diff --git a/Modules/IGT/DataManagement/mitkNavigationTool.cpp b/Modules/IGT/DataManagement/mitkNavigationTool.cpp
index a1c998ad15..29679813d1 100644
--- a/Modules/IGT/DataManagement/mitkNavigationTool.cpp
+++ b/Modules/IGT/DataManagement/mitkNavigationTool.cpp
@@ -1,163 +1,147 @@
/*===================================================================
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 "mitkNavigationTool.h"
#include "mitkIGTException.h"
#include "mitkNavigationData.h"
#include "Poco/File.h"
#include "mitkUnspecifiedTrackingTypeInformation.h"
#include "mitkInternalTrackingTool.h"
mitk::NavigationTool::NavigationTool() : m_Identifier("None"),
m_Type(mitk::NavigationTool::Unknown),
m_CalibrationFile("none"),
m_SerialNumber(""),
m_TrackingDeviceType(mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName()),
m_ToolRegistrationLandmarks(mitk::PointSet::New()),
m_ToolCalibrationLandmarks(mitk::PointSet::New()),
m_ToolTipOrientation(mitk::Quaternion(0, 0, 0, 1))
{
m_ToolTipPosition[0] = 0;
m_ToolTipPosition[1] = 0;
m_ToolTipPosition[2] = 0;
m_ToolAxis[0] = 1;
m_ToolAxis[1] = 0;
m_ToolAxis[2] = 0;
}
mitk::NavigationTool::~NavigationTool()
{
}
mitk::AffineTransform3D::Pointer mitk::NavigationTool::GetToolTipTransform()
{
mitk::NavigationData::Pointer returnValue = mitk::NavigationData::New();
returnValue->SetPosition(this->m_ToolTipPosition);
returnValue->SetOrientation(this->m_ToolTipOrientation);
return returnValue->GetAffineTransform3D();
}
void mitk::NavigationTool::Graft(const DataObject *data)
{
// Attempt to cast data to an NavigationData
const Self* nd;
try
{
nd = dynamic_cast<const Self *>(data);
}
catch (...)
{
mitkThrowException(mitk::IGTException) << "mitk::NavigationData::Graft cannot cast "
<< typeid(data).name() << " to "
<< typeid(const Self *).name();
}
if (!nd)
{
// pointer could not be cast back down
mitkThrowException(mitk::IGTException) << "mitk::NavigationData::Graft cannot cast "
<< typeid(data).name() << " to "
<< typeid(const Self *).name();
}
// Now copy anything that is needed
m_Identifier = nd->GetIdentifier();
m_Type = nd->GetType();
m_DataNode->SetName(nd->GetDataNode()->GetName());
m_DataNode->SetData(nd->GetDataNode()->GetData());
m_SpatialObject = nd->GetSpatialObject();
- m_TrackingTool = nd->GetTrackingTool();
m_CalibrationFile = nd->GetCalibrationFile();
m_SerialNumber = nd->GetSerialNumber();
m_TrackingDeviceType = nd->GetTrackingDeviceType();
m_ToolRegistrationLandmarks = nd->GetToolRegistrationLandmarks();
m_ToolCalibrationLandmarks = nd->GetToolCalibrationLandmarks();
m_ToolTipPosition = nd->GetToolTipPosition();
m_ToolTipOrientation = nd->GetToolTipOrientation();
m_ToolAxis = nd->GetToolAxis();
}
bool mitk::NavigationTool::IsToolTipSet()
{
if ((m_ToolTipPosition[0] == 0) &&
(m_ToolTipPosition[1] == 0) &&
(m_ToolTipPosition[2] == 0) &&
(m_ToolTipOrientation.x() == 0) &&
(m_ToolTipOrientation.y() == 0) &&
(m_ToolTipOrientation.z() == 0) &&
