diff --git a/Modules/IGT/IGTFilters/mitkNavigationDataObjectVisualizationFilter.cpp b/Modules/IGT/IGTFilters/mitkNavigationDataObjectVisualizationFilter.cpp index 2d4aefb603..5963eb7876 100644 --- a/Modules/IGT/IGTFilters/mitkNavigationDataObjectVisualizationFilter.cpp +++ b/Modules/IGT/IGTFilters/mitkNavigationDataObjectVisualizationFilter.cpp @@ -1,219 +1,249 @@ /*=================================================================== 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 "mitkNavigationDataObjectVisualizationFilter.h" #include "mitkDataStorage.h" mitk::NavigationDataObjectVisualizationFilter::NavigationDataObjectVisualizationFilter() : NavigationDataToNavigationDataFilter(), m_RepresentationList(), m_TransformPosition(), m_TransformOrientation() { } mitk::NavigationDataObjectVisualizationFilter::~NavigationDataObjectVisualizationFilter() { m_RepresentationList.clear(); + m_OffsetList.clear(); } const mitk::BaseData* mitk::NavigationDataObjectVisualizationFilter::GetRepresentationObject(unsigned int idx) { //if (idx >= this->GetNumberOfInputs()) // return NULL; //const NavigationData* nd = this->GetInput(idx); //if (nd == NULL) // return NULL; RepresentationPointerMap::const_iterator iter = m_RepresentationList.find(idx); if (iter != m_RepresentationList.end()) return iter->second; return NULL; } +mitk::AffineTransform3D::Pointer mitk::NavigationDataObjectVisualizationFilter::GetOffset(int index) +{ + OffsetPointerMap::const_iterator iter = m_OffsetList.find(index); + if (iter != m_OffsetList.end()) + return iter->second; + return NULL; +} + void mitk::NavigationDataObjectVisualizationFilter::SetRepresentationObject(unsigned int idx, BaseData* data) { //if (idx >= this->GetNumberOfInputs()) // return false; //const NavigationData* nd = this->GetInput(idx); //if (nd == NULL || data == NULL) // return false; m_RepresentationList[idx] = RepresentationPointer(data); //std::pair returnEl; //pair for returning the result //returnEl = m_RepresentationList.insert( RepresentationPointerMap::value_type(nd, data) ); //insert the given elements //return returnEl.second; // return if insert was successful } +void mitk::NavigationDataObjectVisualizationFilter::SetOffset(int index, mitk::AffineTransform3D::Pointer offset) +{ +m_OffsetList[index] = offset; +} + void mitk::NavigationDataObjectVisualizationFilter::GenerateData() { /*get each input, lookup the associated BaseData and transfer the data*/ DataObjectPointerArray inputs = this->GetInputs(); //get all inputs for (unsigned int index=0; index < inputs.size(); index++) { //get the needed variables const mitk::NavigationData* nd = this->GetInput(index); assert(nd); mitk::NavigationData* output = this->GetOutput(index); assert(output); //check if the data is valid if (!nd->IsDataValid()) { output->SetDataValid(false); continue; } output->Graft(nd); // copy all information from input to output const mitk::BaseData* data = this->GetRepresentationObject(index); if (data == NULL) { itkWarningMacro("NavigationDataObjectVisualizationFilter: Wrong/No BaseData associated with input."); return; } //get the transform from data mitk::AffineTransform3D::Pointer affineTransform = data->GetGeometry()->GetIndexToWorldTransform(); if (affineTransform.IsNull()) { //replace with mitk standard output itkWarningMacro("NavigationDataObjectVisualizationFilter: AffineTransform IndexToWorldTransform not initialized!"); return; } + //check for offset + mitk::AffineTransform3D::Pointer offset = this->GetOffset(index); + //store the current scaling to set it after transformation mitk::Vector3D spacing = data->GetGeometry()->GetSpacing(); //clear spacing of data to be able to set it again afterwards float scale[] = {1.0, 1.0, 1.0}; data->GetGeometry()->SetSpacing(scale); /*now bring quaternion to affineTransform by using vnl_Quaternion*/ affineTransform->SetIdentity(); - if (this->GetTransformOrientation(index) == true) { //calculate the transform from the quaternions static itk::QuaternionRigidTransform::Pointer quatTransform = itk::QuaternionRigidTransform::New(); mitk::NavigationData::OrientationType orientation = nd->GetOrientation(); // convert mitk::ScalarType quaternion to double quaternion because of itk bug vnl_quaternion doubleQuaternion(orientation.x(), orientation.y(), orientation.z(), orientation.r()); quatTransform->SetIdentity(); quatTransform->SetRotation(doubleQuaternion); quatTransform->Modified(); /* because of an itk bug, the transform can not be calculated with float data type. To use it in the mitk geometry classes, it has to be transfered to mitk::ScalarType which is float */ static AffineTransform3D::MatrixType m; mitk::TransferMatrix(quatTransform->GetMatrix(), m); affineTransform->SetMatrix(m); } if (this->GetTransformPosition(index) == true) { ///*set the offset by convert from itkPoint to itkVector and setting offset of transform*/ mitk::Vector3D pos; pos.Set_vnl_vector(nd->GetPosition().Get_vnl_vector()); affineTransform->SetOffset(pos); } affineTransform->Modified(); + + //set the transform to data - data->GetGeometry()->SetIndexToWorldTransform(affineTransform); + if(offset.IsNotNull()) //first use offset if there is one. + { + mitk::AffineTransform3D::Pointer overallTransform = mitk::AffineTransform3D::New(); + overallTransform->SetIdentity(); + overallTransform->Compose(offset); + overallTransform->Compose(affineTransform); + data->GetGeometry()->SetIndexToWorldTransform(overallTransform); + } + else + { + data->GetGeometry()->SetIndexToWorldTransform(affineTransform); + } + //set the original spacing to keep scaling of the geometrical object data->GetGeometry()->SetSpacing(spacing); data->GetGeometry()->TransferItkToVtkTransform(); // update VTK Transform for rendering too data->GetGeometry()->Modified(); data->Modified(); output->SetDataValid(true); // operation was successful, therefore data of output is valid. } } void