diff --git a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp
index 011976bf0f..381c499f0f 100644
--- a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp
+++ b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp
@@ -1,682 +1,692 @@
 /*===================================================================
 
 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 "QmitkIGTTrackingLabView.h"
 #include "QmitkStdMultiWidget.h"
 
 #include <QmitkNDIConfigurationWidget.h>
 #include <QmitkFiducialRegistrationWidget.h>
 #include <QmitkUpdateTimerWidget.h>
 #include <QmitkToolSelectionWidget.h>
 #include <QmitkToolTrackingStatusWidget.h>
 
 
 #include <mitkCone.h>
 #include <mitkIGTException.h>
 #include <mitkNodePredicateNot.h>
 #include <mitkNodePredicateProperty.h>
 #include <mitkNodePredicateDataType.h>
 #include <itkVector.h>
 
 #include <vtkConeSource.h>
 #include <vtkTransform.h>
 #include <vtkTransformPolyDataFilter.h>
 #include <vtkAppendPolyData.h>
-#include <vtkLandmarkTransform.h>
-#include <vtkSmartPointer.h>
 #include <vtkPoints.h>
 
 // Qt
 #include <QMessageBox>
 #include <QIcon>
 #include <QPushButton>
 
 // vtk
 #include <mitkVtkResliceInterpolationProperty.h>
 
 
 const std::string QmitkIGTTrackingLabView::VIEW_ID = "org.mitk.views.igttrackinglab";
 
 QmitkIGTTrackingLabView::QmitkIGTTrackingLabView()
 : QmitkAbstractView()
 ,m_Source(NULL)
 ,m_PermanentRegistrationFilter(NULL)
 ,m_Visualizer(NULL)
 ,m_VirtualView(NULL)
 ,m_PSRecordingPointSet(NULL)
 ,m_PointSetRecording(false)
 ,m_PermanentRegistration(false)
 ,m_CameraView(false)
 ,m_ImageFiducialsDataNode(NULL)
 ,m_TrackerFiducialsDataNode(NULL)
 ,m_PermanentRegistrationSourcePoints(NULL)
 {
 }
 
 QmitkIGTTrackingLabView::~QmitkIGTTrackingLabView()
 {
   if (m_Timer->isActive()) m_Timer->stop();
 }
 
 void QmitkIGTTrackingLabView::CreateQtPartControl( QWidget *parent )
 {
   // create GUI widgets from the Qt Designer's .ui file
   m_Controls.setupUi( parent );
   this->CreateBundleWidgets( parent );
   this->CreateConnections();
 }
 
 
 void QmitkIGTTrackingLabView::CreateBundleWidgets( QWidget* parent )
 {
   //initialize registration widget
   m_Controls.m_RegistrationWidget->HideStaticRegistrationRadioButton(true);
   m_Controls.m_RegistrationWidget->HideContinousRegistrationRadioButton(true);
   m_Controls.m_RegistrationWidget->HideUseICPRegistrationCheckbox(true);
 }
 
 
 void QmitkIGTTrackingLabView::CreateConnections()
 {
   //initialize timer
   m_Timer = new QTimer(this);
 
   //create connections
   connect(m_Timer, SIGNAL(timeout()), this, SLOT(UpdateTimer()));
   connect( m_Controls.m_UsePermanentRegistrationToggle, SIGNAL(toggled(bool)), this, SLOT(OnPermanentRegistration(bool)) );
   connect( m_Controls.m_TrackingDeviceSelectionWidget, SIGNAL(NavigationDataSourceSelected(mitk::NavigationDataSource::Pointer)), this, SLOT(OnSetupNavigation()) );
   connect( m_Controls.m_UseAsPointerButton, SIGNAL(clicked()), this, SLOT(OnInstrumentSelected()) );
   connect( m_Controls.m_UseAsObjectmarkerButton, SIGNAL(clicked()), this, SLOT(OnObjectmarkerSelected()) );
   connect( m_Controls.m_RegistrationWidget, SIGNAL(AddedTrackingFiducial()), this, SLOT(OnAddRegistrationTrackingFiducial()) );
   connect( m_Controls.m_RegistrationWidget, SIGNAL(PerformFiducialRegistration()), this, SLOT(OnInitialRegistration()) );
   connect( m_Controls.m_PointSetRecordCheckBox, SIGNAL(toggled(bool)), this, SLOT(OnPointSetRecording(bool)) );
   connect( m_Controls.m_ActivateNeedleView, SIGNAL(toggled(bool)), this, SLOT(OnVirtualCamera(bool)) );
 
   //start timer
   m_Timer->start(30);
 