(m_ToolTipOrientation.r() == 1))
return false;
else return true;
}
void mitk::NavigationTool::SetCalibrationFile(const std::string filename)
{
//check if file does exist:
if (filename == "")
{
m_CalibrationFile = "none";
}
else
{
Poco::File myFile(filename);
if (myFile.exists())
m_CalibrationFile = filename;
else
m_CalibrationFile = "none";
}
}
std::string mitk::NavigationTool::GetToolName()
{
if (this->m_DataNode.IsNull()) { return ""; }
else { return m_DataNode->GetName(); }
}
mitk::Surface::Pointer mitk::NavigationTool::GetToolSurface()
{
if (this->m_DataNode.IsNull()) { return nullptr; }
else if (this->m_DataNode->GetData() == nullptr) { return nullptr; }
else { return dynamic_cast<mitk::Surface*>(m_DataNode->GetData()); }
}
std::string mitk::NavigationTool::GetStringWithAllToolInformation() const
{
std::stringstream _info;
_info << "Navigation Tool: \n Identifier: " << this->m_Identifier << "\n"
<< " NavigationToolType: " << m_Type << "\n"
<< " Calibration file: " << m_CalibrationFile << "\n"
<< " Serial number: " << m_SerialNumber << "\n"
<< " TrackingDeviceType: " << m_TrackingDeviceType << "\n"
<< " ToolTip Position: " << m_ToolTipPosition << "\n"
<< " ToolTip Orientation: " << m_ToolTipOrientation << "\n"
<< " ToolTip Axis: " << m_ToolAxis;
- if (m_TrackingTool)
- {
- _info << "\n TrackingTool: "<<m_TrackingTool->GetToolName();
- mitk::InternalTrackingTool* _trackingTool = dynamic_cast<mitk::InternalTrackingTool*>(m_TrackingTool.GetPointer());
- if (_trackingTool)
- {
- _info << "\n ToolTip Position:" << _trackingTool->GetToolTip()
- << "\n ToolTip Orientation:" << _trackingTool->GetToolTipOrientation();
- }
- }
- else
- {
- _info << "\n TrackingTool: <null>";
- }
-
return _info.str();
}
\ No newline at end of file
diff --git a/Modules/IGT/DataManagement/mitkNavigationTool.h b/Modules/IGT/DataManagement/mitkNavigationTool.h
index c3b5329fca..c43ed3af42 100644
--- a/Modules/IGT/DataManagement/mitkNavigationTool.h
+++ b/Modules/IGT/DataManagement/mitkNavigationTool.h
@@ -1,212 +1,206 @@
/*===================================================================
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 NAVIGATIONTOOL_H_INCLUDED
#define NAVIGATIONTOOL_H_INCLUDED
//itk headers
#include <itkObjectFactory.h>
#include <itkSpatialObject.h>
#include <itkDataObject.h>
//mitk headers
#include <mitkCommon.h>
#include <mitkDataNode.h>
#include <mitkPointSet.h>
#include <mitkTrackingTool.h>
#include <mitkTrackingTypes.h>
#include <mitkSurface.h>
#include <MitkIGTExports.h>
namespace mitk {
/**Documentation
* \brief An object of this class represents a navigation tool in the view of the software.
* A few informations like an identifier, a toolname, a surface and a itk spatial
* object are stored in such an object. The classes NavigationToolReader and
* are availiable to write/read tools to/from the harddisc. If you need a collection
* of navigation tools the class NavigationToolStorage could be used.
