diff --git a/Modules/IGT/IO/mitkNavigationDataRecorder.cpp b/Modules/IGT/IO/mitkNavigationDataRecorder.cpp
index 9ac8ba981e..70cb4c364b 100644
--- a/Modules/IGT/IO/mitkNavigationDataRecorder.cpp
+++ b/Modules/IGT/IO/mitkNavigationDataRecorder.cpp
@@ -1,115 +1,124 @@
/*===================================================================
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 "mitkNavigationDataRecorder.h"
#include <mitkIGTTimeStamp.h>
mitk::NavigationDataRecorder::NavigationDataRecorder()
{
//set default values
m_NumberOfInputs = 0;
m_Recording = false;
m_StandardizedTimeInitialized = false;
m_RecordCountLimit = -1;
+ m_RecordOnlyValidData = false;
}
mitk::NavigationDataRecorder::~NavigationDataRecorder()
{
//mitk::IGTTimeStamp::GetInstance()->Stop(this); //commented out because of bug 18952
}
void mitk::NavigationDataRecorder::GenerateData()
{
// get each input, lookup the associated BaseData and transfer the data
DataObjectPointerArray inputs = this->GetIndexedInputs(); //get all inputs
//This vector will hold the NavigationDatas that are copied from the inputs
std::vector< mitk::NavigationData::Pointer > clonedDatas;
+ bool atLeastOneInputIsInvalid = false;
+
// For each input
for (unsigned int index=0; index < inputs.size(); index++)
{
// First copy input to output
this->GetOutput(index)->Graft(this->GetInput(index));
// if we are not recording, that's all there is to do
if (! m_Recording) continue;
+ if (atLeastOneInputIsInvalid || !this->GetInput(index)->IsDataValid())
+ {
+ atLeastOneInputIsInvalid = true;
+ }
+
// Clone a Navigation Data
mitk::NavigationData::Pointer clone = mitk::NavigationData::New();
clone->Graft(this->GetInput(index));
clonedDatas.push_back(clone);
if (m_StandardizeTime)
{
mitk::NavigationData::TimeStampType igtTimestamp = mitk::IGTTimeStamp::GetInstance()->GetElapsed(this);
clonedDatas[index]->SetIGTTimeStamp(igtTimestamp);
}
}
// if limitation is set and has been reached, stop recording
if ((m_RecordCountLimit > 0) && (m_NavigationDataSet->Size() >= m_RecordCountLimit)) m_Recording = false;
// We can skip the rest of the method, if recording is deactivated
- if (!m_Recording) return;
-
+ if (!m_Recording) return;
+ // We can skip the rest of the method, if we read only valid data
+ if (m_RecordOnlyValidData && atLeastOneInputIsInvalid) return;
// Add data to set
m_NavigationDataSet->AddNavigationDatas(clonedDatas);
}
void mitk::NavigationDataRecorder::StartRecording()
{
if (m_Recording)
{
MITK_WARN << "Already recording please stop before start new recording session";
return;
}
m_Recording = true;
// The first time this StartRecording is called, we initialize the standardized time.
// Afterwards, it can be reset via ResetNavigationDataSet();
if (! m_StandardizedTimeInitialized)
mitk::IGTTimeStamp::GetInstance()->Start(this);
if (m_NavigationDataSet.IsNull())
m_NavigationDataSet = mitk::NavigationDataSet::New(GetNumberOfIndexedInputs());
}
void mitk::NavigationDataRecorder::StopRecording()
{
if (!m_Recording)
{
std::cout << "You have to start a recording first" << std::endl;
return;
}
m_Recording = false;
}
void mitk::NavigationDataRecorder::ResetRecording()
{
m_NavigationDataSet = mitk::NavigationDataSet::New(GetNumberOfIndexedInputs());
if (m_Recording)
{
mitk::IGTTimeStamp::GetInstance()->Stop(this);
mitk::IGTTimeStamp::GetInstance()->Start(this);
}
}
int mitk::NavigationDataRecorder::GetNumberOfRecordedSteps()
{
return m_NavigationDataSet->Size();
}
\ No newline at end of file
diff --git a/Modules/IGT/IO/mitkNavigationDataRecorder.h b/Modules/IGT/IO/mitkNavigationDataRecorder.h
index 4353d493d3..3ab694c634 100644
--- a/Modules/IGT/IO/mitkNavigationDataRecorder.h
+++ b/Modules/IGT/IO/mitkNavigationDataRecorder.h
@@ -1,120 +1,133 @@
/*===================================================================
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 _MITK_NavigationDataRecorder_H
#define _MITK_NavigationDataRecorder_H
#include "mitkNavigationDataToNavigationDataFilter.h"
#include "mitkNavigationData.h"
#include "mitkNavigationDataSet.h"
namespace mitk
{
/**Documentation
* \brief This class records NavigationData objects into NavigationDataSets.
*
* The recording is started with the call of the method StartRecording(). Now
* every Update() stores the current state of the added NavigationDatas into the NavigationDataSet.
* With StopRecording() the stream is stopped, but can be resumed anytime.
* To start recording to a new NavigationDataSet, call ResetRecording();
*
* \warning Do not add inputs while the recorder ist recording. The recorder can't handle that and will cause a nullpointer exception.
* \ingroup IGT
*/
class MITKIGT_EXPORT NavigationDataRecorder : public NavigationDataToNavigationDataFilter
{
public:
mitkClassMacro( NavigationDataRecorder, NavigationDataToNavigationDataFilter );
itkFactorylessNewMacro(Self)
itkCloneMacro(Self)
/**
* \brief Returns whether the NavigationDataRecorder is currently recording or not
*/
itkGetMacro(Recording, bool);
/**
* \brief Returns the set that contains all of the recorded data.
*/
itkGetMacro(NavigationDataSet, mitk::NavigationDataSet::Pointer);
/**
* \brief Sets a limit of recorded data sets / frames. Recording will be stopped if the number is reached. values < 1 disable this behaviour. Default is -1.
*/
itkSetMacro(RecordCountLimit, int);
/**
* \brief Returns whether to use the navigationdata's time stamp or to create a new one upon recording.
*/
itkGetMacro(StandardizeTime, bool);
/**
* \brief If set to false, the navigationDatas Timestamp will be used. If set to false, the recorder
* will generate a timestamp when it copies the data to the navigationdataset.
*/
itkSetMacro(StandardizeTime, bool);
+ /**
+ * \brief If set to false, invalid navigationDatas will also be used. If set to true, the recorder
+ * will record only valid data. Standard is false.
+ */
+ itkSetMacro(RecordOnlyValidData, bool);
+
+ /**
+ * \brief Returns whether to use valid data only.
+ */
+ itkGetMacro(RecordOnlyValidData, bool);
+
/**
* \brief Starts recording NavigationData into the NAvigationDataSet
*/
virtual void StartRecording();
/**
* \brief Stops StopsRecording to the NavigationDataSet.
*
* Recording can be resumed to the same Dataset by just calling StartRecording() again.
* Call ResetRecording() to start recording to a new Dataset;
*/
virtual void StopRecording();
/**
* \brief Resets the Datasets and the timestamp, so a new recording can happen.
*
* Do not forget to save the old Dataset, it will be lost after calling this function.
*/
virtual void ResetRecording();
/**
* \brief Returns the number of time steps that were recorded in the current set.
* Warning: This Method does NOT Stop Recording!
*/
virtual int GetNumberOfRecordedSteps();
protected:
virtual void GenerateData() override;
NavigationDataRecorder();
virtual ~NavigationDataRecorder();
unsigned int m_NumberOfInputs; ///< counts the numbers of added input NavigationDatas
mitk::NavigationDataSet::Pointer m_NavigationDataSet;
bool m_Recording; ///< indicates whether the recording is started or not
bool m_StandardizeTime; //< indicates whether one should use the timestamps in NavigationData or create new timestamps upon recording
bool m_StandardizedTimeInitialized; //< set to true the first time start recording is called.
