diff --git a/Modules/IGT/Documentation/doxygen/IGTConcepts.dox b/Modules/IGT/Documentation/doxygen/IGTConcepts.dox index e21b222d69..ed9f1ae1ed 100644 --- a/Modules/IGT/Documentation/doxygen/IGTConcepts.dox +++ b/Modules/IGT/Documentation/doxygen/IGTConcepts.dox @@ -1,30 +1,30 @@ /** \page IGTConcepts IGT Concepts The MITK-IGT module allows for acquisition and processing of tracking data from various devices such as optical and electromagnetic tracking systems. It is organized in a layered structure in which the hardware related Tracking Layer is responsible for acquisition of tracking data and the Navigation Layer its processing. -\imageMacro{IGTStructure.png,"Layered structure of MITK-IGT",5} -\section Tracking Layer +\imageMacro{IGTStructure.png,"Layered structure of MITK-IGT",3} +\section TrackingLayer Tracking Layer The tracking layer offers an interface for tracking devices and holds classes which establish connection to such devices. The following tracking devices are currently supported: -\section Navigation Layer +\section NavigationLayer Navigation Layer The navigation layer holds classes relating to program logic of IGT systems. Thus, the hardware is clearly separated from the program logic and e.g. integrating a new device into an existing software is easy. The program logic is designed to be flexible by a pipeline concept (cf. Fig. 2). Different existing or even new designed filters can be applied to navigation data which is produced by a tracking device. You can combine these filter in many different ways and easily add new functionality, e.g. by simply implementing a new filter and integrating it into your pipeline. -\imageMacro{IGTPipeline.png,"Schematic illustration of an IGT Pipeline for processing navigation data",5} -\section IGT widgets +\imageMacro{IGTPipeline.png,"Schematic illustration of an IGT Pipeline for processing navigation data",3} +\section IGTWidgets IGT widgets Many of the UI components, such as configuration of tracking devices and visualization of status information of navigation tools, can be used in the creation of multiple applications. To enable reusing of UI elements, the module IGT-UI which offers an environment for IGT widgets was introduced. New widgets can be implemented by using the concept of QT widgets. Such widgets can be added to an UI easily by using the standard UI creator of MITK, the QT creator. Configuration widgets are available for all implemented tracking devices. Some other helpful widgets will be presented in the following but have a look to the MITK-IGT sourcecode for all currently available widgets: -\section IGT classes and their role in the process +\section IGTProcess IGT classes and their role in the process The realisation of a typical IGT workflow using the classes of MITK-IGT is depicted in the following sequence diagram: -\imageMacro{IGTSequenceDiagram.svg,"A typical IGT workflow and the role of the individual classes",5} +\imageMacro{IGTSequenceDiagram.svg,"A typical IGT workflow and the role of the individual classes",3} */ \ No newline at end of file diff --git a/Modules/IGT/TrackingDevices/mitkTrackingTool.h b/Modules/IGT/TrackingDevices/mitkTrackingTool.h index df1486e8ab..19d8b3b616 100644 --- a/Modules/IGT/TrackingDevices/mitkTrackingTool.h +++ b/Modules/IGT/TrackingDevices/mitkTrackingTool.h @@ -1,105 +1,105 @@ /*=================================================================== 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 MITKTRACKINGTOOL_H_HEADER_INCLUDED_ #define MITKTRACKINGTOOL_H_HEADER_INCLUDED_ #include #include #include #include #include namespace mitk { /**Documentation * \brief Interface for all Tracking Tools * * This class is a complete TrackingTool implementation. It can either be used directly by * TrackingDevices, or be subclassed for more specific implementations. * mitk::MicroBirdTrackingDevice uses this class to manage its tools. Other tracking devices * uses specialized versions of this class (e.g. mitk::NDITrackingTool) * * The TrackingTool class holds all coordinate transforms associated with tracking of a tool. * The sensor attached to the tool is localized in the global tracking coordinate system (m_Position, m_Orientation). * A tool tip (m_ToolTipPosition) can be defined in sensor coordinates. * The tool axis defines the main axis of the tool and is defined as the negative z-axis of the tool tip coordinate system * The main axis of the representation object of the tool (e.g. a