   //initialize Combo Boxes
   m_Controls.m_ObjectComboBox->SetDataStorage(this->GetDataStorage());
   m_Controls.m_ObjectComboBox->SetAutoSelectNewItems(false);
   m_Controls.m_ObjectComboBox->SetPredicate(mitk::NodePredicateDataType::New("Surface"));
 
   m_Controls.m_ImageComboBox->SetDataStorage(this->GetDataStorage());
   m_Controls.m_ImageComboBox->SetAutoSelectNewItems(false);
   m_Controls.m_ImageComboBox->SetPredicate(mitk::NodePredicateDataType::New("Image"));
 }
 
 void QmitkIGTTrackingLabView::SetFocus()
 {
   m_Controls.m_UseAsPointerButton->setFocus();
 }
 
 void QmitkIGTTrackingLabView::UpdateTimer()
 {
   if (m_PermanentRegistration && m_PermanentRegistrationFilter.IsNotNull())
   {
     if(IsTransformDifferenceHigh(m_ObjectmarkerNavigationData, m_ObjectmarkerNavigationDataLastUpdate))
     {
       m_ObjectmarkerNavigationDataLastUpdate->Graft(m_ObjectmarkerNavigationData);
       m_PermanentRegistrationFilter->Update();
     }
   }
 
   if (m_CameraView && m_VirtualView.IsNotNull()) {m_VirtualView->Update();}
 
   if(m_PointSetRecording && m_PSRecordingPointSet.IsNotNull())
     {
       int size = m_PSRecordingPointSet->GetSize();
       mitk::NavigationData::Pointer nd = m_PointSetRecordingNavigationData;
 
       if(size > 0)
       {
         mitk::Point3D p = m_PSRecordingPointSet->GetPoint(size-1);
         if(p.EuclideanDistanceTo(nd->GetPosition()) > (double) m_Controls.m_PSRecordingSpinBox->value())
           m_PSRecordingPointSet->InsertPoint(size, nd->GetPosition());
       }
       else
         m_PSRecordingPointSet->InsertPoint(size, nd->GetPosition());
     }
   }
 
 
 void QmitkIGTTrackingLabView::OnAddRegistrationTrackingFiducial()
 {
   mitk::NavigationData::Pointer nd = m_InstrumentNavigationData;
 
   if( nd.IsNull() || !nd->IsDataValid())
   {
     QMessageBox::warning( 0, "Invalid tracking data", "Navigation data is not available or invalid!", QMessageBox::Ok );
     return;
   }
 
   if(m_TrackerFiducialsDataNode.IsNotNull() && m_TrackerFiducialsDataNode->GetData() != NULL)
   {
     mitk::PointSet::Pointer ps = dynamic_cast<mitk::PointSet*>(m_TrackerFiducialsDataNode->GetData());
     ps->InsertPoint(ps->GetSize(), nd->GetPosition());
   }
   else
     QMessageBox::warning(NULL, "IGTSurfaceTracker: Error", "Can not access Tracker Fiducials. Adding fiducial not possible!");
 }
 
 void QmitkIGTTrackingLabView::OnInstrumentSelected()
 {
   if (m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedNavigationDataSource().IsNotNull())
     {
     m_InstrumentNavigationData = m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedNavigationDataSource()->GetOutput(m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedToolID());
     }
   else
     {
     m_Controls.m_PointerNameLabel->setText("<not available>");
     return;
     }
 
   if (m_InstrumentNavigationData.IsNotNull())
     {
     m_Controls.m_PointerNameLabel->setText(m_InstrumentNavigationData->GetName());
     }
   else
     {
     m_Controls.m_PointerNameLabel->setText("<not available>");
     }
 }
 
 void QmitkIGTTrackingLabView::OnObjectmarkerSelected()
 {
   if (m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedNavigationDataSource().IsNotNull())
     {
     m_ObjectmarkerNavigationData = m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedNavigationDataSource()->GetOutput(m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedToolID());
     MITK_INFO << "Objectmarker rotation: " << m_ObjectmarkerNavigationData->GetOrientation();
     }
   else
     {
     m_Controls.m_ObjectmarkerNameLabel->setText("<not available>");
     return;
     }
 
   if (m_ObjectmarkerNavigationData.IsNotNull())
     {
     m_Controls.m_ObjectmarkerNameLabel->setText(m_ObjectmarkerNavigationData->GetName());
     }
   else
     {
     m_Controls.m_ObjectmarkerNameLabel->setText("<not available>");
     }
 }
 
 void QmitkIGTTrackingLabView::OnSetupNavigation()
 {
   if(m_Source.IsNotNull())
     if(m_Source->IsTracking())
       return;
 
   mitk::DataStorage* ds = this->GetDataStorage();
 
   if(ds == NULL)
   {
     MITK_WARN << "IGTSurfaceTracker: Error", "can not access DataStorage. Navigation not possible";
     return;
   }
 