int m_RecordCountLimit; ///< limits the number of frames, recording will be stopped if the limit is reached. -1 disables the limit
+
+ bool m_RecordOnlyValidData; //< indicates whether only valid data is recorded
};
}
#endif // #define _MITK_POINT_SET_SOURCE_H
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 74ee05efaa..a4ebf05c1a 100644
--- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibration.cpp
+++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/IGTNavigationToolCalibration.cpp
@@ -1,636 +1,636 @@
/*===================================================================
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 <numeric>
// Blueberry
#include <berryISelectionService.h>
#include <berryIWorkbenchWindow.h>
// Qmitk
#include "IGTNavigationToolCalibration.h"
// mitk
#include <mitkNavigationToolWriter.h>
#include <mitkTrackingDeviceSource.h>
#include <mitkTrackingDevice.h>
#include <mitkTrackingTool.h>
#include <mitkQuaternionAveraging.h>
#include <mitkPivotCalibration.h>
#include <mitkNavigationData.h>
// Qt
#include <QMessageBox>
#include <qfiledialog.h>
//vtk
#include <vtkSphereSource.h>
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)
{
//if pivot calibration (3) or manual(0) is chosen only calibration pointer is needed
if (index == 0 || index == 3) {
- if (!CheckInitialization(FALSE)) {
+ if (!CheckInitialization(false)) {
return;
}
}
else{
if (!CheckInitialization()) { return; }
}
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(OnComputePivot()));
connect(m_Controls.m_UseComputedPivotPoint, SIGNAL(clicked()), this, SLOT(OnUseComputedPivotPoint()));
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;
//for pivot calibration
m_OnAddPivotPoseClicked = false;
PivotCount = 0;
m_PivotPoses = std::vector<mitk::NavigationData::Pointer>();
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_LoggedNavigationDataDifferences = std::vector< mitk::NavigationData::Pointer >();
}
void IGTNavigationToolCalibration::OnRunSingleRefToolCalibrationClicked()
{
if (!CheckInitialization()) { return; }
mitk::NavigationData::Pointer ToolTipTransform = mitk::NavigationData::New();
if (m_Controls.m_CalibratePosition->isChecked())
{
//1: Compute mean translational offset vector
m_ResultOffsetVector.Fill(0);
for (std::vector<mitk::Point3D>::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);
}
if (m_Controls.m_CalibrateOrientation->isChecked())
{
//2: Compute mean orientation
mitk::Quaternion meanOrientation;
std::vector <mitk::Quaternion> allOrientations = std::vector <mitk::Quaternion>();
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);
}
MITK_INFO << "Computed calibration: ";
MITK_INFO << "Translation Vector: " << ToolTipTransform->GetPosition();
MITK_INFO << "Quaternion: (" << ToolTipTransform->GetOrientation() << ")";
MITK_INFO << "Euler Angles [rad]: (" << ToolTipTransform->GetOrientation().rotation_euler_angles() << ")";
MITK_INFO << "Matrix:";
vnl_matrix_fixed<double, 3, 3> rotMatrix = ToolTipTransform->GetOrientation().rotation_matrix_transpose();
MITK_INFO << rotMatrix[0][0] << " " << rotMatrix[0][1] << " " << rotMatrix[0][2] << std::endl;
MITK_INFO << rotMatrix[1][0] << " " << rotMatrix[1][1] << " " << rotMatrix[1][2] << std::endl;
MITK_INFO << rotMatrix[2][0] << " " << rotMatrix[2][1] << " " << rotMatrix[2][2] << std::endl;
//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 ... " << endl;
}
void IGTNavigationToolCalibration::LoginSingleRefToolNavigationData()
{
if (!CheckInitialization()) { return; }
if (m_NumberOfNavigationDataCounter < m_NumberOfNavigationData)
{
//update label text
QString labelText = "Collecting Data: " + QString::number(m_NumberOfNavigationDataCounter);
m_Controls.m_CollectionStatus->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" << endl;
QString labelText = "Collected " + QString::number(m_NumberOfNavigationData) + " data samples!";
m_Controls.m_CollectionStatus->setText(labelText);
}
}
void IGTNavigationToolCalibration::OnSetNewToolTipPosButtonClicked()
{
ApplyToolTipTransform(m_ComputedToolTipTransformation);
RemoveToolTipPreview();
}
void IGTNavigationToolCalibration::ClearOldPivot()
{
mitk::NavigationData::Pointer tempND = mitk::NavigationData::New();
this->ApplyToolTipTransform(tempND);
UpdateManualToolTipCalibrationView();
m_ManualToolTipEditWidget->hide();
this->GetDataStorage()->Remove(m_ToolSurfaceInToolCoordinatesDataNode);
}
void IGTNavigationToolCalibration::OnAddPivotPose()
{
ClearOldPivot();
//When the collect Poses Button is Clicked
m_OnAddPivotPoseClicked = true;
m_NumberOfNavigationData = m_Controls.m_PosesToCollect->value();
}
void IGTNavigationToolCalibration::AddPivotPose()
{
//Save the poses to be used in computation
if (PivotCount < m_NumberOfNavigationData)
{
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()));
PivotCount++;
}
if (PivotCount == m_NumberOfNavigationData)
{
m_OnAddPivotPoseClicked = false;
}
}
void IGTNavigationToolCalibration::OnComputePivot()
{
mitk::PivotCalibration::Pointer myPivotCalibration = mitk::PivotCalibration::New();
for (int i = 0; i < this->m_PivotPoses.size(); i++)
{
myPivotCalibration->AddNavigationData(m_PivotPoses.at(i));
}
QString resultString;
if (myPivotCalibration->ComputePivotResult())
{
mitk::NavigationData::Pointer markerTransformationTrackingCoordinates = m_PivotPoses.at(0);
//Get computed pivot transfromation in tool coordinates
mitk::NavigationData::Pointer ToolTipToTool = mitk::NavigationData::New();
ToolTipToTool->SetPosition(myPivotCalibration->GetResultPivotPoint());
ToolTipToTool->SetOrientation(myPivotCalibration->GetResultPivotRotation());
mitk::NavigationData::Pointer TrackerToTool = mitk::NavigationData::New();
TrackerToTool->SetOrientation(markerTransformationTrackingCoordinates->GetOrientation());
TrackerToTool->SetPosition(markerTransformationTrackingCoordinates->GetPosition());
TrackerToTool->Compose(ToolTipToTool);
// Compute pivot point in relation to marker transformation for preview
mitk::NavigationData::Pointer ToolTipToTracker = mitk::NavigationData::New();
ToolTipToTracker->Compose(ToolTipToTool);
ToolTipToTracker->Compose(markerTransformationTrackingCoordinates);
//add the preview node to the data storage
ShowToolTipPreview(ToolTipToTracker);
//parse result string
resultString = QString("Pivot computation 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 = ToolTipToTool;
//enable button to use the computed point with the tool
m_Controls.m_UseComputedPivotPoint->setEnabled(true);
}
else
{
resultString = "Pivot computation failed!";
}
MITK_INFO << resultString.toStdString().c_str();
m_Controls.m_ResultText->setText(resultString);
}
void IGTNavigationToolCalibration::UpdatePivotCount()
{
PivotCount = 0;
while (!m_PivotPoses.empty())
{
m_PivotPoses.pop_back();
}
m_Controls.m_PoseNumber->setText(QString::number(PivotCount));
}
void IGTNavigationToolCalibration::OnUseComputedPivotPoint()
{
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);
UpdatePivotCount();
}
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<mitk::TrackingDeviceSource*>(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 blue;
blue.SetBlue(1);
m_ToolTipPointPreview->SetColor(blue);
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 << m_ToolToCalibrate->GetToolTipPosition();
orientation << "Quaternion: (" << m_ToolToCalibrate->GetToolTipOrientation() << ")" << std::endl;
orientation << std::endl;
orientation << "Euler Angles [rad]: (" << m_ToolToCalibrate->GetToolTipOrientation().rotation_euler_angles() << ")" << std::endl;
orientation << std::endl;
orientation << "Matrix:" << std::endl;
vnl_matrix_fixed<double, 3, 3> rotMatrix = m_ToolToCalibrate->GetToolTipOrientation().rotation_matrix_transpose();
orientation << rotMatrix[0][0] << " " << rotMatrix[0][1] << " " << rotMatrix[0][2] << std::endl;
orientation << rotMatrix[1][0] << " " << rotMatrix[1][1] << " " << rotMatrix[1][2] << std::endl;
orientation << rotMatrix[2][0] << " " << rotMatrix[2][1] << " " << rotMatrix[2][2] << std::endl;
m_Controls.m_ManualCurrentTranslation->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("<none>");
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<mitk::Surface*>(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("<none>");
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()
{
if (m_NavigationDataSourceOfCalibrationPointer.IsNull() || m_NavigationDataSourceOfToolToCalibrate.IsNull())
{
return;
}
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_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();
if (m_OnAddPivotPoseClicked) AddPivotPose();
// 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<double, 3> translation;
for (int k = 0; k < 3; k++) translation[k] = navDataTool->GetPosition()[k];
itk::Matrix<double, 3, 3> 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<double> landmarkItk;
landmarkItk[0] = landmark[0];
landmarkItk[1] = landmark[1];
landmarkItk[2] = landmark[2];
//compute landmark in tool coordinates
itk::Matrix<double, 3, 3> 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/QmitkMITKIGTTrackingToolboxView.cpp b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.cpp
index 308aac7508..f77e8cc048 100644
--- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.cpp
+++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxView.cpp
@@ -1,1481 +1,1484 @@
/*===================================================================
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.
===================================================================*/
// Blueberry
#include <berryISelectionService.h>
#include <berryIWorkbenchWindow.h>
// Qmitk
#include "QmitkMITKIGTTrackingToolboxView.h"
#include "QmitkTrackingDeviceConfigurationWidget.h"
#include "QmitkStdMultiWidget.h"
// Qt
#include <QMessageBox>
#include <QSettings>
#include <qfiledialog.h>
// MITK
#include <mitkNavigationToolStorageDeserializer.h>
#include <mitkTrackingDeviceSourceConfigurator.h>
#include <mitkTrackingVolumeGenerator.h>
#include <mitkNDITrackingDevice.h>
#include <mitkNodePredicateNot.h>
#include <mitkNodePredicateProperty.h>
#include <mitkNavigationToolStorageSerializer.h>
//#include <mitkProgressBar.h>
#include <mitkIOUtil.h>
#include <mitkLog.h>
