setCurrentIndex(selectedDeviceChecked); m_Controls->m_MTCalibrationFile->setText("Calibration File: " + QString::fromStdString(m_MTCalibrationFile)); } void QmitkTrackingDeviceConfigurationWidgetConnectionWorker::TestConnectionThreadFunc() { MITK_INFO << "Testing Connection!"; QString output; bool connected = false; mitk::ProgressBar::GetInstance()->AddStepsToDo(4); try { if (!m_TrackingDevice->IsDeviceInstalled()) { output = "ERROR: Device is not installed!"; } else { //test connection and start tracking, generate output output = "
testing connection
..."; m_TrackingDevice->OpenConnection(); output += "OK"; mitk::ProgressBar::GetInstance()->Progress(); //try start/stop tracking output += "
testing tracking
..."; m_TrackingDevice->StartTracking(); mitk::ProgressBar::GetInstance()->Progress(); m_TrackingDevice->StopTracking(); mitk::ProgressBar::GetInstance()->Progress(); //try close connection m_TrackingDevice->CloseConnection(); mitk::ProgressBar::GetInstance()->Progress(); output += "OK"; connected = true; } } catch(mitk::IGTException &e) { output += "ERROR!"; MITK_WARN << "Error while testing connection / start tracking of the device: " << e.GetDescription(); } mitk::ProgressBar::GetInstance()->Progress(4); emit ConnectionTested(connected,output); } void QmitkTrackingDeviceConfigurationWidgetScanPortsWorker::ScanPortsThreadFunc() { int PolarisPort = -1; int AuroraPort = -1; int PortTypePolaris = -1; int PortTypeAurora = -1; QString result = "
Found Devices:"; int resultSize = result.size(); //remember size of result: if it stays the same no device were found #ifdef WIN32 mitk::ProgressBar::GetInstance()->AddStepsToDo(19); QString devName; for (unsigned int i = 1; i < 20; ++i) { QString statusOutput = "Scanning Port #" + QString::number(i); MITK_INFO << statusOutput.toStdString().c_str(); if (i<10) devName = QString("COM%1").arg(i); else devName = QString("\\\\.\\COM%1").arg(i); // prepend "\\.\ to COM ports >9, to be able to allow connection" mitk::TrackingDeviceType scannedPort = ScanPort(devName); switch (scannedPort) { case mitk::NDIPolaris: result += "
" + devName + ": " + "NDI Polaris"; PolarisPort = i; break; case mitk::NDIAurora: result += "
" + devName + ": " + "NDI Aurora"; AuroraPort = i; break; } mitk::ProgressBar::GetInstance()->Progress(); } #else //linux systems for(unsigned int i = 1; i < 6; ++i) { QString devName = QString("/dev/ttyS%1").arg(i); mitk::TrackingDeviceType scannedPort = ScanPort(devName); switch (scannedPort) { case mitk::NDIPolaris: result += "
" + devName + ": " + "NDI Polaris"; PolarisPort = i; PortTypePolaris = 1; break; case mitk::NDIAurora: result += "
" + devName + ": " + "NDI Aurora"; AuroraPort = i; PortTypeAurora = 1; break; } } for(unsigned int i = 0; i <7; ++i) { QString devName = QString("/dev/ttyUSB%1").arg(i); mitk::TrackingDeviceType scannedPort = ScanPort(devName); switch (scannedPort) { case mitk::NDIPolaris: result += "
" + devName + ": " + "NDI Polaris"; PolarisPort = i; PortTypePolaris = 0; break; case mitk::NDIAurora: result += "
" + devName + ": " + "NDI Aurora"; AuroraPort = i; PortTypeAurora = 0; break; } } #endif if ( result.size() == resultSize) result += "
none"; emit PortsScanned(PolarisPort,AuroraPort,result,PortTypePolaris,PortTypeAurora); } mitk::TrackingDeviceType QmitkTrackingDeviceConfigurationWidgetScanPortsWorker::ScanPort(QString port) { mitk::NDITrackingDevice::Pointer tracker = mitk::NDITrackingDevice::New(); tracker->SetDeviceName(port.toStdString()); mitk::TrackingDeviceType returnValue = mitk::TrackingSystemInvalid; try {returnValue = tracker->TestConnection();} catch (mitk::IGTException) {}//do nothing: there is simply no device on this port return returnValue; } void QmitkTrackingDeviceConfigurationWidgetConnectionWorker::SetTrackingDevice(mitk::TrackingDevice::Pointer t) { m_TrackingDevice = t; } diff --git a/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidgetControls.ui b/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidgetControls.ui index af461195fb..23e1731ea1 100644 --- a/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidgetControls.ui +++ b/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidgetControls.ui @@ -1,1045 +1,1084 @@ QmitkTrackingDeviceConfigurationWidgetControls 0 0 - 443 - 443 + 390 + 368 0 0 Form 0 0 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; font-weight:600;">Tracking Device Configuration</span></p></body></html> Qt::Horizontal 40 20 Choose tracking device: Qt::Horizontal 128 20 0 0 Polaris Aurora MicronTracker Optitrack + + + VirtualTracker + + Qt::Horizontal true 0 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; font-weight:600;">Polaris</span></p></body></html> Com Port: COM Auto Scan Qt::Horizontal 40 20 Port Type: /dev/ttyUSB /dev/ttyS Qt::Horizontal 40 20 0 0 Tracking Mode false 5D false 6D true Qt::Horizontal 62 20 Qt::Vertical QSizePolicy::Expanding 158 17 120 50 120 80 120 0 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;" bgcolor="#000000"> +</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;" bgcolor="#000000"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;"> </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;"> </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:7pt; text-decoration: underline; color:#ffffff;">output:</span><span style=" font-size:8pt;"> </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:7pt; color:#ffffff;">NDI Polaris selected</span><span style=" font-size:8pt;"> </span></p></body></html> Qt::NoTextInteraction 120 0 120 16777215 Test Connection <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; font-weight:600;">Aurora</span></p></body></html> Com Port: COM Auto Scan Qt::Horizontal 40 20 Port Type: /dev/ttyUSB /dev/ttyS Qt::Horizontal 40 20 Qt::Vertical 20 40 120 50 120 80 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;" bgcolor="#000000"> +</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;" bgcolor="#000000"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;"> </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;"> </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt; text-decoration: underline; color:#ffffff;">output:</span><span style=" font-size:8pt;"> </span></p></body></html> Qt::NoTextInteraction 120 0 120 16777215 Test Connection <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; font-weight:600;">MicronTracker</span></p></body></html> Calibration File: <none> Set Calibration File Qt::Horizontal 40 20 Qt::Horizontal 40 20 Qt::Vertical 20 40 120 50 120 80 120 0 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;" bgcolor="#000000"> +</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;" bgcolor="#000000"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;"> </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;"> </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt; text-decoration: underline; color:#ffffff;">output:</span><span style=" font-size:8pt;"> </span></p></body></html> Qt::NoTextInteraction 120 0 120 16777215 120 0 test connection 0 0 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; font-weight:600;">Optitrack</span></p></body></html> Calibration File: <none> Set Calibration File Qt::Horizontal 40 20 Camera Settings: 1 480 50 Exposition 250 200 Threshold 15 15 LED Power Qt::Vertical 20 5 false 120 50 120 80 120 0 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;" bgcolor="#000000"> +</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;" bgcolor="#000000"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;"> </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;"> </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt; text-decoration: underline; color:#ffffff;">output:</span><span style=" font-size:8pt;"> </span></p></body></html> Qt::NoTextInteraction 120 0 120 16777215 120 0 test connection + + + + + + + 0 + 0 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; font-weight:600;">Virtual Tracker</span></p></body></html> + + + + + + + Qt::Vertical + + + + 20 + 136 + + + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> </p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;"> </span></p> <p align="right" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;">Press &quot;Finished&quot; to confirm configuration</span> </p></body></html> Qt::Vertical 20 14 Qt::Horizontal Qt::Horizontal 40 20 Reset Finished 0 Qt::Vertical 20 289 true 0 0 - 55 - 31 + 63 + 26 Qt::Vertical 20 269 16777215 0 Qt::Vertical 20 40 diff --git a/Modules/US/USNavigation/Filter/mitkNodeDisplacementFilter.cpp b/Modules/US/USNavigation/Filter/mitkNodeDisplacementFilter.cpp index cba655ec29..91aa3c3a8c 100644 --- a/Modules/US/USNavigation/Filter/mitkNodeDisplacementFilter.cpp +++ b/Modules/US/USNavigation/Filter/mitkNodeDisplacementFilter.cpp @@ -1,185 +1,189 @@ /*=================================================================== 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 "mitkNodeDisplacementFilter.h" mitk::NodeDisplacementFilter::NodeDisplacementFilter() : m_SelectedInput(-1) { } mitk::NodeDisplacementFilter::~NodeDisplacementFilter() { } bool mitk::NodeDisplacementFilter::AddNode( mitk::DataNode::Pointer node ) { // Consistency Checks if (node.IsNull()) { MITK_WARN("NodeDisplacementFilter") << "Null Node passed to NodeDisplacementFilter. Ignoring Node...."; return false; } if (node->GetData() == 0) { MITK_WARN("NodeDisplacementFilter") << "Empty Node passed to NodeDisplacementFilter. Ignoring Node...."; return false; } if(m_SelectedInput == -1) { MITK_ERROR("NodeDisplacementFilter") << "Cannot add nodes before input Stream was selected"; mitkThrow() << "Cannot add nodes before input Stream was selected"; } this->Update(); // make sure we are working on current data - mitk::NavigationData::Pointer reference = this->GetOutput(m_SelectedInput); + mitk::NavigationData::Pointer reference; + if (m_InitialReferencePose.IsNotNull()) //if there is a given reference pose use it + {reference = m_InitialReferencePose;} + else //else use the current pose of the given input + {reference = this->GetOutput(m_SelectedInput);} if (! reference->IsDataValid()) { MITK_WARN("NodeDisplacementFilter") << "Cannot add node while selected tool is not tracked. Ignoring Node...."; return false; } // find transformation and add node mitk::AffineTransform3D::Pointer inverseAffineTransform = mitk::AffineTransform3D::New(); if ( ! reference->GetAffineTransform3D()->GetInverse(inverseAffineTransform) ) { MITK_ERROR("NodeDisplacementFilter") << "Could not get the inverse transformation of the navigation data transformation."; mitkThrow() << "Could not get the inverse transformation of the navigation data