diff --git a/Modules/IGT/DataManagement/mitkNavigationDataSource.cpp b/Modules/IGT/DataManagement/mitkNavigationDataSource.cpp index 381329b9a3..146eb894aa 100644 --- a/Modules/IGT/DataManagement/mitkNavigationDataSource.cpp +++ b/Modules/IGT/DataManagement/mitkNavigationDataSource.cpp @@ -1,153 +1,163 @@ /*=================================================================== 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 "mitkNavigationDataSource.h" #include "mitkUIDGenerator.h" //Microservices #include #include #include #include const std::string mitk::NavigationDataSource::US_INTERFACE_NAME = "org.mitk.services.NavigationDataSource"; const std::string mitk::NavigationDataSource::US_PROPKEY_DEVICENAME = US_INTERFACE_NAME + ".devicename"; const std::string mitk::NavigationDataSource::US_PROPKEY_ID = US_INTERFACE_NAME + ".id"; const std::string mitk::NavigationDataSource::US_PROPKEY_ISACTIVE = US_INTERFACE_NAME + ".isActive"; mitk::NavigationDataSource::NavigationDataSource() -: itk::ProcessObject(), m_Name("NavigationDataSource (no defined type)") +: itk::ProcessObject(), m_Name("NavigationDataSource (no defined type)"), m_IsFrozen(false) { } mitk::NavigationDataSource::~NavigationDataSource() { } mitk::NavigationData* mitk::NavigationDataSource::GetOutput() { if (this->GetNumberOfIndexedOutputs() < 1) return NULL; return static_cast(this->ProcessObject::GetPrimaryOutput()); } mitk::NavigationData* mitk::NavigationDataSource::GetOutput(DataObjectPointerArraySizeType idx) { NavigationData* out = dynamic_cast( this->ProcessObject::GetOutput(idx) ); if ( out == NULL && this->ProcessObject::GetOutput(idx) != NULL ) { itkWarningMacro (<< "Unable to convert output number " << idx << " to type " << typeid( NavigationData ).name () ); } return out; } mitk::NavigationData* mitk::NavigationDataSource::GetOutput(const std::string& navDataName) { DataObjectPointerArray outputs = this->GetOutputs(); for (DataObjectPointerArray::iterator it = outputs.begin(); it != outputs.end(); ++it) if (navDataName == (static_cast(it->GetPointer()))->GetName()) return static_cast(it->GetPointer()); return NULL; } itk::ProcessObject::DataObjectPointerArraySizeType mitk::NavigationDataSource::GetOutputIndex( std::string navDataName ) { DataObjectPointerArray outputs = this->GetOutputs(); for (DataObjectPointerArray::size_type i = 0; i < outputs.size(); ++i) if (navDataName == (static_cast(outputs.at(i).GetPointer()))->GetName()) return i; throw std::invalid_argument("output name does not exist"); } void mitk::NavigationDataSource::RegisterAsMicroservice(){ // Get Context us::ModuleContext* context = us::GetModuleContext(); // Define ServiceProps us::ServiceProperties props; mitk::UIDGenerator uidGen = mitk::UIDGenerator ("org.mitk.services.NavigationDataSource.id_", 16); props[ US_PROPKEY_ID ] = uidGen.GetUID(); props[ US_PROPKEY_DEVICENAME ] = m_Name; m_ServiceRegistration = context->RegisterService(this, props); } void mitk::NavigationDataSource::UnRegisterMicroservice(){ m_ServiceRegistration.Unregister(); m_ServiceRegistration = 0; } std::string mitk::NavigationDataSource::GetMicroserviceID(){ return this->m_ServiceRegistration.GetReference().GetProperty(US_PROPKEY_ID).ToString(); } void mitk::NavigationDataSource::GraftOutput(itk::DataObject *graft) { this->GraftNthOutput(0, graft); } void mitk::NavigationDataSource::GraftNthOutput(unsigned int idx, itk::DataObject *graft) { if ( idx >= this->GetNumberOfIndexedOutputs() ) { itkExceptionMacro(<<"Requested to graft output " << idx << " but this filter only has " << this->GetNumberOfIndexedOutputs() << " Outputs."); } if ( !graft ) { itkExceptionMacro(<<"Requested to graft output with a NULL pointer object" ); } itk::DataObject* output = this->GetOutput(idx); if ( !output ) { itkExceptionMacro(<<"Requested to graft output that is a NULL pointer" ); } // Call Graft on NavigationData to copy member data output->Graft( graft ); } itk::DataObject::Pointer mitk::NavigationDataSource::MakeOutput ( DataObjectPointerArraySizeType /*idx*/ ) { return mitk::NavigationData::New().GetPointer(); } itk::DataObject::Pointer mitk::NavigationDataSource::MakeOutput( const