mitk::NavigationDataObjectVisualizationFilter::SetTransformPosition( unsigned int index, bool applyTransform ) { itkDebugMacro("setting TransformPosition for index " << index << " to " << applyTransform); BooleanInputMap::const_iterator it = this->m_TransformPosition.find(index); if ((it != this->m_TransformPosition.end()) && (it->second == applyTransform)) return; this->m_TransformPosition[index] = applyTransform; this->Modified(); \ } bool mitk::NavigationDataObjectVisualizationFilter::GetTransformPosition( unsigned int index ) const { itkDebugMacro("returning TransformPosition for index " << index); BooleanInputMap::const_iterator it = this->m_TransformPosition.find(index); if (it != this->m_TransformPosition.end()) return it->second; else return true; // default to true } void mitk::NavigationDataObjectVisualizationFilter::TransformPositionOn( unsigned int index ) { this->SetTransformPosition(index, true); } void mitk::NavigationDataObjectVisualizationFilter::TransformPositionOff( unsigned int index ) { this->SetTransformPosition(index, false); } void mitk::NavigationDataObjectVisualizationFilter::SetTransformOrientation( unsigned int index, bool applyTransform ) { itkDebugMacro("setting TransformOrientation for index " << index << " to " << applyTransform); BooleanInputMap::const_iterator it = this->m_TransformOrientation.find(index); if ((it != this->m_TransformOrientation.end()) && (it->second == applyTransform)) return; this->m_TransformOrientation[index] = applyTransform; this->Modified(); \ } bool mitk::NavigationDataObjectVisualizationFilter::GetTransformOrientation( unsigned int index ) const { itkDebugMacro("returning TransformOrientation for index " << index); BooleanInputMap::const_iterator it = this->m_TransformOrientation.find(index); if (it != this->m_TransformOrientation.end()) return it->second; else return true; // default to true } void mitk::NavigationDataObjectVisualizationFilter::TransformOrientationOn( unsigned int index ) { this->SetTransformOrientation(index, true); } void mitk::NavigationDataObjectVisualizationFilter::TransformOrientationOff( unsigned int index ) { this->SetTransformOrientation(index, false); } diff --git a/Modules/IGT/IGTFilters/mitkNavigationDataObjectVisualizationFilter.h b/Modules/IGT/IGTFilters/mitkNavigationDataObjectVisualizationFilter.h index 10cc79b66b..6fc80ff9e0 100644 --- a/Modules/IGT/IGTFilters/mitkNavigationDataObjectVisualizationFilter.h +++ b/Modules/IGT/IGTFilters/mitkNavigationDataObjectVisualizationFilter.h @@ -1,119 +1,129 @@ /*=================================================================== 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 MITKNAVIGATIONDATAOBJECTVISUALIZATIONFILTER_H_HEADER_INCLUDED_ #define MITKNAVIGATIONDATAOBJECTVISUALIZATIONFILTER_H_HEADER_INCLUDED_ #include "mitkNavigationDataToNavigationDataFilter.h" #include "mitkNavigationData.h" #include "mitkBaseData.h" namespace mitk { /** * \brief Class that reads NavigationData from input and transfers the information to the geometry of the associated BaseData * * Derived from NavigationDataToNavigationDataFilter * * \ingroup IGT */ class MitkIGT_EXPORT NavigationDataObjectVisualizationFilter : public NavigationDataToNavigationDataFilter { public: mitkClassMacro(NavigationDataObjectVisualizationFilter, NavigationDataToNavigationDataFilter); itkNewMacro(Self); /** * \brief Smart Pointer type to a BaseData. */ typedef BaseData::ConstPointer RepresentationPointer; /** * \brief STL map of index to BaseData . Using map to be able to set non continuous indices */ typedef std::map RepresentationPointerMap; /** * \brief Size type of an std::vector */ typedef RepresentationPointerMap::size_type RepresentationPointerMapSizeType; /** * \brief Set the representation object of the input * * \param data The BaseData to be associated to the index * \param index the index with which data will be associated */ void SetRepresentationObject(unsigned int index, BaseData* data); /** * \brief Get the representation object associated with the index idx * * \param idx the corresponding input number with which the BaseData is associated * \return Returns the desired BaseData if it exists for the given input; Returns NULL * if no BaseData was found. */ const BaseData* GetRepresentationObject(unsigned int idx); virtual void SetTransformPosition(unsigned int index, bool applyTransform); ///< if set to true, the filter will use the position part of the input navigation data at the given index to transform the representation object. If set to false, it will not. If no value is set, it defaults to true. virtual bool GetTransformPosition(unsigned int index) const; ///< returns whether position part of the input navigation data at the given index is used for the transformation of the representation object. virtual void TransformPositionOn(unsigned int index); ///< sets the TransformPosition flag to true for the given index virtual void TransformPositionOff(unsigned int index); ///< sets the TransformPosition flag to false for the given index virtual void SetTransformOrientation(unsigned int index, bool applyTransform); ///< if set to true, the filter will use the orientation part of the input navigation data at the given index to transform the representation object. If set to false, it will not. If no value is set, it defaults to true. virtual bool GetTransformOrientation(unsigned int index) const; ///< returns whether orientation part of the input navigation data at the given index is used for the transformation of the representation object. virtual void TransformOrientationOn(unsigned int index); ///< sets the TransformOrientation flag to true for the given index virtual void TransformOrientationOff(unsigned int index); ///< sets the TransformOrientation flag to false for the given index + /** @brief Defines an offset for a representation object. This offset is applied before the object is visualized. + * If