transformation."; } inverseAffineTransform->Compose(node->GetData()->GetGeometry()->GetIndexToWorldTransform(), true); m_Transforms.push_back(inverseAffineTransform); m_Nodes.push_back(node); return true; } bool mitk::NodeDisplacementFilter::RemoveNode(unsigned int i) { if ( i >= m_Nodes.size() ) { return false; } m_Nodes.erase(m_Nodes.begin()+i); m_Transforms.erase(m_Transforms.begin()+i); return true; } int mitk::NodeDisplacementFilter::GetNumberOfNodes() { return m_Nodes.size(); } mitk::DataNode::Pointer mitk::NodeDisplacementFilter::GetNode (unsigned int i) { if (i < m_Nodes.size() ) { return m_Nodes.at(i); } else { return NULL; } } std::vector< mitk::DataNode::Pointer > mitk::NodeDisplacementFilter::GetNodes() { return m_Nodes; } void mitk::NodeDisplacementFilter::SelectInput(int i) { if (i < 0) { mitkThrow() << "Negative Input selected in NodeDisplacementFilter"; } if (! (static_cast(i) < this->GetInputs().size())) { MITK_ERROR("NodeDisplacementFilter") << "Selected input index is larger than actual number of inputs."; mitkThrow() << "Selected input index is larger than actual number of inputs in NodeDisplacementFilter"; } m_SelectedInput = i; } mitk::NavigationData::Pointer mitk::NodeDisplacementFilter::GetRawDisplacementNavigationData(unsigned int i) { mitk::NavigationData::Pointer returnValue = mitk::NavigationData::New(); if((m_Nodes.size()>i) && (m_Nodes.at(i).IsNotNull())) { try { returnValue = mitk::NavigationData::New(m_Nodes.at(i)->GetData()->GetGeometry()->GetIndexToWorldTransform()); } catch (mitk::Exception& e) { returnValue->SetDataValid(false); MITK_WARN << "Excetion while returning navigation data: " << e.GetDescription(); } } else { returnValue->SetDataValid(false); MITK_WARN << "Node Nr. " << i << " does not exist!"; } return returnValue; } void mitk::NodeDisplacementFilter::GenerateData() { // copy the navigation data from the inputs to the outputs mitk::NavigationDataPassThroughFilter::GenerateData(); // if no reference has been set yet, warn and abort if (m_SelectedInput == -1) { MITK_INFO("NodeDisplacementFilter") << "No input has been selected. Only forwarding NavigationData..."; return; } // cancel, if selected tool is currently not being tracked if ( ! this->GetInput(m_SelectedInput)->IsDataValid() ) { return; } // outputs have been updated, now to transform the nodes // 1) Generate Pseudo-Geometry for Reference mitk::Geometry3D::Pointer refGeom = this->TransformToGeometry( this->GetInput(m_SelectedInput)->GetAffineTransform3D()); // 2) For each node, calculate new position for (unsigned int index=0; index < m_Nodes.size(); index++) { mitk::Geometry3D::Pointer transformGeometry = refGeom->Clone(); // create transformation to the reference position and from there to // the node position (node has fixed transformation from reference position) transformGeometry->Compose(m_Transforms.at(index), true); m_Nodes.at(index)->GetData()->SetGeometry(transformGeometry); } } void mitk::NodeDisplacementFilter::ResetNodes() { m_Nodes.clear(); m_Transforms.clear(); } mitk::Geometry3D::Pointer mitk::NodeDisplacementFilter::TransformToGeometry(mitk::AffineTransform3D::Pointer transform){ mitk::Geometry3D::Pointer g3d = mitk::Geometry3D::New(); g3d->SetIndexToWorldTransform(transform); //g3d->TransferItkToVtkTransform(); // update VTK Transform for rendering too //Included in SetIndexToWorldTransform g3d->Modified(); return g3d; } diff --git a/Modules/US/USNavigation/Filter/mitkNodeDisplacementFilter.h b/Modules/US/USNavigation/Filter/mitkNodeDisplacementFilter.h index dc170a6476..03048daa52 100644 --- a/Modules/US/USNavigation/Filter/mitkNodeDisplacementFilter.h +++ b/Modules/US/USNavigation/Filter/mitkNodeDisplacementFilter.h @@ -1,133 +1,145 @@ /*=================================================================== 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 NODEDISPLACEMENTFILTER_H_INCLUDED #define NODEDISPLACEMENTFILTER_H_INCLUDED #include "MitkUSNavigationExports.h" #include #include "mitkBaseRenderer.h" #include "mitkCommon.h" #include "mitkNavigationData.h" #include "mitkNavigationDataPassThroughFilter.h" //MITK namespace mitk { /**Documentation * \brief This filter moves DataNodes relatively to tracking Data from a 6-DoF Sensor. * * This behaviour can for example be used for rigid tracking of risk structures relative to a skin marker. * To use it, connect the Filter and select the input that delivers tracking data from the reference marker * via SelectInput(). * Make sure tracking is started before proceeding any further: The filter requires tracking data from the * sensor to calculate the relative position of the added node. * * One can then add Nodes to the filter via AddNode(). Make sure that the node has a geometry and position set * in the tracking coordinate system of the reference input. The Filter will then calculate the offset between * Node and reference marker and continously update the node position accordign to the tracking data. * * \ingroup US */ class MitkUSNavigation_EXPORT NodeDisplacementFilter : public NavigationDataPassThroughFilter { public: mitkClassMacro(NodeDisplacementFilter, NavigationDataPassThroughFilter); itkNewMacro(Self); /** * \brief Adds a node to the filter. * The position of which will then be continously update relatively to the selected input stream. * * The node should have a geometry and position set in the coordinate system of the selected input stream */ bool AddNode(mitk::DataNode::Pointer node); /** * \brief Removes a node from the filter. * \param i index of the node, the index corresponds to the order in which the nodes where added by AddNode() * \return true if a node with the given index was removed, false if the index was greater or equal the number of nodes in the filter */ bool RemoveNode(unsigned int i); /** * \brief Returns the number of nodes that were added to this filter. */ virtual int GetNumberOfNodes(); /** * \brief Returns the nth node that was added to this filter. */ virtual mitk::DataNode::Pointer GetNode (unsigned int i = 0); /** @return Returns the current pose in world coordinates of node i as raw navigation data. */ virtual mitk::NavigationData::Pointer GetRawDisplacementNavigationData(unsigned int i = 0); /** * \brief Returns a vector containing all nodes that have been added to this filter. * * Indexes in this vector correspond to indexes in the vector provided by GetOffsets(). */ virtual std::vector< mitk::DataNode::Pointer > GetNodes(); /** * \brief Selects an input stream as the reference stream. * * Position and orientation of all Nodes will be Updated according to information from the selected stream. * Make sure to select the input before adding nodes. The input should deliver 6DoF Data. Behaviour is undefined * for 5-Dof Data. The selected input can be changed during intervention if both old and new reference input * Lie in the same coordinate system. Be aware however that the offsets will not be recalculated, just moved * to the new stream. */ virtual void SelectInput(int i); + /** Manually sets the initial marker pose which is used for computing the offset. By default this + * option is disabled and the current pose of the selected input is used to compute the offset. + * However, sometimes it is needed to give a defined marker pose, then this method can be used. + * To disable the option you can set MarkerPosition to NULL. + */ + itkSetMacro(InitialReferencePose,mitk::NavigationData::Pointer); + /**Documentation * \brief Removes all added Nodes from the Filter but leaves all other configuration intact. */ virtual void ResetNodes(); protected: NodeDisplacementFilter(); virtual ~NodeDisplacementFilter(); virtual void GenerateData(); /** * \brief Creates an Geometry 3D Object from an AffineTransformation. */ mitk::Geometry3D::Pointer TransformToGeometry(mitk::AffineTransform3D::Pointer transform); /** * \brief All Nodes that are being managed by this Filter. */ std::vector m_Nodes; /** * \brief The transformation that each node has to be reached from the selected navigation tool. * The indexes correspond to indexes in the node vector. */ std::vector m_Transforms; /** * \brief The Input that is used as a reference to orient the managed nodes. */ int m_SelectedInput; + + /** + * Reference pose of the selected input to compute the offset. If this is NULL the current pose of the selected input is used instead. + */ + mitk::NavigationData::Pointer m_InitialReferencePose; }; } // namespace mitk #endif diff --git a/Modules/US/USNavigation/mitkUSCombinedModality.cpp b/Modules/US/USNavigation/mitkUSCombinedModality.cpp index b51bdac525..af20b9ffa7 100644 --- a/Modules/US/USNavigation/mitkUSCombinedModality.cpp +++ b/Modules/US/USNavigation/mitkUSCombinedModality.cpp @@ -1,547 +1,545 @@ /*=================================================================== 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 "mitkUSCombinedModality.h" #include "mitkUSDevice.h" #include "mitkNavigationDataSource.h" #include "mitkImageReadAccessor.h" #include #include #include "mitkTrackingDeviceSource.h" // US Control Interfaces #include "mitkUSControlInterfaceProbes.h" #include "mitkUSControlInterfaceBMode.h" #include "mitkUSControlInterfaceDoppler.h" #include //TempIncludes #include const std::string mitk::USCombinedModality::DeviceClassIdentifier = "org.mitk.modules.us.USCombinedModality"; const char* mitk::USCombinedModality::DefaultProbeIdentifier = "default"; const char* mitk::USCombinedModality::ProbeAndDepthSeperator = "_"; mitk::USCombinedModality::USCombinedModality(USDevice::Pointer usDevice, NavigationDataSource::Pointer trackingDevice, std::string manufacturer, std::string model) : mitk::USDevice(manufacturer, model), m_UltrasoundDevice(usDevice), m_TrackingDevice(trackingDevice), m_SmoothingFilter(mitk::NavigationDataSmoothingFilter::New()), m_DelayFilter(mitk::NavigationDataDelayFilter::New(0)), m_NumberOfSmoothingValues(0), m_DelayCount(0) { 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 this->SetSpawnAcquireThread(false); } mitk::USCombinedModality::~USCombinedModality() { } std::string mitk::USCombinedModality::GetDeviceClass() { return DeviceClassIdentifier; } mitk::USImageSource::Pointer mitk::USCombinedModality::GetUSImageSource() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } return m_UltrasoundDevice->GetUSImageSource(); } mitk::USAbstractControlInterface::Pointer mitk::USCombinedModality::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::USCombinedModality::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::USCombinedModality::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::USCombinedModality::GetControlInterfaceDoppler() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } return m_UltrasoundDevice->GetControlInterfaceDoppler(); } void mitk::USCombinedModality::UnregisterOnService() { if (m_DeviceState == State_Activated) { this->Deactivate(); } if (m_DeviceState == State_Connected) { this->Disconnect(); } mitk::USDevice::UnregisterOnService(); } mitk::AffineTransform3D::Pointer mitk::USCombinedModality::GetCalibration() { return this->GetCalibration(this->GetCurrentDepthValue(), this->GetIdentifierForCurrentProbe()); } mitk::AffineTransform3D::Pointer mitk::USCombinedModality::GetCalibration(std::string depth) { return this->GetCalibration(depth, this->GetIdentifierForCurrentProbe()); } mitk::AffineTransform3D::Pointer mitk::USCombinedModality::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::USCombinedModality::ProbeAndDepthSeperator + depth; // find calibration for combination of probe identifier and depth std::map::iterator calibrationIterator = m_Calibrations.find(calibrationKey); if (calibrationIterator == m_Calibrations.end()) { return 0; } return calibrationIterator->second; } void mitk::USCombinedModality::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::USCombinedModality::RemoveCalibration() { return this->RemoveCalibration(this->GetCurrentDepthValue(), this->GetIdentifierForCurrentProbe()); } bool mitk::USCombinedModality::RemoveCalibration(std::string depth) { return this->RemoveCalibration(depth, this->GetIdentifierForCurrentProbe()); } bool mitk::USCombinedModality::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::USCombinedModality::ProbeAndDepthSeperator + depth; return m_Calibrations.erase(calibrationKey) > 0; } void mitk::USCombinedModality::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::USCombinedModality::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); } bool mitk::USCombinedModality::OnInitialization() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } if ( m_UltrasoundDevice->GetDeviceState() < mitk::USDevice::State_Initialized ) { return m_UltrasoundDevice->Initialize(); } else { return true; } } bool mitk::USCombinedModality::OnConnection() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } // connect ultrasound device only if it is not already connected if ( m_UltrasoundDevice->GetDeviceState() >= mitk::USDevice::State_Connected ) { return true; } else { return m_UltrasoundDevice->Connect(); } } bool mitk::USCombinedModality::OnDisconnection() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } return m_UltrasoundDevice->Disconnect(); } bool mitk::USCombinedModality::OnActivation() { if ( m_UltrasoundDevice.IsNull() ) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } mitk::TrackingDeviceSource::Pointer trackingDeviceSource = dynamic_cast(m_TrackingDevice.GetPointer()); if ( trackingDeviceSource.IsNull() ) { MITK_WARN("USCombinedModality")("USDevice") << "Cannot start tracking as TrackingDeviceSource is null."; } trackingDeviceSource->StartTracking(); // activate ultrasound device only if it is not already activated if ( m_UltrasoundDevice->GetDeviceState() >= mitk::USDevice::State_Activated ) { return true; } else { return m_UltrasoundDevice->Activate(); } } bool mitk::USCombinedModality::OnDeactivation() { if ( m_UltrasoundDevice.IsNull() ) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } mitk::TrackingDeviceSource::Pointer trackingDeviceSource = dynamic_cast(m_TrackingDevice.GetPointer()); if ( trackingDeviceSource.IsNull() ) { MITK_WARN("USCombinedModality")("USDevice") << "Cannot stop tracking as TrackingDeviceSource is null."; } trackingDeviceSource->StopTracking(); m_UltrasoundDevice->Deactivate(); return m_UltrasoundDevice->GetIsConnected(); } void mitk::USCombinedModality::OnFreeze(bool freeze) { - if (m_UltrasoundDevice.IsNull()) - { - MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; - mitkThrow() << "UltrasoundDevice must not be null."; - } - m_UltrasoundDevice->SetIsFreezed(freeze); - mitk::TrackingDeviceSource::Pointer trackingDeviceSource = dynamic_cast(m_TrackingDevice.GetPointer()); if ( trackingDeviceSource.IsNull() ) + {MITK_WARN("USCombinedModality")("USDevice") << "Cannot freeze tracking.";} + else { - MITK_WARN("USCombinedModality")("USDevice") << "Cannot freeze tracking."; + if ( freeze ) { trackingDeviceSource->Freeze(); } + else { trackingDeviceSource->UnFreeze(); } } - else + + if (m_UltrasoundDevice.IsNull()) { - if ( freeze ) { trackingDeviceSource->StopTracking(); } - else { trackingDeviceSource->StartTracking(); } + MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; + mitkThrow() << "UltrasoundDevice must not be null."; } + m_UltrasoundDevice->SetIsFreezed(freeze); } mitk::NavigationDataSource::Pointer mitk::USCombinedModality::GetNavigationDataSource() { return m_LastFilter.GetPointer(); } bool mitk::USCombinedModality::GetIsCalibratedForCurrentStatus() { return m_Calibrations.find(this->GetIdentifierForCurrentCalibration()) != m_Calibrations.end(); } bool mitk::USCombinedModality::GetContainsAtLeastOneCalibration() { return ! m_Calibrations.empty(); } void mitk::USCombinedModality::GenerateData() { if (m_UltrasoundDevice->GetIsFreezed()) {return;} //if the image is freezed: do nothing //get next image from ultrasound image source mitk::Image::Pointer image = m_UltrasoundDevice->GetUSImageSource()->GetNextImage(); if ( image.IsNull() || ! image->IsInitialized() ) //check the image { MITK_WARN << "Invalid image in USCombinedModality, aborting!"; return; } //get output and initialize it if it wasn't initialized before mitk::Image::Pointer output = this->GetOutput(); if ( ! output->IsInitialized() ) { output->Initialize(image); } //now update image data mitk::ImageReadAccessor inputReadAccessor(image, image->GetSliceData(0,0,0)); output->SetSlice(inputReadAccessor.GetData()); //copy image data output->GetGeometry()->SetSpacing(image->GetGeometry()->GetSpacing()); //copy spacing because this might also change //and update calibration (= transformation of the image) std::string calibrationKey = this->GetIdentifierForCurrentCalibration(); if ( ! calibrationKey.empty() ) { std::map::iterator calibrationIterator = m_Calibrations.find(calibrationKey); if ( calibrationIterator != m_Calibrations.end()) { // transform image according to callibration if one is set // for current configuration of probe and depth this->GetOutput()->GetGeometry()->SetIndexToWorldTransform(calibrationIterator->second); } } } std::string mitk::USCombinedModality::SerializeCalibration() { std::stringstream result; result << "" << std::endl; // For each calibration in the set for (std::map::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 << "" << std::endl; return result.str(); } void mitk::USCombinedModality::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 == NULL) { 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 != NULL; 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; } } std::string mitk::USCombinedModality::GetIdentifierForCurrentCalibration() { return this->GetIdentifierForCurrentProbe() + mitk::USCombinedModality::ProbeAndDepthSeperator + this->GetCurrentDepthValue(); } std::string mitk::USCombinedModality::GetIdentifierForCurrentProbe() { us::ServiceProperties usdeviceProperties = m_UltrasoundDevice->GetServiceProperties(); us::ServiceProperties::const_iterator probeIt = usdeviceProperties.find( mitk::USCombinedModality::GetPropertyKeys().US_PROPKEY_PROBES_SELECTED); // get probe identifier from control interface for probes std::string probeName = mitk::USCombinedModality::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::USCombinedModality::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::USCombinedModality::GetPropertyKeys().US_PROPKEY_BMODE_DEPTH); if (depthIterator != usdeviceProperties.end()) { depth = depthIterator->second.ToString(); } else { depth = "0"; } return depth; } void mitk::USCombinedModality::RebuildFilterPipeline() { m_LastFilter = m_TrackingDevice; if ( m_NumberOfSmoothingValues > 0 ) { for (unsigned int i = 0; i < m_TrackingDevice->GetNumberOfOutputs(); i++) { m_SmoothingFilter->SetInput(i, m_LastFilter->GetOutput(i)); } m_LastFilter = m_SmoothingFilter; } if ( m_DelayCount > 0 ) { for (unsigned int i = 0; i < m_TrackingDevice->GetNumberOfOutputs(); i++) { m_DelayFilter->SetInput(i, m_LastFilter->GetOutput(i)); } m_LastFilter = m_DelayFilter; } } diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.cpp b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.cpp index ba9c2d9422..f4a991ac74 100644 --- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.cpp +++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.cpp @@ -1,1301 +1,1346 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ // Blueberry #include #include // Qmitk #include "QmitkMITKIGTTrackingToolboxView.h" #include "QmitkStdMultiWidget.h" // Qt #include #include #include // MITK #include #include #include #include #include #include #include #include #include #include +#include +#include // vtk #include + //for exceptions #include #include 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_TimeoutTimer = new QTimer(this); m_tracking = false; m_connected = false; m_logging = false; m_loggedFrames = 0; + //create filename for autosaving of tool storage + QString loggingPathWithoutFilename = QString(mitk::LoggingBackend::GetLogFile().c_str()); + if (!loggingPathWithoutFilename.isEmpty()) //if there already is a path for the MITK logging file use this one + { + //extract path from path+filename (if someone knows a better way to do this feel free to change it) + int lengthOfFilename = Poco::Path(mitk::LoggingBackend::GetLogFile()).getFileName().size(); + loggingPathWithoutFilename.resize(loggingPathWithoutFilename.size()-lengthOfFilename); + m_AutoSaveFilename = loggingPathWithoutFilename + "TrackingToolboxAutoSave.IGTToolStorage"; + } + else //if not: use a temporary path from IOUtil + { + m_AutoSaveFilename = QString(mitk::IOUtil::GetTempPath().c_str()) + "TrackingToolboxAutoSave.IGTToolStorage"; + } + MITK_INFO("IGT Tracking Toolbox") << "Filename for auto saving of IGT ToolStorages: " << m_AutoSaveFilename.toStdString(); + //initialize worker thread m_WorkerThread = new QThread(); m_Worker = new QmitkMITKIGTTrackingToolboxViewWorker(); } QmitkMITKIGTTrackingToolboxView::~QmitkMITKIGTTrackingToolboxView() { this->StoreUISettings(); m_TrackingTimer->stop(); m_TimeoutTimer->stop(); delete m_TrackingTimer; delete m_TimeoutTimer; try { // wait for thread to finish m_WorkerThread->terminate(); m_WorkerThread->wait(); //clean up worker thread if(m_WorkerThread) {delete m_WorkerThread;} if(m_Worker) {delete m_Worker;} //remove the tracking volume