diff --git a/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.cpp b/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.cpp
index db4f51e3df..c08364b68c 100644
--- a/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.cpp
+++ b/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.cpp
@@ -1,298 +1,315 @@
 /*=========================================================================
 
 Program:   Medical Imaging & Interaction Toolkit
 Language:  C++
 Date:      $Date$
 Version:   $Revision: 16011 $
 
 Copyright (c) German Cancer Research Center, Division of Medical and
 Biological Informatics. All rights reserved.
 See MITKCopyright.txt or http://www.mitk.org/copyright.html for details.
 
 This software is distributed WITHOUT ANY WARRANTY; without even
 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 PURPOSE.  See the above copyright notices for more information.
 
 =========================================================================*/
 
 #include "mitkNavigationDataEvaluationFilter.h"
 #include <mitkPointSetStatisticsCalculator.h>
 
 #define _USE_MATH_DEFINES
 #include <math.h>
 
 mitk::NavigationDataEvaluationFilter::NavigationDataEvaluationFilter()
 : mitk::NavigationDataToNavigationDataFilter()
 {
 
 }
 
 
 mitk::NavigationDataEvaluationFilter::~NavigationDataEvaluationFilter()
 {
 
 }
 
 void mitk::NavigationDataEvaluationFilter::GenerateData()
 {
 
     this->CreateOutputsForAllInputs(); // make sure that we have the same number of outputs as inputs
     this->CreateMembersForAllInputs();
 
     /* update outputs with tracking data from tools */
     for (unsigned int i = 0; i < this->GetNumberOfOutputs() ; ++i)
     {
       //first copy outputs to inputs
       mitk::NavigationData* output = this->GetOutput(i);
       assert(output);
       const mitk::NavigationData* input = this->GetInput(i);
       assert(input);
       if (input->IsDataValid() == false) {output->SetDataValid(false);}
       else {output->Graft(input);}
 
       //then save statistics
       if(input->IsDataValid())
         {
         m_LoggedPositions[i].push_back(input->GetPosition());
         m_LoggedQuaternions[i].push_back(input->GetOrientation());
         }
       else 
         {
         m_InavildSamples[i]++;
         }
     }
   
 }
 void mitk::NavigationDataEvaluationFilter::CreateMembersForAllInputs()
 {
   while(this->m_LoggedPositions.size() < this->GetNumberOfInputs())
     {
     std::pair<int,std::vector<mitk::Point3D> > newElement(m_LoggedPositions.size(),std::vector<mitk::Point3D>());
     m_LoggedPositions.insert(newElement);
     }
   while(this->m_LoggedQuaternions.size() < this->GetNumberOfInputs())
     {
     std::pair<int,std::vector<mitk::Quaternion> > newElement(m_LoggedQuaternions.size(),std::vector<mitk::Quaternion>());
     m_LoggedQuaternions.insert(newElement);
     }
   while(this->m_InavildSamples.size() < this->GetNumberOfInputs())
     {
     std::pair<int,int> newElement(m_LoggedQuaternions.size(),0);
     m_InavildSamples.insert(newElement);
     }
 
   
 }
 
 void mitk::NavigationDataEvaluationFilter::ResetStatistic()
 {
 for (int i = 0; i < m_LoggedPositions.size(); i++) m_LoggedPositions[i] = std::vector<mitk::Point3D>();
 for (int i = 0; i < m_LoggedQuaternions.size(); i++) m_LoggedQuaternions[i] = std::vector<mitk::Quaternion>();
 for (int i = 0; i < m_InavildSamples.size(); i++) m_InavildSamples[i] = 0;
 }
 
 int mitk::NavigationDataEvaluationFilter::GetNumberOfAnalysedNavigationData(int input)
 {
 return this->m_LoggedPositions[input].size();
 }
 
 
 mitk::Point3D mitk::NavigationDataEvaluationFilter::GetPositionMean(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(m_LoggedPositions[input]));
 return myCalculator->GetPositionMean();
 }
 