DataObjectIdentifierType & name ) { itkDebugMacro("MakeOutput(" << name << ")"); if( this->IsIndexedOutputName(name) ) { return this->MakeOutput( this->MakeIndexFromOutputName(name) ); } return static_cast(mitk::NavigationData::New().GetPointer()); } mitk::PropertyList::ConstPointer mitk::NavigationDataSource::GetParameters() const { mitk::PropertyList::Pointer p = mitk::PropertyList::New(); // add properties to p like this: //p->SetProperty("MyFilter_MyParameter", mitk::PropertyDataType::New(m_MyParameter)); return mitk::PropertyList::ConstPointer(p); } + +void mitk::NavigationDataSource::Freeze() +{ + m_IsFrozen = true; +} + +void mitk::NavigationDataSource::UnFreeze() +{ + m_IsFrozen = false; +} diff --git a/Modules/IGT/DataManagement/mitkNavigationDataSource.h b/Modules/IGT/DataManagement/mitkNavigationDataSource.h index 0d657768ee..f8e8336c96 100644 --- a/Modules/IGT/DataManagement/mitkNavigationDataSource.h +++ b/Modules/IGT/DataManagement/mitkNavigationDataSource.h @@ -1,171 +1,185 @@ /*=================================================================== 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 MITKNAVIGATIONDATASOURCE_H_HEADER_INCLUDED_ #define MITKNAVIGATIONDATASOURCE_H_HEADER_INCLUDED_ #include #include "mitkNavigationData.h" #include "mitkPropertyList.h" // Microservices #include #include namespace mitk { /**Documentation * \brief Navigation Data source * * Base class for all navigation filters that produce NavigationData objects as output. * This class defines the output-interface for NavigationDataFilters. * \warning: if Update() is called on any output object, all NavigationData filters will * generate new output data for all outputs, not just the one on which Update() was called. * * \ingroup IGT */ class MitkIGT_EXPORT NavigationDataSource : public itk::ProcessObject { public: mitkClassMacro(NavigationDataSource, itk::ProcessObject); /** @return Returns a human readable name of this source. There will be a default name, * or you can set the name with the method SetName() if you want to change it. */ itkGetMacro(Name,std::string); /** @brief Sets the human readable name of this source. There is also a default name, * but you can use this method if you need to define it on your own. */ itkSetMacro(Name,std::string); /** *\brief return the output (output with id 0) of the filter */ NavigationData* GetOutput(void); /** *\brief return the output with id idx of the filter */ NavigationData* GetOutput(DataObjectPointerArraySizeType idx); /** *\brief return the output with name navDataName of the filter */ NavigationData* GetOutput(const std::string& navDataName); /** *\brief return the index of the output with name navDataName, -1 if no output with that name was found * * \warning if a subclass has outputs that have different data type than mitk::NavigationData, they have to overwrite this method */ DataObjectPointerArraySizeType GetOutputIndex(std::string navDataName); /** *\brief Registers this object as a Microservice, making it available to every module and/or plugin. * To unregister, call UnregisterMicroservice(). */ virtual void RegisterAsMicroservice(); /** *\brief Registers this object as a Microservice, making it available to every module and/or plugin. */ virtual void UnRegisterMicroservice(); /** *\brief Returns the id that this device is registered with. The id will only be valid, if the * NavigationDataSource has been registered using RegisterAsMicroservice(). */ std::string GetMicroserviceID(); /** *\brief These Constants are used in conjunction with Microservices */ static const std::string US_INTERFACE_NAME; static const std::string US_PROPKEY_DEVICENAME; static const std::string US_PROPKEY_ID; static const std::string US_PROPKEY_ISACTIVE; //NOT IMPLEMENTED YET! /** *\brief Graft the specified DataObject onto this ProcessObject's output. * * See itk::ImageSource::GraftNthOutput for details */ virtual void GraftNthOutput(unsigned int idx, itk::DataObject *graft); /** * \brief Graft the specified DataObject onto this ProcessObject's output. * * See itk::ImageSource::Graft Output for details */ virtual void GraftOutput(itk::DataObject *graft); /** * Allocates