#include <usModule.h>
#include <mitkTrackingDeviceTypeCollection.h>
#include <mitkUnspecifiedTrackingTypeInformation.h>
#include "mitkNDIAuroraTypeInformation.h"
// vtk
#include <vtkSphereSource.h>
//for exceptions
#include <mitkIGTException.h>
#include <mitkIGTIOException.h>
//for Microservice
#include "mitkPluginActivator.h"
#include <usModuleContext.h>
#include <usGetModuleContext.h>
#include "usServiceReference.h"
const std::string QmitkMITKIGTTrackingToolboxView::VIEW_ID = "org.mitk.views.mitkigttrackingtoolbox";
QmitkMITKIGTTrackingToolboxView::QmitkMITKIGTTrackingToolboxView()
: QmitkFunctionality()
, m_Controls(nullptr)
, m_MultiWidget(nullptr)
, m_DeviceTypeCollection(nullptr)
{
m_TrackingLoggingTimer = new QTimer(this);
m_TrackingRenderTimer = new QTimer(this);
m_TimeoutTimer = new QTimer(this);
m_tracking = false;
m_connected = false;
m_logging = false;
m_loggedFrames = 0;
m_SimpleModeEnabled = false;
//create filename for autosaving of tool storage
QString loggingPathWithoutFilename = QString(mitk::LoggingBackend::GetLogFile().c_str());
if (!loggingPathWithoutFilename.isEmpty()) //if there already is a path for the MITK logging file use this one
{
//extract path from path+filename (if someone knows a better way to do this feel free to change it)
int lengthOfFilename = QFileInfo(QString::fromStdString(mitk::LoggingBackend::GetLogFile())).fileName().size();
loggingPathWithoutFilename.resize(loggingPathWithoutFilename.size() - lengthOfFilename);
m_AutoSaveFilename = loggingPathWithoutFilename + "TrackingToolboxAutoSave.IGTToolStorage";
}
else //if not: use a temporary path from IOUtil
{
m_AutoSaveFilename = QString(mitk::IOUtil::GetTempPath().c_str()) + "TrackingToolboxAutoSave.IGTToolStorage";
}
MITK_INFO("IGT Tracking Toolbox") << "Filename for auto saving of IGT ToolStorages: " << m_AutoSaveFilename.toStdString();
//! [Thread 1]
//initialize worker thread
m_WorkerThread = new QThread();
m_Worker = new QmitkMITKIGTTrackingToolboxViewWorker();
//! [Thread 1]
ctkPluginContext* pluginContext = mitk::PluginActivator::GetContext();
if (pluginContext)
{
QString interfaceName = QString::fromStdString(us_service_interface_iid<mitk::TrackingDeviceTypeCollection>());
QList<ctkServiceReference> serviceReference = pluginContext->getServiceReferences(interfaceName);
if (serviceReference.size() > 0)
{
m_DeviceTypeServiceReference = serviceReference.at(0);
const ctkServiceReference& r = serviceReference.at(0);
m_DeviceTypeCollection = pluginContext->getService<mitk::TrackingDeviceTypeCollection>(r);
}
else
{
MITK_INFO << "No Tracking Device Collection!";
}
}
}
QmitkMITKIGTTrackingToolboxView::~QmitkMITKIGTTrackingToolboxView()
{
this->StoreUISettings();
m_TrackingLoggingTimer->stop();
m_TrackingRenderTimer->stop();
m_TimeoutTimer->stop();
delete m_TrackingLoggingTimer;
delete m_TrackingRenderTimer;
delete m_TimeoutTimer;
try
{
//! [Thread 2]
// wait for thread to finish
m_WorkerThread->terminate();
m_WorkerThread->wait();
//clean up worker thread
if (m_WorkerThread) { delete m_WorkerThread; }
if (m_Worker) { delete m_Worker; }
//! [Thread 2]
//remove the tracking volume
this->GetDataStorage()->Remove(m_TrackingVolumeNode);
//unregister microservices
if (m_toolStorage) { m_toolStorage->UnRegisterMicroservice(); }
if (m_TrackingDeviceSource) { m_TrackingDeviceSource->UnRegisterMicroservice(); }
if (m_IGTLMessageProvider.IsNotNull()){ m_IGTLMessageProvider->UnRegisterMicroservice(); }
}
catch (std::exception& e) { MITK_WARN << "Unexpected exception during clean up of tracking toolbox view: " << e.what(); }
catch (...) { MITK_WARN << "Unexpected unknown error during clean up of tracking toolbox view!"; }
//store tool storage and UI settings for persistence
this->AutoSaveToolStorage();
this->StoreUISettings();
m_DeviceTypeCollection = nullptr;
mitk::PluginActivator::GetContext()->ungetService(m_DeviceTypeServiceReference);
}
void QmitkMITKIGTTrackingToolboxView::CreateQtPartControl(QWidget *parent)
{
// build up qt view, unless already done
if (!m_Controls)
{
// create GUI widgets from the Qt Designer's .ui file
m_Controls = new Ui::QmitkMITKIGTTrackingToolboxViewControls;
m_Controls->setupUi(parent);
//create connections
connect(m_Controls->m_LoadTools, SIGNAL(clicked()), this, SLOT(OnLoadTools()));
connect(m_Controls->m_ConnectDisconnectButton, SIGNAL(clicked()), this, SLOT(OnConnectDisconnect()));
connect(m_Controls->m_StartStopTrackingButton, SIGNAL(clicked()), this, SLOT(OnStartStopTracking()));
connect(m_Controls->m_ConnectSimpleMode, SIGNAL(clicked()), this, SLOT(OnConnectDisconnect()));
connect(m_Controls->m_StartTrackingSimpleMode, SIGNAL(clicked()), this, SLOT(OnStartStopTracking()));
connect(m_Controls->m_FreezeUnfreezeTrackingButton, SIGNAL(clicked()), this, SLOT(OnFreezeUnfreezeTracking()));
connect(m_TrackingLoggingTimer, SIGNAL(timeout()), this, SLOT(UpdateLoggingTrackingTimer()));
connect(m_TrackingRenderTimer, SIGNAL(timeout()), this, SLOT(UpdateRenderTrackingTimer()));
connect(m_TimeoutTimer, SIGNAL(timeout()), this, SLOT(OnTimeOut()));
connect(m_Controls->m_ChooseFile, SIGNAL(clicked()), this, SLOT(OnChooseFileClicked()));
connect(m_Controls->m_StartLogging, SIGNAL(clicked()), this, SLOT(StartLogging()));
connect(m_Controls->m_StopLogging, SIGNAL(clicked()), this, SLOT(StopLogging()));
connect(m_Controls->m_VolumeSelectionBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(OnTrackingVolumeChanged(QString)));
connect(m_Controls->m_ShowTrackingVolume, SIGNAL(clicked()), this, SLOT(OnShowTrackingVolumeChanged()));
connect(m_Controls->m_AutoDetectTools, SIGNAL(clicked()), this, SLOT(OnAutoDetectTools()));
connect(m_Controls->m_ResetTools, SIGNAL(clicked()), this, SLOT(OnResetTools()));
connect(m_Controls->m_AddSingleTool, SIGNAL(clicked()), this, SLOT(OnAddSingleTool()));
connect(m_Controls->m_NavigationToolCreationWidget, SIGNAL(NavigationToolFinished()), this, SLOT(OnAddSingleToolFinished()));
connect(m_Controls->m_NavigationToolCreationWidget, SIGNAL(Canceled()), this, SLOT(OnAddSingleToolCanceled()));
connect(m_Controls->m_csvFormat, SIGNAL(clicked()), this, SLOT(OnToggleFileExtension()));
connect(m_Controls->m_xmlFormat, SIGNAL(clicked()), this, SLOT(OnToggleFileExtension()));
connect(m_Controls->m_UseDifferentUpdateRates, SIGNAL(clicked()), this, SLOT(OnToggleDifferentUpdateRates()));
connect(m_Controls->m_RenderUpdateRate, SIGNAL(valueChanged(int)), this, SLOT(OnChangeRenderUpdateRate()));
connect(m_Controls->m_DisableAllTimers, SIGNAL(stateChanged(int)), this, SLOT(EnableDisableTimerButtons(int)));
connect(m_Controls->m_advancedUI, SIGNAL(clicked()), this, SLOT(OnToggleAdvancedSimpleMode()));
connect(m_Controls->m_simpleUI, SIGNAL(clicked()), this, SLOT(OnToggleAdvancedSimpleMode()));
//connections for the tracking device configuration widget
connect(m_Controls->m_configurationWidget, SIGNAL(TrackingDeviceSelectionChanged()), this, SLOT(OnTrackingDeviceChanged()));
//! [Thread 3]
//connect worker thread
connect(m_Worker, SIGNAL(AutoDetectToolsFinished(bool, QString)), this, SLOT(OnAutoDetectToolsFinished(bool, QString)));
connect(m_Worker, SIGNAL(ConnectDeviceFinished(bool, QString)), this, SLOT(OnConnectFinished(bool, QString)));
connect(m_Worker, SIGNAL(StartTrackingFinished(bool, QString)), this, SLOT(OnStartTrackingFinished(bool, QString)));
connect(m_Worker, SIGNAL(StopTrackingFinished(bool, QString)), this, SLOT(OnStopTrackingFinished(bool, QString)));
connect(m_Worker, SIGNAL(DisconnectDeviceFinished(bool, QString)), this, SLOT(OnDisconnectFinished(bool, QString)));
connect(m_WorkerThread, SIGNAL(started()), m_Worker, SLOT(ThreadFunc()));
//move the worker to the thread
m_Worker->moveToThread(m_WorkerThread);
//! [Thread 3]
//initialize widgets
m_Controls->m_TrackingToolsStatusWidget->SetShowPositions(true);
m_Controls->m_TrackingToolsStatusWidget->SetTextAlignment(Qt::AlignLeft);
m_Controls->m_simpleWidget->setVisible(false);
//initialize tracking volume node
m_TrackingVolumeNode = mitk::DataNode::New();
m_TrackingVolumeNode->SetName("TrackingVolume");
m_TrackingVolumeNode->SetBoolProperty("Backface Culling", true);
mitk::Color red;
red.SetRed(1);
m_TrackingVolumeNode->SetColor(red);
//initialize buttons
m_Controls->m_AutoDetectTools->setVisible(false); //only visible if tracking device is Aurora
m_Controls->m_StartStopTrackingButton->setEnabled(false);
m_Controls->m_StartTrackingSimpleMode->setEnabled(false);
m_Controls->m_FreezeUnfreezeTrackingButton->setEnabled(false);
//initialize warning labels
m_Controls->m_renderWarningLabel->setVisible(false);
m_Controls->m_TrackingFrozenLabel->setVisible(false);
//Update List of available models for selected tool.
std::vector<mitk::TrackingDeviceData> Compatibles;
if ((m_Controls == NULL) || //check all these stuff for NULL, latterly this causes crashes from time to time
(m_Controls->m_configurationWidget == NULL) ||
(m_Controls->m_configurationWidget->GetTrackingDevice().IsNull()))
{
MITK_ERROR << "Couldn't get current tracking device or an object is NULL, something went wrong!";
return;
}
else
{
Compatibles = m_DeviceTypeCollection->GetDeviceDataForLine(m_Controls->m_configurationWidget->GetTrackingDevice()->GetType());
}
m_Controls->m_VolumeSelectionBox->clear();
for (std::size_t i = 0; i < Compatibles.size(); i++)
{
m_Controls->m_VolumeSelectionBox->addItem(Compatibles[i].Model.c_str());
}
//initialize tool storage
m_toolStorage = mitk::NavigationToolStorage::New(GetDataStorage());
m_toolStorage->SetName("TrackingToolbox Default Storage");
m_toolStorage->RegisterAsMicroservice("no tracking device");
//set home directory as default path for logfile
m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(QDir::homePath()) + QDir::separator() + "logfile.csv");
//tracking device may be changed already by the persistence of the
//QmitkTrackingDeciveConfigurationWidget
this->OnTrackingDeviceChanged();
this->LoadUISettings();
//add tracking volume node only to data storage
this->GetDataStorage()->Add(m_TrackingVolumeNode);
if (!m_Controls->m_ShowTrackingVolume->isChecked()) m_TrackingVolumeNode->SetOpacity(0.0);
else m_TrackingVolumeNode->SetOpacity(0.25);
//Update List of available models for selected tool.