this->GetDataStorage()->Remove(m_TrackingVolumeNode); //remove the tool storage if(m_toolStorage) {m_toolStorage->UnRegisterMicroservice();} if(m_TrackingDeviceSource) {m_TrackingDeviceSource->UnRegisterMicroservice();} } catch(std::exception& e) {MITK_WARN << "Unexpected exception during clean up of tracking toolbox view: " << e.what();} catch(...) {MITK_WARN << "Unexpected unknown error during clean up of tracking toolbox view!";} - this->StoreUISettings(); +//store tool storage and UI settings for persistence +this->AutoSaveToolStorage(); +this->StoreUISettings(); } 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_ConnectDisconnectButton, SIGNAL(clicked()), this, SLOT(OnConnectDisconnect()) ); connect( m_Controls->m_StartStopTrackingButton, SIGNAL(clicked()), this, SLOT(OnStartStopTracking()) ); connect( m_TrackingTimer, SIGNAL(timeout()), this, SLOT(UpdateTrackingTimer())); connect( m_TimeoutTimer, SIGNAL(timeout()), this, SLOT(OnTimeOut())); 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())); connect( m_Controls->m_VolumeSelectionBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(OnTrackingVolumeChanged(QString))); connect( m_Controls->m_ShowTrackingVolume, SIGNAL(clicked()), this, SLOT(OnShowTrackingVolumeChanged())); connect( m_Controls->m_AutoDetectTools, SIGNAL(clicked()), this, SLOT(OnAutoDetectTools())); connect( m_Controls->m_ResetTools, SIGNAL(clicked()), this, SLOT(OnResetTools())); connect( m_Controls->m_AddSingleTool, SIGNAL(clicked()), this, SLOT(OnAddSingleTool())); connect( m_Controls->m_NavigationToolCreationWidget, SIGNAL(NavigationToolFinished()), this, SLOT(OnAddSingleToolFinished())); connect( m_Controls->m_NavigationToolCreationWidget, SIGNAL(Canceled()), this, SLOT(OnAddSingleToolCanceled())); connect( m_Controls->m_csvFormat, SIGNAL(clicked()), this, SLOT(OnToggleFileExtension())); connect( m_Controls->m_xmlFormat, SIGNAL(clicked()), this, SLOT(OnToggleFileExtension())); //connections for the tracking device configuration widget connect( m_Controls->m_configurationWidget, SIGNAL(TrackingDeviceSelectionChanged()), this, SLOT(OnTrackingDeviceChanged())); connect( m_Controls->m_configurationWidget, SIGNAL(ProgressStarted()), this, SLOT(DisableOptionsButtons())); connect( m_Controls->m_configurationWidget, SIGNAL(ProgressStarted()), this, SLOT(DisableTrackingConfigurationButtons())); connect( m_Controls->m_configurationWidget, SIGNAL(ProgressStarted()), this, SLOT(DisableTrackingControls())); connect( m_Controls->m_configurationWidget, SIGNAL(ProgressFinished()), this, SLOT(EnableOptionsButtons())); connect( m_Controls->m_configurationWidget, SIGNAL(ProgressFinished()), this, SLOT(EnableTrackingConfigurationButtons())); connect( m_Controls->m_configurationWidget, SIGNAL(ProgressFinished()), this, SLOT(EnableTrackingControls())); //connect worker thread connect(m_Worker, SIGNAL(AutoDetectToolsFinished(bool,QString)), this, SLOT(OnAutoDetectToolsFinished(bool,QString)) ); connect(m_Worker, SIGNAL(ConnectDeviceFinished(bool,QString)), this, SLOT(OnConnectFinished(bool,QString)) ); connect(m_Worker, SIGNAL(StartTrackingFinished(bool,QString)), this, SLOT(OnStartTrackingFinished(bool,QString)) ); connect(m_Worker, SIGNAL(StopTrackingFinished(bool,QString)), this, SLOT(OnStopTrackingFinished(bool,QString)) ); connect(m_Worker, SIGNAL(DisconnectDeviceFinished(bool,QString)), this, SLOT(OnDisconnectFinished(bool,QString)) ); connect(m_WorkerThread,SIGNAL(started()), m_Worker, SLOT(ThreadFunc()) ); //move the worker to the thread m_Worker->moveToThread(m_WorkerThread); //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 m_TrackingVolumeNode = mitk::DataNode::New(); m_TrackingVolumeNode->SetName("TrackingVolume"); m_TrackingVolumeNode->SetBoolProperty("Backface Culling",true); mitk::Color red; red.SetRed(1); m_TrackingVolumeNode->SetColor(red); //initialize buttons m_Controls->m_AutoDetectTools->setVisible(false); //only visible if tracking device is Aurora m_Controls->m_StartStopTrackingButton->setEnabled(false); //Update List of available models for selected tool. std::vector Compatibles; if ( (m_Controls == NULL) || //check all these stuff for NULL, latterly this causes crashes from time to time (m_Controls->m_configurationWidget == NULL) || (m_Controls->m_configurationWidget->GetTrackingDevice().IsNull())) { MITK_ERROR << "Couldn't get current tracking device or an object is NULL, something went wrong!"; return; } else { Compatibles = mitk::GetDeviceDataForLine( m_Controls->m_configurationWidget->GetTrackingDevice()->GetType()); } m_Controls->m_VolumeSelectionBox->clear(); for(int i = 0; i < Compatibles.size(); i++) { m_Controls->m_VolumeSelectionBox->addItem(Compatibles[i].Model.c_str()); } //initialize tool storage m_toolStorage = mitk::NavigationToolStorage::New(GetDataStorage()); m_toolStorage->SetName("TrackingToolbox Default Storage"); m_toolStorage->RegisterAsMicroservice("no tracking device"); //set home directory as default path for logfile m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(QDir::homePath()) + QDir::separator() + "logfile.csv"); //tracking device may be changed already by the persistence of the //QmitkTrackingDeciveConfigurationWidget this->OnTrackingDeviceChanged(); this->LoadUISettings(); //add tracking volume node only to data storage this->GetDataStorage()->Add(m_TrackingVolumeNode); if (!m_Controls->m_ShowTrackingVolume->isChecked()) m_TrackingVolumeNode->SetOpacity(0.0); else m_TrackingVolumeNode->SetOpacity(0.25); //Update List of available models for selected tool. m_Controls->m_VolumeSelectionBox->clear(); for(int i = 0; i < Compatibles.size(); i++) { m_Controls->m_VolumeSelectionBox->addItem(Compatibles[i].Model.c_str()); } } } 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 Tool Storage"), "/", tr("Tool Storage Files (*.IGTToolStorage)")); if (filename.isNull()) return; //read tool storage from disk std::string errorMessage = ""; mitk::NavigationToolStorageDeserializer::Pointer myDeserializer = mitk::NavigationToolStorageDeserializer::New(GetDataStorage()); // try-catch block for exceptions try { this->ReplaceCurrentToolStorage(myDeserializer->Deserialize(filename.toStdString()),filename.toStdString()); } catch(mitk::IGTException) { std::string errormessage = "Error during loading the tool storage file. Please only load tool storage files created with the NavigationToolManager view."; QMessageBox::warning(NULL, "Tool Storage Loading Error", errormessage.c_str()); return; } if(m_toolStorage->isEmpty()) { errorMessage = myDeserializer->GetErrorMessage(); MessageBox(errorMessage); return; } //update label UpdateToolStorageLabel(filename); //update tool preview m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels(); m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage); //save filename for persistent storage m_ToolStorageFilename = filename; } void QmitkMITKIGTTrackingToolboxView::OnResetTools() { this->ReplaceCurrentToolStorage(mitk::NavigationToolStorage::New(GetDataStorage()),"TrackingToolbox Default Storage"); m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels(); - QString toolLabel = QString("Loaded Tools: "); + QString toolLabel = QString(""); m_Controls->m_toolLabel->setText(toolLabel); - m_ToolStorageFilename = ""; } void QmitkMITKIGTTrackingToolboxView::OnStartStopTracking() { if(!m_connected) { MITK_WARN << "Can't start tracking if no device is connected. Aborting"; return; } if(m_tracking) {OnStopTracking();} else {OnStartTracking();} } void QmitkMITKIGTTrackingToolboxView::OnConnectDisconnect() { if(m_connected) {OnDisconnect();} else {OnConnect();} } void QmitkMITKIGTTrackingToolboxView::OnConnect() { MITK_INFO << "Connect Clicked"; //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; } //parse tracking device data mitk::TrackingDeviceData data = mitk::DeviceDataUnspecified; QString qstr = m_Controls->m_VolumeSelectionBox->currentText(); if ( (! qstr.isNull()) || (! qstr.isEmpty()) ) { std::string str = qstr.toStdString(); data = mitk::GetDeviceDataByName(str); //Data will be set later, after device generation } //initialize worker thread m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eConnectDevice); m_Worker->SetTrackingDevice(this->m_Controls->m_configurationWidget->GetTrackingDevice()); m_Worker->SetInverseMode(m_Controls->m_InverseMode->isChecked()); m_Worker->SetNavigationToolStorage(this->m_toolStorage); m_Worker->SetTrackingDeviceData(data); //start worker thread m_WorkerThread->start(); //disable buttons this->m_Controls->m_MainWidget->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::OnConnectFinished(bool success, QString errorMessage) { m_WorkerThread->quit(); m_WorkerThread->wait(); //enable buttons this->m_Controls->m_MainWidget->setEnabled(true); if (!success) { MITK_WARN << errorMessage.toStdString(); MessageBox(errorMessage.toStdString()); return; } //get data from worker thread m_TrackingDeviceSource = m_Worker->GetTrackingDeviceSource(); m_TrackingDeviceData = m_Worker->GetTrackingDeviceData(); m_ToolVisualizationFilter = m_Worker->GetToolVisualizationFilter(); //enable/disable Buttons DisableOptionsButtons(); DisableTrackingConfigurationButtons(); m_Controls->m_configurationWidget->ConfigurationFinished(); m_Controls->m_TrackingControlLabel->setText("Status: connected"); m_Controls->m_ConnectDisconnectButton->setText("Disconnect"); m_Controls->m_StartStopTrackingButton->setEnabled(true); m_connected = true; } void QmitkMITKIGTTrackingToolboxView::OnDisconnect() { m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eDisconnectDevice); m_WorkerThread->start(); m_Controls->m_MainWidget->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::OnDisconnectFinished(bool success, QString errorMessage) { m_WorkerThread->quit(); m_WorkerThread->wait(); m_Controls->m_MainWidget->setEnabled(true); if (!success) { MITK_WARN << errorMessage.toStdString(); MessageBox(errorMessage.toStdString()); return; } //enable/disable Buttons m_Controls->m_StartStopTrackingButton->setEnabled(false); EnableOptionsButtons(); EnableTrackingConfigurationButtons(); m_Controls->m_configurationWidget->Reset(); m_Controls->m_TrackingControlLabel->setText("Status: disconnected"); m_Controls->m_ConnectDisconnectButton->setText("Connect"); m_connected = false; } void QmitkMITKIGTTrackingToolboxView::OnStartTracking() { m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eStartTracking); m_WorkerThread->start(); this->m_Controls->m_MainWidget->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::OnStartTrackingFinished(bool success, QString errorMessage) { m_WorkerThread->quit(); m_WorkerThread->wait(); this->m_Controls->m_MainWidget->setEnabled(true); if(!success) { MessageBox(errorMessage.toStdString()); MITK_WARN << errorMessage.toStdString(); 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; iGetNumberOfOutputs(); 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);} //show tracking volume this->OnTrackingVolumeChanged(m_Controls->m_VolumeSelectionBox->currentText()); m_tracking = true; m_Controls->m_ConnectDisconnectButton->setEnabled(false); m_Controls->m_StartStopTrackingButton->setText("Stop Tracking"); this->GlobalReinit(); } void QmitkMITKIGTTrackingToolboxView::OnStopTracking() { if (!m_tracking) return; m_TrackingTimer->stop(); m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eStopTracking); m_WorkerThread->start(); m_Controls->m_MainWidget->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::OnStopTrackingFinished(bool success, QString errorMessage) { m_WorkerThread->quit(); m_WorkerThread->wait(); m_Controls->m_MainWidget->setEnabled(true); if(!success) { MessageBox(errorMessage.toStdString()); MITK_WARN << errorMessage.toStdString(); return; } m_Controls->m_TrackingControlLabel->setText("Status: connected"); if (m_logging) StopLogging(); m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels(); m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage); m_tracking = false; m_Controls->m_StartStopTrackingButton->setText("Start Tracking"); m_Controls->m_ConnectDisconnectButton->setEnabled(true); this->GlobalReinit(); } void QmitkMITKIGTTrackingToolboxView::OnTrackingDeviceChanged() { mitk::TrackingDeviceType Type; if (m_Controls->m_configurationWidget->GetTrackingDevice().IsNotNull()) { Type = m_Controls->m_configurationWidget->GetTrackingDevice()->GetType(); //enable controls because device is valid m_Controls->m_TrackingToolsGoupBox->setEnabled(true); m_Controls->m_TrackingControlsGroupBox->setEnabled(true); } else { Type = mitk::TrackingSystemNotSpecified; MessageBox("Error: This tracking device is not included in this project. Please make sure that the device is installed and activated in your MITK build."); m_Controls->m_TrackingToolsGoupBox->setEnabled(false); m_Controls->m_TrackingControlsGroupBox->setEnabled(false); return; } // Code to enable/disable device specific buttons if (Type == mitk::NDIAurora) //Aurora { m_Controls->m_AutoDetectTools->setVisible(true); m_Controls->m_AddSingleTool->setEnabled(false); } else //Polaris or Microntracker { m_Controls->m_AutoDetectTools->setVisible(false); m_Controls->m_AddSingleTool->setEnabled(true); } // Code to select appropriate tracking volume for current type std::vector Compatibles = mitk::GetDeviceDataForLine(Type); m_Controls->m_VolumeSelectionBox->clear(); for(int i = 0; i < Compatibles.size(); i++) { m_Controls->m_VolumeSelectionBox->addItem(Compatibles[i].Model.c_str()); } } void QmitkMITKIGTTrackingToolboxView::OnTrackingVolumeChanged(QString qstr) { if (qstr.isNull()) return; if (qstr.isEmpty()) return; mitk::TrackingVolumeGenerator::Pointer volumeGenerator = mitk::TrackingVolumeGenerator::New(); std::string str = qstr.toStdString(); mitk::TrackingDeviceData data = mitk::GetDeviceDataByName(str); m_TrackingDeviceData = data; volumeGenerator->SetTrackingDeviceData(data); volumeGenerator->Update(); mitk::Surface::Pointer volumeSurface = volumeGenerator->GetOutput(); m_TrackingVolumeNode->SetData(volumeSurface); if (!m_Controls->m_ShowTrackingVolume->isChecked()) m_TrackingVolumeNode->SetOpacity(0.0); else m_TrackingVolumeNode->SetOpacity(0.25); GlobalReinit(); } void QmitkMITKIGTTrackingToolboxView::OnShowTrackingVolumeChanged() { if (m_Controls->m_ShowTrackingVolume->isChecked()) { OnTrackingVolumeChanged(m_Controls->m_VolumeSelectionBox->currentText()); m_TrackingVolumeNode->SetOpacity(0.25); } else { m_TrackingVolumeNode->SetOpacity(0.0); } } void QmitkMITKIGTTrackingToolboxView::OnAutoDetectTools() { if (m_Controls->m_configurationWidget->GetTrackingDevice()->GetType() == mitk::NDIAurora) { DisableTrackingConfigurationButtons(); m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eAutoDetectTools); m_Worker->SetTrackingDevice(m_Controls->m_configurationWidget->GetTrackingDevice().GetPointer()); m_Worker->SetDataStorage(this->GetDataStorage()); m_WorkerThread->start(); m_TimeoutTimer->start(5000); MITK_INFO << "Timeout Timer started"; //disable controls until worker thread is finished this->m_Controls->m_MainWidget->setEnabled(false); } } void QmitkMITKIGTTrackingToolboxView::OnAutoDetectToolsFinished(bool success, QString errorMessage) { m_TimeoutTimer->stop(); m_WorkerThread->quit(); m_WorkerThread->wait(); //enable controls again this->m_Controls->m_MainWidget->setEnabled(true); + EnableTrackingConfigurationButtons(); if(!success) { MITK_WARN << errorMessage.toStdString(); MessageBox(errorMessage.toStdString()); EnableTrackingConfigurationButtons(); return; } mitk::NavigationToolStorage::Pointer autoDetectedStorage = m_Worker->GetNavigationToolStorage(); - //save detected tools - this->ReplaceCurrentToolStorage(autoDetectedStorage,"Autodetected NDI Aurora Storage"); - //update label - QString toolLabel = QString("Loaded Tools: ") + QString::number(m_toolStorage->GetToolCount()) + " Tools (Auto Detected)"; - m_Controls->m_toolLabel->setText(toolLabel); - //update tool preview - m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels(); + //save detected tools + this->ReplaceCurrentToolStorage(autoDetectedStorage,"Autodetected NDI Aurora Storage"); + //auto save the new storage to hard disc (for persistence) + AutoSaveToolStorage(); + //update label + QString toolLabel = QString("Loaded Tools: ") + QString::number(m_toolStorage->GetToolCount()) + " Tools (Auto Detected)"; + m_Controls->m_toolLabel->setText(toolLabel); + //update tool preview + m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels(); m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage); EnableTrackingConfigurationButtons(); if (m_toolStorage->GetToolCount()>0) { //ask the user if he wants to save the detected tools QMessageBox msgBox; switch(m_toolStorage->GetToolCount()) { case 1: msgBox.setText("Found one tool!"); break; default: msgBox.setText("Found " + QString::number(m_toolStorage->GetToolCount()) + " tools!"); } msgBox.setInformativeText("Do you want to save this tools as tool storage, so you can load them again?"); msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No); msgBox.setDefaultButton(QMessageBox::No); int ret = msgBox.exec(); if (ret == 16384) //yes { //ask the user for a filename QString fileName = QFileDialog::getSaveFileName(NULL, tr("Save File"),"/",tr("*.IGTToolStorage")); //check for empty filename if(fileName == "") {return;} mitk::NavigationToolStorageSerializer::Pointer mySerializer = mitk::NavigationToolStorageSerializer::New(); //when Serialize method is used exceptions are thrown, need to be adapted //try-catch block for exception handling in Serializer try { mySerializer->Serialize(fileName.toStdString(),m_toolStorage); } catch(mitk::IGTException) { std::string errormessage = "Error during serialization. Please check the Zip file."; QMessageBox::warning(NULL, "IGTPlayer: Error", errormessage.c_str()); } return; } else if (ret == 65536) //no { return; } } + //print a logging message about the detected tools + switch(m_toolStorage->GetToolCount()) + { + case 0: + MITK_INFO("IGT Tracking Toolbox") << "Found no tools. Empty ToolStorage was autosaved to " << m_ToolStorageFilename.toStdString(); + break; + case 1: + MITK_INFO("IGT Tracking Toolbox") << "Found one tool. ToolStorage was autosaved to " << m_ToolStorageFilename.toStdString(); + break; + default: + MITK_INFO("IGT Tracking Toolbox") << "Found " << m_toolStorage->GetToolCount() << " tools. ToolStorage was autosaved to " << m_ToolStorageFilename.toStdString(); + } } void QmitkMITKIGTTrackingToolboxView::MessageBox(std::string s) { QMessageBox msgBox; msgBox.setText(s.c_str()); msgBox.exec(); } void QmitkMITKIGTTrackingToolboxView::UpdateTrackingTimer() { //update filter m_ToolVisualizationFilter->Update(); MITK_DEBUG << "Number of outputs ToolVisualizationFilter: " << m_ToolVisualizationFilter->GetNumberOfIndexedOutputs(); MITK_DEBUG << "Number of inputs ToolVisualizationFilter: " << m_ToolVisualizationFilter->GetNumberOfIndexedInputs(); //update tool colors to show tool status for(int i=0; iGetNumberOfIndexedOutputs(); i++) { mitk::NavigationData::Pointer currentTool = m_ToolVisualizationFilter->GetOutput(i); if(currentTool->IsDataValid()) {this->m_toolStorage->GetTool(i)->GetDataNode()->SetColor(mitk::IGTColor_VALID);} else {this->m_toolStorage->GetTool(i)->GetDataNode()->SetColor(mitk::IGTColor_WARNING);} } //update logging if (m_logging) { this->m_loggingFilter->Update(); m_loggedFrames = this->m_loggingFilter->GetNumberOfRecordedSteps(); this->m_Controls->m_LoggedFramesLabel->setText("Logged Frames: "+QString::number(m_loggedFrames)); //check if logging stopped automatically if((m_loggedFrames>1)&&(!m_loggingFilter->GetRecording())){StopLogging();} } //refresh view and status widget mitk::RenderingManager::GetInstance()->RequestUpdateAll(); m_Controls->m_TrackingToolsStatusWidget->Refresh(); //code to better isolate bug 17713, could be removed when bug 17713 is fixed static int i = 0; static mitk::Point3D lastPositionTool1 = m_ToolVisualizationFilter->GetOutput(0)->GetPosition(); static itk::TimeStamp lastTimeStamp = m_ToolVisualizationFilter->GetOutput(0)->GetTimeStamp(); i++; //every 20 frames: check if tracking is frozen if(i>20) { i = 0; if (m_ToolVisualizationFilter->GetOutput(0)->IsDataValid()) { if (mitk::Equal(lastPositionTool1,m_ToolVisualizationFilter->GetOutput(0)->GetPosition(),0.000000001,false)) { MITK_WARN << "Seems as tracking (of at least tool 1) is frozen which means that bug 17713 occurred. Restart tracking might help."; //display further information to find the bug MITK_WARN << "Timestamp of current navigation data: " << m_ToolVisualizationFilter->GetOutput(0)->GetTimeStamp(); MITK_WARN << "Timestamp of last navigation data (which holds the same values): " << lastTimeStamp; } lastPositionTool1 = m_ToolVisualizationFilter->GetOutput(0)->GetPosition(); lastTimeStamp = m_ToolVisualizationFilter->GetOutput(0)->GetTimeStamp(); } } } void QmitkMITKIGTTrackingToolboxView::OnChooseFileClicked() { QDir currentPath = QFileInfo(m_Controls->m_LoggingFileName->text()).dir(); // if no path was selected (QDir would select current working dir then) or the // selected path does not exist -> use home directory if ( currentPath == QDir() || ! currentPath.exists() ) { currentPath = QDir(QDir::homePath()); } QString filename = QFileDialog::getSaveFileName(NULL,tr("Choose Logging File"), currentPath.absolutePath(), "*.