diff --git a/Modules/IGT/DataManagement/mitkNavigationTool.cpp b/Modules/IGT/DataManagement/mitkNavigationTool.cpp index ebb0972b02..24b7dc669a 100644 --- a/Modules/IGT/DataManagement/mitkNavigationTool.cpp +++ b/Modules/IGT/DataManagement/mitkNavigationTool.cpp @@ -1,147 +1,180 @@ /*=================================================================== 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; } +itk::LightObject::Pointer mitk::NavigationTool::InternalClone() const +{ + Self::Pointer tool = new Self(*this); + tool->UnRegister(); + return tool.GetPointer(); +} + +mitk::NavigationTool::NavigationTool(const NavigationTool &other) + : Superclass() +{ + this->m_Identifier = other.m_Identifier; + this->m_Type = other.m_Type; + if (other.m_DataNode.IsNotNull()) + { + this->m_DataNode = other.m_DataNode->Clone(); + if (other.m_DataNode->GetData()) + this->m_DataNode->SetData(other.m_DataNode->GetData()); + } + + if (other.m_SpatialObject.IsNotNull()) + this->m_SpatialObject = other.m_SpatialObject->Clone(); + this->m_CalibrationFile = other.m_CalibrationFile; + this->m_SerialNumber = other.m_SerialNumber; + this->m_TrackingDeviceType = other.m_TrackingDeviceType; + if (other.m_ToolRegistrationLandmarks.IsNotNull()) + this->m_ToolRegistrationLandmarks = other.m_ToolRegistrationLandmarks->Clone(); + if (other.m_ToolCalibrationLandmarks.IsNotNull()) + this->m_ToolCalibrationLandmarks = other.m_ToolCalibrationLandmarks->Clone(); + this->m_ToolTipPosition = other.m_ToolTipPosition; + this->m_ToolTipOrientation = other.m_ToolTipOrientation; + this->m_ToolAxis = other.m_ToolAxis; +} + 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(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_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(m_DataNode->GetData()); } } std::string mitk::NavigationTool::GetStringWithAllToolInformation() const { std::stringstream _info; _info << " 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; return _info.str(); } \ No newline at end of file diff --git a/Modules/IGT/DataManagement/mitkNavigationTool.h b/Modules/IGT/DataManagement/mitkNavigationTool.h index f7b8687dab..0cc12c29fb 100644 --- a/Modules/IGT/DataManagement/mitkNavigationTool.h +++ b/Modules/IGT/DataManagement/mitkNavigationTool.h @@ -1,207 +1,209 @@ /*=================================================================== 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 #include #include //mitk headers #include #include #include #include #include #include #include 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); //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(const NavigationTool &other); ~NavigationTool(); + virtual itk::LightObject::Pointer InternalClone() const override; //## 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 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/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.cpp b/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.cpp index 0c917674c9..9be1c9c9d5 100644 --- a/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.cpp @@ -1,395 +1,386 @@ /*=================================================================== 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 #include #include #include #include "mitkTrackingDeviceTypeCollection.h" - //qt headers #include #include #include #include #include //poco headers #include // vtk #include #include const std::string QmitkNavigationToolCreationWidget::VIEW_ID = "org.mitk.views.navigationtoolcreationwizardwidget"; QmitkNavigationToolCreationWidget::QmitkNavigationToolCreationWidget(QWidget* parent, Qt::WindowFlags f) : QWidget(parent, f) { m_ToolToBeEdited = mitk::NavigationTool::New(); m_FinalTool = mitk::NavigationTool::New(); m_ToolTransformationWidget = new QmitkInteractiveTransformationWidget(); m_Controls = NULL; CreateQtPartControl(this); CreateConnections(); this->InitializeUIToolLandmarkLists(); Initialize(nullptr, ""); //Default values, which are not stored in tool m_Controls->m_CalibrationFileName->setText("none"); m_Controls->m_Surface_Use_Sphere->setChecked(true); m_Controls->m_CalibrationLandmarksList->EnableEditButton(false); m_Controls->m_RegistrationLandmarksList->EnableEditButton(false); RefreshTrackingDeviceCollection(); } QmitkNavigationToolCreationWidget::~QmitkNavigationToolCreationWidget() { m_Controls->m_CalibrationLandmarksList->SetPointSetNode(NULL); m_Controls->m_RegistrationLandmarksList->SetPointSetNode(NULL); delete m_ToolTransformationWidget; } 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_TrackingDeviceTypeChooser), SIGNAL(currentIndexChanged(int index)), this, SLOT(GetGuiElements())); - connect((QObject*)(m_Controls->m_ToolNameEdit), SIGNAL(textChanged(const QString &text)), this, SLOT(GetGuiElements())); - connect((QObject*)(m_Controls->m_ToolTypeChooser), SIGNAL(currentIndexChanged(int index)), this, SLOT(GetGuiElements())); - connect((QObject*)(m_Controls->m_IdentifierEdit), SIGNAL(textChanged(const QString &text)), this, SLOT(GetGuiElements())); - connect((QObject*)(m_Controls->m_SerialNumberEdit), SIGNAL(textChanged(const QString &text)), this, SLOT(GetGuiElements())); - connect((QObject*)(m_Controls->m_ToolAxisX), SIGNAL(valueChanged()), this, SLOT(GetGuiElements())); - connect((QObject*)(m_Controls->m_ToolAxisY), SIGNAL(valueChanged()), this, SLOT(GetGuiElements())); - connect((QObject*)(m_Controls->m_ToolAxisZ), SIGNAL(valueChanged()), this, SLOT(GetGuiElements())); + connect((QObject*)(m_Controls->m_TrackingDeviceTypeChooser), SIGNAL(currentIndexChanged(int)), this, SLOT(GetValuesFromGuiElements())); + connect((QObject*)(m_Controls->m_ToolNameEdit), SIGNAL(textChanged(const QString)), this, SLOT(GetValuesFromGuiElements())); + connect((QObject*)(m_Controls->m_ToolTypeChooser), SIGNAL(currentIndexChanged(int)), this, SLOT(GetValuesFromGuiElements())); + connect((QObject*)(m_Controls->m_IdentifierEdit), SIGNAL(textChanged(const QString)), this, SLOT(GetValuesFromGuiElements())); + connect((QObject*)(m_Controls->m_SerialNumberEdit), SIGNAL(textChanged(const QString)), this, SLOT(GetValuesFromGuiElements())); + connect((QObject*)(m_Controls->m_ToolAxisX), SIGNAL(valueChanged(int)), this, SLOT(GetValuesFromGuiElements())); + connect((QObject*)(m_Controls->m_ToolAxisY), SIGNAL(valueChanged(int)), this, SLOT(GetValuesFromGuiElements())); + connect((QObject*)(m_Controls->m_ToolAxisZ), SIGNAL(valueChanged(int)), this, SLOT(GetValuesFromGuiElements())); //Buttons connect((QObject*)(m_Controls->m_LoadCalibrationFile), SIGNAL(clicked()), this, SLOT(OnLoadCalibrationFile())); connect(m_Controls->m_Surface_Use_Other, SIGNAL(toggled(bool)), this, SLOT(OnSurfaceUseOtherToggled())); connect((QObject*)(m_Controls->m_LoadSurface), SIGNAL(clicked()), this, SLOT(OnLoadSurface())); connect((QObject*)(m_Controls->m_EditToolTip), SIGNAL(clicked()), this, SLOT(OnEditToolTip())); - connect((QObject*)(m_ToolTransformationWidget), SIGNAL(EditToolTipFinished(mitk::AffineTransform3D::Pointer toolTip)), this, - SLOT(OnEditToolTipFinished(mitk::AffineTransform3D::Pointer toolTip))); + connect((QObject*)(m_ToolTransformationWidget), SIGNAL(EditToolTipFinished(mitk::AffineTransform3D::Pointer)), this, + SLOT(OnEditToolTipFinished(mitk::AffineTransform3D::Pointer))); connect((QObject*)(m_Controls->m_cancel), SIGNAL(clicked()), this, SLOT(OnCancel())); connect((QObject*)(m_Controls->m_finished), SIGNAL(clicked()), this, SLOT(OnFinished())); } } void QmitkNavigationToolCreationWidget::Initialize(mitk::DataStorage* dataStorage, const std::string& supposedIdentifier, const 