m_Controls->m_VolumeSelectionBox->clear();
for (std::size_t i = 0; i < Compatibles.size(); i++)
{
m_Controls->m_VolumeSelectionBox->addItem(Compatibles[i].Model.c_str());
}
}
}
void QmitkMITKIGTTrackingToolboxView::StdMultiWidgetAvailable(QmitkStdMultiWidget &stdMultiWidget)
{
m_MultiWidget = &stdMultiWidget;
}
void QmitkMITKIGTTrackingToolboxView::StdMultiWidgetNotAvailable()
{
m_MultiWidget = NULL;
}
void QmitkMITKIGTTrackingToolboxView::OnLoadTools()
{
//read in filename
QString filename = QFileDialog::getOpenFileName(NULL, tr("Open Tool Storage"), "/", tr("Tool Storage Files (*.IGTToolStorage)"));
if (filename.isNull()) return;
//read tool storage from disk
std::string errorMessage = "";
mitk::NavigationToolStorageDeserializer::Pointer myDeserializer = mitk::NavigationToolStorageDeserializer::New(GetDataStorage());
// try-catch block for exceptions
try
{
this->ReplaceCurrentToolStorage(myDeserializer->Deserialize(filename.toStdString()), filename.toStdString());
}
catch (mitk::IGTException)
{
std::string errormessage = "Error during loading the tool storage file. Please only load tool storage files created with the NavigationToolManager view.";
QMessageBox::warning(NULL, "Tool Storage Loading Error", errormessage.c_str());
return;
}
if (m_toolStorage->isEmpty())
{
errorMessage = myDeserializer->GetErrorMessage();
MessageBox(errorMessage);
return;
}
//update label
UpdateToolStorageLabel(filename);
//update tool preview
m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels();
m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage);
//save filename for persistent storage
m_ToolStorageFilename = filename;
}
void QmitkMITKIGTTrackingToolboxView::OnResetTools()
{
this->ReplaceCurrentToolStorage(mitk::NavigationToolStorage::New(GetDataStorage()), "TrackingToolbox Default Storage");
m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels();
QString toolLabel = QString("<none>");
m_Controls->m_toolLabel->setText(toolLabel);
m_ToolStorageFilename = "";
}
void QmitkMITKIGTTrackingToolboxView::OnStartStopTracking()
{
if (!m_connected)
{
MITK_WARN << "Can't start tracking if no device is connected. Aborting";
return;
}
if (m_tracking) { OnStopTracking(); }
else { OnStartTracking(); }
}
void QmitkMITKIGTTrackingToolboxView::OnFreezeUnfreezeTracking()
{
if (m_Controls->m_FreezeUnfreezeTrackingButton->text() == "Freeze Tracking")
{
m_TrackingDeviceSource->Freeze();
m_Controls->m_FreezeUnfreezeTrackingButton->setText("Unfreeze Tracking");
m_Controls->m_TrackingFrozenLabel->setVisible(true);
}
else if (m_Controls->m_FreezeUnfreezeTrackingButton->text() == "Unfreeze Tracking")
{
m_TrackingDeviceSource->UnFreeze();
m_Controls->m_FreezeUnfreezeTrackingButton->setText("Freeze Tracking");
m_Controls->m_TrackingFrozenLabel->setVisible(false);
}
}
void QmitkMITKIGTTrackingToolboxView::OnConnectDisconnect()
{
if (m_connected) { OnDisconnect(); }
else { OnConnect(); }
}
void QmitkMITKIGTTrackingToolboxView::OnConnect()
{
MITK_INFO << "Connect Clicked";
//check if everything is ready to start tracking
if (this->m_toolStorage.IsNull())
{
MessageBox("Error: No Tools Loaded Yet!");
return;
}
else if (this->m_toolStorage->GetToolCount() == 0)
{
MessageBox("Error: No Way To Track Without Tools!");
return;
}
//parse tracking device data
mitk::TrackingDeviceData data = mitk::UnspecifiedTrackingTypeInformation::GetDeviceDataUnspecified();
QString qstr = m_Controls->m_VolumeSelectionBox->currentText();
if ((!qstr.isNull()) || (!qstr.isEmpty())) {
std::string str = qstr.toStdString();
data = m_DeviceTypeCollection->GetDeviceDataByName(str); //Data will be set later, after device generation
}
//! [Thread 4]
//initialize worker thread
m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eConnectDevice);
m_Worker->SetTrackingDevice(this->m_Controls->m_configurationWidget->GetTrackingDevice());
m_Worker->SetInverseMode(m_Controls->m_InverseMode->isChecked());
m_Worker->SetNavigationToolStorage(this->m_toolStorage);
m_Worker->SetTrackingDeviceData(data);
//start worker thread
m_WorkerThread->start();
//! [Thread 4]
//disable buttons
this->m_Controls->m_MainWidget->setEnabled(false);
}
void QmitkMITKIGTTrackingToolboxView::EnableDisableTimerButtons(int enable)
{
bool enableBool = enable;
m_Controls->m_UpdateRateOptionsGroupBox->setEnabled(!enableBool);
m_Controls->m_renderWarningLabel->setVisible(enableBool);
}
void QmitkMITKIGTTrackingToolboxView::OnConnectFinished(bool success, QString errorMessage)
{
m_WorkerThread->quit();
m_WorkerThread->wait();
//enable buttons
this->m_Controls->m_MainWidget->setEnabled(true);
if (!success)
{
MITK_WARN << errorMessage.toStdString();
MessageBox(errorMessage.toStdString());
return;
}
//! [Thread 6]
//get data from worker thread
m_TrackingDeviceSource = m_Worker->GetTrackingDeviceSource();
m_TrackingDeviceData = m_Worker->GetTrackingDeviceData();
m_ToolVisualizationFilter = m_Worker->GetToolVisualizationFilter();
//! [Thread 6]
//enable/disable Buttons
DisableOptionsButtons();
DisableTrackingConfigurationButtons();
m_Controls->m_TrackingControlLabel->setText("Status: connected");
m_Controls->m_ConnectDisconnectButton->setText("Disconnect");
m_Controls->m_ConnectSimpleMode->setText("Disconnect");
m_Controls->m_StartStopTrackingButton->setEnabled(true);
m_Controls->m_StartTrackingSimpleMode->setEnabled(true);
m_connected = true;
}
void QmitkMITKIGTTrackingToolboxView::OnDisconnect()
{
m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eDisconnectDevice);
m_WorkerThread->start();
m_Controls->m_MainWidget->setEnabled(false);
}
void QmitkMITKIGTTrackingToolboxView::OnDisconnectFinished(bool success, QString errorMessage)
{
m_WorkerThread->quit();
m_WorkerThread->wait();
m_Controls->m_MainWidget->setEnabled(true);
if (!success)
{
MITK_WARN << errorMessage.toStdString();
MessageBox(errorMessage.toStdString());
return;
}
//enable/disable Buttons
m_Controls->m_StartStopTrackingButton->setEnabled(false);
m_Controls->m_StartTrackingSimpleMode->setEnabled(false);
EnableOptionsButtons();
EnableTrackingConfigurationButtons();
m_Controls->m_TrackingControlLabel->setText("Status: disconnected");
m_Controls->m_ConnectDisconnectButton->setText("Connect");
m_Controls->m_ConnectSimpleMode->setText("Connect");
m_Controls->m_FreezeUnfreezeTrackingButton->setText("Freeze Tracking");
m_Controls->m_TrackingFrozenLabel->setVisible(false);
m_connected = false;
}
void QmitkMITKIGTTrackingToolboxView::OnStartTracking()
{
//show tracking volume
this->OnTrackingVolumeChanged(m_Controls->m_VolumeSelectionBox->currentText());
//Reset the view to a defined start. Do it here and not in OnStartTrackingFinished, to give other tracking devices the chance to reset the view to a different direction.
this->GlobalReinit();
m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eStartTracking);
m_WorkerThread->start();
this->m_Controls->m_MainWidget->setEnabled(false);
}
void QmitkMITKIGTTrackingToolboxView::OnStartTrackingFinished(bool success, QString errorMessage)
{
//! [Thread 5]
m_WorkerThread->quit();
m_WorkerThread->wait();
//! [Thread 5]
this->m_Controls->m_MainWidget->setEnabled(true);
if (!success)
{
MessageBox(errorMessage.toStdString());
MITK_WARN << errorMessage.toStdString();
return;
}
if (!(m_Controls->m_DisableAllTimers->isChecked()))
{
if (m_Controls->m_UseDifferentUpdateRates->isChecked())
{
if (m_Controls->m_RenderUpdateRate->value() != 0)
m_TrackingRenderTimer->start(1000 / (m_Controls->m_RenderUpdateRate->value()));
m_TrackingLoggingTimer->start(1000 / (m_Controls->m_LogUpdateRate->value()));
}
else
{
m_TrackingRenderTimer->start(1000 / (m_Controls->m_UpdateRate->value()));
m_TrackingLoggingTimer->start(1000 / (m_Controls->m_UpdateRate->value()));
}
}
m_Controls->m_TrackingControlLabel->setText("Status: tracking");
//connect the tool visualization widget
for (std::size_t i = 0; i < m_TrackingDeviceSource->GetNumberOfOutputs(); i++)
{
m_Controls->m_TrackingToolsStatusWidget->AddNavigationData(m_TrackingDeviceSource->GetOutput(i));
}
m_Controls->m_TrackingToolsStatusWidget->ShowStatusLabels();
if (m_Controls->m_ShowToolQuaternions->isChecked()) { m_Controls->m_TrackingToolsStatusWidget->SetShowQuaternions(true); }
else { m_Controls->m_TrackingToolsStatusWidget->SetShowQuaternions(false); }
//if activated enable open IGT link microservice
if (m_Controls->m_EnableOpenIGTLinkMicroService->isChecked())
{
//create convertion filter
m_IGTLConversionFilter = mitk::NavigationDataToIGTLMessageFilter::New();
m_IGTLConversionFilter->SetName("IGT Tracking Toolbox");
m_IGTLConversionFilter->ConnectTo(m_ToolVisualizationFilter);
m_IGTLConversionFilter->SetOperationMode(mitk::NavigationDataToIGTLMessageFilter::ModeSendTDataMsg);
m_IGTLConversionFilter->RegisterAsMicroservice();
//create server and message provider
m_IGTLServer = mitk::IGTLServer::New(false);
m_IGTLServer->SetName("Tracking Toolbox IGTL Server");
m_IGTLMessageProvider = mitk::IGTLMessageProvider::New();
m_IGTLMessageProvider->SetIGTLDevice(m_IGTLServer);
m_IGTLMessageProvider->RegisterAsMicroservice();
}
m_tracking = true;
m_Controls->m_ConnectDisconnectButton->setEnabled(false);
m_Controls->m_StartStopTrackingButton->setText("Stop Tracking");
m_Controls->m_StartTrackingSimpleMode->setText("Stop\nTracking");
m_Controls->m_FreezeUnfreezeTrackingButton->setEnabled(true);
}
void QmitkMITKIGTTrackingToolboxView::OnStopTracking()
{
if (!m_tracking) return;
m_TrackingRenderTimer->stop();
m_TrackingLoggingTimer->stop();
m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eStopTracking);
m_WorkerThread->start();
m_Controls->m_MainWidget->setEnabled(false);
}
void QmitkMITKIGTTrackingToolboxView::OnStopTrackingFinished(bool success, QString errorMessage)
{
m_WorkerThread->quit();
m_WorkerThread->wait();