*"); if (filename == "") return; this->m_Controls->m_LoggingFileName->setText(filename); this->OnToggleFileExtension(); } // bug-16470: toggle file extension after clicking on radio button void QmitkMITKIGTTrackingToolboxView::OnToggleFileExtension() { QString currentInputText = this->m_Controls->m_LoggingFileName->text(); QString currentFile = QFileInfo(currentInputText).baseName(); QDir currentPath = QFileInfo(currentInputText).dir(); if(currentFile.isEmpty()) { currentFile = "logfile"; } // Setting currentPath to default home path when currentPath is empty or it does not exist if(currentPath == QDir() || !currentPath.exists()) { currentPath = QDir::homePath(); } // check if csv radio button is clicked if(this->m_Controls->m_csvFormat->isChecked()) { // you needn't add a seperator to the input text when currentpath is the rootpath if(currentPath.isRoot()) { this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + currentFile + ".csv"); } else { this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + QDir::separator() + currentFile + ".csv"); } } // check if xml radio button is clicked else if(this->m_Controls->m_xmlFormat->isChecked()) { // you needn't add a seperator to the input text when currentpath is the rootpath if(currentPath.isRoot()) { this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + currentFile + ".xml"); } else { this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + QDir::separator() + currentFile + ".xml"); } } } void QmitkMITKIGTTrackingToolboxView::StartLogging() { if (m_ToolVisualizationFilter.IsNull()) { MessageBox("Cannot activate logging without a connected device. Configure and connect a tracking device first."); return; } if (!m_logging) { //initialize logging filter m_loggingFilter = mitk::NavigationDataRecorder::New(); m_loggingFilter->ConnectTo(m_ToolVisualizationFilter); if (m_Controls->m_LoggingLimit->isChecked()){m_loggingFilter->SetRecordCountLimit(m_Controls->m_LoggedFramesLimit->value());} //start filter with try-catch block for exceptions try { m_loggingFilter->StartRecording(); } catch(mitk::IGTException) { std::string errormessage = "Error during start recording. Recorder already started recording?"; QMessageBox::warning(NULL, "IGTPlayer: Error", errormessage.c_str()); m_loggingFilter->StopRecording(); return; } //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; DisableLoggingButtons(); } } void QmitkMITKIGTTrackingToolboxView::StopLogging() { if (m_logging) { //stop logging m_loggingFilter->StopRecording(); m_logging = false; //update GUI this->m_Controls->m_LoggingLabel->setText("Logging OFF"); EnableLoggingButtons(); //write the results to a file if(m_Controls->m_csvFormat->isChecked()) { mitk::NavigationDataSetWriterCSV* writer = new mitk::NavigationDataSetWriterCSV(); writer->Write(this->m_Controls->m_LoggingFileName->text().toStdString(),m_loggingFilter->GetNavigationDataSet()); delete writer; } else if (m_Controls->m_xmlFormat->isChecked()) { mitk::NavigationDataSetWriterXML* writer = new mitk::NavigationDataSetWriterXML(); writer->Write(this->m_Controls->m_LoggingFileName->text().toStdString(),m_loggingFilter->GetNavigationDataSet()); delete writer; } } } void QmitkMITKIGTTrackingToolboxView::OnAddSingleTool() { QString Identifier = "Tool#"; if (m_toolStorage.IsNotNull()) Identifier += QString::number(m_toolStorage->GetToolCount()); else Identifier += "0"; m_Controls->m_NavigationToolCreationWidget->Initialize(GetDataStorage(),Identifier.toStdString()); m_Controls->m_NavigationToolCreationWidget->SetTrackingDeviceType(m_Controls->m_configurationWidget->GetTrackingDevice()->GetType(),false); m_Controls->m_TrackingToolsWidget->setCurrentIndex(1); //disable tracking volume during tool editing lastTrackingVolumeState = m_Controls->m_ShowTrackingVolume->isChecked(); if (lastTrackingVolumeState) m_Controls->m_ShowTrackingVolume->click(); GlobalReinit(); } void QmitkMITKIGTTrackingToolboxView::OnAddSingleToolFinished() { m_Controls->m_TrackingToolsWidget->setCurrentIndex(0); if (this->m_toolStorage.IsNull()) { //this shouldn't happen! MITK_WARN << "No ToolStorage available, cannot add tool, aborting!"; return; } m_toolStorage->AddTool(m_Controls->m_NavigationToolCreationWidget->GetCreatedTool()); m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage); - QString toolLabel = QString("Loaded Tools: "); + m_Controls->m_toolLabel->setText(""); + + //auto save current storage for persistence + MITK_INFO << "Auto saving manually added tools for persistence."; + AutoSaveToolStorage(); //enable tracking volume again if (lastTrackingVolumeState) m_Controls->m_ShowTrackingVolume->click(); GlobalReinit(); } void QmitkMITKIGTTrackingToolboxView::OnAddSingleToolCanceled() { m_Controls->m_TrackingToolsWidget->setCurrentIndex(0); //enable tracking volume again if (lastTrackingVolumeState) m_Controls->m_ShowTrackingVolume->click(); GlobalReinit(); } void QmitkMITKIGTTrackingToolboxView::GlobalReinit() { // get all nodes that have not set "includeInBoundingBox" to false mitk::NodePredicateNot::Pointer pred = mitk::NodePredicateNot::New(mitk::NodePredicateProperty::New("includeInBoundingBox", mitk::BoolProperty::New(false))); mitk::DataStorage::SetOfObjects::ConstPointer rs = this->GetDataStorage()->GetSubset(pred); // calculate bounding geometry of these nodes mitk::TimeGeometry::Pointer bounds = this->GetDataStorage()->ComputeBoundingGeometry3D(rs, "visible"); // initialize the views to the bounding geometry mitk::RenderingManager::GetInstance()->InitializeViews(bounds); } void QmitkMITKIGTTrackingToolboxView::DisableLoggingButtons() { m_Controls->m_StartLogging->setEnabled(false); m_Controls->m_LoggingFileName->setEnabled(false); m_Controls->m_ChooseFile->setEnabled(false); m_Controls->m_LoggingLimit->setEnabled(false); m_Controls->m_LoggedFramesLimit->setEnabled(false); m_Controls->m_csvFormat->setEnabled(false); m_Controls->m_xmlFormat->setEnabled(false); m_Controls->m_StopLogging->setEnabled(true); } void QmitkMITKIGTTrackingToolboxView::EnableLoggingButtons() { m_Controls->m_StartLogging->setEnabled(true); m_Controls->m_LoggingFileName->setEnabled(true); m_Controls->m_ChooseFile->setEnabled(true); m_Controls->m_LoggingLimit->setEnabled(true); m_Controls->m_LoggedFramesLimit->setEnabled(true); m_Controls->m_csvFormat->setEnabled(true); m_Controls->m_xmlFormat->setEnabled(true); m_Controls->m_StopLogging->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::DisableOptionsButtons() { m_Controls->m_ShowTrackingVolume->setEnabled(false); m_Controls->m_UpdateRate->setEnabled(false); m_Controls->m_ShowToolQuaternions->setEnabled(false); m_Controls->m_OptionsUpdateRateLabel->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::EnableOptionsButtons() { m_Controls->m_ShowTrackingVolume->setEnabled(true); m_Controls->m_UpdateRate->setEnabled(true); m_Controls->m_ShowToolQuaternions->setEnabled(true); m_Controls->m_OptionsUpdateRateLabel->setEnabled(true); } void QmitkMITKIGTTrackingToolboxView::EnableTrackingControls() { m_Controls->m_TrackingControlsGroupBox->setEnabled(true); } void QmitkMITKIGTTrackingToolboxView::DisableTrackingControls() { m_Controls->m_TrackingControlsGroupBox->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::EnableTrackingConfigurationButtons() { m_Controls->m_AutoDetectTools->setEnabled(true); if (m_Controls->m_configurationWidget->GetTrackingDevice()->GetType() != mitk::NDIAurora) m_Controls->m_AddSingleTool->setEnabled(true); m_Controls->m_LoadTools->setEnabled(true); m_Controls->m_ResetTools->setEnabled(true); } void QmitkMITKIGTTrackingToolboxView::DisableTrackingConfigurationButtons() { m_Controls->m_AutoDetectTools->setEnabled(false); if (m_Controls->m_configurationWidget->GetTrackingDevice()->GetType() != mitk::NDIAurora) m_Controls->m_AddSingleTool->setEnabled(false); m_Controls->m_LoadTools->setEnabled(false); m_Controls->m_ResetTools->setEnabled(false); } void QmitkMITKIGTTrackingToolboxView::ReplaceCurrentToolStorage(mitk::NavigationToolStorage::Pointer newStorage, std::string newStorageName) { //first: get rid of the old one //don't reset if there is no tool storage. BugFix #17793 if ( m_toolStorage.IsNotNull() ){ m_toolStorage->UnLockStorage(); //only to be sure... m_toolStorage->UnRegisterMicroservice(); m_toolStorage = NULL; } //now: replace by the new one m_toolStorage = newStorage; m_toolStorage->SetName(newStorageName); m_toolStorage->RegisterAsMicroservice("no tracking device"); } void QmitkMITKIGTTrackingToolboxView::OnTimeOut() { MITK_INFO << "Time Out"; m_WorkerThread->terminate(); m_WorkerThread->wait(); m_TimeoutTimer->stop(); } void QmitkMITKIGTTrackingToolboxView::StoreUISettings() { // persistence service does not directly work in plugins for now // -> using QSettings QSettings settings; settings.beginGroup(QString::fromStdString(VIEW_ID)); // set the values of some widgets and attrbutes to the QSettings settings.setValue("ShowTrackingVolume", QVariant(m_Controls->m_ShowTrackingVolume->isChecked())); settings.setValue("toolStorageFilename", QVariant(m_ToolStorageFilename)); settings.setValue("VolumeSelectionBox", QVariant(m_Controls->m_VolumeSelectionBox->currentIndex())); settings.endGroup(); } void QmitkMITKIGTTrackingToolboxView::LoadUISettings() { // persistence service does not directly work in plugins for now // -> using QSettings QSettings settings; settings.beginGroup(QString::fromStdString(VIEW_ID)); // set some widgets and attributes by the values from the QSettings m_Controls->m_ShowTrackingVolume->setChecked(settings.value("ShowTrackingVolume", true).toBool()); m_Controls->m_VolumeSelectionBox->setCurrentIndex(settings.value("VolumeSelectionBox", 0).toInt()); m_ToolStorageFilename = settings.value("toolStorageFilename", QVariant("")).toString(); settings.endGroup(); // try to deserialize the tool storage from the given tool storage file name if ( ! m_ToolStorageFilename.isEmpty() ) { // try-catch block for exceptions try { mitk::NavigationToolStorageDeserializer::Pointer myDeserializer = mitk::NavigationToolStorageDeserializer::New(GetDataStorage()); m_toolStorage->UnRegisterMicroservice(); m_toolStorage = myDeserializer->Deserialize(m_ToolStorageFilename.toStdString()); m_toolStorage->RegisterAsMicroservice("no tracking device"); //update label UpdateToolStorageLabel(m_ToolStorageFilename); //update tool preview m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels(); m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage); } catch(mitk::IGTException) { MITK_WARN("QmitkMITKIGTTrackingToolBoxView") << "Error during restoring tools. Problems with file ("<OnResetTools(); //if there where errors reset the tool storage to avoid problems later on } } } void