*
* \ingroup IGT
*/
class MITKIGT_EXPORT NavigationTool : public itk::DataObject
{
public:
mitkClassMacroItkParent(NavigationTool,itk::DataObject);
itkFactorylessNewMacro(Self)
itkCloneMacro(Self)
enum NavigationToolType {Instrument, Fiducial, Skinmarker, Unknown};
//## getter and setter ##
//NavigationToolType:
itkGetConstMacro(Type,NavigationToolType);
itkSetMacro(Type,NavigationToolType);
//Identifier:
itkGetConstMacro(Identifier,std::string);
itkSetMacro(Identifier,std::string);
//Datatreenode:
itkGetConstMacro(DataNode,mitk::DataNode::Pointer);
itkSetMacro(DataNode,mitk::DataNode::Pointer);
//SpatialObject:
itkGetConstMacro(SpatialObject,itk::SpatialObject<3>::Pointer);
itkSetMacro(SpatialObject,itk::SpatialObject<3>::Pointer);
- //TrackingTool:
- itkGetConstMacro(TrackingTool,mitk::TrackingTool::Pointer);
- itkSetMacro(TrackingTool,mitk::TrackingTool::Pointer);
-
//CalibrationFile:
itkGetConstMacro(CalibrationFile,std::string);
void SetCalibrationFile(const std::string filename);
//Tool tip definition:
itkGetConstMacro(ToolTipPosition,mitk::Point3D);
itkSetMacro(ToolTipPosition,mitk::Point3D);
itkGetConstMacro(ToolTipOrientation,mitk::Quaternion);
itkSetMacro(ToolTipOrientation,mitk::Quaternion);
//Tool Axis definition:
//default tool axis is along x axis, the tool axis must be normalized
itkGetConstMacro(ToolAxis, mitk::Point3D);
itkSetMacro(ToolAxis, mitk::Point3D);
/** @return Returns the tooltip as transform object. */
mitk::AffineTransform3D::Pointer GetToolTipTransform();
/** @return Returns true if a tooltip is set, false if not. */
bool IsToolTipSet();
//Tool Landmarks:
/** For overview, here are descriptons of the two types of tool landmarks:
*
* tool calibration landmarks: These landmarks may be used clearly define the tools pose only by
* using landmarks in the tool coordinate system. E.g., two landmarks for a 5DoF tool and three
* landmarks for a 6DoF tool. These landmarks may be used, e.g., for a point based registration
* of a tool from image space to tracking space.
*
* tool registration landmarks: These landmarks are designed for representing defined landmarks
* on a tools surface. The number of these landmarks might exeed the number of tool calibration
* landmarks for reasons of redundancy and averaging. They are used for, e.g., manually registering
* the pose of a tool by visual markers in a CT scan. If you would use these landmarks to do a
* point based registration from image space to tracking space later, you might overweight the
* tool because of two many landmarks compared to other markers.
*
* @return Returns the tool registration landmarks which represent markers / special points on a
* tool that can be used for registration. The landmarks should be given in tool coordinates.
* If there are no landmarks defined for this tool the method returns an empty point set.
*/
itkGetConstMacro(ToolRegistrationLandmarks,mitk::PointSet::Pointer);
/** @brief Sets the tool registration landmarks which represent markers / special points on a
* tool that can be used for registration. The landmarks should be given in tool coordinates.
*/
itkSetMacro(ToolRegistrationLandmarks,mitk::PointSet::Pointer);
/** @return Returns the tool calibration landmarks for calibration of the defined points in the
* tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool.
*/
itkGetConstMacro(ToolCalibrationLandmarks,mitk::PointSet::Pointer);
/** @brief Sets the tool calibration landmarks for calibration of defined points in the
* tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool.
*/
itkSetMacro(ToolCalibrationLandmarks,mitk::PointSet::Pointer);
//SerialNumber:
itkGetConstMacro(SerialNumber,std::string);
itkSetMacro(SerialNumber,std::string);
//TrackingDeviceType:
itkGetConstMacro(TrackingDeviceType,mitk::TrackingDeviceType);
itkSetMacro(TrackingDeviceType,mitk::TrackingDeviceType);
//ToolName (only getter):
/** @return Returns the name of this navigation tool. Returns an empty string if there is
* no name (for example because the data node has not been set yet).
*
* Note: There is no setter for the name,
* because the name of the corresponding data node is used as tool name. So if you
* want to modify the name of this navigation tool only get the data node and modify
* its name.