   //Building up the filter pipeline
   try
   {
     this->InitializeRegistration();
   }
   catch(mitk::IGTException& e)
   {
     MITK_WARN << "Error while building the IGT-Pipeline: " << e.GetDescription();
     this->DestroyIGTPipeline(); // destroy the pipeline if building is incomplete
     return;
   }
   catch(...)
   {
     MITK_WARN << "Unexpected error while building the IGT-Pipeline";
     this->DestroyIGTPipeline();
     return;
   }
 }
 
 void QmitkIGTTrackingLabView::OnInitialRegistration()
 {
   //Check for initialization
   if (!CheckRegistrationInitialization()) return;
 
   /* retrieve fiducials from data storage */
   mitk::DataStorage* ds = this->GetDataStorage();
   mitk::PointSet::Pointer imageFiducials = dynamic_cast<mitk::PointSet*>(m_ImageFiducialsDataNode->GetData());
   mitk::PointSet::Pointer trackerFiducials = dynamic_cast<mitk::PointSet*>(m_TrackerFiducialsDataNode->GetData());
 
   //convert point sets to vtk poly data
   vtkSmartPointer<vtkPoints> sourcePoints = vtkSmartPointer<vtkPoints>::New();
   vtkSmartPointer<vtkPoints> targetPoints = vtkSmartPointer<vtkPoints>::New();
   for (int i=0; i<imageFiducials->GetSize(); i++)
     {
     double point[3] = {imageFiducials->GetPoint(i)[0],imageFiducials->GetPoint(i)[1],imageFiducials->GetPoint(i)[2]};
     sourcePoints->InsertNextPoint(point);
     double point_targets[3] = {trackerFiducials->GetPoint(i)[0],trackerFiducials->GetPoint(i)[1],trackerFiducials->GetPoint(i)[2]};
     targetPoints->InsertNextPoint(point_targets);
     }
 
   //compute transform
   vtkSmartPointer<vtkLandmarkTransform> transform = vtkSmartPointer<vtkLandmarkTransform>::New();
   transform->SetSourceLandmarks(sourcePoints);
   transform->SetTargetLandmarks(targetPoints);
   transform->SetModeToRigidBody();
   transform->Modified();
   transform->Update();
 
   //compute FRE
-  double FRE = 0;
-  for(unsigned int i = 0; i < imageFiducials->GetSize(); i++)
-    {
-    itk::Point<double> transformed = transform->TransformPoint(imageFiducials->GetPoint(i)[0],imageFiducials->GetPoint(i)[1],imageFiducials->GetPoint(i)[2]);
-    double cur_error_squared = transformed.SquaredEuclideanDistanceTo(trackerFiducials->GetPoint(i));
-    FRE += cur_error_squared;
-    }
-
-  FRE = sqrt(FRE/ (double) imageFiducials->GetSize());
+  double FRE = ComputeFRE(imageFiducials,trackerFiducials,transform);
   m_Controls.m_RegistrationWidget->SetQualityDisplayText("FRE: " + QString::number(FRE) + " mm");
 
   //convert from vtk to itk data types
   itk::Matrix<float,3,3> rotationFloat = itk::Matrix<float,3,3>();
   itk::Vector<float,3> translationFloat = itk::Vector<float,3>();
   itk::Matrix<double,3,3> rotationDouble = itk::Matrix<double,3,3>();
   itk::Vector<double,3> translationDouble = itk::Vector<double,3>();
 
   vtkSmartPointer<vtkMatrix4x4> m = transform->GetMatrix();
   for(int k=0; k<3; k++) for(int l=0; l<3; l++)
   {
     rotationFloat[k][l] = m->GetElement(k,l);
     rotationDouble[k][l] = m->GetElement(k,l);
 
   }
   for(int k=0; k<3; k++)
   {
     translationFloat[k] = m->GetElement(k,3);
     translationDouble[k] = m->GetElement(k,3);
   }
 
   //create affine transform 3D surface
   mitk::AffineTransform3D::Pointer newTransform = mitk::AffineTransform3D::New();
   newTransform->SetMatrix(rotationDouble);
   newTransform->SetOffset(translationDouble);
 
   //save transform
   m_T_ObjectReg = mitk::NavigationData::New(newTransform);
 
   //transform surface
   if(m_Controls.m_SurfaceActive->isChecked() && m_Controls.m_ObjectComboBox->GetSelectedNode().IsNotNull())
   {
     m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(newTransform);
   }
 