QmitkMITKIGTTrackingToolboxView::UpdateToolStorageLabel(QString pathOfLoadedStorage) { Poco::Path myPath = Poco::Path(pathOfLoadedStorage.toStdString()); //use this to seperate filename from path - QString toolLabel = QString("Loaded ") + QString::number(m_toolStorage->GetToolCount()) + " Tools from " + myPath.getFileName().c_str(); - if (toolLabel.size() > 55) //if the tool storage name is to long trimm the string + QString toolLabel = myPath.getFileName().c_str(); + if (toolLabel.size() > 45) //if the tool storage name is to long trimm the string { - toolLabel.resize(50); + toolLabel.resize(40); toolLabel+="[...]"; } m_Controls->m_toolLabel->setText(toolLabel); } +void QmitkMITKIGTTrackingToolboxView::AutoSaveToolStorage() +{ + m_ToolStorageFilename = m_AutoSaveFilename; + mitk::NavigationToolStorageSerializer::Pointer mySerializer = mitk::NavigationToolStorageSerializer::New(); + mySerializer->Serialize(m_ToolStorageFilename.toStdString(),m_toolStorage); +} + void QmitkMITKIGTTrackingToolboxViewWorker::SetWorkerMethod(WorkerMethod w) { m_WorkerMethod = w; } void QmitkMITKIGTTrackingToolboxViewWorker::SetTrackingDevice(mitk::TrackingDevice::Pointer t) { m_TrackingDevice = t; } void QmitkMITKIGTTrackingToolboxViewWorker::SetDataStorage(mitk::DataStorage::Pointer d) { m_DataStorage = d; } void QmitkMITKIGTTrackingToolboxViewWorker::SetInverseMode(bool mode) { m_InverseMode = mode; } void QmitkMITKIGTTrackingToolboxViewWorker::SetTrackingDeviceData(mitk::TrackingDeviceData d) { m_TrackingDeviceData = d; } void QmitkMITKIGTTrackingToolboxViewWorker::SetNavigationToolStorage(mitk::NavigationToolStorage::Pointer n) { m_NavigationToolStorage = n; } void QmitkMITKIGTTrackingToolboxViewWorker::ThreadFunc() { switch(m_WorkerMethod) { case eAutoDetectTools: this->AutoDetectTools(); break; case eConnectDevice: this->ConnectDevice(); break; case eStartTracking: this->StartTracking(); break; case eStopTracking: this->StopTracking(); break; case eDisconnectDevice: this->DisconnectDevice(); break; default: MITK_WARN << "Undefined worker method was set ... something went wrong!"; break; } } void QmitkMITKIGTTrackingToolboxViewWorker::AutoDetectTools() { mitk::ProgressBar::GetInstance()->AddStepsToDo(4); mitk::NavigationToolStorage::Pointer autoDetectedStorage = mitk::NavigationToolStorage::New(m_DataStorage); mitk::NDITrackingDevice::Pointer currentDevice = dynamic_cast(m_TrackingDevice.GetPointer()); try { currentDevice->OpenConnection(); mitk::ProgressBar::GetInstance()->Progress(); currentDevice->StartTracking(); } catch(mitk::Exception& e) { QString message = QString("Warning, can not auto-detect tools! (") + QString(e.GetDescription()) + QString(")"); //MessageBox(message.toStdString()); //TODO: give message to the user here! MITK_WARN << message.toStdString(); mitk::ProgressBar::GetInstance()->Progress(4); emit AutoDetectToolsFinished(false,message.toStdString().c_str()); return; } for (int i=0; iGetToolCount(); i++) { //create a navigation tool with sphere as surface std::stringstream toolname; toolname << "AutoDetectedTool" << i; mitk::NavigationTool::Pointer newTool = mitk::NavigationTool::New(); newTool->SetSerialNumber(dynamic_cast(currentDevice->GetTool(i))->GetSerialNumber()); newTool->SetIdentifier(toolname.str()); newTool->SetTrackingDeviceType(mitk::NDIAurora); mitk::DataNode::Pointer newNode = mitk::DataNode::New(); mitk::Surface::Pointer mySphere = mitk::Surface::New(); vtkSphereSource *vtkData = vtkSphereSource::New(); vtkData->SetRadius(3.0f); vtkData->SetCenter(0.0, 0.0, 0.0); vtkData->Update(); mySphere->SetVtkPolyData(vtkData->GetOutput()); vtkData->Delete(); newNode->SetData(mySphere); newNode->SetName(toolname.str()); newTool->SetDataNode(newNode); autoDetectedStorage->AddTool(newTool); } m_NavigationToolStorage = autoDetectedStorage; currentDevice->StopTracking(); mitk::ProgressBar::GetInstance()->Progress(); currentDevice->CloseConnection(); emit AutoDetectToolsFinished(true,""); mitk::ProgressBar::GetInstance()->Progress(4); } void QmitkMITKIGTTrackingToolboxViewWorker::ConnectDevice() { std::string message = ""; mitk::ProgressBar::GetInstance()->AddStepsToDo(10); //build the IGT pipeline mitk::TrackingDevice::Pointer trackingDevice = m_TrackingDevice; trackingDevice->SetData(m_TrackingDeviceData); //set device to rotation mode transposed becaus we are working with VNL style quaternions if(m_InverseMode) {trackingDevice->SetRotationMode(mitk::TrackingDevice::RotationTransposed);} //Get Tracking Volume Data mitk::TrackingDeviceData data = m_TrackingDeviceData; mitk::ProgressBar::GetInstance()->Progress(); //Create Navigation Data Source with the factory class mitk::TrackingDeviceSourceConfigurator::Pointer myTrackingDeviceSourceFactory = mitk::TrackingDeviceSourceConfigurator::New(m_NavigationToolStorage,trackingDevice); m_TrackingDeviceSource = myTrackingDeviceSourceFactory->CreateTrackingDeviceSource(m_ToolVisualizationFilter); mitk::ProgressBar::GetInstance()->Progress(); if ( m_TrackingDeviceSource.IsNull() ) { message = std::string("Cannot connect to device: ") + myTrackingDeviceSourceFactory->GetErrorMessage(); emit ConnectDeviceFinished(false,QString(message.c_str())); return; } //set filter to rotation mode transposed becaus we are working with VNL style quaternions if(m_InverseMode) m_ToolVisualizationFilter->SetRotationMode(mitk::NavigationDataObjectVisualizationFilter::RotationTransposed); //First check if the created object is valid if (m_TrackingDeviceSource.IsNull()) { message = myTrackingDeviceSourceFactory->GetErrorMessage(); emit ConnectDeviceFinished(false,QString(message.c_str())); return; } MITK_INFO << "Number of tools: " << m_TrackingDeviceSource->GetNumberOfOutputs(); mitk::ProgressBar::GetInstance()->Progress(); //The tools are maybe reordered after initialization, e.g. in case of auto-detected tools of NDI Aurora mitk::NavigationToolStorage::Pointer toolsInNewOrder = myTrackingDeviceSourceFactory->GetUpdatedNavigationToolStorage(); if ((toolsInNewOrder.IsNotNull()) && (toolsInNewOrder->GetToolCount() > 0)) { //so delete the old tools in wrong order and add them in the right order //we cannot simply replace the tool storage because the new storage is //not correctly initialized with the right data storage /* m_NavigationToolStorage->DeleteAllTools(); for (int i=0; i < toolsInNewOrder->GetToolCount(); i++) {m_NavigationToolStorage->AddTool(toolsInNewOrder->GetTool(i));} This was replaced and thereby fixed Bug 18318 DeleteAllTools() is not Threadsafe! */ for(int i = 0; i < toolsInNewOrder->GetToolCount(); i++ ) { m_NavigationToolStorage->AssignToolNumber(toolsInNewOrder->GetTool(i)->GetIdentifier(),i); } } mitk::ProgressBar::GetInstance()->Progress(); //connect to device try { m_TrackingDeviceSource->Connect(); mitk::ProgressBar::GetInstance()->Progress(); //Microservice registration: m_TrackingDeviceSource->RegisterAsMicroservice(); m_NavigationToolStorage->UnRegisterMicroservice(); m_NavigationToolStorage->RegisterAsMicroservice(m_TrackingDeviceSource->GetMicroserviceID()); m_NavigationToolStorage->LockStorage(); } catch (...) //todo: change to mitk::IGTException { message = "Error on connecting the tracking device."; emit ConnectDeviceFinished(false,QString(message.c_str())); return; } emit ConnectDeviceFinished(true,QString(message.c_str())); mitk::ProgressBar::GetInstance()->Progress(10); } void QmitkMITKIGTTrackingToolboxViewWorker::StartTracking() { QString errorMessage = ""; try { m_TrackingDeviceSource->StartTracking(); } catch (...) //todo: change to mitk::IGTException { errorMessage += "Error while starting the tracking device!"; emit StartTrackingFinished(false,errorMessage); return; } //remember the original colors of the tools m_OriginalColors = std::map(); for(int i=0; im_NavigationToolStorage->GetToolCount(); i++) { mitk::DataNode::Pointer currentToolNode = m_NavigationToolStorage->GetTool(i)->GetDataNode(); float c[3]; currentToolNode->GetColor(c); mitk::Color color; color.SetRed(c[0]); color.SetGreen(c[1]); color.SetBlue(c[2]); m_OriginalColors[currentToolNode] = color; } emit StartTrackingFinished(true,errorMessage); } void QmitkMITKIGTTrackingToolboxViewWorker::StopTracking() { //stop tracking try { m_TrackingDeviceSource->StopTracking(); } catch(mitk::Exception& e) { emit StopTrackingFinished(false, e.GetDescription()); } //restore the original colors of the tools for(int i=0; im_NavigationToolStorage->GetToolCount(); i++) { mitk::DataNode::Pointer currentToolNode = m_NavigationToolStorage->GetTool(i)->GetDataNode(); if (m_OriginalColors.find(currentToolNode) == m_OriginalColors.end()) {MITK_WARN << "Cannot restore original color of tool " << m_NavigationToolStorage->GetTool(i)->GetToolName();} else {currentToolNode->SetColor(m_OriginalColors[currentToolNode]);} } //emit signal emit StopTrackingFinished(true, ""); } void QmitkMITKIGTTrackingToolboxViewWorker::DisconnectDevice() { try { if (m_TrackingDeviceSource->IsTracking()) {m_TrackingDeviceSource->StopTracking();} m_TrackingDeviceSource->Disconnect(); m_TrackingDeviceSource->UnRegisterMicroservice(); m_NavigationToolStorage->UnLockStorage(); } catch(mitk::Exception& e) { emit DisconnectDeviceFinished(false, e.GetDescription()); } emit DisconnectDeviceFinished(true, ""); } diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.h b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.h index f7ae45363e..bda4538556 100644 --- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.h +++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.h @@ -1,278 +1,283 @@ /*=================================================================== 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 QmitkMITKIGTTrackingToolboxView_h #define QmitkMITKIGTTrackingToolboxView_h #include #include #include "ui_QmitkMITKIGTTrackingToolboxViewControls.h" //mitk headers #include #include #include #include //QT headers #include class QmitkMITKIGTTrackingToolboxViewWorker; /*! \brief QmitkMITKIGTTrackingToolboxView This is the view of the bundle IGT Tracking Toolbox. The IGT Tracking Toolbox can be used to access tracking devices with MITK-IGT. The Tracking Toolbox can be used to log tracking data in XML or CSV format for measurement purposes. The Tracking Toolbox further allows for visualization of tools with given surfaces in combination with the NaviagtionToolManager. \sa QmitkFunctionality \ingroup Functionalities */ class QmitkMITKIGTTrackingToolboxView : public QmitkFunctionality { // this is needed for all Qt objects that should have a Qt meta-object // (everything that derives from QObject and wants to have signal/slots) Q_OBJECT public: static const std::string VIEW_ID; QmitkMITKIGTTrackingToolboxView(); virtual ~QmitkMITKIGTTrackingToolboxView(); virtual void CreateQtPartControl(QWidget *parent); virtual void StdMultiWidgetAvailable (QmitkStdMultiWidget &stdMultiWidget); virtual void StdMultiWidgetNotAvailable(); protected slots: /** @brief changes name of the filename when switching fileextension by radio button */ void OnToggleFileExtension(); /** @brief This slot is called if the user wants to load a new tool file. A new window opens where the user can choose a file. If the chosen file is corrupt or not valid the user gets an error message. If the file was loaded successfully the tools are show in the tool status widget. */ void OnLoadTools(); /** Starts tracking if tracking is stopped / stops tracking if tracking is started. */ void OnStartStopTracking(); /** Connects the device if it is disconnected / disconnects the device if it is connected. */ void OnConnectDisconnect(); /** @brief This slot connects to the device. In status "connected" configuration of the device is disabled. */ void OnConnect(); /** @brief This slot disconnects from the device. */ void OnDisconnect(); /** @brief This slot tries to start tracking with the current device. If start tracking fails the user gets an error message and tracking stays off.