m_Controls->m_MainWidget->setEnabled(true);
if (!success)
{
MessageBox(errorMessage.toStdString());
MITK_WARN << errorMessage.toStdString();
return;
}
m_Controls->m_TrackingControlLabel->setText("Status: connected");
if (m_logging) StopLogging();
m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels();
m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage);
m_tracking = false;
m_Controls->m_StartStopTrackingButton->setText("Start Tracking");
m_Controls->m_StartTrackingSimpleMode->setText("Start\nTracking");
m_Controls->m_ConnectDisconnectButton->setEnabled(true);
m_Controls->m_FreezeUnfreezeTrackingButton->setEnabled(false);
//unregister open IGT link micro service
if (m_Controls->m_EnableOpenIGTLinkMicroService->isChecked())
{
m_IGTLConversionFilter->UnRegisterMicroservice();
m_IGTLMessageProvider->UnRegisterMicroservice();
}
}
void QmitkMITKIGTTrackingToolboxView::OnTrackingDeviceChanged()
{
mitk::TrackingDeviceType Type;
if (m_Controls->m_configurationWidget->GetTrackingDevice().IsNotNull())
{
Type = m_Controls->m_configurationWidget->GetTrackingDevice()->GetType();
//enable controls because device is valid
m_Controls->m_TrackingToolsGoupBox->setEnabled(true);
m_Controls->m_TrackingControlsGroupBox->setEnabled(true);
}
else
{
Type = mitk::UnspecifiedTrackingTypeInformation::GetTrackingDeviceName();
MessageBox("Error: This tracking device is not included in this project. Please make sure that the device is installed and activated in your MITK build.");
m_Controls->m_TrackingToolsGoupBox->setEnabled(false);
m_Controls->m_TrackingControlsGroupBox->setEnabled(false);
return;
}
// Code to enable/disable device specific buttons
if (m_Controls->m_configurationWidget->GetTrackingDevice()->AutoDetectToolsAvailable())
{ m_Controls->m_AutoDetectTools->setVisible(true); }
else
{ m_Controls->m_AutoDetectTools->setVisible(false); }
if (Type == mitk::NDIAuroraTypeInformation::GetTrackingDeviceName()) //Aurora
{ m_Controls->m_AddSingleTool->setEnabled(false);}
else //other trackers
{ m_Controls->m_AddSingleTool->setEnabled(true); }
// Code to select appropriate tracking volume for current type
std::vector<mitk::TrackingDeviceData> Compatibles = m_DeviceTypeCollection->GetDeviceDataForLine(Type);
m_Controls->m_VolumeSelectionBox->clear();
for (std::size_t i = 0; i < Compatibles.size(); i++)
{
m_Controls->m_VolumeSelectionBox->addItem(Compatibles[i].Model.c_str());
}
}
void QmitkMITKIGTTrackingToolboxView::OnTrackingVolumeChanged(QString qstr)
{
if (qstr.isNull()) return;
if (qstr.isEmpty()) return;
mitk::TrackingVolumeGenerator::Pointer volumeGenerator = mitk::TrackingVolumeGenerator::New();
std::string str = qstr.toStdString();
mitk::TrackingDeviceData data = m_DeviceTypeCollection->GetDeviceDataByName(str);
m_TrackingDeviceData = data;
volumeGenerator->SetTrackingDeviceData(data);
volumeGenerator->Update();
mitk::Surface::Pointer volumeSurface = volumeGenerator->GetOutput();
m_TrackingVolumeNode->SetData(volumeSurface);
if (!m_Controls->m_ShowTrackingVolume->isChecked()) m_TrackingVolumeNode->SetOpacity(0.0);
else m_TrackingVolumeNode->SetOpacity(0.25);
GlobalReinit();
}
void QmitkMITKIGTTrackingToolboxView::OnShowTrackingVolumeChanged()
{
if (m_Controls->m_ShowTrackingVolume->isChecked())
{
OnTrackingVolumeChanged(m_Controls->m_VolumeSelectionBox->currentText());
m_TrackingVolumeNode->SetOpacity(0.25);
}
else
{
m_TrackingVolumeNode->SetOpacity(0.0);
}
}
void QmitkMITKIGTTrackingToolboxView::OnAutoDetectTools()
{
if (m_Controls->m_configurationWidget->GetTrackingDevice()->AutoDetectToolsAvailable())
{
DisableTrackingConfigurationButtons();
m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eAutoDetectTools);
m_Worker->SetTrackingDevice(m_Controls->m_configurationWidget->GetTrackingDevice().GetPointer());
m_Worker->SetDataStorage(this->GetDataStorage());
m_WorkerThread->start();
m_TimeoutTimer->start(5000);
//disable controls until worker thread is finished
this->m_Controls->m_MainWidget->setEnabled(false);
}
}
void QmitkMITKIGTTrackingToolboxView::OnAutoDetectToolsFinished(bool success, QString errorMessage)
{
m_TimeoutTimer->stop();
m_WorkerThread->quit();
m_WorkerThread->wait();
//enable controls again
this->m_Controls->m_MainWidget->setEnabled(true);
EnableTrackingConfigurationButtons();
if (!success)
{
MITK_WARN << errorMessage.toStdString();
MessageBox(errorMessage.toStdString());
EnableTrackingConfigurationButtons();
return;
}
mitk::NavigationToolStorage::Pointer autoDetectedStorage = m_Worker->GetNavigationToolStorage();
//save detected tools
this->ReplaceCurrentToolStorage(autoDetectedStorage, "Autodetected NDI Aurora Storage");
//auto save the new storage to hard disc (for persistence)
AutoSaveToolStorage();
//update label
QString toolLabel = QString("Loaded Tools: ") + QString::number(m_toolStorage->GetToolCount()) + " Tools (Auto Detected)";
m_Controls->m_toolLabel->setText(toolLabel);
//update tool preview
m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels();
m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage);
EnableTrackingConfigurationButtons();
//print a logging message about the detected tools
switch (m_toolStorage->GetToolCount())
{
case 0:
MITK_INFO("IGT Tracking Toolbox") << "Found no tools. Empty ToolStorage was autosaved to " << m_ToolStorageFilename.toStdString();
break;
case 1:
MITK_INFO("IGT Tracking Toolbox") << "Found one tool. ToolStorage was autosaved to " << m_ToolStorageFilename.toStdString();
break;
default:
MITK_INFO("IGT Tracking Toolbox") << "Found " << m_toolStorage->GetToolCount() << " tools. ToolStorage was autosaved to " << m_ToolStorageFilename.toStdString();
}
}
void QmitkMITKIGTTrackingToolboxView::MessageBox(std::string s)
{
QMessageBox msgBox;
msgBox.setText(s.c_str());
msgBox.exec();
}
void QmitkMITKIGTTrackingToolboxView::UpdateRenderTrackingTimer()
{
//update filter
m_ToolVisualizationFilter->Update();
MITK_DEBUG << "Number of outputs ToolVisualizationFilter: " << m_ToolVisualizationFilter->GetNumberOfIndexedOutputs();
MITK_DEBUG << "Number of inputs ToolVisualizationFilter: " << m_ToolVisualizationFilter->GetNumberOfIndexedInputs();
//update tool colors to show tool status
for (unsigned int i = 0; i < m_ToolVisualizationFilter->GetNumberOfIndexedOutputs(); i++)
{
mitk::NavigationData::Pointer currentTool = m_ToolVisualizationFilter->GetOutput(i);
if (currentTool->IsDataValid())
{
this->m_toolStorage->GetTool(i)->GetDataNode()->SetColor(mitk::IGTColor_VALID);
}
else
{
this->m_toolStorage->GetTool(i)->GetDataNode()->SetColor(mitk::IGTColor_WARNING);
}
}
//refresh view and status widget
mitk::RenderingManager::GetInstance()->RequestUpdateAll();
m_Controls->m_TrackingToolsStatusWidget->Refresh();
//code to better isolate bug 17713, could be removed when bug 17713 is fixed
static int i = 0;
static mitk::Point3D lastPositionTool1 = m_ToolVisualizationFilter->GetOutput(0)->GetPosition();
static itk::TimeStamp lastTimeStamp = m_ToolVisualizationFilter->GetOutput(0)->GetTimeStamp();
i++;
//every 20 frames: check if tracking is frozen
if (i > 20)
{
i = 0;
if (m_ToolVisualizationFilter->GetOutput(0)->IsDataValid())
{
if (mitk::Equal(lastPositionTool1, m_ToolVisualizationFilter->GetOutput(0)->GetPosition(), 0.000000001, false)
&& m_Controls->m_configurationWidget->GetTrackingDevice()->GetType() != "Da Vinci")
{
MITK_WARN << "Seems as tracking (of at least tool 1) is frozen which means that bug 17713 occurred. Restart tracking might help.";
//display further information to find the bug
MITK_WARN << "Timestamp of current navigation data: " << m_ToolVisualizationFilter->GetOutput(0)->GetTimeStamp();
MITK_WARN << "Timestamp of last navigation data (which holds the same values): " << lastTimeStamp;
}
lastPositionTool1 = m_ToolVisualizationFilter->GetOutput(0)->GetPosition();
lastTimeStamp = m_ToolVisualizationFilter->GetOutput(0)->GetTimeStamp();
}
}
}
void QmitkMITKIGTTrackingToolboxView::UpdateLoggingTrackingTimer()
{
//update logging
if (m_logging)
{
this->m_loggingFilter->Update();
m_loggedFrames = this->m_loggingFilter->GetNumberOfRecordedSteps();
this->m_Controls->m_LoggedFramesLabel->setText("Logged Frames: " + QString::number(m_loggedFrames));
//check if logging stopped automatically
if ((m_loggedFrames > 1) && (!m_loggingFilter->GetRecording())){ StopLogging(); }
}
//refresh status widget
m_Controls->m_TrackingToolsStatusWidget->Refresh();
}
void QmitkMITKIGTTrackingToolboxView::OnChooseFileClicked()
{
QDir currentPath = QFileInfo(m_Controls->m_LoggingFileName->text()).dir();
// if no path was selected (QDir would select current working dir then) or the
// selected path does not exist -> use home directory
if (currentPath == QDir() || !currentPath.exists())
{
currentPath = QDir(QDir::homePath());
}
QString filename = QFileDialog::getSaveFileName(NULL, tr("Choose Logging File"), currentPath.absolutePath(), "*.*");
if (filename == "") return;
this->m_Controls->m_LoggingFileName->setText(filename);
this->OnToggleFileExtension();
}
// bug-16470: toggle file extension after clicking on radio button
void QmitkMITKIGTTrackingToolboxView::OnToggleFileExtension()
{
QString currentInputText = this->m_Controls->m_LoggingFileName->text();
QString currentFile = QFileInfo(currentInputText).baseName();
QDir currentPath = QFileInfo(currentInputText).dir();
if (currentFile.isEmpty())
{
currentFile = "logfile";
}
// Setting currentPath to default home path when currentPath is empty or it does not exist
if (currentPath == QDir() || !currentPath.exists())
{
currentPath = QDir::homePath();
}
// check if csv radio button is clicked
if (this->m_Controls->m_csvFormat->isChecked())
{
// you needn't add a seperator to the input text when currentpath is the rootpath
if (currentPath.isRoot())