no offset is given, no offset will be used. To deactivate the offset just set it to NULL. + */ + void SetOffset(int index, mitk::AffineTransform3D::Pointer offset); + + /** @return Returns the offset of a represenation object. Returns NULL if there is no offset. */ + mitk::AffineTransform3D::Pointer GetOffset(int index); + /** *\brief Get the number of added BaseData associated to NavigationData * \return Returns the size of the internal map */ RepresentationPointerMapSizeType GetNumberOfToolRepresentations() const { return m_RepresentationList.size(); } /* * \brief Transfer the information from the input to the associated BaseData */ virtual void GenerateData(); protected: typedef std::map BooleanInputMap; + typedef std::map OffsetPointerMap; /** * \brief Constructor **/ NavigationDataObjectVisualizationFilter(); /** * \brief Destructor **/ ~NavigationDataObjectVisualizationFilter(); /** * \brief An array of the BaseData which represent the tools. */ RepresentationPointerMap m_RepresentationList; BooleanInputMap m_TransformPosition; ///< if set to true, the filter will use the position part of the input navigation data at the given index for the calculation of the transform. If no entry for the index exists, it defaults to true. BooleanInputMap m_TransformOrientation; ///< if set to true, the filter will use the orientation part of the input navigation data at the given index for the calculation of the transform. If no entry for the index exists, it defaults to true. + OffsetPointerMap m_OffsetList; }; } // namespace mitk #endif /* MITKNAVIGATIONDATAOBJECTVISUALIZATIONFILTER_H_HEADER_INCLUDED_ */ diff --git a/Modules/IGTUI/Qmitk/QmitkNavigationDataSourceSelectionWidget.cpp b/Modules/IGTUI/Qmitk/QmitkNavigationDataSourceSelectionWidget.cpp index f3ceebaebd..e9494b931d 100644 --- a/Modules/IGTUI/Qmitk/QmitkNavigationDataSourceSelectionWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkNavigationDataSourceSelectionWidget.cpp @@ -1,126 +1,129 @@ /*=================================================================== 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 "QmitkNavigationDataSourceSelectionWidget.h" //mitk headers #include #include #include QmitkNavigationDataSourceSelectionWidget::QmitkNavigationDataSourceSelectionWidget(QWidget* parent, Qt::WindowFlags f) : QWidget(parent, f) { m_Controls = NULL; CreateQtPartControl(this); CreateConnections(); } QmitkNavigationDataSourceSelectionWidget::~QmitkNavigationDataSourceSelectionWidget() { } void QmitkNavigationDataSourceSelectionWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkNavigationDataSourceSelectionWidgetControls; m_Controls->setupUi(parent); std::string empty = ""; m_Controls->m_NaviagationDataSourceWidget->Initialize(mitk::NavigationDataSource::US_PROPKEY_DEVICENAME,empty); } } void QmitkNavigationDataSourceSelectionWidget::CreateConnections() { if ( m_Controls ) { connect( (QObject*)(m_Controls->m_NaviagationDataSourceWidget), SIGNAL(ServiceSelectionChanged(mitk::ServiceReference)), this, SLOT(NavigationDataSourceSelected(mitk::ServiceReference)) ); } } void QmitkNavigationDataSourceSelectionWidget::NavigationDataSourceSelected(mitk::ServiceReference s) { if (!s) //no device selected { //reset everything m_CurrentSource = NULL; m_CurrentStorage = NULL; + emit NavigationDataSourceSelected(m_CurrentSource); return; } // Get Source m_CurrentSource = this->m_Controls->m_NaviagationDataSourceWidget->TranslateReference(s); std::string id = s.GetProperty(mitk::NavigationDataSource::US_PROPKEY_ID).ToString(); mitk::ModuleContext* context = mitk::GetModuleContext(); //Fill tool list for(int i = 0; i < m_CurrentSource->GetNumberOfOutputs(); i++) {new QListWidgetItem(tr(m_CurrentSource->GetOutput(i)->GetName()), m_Controls->m_ToolView);} // Create Filter for ToolStorage std::string filter = "(&(" + mitk::ServiceConstants::OBJECTCLASS() + "=" + mitk::NavigationToolStorage::US_INTERFACE_NAME + ")("+ mitk::NavigationToolStorage::US_PROPKEY_SOURCE_ID + "=" + id + "))"; // Get Storage std::list refs = context->GetServiceReferences(mitk::NavigationToolStorage::US_INTERFACE_NAME, filter); if (refs.size() == 0) return; //no storage was found m_CurrentStorage = context->GetService(refs.front()); if (m_CurrentStorage.IsNull()) { MITK_WARN << "Found an invalid storage object!"; return; } if (m_CurrentStorage->GetToolCount() != m_CurrentSource->GetNumberOfOutputs()) //there is something wrong with the storage { MITK_WARN << "Found a tool storage, but it has not the same number of tools like the NavigationDataSource. This storage won't be used because it isn't the right one."; m_CurrentStorage = NULL; } + + emit NavigationDataSourceSelected(m_CurrentSource); } mitk::NavigationDataSource::Pointer QmitkNavigationDataSourceSelectionWidget::GetSelectedNavigationDataSource() { return this->m_CurrentSource; } int QmitkNavigationDataSourceSelectionWidget::GetSelectedToolID() { return this->m_Controls->m_ToolView->currentIndex().row(); } mitk::NavigationTool::Pointer QmitkNavigationDataSourceSelectionWidget::GetSelectedNavigationTool() { if (this->m_CurrentStorage.IsNull()) return NULL; if (m_Controls->m_ToolView->currentIndex().row() >= m_CurrentStorage->GetToolCount()) return NULL; return this->m_CurrentStorage->GetTool(m_Controls->m_ToolView->currentIndex().row()); } mitk::NavigationToolStorage::Pointer QmitkNavigationDataSourceSelectionWidget::GetNavigationToolStorageOfSource() { return this->m_CurrentStorage; } \ No newline at end of file diff --git a/Modules/IGTUI/Qmitk/QmitkNavigationDataSourceSelectionWidget.h b/Modules/IGTUI/Qmitk/QmitkNavigationDataSourceSelectionWidget.h index d4fd5f92ca..a9d8f7cf59 100644 --- a/Modules/IGTUI/Qmitk/QmitkNavigationDataSourceSelectionWidget.h +++ b/Modules/IGTUI/Qmitk/QmitkNavigationDataSourceSelectionWidget.h @@ -1,89 +1,93 @@ /*=================================================================== 