diff --git a/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp b/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp index 45a309efb0..bce23cb149 100644 --- a/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkNavigationToolManagementWidget.cpp @@ -1,382 +1,383 @@ /*=================================================================== 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 //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(); + filename.append(".IGTTool"); 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_MoveToolUp), SIGNAL(clicked()), this, SLOT(OnMoveToolUp()) ); connect( (QObject*)(m_Controls->m_MoveToolDown), SIGNAL(clicked()), this, SLOT(OnMoveToolDown()) ); 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::OnMoveToolUp() { std::string currentIdentifier = m_NavigationToolStorage->GetTool(m_Controls->m_ToolList->currentIndex().row())->GetIdentifier(); int NewNumber = m_Controls->m_ToolList->currentIndex().row() - 1; if (NewNumber<0) {MITK_WARN << "Cannot move tool up because it is on the top!";} else {m_NavigationToolStorage->AssignToolNumber(currentIdentifier,NewNumber);} UpdateToolTable(); } void QmitkNavigationToolManagementWidget::OnMoveToolDown() { std::string currentIdentifier = m_NavigationToolStorage->GetTool(m_Controls->m_ToolList->currentIndex().row())->GetIdentifier(); int NewNumber = m_Controls->m_ToolList->currentIndex().row() + 1; if (NewNumber>=m_NavigationToolStorage->GetToolCount()) {MITK_WARN << "Cannot move tool down because it is the last tool in this storage!";} else {m_NavigationToolStorage->AssignToolNumber(currentIdentifier,NewNumber);} UpdateToolTable(); } 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()); QString defaultName = "NavigationTool"+QString::number(m_NavigationToolStorage->GetToolCount()); m_Controls->m_ToolCreationWidget->Initialize(m_DataStorage,defaultIdentifier.toStdString(),defaultName.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: currentTool += "(NP Optitrack/"; break; case mitk::VirtualTracker: currentTool += "(Virtual Tracker/"; break; case mitk::OpenIGTLinkTrackingDeviceConnection: currentTool += "(Open IGT Link/"; 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/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibration.cpp b/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibration.cpp index 7849f7008b..33c077b9c2 100644 --- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibration.cpp +++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibration.cpp @@ -1,558 +1,563 @@ /*=================================================================== 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 // Blueberry #include #include // Qmitk #include "IGTNavigationToolCalibration.h" // mitk #include #include #include #include #include // Qt #include #include //vtk #include const std::string IGTNavigationToolCalibration::VIEW_ID = "org.mitk.views.igtnavigationtoolcalibration"; IGTNavigationToolCalibration::IGTNavigationToolCalibration() {} IGTNavigationToolCalibration::~IGTNavigationToolCalibration() { //The following code is required due to a bug in the point list widget. //If this is removed, MITK crashes when closing the view: m_Controls.m_RegistrationLandmarkWidget->SetPointSetNode(NULL); m_Controls.m_CalibrationLandmarkWidget->SetPointSetNode(NULL); } void IGTNavigationToolCalibration::SetFocus() { } void IGTNavigationToolCalibration::OnToolCalibrationMethodChanged(int index) { UpdateManualToolTipCalibrationView(); m_Controls.m_CalibrationMethodsWidget->setCurrentIndex(index); m_IndexCurrentCalibrationMethod = index; } void IGTNavigationToolCalibration::CreateQtPartControl( QWidget *parent ) { //initialize manual tool editing widget m_ManualToolTipEditWidget = new QmitkNavigationToolCreationAdvancedWidget(parent); m_ManualToolTipEditWidget->setWindowFlags(Qt::Tool | Qt::WindowStaysOnTopHint); m_ManualToolTipEditWidget->setWindowTitle("Edit Tool Tip Manually"); m_ManualToolTipEditWidget->setModal(false); m_ManualToolTipEditWidget->SetDataStorage(this->GetDataStorage()); m_TrackingTimer = new QTimer(this); // create GUI widgets from the Qt Designer's .ui file m_Controls.setupUi( parent ); connect( m_Controls.m_SetToolToCalibrate, SIGNAL(clicked()), this, SLOT(SetToolToCalibrate()) ); connect( m_Controls.m_SetPointer, SIGNAL(clicked()), this, SLOT(SetCalibrationPointer()) ); connect( m_TrackingTimer, SIGNAL(timeout()), this, SLOT(UpdateTrackingTimer())); connect( m_Controls.m_AddLandmark, SIGNAL(clicked()), this, SLOT(AddLandmark())); connect( m_Controls.m_SaveCalibratedTool, SIGNAL(clicked()), this, SLOT(SaveCalibratedTool())); connect( m_Controls.m_AddPivotPose, SIGNAL(clicked()), this, SLOT(OnAddPivotPose())); connect( m_Controls.m_ComputePivot, SIGNAL(clicked()), this, SLOT(OnComutePivot())); connect( m_Controls.m_UseComputedPivotPoint, SIGNAL(clicked()), this, SLOT(OnUseComutedPivotPoint())); connect( m_Controls.m_StartEditTooltipManually, SIGNAL(clicked()), this, SLOT(OnStartManualToolTipCalibration())); connect( (QObject*)(m_ManualToolTipEditWidget), SIGNAL(RetrieveDataForManualToolTipManipulation()), this, SLOT(OnRetrieveDataForManualTooltipManipulation()) ); connect( (QObject*)(m_ManualToolTipEditWidget), SIGNAL(DialogCloseRequested()), this, SLOT(OnProcessManualTooltipEditDialogCloseRequest()) ); connect( m_Controls.m_CalibrationMethodComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(OnToolCalibrationMethodChanged(int))); connect( (QObject*)(m_Controls.m_RunCalibrationButton), SIGNAL(clicked()),(QObject*) this, SLOT(OnRunSingleRefToolCalibrationClicked())); connect( (QObject*)(m_Controls.m_CollectNavigationDataButton), SIGNAL(clicked()),(QObject*) this, SLOT(OnLoginSingleRefToolNavigationDataClicked())); connect( (QObject*)(m_Controls.m_SetNewToolTipPosButton), SIGNAL(clicked()),(QObject*) this, SLOT(OnSetNewToolTipPosButtonClicked())); m_IDToolToCalibrate = -1; m_IDCalibrationPointer = -1; m_IndexCurrentCalibrationMethod = -1; m_OnLoginSingleRefToolNavigationDataClicked = false; m_NumberOfNavigationDataCounter = 0; m_NumberOfNavigationData = -1; m_CalibrationLandmarks = mitk::PointSet::New(); m_CalibrationLandmarksNode = mitk::DataNode::New(); m_CalibrationLandmarksNode->SetData(m_CalibrationLandmarks); m_Controls.m_CalibrationLandmarkWidget->SetPointSetNode(m_CalibrationLandmarksNode); m_RegistrationLandmarks = mitk::PointSet::New(); m_RegistrationLandmarksNode = mitk::DataNode::New(); m_RegistrationLandmarksNode->SetData(m_RegistrationLandmarks); m_Controls.m_RegistrationLandmarkWidget->SetPointSetNode(m_RegistrationLandmarksNode); m_ToolSurfaceInToolCoordinatesDataNode = mitk::DataNode::New(); m_ToolSurfaceInToolCoordinatesDataNode->SetName("ToolSurface(ToolCoordinates)"); m_PivotPoses = std::vector(); m_LoggedNavigationDataDifferences = std::vector< mitk::NavigationData::Pointer >(); } void IGTNavigationToolCalibration::OnRunSingleRefToolCalibrationClicked() { - if (!CheckInitialization()) {return;} + if (!CheckInitialization()) { return; } - //1: Compute mean translational offset - m_ResultOffset.Fill(0); - for(std::vector::iterator vecIter = m_LoggedNavigationDataOffsets.begin(); vecIter != m_LoggedNavigationDataOffsets.end(); vecIter++) - { - m_ResultOffset[0] = m_ResultOffset[0] + (*vecIter)[0]; - m_ResultOffset[1] = m_ResultOffset[1] + (*vecIter)[1]; - m_ResultOffset[2] = m_ResultOffset[2] + (*vecIter)[2]; - for(std::vector::iterator innerVec = vecIter+1; innerVec != m_LoggedNavigationDataOffsets.end(); innerVec++) + mitk::NavigationData::Pointer ToolTipTransform = mitk::NavigationData::New(); + + if (m_Controls.m_CalibratePosition->isChecked()) { - m_ComputedDistances.push_back((*vecIter).SquaredEuclideanDistanceTo(*innerVec)); + //1: Compute mean translational offset vector + m_ResultOffsetVector.Fill(0); + for (std::vector::iterator vecIter = m_LoggedNavigationDataOffsets.begin(); vecIter != m_LoggedNavigationDataOffsets.end(); vecIter++) + { + m_ResultOffsetVector[0] = m_ResultOffsetVector[0] + (*vecIter)[0]; + m_ResultOffsetVector[1] = m_ResultOffsetVector[1] + (*vecIter)[1]; + m_ResultOffsetVector[2] = m_ResultOffsetVector[2] + (*vecIter)[2]; + } + m_ResultOffsetVector[0] = m_ResultOffsetVector[0] / m_LoggedNavigationDataOffsets.size(); + m_ResultOffsetVector[1] = m_ResultOffsetVector[1] / m_LoggedNavigationDataOffsets.size(); + m_ResultOffsetVector[2] = m_ResultOffsetVector[2] / m_LoggedNavigationDataOffsets.size(); + + this->m_Controls.m_ResultOfCalibration->setText( + QString("x: ") + QString(QString::number(m_ResultOffsetVector[0], 103, 3)) + + QString("; y: ") + (QString::number(m_ResultOffsetVector[1], 103, 3)) + + QString("; z: ") + (QString::number(m_ResultOffsetVector[2], 103, 3))); + + ToolTipTransform->SetPosition(m_ResultOffsetVector); } - } - m_ResultOffset[0] = m_ResultOffset[0] / m_LoggedNavigationDataOffsets.size(); - m_ResultOffset[1] = m_ResultOffset[1] / m_LoggedNavigationDataOffsets.size(); - m_ResultOffset[2] = m_ResultOffset[2] / m_LoggedNavigationDataOffsets.size(); - - double