*/ void OnStartTracking(); /** @brief This slot stops tracking. If tracking is not strated it does nothing.*/ void OnStopTracking(); /** @brief This slot is called if the user want's to choose a file name for logging. A new windows to navigate through the file system and choose a file opens.*/ void OnChooseFileClicked(); /** @brief This slot starts logging. Logging is only possible if a device is tracking. If not the logging mechanism start when the start tracking is called.*/ void StartLogging(); /** @brief This slot stops logging. If logging is not running it does nothing.*/ void StopLogging(); /** @brief This slot enables / disables UI elements depending on the tracking device after a device is changed.*/ void OnTrackingDeviceChanged(); /** @brief This slot selects the Tracking Volume appropriate for a given model */ void OnTrackingVolumeChanged(QString qstr); /** @brief Shows or hides the tracking volume according to the checkboxe's state */ void OnShowTrackingVolumeChanged(); /** @brief This slot auto detects tools of a NDI Aurora tracking device. If tools where found they will be stored internally as a tool storage. The user is also asked if he wants to save this tool storage to load it later. Only call it if a Aurora device was configured because other devices don't support auto detection.*/ void OnAutoDetectTools(); /** @brief Slot for tracking timer. The timer updates the IGT pipline and also the logging filter if logging is activated.*/ void UpdateTrackingTimer(); /** @brief Resets the Tracking Tools: this means all tools are removed. */ void OnResetTools(); /** @brief Opens a dialog where a new navigation tool can be created. */ void OnAddSingleTool(); /** @brief This slot is called if the user finishes the creation of a new tool. */ void OnAddSingleToolFinished(); /** @brief This slot is called if the user cancels the creation of a new tool. */ void OnAddSingleToolCanceled(); void OnTimeOut(); protected slots: //help slots for enable/disable buttons void DisableLoggingButtons(); void EnableLoggingButtons(); void DisableOptionsButtons(); void EnableOptionsButtons(); void EnableTrackingConfigurationButtons(); void DisableTrackingConfigurationButtons(); void EnableTrackingControls(); void DisableTrackingControls(); //slots for worker thread void OnAutoDetectToolsFinished(bool success, QString errorMessage); void OnConnectFinished(bool success, QString errorMessage); void OnStartTrackingFinished(bool success, QString errorMessage); void OnStopTrackingFinished(bool success, QString errorMessage); void OnDisconnectFinished(bool success, QString errorMessage); protected: Ui::QmitkMITKIGTTrackingToolboxViewControls* m_Controls; QmitkStdMultiWidget* m_MultiWidget; bool m_tracking; ///> bool which is true if tracking is running, false if not bool m_connected; ///> bool that is true when a tracking device is connected bool m_logging; ///> bool which is true if logging is running, false if not int m_loggedFrames; ///> stores the current number of logged frames if logging is on mitk::NavigationToolStorage::Pointer m_toolStorage; ///>stores the loaded tools mitk::DataNode::Pointer m_TrackingVolumeNode; ///>holds the data node of the tracking volume if volume is visualized bool lastTrackingVolumeState; ///>temporary holds the state of the tracking volume (activated/not activated) during some methods QString m_ToolStorageFilename; ///>stores the filename of the current tool storage + QString m_AutoSaveFilename; ///>a filename for auto saving tools if no m_ToolStorageFilename was given by the user /** @brief Shows a message box with the text given as parameter. */ void MessageBox(std::string s); /** @brief reinits the view globally. */ void GlobalReinit(); //members for the filter pipeline mitk::TrackingDeviceSource::Pointer m_TrackingDeviceSource; ///> member for the source of the IGT pipeline mitk::TrackingDeviceData m_TrackingDeviceData; ///> stores the tracking device data as long as this is not handled by the tracking device configuration widget mitk::NavigationDataObjectVisualizationFilter::Pointer m_ToolVisualizationFilter; ///> holds the tool visualization filter (second filter of the IGT pipeline) mitk::NavigationDataRecorder::Pointer m_loggingFilter; ///> holds the logging filter if logging is on (third filter of the IGT pipeline) /** @brief This timer updates the IGT pipline and also the logging filter if logging is activated.*/ QTimer* m_TrackingTimer; QTimer* m_TimeoutTimer; /** Replaces the current navigation tool storage which is stored in m_toolStorage. * Basically handles the microservice stuff: unregisteres the old storage, then * replaces the storage and registers the new one. */ void ReplaceCurrentToolStorage(mitk::NavigationToolStorage::Pointer newStorage, std::string newStorageName); /** * \brief Stores the properties of some QWidgets (and the tool storage file name) to QSettings. */ void StoreUISettings(); /** * \brief Loads the properties of some QWidgets (and the tool storage file name) from QSettings. */ void LoadUISettings(); /** * Help method for updating the tool label */ void UpdateToolStorageLabel(QString pathOfLoadedStorage); + /** + * Auto saves the current tool storage to a temporary file. This ist used for persistence. + */ + void AutoSaveToolStorage(); //members for worker thread QThread* m_WorkerThread; QmitkMITKIGTTrackingToolboxViewWorker* m_Worker; }; /** * Worker thread class for this view. */ class QmitkMITKIGTTrackingToolboxViewWorker : public QObject { Q_OBJECT public: enum WorkerMethod{ eAutoDetectTools = 0, eConnectDevice = 1, eStartTracking = 2, eStopTracking = 3, eDisconnectDevice = 4 }; void SetWorkerMethod(WorkerMethod w); void SetTrackingDevice(mitk::TrackingDevice::Pointer t); void SetDataStorage(mitk::DataStorage::Pointer d); void SetInverseMode(bool mode); void SetTrackingDeviceData(mitk::TrackingDeviceData d); void SetNavigationToolStorage(mitk::NavigationToolStorage::Pointer n); itkGetMacro(NavigationToolStorage,mitk::NavigationToolStorage::Pointer); itkGetMacro(TrackingDeviceSource,mitk::TrackingDeviceSource::Pointer); itkGetMacro(TrackingDeviceData,mitk::TrackingDeviceData); itkGetMacro(ToolVisualizationFilter,mitk::NavigationDataObjectVisualizationFilter::Pointer); public slots: void ThreadFunc(); signals: void AutoDetectToolsFinished(bool success, QString errorMessage); void ConnectDeviceFinished(bool success, QString errorMessage); void StartTrackingFinished(bool success, QString errorMessage); void StopTrackingFinished(bool success, QString errorMessage); void DisconnectDeviceFinished(bool success, QString errorMessage); protected: mitk::TrackingDevice::Pointer m_TrackingDevice; WorkerMethod m_WorkerMethod; mitk::DataStorage::Pointer m_DataStorage; mitk::NavigationToolStorage::Pointer m_NavigationToolStorage; //members for the filter pipeline which is created in the worker thread during ConnectDevice() mitk::TrackingDeviceSource::Pointer m_TrackingDeviceSource; ///> member for the source of the IGT pipeline mitk::TrackingDeviceData m_TrackingDeviceData; ///> stores the tracking device data as long as this is not handled by the tracking device configuration widget mitk::NavigationDataObjectVisualizationFilter::Pointer m_ToolVisualizationFilter; ///> holds the tool visualization filter (second filter of the IGT pipeline) //members some internal flags bool m_InverseMode; //flag that is true when the inverse mode is enabled //stores the original colors of the tracking tools std::map m_OriginalColors; //internal methods void AutoDetectTools(); void ConnectDevice(); void StartTracking(); void StopTracking(); void DisconnectDevice(); }; #endif // _QMITKMITKIGTTRACKINGTOOLBOXVIEW_H_INCLUDED 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 57f02cae9a..f3efcbc667 100644 --- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui +++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui @@ -1,591 +1,615 @@ QmitkMITKIGTTrackingToolboxViewControls 0 0 - 346 + 292 592 0 0 QmitkTemplate 0 Tracking 0 0 0 0 16777215 280 0 0 6 75 true <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; font-weight:600;">Tracking Tools</span></p></body></html> 0 0 - - - Loaded Tools: <none> - - + + + + + ToolStorage: + + + + + + + <none> + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + 200 80 Qt::Horizontal 13 49 120 0 Auto Detection 120 0 Add Single Tool 120 0 Load Tool Storage 120 0 Reset <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; font-weight:600;">Tracking Control</span></p></body></html> - Status: <not configured> + Status: disconnected Qt::Horizontal 40 20 120 0 Connect Qt::Horizontal 40 20 120 0 Start Tracking Qt::Vertical 20 40 Options true Show Tracking Volume true Select Model: Qt::Horizontal Update Rate (Times Per Second) Qt::Horizontal 40 20 999 10 Show Tool Quaternions Caution, only for backward compatibility: Inverse mode (Quaternions are stored inverse) Qt::Vertical 20 597 Logging Filename: Choose File Limit Number Of Logged Frames: Qt::Horizontal 40 20 1 9999 300 CSV format true XML format Logging Status Logging OFF Logged Frames: 0 Qt::Horizontal 40 20 Start Logging Stop Logging Qt::Vertical 20 40 QmitkTrackingDeviceConfigurationWidget QWidget
QmitkTrackingDeviceConfigurationWidget.h
1 QmitkToolTrackingStatusWidget QWidget
QmitkToolTrackingStatusWidget.h
1 QmitkNavigationToolCreationWidget QWidget
QmitkNavigationToolCreationWidget.h
1