a new output object and returns it. Currently the * index idx is not evaluated. * @param idx the index of the output for which an object should be created * @returns the new object */ virtual itk::DataObject::Pointer MakeOutput ( DataObjectPointerArraySizeType idx ); /** * This is a default implementation to make sure we have something. * Once all the subclasses of ProcessObject provide an appopriate * MakeOutput(), then ProcessObject::MakeOutput() can be made pure * virtual. */ virtual itk::DataObject::Pointer MakeOutput(const DataObjectIdentifierType &name); /** * \brief Set all filter parameters as the PropertyList p * * This method allows to set all parameters of a filter with one * method call. For the names of the parameters, take a look at * the GetParameters method of the filter * This method has to be overwritten by each MITK-IGT filter. */ virtual void SetParameters(const mitk::PropertyList*){}; /** * \brief Get all filter parameters as a PropertyList * * This method allows to get all parameters of a filter with one * method call. The returned PropertyList must be assigned to a * SmartPointer immediately, or else it will get destroyed. * Every filter must overwrite this method to create a filter-specific * PropertyList. Note that property names must be unique over all * MITK-IGT filters. Therefore each filter should use its name as a prefix * for each property name. * Secondly, each filter should list the property names and data types * in the method documentation. */ virtual mitk::PropertyList::ConstPointer GetParameters() const; + /** Freezes the navigation data source which means the current state is frozen and the output + * navigation data stays at it is. Calling Update() does not have any effect until UnFreeze() + * is called. This also means that the data source is not updated any more. */ + virtual void Freeze(); + + /** Unfreezes the data source. */ + virtual void UnFreeze(); + + /** @return Returns whether the data source is currently frozen. */ + itkGetMacro(IsFrozen,bool); + + protected: NavigationDataSource(); virtual ~NavigationDataSource(); std::string m_Name; + bool m_IsFrozen; + private: us::ServiceRegistration m_ServiceRegistration; }; } // namespace mitk // This is the microservice declaration. Do not meddle! US_DECLARE_SERVICE_INTERFACE(mitk::NavigationDataSource, "org.mitk.services.NavigationDataSource") #endif /* MITKNAVIGATIONDATASOURCE_H_HEADER_INCLUDED_ */ diff --git a/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp b/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp index bc7b5c929d..38929bef77 100644 --- a/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp +++ b/Modules/IGT/DataManagement/mitkTrackingDeviceSource.cpp @@ -1,213 +1,213 @@ /*=================================================================== 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 "mitkTrackingDeviceSource.h" #include "mitkTrackingDevice.h" #include "mitkTrackingTool.h" #include "mitkIGTTimeStamp.h" #include "mitkIGTException.h" mitk::TrackingDeviceSource::TrackingDeviceSource() : mitk::NavigationDataSource(), m_TrackingDevice(NULL) { } mitk::TrackingDeviceSource::~TrackingDeviceSource() { if (m_TrackingDevice.IsNotNull()) { if (m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking) { this->StopTracking(); } if (m_TrackingDevice->GetState() == mitk::TrackingDevice::Ready) { this->Disconnect(); } m_TrackingDevice = NULL; } } void mitk::TrackingDeviceSource::GenerateData() { - if (m_TrackingDevice.IsNull()) - return; + if (m_IsFrozen) {return;} //no update at all if device is frozen + else if (m_TrackingDevice.IsNull()) {return;} if (m_TrackingDevice->GetToolCount() < 1) return; if (this->GetNumberOfIndexedOutputs() != m_TrackingDevice->GetToolCount()) // mismatch between tools and outputs. What should we do? Were tools added to the tracking device after SetTrackingDevice() was called? { //check this: TODO: ////this might happen if a tool is plugged into an aurora during tracking. //this->CreateOutputs(); std::stringstream ss; ss << "mitk::TrackingDeviceSource: not enough outputs available for all tools. " << this->GetNumberOfOutputs() << " outputs