   //transform ct image
   if(m_Controls.m_ImageActive->isChecked() && m_Controls.m_ImageComboBox->GetSelectedNode().IsNotNull())
   {
     mitk::AffineTransform3D::Pointer imageTransform = m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->GetIndexToWorldTransform();
     m_T_ImageGeo = mitk::AffineTransform3D::New();
     m_T_ImageGeo->Compose(imageTransform);
     imageTransform->Compose(newTransform);
     mitk::AffineTransform3D::Pointer newImageTransform = mitk::AffineTransform3D::New(); //create new image transform... setting the composed directly leads to an error
     itk::Matrix<mitk::ScalarType,3,3> rotationFloatNew = imageTransform->GetMatrix();
     itk::Vector<mitk::ScalarType,3> translationFloatNew = imageTransform->GetOffset();
     newImageTransform->SetMatrix(rotationFloatNew);
     newImageTransform->SetOffset(translationFloatNew);
     m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(newImageTransform);
     m_T_ImageReg = m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->GetIndexToWorldTransform();
   }
 
 }
 
 void QmitkIGTTrackingLabView::DestroyIGTPipeline()
 {
   if(m_Source.IsNotNull())
   {
     m_Source->StopTracking();
     m_Source->Disconnect();
     m_Source = NULL;
   }
   m_PermanentRegistrationFilter = NULL;
   m_Visualizer = NULL;
   m_VirtualView = NULL;
 }
 
 void QmitkIGTTrackingLabView::InitializeRegistration()
 {
   mitk::DataStorage* ds = this->GetDataStorage();
   if( ds == NULL )
     return;
 
   // let the registration widget know about the slice navigation controllers
   // in the active render window part (crosshair updates)
   foreach(QmitkRenderWindow* renderWindow, this->GetRenderWindowPart()->GetQmitkRenderWindows().values())
   {
     m_Controls.m_RegistrationWidget->AddSliceNavigationController(renderWindow->GetSliceNavigationController());
   }
 
   if(m_ImageFiducialsDataNode.IsNull())
   {
     m_ImageFiducialsDataNode = mitk::DataNode::New();
     mitk::PointSet::Pointer ifPS = mitk::PointSet::New();
 
     m_ImageFiducialsDataNode->SetData(ifPS);
 
     mitk::Color color;
     color.Set(1.0f, 0.0f, 0.0f);
     m_ImageFiducialsDataNode->SetName("Image Fiducials");
     m_ImageFiducialsDataNode->SetColor(color);
     m_ImageFiducialsDataNode->SetBoolProperty( "updateDataOnRender", false );
 
     ds->Add(m_ImageFiducialsDataNode);
   }
   m_Controls.m_RegistrationWidget->SetImageFiducialsNode(m_ImageFiducialsDataNode);
 
   if(m_TrackerFiducialsDataNode.IsNull())
   {
     m_TrackerFiducialsDataNode = mitk::DataNode::New();
     mitk::PointSet::Pointer tfPS = mitk::PointSet::New();
     m_TrackerFiducialsDataNode->SetData(tfPS);
 
     mitk::Color color;
     color.Set(0.0f, 1.0f, 0.0f);
     m_TrackerFiducialsDataNode->SetName("Tracking Fiducials");
     m_TrackerFiducialsDataNode->SetColor(color);
     m_TrackerFiducialsDataNode->SetBoolProperty( "updateDataOnRender", false );
 
     ds->Add(m_TrackerFiducialsDataNode);
   }
 
   m_Controls.m_RegistrationWidget->SetTrackerFiducialsNode(m_TrackerFiducialsDataNode);
 }
 
 void QmitkIGTTrackingLabView::OnPointSetRecording(bool record)
 {
   mitk::DataStorage* ds = this->GetDataStorage();
 
   if(record)
   {
     if (m_Controls.m_PointSetRecordingToolSelectionWidget->GetSelectedToolID() == -1)
       {
       QMessageBox::warning(NULL, "Error", "No tool selected for point set recording!");
       m_Controls.m_PointSetRecordCheckBox->setChecked(false);
       return;
       }
     m_PointSetRecordingNavigationData = m_Controls.m_PointSetRecordingToolSelectionWidget->GetSelectedNavigationDataSource()->GetOutput(m_Controls.m_PointSetRecordingToolSelectionWidget->GetSelectedToolID());
 
     //initialize point set
     mitk::DataNode::Pointer psRecND = ds->GetNamedNode("Recorded Points");
     if(m_PSRecordingPointSet.IsNull() || psRecND.IsNull())
     {
       m_PSRecordingPointSet = NULL;
       m_PSRecordingPointSet = mitk::PointSet::New();
       mitk::DataNode::Pointer dn = mitk::DataNode::New();
       dn->SetName("Recorded Points");
       dn->SetColor(0.,1.,0.);
       dn->SetData(m_PSRecordingPointSet);
       ds->Add(dn);
     }
     else
     {
       m_PSRecordingPointSet->Clear();
     }
     m_PointSetRecording = true;
   }
 
   else
   {
     m_PointSetRecording = false;
   }
 }
 
 void QmitkIGTTrackingLabView::OnVirtualCamera(bool on)
 {
 if (m_Controls.m_CameraViewSelection->GetSelectedToolID() == -1)
     {
     m_Controls.m_ActivateNeedleView->setChecked(false);
     QMessageBox::warning(NULL, "Error", "No tool selected for camera view!");
     return;
     }
 