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")); //Create new tool, which should be edited/created m_ToolToBeEdited = nullptr;//Reset m_ToolToBeEdited = mitk::NavigationTool::New();//Reinitialize m_ToolToBeEdited->SetIdentifier(supposedIdentifier); //Create the default cone surface. Can be changed later on... //create DataNode... mitk::DataNode::Pointer newNode = mitk::DataNode::New(); newNode->SetName(supposedName); - m_ToolToBeEdited->SetDataNode(newNode);//ToDo: Data storage ok? + m_ToolToBeEdited->SetDataNode(newNode); SetConeAsToolSurface(); this->SetDefaultData(m_ToolToBeEdited); } void QmitkNavigationToolCreationWidget::SetConeAsToolSurface() { //create small cone 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(); m_ToolToBeEdited->GetDataNode()->SetData(mySphere); } void QmitkNavigationToolCreationWidget::SetDefaultData(mitk::NavigationTool::Pointer DefaultTool) { //Set Members. This can either be the new initialized tool from call of Initialize() or a tool which already exists in the toolStorage - //TODO m_ToolToBeEdited = DefaultTool->Clone();//Todo implement clone function!!!! + m_ToolToBeEdited = DefaultTool->Clone(); //Set all gui variables SetGuiElements(); } void QmitkNavigationToolCreationWidget::SetGuiElements() { //Block signals, so that we don't call SetGuiElements again. This is undone at the end o this function! this->blockSignals(true); //DeviceType int index = m_Controls->m_TrackingDeviceTypeChooser->findText(QString::fromStdString(m_ToolToBeEdited->GetTrackingDeviceType())); if (index >= 0) { m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(index); } m_Controls->m_ToolNameEdit->setText(QString(m_ToolToBeEdited->GetDataNode()->GetName().c_str())); m_Controls->m_CalibrationFileName->setText(QString(m_ToolToBeEdited->GetCalibrationFile().c_str())); - m_Controls->m_SurfaceChooser->SetSelectedNode(m_ToolToBeEdited->GetDataNode()); FillUIToolLandmarkLists(m_ToolToBeEdited->GetToolCalibrationLandmarks(), m_ToolToBeEdited->GetToolRegistrationLandmarks()); switch (m_ToolToBeEdited->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_IdentifierEdit->setText(QString(m_ToolToBeEdited->GetIdentifier().c_str())); m_Controls->m_SerialNumberEdit->setText(QString(m_ToolToBeEdited->GetSerialNumber().c_str())); m_Controls->m_ToolAxisX->setValue(m_ToolToBeEdited->GetToolAxis()[0]); m_Controls->m_ToolAxisY->setValue(m_ToolToBeEdited->GetToolAxis()[1]); m_Controls->m_ToolAxisZ->setValue(m_ToolToBeEdited->GetToolAxis()[2]); QString _label = "(" + QString::number(m_ToolToBeEdited->GetToolTipPosition()[0], 'f', 1) + ", " + QString::number(m_ToolToBeEdited->GetToolTipPosition()[1], 'f', 1) + ", " + QString::number(m_ToolToBeEdited->GetToolTipPosition()[2], 'f', 1) + "), quat: [" + QString::number(m_ToolToBeEdited->GetToolTipOrientation()[0], 'f', 2) + ", " + QString::number(m_ToolToBeEdited->GetToolTipOrientation()[1], 'f', 2) + ", " + QString::number(m_ToolToBeEdited->GetToolTipOrientation()[2], 'f', 2) + ", " + QString::number(m_ToolToBeEdited->GetToolTipOrientation()[3], 'f', 2) + "]"; m_Controls->m_ToolTipLabel->setText(_label); //Undo block signals. Don't remove it, if signals are still blocked at the beginning of this function! this->blockSignals(false); } void QmitkNavigationToolCreationWidget::OnSurfaceUseOtherToggled() { m_Controls->m_LoadSurface->setEnabled(m_Controls->m_Surface_Use_Other->isChecked()); if (m_Controls->m_Surface_Use_Sphere->isChecked()) SetConeAsToolSurface(); } void QmitkNavigationToolCreationWidget::OnLoadSurface() { std::string filename = QFileDialog::getOpenFileName(NULL, tr("Open Surface"), QmitkIGTCommonHelper::GetLastFileLoadPath(), tr("STL (*.stl)")).toLatin1().data(); QmitkIGTCommonHelper::SetLastFileLoadPathByFileName(QString::fromStdString(filename)); try { mitk::IOUtil::Load(filename.c_str(), *m_DataStorage); } catch (mitk::Exception &e) { MITK_ERROR << "Exception occured: " << e.what(); } //Todo: ist der neue Knoten automatisch der erste oder wie bekomme ich denß m_ToolToBeEdited->GetDataNode()->SetData(m_Controls->m_SurfaceChooser->GetSelectedNode()->GetData()); } void QmitkNavigationToolCreationWidget::OnLoadCalibrationFile() { QString fileName = QFileDialog::getOpenFileName(NULL, tr("Open Calibration File"), QmitkIGTCommonHelper::GetLastFileLoadPath(), "*.