surface) has to be defined along the negative z-axis - * \imageMacro{TrackingTool.png,"Coordinate transforms associated to the tracking tool.",5} + * \imageMacro{TrackingTool.png,"Coordinate transforms associated to the tracking tool.",3} * * \ingroup IGT */ class MITKIGT_EXPORT TrackingTool : public itk::Object { public: mitkClassMacroItkParent(TrackingTool, itk::Object) itkFactorylessNewMacro(Self) itkCloneMacro(Self) virtual void PrintSelf(std::ostream& os, itk::Indent indent) const override; virtual const char* GetToolName() const; ///< every tool has a name thatgit can be used to identify it. virtual void SetToolName(const std::string _arg); ///< Sets the name of the tool virtual void SetToolName(const char* _arg); ///< Sets the name of the tool Point3D GetToolTipPosition() const; ///< returns the tool tip in tool coordinates, which where set by SetToolTip Quaternion GetToolAxisOrientation() const; ///< returns the transformation of the tool axis with respect to the MITK-IGT main tool axis (0,0,-1) virtual void SetToolTipPosition(Point3D toolTipPosition, Quaternion orientation, ScalarType eps=0.0); ///< defines a tool tip for this tool in tool coordinates. GetPosition() and GetOrientation() return the data of the tool tip if it is defined. By default no tooltip is defined. virtual bool IsToolTipSet() const; ///< returns true if a tool tip is set, false if not virtual void GetPosition(Point3D& position) const; ///< returns the current position of the tool as an array of three floats (in the tracking device coordinate system) virtual void SetPosition(Point3D position); ///< sets the position virtual void GetOrientation(Quaternion& orientation) const; ///< returns the current orientation of the tool as a quaternion in a mitk::Point4D (in the tracking device coordinate system) virtual void SetOrientation(Quaternion orientation); ///< sets the orientation as a quaternion virtual bool Enable(); ///< enables the tool, so that it will be tracked virtual bool Disable(); ///< disables the tool, so that it will not be tracked anymore virtual bool IsEnabled() const; ///< returns whether the tool is enabled or disabled virtual void SetDataValid(bool isDataValid); ///< sets if the tracking data (position & orientation) is valid virtual bool IsDataValid() const; ///< returns true if the current position data is valid (no error during tracking, tracking error below threshold, ...) virtual float GetTrackingError() const; ///< returns one value that corresponds to the overall tracking error. virtual void SetTrackingError(float error); ///< sets the tracking error virtual const char* GetErrorMessage() const; ///< if the data is not valid, ErrorMessage should contain a string explaining why it is invalid (the Set-method should be implemented in subclasses, it should not be accessible by the user) virtual void SetErrorMessage(const char* _arg); ///< sets the error message itkSetMacro(IGTTimeStamp, double) ///< Sets the IGT timestamp of the tracking tool object (time in milliseconds) itkGetConstMacro(IGTTimeStamp, double) ///< Gets the IGT timestamp of the tracking tool object (time in milliseconds). Returns 0 if the timestamp was not set. protected: TrackingTool(); virtual ~TrackingTool(); std::string m_ToolName; ///< every tool has a name that can be used to identify it. std::string m_ErrorMessage; ///< if a tool is invalid, this member should contain a human readable explanation of why it is invalid double m_IGTTimeStamp; ///< contains the time at which the tracking data was recorded itk::FastMutexLock::Pointer m_MyMutex; ///< mutex to control concurrent access to the tool Point3D m_Position; ///< holds the position of the tool in global tracking coordinates Quaternion m_Orientation; ///< holds the orientation of the toolŽin global tracking coordinates float m_TrackingError; ///< holds the tracking error of the tool bool m_Enabled; ///< if true, tool is enabled and should receive tracking updates from the tracking device bool m_DataValid; ///< if true, data in m_Position and m_Orientation is valid, e.g. true tracking data Point3D m_ToolTipPosition; ///< holds the position of the tool tip in the coordinate system of the tracking sensor Quaternion m_ToolAxisOrientation; ///< holds the rotation of the sensor coordinate system such that the z-axis coincides with the main tool axis e.g. obtained by a tool calibration bool m_ToolTipSet; }; } // namespace mitk #endif /* MITKTRACKINGTOOL_H_HEADER_INCLUDED_ */