sum = std::accumulate( m_ComputedDistances.begin(), m_ComputedDistances.end(), 0); - double meanDistance = sum / m_ComputedDistances.size(); - - this->m_Controls.m_ResultOfCalibration->setText( - QString("x: ") + QString(QString::number(m_ResultOffset[0],103,3)) + - QString("; y: ") + (QString::number(m_ResultOffset[1],103,3)) + - QString("; z: ") + (QString::number(m_ResultOffset[2],103,3))); - - //2: Compute mean orientation - mitk::Quaternion meanOrientation; - std::vector allOrientations = std::vector (); - for (int i=0; iGetOrientation());} - meanOrientation = mitk::QuaternionAveraging::CalcAverage(allOrientations); - this->m_Controls.m_ResultOfCalibrationOrientation->setText( - QString("qx: ") + QString(QString::number(meanOrientation.x(),103,3)) + - QString("; qy: ") + (QString::number(meanOrientation.y(),103,3)) + - QString("; qz: ") + (QString::number(meanOrientation.z(),103,3)) + - QString("; qr: ") + (QString::number(meanOrientation.r(),103,3))); - - //3: write everything into the final tool tip transform and save it as member (it will be written to the tool later on) - mitk::NavigationData::Pointer ToolTipTransform = mitk::NavigationData::New(); - ToolTipTransform->SetPosition(m_ResultOffset); - ToolTipTransform->SetOrientation(meanOrientation); - mitk::NavigationData::Pointer ToolTipInTrackingCoordinates = mitk::NavigationData::New(); - ToolTipInTrackingCoordinates->Compose(ToolTipTransform); - ToolTipInTrackingCoordinates->Compose(m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate)); - ShowToolTipPreview(ToolTipInTrackingCoordinates); - m_Controls.m_SetNewToolTipPosButton->setEnabled(true); - m_ComputedToolTipTransformation = ToolTipTransform; + + + if (m_Controls.m_CalibrateOrientation->isChecked()) + { + //2: Compute mean orientation + mitk::Quaternion meanOrientation; + std::vector allOrientations = std::vector (); + for (int i = 0; i < m_LoggedNavigationDataDifferences.size(); i++) { allOrientations.push_back(m_LoggedNavigationDataDifferences.at(i)->GetOrientation()); } + meanOrientation = mitk::QuaternionAveraging::CalcAverage(allOrientations); + this->m_Controls.m_ResultOfCalibrationOrientation->setText( + QString("qx: ") + QString(QString::number(meanOrientation.x(), 103, 3)) + + QString("; qy: ") + (QString::number(meanOrientation.y(), 103, 3)) + + QString("; qz: ") + (QString::number(meanOrientation.z(), 103, 3)) + + QString("; qr: ") + (QString::number(meanOrientation.r(), 103, 3))); + + ToolTipTransform->SetOrientation(meanOrientation); + } + + //3: write everything into the final tool tip transform and save it as member (it will be written to the tool later on) + mitk::NavigationData::Pointer ToolTipInTrackingCoordinates = mitk::NavigationData::New(); + ToolTipInTrackingCoordinates->Compose(ToolTipTransform); + ToolTipInTrackingCoordinates->Compose(m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate)); + ShowToolTipPreview(ToolTipInTrackingCoordinates); + m_Controls.m_SetNewToolTipPosButton->setEnabled(true); + m_ComputedToolTipTransformation = ToolTipTransform; + } void IGTNavigationToolCalibration::OnLoginSingleRefToolNavigationDataClicked() { if (!CheckInitialization()) {return;} m_OnLoginSingleRefToolNavigationDataClicked = true; m_Controls.m_CollectNavigationDataButton->setEnabled(false); m_NumberOfNavigationData = m_Controls.m_NumberOfNavigationDataToCollect->value(); MITK_INFO << "Collecting " << m_NumberOfNavigationData << " NavigationData ... "<setText(labelText); mitk::NavigationData::Pointer referenceTool = m_NavigationDataSourceOfCalibrationPointer->GetOutput(m_IDCalibrationPointer); mitk::NavigationData::Pointer toolToCalibrate = m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate); //compute difference: // differenceND = toolToCalibrate^-1 * referenceTool mitk::NavigationData::Pointer differenceND = mitk::NavigationData::New(); differenceND->Compose(referenceTool); differenceND->Compose(toolToCalibrate->GetInverse()); //inverse mode... if (m_Controls.m_InvertQuaternions->isChecked()) { // negate identity matrix to directly show parameters that will set up in NDI 6D Software Architect differenceND = differenceND->GetInverse(); } //save difference in member m_LoggedNavigationDataOffsets.push_back(differenceND->GetPosition()); m_LoggedNavigationDataDifferences.push_back(differenceND); m_NumberOfNavigationDataCounter++; } if( m_NumberOfNavigationDataCounter == m_NumberOfNavigationData) { m_NumberOfNavigationDataCounter = 0; m_OnLoginSingleRefToolNavigationDataClicked = false; m_Controls.m_CollectNavigationDataButton->setEnabled(true); m_Controls.m_RunCalibrationButton->setEnabled(true); MITK_INFO << "Collecting " << m_NumberOfNavigationData << " NavigationData ... Finished"<setText(labelText); } } void IGTNavigationToolCalibration::OnSetNewToolTipPosButtonClicked() { ApplyToolTipTransform(m_ComputedToolTipTransformation); RemoveToolTipPreview(); } void IGTNavigationToolCalibration::OnAddPivotPose() { if (!CheckInitialization()) {return;} mitk::NavigationData::Pointer currentPose = mitk::NavigationData::New(); currentPose->Graft(m_Controls.m_SelectionWidget->GetSelectedNavigationDataSource()->GetOutput(m_IDToolToCalibrate)); m_PivotPoses.push_back(currentPose); m_Controls.m_PoseNumber->setText(QString::number(m_PivotPoses.size())); } void IGTNavigationToolCalibration::OnComutePivot() { MITK_WARN << "Not implemented yet!"; /* mitk::PivotCalibration::Pointer myPivotCalibration = mitk::PivotCalibration::New(); for (int i=0; im_PivotPoses.size(); i++) { myPivotCalibration->AddNavigationData(m_PivotPoses.at(i)); } QString resultString; if (myPivotCalibration->ComputePivotResult()) { //Get first marker transformation (TODO: compute for each pivot pose and average laster... this would be more accurate!) mitk::NavigationData::Pointer markerTransformationTrackingCoordinates = m_PivotPoses.at(0); //Get computed pivot transfromation in tool coordinates mitk::NavigationData::Pointer pivotPointToolCoordinates = mitk::NavigationData::New(); pivotPointToolCoordinates->SetPosition(myPivotCalibration->GetResultPivotPoint()); pivotPointToolCoordinates->SetOrientation(myPivotCalibration->GetResultPivotRotation()); mitk::NavigationData::Pointer toolRotation = mitk::NavigationData::New(); toolRotation->SetOrientation(markerTransformationTrackingCoordinates->GetOrientation()); pivotPointToolCoordinates->Compose(toolRotation); //Compute pivot point in relation to marker transformation for preview mitk::NavigationData::Pointer pivotInTrackingCoordinates = mitk::NavigationData::New(); pivotInTrackingCoordinates->Compose(pivotPointToolCoordinates); pivotInTrackingCoordinates->Compose(markerTransformationTrackingCoordinates); //add the preview node to the data storage ShowToolTipPreview(pivotInTrackingCoordinates); //parse result string resultString = QString("Pivot comutation succeeded!\n") + QString("RMS Error: ") + QString::number(myPivotCalibration->GetResultRMSError()) + QString("\n") + QString("Pivot Point: ") + QString::number(myPivotCalibration->GetResultPivotPoint()[0]) + ";" + QString::number(myPivotCalibration->GetResultPivotPoint()[1]) + ";" + QString::number(myPivotCalibration->GetResultPivotPoint()[2]) + QString("\n") + QString("Pivot Rotation: ") + QString::number(myPivotCalibration->GetResultPivotRotation()[0]) + ";" + QString::number(myPivotCalibration->GetResultPivotRotation()[1]) + ";" + QString::number(myPivotCalibration->GetResultPivotRotation()[2]) + ";" + QString::number(myPivotCalibration->GetResultPivotRotation()[3]) + QString("\n"); //finally: save results to member variable m_ComputedToolTipTransformation = pivotPointToolCoordinates; //enable button to use the computed point with the tool m_Controls.m_UseComputedPivotPoint->setEnabled(true); } else { resultString = "Pivot comutation failed!"; } MITK_INFO << resultString.toStdString().c_str(); m_Controls.m_ResultText->setText(resultString); */ } void IGTNavigationToolCalibration::OnUseComutedPivotPoint() { if (!CheckInitialization(false)) {return;} RemoveToolTipPreview(); QString resultString = QString("Pivoted tool tip transformation was written to the tool ") + m_ToolToCalibrate->GetToolName().c_str(); ApplyToolTipTransform(m_ComputedToolTipTransformation,resultString.toStdString()); m_Controls.m_ResultText->setText(resultString); } void IGTNavigationToolCalibration::ApplyToolTipTransform(mitk::NavigationData::Pointer ToolTipTransformInToolCoordinates, std::string message) { if (!CheckInitialization(false)) {return;} //Update tool in tool storage m_ToolToCalibrate->SetToolTipPosition(ToolTipTransformInToolCoordinates->GetPosition()); m_ToolToCalibrate->SetToolTipOrientation(ToolTipTransformInToolCoordinates->GetOrientation()); //And also update tracking device, so the transform is directly used mitk::TrackingDeviceSource::Pointer trackingDeviceSource; try { trackingDeviceSource = dynamic_cast(m_NavigationDataSourceOfToolToCalibrate.GetPointer()); mitk::TrackingTool::Pointer TrackingToolToCalibrate = trackingDeviceSource->GetTrackingDevice()->GetTool(m_IDToolToCalibrate); TrackingToolToCalibrate->SetToolTip(ToolTipTransformInToolCoordinates->GetPosition(),ToolTipTransformInToolCoordinates->GetOrientation()); } catch (std::exception& e) { MITK_ERROR << "Error while trying to set the tool tip to the running tracking device. Aborting! (" << e.what() << ")"; } MITK_INFO << message; } void IGTNavigationToolCalibration::ShowToolTipPreview(mitk::NavigationData::Pointer ToolTipInTrackingCoordinates) { mitk::DataNode::Pointer m_ToolTipPointPreview = mitk::DataNode::New(); m_ToolTipPointPreview->SetName("Modified Tool Tip Preview"); mitk::Color red; red.SetRed(1); m_ToolTipPointPreview->SetColor(red); 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(); m_ToolTipPointPreview->SetData(mySphere); m_ToolTipPointPreview->GetData()->GetGeometry()->SetIndexToWorldTransform(ToolTipInTrackingCoordinates->GetAffineTransform3D()); this->GetDataStorage()->Add(m_ToolTipPointPreview); } void IGTNavigationToolCalibration::RemoveToolTipPreview() { this->GetDataStorage()->Remove(m_ToolTipPointPreview.GetPointer()); } void IGTNavigationToolCalibration::UpdateManualToolTipCalibrationView() { if (m_ToolToCalibrate.IsNull()) {return;} //parse human readable transformation data and display it std::stringstream translation; std::stringstream orientation; translation<GetToolTipPosition(); orientation<<"Quaternion: [" << m_ToolToCalibrate->GetToolTipOrientation() <<"]"<GetToolTipOrientation().rotation_euler_angles() <<"]"< rotMatrix =m_ToolToCalibrate->GetToolTipOrientation().rotation_matrix_transpose(); orientation<setText(translation.str().c_str()); m_Controls.m_ManualCurrentOrientation->setPlainText(orientation.str().c_str()); } void IGTNavigationToolCalibration::OnStartManualToolTipCalibration() { if (!CheckInitialization(false)) {return;} m_ManualToolTipEditWidget->SetToolTipSurface(false,m_ToolToCalibrate->GetDataNode()); m_ManualToolTipEditWidget->show(); m_ManualToolTipEditWidget->SetDefaultTooltip(m_ToolToCalibrate->GetToolTipTransform()); m_ManualToolTipEditWidget->ReInitialize(); } void IGTNavigationToolCalibration::OnRetrieveDataForManualTooltipManipulation() { this->GetDataStorage()->Add(m_ToolSurfaceInToolCoordinatesDataNode); m_ManualToolTipEditWidget->SetToolTipSurface(false,m_ToolSurfaceInToolCoordinatesDataNode); } void IGTNavigationToolCalibration::OnProcessManualTooltipEditDialogCloseRequest() { mitk::NavigationData::Pointer tempND = mitk::NavigationData::New(m_ManualToolTipEditWidget->GetManipulatedToolTip()); this->ApplyToolTipTransform(tempND); UpdateManualToolTipCalibrationView(); m_ManualToolTipEditWidget->hide(); this->GetDataStorage()->Remove(m_ToolSurfaceInToolCoordinatesDataNode); } void IGTNavigationToolCalibration::SetToolToCalibrate() { m_IDToolToCalibrate = m_Controls.m_SelectionWidget->GetSelectedToolID(); m_ToolToCalibrate = m_Controls.m_SelectionWidget->GetSelectedNavigationTool(); if (m_IDToolToCalibrate==-1) //no valid tool to calibrate { m_Controls.m_CalToolLabel->setText(""); m_Controls.m_StatusWidgetToolToCalibrate->RemoveStatusLabels(); m_TrackingTimer->stop(); } else { m_NavigationDataSourceOfToolToCalibrate = m_Controls.m_SelectionWidget->GetSelectedNavigationDataSource(); m_Controls.m_CalToolLabel->setText(m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate)->GetName()); //initialize widget m_Controls.m_StatusWidgetToolToCalibrate->RemoveStatusLabels(); m_Controls.m_StatusWidgetToolToCalibrate->SetShowPositions(true); m_Controls.m_StatusWidgetToolToCalibrate->SetTextAlignment(Qt::AlignLeft); m_Controls.m_StatusWidgetToolToCalibrate->AddNavigationData(m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate)); m_Controls.m_StatusWidgetToolToCalibrate->ShowStatusLabels(); //initialize manual tool tip calibration view UpdateManualToolTipCalibrationView(); //save tool surface in tool coordinates for further editing mitk::Surface::Pointer ToolSurface = dynamic_cast(m_ToolToCalibrate->GetDataNode()->GetData())->Clone(); m_ToolSurfaceInToolCoordinatesDataNode->SetData(ToolSurface); m_ToolSurfaceInToolCoordinatesDataNode->GetData()->GetGeometry()->SetIdentity(); //start updating timer for status widgets, etc. if (!m_TrackingTimer->isActive()) m_TrackingTimer->start(100); } } void