*/
std::string GetToolName();
//ToolSurface (only getter):
/** @return Returns the surface of this navigation tool. Returns NULL if there is
* no surface (for example because the data node has not been set yet).
*
* Note: There is no setter for the surface,
* because the surface is the data of the corresponding data node. So if you
* want to set a new surface only get the data node and modify its data.
*/
mitk::Surface::Pointer GetToolSurface();
/**
* \brief Graft the data and information from one NavigationTool to another.
*
* Copies the content of data into this object.
* This is a convenience method to setup a second NavigationTool object with all the meta
* information of another NavigationTool object.
* Note that this method is different than just using two
* SmartPointers to the same NavigationTool object since separate DataObjects are
* still maintained.
*/
virtual void Graft(const DataObject *data) override;
/**
* Return all relevant information as string, e.g. to display all tool information
*/
std::string GetStringWithAllToolInformation() const;
//#######################
protected:
NavigationTool();
~NavigationTool();
//## data structure of a navigation tool object ##
std::string m_Identifier;
NavigationToolType m_Type;
/** @brief This DataNode holds a toolname and a tool surface */
mitk::DataNode::Pointer m_DataNode;
/** @brief This member variable holds a mathamatical description of the tool */
itk::SpatialObject<3>::Pointer m_SpatialObject;
- /** @brief This member variable holds a pointer to the corresponding tracking tool in the hardware. */
- mitk::TrackingTool::Pointer m_TrackingTool;
/** @brief The path to the calibration file of the tool. */
std::string m_CalibrationFile;
/** @brief A unique serial number of the tool which is needed to identify the tool correctly. This is very important
* in case of the NDI Aurora System. */
std::string m_SerialNumber;
/** @brief This member holds the tracking device type of the tool. */
mitk::TrackingDeviceType m_TrackingDeviceType;
/** @brief Holds landmarks for tool registration. */
mitk::PointSet::Pointer m_ToolRegistrationLandmarks;
/** @brief Holds landmarks for calibration of the defined points in the tool coordinate system,
* e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool.
*/
mitk::PointSet::Pointer m_ToolCalibrationLandmarks;
/** @brief Holds the position of the tool tip. */
mitk::Point3D m_ToolTipPosition;
/** @brief Holds the orientation of the tool tip. */
mitk::Quaternion m_ToolTipOrientation;
/** @brief Holds the axis of the tool. */
mitk::Point3D m_ToolAxis;
//#################################################
};
} // namespace mitk
#endif //NAVIGATIONTOOL
diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkNavigationDataPlayerView.cpp b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkNavigationDataPlayerView.cpp
index 27f1f46617..6d993d52ee 100644
--- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkNavigationDataPlayerView.cpp
+++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkNavigationDataPlayerView.cpp
@@ -1,241 +1,240 @@
/*===================================================================
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.