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 QmitkNavigationDataSourceSelectionWidget_H #define QmitkNavigationDataSourceSelectionWidget_H //QT headers #include //mitk headers #include "MitkIGTUIExports.h" #include #include #include //ui header #include "ui_QmitkNavigationDataSourceSelectionWidgetControls.h" /** Documentation: * \brief This widget allows the user to select a NavigationDataSource. Tools of this Source are also shown and the user can select one of these tools. * \ingroup IGTUI */ class MitkIGTUI_EXPORT QmitkNavigationDataSourceSelectionWidget : public QWidget { Q_OBJECT public: static const std::string VIEW_ID; QmitkNavigationDataSourceSelectionWidget(QWidget* parent = 0, Qt::WindowFlags f = 0); ~QmitkNavigationDataSourceSelectionWidget(); /** @return Returns the currently selected NavigationDataSource. Returns null if no source is selected at the moment. */ mitk::NavigationDataSource::Pointer GetSelectedNavigationDataSource(); /** @return Returns the ID of the currently selected tool. You can get the corresponding NavigationData when calling GetOutput(id) * on the source object. Returns -1 if there is no tool selected. */ int GetSelectedToolID(); /** @return Returns the NavigationTool of the current selected tool if a NavigationToolStorage is available. Returns NULL if * there is no storage available or if no tool is selected. */ mitk::NavigationTool::Pointer GetSelectedNavigationTool(); /** @return Returns the NavigationToolStorage of the currently selected NavigationDataSource. Returns NULL if there is no * source selected or if the source has no NavigationToolStorage assigned. */ mitk::NavigationToolStorage::Pointer GetNavigationToolStorageOfSource(); signals: + /** @brief This signal is emitted when a new navigation data source is selected. + * @param n Holds the new selected navigation data source. Is null if the old source is deselected and no new source is selected. + */ + void NavigationDataSourceSelected(mitk::NavigationDataSource::Pointer n); protected slots: void NavigationDataSourceSelected(mitk::ServiceReference s); protected: /// \brief Creation of the connections virtual void CreateConnections(); virtual void CreateQtPartControl(QWidget *parent); Ui::QmitkNavigationDataSourceSelectionWidgetControls* m_Controls; mitk::NavigationToolStorage::Pointer m_CurrentStorage; mitk::NavigationDataSource::Pointer m_CurrentSource; }; #endif \ No newline at end of file diff --git a/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp b/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp index 76167a15c9..91f9981729 100644 --- a/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp +++ b/Modules/IGTUI/Qmitk/QmitkTrackingDeviceConfigurationWidget.cpp @@ -1,482 +1,494 @@ /*=================================================================== 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 "QmitkTrackingDeviceConfigurationWidget.h" #include #include #include #include #include #include #include #include const std::string QmitkTrackingDeviceConfigurationWidget::VIEW_ID = "org.mitk.views.trackingdeviceconfigurationwidget"; QmitkTrackingDeviceConfigurationWidget::QmitkTrackingDeviceConfigurationWidget(QWidget* parent, Qt::WindowFlags f) : QWidget(parent, f) { m_Controls = NULL; CreateQtPartControl(this); CreateConnections(); m_MTCalibrationFile = ""; //reset a few things ResetOutput(); AddOutput("
NDI Polaris selected"); this->m_TrackingDeviceConfigurated = false; m_AdvancedUserControl = true; } void QmitkTrackingDeviceConfigurationWidget::SetGUIStyle(QmitkTrackingDeviceConfigurationWidget::Style style) { switch(style) { case QmitkTrackingDeviceConfigurationWidget::SIMPLE: //move all UI elements to an empty dummy layout //m_Controls->dummyLayout->addItem(m_Controls->mainLayout); m_Controls->dummyLayout->addWidget(m_Controls->widget_title_label); m_Controls->dummyLayout->addWidget(m_Controls->choose_tracking_device_label); m_Controls->dummyLayout->addWidget(m_Controls->polaris_label); m_Controls->dummyLayout->addWidget( m_Controls->aurora_label); m_Controls->dummyLayout->addWidget(m_Controls->aurora_label); m_Controls->dummyLayout->addWidget(m_Controls->microntracker_label); m_Controls->dummyLayout->addWidget(m_Controls->m_testConnectionMicronTracker); m_Controls->dummyLayout->addWidget(m_Controls->m_outputTextMicronTracker); m_Controls->dummyLayout->addWidget(m_Controls->m_outputTextAurora); m_Controls->dummyLayout->addWidget(m_Controls->m_testConnectionAurora); m_Controls->dummyLayout->addWidget(m_Controls->m_outputTextPolaris); m_Controls->dummyLayout->addWidget(m_Controls->m_testConnectionPolaris); m_Controls->dummyLayout->addWidget(m_Controls->m_polarisTrackingModeBox); m_Controls->dummyLayout->addWidget(m_Controls->m_finishedLine); m_Controls->dummyLayout->addWidget(m_Controls->line); m_Controls->dummyLayout->addWidget(m_Controls->configuration_finished_label); m_Controls->dummyLayout->addItem(m_Controls->horizontalLayout_4); m_Controls->mainLayout->removeItem(m_Controls->horizontalLayout_4); m_Controls->dummyLayout->addWidget(m_Controls->configuration_finished_label); m_Controls->dummyLayout->addItem(m_Controls->verticalSpacer_2); m_Controls->verticalLayout_3->removeItem(m_Controls->verticalSpacer_2); m_Controls->dummyLayout->addItem(m_Controls->horizontalSpacer_9); m_Controls->horizontalLayout_9->removeItem(m_Controls->horizontalSpacer_9); m_Controls->dummyLayout->addItem(m_Controls->horizontalSpacer_3); m_Controls->horizontalLayout_11->removeItem(m_Controls->horizontalSpacer_3); m_Controls->dummyLayout->addItem(m_Controls->verticalSpacer_3); m_Controls->verticalLayout_7->removeItem(m_Controls->verticalSpacer_3); m_Controls->dummyLayout->addItem(m_Controls->verticalSpacer_4); m_Controls->verticalLayout_10->removeItem(m_Controls->verticalSpacer_4); m_Controls->dummyLayout->addItem(m_Controls->horizontalSpacer_10); m_Controls->verticalLayout_10->removeItem(m_Controls->horizontalSpacer_10); //set