 mitk::Vector3D mitk::NavigationDataEvaluationFilter::GetPositionStandardDeviation(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(m_LoggedPositions[input]));
 return myCalculator->GetPositionStandardDeviation();
 }
 
 mitk::Vector3D mitk::NavigationDataEvaluationFilter::GetPositionSampleStandardDeviation(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(m_LoggedPositions[input]));
 return myCalculator->GetPositionSampleStandardDeviation();
 }
 
 mitk::Quaternion mitk::NavigationDataEvaluationFilter::GetQuaternionMean(int input)
 {
 return GetMean(m_LoggedQuaternions[input]);
 }
 
 mitk::Quaternion mitk::NavigationDataEvaluationFilter::GetQuaternionStandardDeviation(int input)
 {
 mitk::Quaternion returnValue;
 std::vector<double> list1 = std::vector<double>();
 std::vector<double> list2 = std::vector<double>();
 std::vector<double> list3 = std::vector<double>();
 std::vector<double> list4 = std::vector<double>();
 for (int i=0; i<m_LoggedQuaternions[input].size(); i++)
   {
   list1.push_back(m_LoggedQuaternions[input].at(i)[0]);
   list2.push_back(m_LoggedQuaternions[input].at(i)[1]);
   list3.push_back(m_LoggedQuaternions[input].at(i)[2]);
   list4.push_back(m_LoggedQuaternions[input].at(i)[3]);
   }
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New();
 returnValue[0] = myCalculator->GetStabw(list1);
 returnValue[1] = myCalculator->GetStabw(list2);
 returnValue[2] = myCalculator->GetStabw(list3);
 returnValue[3] = myCalculator->GetStabw(list4);
 return returnValue;
 }
 
 mitk::Vector3D mitk::NavigationDataEvaluationFilter::GetEulerAnglesMean(int input)
 { 
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(QuaternionsToEulerAngles(m_LoggedQuaternions[input])));
 mitk::Vector3D returnValue;
 returnValue[0] = myCalculator->GetPositionMean()[0];
 returnValue[1] = myCalculator->GetPositionMean()[1];
 returnValue[2] = myCalculator->GetPositionMean()[2];
 return returnValue;
 }
 
 double mitk::NavigationDataEvaluationFilter::GetEulerAnglesRMS(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(QuaternionsToEulerAngles(m_LoggedQuaternions[input])));
 return myCalculator->GetPositionErrorRMS();
 }
 
 double mitk::NavigationDataEvaluationFilter::GetEulerAnglesRMSDegree(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(QuaternionsToEulerAnglesGrad(m_LoggedQuaternions[input])));
 return myCalculator->GetPositionErrorRMS();
 }
 
 
 
 double mitk::NavigationDataEvaluationFilter::GetPositionErrorMean(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(m_LoggedPositions[input]));
 return myCalculator->GetPositionErrorMean();
 }
 
 double mitk::NavigationDataEvaluationFilter::GetPositionErrorStandardDeviation(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(m_LoggedPositions[input]));
 return myCalculator->GetPositionErrorStandardDeviation();
 }
 
 double mitk::NavigationDataEvaluationFilter::GetPositionErrorSampleStandardDeviation(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(m_LoggedPositions[input]));
 return myCalculator->GetPositionErrorSampleStandardDeviation();
 }
 
 
 double mitk::NavigationDataEvaluationFilter::GetPositionErrorRMS(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(m_LoggedPositions[input]));
 return myCalculator->GetPositionErrorRMS();
 }
 
 double mitk::NavigationDataEvaluationFilter::GetPositionErrorMedian(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(m_LoggedPositions[input]));
 return myCalculator->GetPositionErrorMedian();
 }
 
 double mitk::NavigationDataEvaluationFilter::GetPositionErrorMax(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(m_LoggedPositions[input]));
 return myCalculator->GetPositionErrorMax();
 }
   