available, but " << m_TrackingDevice->GetToolCount() << " tools available in the tracking device."; throw std::out_of_range(ss.str()); } /* update outputs with tracking data from tools */ unsigned int toolCount = m_TrackingDevice->GetToolCount(); for (unsigned int i = 0; i < toolCount; ++i) { mitk::NavigationData* nd = this->GetOutput(i); assert(nd); mitk::TrackingTool* t = m_TrackingDevice->GetTool(i); assert(t); if ((t->IsEnabled() == false) || (t->IsDataValid() == false)) { nd->SetDataValid(false); continue; } nd->SetDataValid(true); mitk::NavigationData::PositionType p; t->GetPosition(p); nd->SetPosition(p); mitk::NavigationData::OrientationType o; t->GetOrientation(o); nd->SetOrientation(o); nd->SetOrientationAccuracy(t->GetTrackingError()); nd->SetPositionAccuracy(t->GetTrackingError()); nd->SetIGTTimeStamp(t->GetIGTTimeStamp()); //for backward compatibility: check if the timestamp was set, if not create a default timestamp if (nd->GetIGTTimeStamp()==0) nd->SetIGTTimeStamp(mitk::IGTTimeStamp::GetInstance()->GetElapsed()); } } void mitk::TrackingDeviceSource::SetTrackingDevice( mitk::TrackingDevice* td ) { MITK_DEBUG << "Setting TrackingDevice to " << td; if (this->m_TrackingDevice.GetPointer() != td) { this->m_TrackingDevice = td; this->CreateOutputs(); std::stringstream name; // create a human readable name for the source name << td->GetData().Model << " Tracking Source"; this->SetName(name.str()); } } void mitk::TrackingDeviceSource::CreateOutputs(){ //if outputs are set then delete them if (this->GetNumberOfOutputs() > 0) { for (int numOP = this->GetNumberOfOutputs() -1; numOP >= 0; numOP--) this->RemoveOutput(numOP); this->Modified(); } //fill the outputs if a valid tracking device is set if (m_TrackingDevice.IsNull()) return; this->SetNumberOfIndexedOutputs(m_TrackingDevice->GetToolCount()); // create outputs for all tools unsigned int numberOfOutputs = this->GetNumberOfIndexedOutputs(); MITK_DEBUG << "Number of tools at start of method CreateOutputs(): " << m_TrackingDevice->GetToolCount(); MITK_DEBUG << "Number of outputs at start of method CreateOutputs(): " << numberOfOutputs; for (unsigned int idx = 0; idx < m_TrackingDevice->GetToolCount(); ++idx) { if (this->GetOutput(idx) == NULL) { DataObjectPointer newOutput = this->MakeOutput(idx); static_cast(newOutput.GetPointer())->SetName(m_TrackingDevice->GetTool(idx)->GetToolName()); // set NavigationData name to ToolName this->SetNthOutput(idx, newOutput); this->Modified(); } } } void mitk::TrackingDeviceSource::Connect() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (this->IsConnected()) return; try {m_TrackingDevice->OpenConnection();} catch (mitk::IGTException &e) { throw std::runtime_error(std::string("mitk::TrackingDeviceSource: Could not open connection to tracking device. Error: ") + e.GetDescription()); } /* NDI Aurora needs a connection to discover tools that are connected to it. Therefore we need to create outputs for these tools now */ //if (m_TrackingDevice->GetType() == mitk::NDIAurora) //this->CreateOutputs(); } void mitk::TrackingDeviceSource::StartTracking() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking) return; if (m_TrackingDevice->StartTracking() == false) throw std::runtime_error("mitk::TrackingDeviceSource: Could not start tracking"); } void mitk::TrackingDeviceSource::Disconnect() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (m_TrackingDevice->CloseConnection() == false) throw std::runtime_error("mitk::TrackingDeviceSource: Could not close connection to tracking device"); } void mitk::TrackingDeviceSource::StopTracking() { if (m_TrackingDevice.IsNull()) throw std::invalid_argument("mitk::TrackingDeviceSource: No tracking device set"); if (m_TrackingDevice->StopTracking() == false) throw std::runtime_error("mitk::TrackingDeviceSource: Could not stop tracking"); } void mitk::TrackingDeviceSource::UpdateOutputInformation() { if(this->GetTrackingDevice()->GetToolCount() != this->GetNumberOfIndexedOutputs()) this->CreateOutputs(); this->Modified(); // make sure that we need to be updated Superclass::UpdateOutputInformation(); } //unsigned int mitk::TrackingDeviceSource::GetToolCount() //{ // if (m_TrackingDevice) // return m_TrackingDevice->GetToolCount(); // return 0; //} bool mitk::TrackingDeviceSource::IsConnected() { if (m_TrackingDevice.IsNull()) return false; return (m_TrackingDevice->GetState() == mitk::TrackingDevice::Ready) || (m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking); } bool mitk::TrackingDeviceSource::IsTracking() { if (m_TrackingDevice.IsNull()) return false; return m_TrackingDevice->GetState() == mitk::TrackingDevice::Tracking; } diff --git a/Modules/US/USNavigation/mitkUSCombinedModality.cpp b/Modules/US/USNavigation/mitkUSCombinedModality.cpp index 6b4d77ff5b..8e4c4184e4 100644 --- a/Modules/US/USNavigation/mitkUSCombinedModality.cpp +++ b/Modules/US/USNavigation/mitkUSCombinedModality.cpp @@ -1,557 +1,555 @@ /*=================================================================== 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 "mitkUSCombinedModality.h" #include "mitkUSDevice.h" #include "mitkNavigationDataSource.h" #include "mitkImageReadAccessor.h" #include #include #include "mitkTrackingDeviceSource.h" // US Control Interfaces #include "mitkUSControlInterfaceProbes.h" #include "mitkUSControlInterfaceBMode.h" #include "mitkUSControlInterfaceDoppler.h" #include //TempIncludes #include const std::string mitk::USCombinedModality::DeviceClassIdentifier = "org.mitk.modules.us.USCombinedModality"; const char* mitk::USCombinedModality::DefaultProbeIdentifier = "default"; const char* mitk::USCombinedModality::ProbeAndDepthSeperator = "_"; mitk::USCombinedModality::USCombinedModality(USDevice::Pointer usDevice, NavigationDataSource::Pointer trackingDevice, std::string manufacturer, std::string model) : mitk::USDevice(manufacturer, model), m_UltrasoundDevice(usDevice), m_TrackingDevice(trackingDevice), m_SmoothingFilter(mitk::NavigationDataSmoothingFilter::New()), m_DelayFilter(mitk::NavigationDataDelayFilter::New(0)), m_NumberOfSmoothingValues(0), m_DelayCount(0) { this->RebuildFilterPipeline(); //create a new output (for the image data) mitk::Image::Pointer newOutput = mitk::Image::New(); this->SetNthOutput(0,newOutput); // Combined Modality should not spawn an own acquire thread, because // image acquiring is done by the included us device this->SetSpawnAcquireThread(false); } mitk::USCombinedModality::~USCombinedModality() { } std::string mitk::USCombinedModality::GetDeviceClass() { return DeviceClassIdentifier; } mitk::USImageSource::Pointer mitk::USCombinedModality::GetUSImageSource() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } return m_UltrasoundDevice->GetUSImageSource(); } mitk::USAbstractControlInterface::Pointer mitk::USCombinedModality::GetControlInterfaceCustom() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } return m_UltrasoundDevice->GetControlInterfaceCustom(); } mitk::USControlInterfaceBMode::Pointer mitk::USCombinedModality::GetControlInterfaceBMode() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } return m_UltrasoundDevice->GetControlInterfaceBMode(); } mitk::USControlInterfaceProbes::Pointer mitk::USCombinedModality::GetControlInterfaceProbes() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } return m_UltrasoundDevice->GetControlInterfaceProbes(); } mitk::USControlInterfaceDoppler::Pointer mitk::USCombinedModality::GetControlInterfaceDoppler() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } return m_UltrasoundDevice->GetControlInterfaceDoppler(); } void mitk::USCombinedModality::UnregisterOnService() { if (m_DeviceState == State_Activated) { this->Deactivate(); } if (m_DeviceState == State_Connected) { this->Disconnect(); } mitk::USDevice::UnregisterOnService(); } mitk::AffineTransform3D::Pointer mitk::USCombinedModality::GetCalibration() { return this->GetCalibration(this->GetCurrentDepthValue(), this->GetIdentifierForCurrentProbe()); } mitk::AffineTransform3D::Pointer mitk::USCombinedModality::GetCalibration(std::string depth) { return this->GetCalibration(depth, this->GetIdentifierForCurrentProbe()); } mitk::AffineTransform3D::Pointer mitk::USCombinedModality::GetCalibration(std::string depth, std::string probe) { // make sure that there is no '/' which would cause problems