*"); QmitkIGTCommonHelper::SetLastFileLoadPathByFileName(fileName); m_Controls->m_CalibrationFileName->setText(fileName); m_ToolToBeEdited->SetCalibrationFile(fileName.toStdString()); } void QmitkNavigationToolCreationWidget::GetValuesFromGuiElements() { - //Tracking Device m_ToolToBeEdited->SetTrackingDeviceType(m_Controls->m_TrackingDeviceTypeChooser->currentText().toStdString()); m_ToolToBeEdited->GetDataNode()->SetName(m_Controls->m_ToolNameEdit->text().toStdString()); //Tool Landmarks mitk::PointSet::Pointer toolCalLandmarks, toolRegLandmarks; GetUIToolLandmarksLists(toolCalLandmarks, toolRegLandmarks); m_ToolToBeEdited->SetToolCalibrationLandmarks(toolCalLandmarks); m_ToolToBeEdited->SetToolRegistrationLandmarks(toolRegLandmarks); //Advanced if (m_Controls->m_ToolTypeChooser->currentText() == "Instrument") m_ToolToBeEdited->SetType(mitk::NavigationTool::Instrument); else if (m_Controls->m_ToolTypeChooser->currentText() == "Fiducial") m_ToolToBeEdited->SetType(mitk::NavigationTool::Fiducial); else if (m_Controls->m_ToolTypeChooser->currentText() == "Skinmarker") m_ToolToBeEdited->SetType(mitk::NavigationTool::Skinmarker); else m_FinalTool->SetType(mitk::NavigationTool::Unknown); m_ToolToBeEdited->SetIdentifier(m_Controls->m_IdentifierEdit->text().toLatin1().data()); m_ToolToBeEdited->SetSerialNumber(m_Controls->m_SerialNumberEdit->text().toLatin1().data()); //Tool Axis mitk::Point3D toolAxis; toolAxis.SetElement(0, (m_Controls->m_ToolAxisX->value())); toolAxis.SetElement(1, (m_Controls->m_ToolAxisY->value())); toolAxis.SetElement(2, (m_Controls->m_ToolAxisZ->value())); m_ToolToBeEdited->SetToolAxis(toolAxis); } mitk::NavigationTool::Pointer QmitkNavigationToolCreationWidget::GetCreatedTool() { return m_FinalTool; } - void QmitkNavigationToolCreationWidget::OnFinished() { //here we create a new tool m_FinalTool = m_ToolToBeEdited->Clone(); - emit NavigationToolFinished(); } void QmitkNavigationToolCreationWidget::OnCancel() { - Initialize(nullptr,"");//Reset everything to a fresh tool, like it was done in the constructor + Initialize(nullptr, "");//Reset everything to a fresh tool, like it was done in the constructor emit Canceled(); } - void QmitkNavigationToolCreationWidget::SetTrackingDeviceType(mitk::TrackingDeviceType type, bool changeable /*= true*/) { //Adapt Gui int index = m_Controls->m_TrackingDeviceTypeChooser->findText(QString::fromStdString(type)); if (index >= 0) { m_Controls->m_TrackingDeviceTypeChooser->setCurrentIndex(index); } m_Controls->m_TrackingDeviceTypeChooser->setEditable(changeable); //Set data to member m_ToolToBeEdited->SetTrackingDeviceType(type); } - //################################################################################## //############################## internal help methods ############################# //################################################################################## void QmitkNavigationToolCreationWidget::MessageBox(std::string s) { QMessageBox msgBox; msgBox.setText(s.c_str()); msgBox.exec(); } void QmitkNavigationToolCreationWidget::OnEditToolTip() { m_ToolTransformationWidget->SetGeometryPointer(m_ToolToBeEdited->GetDataNode()->GetData()->GetGeometry()); m_ToolTransformationWidget->SetValues(m_ToolToBeEdited->GetToolTipTransform()); - - QVBoxLayout *mainLayout = new