IGTNavigationToolCalibration::SetCalibrationPointer() { m_IDCalibrationPointer = m_Controls.m_SelectionWidget->GetSelectedToolID(); m_NavigationDataSourceOfCalibrationPointer = m_Controls.m_SelectionWidget->GetSelectedNavigationDataSource(); if (m_IDCalibrationPointer==-1) { m_Controls.m_PointerLabel->setText(""); m_Controls.m_StatusWidgetCalibrationPointer->RemoveStatusLabels(); m_TrackingTimer->stop(); } else { m_Controls.m_PointerLabel->setText(m_NavigationDataSourceOfCalibrationPointer->GetOutput(m_IDCalibrationPointer)->GetName()); //initialize widget m_Controls.m_StatusWidgetCalibrationPointer->RemoveStatusLabels(); m_Controls.m_StatusWidgetCalibrationPointer->SetShowPositions(true); m_Controls.m_StatusWidgetCalibrationPointer->SetTextAlignment(Qt::AlignLeft); m_Controls.m_StatusWidgetCalibrationPointer->AddNavigationData(m_NavigationDataSourceOfCalibrationPointer->GetOutput(m_IDCalibrationPointer)); m_Controls.m_StatusWidgetCalibrationPointer->ShowStatusLabels(); if (!m_TrackingTimer->isActive()) m_TrackingTimer->start(100); } } void IGTNavigationToolCalibration::UpdateOffsetCoordinates() { mitk::NavigationData::Pointer referenceToolND = m_NavigationDataSourceOfCalibrationPointer->GetOutput(m_IDCalibrationPointer); mitk::NavigationData::Pointer toolToCalibrateND = m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate); if(referenceToolND->IsDataValid() && toolToCalibrateND->IsDataValid()) { //computation: difference between both tools (in tool coordinates) //differenceND = toolToCalibrateND^-1 * referenceToolND mitk::NavigationData::Pointer differenceND = mitk::NavigationData::New(); differenceND->Compose(referenceToolND); differenceND->Compose(toolToCalibrateND->GetInverse()); //display this orientation in the UI m_Controls.m_OffsetCoordinates->setText( QString("x: ") + QString(QString::number(differenceND->GetPosition()[0],103,3)) + QString("; y: ") + (QString::number(differenceND->GetPosition()[1],103,3)) + QString("; z: ") + (QString::number(differenceND->GetPosition()[2],103,3))); m_Controls.m_OrientationOffsetCoordinates->setText( QString("qx: ") + QString(QString::number(differenceND->GetOrientation().x(),103,3)) + QString("; qy: ") + (QString::number(differenceND->GetOrientation().y(),103,3)) + QString("; qz: ") + (QString::number(differenceND->GetOrientation().z(),103,3)) + QString("; qr: ") + (QString::number(differenceND->GetOrientation().r(),103,3))); //also update preview if active if (m_ToolTipPointPreview.IsNotNull()) //NOT WORKING! TODO: fix or remove! { mitk::NavigationData::Pointer ToolTipTransform = mitk::NavigationData::New(); - ToolTipTransform->SetPosition(m_ResultOffset); + ToolTipTransform->SetPosition(m_ResultOffsetVector); mitk::NavigationData::Pointer ToolTipInTrackingCoordinates = mitk::NavigationData::New(); //maybe store as for better peformance... ToolTipInTrackingCoordinates->Compose(m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate)); ToolTipInTrackingCoordinates->Compose(ToolTipTransform); m_ToolTipPointPreview->GetData()->GetGeometry()->SetIndexToWorldTransform(ToolTipInTrackingCoordinates->GetAffineTransform3D()); } } } void IGTNavigationToolCalibration::UpdateTrackingTimer() { m_Controls.m_StatusWidgetToolToCalibrate->Refresh(); m_Controls.m_StatusWidgetCalibrationPointer->Refresh(); if(m_OnLoginSingleRefToolNavigationDataClicked) LoginSingleRefToolNavigationData(); // 1 == Single Reference Calibration Method if(m_IndexCurrentCalibrationMethod == 1 ) UpdateOffsetCoordinates(); } void IGTNavigationToolCalibration::AddLandmark() { if (!CheckInitialization()) {return;} mitk::NavigationData::Pointer navDataTool = m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate); mitk::Point3D landmark = m_NavigationDataSourceOfCalibrationPointer->GetOutput(m_IDCalibrationPointer)->GetPosition(); //convert to itk transform itk::Vector translation; for(int k=0; k<3;k++) translation[k] = navDataTool->GetPosition()[k]; itk::Matrix rotation; for(int k=0; k<3; k++) for(int l=0; l<3; l++) rotation[k][l] = navDataTool->GetOrientation().rotation_matrix_transpose()[k][l]; rotation = rotation.GetTranspose(); itk::Vector landmarkItk; landmarkItk[0] = landmark[0]; landmarkItk[1] = landmark[1]; landmarkItk[2] = landmark[2]; //compute landmark in tool coordinates itk::Matrix rotationInverse; for(int k=0; k<3; k++) for(int l=0; l<3; l++) rotationInverse[k][l] = rotation.GetInverse()[k][l]; landmarkItk = rotationInverse * (landmarkItk - translation) ; //convert back and add