height to min m_Controls->m_outputTextPolaris->setMinimumHeight(0); m_Controls->m_outputTextPolaris->setMaximumHeight(0); m_Controls->m_outputTextMicronTracker->setMinimumHeight(0); m_Controls->m_outputTextMicronTracker->setMaximumHeight(0); m_Controls->m_outputTextAurora->setMinimumHeight(0); m_Controls->m_outputTextAurora->setMaximumHeight(0); m_Controls->m_finishedButton->setMinimumHeight(0); m_Controls->m_finishedButton->setMaximumHeight(0); m_Controls->m_resetButton->setMinimumHeight(0); m_Controls->m_resetButton->setMaximumHeight(0); //set the height of the tracking device combo box m_Controls->m_trackingDeviceChooser->setMinimumHeight(50); //move back the used elemets to the main layout m_Controls->simpleLayout->addWidget(m_Controls->m_trackingDeviceChooser); m_Controls->simpleLayout->addWidget(m_Controls->m_TrackingSystemWidget); m_Controls->mainWidget->setCurrentIndex(1); this->setMaximumHeight(150); this->EnableAdvancedUserControl(false); break; case QmitkTrackingDeviceConfigurationWidget::ADVANCED: //default at the moment => start settings are advanced break; } } QmitkTrackingDeviceConfigurationWidget::~QmitkTrackingDeviceConfigurationWidget() { } void QmitkTrackingDeviceConfigurationWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkTrackingDeviceConfigurationWidgetControls; m_Controls->setupUi(parent); } } void QmitkTrackingDeviceConfigurationWidget::CreateConnections() { if ( m_Controls ) { connect( (QObject*)(m_Controls->m_trackingDeviceChooser), SIGNAL(currentIndexChanged(int)), this, SLOT(TrackingDeviceChanged()) ); connect( (QObject*)(m_Controls->m_testConnectionPolaris), SIGNAL(clicked()), this, SLOT(TestConnection()) ); connect( (QObject*)(m_Controls->m_testConnectionAurora), SIGNAL(clicked()), this, SLOT(TestConnection()) ); connect( (QObject*)(m_Controls->m_testConnectionMicronTracker), SIGNAL(clicked()), this, SLOT(TestConnection()) ); connect( (QObject*)(m_Controls->m_resetButton), SIGNAL(clicked()), this, SLOT(ResetByUser()) ); connect( (QObject*)(m_Controls->m_finishedButton), SIGNAL(clicked()), this, SLOT(Finished()) ); connect( (QObject*)(m_Controls->m_AutoScanPolaris), SIGNAL(clicked()), this, SLOT(AutoScanPorts()) ); connect( (QObject*)(m_Controls->m_AutoScanAurora), SIGNAL(clicked()), this, SLOT(AutoScanPorts()) ); connect( (QObject*)(m_Controls->m_SetMTCalibrationFile), SIGNAL(clicked()), this, SLOT(SetMTCalibrationFileClicked()) ); //set a few UI components depending on Windows / Linux #ifdef WIN32 m_Controls->portTypeLabelPolaris->setVisible(false); m_Controls->portTypePolaris->setVisible(false); m_Controls->portTypeLabelAurora->setVisible(false); m_Controls->portTypeAurora->setVisible(false); #else m_Controls->comPortLabelAurora->setText("Port Nr:"); m_Controls->m_comPortLabelPolaris->setText("Port Nr:"); m_Controls->m_portSpinBoxAurora->setPrefix(""); m_Controls->m_portSpinBoxPolaris->setPrefix(""); #endif //disable unused UI component m_Controls->m_polarisTrackingModeBox->setVisible(false); //don't delete this component, because it is used in the MBI part of MITK } } void QmitkTrackingDeviceConfigurationWidget::TrackingDeviceChanged() { //show the correspondig widget m_Controls->m_TrackingSystemWidget->setCurrentIndex(m_Controls->m_trackingDeviceChooser->currentIndex()); //the new trackingdevice is not configurated yet m_TrackingDeviceConfigurated = false; //reset output ResetOutput(); //print output and do further initializations if (m_Controls->m_trackingDeviceChooser->currentIndex()==0)//NDI Polaris { AddOutput("
NDI Polaris selected"); } else if (m_Controls->m_trackingDeviceChooser->currentIndex()==1) //NDI Aurora { AddOutput("
NDI Aurora selected"); } else if (m_Controls->m_trackingDeviceChooser->currentIndex()==2) //ClaronTechnology MicronTracker 2 { AddOutput("
Microntracker selected"); if (!mitk::ClaronTrackingDevice::New()->IsMicronTrackerInstalled()) { AddOutput("
ERROR: not installed!"); } else if (this->m_MTCalibrationFile == "") //if configuration file for MicronTracker is empty: load default { mitk::ClaronTrackingDevice::Pointer tempDevice = mitk::ClaronTrackingDevice::New(); m_MTCalibrationFile = tempDevice->GetCalibrationDir(); Poco::Path myPath = Poco::Path(m_MTCalibrationFile.c_str()); m_Controls->m_MTCalibrationFile->setText("Calibration File: " + QString(myPath.getFileName().c_str())); } } emit TrackingDeviceSelectionChanged(); } void QmitkTrackingDeviceConfigurationWidget::EnableUserReset(bool enable) { if (enable) m_Controls->m_resetButton->setVisible(true); else m_Controls->m_resetButton->setVisible(false); } void QmitkTrackingDeviceConfigurationWidget::TestConnection() { this->setEnabled(false); //#### Step 1: construct a tracking device: mitk::TrackingDevice::Pointer testTrackingDevice = ConstructTrackingDevice(); //#### Step 2: test connection and start tracking, generate output AddOutput("
testing connection
..."); +bool connectionSuccess = false; +bool trackingSuccess = false; if (testTrackingDevice->OpenConnection()) { - AddOutput(" OK"); + //try start/stop tracking AddOutput("
testing tracking
..."); - if (testTrackingDevice->StartTracking()) - { - AddOutput(" OK"); - if (!testTrackingDevice->StopTracking())AddOutput("
ERROR while stop tracking
"); - } - else AddOutput(" ERROR!"); - if (!testTrackingDevice->CloseConnection())AddOutput("
ERROR while closing connection
"); + if (testTrackingDevice->StartTracking()) {if (testTrackingDevice->StopTracking()) {trackingSuccess = true;}} + + //try close connection + if (testTrackingDevice->CloseConnection()) {connectionSuccess = true;} } -else AddOutput(" ERROR!"); + +if (connectionSuccess && trackingSuccess) + { + AddOutput("OK"); + } +else + { + AddOutput("ERROR!"); + if(!connectionSuccess) + {MITK_WARN << "Error while connecting to device: " << testTrackingDevice->GetErrorMessage();} + else if(!trackingSuccess) + {MITK_WARN << "Error while start tracking to device: " << testTrackingDevice->GetErrorMessage();} + } + this->setEnabled(true); } void QmitkTrackingDeviceConfigurationWidget::Finished() { m_TrackingDevice = ConstructTrackingDevice(); m_Controls->m_TrackingSystemWidget->setEnabled(false); m_Controls->m_trackingDeviceChooser->setEnabled(false); m_Controls->choose_tracking_device_label->setEnabled(false); m_Controls->configuration_finished_label->setText("\n\n