{
this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + currentFile + ".csv");
}
else
{
this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + QDir::separator() + currentFile + ".csv");
}
}
// check if xml radio button is clicked
else if (this->m_Controls->m_xmlFormat->isChecked())
{
// you needn't add a seperator to the input text when currentpath is the rootpath
if (currentPath.isRoot())
{
this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + currentFile + ".xml");
}
else
{
this->m_Controls->m_LoggingFileName->setText(QDir::toNativeSeparators(currentPath.absolutePath()) + QDir::separator() + currentFile + ".xml");
}
}
}
void QmitkMITKIGTTrackingToolboxView::OnToggleAdvancedSimpleMode()
{
if (m_SimpleModeEnabled)
{
m_Controls->m_simpleWidget->setVisible(false);
m_Controls->m_MainWidget->setVisible(true);
m_Controls->m_simpleUI->setChecked(false);
m_SimpleModeEnabled = false;
}
else
{
m_Controls->m_simpleWidget->setVisible(true);
m_Controls->m_MainWidget->setVisible(false);
m_SimpleModeEnabled = true;
}
}
void QmitkMITKIGTTrackingToolboxView::OnToggleDifferentUpdateRates()
{
if (m_Controls->m_UseDifferentUpdateRates->isChecked())
{
if (m_Controls->m_RenderUpdateRate->value() == 0)
m_Controls->m_renderWarningLabel->setVisible(true);
else
m_Controls->m_renderWarningLabel->setVisible(false);
m_Controls->m_UpdateRate->setEnabled(false);
m_Controls->m_OptionsUpdateRateLabel->setEnabled(false);
m_Controls->m_RenderUpdateRate->setEnabled(true);
m_Controls->m_OptionsRenderUpdateRateLabel->setEnabled(true);
m_Controls->m_LogUpdateRate->setEnabled(true);
m_Controls->m_OptionsLogUpdateRateLabel->setEnabled(true);
}
else
{
m_Controls->m_renderWarningLabel->setVisible(false);
m_Controls->m_UpdateRate->setEnabled(true);
m_Controls->m_OptionsUpdateRateLabel->setEnabled(true);
m_Controls->m_RenderUpdateRate->setEnabled(false);
m_Controls->m_OptionsRenderUpdateRateLabel->setEnabled(false);
m_Controls->m_LogUpdateRate->setEnabled(false);
m_Controls->m_OptionsLogUpdateRateLabel->setEnabled(false);
}
}
void QmitkMITKIGTTrackingToolboxView::OnChangeRenderUpdateRate()
{
if (m_Controls->m_RenderUpdateRate->value() == 0)
m_Controls->m_renderWarningLabel->setVisible(true);
else
m_Controls->m_renderWarningLabel->setVisible(false);
}
void QmitkMITKIGTTrackingToolboxView::StartLogging()
{
if (m_ToolVisualizationFilter.IsNull())
{
MessageBox("Cannot activate logging without a connected device. Configure and connect a tracking device first.");
return;
}
if (!m_logging)
{
//initialize logging filter
m_loggingFilter = mitk::NavigationDataRecorder::New();
+ m_loggingFilter->SetRecordOnlyValidData(m_Controls->m_SkipInvalidData->isChecked());
m_loggingFilter->ConnectTo(m_ToolVisualizationFilter);
if (m_Controls->m_LoggingLimit->isChecked()){ m_loggingFilter->SetRecordCountLimit(m_Controls->m_LoggedFramesLimit->value()); }
//start filter with try-catch block for exceptions
try
{
m_loggingFilter->StartRecording();
}
catch (mitk::IGTException)
{
std::string errormessage = "Error during start recording. Recorder already started recording?";
QMessageBox::warning(NULL, "IGTPlayer: Error", errormessage.c_str());
m_loggingFilter->StopRecording();
return;
}
//update labels / logging variables
this->m_Controls->m_LoggingLabel->setText("Logging ON");
this->m_Controls->m_LoggedFramesLabel->setText("Logged Frames: 0");
m_loggedFrames = 0;
m_logging = true;
DisableLoggingButtons();
}
}
void QmitkMITKIGTTrackingToolboxView::StopLogging()
{
if (m_logging)
{
//stop logging
m_loggingFilter->StopRecording();
m_logging = false;
//update GUI
this->m_Controls->m_LoggingLabel->setText("Logging OFF");
EnableLoggingButtons();
//write the results to a file
if (m_Controls->m_csvFormat->isChecked())
{
mitk::IOUtil::SaveBaseData(m_loggingFilter->GetNavigationDataSet(), this->m_Controls->m_LoggingFileName->text().toStdString());
}
else if (m_Controls->m_xmlFormat->isChecked())
{
mitk::IOUtil::SaveBaseData(m_loggingFilter->GetNavigationDataSet(), this->m_Controls->m_LoggingFileName->text().toStdString());
}
}
}
void QmitkMITKIGTTrackingToolboxView::OnAddSingleTool()
{
QString Identifier = "Tool#";
QString Name = "NewTool";
if (m_toolStorage.IsNotNull()) {
Identifier += QString::number(m_toolStorage->GetToolCount());
Name += QString::number(m_toolStorage->GetToolCount());
}
else {
Identifier += "0";
Name += "0";
}
m_Controls->m_NavigationToolCreationWidget->Initialize(GetDataStorage(), Identifier.toStdString(), Name.toStdString());
m_Controls->m_NavigationToolCreationWidget->SetTrackingDeviceType(m_Controls->m_configurationWidget->GetTrackingDevice()->GetType(), false);
m_Controls->m_TrackingToolsWidget->setCurrentIndex(1);
//disable tracking volume during tool editing
lastTrackingVolumeState = m_Controls->m_ShowTrackingVolume->isChecked();
if (lastTrackingVolumeState) m_Controls->m_ShowTrackingVolume->click();
GlobalReinit();
}
void QmitkMITKIGTTrackingToolboxView::OnAddSingleToolFinished()
{
m_Controls->m_TrackingToolsWidget->setCurrentIndex(0);
if (this->m_toolStorage.IsNull())
{
//this shouldn't happen!
MITK_WARN << "No ToolStorage available, cannot add tool, aborting!";
return;
}
m_toolStorage->AddTool(m_Controls->m_NavigationToolCreationWidget->GetCreatedTool());
m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage);
m_Controls->m_toolLabel->setText("<manually added>");
//auto save current storage for persistence
MITK_INFO << "Auto saving manually added tools for persistence.";
AutoSaveToolStorage();
//enable tracking volume again
if (lastTrackingVolumeState) m_Controls->m_ShowTrackingVolume->click();
GlobalReinit();
}
void QmitkMITKIGTTrackingToolboxView::OnAddSingleToolCanceled()
{
m_Controls->m_TrackingToolsWidget->setCurrentIndex(0);
//enable tracking volume again
if (lastTrackingVolumeState) m_Controls->m_ShowTrackingVolume->click();
GlobalReinit();
}
void QmitkMITKIGTTrackingToolboxView::GlobalReinit()
{
// get all nodes that have not set "includeInBoundingBox" to false
mitk::NodePredicateNot::Pointer pred = mitk::NodePredicateNot::New(mitk::NodePredicateProperty::New("includeInBoundingBox", mitk::BoolProperty::New(false)));
mitk::DataStorage::SetOfObjects::ConstPointer rs = this->GetDataStorage()->GetSubset(pred);
// calculate bounding geometry of these nodes
mitk::TimeGeometry::Pointer bounds = this->GetDataStorage()->ComputeBoundingGeometry3D(rs, "visible");
// initialize the views to the bounding geometry
mitk::RenderingManager::GetInstance()->InitializeViews(bounds);
}
void QmitkMITKIGTTrackingToolboxView::DisableLoggingButtons()
{
m_Controls->m_StartLogging->setEnabled(false);
m_Controls->m_LoggingFileName->setEnabled(false);
m_Controls->m_ChooseFile->setEnabled(false);
m_Controls->m_LoggingLimit->setEnabled(false);
m_Controls->m_LoggedFramesLimit->setEnabled(false);
m_Controls->m_csvFormat->setEnabled(false);
m_Controls->m_xmlFormat->setEnabled(false);
+ m_Controls->m_SkipInvalidData->setEnabled(false);
m_Controls->m_StopLogging->setEnabled(true);
}
void QmitkMITKIGTTrackingToolboxView::EnableLoggingButtons()
{
m_Controls->m_StartLogging->setEnabled(true);
m_Controls->m_LoggingFileName->setEnabled(true);
m_Controls->m_ChooseFile->setEnabled(true);
m_Controls->m_LoggingLimit->setEnabled(true);
m_Controls->m_LoggedFramesLimit->setEnabled(true);
m_Controls->m_csvFormat->setEnabled(true);
m_Controls->m_xmlFormat->setEnabled(true);
+ m_Controls->m_SkipInvalidData->setEnabled(true);
m_Controls->m_StopLogging->setEnabled(false);
}
void QmitkMITKIGTTrackingToolboxView::DisableOptionsButtons()
{
m_Controls->m_ShowTrackingVolume->setEnabled(false);
m_Controls->m_UseDifferentUpdateRates->setEnabled(false);
m_Controls->m_UpdateRate->setEnabled(false);
m_Controls->m_OptionsUpdateRateLabel->setEnabled(false);
m_Controls->m_RenderUpdateRate->setEnabled(false);
m_Controls->m_OptionsRenderUpdateRateLabel->setEnabled(false);
m_Controls->m_LogUpdateRate->setEnabled(false);
m_Controls->m_OptionsLogUpdateRateLabel->setEnabled(false);
m_Controls->m_DisableAllTimers->setEnabled(false);
m_Controls->m_OtherOptionsGroupBox->setEnabled(false);
}
void QmitkMITKIGTTrackingToolboxView::EnableOptionsButtons()
{
m_Controls->m_ShowTrackingVolume->setEnabled(true);
m_Controls->m_UseDifferentUpdateRates->setEnabled(true);
m_Controls->m_DisableAllTimers->setEnabled(true);
m_Controls->m_OtherOptionsGroupBox->setEnabled(true);
OnToggleDifferentUpdateRates();
}
void QmitkMITKIGTTrackingToolboxView::EnableTrackingControls()
{
m_Controls->m_TrackingControlsGroupBox->setEnabled(true);
}
void QmitkMITKIGTTrackingToolboxView::DisableTrackingControls()
{
m_Controls->m_TrackingControlsGroupBox->setEnabled(false);
}
void QmitkMITKIGTTrackingToolboxView::EnableTrackingConfigurationButtons()
{
m_Controls->m_AutoDetectTools->setEnabled(true);
if (m_Controls->m_configurationWidget->GetTrackingDevice()->GetType() != mitk::NDIAuroraTypeInformation::GetTrackingDeviceName()) m_Controls->m_AddSingleTool->setEnabled(true);
m_Controls->m_LoadTools->setEnabled(true);
m_Controls->m_ResetTools->setEnabled(true);
}
void QmitkMITKIGTTrackingToolboxView::DisableTrackingConfigurationButtons()
{
m_Controls->m_AutoDetectTools->setEnabled(false);
if (m_Controls->m_configurationWidget->GetTrackingDevice()->GetType() != mitk::NDIAuroraTypeInformation::GetTrackingDeviceName()) m_Controls->m_AddSingleTool->setEnabled(false);
m_Controls->m_LoadTools->setEnabled(false);
m_Controls->m_ResetTools->setEnabled(false);
}
void QmitkMITKIGTTrackingToolboxView::ReplaceCurrentToolStorage(mitk::NavigationToolStorage::Pointer newStorage, std::string newStorageName)
{
//first: get rid of the old one
//don't reset if there is no tool storage. BugFix #17793
if (m_toolStorage.IsNotNull()){
m_toolStorage->UnLockStorage(); //only to be sure...