landmark to pointset landmark[0] = landmarkItk[0]; landmark[1] = landmarkItk[1]; landmark[2] = landmarkItk[2]; m_RegistrationLandmarks->InsertPoint(m_RegistrationLandmarks->GetSize(),landmark); } void IGTNavigationToolCalibration::SaveCalibratedTool() { if (m_ToolToCalibrate.IsNotNull()) { mitk::NavigationTool::Pointer calibratedTool = m_ToolToCalibrate; calibratedTool->SetToolCalibrationLandmarks(this->m_CalibrationLandmarks); calibratedTool->SetToolRegistrationLandmarks(this->m_RegistrationLandmarks); mitk::NavigationToolWriter::Pointer myWriter = mitk::NavigationToolWriter::New(); std::string filename = QFileDialog::getSaveFileName(NULL,tr("Save Navigation Tool"), "/", "*.IGTTool").toUtf8().data(); + filename.append(".IGTTool"); if (filename == "") return; if (myWriter->DoWrite(filename,calibratedTool)) MITK_INFO << "Saved calibrated tool to file " << filename; else MITK_WARN << "Can't write tool to file " << filename; } else { MITK_ERROR << "Did not find navigation tool storage of calibrated tool, aborting!"; } } bool IGTNavigationToolCalibration::CheckInitialization(bool CalibrationPointerRequired) { if ( (m_IDToolToCalibrate == -1) || ( (CalibrationPointerRequired) && (m_IDCalibrationPointer == -1) ) ) { QMessageBox msgBox; msgBox.setText("Tool to calibrate and/or calibration pointer not initialized, cannot proceed!"); msgBox.exec(); return false; } else {return true;} } diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibration.h b/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibration.h index 31894c3f46..039d2d73ba 100644 --- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibration.h +++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibration.h @@ -1,129 +1,128 @@ /*=================================================================== 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 IGTNavigationToolCalibration_h #define IGTNavigationToolCalibration_h #include #include #include #include #include "ui_IGTNavigationToolCalibrationControls.h" //QT headers #include /*! \brief IGTNavigationToolCalibration \warning This class is not yet documented. Use "git blame" and ask the author to provide basic documentation. \sa QmitkFunctionality \ingroup ${plugin_target}_internal */ class IGTNavigationToolCalibration : public QmitkAbstractView { // 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: IGTNavigationToolCalibration(); virtual ~IGTNavigationToolCalibration(); static const std::string VIEW_ID; virtual void CreateQtPartControl(QWidget *parent); protected slots: void OnAddPivotPose(); void OnComutePivot(); void OnUseComutedPivotPoint(); void SetToolToCalibrate(); void SetCalibrationPointer(); void UpdateTrackingTimer(); void AddLandmark(); void SaveCalibratedTool(); void OnToolCalibrationMethodChanged(int index); void OnStartManualToolTipCalibration(); void OnRetrieveDataForManualTooltipManipulation(); void OnProcessManualTooltipEditDialogCloseRequest(); void OnRunSingleRefToolCalibrationClicked(); void OnLoginSingleRefToolNavigationDataClicked(); void OnSetNewToolTipPosButtonClicked(); protected: virtual void SetFocus(); void UpdateOffsetCoordinates(); int m_IndexCurrentCalibrationMethod; Ui::IGTNavigationToolCalibrationControls m_Controls; //some general members mitk::NavigationTool::Pointer m_ToolToCalibrate; //<<< tool that will be calibrated int m_IDToolToCalibrate; //<<< id of tool that will be calibrated (of the navigation data source) mitk::NavigationDataSource::Pointer m_NavigationDataSourceOfToolToCalibrate; //<<< navigation data source of the tool that will be calibrated mitk::NavigationDataSource::Pointer m_NavigationDataSourceOfCalibrationPointer; //<<< navigation data source of the calibration pointer mitk::DataNode::Pointer m_ToolSurfaceInToolCoordinatesDataNode; //<<< holds the tool surface in tool coordinates (for preview purposes) int m_IDCalibrationPointer; //<<< id of the calibration pointer (of the corresponding navigation data source) QTimer* m_TrackingTimer; //<<< tracking timer that updates the status widgets void ApplyToolTipTransform(mitk::NavigationData::Pointer ToolTipTransformInToolCoordinates, std::string message = "Tool was updated with the calibrated tool tip!"); //<<< applys the given tool tip transform to the tool to calibrate bool CheckInitialization(bool CalibrationPointerRequired = true); //<<< checks if the tool to calibrate and (if required) the calibration pointer is initialized. Displays a warning and returns