 double mitk::NavigationDataEvaluationFilter::GetPositionErrorMin(int input)
 {
 mitk::PointSetStatisticsCalculator::Pointer myCalculator = mitk::PointSetStatisticsCalculator::New(VectorToPointSet(m_LoggedPositions[input]));
 return myCalculator->GetPositionErrorMin();
 }
 
 int mitk::NavigationDataEvaluationFilter::GetNumberOfInvalidSamples(int input)
 {
 return m_InavildSamples[input];
 }
 
 double mitk::NavigationDataEvaluationFilter::GetPercentageOfInvalidSamples(int input)
 {
 return (m_InavildSamples[input]/(m_InavildSamples[input]+((double)m_LoggedPositions[input].size())))*100.0;
 }
 
 mitk::Quaternion mitk::NavigationDataEvaluationFilter::GetMean(std::vector<mitk::Quaternion> list)
 {
 //calculate mean
 mitk::Quaternion mean;
 mean[0] = 0;
 mean[1] = 0;
 mean[2] = 0;
 mean[3] = 0;
 
 for (int i=0; i<list.size(); i++)
   {
   mean[0] += list.at(i)[0];
   mean[1] += list.at(i)[1];
   mean[2] += list.at(i)[2];
   mean[3] += list.at(i)[3];
   }
 
 mean[0] /= list.size();
 mean[1] /= list.size();
 mean[2] /= list.size();
 mean[3] /= list.size();
 
 return mean;
 }
 
 mitk::PointSet::Pointer mitk::NavigationDataEvaluationFilter::VectorToPointSet(std::vector<mitk::Point3D> pSet)
 {
   mitk::PointSet::Pointer returnValue = mitk::PointSet::New();
   for (int i=0; i<pSet.size(); i++) returnValue->InsertPoint(i,pSet.at(i)); 
   return returnValue;
 }
 
 mitk::PointSet::Pointer mitk::NavigationDataEvaluationFilter::VectorToPointSet(std::vector<mitk::Vector3D> pSet)
 {
   mitk::PointSet::Pointer returnValue = mitk::PointSet::New();
   for (int i=0; i<pSet.size(); i++) 
     {
     mitk::Point3D thisPoint;
     thisPoint[0] = pSet.at(i)[0];
     thisPoint[1] = pSet.at(i)[1];
     thisPoint[2] = pSet.at(i)[2];
     returnValue->InsertPoint(i,thisPoint); 
     }
   return returnValue;
 }
 
 std::vector<mitk::Vector3D> mitk::NavigationDataEvaluationFilter::QuaternionsToEulerAngles(std::vector<mitk::Quaternion> quaterions)
 {
   std::vector<mitk::Vector3D> returnValue = std::vector<mitk::Vector3D>();
   for (int i=0; i<quaterions.size(); i++) 
     {
     mitk::Vector3D eulerAngles;
     mitk::Quaternion currentQuaternion = quaterions.at(i);
     currentQuaternion.normalize(); //must be normalized due to the documentation of the vnl method rotation_euler_angles()
     eulerAngles[0] = currentQuaternion.rotation_euler_angles()[0];
     eulerAngles[1] = currentQuaternion.rotation_euler_angles()[1];
     eulerAngles[2] = currentQuaternion.rotation_euler_angles()[2];
     returnValue.push_back(eulerAngles);
     }
   return returnValue;
 }
 