===================================================================*/
// Qmitk
#include "QmitkNavigationDataPlayerView.h"
// QT
#include <QFileDialog>
#include <QMessageBox>
//mitk
#include <mitkNavigationDataSet.h>
#include <mitkNavigationDataReaderInterface.h>
#include <mitkNavigationDataSequentialPlayer.h>
#include <mitkNavigationDataPlayer.h>
#include <mitkVirtualTrackingTool.h>
#include <mitkIOUtil.h>
// VTK
#include <vtkSphereSource.h>
const std::string QmitkNavigationDataPlayerView::VIEW_ID = "org.mitk.views.navigationdataplayer";
QmitkNavigationDataPlayerView::QmitkNavigationDataPlayerView()
: m_Controls( 0 )
{
}
QmitkNavigationDataPlayerView::~QmitkNavigationDataPlayerView()
{
}
void QmitkNavigationDataPlayerView::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::QmitkNavigationDataPlayerViewControls;
m_Controls->setupUi( parent );
this->CreateConnections();
// make deselected Player invisible
m_Controls->m_TimedWidget->setVisible(false);
}
}
void QmitkNavigationDataPlayerView::SetFocus()
{
if ( m_Controls )
{
m_Controls->m_grpbxControls->setFocus();
}
}
void QmitkNavigationDataPlayerView::CreateConnections()
{
connect( m_Controls->m_RdbSequential, SIGNAL(released()), this, SLOT(OnSelectPlayer()) );
connect( m_Controls->m_RdbTimeBased, SIGNAL(released()), this, SLOT(OnSelectPlayer()) );
connect( m_Controls->m_BtnOpenFile, SIGNAL(released()), this, SLOT(OnOpenFile()) );
connect( m_Controls->m_ChkDisplay, SIGNAL(released()), this, SLOT(OnSetDisplay()) );
connect( m_Controls->m_chkRepeat, SIGNAL(stateChanged(int)), this, SLOT(OnSetRepeat(int)) );
connect( m_Controls->m_ChkMicroservice, SIGNAL(released()), this, SLOT(OnSetMicroservice()) );
connect( m_Controls->m_SequentialWidget, SIGNAL(SignalUpdate()), this, SLOT(OnUpdate()) );
connect( m_Controls->m_TimedWidget, SIGNAL(SignalUpdate()), this, SLOT(OnUpdate()) );
this->SetInteractionComponentsEnabledState(false);
}
void QmitkNavigationDataPlayerView::OnOpenFile()
{
mitk::NavigationDataReaderInterface::Pointer reader = NULL;
QString filter = tr("NavigationData File (*.csv *.xml)");
QString fileName = QFileDialog::getOpenFileName(NULL, tr("Open NavigationData Set"), "", filter);
if ( fileName.isNull() ) { return; } // user pressed cancel
try
{
m_Data = dynamic_cast<mitk::NavigationDataSet*> (mitk::IOUtil::LoadBaseData(fileName.toStdString()).GetPointer());
}
catch ( const mitk::Exception &e )
{
MITK_WARN("NavigationDataPlayerView") << "could not open file " << fileName.toStdString();
QMessageBox::critical(0, "Error Reading File", "The file '" + fileName
+"' could not be read.\n" + e.GetDescription() );
return;
}
if (m_Controls->m_ChkConvertToPointSet->isChecked())
m_Data->ConvertNavigationDataToPointSet();
// Update Labels
m_Controls->m_LblFilePath->setText(fileName);
m_Controls->m_LblFrames->setText(QString::number(m_Data->Size()));
m_Controls->m_LblTools->setText(QString::number(m_Data->GetNumberOfTools()));
// Initialize Widgets and create Player
this->OnSelectPlayer();
this->SetInteractionComponentsEnabledState(true);
}
void QmitkNavigationDataPlayerView::OnSelectPlayer()
{
if (m_Controls->m_RdbSequential->isChecked())
{
m_Controls->m_SequentialWidget->setVisible(true);
m_Controls->m_TimedWidget->setVisible(false);
mitk::NavigationDataSequentialPlayer::Pointer seqPlayer = mitk::NavigationDataSequentialPlayer::New();
seqPlayer->SetNavigationDataSet(m_Data);
m_Controls->m_SequentialWidget->SetPlayer(seqPlayer);
m_Player = seqPlayer;
} else {
m_Controls->m_SequentialWidget->setVisible(false);