Configuration finished

"); this->m_TrackingDeviceConfigurated = true; emit TrackingDeviceConfigurationFinished(); } void QmitkTrackingDeviceConfigurationWidget::Reset() { m_TrackingDevice = NULL; m_Controls->m_TrackingSystemWidget->setEnabled(true); m_Controls->m_trackingDeviceChooser->setEnabled(true); m_Controls->choose_tracking_device_label->setEnabled(true); m_Controls->configuration_finished_label->setText("\n\n

Press \"Finished\" to confirm configuration

"); this->m_TrackingDeviceConfigurated = false; emit TrackingDeviceConfigurationReseted(); } void QmitkTrackingDeviceConfigurationWidget::ResetByUser() { Reset(); } void QmitkTrackingDeviceConfigurationWidget::AutoScanPorts() { this->setEnabled(false); AddOutput("
Scanning..."); QString result = "
Found Devices:"; int resultSize = result.size(); //remember size of result: if it stays the same no device were found #ifdef WIN32 QString devName; for (unsigned int i = 1; i < 20; ++i) { if (i<10) devName = QString("COM%1").arg(i); else devName = QString("\\\\.\\COM%1").arg(i); // prepend "\\.\ to COM ports >9, to be able to allow connection" mitk::TrackingDeviceType scannedPort = ScanPort(devName); switch (scannedPort) { case mitk::NDIPolaris: result += "
" + devName + ": " + "NDI Polaris"; m_Controls->m_portSpinBoxPolaris->setValue(i); break; case mitk::NDIAurora: result += "
" + devName + ": " + "NDI Aurora"; m_Controls->m_portSpinBoxAurora->setValue(i); break; } } #else //linux systems for(unsigned int i = 1; i < 6; ++i) { QString devName = QString("/dev/ttyS%1").arg(i); mitk::TrackingDeviceType scannedPort = ScanPort(devName); switch (scannedPort) { case mitk::NDIPolaris: result += "
" + devName + ": " + "NDI Polaris"; m_Controls->m_portSpinBoxPolaris->setValue(i); m_Controls->portTypePolaris->setCurrentIndex(1); break; case mitk::NDIAurora: result += "
" + devName + ": " + "NDI Aurora"; m_Controls->m_portSpinBoxAurora->setValue(i); m_Controls->portTypeAurora->setCurrentIndex(1); break; } } for(unsigned int i = 0; i <7; ++i) { QString devName = QString("/dev/ttyUSB%1").arg(i); mitk::TrackingDeviceType scannedPort = ScanPort(devName); switch (scannedPort) { case mitk::NDIPolaris: result += "
" + devName + ": " + "NDI Polaris"; m_Controls->m_portSpinBoxPolaris->setValue(i); m_Controls->portTypePolaris->setCurrentIndex(0); break; case mitk::NDIAurora: result += "
" + devName + ": " + "NDI Aurora"; m_Controls->m_portSpinBoxAurora->setValue(i); m_Controls->portTypeAurora->setCurrentIndex(0); break; } } #endif if ( result.size() == resultSize) result += "
none"; AddOutput(result.toStdString()); this->setEnabled(true); } void QmitkTrackingDeviceConfigurationWidget::SetMTCalibrationFileClicked() { std::string filename = QFileDialog::getOpenFileName(NULL,tr("Open Calibration File"), "/", "*.*").toAscii().data(); if (filename=="") {return;} else { m_MTCalibrationFile = filename; Poco::Path myPath = Poco::Path(m_MTCalibrationFile.c_str()); m_Controls->m_MTCalibrationFile->setText("Calibration File: " + QString(myPath.getFileName().c_str())); } } //######################### internal help methods ####################################### void QmitkTrackingDeviceConfigurationWidget::ResetOutput() { m_output.str(""); m_output <<"output:"; m_Controls->m_outputTextAurora->setHtml(QString(m_output.str().c_str())); m_Controls->m_outputTextPolaris->setHtml(QString(m_output.str().c_str())); m_Controls->m_outputTextMicronTracker->setHtml(QString(m_output.str().c_str())); } void QmitkTrackingDeviceConfigurationWidget::AddOutput(std::string s) { //print output m_output << s; m_Controls->m_outputTextAurora->setHtml(QString(m_output.str().c_str())); m_Controls->m_outputTextPolaris->setHtml(QString(m_output.str().c_str())); m_Controls->m_outputTextMicronTracker->setHtml(QString(m_output.str().c_str())); m_Controls->m_outputTextPolaris->verticalScrollBar()->setValue(m_Controls->m_outputTextPolaris->verticalScrollBar()->maximum()); m_Controls->m_outputTextAurora->verticalScrollBar()->setValue(m_Controls->m_outputTextAurora->verticalScrollBar()->maximum()); m_Controls->m_outputTextMicronTracker->verticalScrollBar()->setValue(m_Controls->m_outputTextMicronTracker->verticalScrollBar()->maximum()); repaint(); } mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::ConstructTrackingDevice() { mitk::TrackingDevice::Pointer returnValue; //#### Step 1: configure tracking device: if (m_Controls->m_trackingDeviceChooser->currentIndex()==0)//NDI Polaris { if(m_Controls->m_radioPolaris5D->isChecked()) //5D Tracking { //not yet in the open source part so we'll only get NULL here. returnValue = ConfigureNDI5DTrackingDevice(); } else //6D Tracking { returnValue = ConfigureNDI6DTrackingDevice(); returnValue->SetType(mitk::NDIPolaris); } } else if (m_Controls->m_trackingDeviceChooser->currentIndex()==1)//NDI Aurora { returnValue = ConfigureNDI6DTrackingDevice(); returnValue->SetType(mitk::NDIAurora); } else if (m_Controls->m_trackingDeviceChooser->currentIndex()==2)//ClaronTechnology MicronTracker 2 { mitk::ClaronTrackingDevice::Pointer newDevice = mitk::ClaronTrackingDevice::New(); if(this->m_MTCalibrationFile=="") AddOutput("