 std::vector<mitk::Vector3D> mitk::NavigationDataEvaluationFilter::QuaternionsToEulerAnglesGrad(std::vector<mitk::Quaternion> quaterions)
 {
   double PI = M_PI;
   std::vector<mitk::Vector3D> returnValue = std::vector<mitk::Vector3D>();
   std::vector<mitk::Vector3D> eulerAnglesRadians = QuaternionsToEulerAngles(quaterions);
   for (int i=0; i<eulerAnglesRadians.size(); i++)
     {
     mitk::Vector3D currentAngles;
     currentAngles[0] = (eulerAnglesRadians.at(i)[0]/PI)*180;
     currentAngles[1] = (eulerAnglesRadians.at(i)[1]/PI)*180;
     currentAngles[2] = (eulerAnglesRadians.at(i)[2]/PI)*180;
     returnValue.push_back(currentAngles);
     }
   return returnValue;
+}
+
+mitk::Point3D  mitk::NavigationDataEvaluationFilter::GetLoggedPosition(int i, int input)
+{
+  mitk::Point3D returnValue;
+  if ((m_LoggedPositions[input].size()>=i)||(i<0)) returnValue.Fill(0);
+  else returnValue = m_LoggedPositions[input].at(i);
+  return returnValue;
+}
+
+    
+mitk::Quaternion  mitk::NavigationDataEvaluationFilter::GetLoggedOrientation(int i, int input)
+{
+  mitk::Quaternion returnValue;
+  if ((m_LoggedQuaternions[input].size()>=i)||(i<0)) returnValue.fill(0);
+  else returnValue = m_LoggedQuaternions[input].at(i);
+  return returnValue;
 }
\ No newline at end of file
diff --git a/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.h b/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.h
index 942e09a125..197be2b0ae 100644
--- a/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.h
+++ b/Modules/IGT/IGTFilters/mitkNavigationDataEvaluationFilter.h
@@ -1,119 +1,125 @@
 /*=========================================================================
 
 Program:   Medical Imaging & Interaction Toolkit
 Language:  C++
 Date:      $Date$
 Version:   $Revision: 16011 $
 
 Copyright (c) German Cancer Research Center, Division of Medical and
 Biological Informatics. All rights reserved.
 See MITKCopyright.txt or http://www.mitk.org/copyright.html for details.
 
 This software is distributed WITHOUT ANY WARRANTY; without even
 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 PURPOSE.  See the above copyright notices for more information.
 
 =========================================================================*/
 
 
 #ifndef MITKNavigationDataEvaluationFilter_H_HEADER_INCLUDED_
 #define MITKNavigationDataEvaluationFilter_H_HEADER_INCLUDED_
 
 #include <mitkNavigationDataToNavigationDataFilter.h>
 #include <mitkPointSet.h>
 #include <itkQuaternionRigidTransform.h>
 #include <itkTransform.h>
 
 
 namespace mitk {
 
   /**Documentation
   * \brief NavigationDataEvaluationFilter calculates statistical data (mean value, mean error, etc.) on the input navigation data.
   * Input navigation data are set 1:1 on output navigation data.
   *
   * \ingroup IGT
   */
   class MitkIGT_EXPORT NavigationDataEvaluationFilter : public NavigationDataToNavigationDataFilter
   {
 
   public:
 
     mitkClassMacro(NavigationDataEvaluationFilter, NavigationDataToNavigationDataFilter);
     itkNewMacro(Self);
 
     /** @brief Resets all statistics and starts again. */
     void ResetStatistic();
 
     /** @return Returns the number of analysed navigation datas for the specified input (without invalid samples). */
     int GetNumberOfAnalysedNavigationData(int input);
     /** @return Returns the number of invalid samples for the specified input. Invalid samples are ignored for the statistical calculation.*/
     int GetNumberOfInvalidSamples(int input);
     /** @return Returns the percentage of invalid samples in relation to all samples for the specified input.*/
     double GetPercentageOfInvalidSamples(int input);
     /** @return Returns the mean position of the specified input since the start of the statistic (last call of ResetStatistic()) */
     mitk::Point3D GetPositionMean(int input);
     /** @return Returns the standard derivation of each component (x, y and z) of the specified input since the start of the statistic (last call of ResetStatistic()) */
     mitk::Vector3D GetPositionStandardDeviation(int input);
     /** @return Returns the sample standard derivation of each component (x, y and z) of the specified input since the start of the statistic (last call of ResetStatistic()) */
     mitk::Vector3D GetPositionSampleStandardDeviation(int input);
 