false if not. mitk::NavigationData::Pointer m_ComputedToolTipTransformation; //<<< holds the new tooltip transformation after it was computed to write it into the tool later // members and helper methods for pivot tool calibration std::vector m_PivotPoses; // members and helper methods for manual tool calibration void UpdateManualToolTipCalibrationView(); QmitkNavigationToolCreationAdvancedWidget* m_ManualToolTipEditWidget; // members and helper methods for single reference tool calibration void LoginSingleRefToolNavigationData(); std::vector< mitk::Point3D > m_LoggedNavigationDataOffsets; std::vector< mitk::NavigationData::Pointer > m_LoggedNavigationDataDifferences; - std::vector m_ComputedDistances; bool m_OnLoginSingleRefToolNavigationDataClicked; int m_NumberOfNavigationData; int m_NumberOfNavigationDataCounter; - mitk::Point3D m_ResultOffset; + mitk::Point3D m_ResultOffsetVector; // members and helper methods for tool tip preview mitk::DataNode::Pointer m_ToolTipPointPreview; //<<< Data node of the tool tip preview void ShowToolTipPreview(mitk::NavigationData::Pointer ToolTipInTrackingCoordinates); //<<< Adds a preview of the tool tip into the data storage void RemoveToolTipPreview(); //<<< Removes the preview // members for the tool landmark calibration mitk::PointSet::Pointer m_CalibrationLandmarks; mitk::DataNode::Pointer m_CalibrationLandmarksNode; mitk::PointSet::Pointer m_RegistrationLandmarks; mitk::DataNode::Pointer m_RegistrationLandmarksNode; }; #endif // IGTNavigationToolCalibration_h diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibrationControls.ui b/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibrationControls.ui index 32bb1f876b..99779e5f67 100644 --- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibrationControls.ui +++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibrationControls.ui @@ -1,952 +1,976 @@ IGTNavigationToolCalibrationControls 0 0 - 379 - 829 + 430 + 958 0 0 QmitkTemplate <!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;">Navigation Tool Calibration</span></p></body></html> Tool to calibrate 0 50 16777215 50 Calibration pointer 0 30 true 0 Initialization <!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:8pt; text-decoration: underline;">Choose Tracking Device and Tools</span></p></body></html> Qt::Horizontal 120 0 Tool to Calibrate: Qt::Horizontal 40 20 <none> Qt::Horizontal 40 20 150 0 Use as Tool to Calibrate Qt::Horizontal 120 0 Calibration Pointer: Qt::Horizontal 40 20 <none> Qt::Horizontal 40 20 150 0 Use as Calibration Pointer Qt::Horizontal Qt::Vertical 20 586 Tool Tip Calibration 50 false Calibration Method: Qt::Horizontal 40 20 Manual Single Reference Tool Multiple Tools Reference Pivoting Qt::Horizontal 0 Current Tool Tip Translation: true true Current Tool Tip Orientation: true true Qt::Horizontal 40 20 Start Edit Tooltip 0 0 319 160 319 160 QFrame { border-image: url(:/IGTNavigationToolCalibration/Description.svg); } QFrame::Box QFrame::Plain 1 0 0 Current Offset between Tool to calibrate and Calibration pointer: Pos: 8 Qt::AlignCenter Rot: 8 Qt::AlignCenter Qt::Horizontal 0 0 Number of tracking data to collect: 0 0 10000 100 Qt::AlignCenter 0 0 1: Collect Navigation Data Qt::Horizontal Invert calibration transformation + + + + + + Calibrate position + + + true + + + + + + + Calibrate orientation + + + true + + + + + false 2: Run Calibration Qt::Horizontal 0 0 - New Tool Tip Position of Tool to calibrate: + New Tool Tip Position and/or Orientation of Tool to calibrate: Pos: 8 Qt::AlignCenter Rot: 8 Qt::AlignCenter false - 3: Set New Tool Tip Position + 3: Set New Tool Tip Position and/or Tool Orientation Qt::Vertical 20 - 203 + 40 Number of saved poses: 0 Qt::Horizontal 40 20 Add Current Pose Calibration Result: Qt::Horizontal 40 20 175 0 Comute Pivot Point Qt::Horizontal 40 20 false 0 0 175 0 Use Computed Pivot Point Qt::Vertical 20 99 Tool Landmark Calibration <!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:8pt; text-decoration: underline;">Calibrate tool by marking the landmarks with the pointer</span></p></body></html> Registration Landmarks 0 170 Add Pointer Position Calibration Landmarks Qt::Vertical 20 259 Qt::Horizontal 40 20 Save Calibrated Navigation Tool QmitkNavigationDataSourceSelectionWidget QWidget
QmitkNavigationDataSourceSelectionWidget.h
1 QmitkToolTrackingStatusWidget QWidget
QmitkToolTrackingStatusWidget.h
1 QmitkPointListWidget QWidget
QmitkPointListWidget.h
1