QVBoxLayout; mainLayout->addWidget(m_ToolTransformationWidget); m_ToolEditDialog.setLayout(mainLayout); m_ToolEditDialog.setWindowTitle("Edit Tool Tip and Tool Orientation"); + m_ToolEditDialog.setProperty("minimumSizeHint", m_ToolTransformationWidget->size()); m_ToolEditDialog.open(); } void QmitkNavigationToolCreationWidget::OnEditToolTipFinished(mitk::AffineTransform3D::Pointer toolTip) { m_ToolEditDialog.close(); //This function is called, when the toolTipEdit view is closed. m_ToolToBeEdited->SetToolTipPosition(toolTip->GetOffset()); mitk::NavigationData::Pointer tempND = mitk::NavigationData::New(toolTip);//Convert to Navigation data for simple transversion to quaternion m_ToolToBeEdited->SetToolTipOrientation(tempND->GetOrientation()); //Update Label QString _label = "(" + QString::number(m_ToolToBeEdited->GetToolTipPosition()[0], 'f', 1) + ", " + QString::number(m_ToolToBeEdited->GetToolTipPosition()[1], 'f', 1) + ", " + QString::number(m_ToolToBeEdited->GetToolTipPosition()[2], 'f', 1) + "), quat: [" + QString::number(m_ToolToBeEdited->GetToolTipOrientation()[0], 'f', 2) + ", " + QString::number(m_ToolToBeEdited->GetToolTipOrientation()[1], 'f', 2) + ", " + QString::number(m_ToolToBeEdited->GetToolTipOrientation()[2], 'f', 2) + ", " + QString::number(m_ToolToBeEdited->GetToolTipOrientation()[3], 'f', 2) + "]"; m_Controls->m_ToolTipLabel->setText(_label); } - 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()); } void QmitkNavigationToolCreationWidget::RefreshTrackingDeviceCollection() { us::ModuleContext* context = us::GetModuleContext(); std::vector > refs = context->GetServiceReferences(); if (refs.empty()) { MITK_WARN << "No tracking device service found!"; return; } mitk::TrackingDeviceTypeCollection* _DeviceTypeCollection = context->GetService(refs.front()); for (auto name : _DeviceTypeCollection->GetTrackingDeviceTypeNames()) { //if the device is not included yet, add name to comboBox and widget to stackedWidget if (m_Controls->m_TrackingDeviceTypeChooser->findText(QString::fromStdString(name)) == -1) { m_Controls->m_TrackingDeviceTypeChooser->addItem(QString::fromStdString(name)); } } } \ No newline at end of file diff --git a/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.ui.autosave b/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.ui.autosave deleted file mode 100644 index a68c0b4684..0000000000 --- a/Modules/IGTUI/Qmitk/QmitkNavigationToolCreationWidget.ui.autosave +++ /dev/null @@ -1,581 +0,0 @@ - - - QmitkNavigationToolCreationWidgetControls - - - - 0 - 0 - 415 - 351 - - - - Form - - - - - - - - Device Type: - - - - - - - - 150 - 0 - - - - - 150 - 16777215 - - - - - - - - - - 3 - - - - - 0 - 0 - 397 - 157 - - - - Basic Information - - - - - - - - - 100 - 0 - - - - Name: - - - - - - - NewTool - - - - - - - - - - - - 100 - 0 - - - - Calibration File: - - - - - - - false - - - none - - - - - - - - 40 - 16777215 - - - - Load - - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - - - 0 - 0 - 397 - 157 - - - - 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 - 397 - 157 - - - - Tool Landmarks - - - - - - 1 - - - - Calibration Landmarks - - - - - - - - - - Registration Landmarks - - - - - - - - - - - - - - - 0 - -4 - 380 - 161 - - - - 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 - - - - - - - - - - Tool Axis: - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - QAbstractSpinBox::CorrectToPreviousValue - - - -9999 - - - 9999 - - - 1 - - - - - - - -9999 - - - 9999 - - - - - - - -9999 - - - 9999 - - - - - - - - - - - - - Qt::Horizontal - - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Cancel - - - - - - - Finished - - - - - - - - - - QmitkDataStorageComboBox - QComboBox -
QmitkDataStorageComboBox.h
- 1 - - - QmitkPointListWidget - QWidget -
QmitkPointListWidget.h
- 1 - - - - -