 if(on)
   {
   m_VirtualView = mitk::CameraVisualization::New();
   m_VirtualView->SetInput(m_Controls.m_CameraViewSelection->GetSelectedNavigationDataSource()->GetOutput(m_Controls.m_CameraViewSelection->GetSelectedToolID()));
 
   mitk::Vector3D viewDirection;
   viewDirection[0] = (int)(m_Controls.m_NeedleViewX->isChecked());
   viewDirection[1] = (int)(m_Controls.m_NeedleViewY->isChecked());
   viewDirection[2] = (int)(m_Controls.m_NeedleViewZ->isChecked());
   if (m_Controls.m_NeedleViewInvert->isChecked()) viewDirection *= -1;
   m_VirtualView->SetDirectionOfProjectionInToolCoordinates(viewDirection);
 
   mitk::Vector3D viewUpVector;
   viewUpVector[0] = (int)(m_Controls.m_NeedleUpX->isChecked());
   viewUpVector[1] = (int)(m_Controls.m_NeedleUpY->isChecked());
   viewUpVector[2] = (int)(m_Controls.m_NeedleUpZ->isChecked());
   if (m_Controls.m_NeedleUpInvert->isChecked()) viewUpVector *= -1;
   m_VirtualView->SetViewUpInToolCoordinates(viewUpVector);
 
   m_VirtualView->SetRenderer(this->GetRenderWindowPart()->GetQmitkRenderWindow("3d")->GetRenderer());
   //next line: better code when this plugin is migrated to mitk::abstractview
   //m_VirtualView->SetRenderer(mitk::BaseRenderer::GetInstance(this->GetRenderWindowPart()->GetRenderWindow("3d")->GetRenderWindow()));
   m_CameraView = true;
 
   //make pointer itself invisible
   m_Controls.m_CameraViewSelection->GetSelectedNavigationTool()->GetDataNode()->SetBoolProperty("visible",false);
 
   //disable UI elements
   m_Controls.m_ViewDirectionBox->setEnabled(false);
   m_Controls.m_ViewUpBox->setEnabled(false);
   }
 else
   {
   m_VirtualView = NULL;
   m_CameraView = false;
   m_Controls.m_CameraViewSelection->GetSelectedNavigationTool()->GetDataNode()->SetBoolProperty("visible",true);
 
   m_Controls.m_ViewDirectionBox->setEnabled(true);
   m_Controls.m_ViewUpBox->setEnabled(true);
   }
 
 }
 
 bool QmitkIGTTrackingLabView::CheckRegistrationInitialization()
 {
   // a couple of variables which we need in this method
   std::string warningMessage = "";
   bool initializationErrorDetected = false;
   mitk::PointSet::Pointer imageFiducials,trackerFiducials;
 
   // check some initialization stuff
   if (m_ImageFiducialsDataNode.IsNull() || m_TrackerFiducialsDataNode.IsNull())
   {
     warningMessage = "Initialization not finished!";
     MITK_WARN << warningMessage;
     QMessageBox::warning(NULL, "Registration not possible", warningMessage.c_str());
     return false;
   }
   else
   {
     imageFiducials = dynamic_cast<mitk::PointSet*>(m_ImageFiducialsDataNode->GetData());
     trackerFiducials = dynamic_cast<mitk::PointSet*>(m_TrackerFiducialsDataNode->GetData());
   }
 
   // now, do a lot of other checks...
   if (m_Controls.m_SurfaceActive->isChecked() && m_Controls.m_ObjectComboBox->GetSelectedNode().IsNull())
   {
     warningMessage = "No surface selected for registration.\nRegistration is not possible";
     initializationErrorDetected = true;
   }
   else if (m_Controls.m_ImageActive->isChecked() && m_Controls.m_ImageComboBox->GetSelectedNode().IsNull())
   {
     warningMessage = "No image selected for registration.\nRegistration is not possible";
     initializationErrorDetected = true;
   }
   else if (imageFiducials.IsNull() || trackerFiducials.IsNull())
   {
    warningMessage = "Fiducial data objects not found. \n"
       "Please set 3 or more fiducials in the image and with the tracking system.\n\n"
       "Registration is not possible";
     initializationErrorDetected = true;
   }
   else if ((imageFiducials->GetSize() < 3) || (trackerFiducials->GetSize() < 3) || (imageFiducials->GetSize() != trackerFiducials->GetSize()))
   {
     warningMessage = "Not enough fiducial pairs found. At least 3 fiducial must exist for the image and the tracking system respectively.";
     initializationErrorDetected = true;
   }
 