m_Controls->m_TimedWidget->setVisible(true);
mitk::NavigationDataPlayer::Pointer timedPlayer = mitk::NavigationDataPlayer::New();
timedPlayer->SetNavigationDataSet(m_Data);
m_Controls->m_TimedWidget->SetPlayer(timedPlayer);
m_Player = timedPlayer;
}
this->ConfigurePlayer();
// SetupRenderingPipeline
this->OnSetDisplay();
}
void QmitkNavigationDataPlayerView::ConfigurePlayer()
{
// set repeat mode according to the checkbox
m_Player->SetRepeat( m_Controls->m_chkRepeat->isChecked() );
}
void QmitkNavigationDataPlayerView::OnSetRepeat(int checkState)
{
m_Player->SetRepeat(checkState != 0);
}
void QmitkNavigationDataPlayerView::OnSetMicroservice(){
if(m_Controls->m_ChkMicroservice->isChecked())
{
m_ToolStorage = mitk::NavigationToolStorage::New();
for (itk::ProcessObject::DataObjectPointerArraySizeType i = 0;
i < m_Player->GetNumberOfIndexedOutputs(); i++)
{
mitk::NavigationTool::Pointer currentDummyTool = mitk::NavigationTool::New();
mitk::VirtualTrackingTool::Pointer dummyTool = mitk::VirtualTrackingTool::New();
std::stringstream name;
name << "Virtual Tool " << i;
dummyTool->SetToolName(name.str());
- currentDummyTool->SetTrackingTool(dummyTool.GetPointer());
currentDummyTool->SetDataNode(m_RenderingNodes.at(i));
currentDummyTool->SetIdentifier(name.str());
m_ToolStorage->AddTool(currentDummyTool);
}
m_Player->RegisterAsMicroservice();
m_ToolStorage->SetName("NavigationDataPlayer Tool Storage");
m_ToolStorage->SetSourceID(m_Player->GetMicroserviceID());
m_ToolStorage->RegisterAsMicroservice();
} else {
if (m_ToolStorage.IsNotNull()) m_ToolStorage->UnRegisterMicroservice();
m_ToolStorage = NULL;
m_Player->UnRegisterMicroservice();
}
}
void QmitkNavigationDataPlayerView::OnUpdate(){
if (m_VisFilter.IsNotNull())
{
m_VisFilter->Update();
mitk::RenderingManager::GetInstance()->RequestUpdateAll();
}
}
void QmitkNavigationDataPlayerView::OnSetDisplay(){
DestroyPipeline();
if ( (m_Controls->m_ChkDisplay->isChecked()) && ( m_Player.IsNotNull() ))
{
CreatePipeline();
}
}
void QmitkNavigationDataPlayerView::CreatePipeline(){
m_VisFilter = mitk::NavigationDataObjectVisualizationFilter::New();
m_VisFilter->ConnectTo(m_Player);
for (unsigned int i = 0 ; i < m_Player->GetNumberOfIndexedOutputs(); i++ ) {
mitk::DataNode::Pointer node = mitk::DataNode::New();
QString name = "Recorded Tool " + QString::number(i + 1);
node->SetName(name.toStdString());
//create small sphere and use it as surface
mitk::Surface::Pointer mySphere = mitk::Surface::New();
vtkSphereSource *vtkData = vtkSphereSource::New();
vtkData->SetRadius(5.0f);
vtkData->SetCenter(0.0, 0.0, 0.0);
vtkData->Update();
mySphere->SetVtkPolyData(vtkData->GetOutput());
vtkData->Delete();
node->SetData(mySphere);
m_VisFilter->SetRepresentationObject(i, mySphere);
// Add Node to DataStorageand to local list of Nodes
GetDataStorage()->Add(node);
m_RenderingNodes.push_back(node);
}
m_VisFilter->Update();
mitk::RenderingManager::GetInstance()->InitializeViewsByBoundingObjects(GetDataStorage());
mitk::RenderingManager::GetInstance()->RequestUpdateAll();
}
void QmitkNavigationDataPlayerView::DestroyPipeline(){
m_VisFilter = NULL;
for (unsigned int i = 0; i < m_RenderingNodes.size(); i++){
this->GetDataStorage()->Remove(m_RenderingNodes[i]);
}
m_RenderingNodes.clear();
}
void QmitkNavigationDataPlayerView::SetInteractionComponentsEnabledState(bool isActive){
m_Controls->m_grpbxSettings->setEnabled(isActive);
m_Controls->m_grpbxControls->setEnabled(isActive);
}
\ No newline at end of file