     /** @return Returns the mean quaternion of the specified input since the start of the statistic (last call of ResetStatistic()) */
     mitk::Quaternion GetQuaternionMean(int input);
     /** @return Returns the standard derivation of each component of the specified input since the start of the statistic (last call of ResetStatistic()) */
     mitk::Quaternion GetQuaternionStandardDeviation(int input);
     /** @return Returns the mean euler angles (theta_x, theta_y, theta_z) of the specified input since the start of the statistic (last call of ResetStatistic()) */
     mitk::Vector3D GetEulerAnglesMean(int input);
     /** @return Returns the RMS of the error of the euler angles (theta_x, theta_y, theta_z) in radians of the specified input since the start of the statistic (last call of ResetStatistic()) */
     double GetEulerAnglesRMS(int input);
     /** @return Returns the RMS of the error of the euler angles (theta_x, theta_y, theta_z) in degree of the specified input since the start of the statistic (last call of ResetStatistic()) */
     double GetEulerAnglesRMSDegree(int input);
        
     /** @return Returns the mean distance to the mean postion (=mean error) to the specified input. */
     double GetPositionErrorMean(int input);
     /** @return Returns the standard derivation of the errors of all positions to the specified input. */
     double GetPositionErrorStandardDeviation(int input);
     /** @return Returns the sample standard derivation of the errors of all positions to the specified input. */
     double GetPositionErrorSampleStandardDeviation(int input);
     /** @return Returns the RMS of the errors of all positions to the specified input. */
     double GetPositionErrorRMS(int input);
     /** @return Returns the median of the errors of all positions to the specified input. */
     double GetPositionErrorMedian(int input);
     /** @return Returns the maximum of the errors of all positions to the specified input. */
     double GetPositionErrorMax(int input);
     /** @return Returns the minimum of the errors of all positions to the specified input. */
     double GetPositionErrorMin(int input);
+
+    /** @return Returns a logged point on position i of the specified input. If there is no point on position i the method returns [0,0,0] */
+    mitk::Point3D GetLoggedPosition(int i, int input);
+
+    /** @return Returns a logged orientation on position i of the specified input. If there is no orientation on position i the method returns [0,0,0,0] */
+    mitk::Quaternion GetLoggedOrientation(int i, int input);
       
   protected:
 
     NavigationDataEvaluationFilter();
     virtual ~NavigationDataEvaluationFilter();
 
     /**Documentation
     * \brief filter execute method
     *
     * transforms navigation data
     */
     virtual void GenerateData();
 
     /** @brief Creates the member variables which store all the statistical data for every input. */
     void CreateMembersForAllInputs();
 
     
     std::map<int,std::vector<mitk::Point3D> > m_LoggedPositions; //a map here, to have one list for every navigation data
     std::map<int,std::vector<mitk::Quaternion> > m_LoggedQuaternions;
     std::map<int,int> m_InavildSamples;
 
     mitk::Quaternion GetMean(std::vector<mitk::Quaternion> list);
 
     mitk::PointSet::Pointer VectorToPointSet(std::vector<mitk::Point3D> pSet);
 
     mitk::PointSet::Pointer VectorToPointSet(std::vector<mitk::Vector3D> pSet);
 
     /** @brief Converts a list of quaterions to a list of euler angles (theta_x, theta_y, theta_z) */
     std::vector<mitk::Vector3D> QuaternionsToEulerAngles(std::vector<mitk::Quaternion> quaterions); //in radians
     std::vector<mitk::Vector3D> QuaternionsToEulerAnglesGrad(std::vector<mitk::Quaternion> quaterions); //in degree
     
   };
 } // namespace mitk
 
 #endif /* MITKNavigationDataEvaluationFilter_H_HEADER_INCLUDED_ */
\ No newline at end of file