   // finaly: if an err was detected, give a warning and an error popup, then return false
   if(initializationErrorDetected)
   {
     MITK_WARN << warningMessage;
     QMessageBox::warning(NULL, "Registration not possible", warningMessage.c_str());
     return false;
   }
   //if no error was detected simply return true
   else {return true;}
 
 }
 
 bool QmitkIGTTrackingLabView::IsTransformDifferenceHigh(mitk::NavigationData::Pointer transformA, mitk::NavigationData::Pointer transformB, double euclideanDistanceThreshold, double angularDifferenceThreshold)
 {
   if(transformA.IsNull() || transformA.IsNull())
     {return false;}
   mitk::Point3D posA,posB;
   posA = transformA->GetPosition();
   posB = transformB->GetPosition();
 
 
   if(posA.EuclideanDistanceTo(posB) > euclideanDistanceThreshold)
     {return true;}
 
   double returnValue;
   mitk::Quaternion rotA,rotB;
   rotA = transformA->GetOrientation();
   rotB = transformB->GetOrientation();
 
   itk::Vector<double,3> point; //caution 5D-Tools: Vector must lie in the YZ-plane for a correct result.
   point[0] = 0.0;
   point[1] = 0.0;
   point[2] = 100000.0;
 
   rotA.normalize();
   rotB.normalize();
 
   itk::Matrix<double,3,3> rotMatrixA;
   for(int i=0; i<3; i++) for(int j=0; j<3; j++) rotMatrixA[i][j] = rotA.rotation_matrix_transpose().transpose()[i][j];
 
   itk::Matrix<double,3,3> rotMatrixB;
   for(int i=0; i<3; i++) for(int j=0; j<3; j++) rotMatrixB[i][j] = rotB.rotation_matrix_transpose().transpose()[i][j];
 
   itk::Vector<double,3> pt1 = rotMatrixA * point;
   itk::Vector<double,3> pt2 = rotMatrixB * point;
 
   returnValue = (pt1[0]*pt2[0]+pt1[1]*pt2[1]+pt1[2]*pt2[2]) / ( sqrt(pow(pt1[0],2.0)+pow(pt1[1],2.0)+pow(pt1[2],2.0)) * sqrt(pow(pt2[0],2.0)+pow(pt2[1],2.0)+pow(pt2[2],2.0)));
   returnValue = acos(returnValue);
 
   if(returnValue*57.3 > angularDifferenceThreshold){return true;}
 
   return false;
 }
 
 
 void QmitkIGTTrackingLabView::OnPermanentRegistration(bool on)
 {
   if(on)
     {
 
     if(!CheckRegistrationInitialization())
     {
       m_Controls.m_UsePermanentRegistrationToggle->setChecked(false);
       return;
     }
 
     //remember initial object transform to calculate the object to marker transform later on
     mitk::AffineTransform3D::Pointer transform = this->m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()->GetGeometry()->GetIndexToWorldTransform();
 
     //TODO Exception abfangen?
     mitk::NavigationData::Pointer T_Object = mitk::NavigationData::New(transform,false);
 
 
     //then reset the transform because we will now start to calculate the permenent registration
     this->m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIdentity();
 
     if(m_Controls.m_ImageActive->isChecked())
       this->m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(m_T_ImageGeo);
 
     //create the permanent registration filter
     m_PermanentRegistrationFilter = mitk::NavigationDataObjectVisualizationFilter::New();
     //set to rotation mode transposed because we are working with VNL style quaternions
     //m_PermanentRegistrationFilter->SetRotationMode(mitk::NavigationDataObjectVisualizationFilter::RotationTransposed);
 
     //first: surface (always activated)
 
     //connect filter to source
     m_PermanentRegistrationFilter->SetInput(0,this->m_ObjectmarkerNavigationData);
 
     //set representation object
     m_PermanentRegistrationFilter->SetRepresentationObject(0,this->m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData());
 
     //get the marker transform out of the navigation data
     mitk::NavigationData::Pointer T_Marker = m_ObjectmarkerNavigationData;
 
     //compute transform from object to marker
     mitk::NavigationData::Pointer T_MarkerRel = mitk::NavigationData::New();
     T_MarkerRel->Compose(T_Object);
     T_MarkerRel->Compose(T_Marker->GetInverse());
     m_T_MarkerRel = T_MarkerRel;
     m_PermanentRegistrationFilter->SetOffset(0,m_T_MarkerRel->GetAffineTransform3D());
 
     //first: image (if activated)
     //set interpolation mode
     if (m_Controls.m_ImageActive->isChecked() && (m_Controls.m_ImageComboBox->GetSelectedNode().IsNotNull()))
       {
       mitk::DataNode::Pointer imageNode = this->m_Controls.m_ImageComboBox->GetSelectedNode();
       imageNode->AddProperty( "reslice interpolation", mitk::VtkResliceInterpolationProperty::New(VTK_RESLICE_LINEAR) );
       m_PermanentRegistrationFilter->SetInput(1,this->m_ObjectmarkerNavigationData);
       m_PermanentRegistrationFilter->SetRepresentationObject(1,imageNode->GetData());
 
       mitk::AffineTransform3D::Pointer newTransform = mitk::AffineTransform3D::New();
       newTransform->SetIdentity();
       newTransform->Compose(m_T_ImageGeo);
       newTransform->Compose(m_T_MarkerRel->GetAffineTransform3D());
       m_PermanentRegistrationFilter->SetOffset(1,newTransform);
       }
 