m_toolStorage->UnRegisterMicroservice();
m_toolStorage = nullptr;
}
//now: replace by the new one
m_toolStorage = newStorage;
m_toolStorage->SetName(newStorageName);
m_toolStorage->RegisterAsMicroservice("no tracking device");
}
void QmitkMITKIGTTrackingToolboxView::OnTimeOut()
{
m_WorkerThread->terminate();
m_WorkerThread->wait();
m_TimeoutTimer->stop();
}
//! [StoreUISettings]
void QmitkMITKIGTTrackingToolboxView::StoreUISettings()
{
// persistence service does not directly work in plugins for now
// -> using QSettings
QSettings settings;
settings.beginGroup(QString::fromStdString(VIEW_ID));
MITK_INFO << "Store UI settings";
// set the values of some widgets and attrbutes to the QSettings
settings.setValue("ShowTrackingVolume", QVariant(m_Controls->m_ShowTrackingVolume->isChecked()));
settings.setValue("toolStorageFilename", QVariant(m_ToolStorageFilename));
settings.setValue("VolumeSelectionBox", QVariant(m_Controls->m_VolumeSelectionBox->currentIndex()));
settings.setValue("SimpleModeEnabled", QVariant(m_SimpleModeEnabled));
settings.endGroup();
}
//! [StoreUISettings]
//! [LoadUISettings]
void QmitkMITKIGTTrackingToolboxView::LoadUISettings()
{
// persistence service does not directly work in plugins for now
// -> using QSettings
QSettings settings;
settings.beginGroup(QString::fromStdString(VIEW_ID));
// set some widgets and attributes by the values from the QSettings
m_Controls->m_ShowTrackingVolume->setChecked(settings.value("ShowTrackingVolume", true).toBool());
m_Controls->m_VolumeSelectionBox->setCurrentIndex(settings.value("VolumeSelectionBox", 0).toInt());
m_ToolStorageFilename = settings.value("toolStorageFilename", QVariant("")).toString();
if (settings.value("SimpleModeEnabled", false).toBool()) { this->OnToggleAdvancedSimpleMode(); }
settings.endGroup();
//! [LoadUISettings]
//! [LoadToolStorage]
// try to deserialize the tool storage from the given tool storage file name
if (!m_ToolStorageFilename.isEmpty())
{
// try-catch block for exceptions
try
{
mitk::NavigationToolStorageDeserializer::Pointer myDeserializer = mitk::NavigationToolStorageDeserializer::New(GetDataStorage());
m_toolStorage->UnRegisterMicroservice();
m_toolStorage = myDeserializer->Deserialize(m_ToolStorageFilename.toStdString());
m_toolStorage->RegisterAsMicroservice("no tracking device");
//update label
UpdateToolStorageLabel(m_ToolStorageFilename);
//update tool preview
m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels();
m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage);
}
catch (mitk::IGTException)
{
MITK_WARN("QmitkMITKIGTTrackingToolBoxView") << "Error during restoring tools. Problems with file (" << m_ToolStorageFilename.toStdString() << "), please check the file?";
this->OnResetTools(); //if there where errors reset the tool storage to avoid problems later on
}
}
//! [LoadToolStorage]
}
void QmitkMITKIGTTrackingToolboxView::UpdateToolStorageLabel(QString pathOfLoadedStorage)
{
QFileInfo myPath(pathOfLoadedStorage); //use this to seperate filename from path
QString toolLabel = myPath.fileName();
if (toolLabel.size() > 45) //if the tool storage name is to long trimm the string
{
toolLabel.resize(40);
toolLabel += "[...]";
}
m_Controls->m_toolLabel->setText(toolLabel);
}
void QmitkMITKIGTTrackingToolboxView::AutoSaveToolStorage()
{
m_ToolStorageFilename = m_AutoSaveFilename;
mitk::NavigationToolStorageSerializer::Pointer mySerializer = mitk::NavigationToolStorageSerializer::New();
mySerializer->Serialize(m_ToolStorageFilename.toStdString(), m_toolStorage);
}
void QmitkMITKIGTTrackingToolboxViewWorker::SetWorkerMethod(WorkerMethod w)
{
m_WorkerMethod = w;
}
void QmitkMITKIGTTrackingToolboxViewWorker::SetTrackingDevice(mitk::TrackingDevice::Pointer t)
{
m_TrackingDevice = t;
}
void QmitkMITKIGTTrackingToolboxViewWorker::SetDataStorage(mitk::DataStorage::Pointer d)
{
m_DataStorage = d;
}
void QmitkMITKIGTTrackingToolboxViewWorker::SetInverseMode(bool mode)
{
m_InverseMode = mode;
}
void QmitkMITKIGTTrackingToolboxViewWorker::SetTrackingDeviceData(mitk::TrackingDeviceData d)
{
m_TrackingDeviceData = d;
}
void QmitkMITKIGTTrackingToolboxViewWorker::SetNavigationToolStorage(mitk::NavigationToolStorage::Pointer n)
{
m_NavigationToolStorage = n;
}
//! [Thread 7]
void QmitkMITKIGTTrackingToolboxViewWorker::ThreadFunc()
{
switch (m_WorkerMethod)
{
case eAutoDetectTools:
this->AutoDetectTools();
break;
case eConnectDevice:
this->ConnectDevice();
break;
case eStartTracking:
this->StartTracking();
break;
case eStopTracking:
this->StopTracking();
break;
case eDisconnectDevice:
this->DisconnectDevice();
break;
default:
MITK_WARN << "Undefined worker method was set ... something went wrong!";
break;
}
}
//! [Thread 7]
void QmitkMITKIGTTrackingToolboxViewWorker::AutoDetectTools()
{
//mitk::ProgressBar::GetInstance()->AddStepsToDo(2);
mitk::NavigationToolStorage::Pointer autoDetectedStorage = mitk::NavigationToolStorage::New(m_DataStorage);
try
{
mitk::NavigationToolStorage::Pointer tempStorage = m_TrackingDevice->AutoDetectTools();
//mitk::ProgressBar::GetInstance()->Progress();
for (int i = 0; i < tempStorage->GetToolCount(); i++) { autoDetectedStorage->AddTool(tempStorage->GetTool(i)); }
}
catch (mitk::Exception& e)
{
MITK_WARN << e.GetDescription();
//mitk::ProgressBar::GetInstance()->Reset();
emit AutoDetectToolsFinished(false, e.GetDescription());
return;
}
m_NavigationToolStorage = autoDetectedStorage;
//::ProgressBar::GetInstance()->Progress();
emit AutoDetectToolsFinished(true, "");
}
void QmitkMITKIGTTrackingToolboxViewWorker::ConnectDevice()
{
std::string message = "";
//mitk::ProgressBar::GetInstance()->AddStepsToDo(4);
//build the IGT pipeline
mitk::TrackingDevice::Pointer trackingDevice = m_TrackingDevice;
trackingDevice->SetData(m_TrackingDeviceData);
//set device to rotation mode transposed becaus we are working with VNL style quaternions
if (m_InverseMode)
{
trackingDevice->SetRotationMode(mitk::TrackingDevice::RotationTransposed);
}
//Get Tracking Volume Data
mitk::TrackingDeviceData data = m_TrackingDeviceData;
//mitk::ProgressBar::GetInstance()->Progress();
//Create Navigation Data Source with the factory class
mitk::TrackingDeviceSourceConfigurator::Pointer myTrackingDeviceSourceFactory = mitk::TrackingDeviceSourceConfigurator::New(m_NavigationToolStorage, trackingDevice);
m_TrackingDeviceSource = myTrackingDeviceSourceFactory->CreateTrackingDeviceSource(m_ToolVisualizationFilter);
//mitk::ProgressBar::GetInstance()->Progress();
if (m_TrackingDeviceSource.IsNull())
{
message = std::string("Cannot connect to device: ") + myTrackingDeviceSourceFactory->GetErrorMessage();
emit ConnectDeviceFinished(false, QString(message.c_str()));
return;
}
//set filter to rotation mode transposed becaus we are working with VNL style quaternions
if (m_InverseMode)
m_ToolVisualizationFilter->SetRotationMode(mitk::NavigationDataObjectVisualizationFilter::RotationTransposed);
//First check if the created object is valid
if (m_TrackingDeviceSource.IsNull())
{
message = myTrackingDeviceSourceFactory->GetErrorMessage();
emit ConnectDeviceFinished(false, QString(message.c_str()));
return;
}
MITK_INFO << "Number of tools: " << m_TrackingDeviceSource->GetNumberOfOutputs();
//mitk::ProgressBar::GetInstance()->Progress();
//The tools are maybe reordered after initialization, e.g. in case of auto-detected tools of NDI Aurora
mitk::NavigationToolStorage::Pointer toolsInNewOrder = myTrackingDeviceSourceFactory->GetUpdatedNavigationToolStorage();
if ((toolsInNewOrder.IsNotNull()) && (toolsInNewOrder->GetToolCount() > 0))
{
//so delete the old tools in wrong order and add them in the right order
//we cannot simply replace the tool storage because the new storage is
//not correctly initialized with the right data storage
/*
m_NavigationToolStorage->DeleteAllTools();
for (int i=0; i < toolsInNewOrder->GetToolCount(); i++) {m_NavigationToolStorage->AddTool(toolsInNewOrder->GetTool(i));}
This was replaced and thereby fixed Bug 18318 DeleteAllTools() is not Threadsafe!