for TinyXML std::replace(probe.begin(), probe.end(), '/', '-'); // create identifier for calibration from probe and depth std::string calibrationKey = probe + mitk::USCombinedModality::ProbeAndDepthSeperator + depth; // find calibration for combination of probe identifier and depth std::map::iterator calibrationIterator = m_Calibrations.find(calibrationKey); if (calibrationIterator == m_Calibrations.end()) { MITK_INFO("USCombinedModality")("USDevice") << "No calibration found for selected probe and depth."; return 0; } return calibrationIterator->second; } void mitk::USCombinedModality::SetCalibration (mitk::AffineTransform3D::Pointer calibration) { if (calibration.IsNull()) { MITK_WARN << "Null pointer passed to SetCalibration of mitk::USDevice. Ignoring call."; return; } std::string calibrationKey = this->GetIdentifierForCurrentCalibration(); if (calibrationKey.empty()) { MITK_WARN << "Could not get a key for the calibration -> Calibration cannot be set."; return; } m_Calibrations[calibrationKey] = calibration; if (m_ServiceRegistration != 0) { this->UpdateServiceProperty(mitk::USImageMetadata::PROP_DEV_ISCALIBRATED, true); } } bool mitk::USCombinedModality::RemoveCalibration() { return this->RemoveCalibration(this->GetCurrentDepthValue(), this->GetIdentifierForCurrentProbe()); } bool mitk::USCombinedModality::RemoveCalibration(std::string depth) { return this->RemoveCalibration(depth, this->GetIdentifierForCurrentProbe()); } bool mitk::USCombinedModality::RemoveCalibration(std::string depth, std::string probe) { // make sure that there is no '/' which would cause problems for TinyXML std::replace(probe.begin(), probe.end(), '/', '-'); // create identifier for calibration from probe and depth std::string calibrationKey = probe + mitk::USCombinedModality::ProbeAndDepthSeperator + depth; return m_Calibrations.erase(calibrationKey) > 0; } void mitk::USCombinedModality::SetNumberOfSmoothingValues(unsigned int numberOfSmoothingValues) { unsigned int oldNumber = m_NumberOfSmoothingValues; m_NumberOfSmoothingValues = numberOfSmoothingValues; // if filter should be activated or deactivated if ( ( oldNumber == 0 && numberOfSmoothingValues != 0 ) || ( oldNumber != 0 && numberOfSmoothingValues == 0 ) ) { this->RebuildFilterPipeline(); } m_SmoothingFilter->SetNumerOfValues(numberOfSmoothingValues); } void mitk::USCombinedModality::SetDelayCount(unsigned int delayCount) { unsigned int oldCount = m_DelayCount; m_DelayCount = delayCount; // if filter should be activated or deactivated if ( ( oldCount == 0 && delayCount != 0 ) || ( oldCount != 0 && delayCount == 0 ) ) { this->RebuildFilterPipeline(); } m_DelayFilter->SetDelay(delayCount); } bool mitk::USCombinedModality::OnInitialization() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } if ( m_UltrasoundDevice->GetDeviceState() < mitk::USDevice::State_Initialized ) { return m_UltrasoundDevice->Initialize(); } else { return true; } } bool mitk::USCombinedModality::OnConnection() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } // connect ultrasound device only if it is not already connected if ( m_UltrasoundDevice->GetDeviceState() >= mitk::USDevice::State_Connected ) { return true; } else { return m_UltrasoundDevice->Connect(); } } bool mitk::USCombinedModality::OnDisconnection() { if (m_UltrasoundDevice.IsNull()) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } return m_UltrasoundDevice->Disconnect(); } bool mitk::USCombinedModality::OnActivation() { if ( m_UltrasoundDevice.IsNull() ) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } mitk::TrackingDeviceSource::Pointer trackingDeviceSource = dynamic_cast(m_TrackingDevice.GetPointer()); if ( trackingDeviceSource.IsNull() ) { MITK_WARN("USCombinedModality")("USDevice") << "Cannot start tracking as TrackingDeviceSource is null."; } trackingDeviceSource->StartTracking(); // activate ultrasound device only if it is not already activated if ( m_UltrasoundDevice->GetDeviceState() >= mitk::USDevice::State_Activated ) { return true; } else { return m_UltrasoundDevice->Activate(); } } bool mitk::USCombinedModality::OnDeactivation() { if ( m_UltrasoundDevice.IsNull() ) { MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; mitkThrow() << "UltrasoundDevice must not be null."; } mitk::TrackingDeviceSource::Pointer trackingDeviceSource = dynamic_cast(m_TrackingDevice.GetPointer()); if ( trackingDeviceSource.IsNull() ) { MITK_WARN("USCombinedModality")("USDevice") << "Cannot stop tracking as TrackingDeviceSource is null."; } trackingDeviceSource->StopTracking(); m_UltrasoundDevice->Deactivate(); return m_UltrasoundDevice->GetIsConnected(); } void mitk::USCombinedModality::OnFreeze(bool freeze) { - if (m_UltrasoundDevice.IsNull()) - { - MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; - mitkThrow() << "UltrasoundDevice must not be null."; - } - m_UltrasoundDevice->SetIsFreezed(freeze); - mitk::TrackingDeviceSource::Pointer trackingDeviceSource = dynamic_cast(m_TrackingDevice.GetPointer()); if ( trackingDeviceSource.IsNull() ) + {MITK_WARN("USCombinedModality")("USDevice") << "Cannot freeze tracking.";} + else { - MITK_WARN("USCombinedModality")("USDevice") << "Cannot freeze tracking."; + if ( freeze ) { trackingDeviceSource->Freeze(); } + else { trackingDeviceSource->UnFreeze(); } } - else + + if (m_UltrasoundDevice.IsNull()) { - if ( freeze ) { trackingDeviceSource->StopTracking(); } - else { trackingDeviceSource->StartTracking(); } + MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null."; + mitkThrow() << "UltrasoundDevice must not be null."; } + m_UltrasoundDevice->SetIsFreezed(freeze); } mitk::NavigationDataSource::Pointer mitk::USCombinedModality::GetNavigationDataSource() { return m_LastFilter.GetPointer(); } bool mitk::USCombinedModality::GetIsCalibratedForCurrentStatus() { return m_Calibrations.find(this->GetIdentifierForCurrentCalibration()) != m_Calibrations.end(); } bool mitk::USCombinedModality::GetContainsAtLeastOneCalibration() { return ! m_Calibrations.empty(); } void mitk::USCombinedModality::GenerateData() { if (m_UltrasoundDevice->GetIsFreezed()) {return;} //if the image is freezed: do nothing //get next image from ultrasound image source mitk::Image::Pointer image = m_UltrasoundDevice->GetUSImageSource()->GetNextImage(); if ( image.IsNull() || ! image->IsInitialized() ) //check the image { MITK_WARN << "Invalid image in USCombinedModality, aborting!"; return; } //get output and initialize it if it wasn't initialized before mitk::Image::Pointer output = this->GetOutput(); if ( ! output->IsInitialized() ) { output->Initialize(image); } //now update image data mitk::ImageReadAccessor inputReadAccessor(image, image->GetSliceData(0,0,0)); output->SetSlice(inputReadAccessor.GetData()); //copy image data output->GetGeometry()->SetSpacing(image->GetGeometry()->GetSpacing()); //copy spacing because this might also change //and update calibration (= transformation of the image) std::string calibrationKey = this->GetIdentifierForCurrentCalibration(); if ( ! calibrationKey.empty() ) { std::map::iterator calibrationIterator = m_Calibrations.find(calibrationKey); if ( calibrationIterator != m_Calibrations.end()) { // transform image according to callibration if one is set // for current configuration of probe and depth this->GetOutput()->GetGeometry()->SetIndexToWorldTransform(calibrationIterator->second); } } } std::string mitk::USCombinedModality::SerializeCalibration() { std::stringstream result; result << "" << std::endl; // For each calibration in the set for (std::map::iterator it = m_Calibrations.begin(); it != m_Calibrations.end(); it++) { mitk::AffineTransform3D::MatrixType matrix = it->second->GetMatrix(); mitk::AffineTransform3D::TranslationType translation = it->second->GetTranslation(); TiXmlElement elem(it->first); // Serialize Matrix elem.SetDoubleAttribute("M00", matrix[0][0]); elem.SetDoubleAttribute("M01", matrix[0][1]); elem.SetDoubleAttribute("M02", matrix[0][2]); elem.SetDoubleAttribute("M10", matrix[1][0]); elem.SetDoubleAttribute("M11", matrix[1][1]); elem.SetDoubleAttribute("M12", matrix[1][2]); elem.SetDoubleAttribute("M20", matrix[2][0]); elem.SetDoubleAttribute("M21", matrix[2][1]); elem.SetDoubleAttribute("M22", matrix[2][2]); // Serialize Offset elem.SetDoubleAttribute("T0", translation[0]); elem.SetDoubleAttribute("T1", translation[1]); elem.SetDoubleAttribute("T2", translation[2]); result << elem << std::endl; } result << "" << std::endl; return result.str(); } void mitk::USCombinedModality::DeserializeCalibration(const std::string& xmlString, bool clearPreviousCalibrations) { // Sanitize Input if (xmlString == "") { MITK_ERROR << "Empty string passed to Deserialize() method of CombinedModality. Aborting..."; mitkThrow() << "Empty string passed to Deserialize() method of CombinedModality. Aborting..."; return; } // Clear previous calibrations if necessary if (clearPreviousCalibrations) m_Calibrations.clear(); // Parse Input TiXmlDocument doc; if(!doc.Parse(xmlString.c_str())) { MITK_ERROR << "Unable to deserialize calibrations in CombinedModality. Error was: " << doc.ErrorDesc(); mitkThrow() << "Unable to deserialize calibrations in CombinedModality. Error was: " << doc.ErrorDesc(); return; } TiXmlElement* root = doc.FirstChildElement(); if(root == NULL) { MITK_ERROR << "Unable to deserialize calibrations in CombinedModality. String contained no root element."; mitkThrow() << "Unable to deserialize calibrations in CombinedModality. String contained no root element."; return; } // Read Calibrations for(TiXmlElement* elem = root->FirstChildElement(); elem != NULL; elem = elem->NextSiblingElement()) { mitk::AffineTransform3D::MatrixType matrix; mitk::AffineTransform3D::OffsetType translation; std::string calibName = elem->Value(); // Deserialize Matrix elem->QueryDoubleAttribute("M00", &matrix[0][0]); elem->QueryDoubleAttribute("M01", &matrix[0][1]); elem->QueryDoubleAttribute("M02", &matrix[0][2]); elem->QueryDoubleAttribute("M10", &matrix[1][0]); elem->QueryDoubleAttribute("M11", &matrix[1][1]); elem->QueryDoubleAttribute("M12", &matrix[1][2]); elem->QueryDoubleAttribute("M20", &matrix[2][0]); elem->QueryDoubleAttribute("M21", &matrix[2][1]); elem->QueryDoubleAttribute("M22", &matrix[2][2]); // Deserialize Offset elem->QueryDoubleAttribute("T0", &translation[0]); elem->QueryDoubleAttribute("T1", &translation[1]); elem->QueryDoubleAttribute("T2", &translation[2]); mitk::AffineTransform3D::Pointer calibration = mitk::AffineTransform3D::New(); calibration->SetMatrix(matrix); calibration->SetTranslation(translation); m_Calibrations[calibName] = calibration; } } std::string mitk::USCombinedModality::GetIdentifierForCurrentCalibration() { return this->GetIdentifierForCurrentProbe() + mitk::USCombinedModality::ProbeAndDepthSeperator + this->GetCurrentDepthValue(); } std::string mitk::USCombinedModality::GetIdentifierForCurrentProbe() { us::ServiceProperties usdeviceProperties = m_UltrasoundDevice->GetServiceProperties(); us::ServiceProperties::const_iterator probeIt = usdeviceProperties.find( mitk::USCombinedModality::GetPropertyKeys().US_PROPKEY_PROBES_SELECTED); // get probe identifier from control interface for probes std::string probeName = mitk::USCombinedModality::DefaultProbeIdentifier; if (probeIt != usdeviceProperties.end()) { probeName = (probeIt->second).ToString(); } // make sure that there is no '/' which would cause problems for TinyXML std::replace(probeName.begin(), probeName.end(), '/', '-'); return probeName; } std::string mitk::USCombinedModality::GetCurrentDepthValue() { us::ServiceProperties usdeviceProperties = m_UltrasoundDevice->GetServiceProperties(); // get string for depth value from the micro service properties std::string depth; us::ServiceProperties::iterator depthIterator = usdeviceProperties.find( mitk::USCombinedModality::GetPropertyKeys().US_PROPKEY_BMODE_DEPTH); if (depthIterator != usdeviceProperties.end()) { depth = depthIterator->second.ToString(); } else { depth = "0"; } return depth; } void mitk::USCombinedModality::RebuildFilterPipeline() { m_LastFilter = m_TrackingDevice; if ( m_NumberOfSmoothingValues > 0 ) { for (unsigned int i = 0; i < m_TrackingDevice->GetNumberOfOutputs(); i++) { m_SmoothingFilter->SetInput(i, m_LastFilter->GetOutput(i)); } m_LastFilter = m_SmoothingFilter; } if ( m_DelayCount > 0 ) { for (unsigned int i = 0; i < m_TrackingDevice->GetNumberOfOutputs(); i++) { m_DelayFilter->SetInput(i, m_LastFilter->GetOutput(i)); } m_LastFilter = m_DelayFilter; } }