     //some general stuff
     m_PermanentRegistration = true;
     m_ObjectmarkerNavigationDataLastUpdate = mitk::NavigationData::New();
     }
   else
     {
     //stop permanent registration
     m_PermanentRegistration = false;
 
     //restore old registration
     if(m_T_ObjectReg.IsNotNull()) {this->m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(m_T_ObjectReg->GetAffineTransform3D());}
     if(m_T_ImageReg.IsNotNull()) {this->m_Controls.m_ImageComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(m_T_ImageReg);}
 
     //delete filter
     m_PermanentRegistrationFilter = NULL;
     }
 }
+
+double QmitkIGTTrackingLabView::ComputeFRE(mitk::PointSet::Pointer imageFiducials, mitk::PointSet::Pointer realWorldFiducials, vtkSmartPointer<vtkLandmarkTransform> transform)
+{
+  if(imageFiducials->GetSize() != realWorldFiducials->GetSize()) return -1;
+  double FRE = 0;
+  for(unsigned int i = 0; i < imageFiducials->GetSize(); i++)
+    {
+    itk::Point<double> current_image_fiducial_point = imageFiducials->GetPoint(i);
+    if (transform != NULL)
+      {
+      current_image_fiducial_point = transform->TransformPoint(imageFiducials->GetPoint(i)[0],imageFiducials->GetPoint(i)[1],imageFiducials->GetPoint(i)[2]);
+      }
+    double cur_error_squared = current_image_fiducial_point.SquaredEuclideanDistanceTo(realWorldFiducials->GetPoint(i));
+    FRE += cur_error_squared;
+    }
+
+  FRE = sqrt(FRE/ (double) imageFiducials->GetSize());
+
+  return FRE;
+}
diff --git a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.h b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.h
index 1d2d80d4bb..73f6440945 100644
--- a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.h
+++ b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.h
@@ -1,212 +1,222 @@
 /*===================================================================
 
 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 QmitkIGTTrackingLabView_h
 #define QmitkIGTTrackingLabView_h
 
 #include <berryISelectionListener.h>
 
 #include <QmitkAbstractView.h>
 
 #include "ui_QmitkIGTTrackingLabViewControls.h"
 
 #include <mitkNavigationDataToPointSetFilter.h>
 #include <mitkNavigationDataLandmarkTransformFilter.h>
 #include <mitkNavigationDataReferenceTransformFilter.h>
 #include <mitkNavigationDataObjectVisualizationFilter.h>
 #include <mitkNavigationDataToPointSetFilter.h>
 #include <mitkTrackingDeviceSource.h>
 #include <mitkSurface.h>
 #include <mitkCameraVisualization.h>
 
 #include <QToolBox>
 #include <QCheckBox>
 #include <QComboBox>
 #include <QPushButton>
 #include <QLabel>
 #include <QSpinBox>
 #include <QTimer>
 
+#include <vtkLandmarkTransform.h>
+#include <vtkSmartPointer.h>
+
 /*!
 \brief QmitkIGTTrackingLabView
 
 \warning  This class is not yet documented. Use "git blame" and ask the author to provide basic documentation.
 
 \sa QmitkFunctionality
 \ingroup ${plugin_target}_internal
 */
 class QmitkIGTTrackingLabView : public QmitkAbstractView
 {
 // this is needed for all Qt objects that should have a Qt meta-object
 // (everything that derives from QObject and wants to have signal/slots)
 Q_OBJECT
 
 public:
 
 static const std::string VIEW_ID;
 
 /**
 \brief default constructor
 */
 QmitkIGTTrackingLabView();
 
 /**
 \brief default destructor
 */
 virtual ~QmitkIGTTrackingLabView();
 
 virtual void CreateQtPartControl(QWidget *parent);
 
 virtual void SetFocus();
 
 protected slots:
 
 /** This timer updates the IGT pipline, when nessecary:
 *   1: if permanent registration is activated, then the permanent
 *      registration filter has to be updated
 *   2: if the camera view is on it also must be updated
 *   3: point set recording is based on another filter which needs to be
 *      updated when activated
 */
 void UpdateTimer();
 
 //############## Configuration Step #####################
 
 /**
 \brief This method sets up the navigation pipeline during initialization.
 */
 void OnSetupNavigation();
 