*/
for (int i = 0; i < toolsInNewOrder->GetToolCount(); i++)
{
m_NavigationToolStorage->AssignToolNumber(toolsInNewOrder->GetTool(i)->GetIdentifier(), i);
}
}
//mitk::ProgressBar::GetInstance()->Progress();
//connect to device
try
{
m_TrackingDeviceSource->Connect();
//mitk::ProgressBar::GetInstance()->Reset();
//Microservice registration:
m_TrackingDeviceSource->RegisterAsMicroservice();
m_NavigationToolStorage->UnRegisterMicroservice();
m_NavigationToolStorage->RegisterAsMicroservice(m_TrackingDeviceSource->GetMicroserviceID());
m_NavigationToolStorage->LockStorage();
}
catch (...) //todo: change to mitk::IGTException
{
message = "Error on connecting the tracking device.";
emit ConnectDeviceFinished(false, QString(message.c_str()));
return;
}
emit ConnectDeviceFinished(true, QString(message.c_str()));
//mitk::ProgressBar::GetInstance()->Reset();
}
void QmitkMITKIGTTrackingToolboxViewWorker::StartTracking()
{
QString errorMessage = "";
try
{
m_TrackingDeviceSource->StartTracking();
}
catch (...) //todo: change to mitk::IGTException
{
errorMessage += "Error while starting the tracking device!";
emit StartTrackingFinished(false, errorMessage);
return;
}
//remember the original colors of the tools
m_OriginalColors = std::map<mitk::DataNode::Pointer, mitk::Color>();
for (int i = 0; i < this->m_NavigationToolStorage->GetToolCount(); i++)
{
mitk::DataNode::Pointer currentToolNode = m_NavigationToolStorage->GetTool(i)->GetDataNode();
float c[3];
currentToolNode->GetColor(c);
mitk::Color color;
color.SetRed(c[0]);
color.SetGreen(c[1]);
color.SetBlue(c[2]);
m_OriginalColors[currentToolNode] = color;
}
emit StartTrackingFinished(true, errorMessage);
}
void QmitkMITKIGTTrackingToolboxViewWorker::StopTracking()
{
//stop tracking
try
{
m_TrackingDeviceSource->StopTracking();
}
catch (mitk::Exception& e)
{
emit StopTrackingFinished(false, e.GetDescription());
}
//restore the original colors of the tools
for (int i = 0; i < this->m_NavigationToolStorage->GetToolCount(); i++)
{
mitk::DataNode::Pointer currentToolNode = m_NavigationToolStorage->GetTool(i)->GetDataNode();
if (m_OriginalColors.find(currentToolNode) == m_OriginalColors.end())
{
MITK_WARN << "Cannot restore original color of tool " << m_NavigationToolStorage->GetTool(i)->GetToolName();
}
else
{
currentToolNode->SetColor(m_OriginalColors[currentToolNode]);
}
}
//emit signal
emit StopTrackingFinished(true, "");
}
void QmitkMITKIGTTrackingToolboxViewWorker::DisconnectDevice()
{
try
{
if (m_TrackingDeviceSource->IsTracking()) { m_TrackingDeviceSource->StopTracking(); }
m_TrackingDeviceSource->Disconnect();
m_TrackingDeviceSource->UnRegisterMicroservice();
m_NavigationToolStorage->UnLockStorage();
}
catch (mitk::Exception& e)
{
emit DisconnectDeviceFinished(false, e.GetDescription());
}
emit DisconnectDeviceFinished(true, "");
-}
\ No newline at end of file
+}
diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui
index 80774c501b..0de4e37863 100644
--- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui
+++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkMITKIGTTrackingToolboxViewControls.ui
@@ -1,889 +1,896 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QmitkMITKIGTTrackingToolboxViewControls</class>
<widget class="QWidget" name="QmitkMITKIGTTrackingToolboxViewControls">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
- <width>370</width>
+ <width>371</width>
<height>747</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="windowTitle">
<string>QmitkTemplate</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QTabWidget" name="m_MainWidget">
<property name="currentIndex">
- <number>0</number>
+ <number>2</number>
</property>
<widget class="QWidget" name="tab">
<attribute name="title">
<string>Tracking</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>280</height>
</size>
</property>
<property name="title">
<string/>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QmitkTrackingDeviceConfigurationWidget" name="m_configurationWidget" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="m_TrackingToolsGoupBox">
<property name="title">
<string/>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<widget class="QLabel" name="label_2">
<property name="font">
<font>
<pointsize>6</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string><!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:10pt; font-weight:600;">Tracking Tools</span></p></body></html></string>
</property>
</widget>
</item>
<item>
<widget class="QStackedWidget" name="m_TrackingToolsWidget">
<property name="lineWidth">
<number>0</number>
</property>
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="page">
<layout class="QVBoxLayout" name="verticalLayout_11">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string>ToolStorage:</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="m_toolLabel">
<property name="text">
<string><none></string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QmitkToolTrackingStatusWidget" name="m_TrackingToolsStatusWidget" native="true">
<property name="minimumSize">
<size>
<width>200</width>
<height>80</height>
</size>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_9">
<item>
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>13</width>
<height>49</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QPushButton" name="m_AutoDetectTools">
<property name="minimumSize">
<size>
<width>120</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Auto Detection</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_AddSingleTool">
<property name="minimumSize">
<size>
<width>120</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Add Single Tool</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_LoadTools">
<property name="minimumSize">
<size>
<width>120</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Load Tool Storage</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_ResetTools">
<property name="minimumSize">
<size>
<width>120</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_2">
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<widget class="QmitkNavigationToolCreationWidget" name="m_NavigationToolCreationWidget" native="true"/>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="m_TrackingControlsGroupBox">
<property name="title">
<string/>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string><!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:10pt; font-weight:600;">Tracking Control</span></p></body></html></string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="m_TrackingControlLabel">
<property name="text">
<string>Status: disconnected</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<spacer name="horizontalSpacer_11">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="m_ConnectDisconnectButton">
<property name="minimumSize">
<size>
<width>142</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Connect</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="m_StartStopTrackingButton">
<property name="minimumSize">
<size>
<width>142</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Start Tracking</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<spacer name="horizontalSpacer_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="m_TrackingFrozenLabel">
<property name="text">
<string><html><head/><body><p><span style=" color:#ff0000;">Tracking Frozen!</span></p></body></html></string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_FreezeUnfreezeTrackingButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="minimumSize">
<size>
<width>142</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Freeze Tracking</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab_2">
<attribute name="title">
<string>Options</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QCheckBox" name="m_DisableAllTimers">
<property name="text">
<string>Disable All Timers</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="m_renderWarningLabel">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string><html><head/><body><p align="right"><span style=" color:#ff0000;">Rendering Disabled!</span></p></body></html></string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="m_UpdateRateOptionsGroupBox">
<property name="title">
<string>Update Rate Options</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<widget class="QLabel" name="m_OptionsUpdateRateLabel">
<property name="text">
<string>Update Rate [per second]</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSpinBox" name="m_UpdateRate">
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QCheckBox" name="m_UseDifferentUpdateRates">
<property name="text">
<string>Use different Render and Log Update Rates</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8" stretch="0,0,0">
<item>
<widget class="QLabel" name="m_OptionsRenderUpdateRateLabel">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Render Update Rate [fps]</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSpinBox" name="m_RenderUpdateRate">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_10">
<item>
<widget class="QLabel" name="m_OptionsLogUpdateRateLabel">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Log Update Rate [per second]</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSpinBox" name="m_LogUpdateRate">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>120</number>
</property>
<property name="singleStep">
<number>10</number>
</property>
<property name="value">
<number>60</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Tracking Volume Options</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
<item>
<widget class="QCheckBox" name="m_ShowTrackingVolume">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Show Tracking Volume</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_5">
<property name="text">
<string>Select Model:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="m_VolumeSelectionBox"/>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="m_OtherOptionsGroupBox">
<property name="title">
<string>Other Options</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_12">
<item>
<widget class="QCheckBox" name="m_ShowToolQuaternions">
<property name="text">
<string>Show Tool Quaternions</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="m_EnableOpenIGTLinkMicroService">
<property name="text">
<string>Enable Open IGT Link MicroService</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="m_simpleUI">
<property name="text">
<string>Simple UI</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_6">
<property name="text">
<string>Caution, only for backward compatibility:</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="m_InverseMode">
<property name="text">
<string>Inverse mode (Quaternions are stored inverse)</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>600</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab_3">
<attribute name="title">
<string>Logging</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_8">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Filename:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="m_LoggingFileName"/>
</item>
<item>
<widget class="QPushButton" name="m_ChooseFile">
<property name="text">
<string>Choose File</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<widget class="QCheckBox" name="m_LoggingLimit">
<property name="text">
<string>Limit Number Of Logged Frames:</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSpinBox" name="m_LoggedFramesLimit">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>300</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QRadioButton" name="m_csvFormat">
<property name="text">
<string>CSV format</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="m_xmlFormat">
<property name="text">
<string>XML format</string>
</property>
</widget>
</item>
+ <item>
+ <widget class="QCheckBox" name="m_SkipInvalidData">
+ <property name="text">
+ <string>Skip invalid data</string>
+ </property>
+ </widget>
+ </item>
<item>
<widget class="QGroupBox" name="groupBox_4">
<property name="title">
<string>Logging Status</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QLabel" name="m_LoggingLabel">
<property name="text">
<string>Logging OFF</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="m_LoggedFramesLabel">
<property name="text">
<string>Logged Frames: 0</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="m_StartLogging">
<property name="text">
<string>Start Logging</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_StopLogging">
<property name="text">
<string>Stop Logging</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<widget class="QWidget" name="m_simpleWidget" native="true">
<layout class="QHBoxLayout" name="horizontalLayout_13">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_25">
<item>
<widget class="QPushButton" name="m_ConnectSimpleMode">
<property name="minimumSize">
<size>
<width>70</width>
<height>50</height>
</size>
</property>
<property name="text">
<string>Connect</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="m_StartTrackingSimpleMode">
<property name="minimumSize">
<size>
<width>70</width>
<height>50</height>
</size>
</property>
<property name="text">
<string>Start
Tracking</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_21">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="m_advancedUI">
<property name="minimumSize">
<size>
<width>70</width>
<height>50</height>
</size>
</property>
<property name="text">
<string>Advanced
Mode</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<layoutdefault spacing="6" margin="11"/>
<customwidgets>
<customwidget>
<class>QmitkTrackingDeviceConfigurationWidget</class>
<extends>QWidget</extends>
<header>QmitkTrackingDeviceConfigurationWidget.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>QmitkToolTrackingStatusWidget</class>
<extends>QWidget</extends>
<header>QmitkToolTrackingStatusWidget.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>QmitkNavigationToolCreationWidget</class>
<extends>QWidget</extends>
<header>QmitkNavigationToolCreationWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>