 /** This method is called when the instrument is selected.
 *  It stores the navigation data of the instrument.
 */
 void OnInstrumentSelected();
 
 /** This method is called when the object marker is selected.
 *  It stores the navigation data of the object marker.
 */
 void OnObjectmarkerSelected();
 
 //############## Initial Registration Step ##############
 
 /**
 \brief This method adds a new fiducial to the tracker fiducials PointSet.
 */
 void OnAddRegistrationTrackingFiducial();
 
 /**
 \brief This method calls the fiducial registration.
 */
 void OnInitialRegistration();
 
 /**
 \brief This method initializes the registration for the FiducialRegistrationWidget.
 */
 void InitializeRegistration();
 
 //############## Permanent Registration Step ############
 
 /**
 \brief This method activates the permanent registration based on one tool's position.
 */
 void OnPermanentRegistration(bool on);
 
 //############## Pointset Recording Step ################
 
 /**
 \brief This method starts the PointSet recording.
 */
 void OnPointSetRecording(bool record);
 
 //############## Camera View Step #######################
 /**
 \brief This method activates the virtual camera.
 */
 void OnVirtualCamera(bool on);
 
 protected:
 
 Ui::QmitkIGTTrackingLabViewControls m_Controls;
 /**
 \brief This method creates all widgets this bundle needs.
 */
 void CreateBundleWidgets( QWidget* parent );
 /**
 \brief This method creates the SIGNAL SLOT connections.
 */
 void CreateConnections();
 /**
 * Checks if everything is initialized for registration. Gives error messages and returns false if not.
 */
 bool CheckRegistrationInitialization();
 
 /**
 * Checks if the difference between two given transformations is high which means the method returns
 * true if the difference exeeds the given position and angular threshold.
 */
 bool IsTransformDifferenceHigh(mitk::NavigationData::Pointer transformA, mitk::NavigationData::Pointer transformB, double euclideanDistanceThreshold = .8, double angularDifferenceThreshold = .8);
 /**
 \brief This method destroys the filter pipeline.
 */
 void DestroyIGTPipeline();
 
+/** @brief Computes the fiducial registration error out of two sets of fiducials.
+ *  The two sets must have the same size and the points must correspond to each other.
+ *  @param transform        This transform is applied to the image fiducials before the FRE calculation if it is given.
+ *  @return                 Returns the FRE. Returns -1 if there was an error.
+ */
+double ComputeFRE(mitk::PointSet::Pointer imageFiducials, mitk::PointSet::Pointer realWorldFiducials, vtkSmartPointer<vtkLandmarkTransform> transform = NULL);
+
 //####################### Members for the IGT pipeline ######################################
 // The IGT pipeline is basically initialized in the method OnSetupNavigation(). Further initialization
 // is done in the methods OnPermanentRegistration(), OnPointSetRecording() and OnVirtualCamera().
 // The pipline is updated in the method UpdateTimer(). When the complete pipeline is active, it is
 // structured as follows:
 //           -> m_PermanentRegistrationFilter
 //          /
 // m_Source -> m_Visualizer
 //          \
 //           -> m_VirtualView
 mitk::TrackingDeviceSource::Pointer m_Source;                                         ///< source that connects to the tracking device
 mitk::NavigationDataObjectVisualizationFilter::Pointer m_PermanentRegistrationFilter; ///< this filter transforms from tracking coordinates into mitk world coordinates if needed it is interconnected before the FiducialEegistrationFilter
 mitk::NavigationDataObjectVisualizationFilter::Pointer m_Visualizer;                  ///< visualization filter
 mitk::CameraVisualization::Pointer m_VirtualView;                                     ///< filter to update the vtk camera according to the reference navigation data
 
 
 QTimer* m_Timer;
 
 mitk::PointSet::Pointer m_PSRecordingPointSet;
 
 bool m_PointSetRecording;
 bool m_PermanentRegistration;
 bool m_CameraView;
 
 mitk::DataNode::Pointer m_ImageFiducialsDataNode;
 mitk::DataNode::Pointer m_TrackerFiducialsDataNode;
 
 mitk::PointSet::Pointer m_PermanentRegistrationSourcePoints;
 
 mitk::NavigationData::Pointer m_InstrumentNavigationData;
 mitk::NavigationData::Pointer m_ObjectmarkerNavigationData;
 mitk::NavigationData::Pointer m_PointSetRecordingNavigationData;
 
 mitk::NavigationData::Pointer m_T_MarkerRel;
 mitk::NavigationData::Pointer m_T_ObjectReg;
 mitk::AffineTransform3D::Pointer m_T_ImageReg;
 mitk::AffineTransform3D::Pointer m_T_ImageGeo;
 mitk::NavigationData::Pointer m_ObjectmarkerNavigationDataLastUpdate;
 
 
 
 
 };
 
 #endif // QmitkIGTTrackingLabView_h