Warning: Calibration file is not set!"); else { //extract path from calibration file and set the calibration dir of the device std::string path = itksys::SystemTools::GetFilenamePath(m_MTCalibrationFile); newDevice->SetCalibrationDir(path); } returnValue = newDevice; } return returnValue; } mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::ConfigureNDI5DTrackingDevice() { return NULL; } mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::ConfigureNDI6DTrackingDevice() { mitk::NDITrackingDevice::Pointer tempTrackingDevice = mitk::NDITrackingDevice::New(); //get port int port = 0; if (m_Controls->m_trackingDeviceChooser->currentIndex()==1) port = m_Controls->m_portSpinBoxAurora->value(); else port = m_Controls->m_portSpinBoxPolaris->value(); //build prefix (depends on linux/win) QString prefix = ""; #ifdef WIN32 prefix ="COM"; tempTrackingDevice->SetPortNumber(static_cast(port)); //also set the com port for compatibility #else if (m_Controls->m_trackingDeviceChooser->currentIndex()==1) //Aurora prefix = m_Controls->portTypeAurora->currentText(); else //Polaris prefix = m_Controls->portTypePolaris->currentText(); #endif //build port name string QString portName = prefix + QString::number(port); tempTrackingDevice->SetDeviceName(portName.toStdString()); //set the port name tempTrackingDevice->SetBaudRate(mitk::SerialCommunication::BaudRate115200);//set baud rate mitk::TrackingDevice::Pointer returnValue = static_cast(tempTrackingDevice); return returnValue; } mitk::TrackingDevice::Pointer QmitkTrackingDeviceConfigurationWidget::GetTrackingDevice() { if (!m_AdvancedUserControl) m_TrackingDevice = ConstructTrackingDevice(); return this->m_TrackingDevice; } bool QmitkTrackingDeviceConfigurationWidget::GetTrackingDeviceConfigured() { return this->m_TrackingDeviceConfigurated; } void QmitkTrackingDeviceConfigurationWidget::ConfigurationFinished() { Finished(); } void QmitkTrackingDeviceConfigurationWidget::EnableAdvancedUserControl(bool enable) { m_AdvancedUserControl = enable; m_Controls->configuration_finished_label->setVisible(enable); m_Controls->m_finishedLine->setVisible(enable); m_Controls->m_resetButton->setVisible(enable); m_Controls->m_finishedButton->setVisible(enable); } mitk::TrackingDeviceType QmitkTrackingDeviceConfigurationWidget::ScanPort(QString port) { mitk::NDITrackingDevice::Pointer tracker = mitk::NDITrackingDevice::New(); tracker->SetDeviceName(port.toStdString()); return tracker->TestConnection(); } 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 045e1e6027..74d7e2824d 100644 --- a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp +++ b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.cpp @@ -1,1042 +1,811 @@ /*=================================================================== 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 #include // Qmitk #include "QmitkIGTTrackingLabView.h" #include "QmitkStdMultiWidget.h" #include #include #include #include #include #include #include #include +#include #include #include #include #include +#include +#include +#include // Qt #include #include const std::string QmitkIGTTrackingLabView::VIEW_ID = "org.mitk.views.igttrackinglab"; QmitkIGTTrackingLabView::QmitkIGTTrackingLabView() : QmitkFunctionality() ,m_Source(NULL) -,m_FiducialRegistrationFilter(NULL) ,m_PermanentRegistrationFilter(NULL) ,m_Visualizer(NULL) ,m_VirtualView(NULL) ,m_PSRecordingPointSet(NULL) ,m_RegistrationTrackingFiducialsName("Tracking Fiducials") ,m_RegistrationImageFiducialsName("Image Fiducials") ,m_PointSetRecordingDataNodeName("Recorded Points") ,m_PointSetRecording(false) ,m_ImageFiducialsDataNode(NULL) ,m_TrackerFiducialsDataNode(NULL) ,m_PermanentRegistrationSourcePoints(NULL) { //[-1;0;0] for WOLF_6D bronchoscope m_DirectionOfProjectionVector[0]=0; m_DirectionOfProjectionVector[1]=0; m_DirectionOfProjectionVector[2]=-1;} QmitkIGTTrackingLabView::~QmitkIGTTrackingLabView() { } void QmitkIGTTrackingLabView::CreateQtPartControl( QWidget *parent ) { // create GUI widgets from the Qt Designer's .ui file m_Controls.setupUi( parent ); - m_ToolBox = new QToolBox(parent); - m_Controls.m_VBoxLayout->addWidget(m_ToolBox); - + m_ToolBox = m_Controls.m_ToolBox; this->CreateBundleWidgets( parent ); this->CreateConnections(); } void QmitkIGTTrackingLabView::CreateBundleWidgets( QWidget* parent ) { - // configuration widget - m_NDIConfigWidget = new QmitkNDIConfigurationWidget(parent); - m_NDIConfigWidget->SetToolTypes(QStringList () << "Instrument" << "Fiducial" << "Skinmarker" << "Unknown" ); - - m_ToolBox->addItem(m_NDIConfigWidget, "Configuration"); - - - // registration widget - m_RegistrationWidget = new QmitkFiducialRegistrationWidget(parent); + //initialize registration widget + m_RegistrationWidget = m_Controls.m_RegistrationWidget; m_RegistrationWidget->HideStaticRegistrationRadioButton(true); m_RegistrationWidget->HideContinousRegistrationRadioButton(true); m_RegistrationWidget->HideUseICPRegistrationCheckbox(true); - m_ToolBox->addItem(m_RegistrationWidget, "Initial Registration"); - - // permanent registration widget - m_PermanentRegistrationToolSelectionWidget = new QmitkToolSelectionWidget(parent); - m_PermanentRegistrationToolSelectionWidget->SetCheckboxtText("Use this tool for permanent registration"); - - m_ToolBox->addItem(m_PermanentRegistrationToolSelectionWidget, "Permanent Registration"); - - // pointset recording - m_ToolBox->addItem(this->CreatePointSetRecordingWidget(parent), "PointSet Recording"); - - // virtual view - m_VirtualViewToolSelectionWidget = new QmitkToolSelectionWidget(parent); - m_VirtualViewToolSelectionWidget->SetCheckboxtText("Enable Virtual Camera"); - - m_ToolBox->addItem(m_VirtualViewToolSelectionWidget, "Virtual Camera"); - - // tracking status - m_ToolStatusWidget = new QmitkToolTrackingStatusWidget( parent ); - m_Controls.m_VBoxLayout->addWidget(m_ToolStatusWidget); - - // update timer - m_RenderingTimerWidget = new QmitkUpdateTimerWidget( parent ); - m_RenderingTimerWidget->SetPurposeLabelText(QString("Navigation")); - m_RenderingTimerWidget->SetTimerInterval( 50 ); // set rendering timer at 20Hz (updating every 50msec) - - m_Controls.m_VBoxLayout->addWidget(m_RenderingTimerWidget); + //create widget for pointset recording + m_Controls.m_PointSetRecordingLayout->addWidget(this->CreatePointSetRecordingWidget(parent)); } void QmitkIGTTrackingLabView::CreateConnections() { - connect( m_ToolBox, SIGNAL(currentChanged(int)), this, SLOT(OnToolBoxCurrentChanged(int)) ); + m_Timer = new QTimer(this); + connect(m_Timer, SIGNAL(timeout()), this, SLOT(UpdateTimer())); - //connect( m_NDIConfigWidget, SIGNAL(Connected()), m_RenderingTimerWidget, SLOT(EnableWidget()) ); - connect( m_NDIConfigWidget, SIGNAL(Disconnected()), this, SLOT(OnTrackerDisconnected()) ); - connect( m_NDIConfigWidget, SIGNAL(Connected()), this, SLOT(OnSetupNavigation()) ); - connect( m_NDIConfigWidget, SIGNAL(SignalToolNameChanged(int, QString)), this, SLOT(OnChangeToolName(int, QString)) ); - connect( m_NDIConfigWidget, SIGNAL(SignalLoadTool(int, mitk::DataNode::Pointer)), this, SLOT(OnToolLoaded(int, mitk::DataNode::Pointer)) ); - connect( m_NDIConfigWidget, SIGNAL(ToolsAdded(QStringList)), this, SLOT(OnToolsAdded(QStringList)) ); - connect( m_NDIConfigWidget, SIGNAL(RepresentationChanged( int ,mitk::Surface::Pointer )), this, SLOT(ChangeToolRepresentation( int, mitk::Surface::Pointer ))); + connect( m_ToolBox, SIGNAL(currentChanged(int)), this, SLOT(OnToolBoxCurrentChanged(int)) ); + 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_RegistrationWidget, SIGNAL(AddedTrackingFiducial()), this, SLOT(OnAddRegistrationTrackingFiducial()) ); connect( m_RegistrationWidget, SIGNAL(PerformFiducialRegistration()), this, SLOT(OnRegisterFiducials()) ); - connect( m_RenderingTimerWidget, SIGNAL(Started()), this, SLOT(OnStartNavigation()) ); - connect( m_RenderingTimerWidget, SIGNAL(Stopped()), this, SLOT(OnStopNavigation()) ); - connect( m_VirtualViewToolSelectionWidget, SIGNAL(SignalUseTool(int, bool)), this, SLOT(OnVirtualCamera(int, bool))); + //initialize Combo Box + m_Controls.m_ObjectComboBox->SetDataStorage(this->GetDataStorage()); + //m_Controls.m_ObjectComboBox->SetAutoSelectNewItems(false); + //m_Controls->m_ObjectComboBox->SetPredicate(mitk::NodePredicateDataType::New("Surface")); - connect( m_PermanentRegistrationToolSelectionWidget, SIGNAL(SignalUseTool(int, bool)), this, SLOT(OnPermanentRegistration(int, bool)) ); } - -void QmitkIGTTrackingLabView::OnAddRegistrationTrackingFiducial() -{ - - mitk::DataStorage* ds = this->GetDefaultDataStorage(); // check if DataStorage available - if(ds == NULL) - throw std::invalid_argument("DataStorage is not available"); - - if (m_FiducialRegistrationFilter.IsNull()) - { - std::string message( "IGT Pipeline is not ready. Please 'Start Navigation' before adding points"); - QMessageBox::warning(NULL, "Adding Fiducials not possible", message.c_str()); - return; - } - - if (m_FiducialRegistrationFilter->GetNumberOfOutputs() < 1 || m_FiducialRegistrationFilter->GetNumberOfInputs() < 1) +void QmitkIGTTrackingLabView::UpdateTimer() { - std::string message("There are no tracking instruments! Please add an instrument first!"); - QMessageBox::warning(NULL, "Adding Fiducials not possible", message.c_str()); - return; + m_PermanentRegistrationFilter->Update(); } - if (m_FiducialRegistrationFilter->GetInput()->IsDataValid() == false) - { - std::string message("instrument can currently not be tracked. Please make sure that the instrument is visible to the tracker"); - QMessageBox::warning(NULL, "Adding Fiducials not possible", message.c_str()); - return; - } - mitk::NavigationData::Pointer nd = m_Source->GetOutput(0); +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 ); - // in case the tracker fiducials datanode has been renamed or removed - //if(trackerFiducialsPS.IsNull()) - //{ - // mitk::DataNode::Pointer trackerFiducialsDN = mitk::DataNode::New(); - // trackerFiducialsDN->SetName(m_RegistrationTrackingFiducialsName); - // trackerFiducialsPS = mitk::PointSet::New(); - // trackerFiducialsDN->SetData(trackerFiducialsPS); - // m_RegistrationWidget->SetTrackerFiducialsNode(trackerFiducialsDN); - //} - - - if(m_TrackerFiducialsDataNode.IsNotNull() && m_TrackerFiducialsDataNode->GetData() != NULL) { mitk::PointSet::Pointer ps = dynamic_cast(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(""); + return; + } + if (m_InstrumentNavigationData.IsNotNull()) + { + m_Controls.m_PointerNameLabel->setText(m_InstrumentNavigationData->GetName()); + } + else + { + m_Controls.m_PointerNameLabel->setText(""); + } +} + +void QmitkIGTTrackingLabView::OnObjectmarkerSelected() +{ + +if (m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedNavigationDataSource().IsNotNull()) + { + m_ObjectmarkerNavigationData = m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedNavigationDataSource()->GetOutput(m_Controls.m_TrackingDeviceSelectionWidget->GetSelectedToolID()); + } + else + { + m_Controls.m_ObjectmarkerNameLabel->setText(""); + return; + } + + if (m_ObjectmarkerNavigationData.IsNotNull()) + { + m_Controls.m_ObjectmarkerNameLabel->setText(m_ObjectmarkerNavigationData->GetName()); + } + else + { + m_Controls.m_ObjectmarkerNameLabel->setText(""); + } } void QmitkIGTTrackingLabView::OnSetupNavigation() { + MITK_INFO << "SetupNavigationCalled"; if(m_Source.IsNotNull()) if(m_Source->IsTracking()) return; mitk::DataStorage* ds = this->GetDefaultDataStorage(); if(ds == NULL) { QMessageBox::warning(NULL, "IGTSurfaceTracker: Error", "can not access DataStorage. Navigation not possible"); return; } // Building up the filter pipeline try { this->SetupIGTPipeline(); } catch(std::exception& e) { QMessageBox::warning(NULL, QString("IGTSurfaceTracker: Error"), QString("Error while building the IGT-Pipeline: %1").arg(e.what())); this->DestroyIGTPipeline(); // destroy the pipeline if building is incomplete return; } catch(...) { QMessageBox::warning(NULL, QString("IGTSurfaceTracker: Error"), QString("Error while building the IGT-Pipeline")); this->DestroyIGTPipeline(); return; } } void QmitkIGTTrackingLabView::SetupIGTPipeline() { - mitk::DataStorage* ds = this->GetDefaultDataStorage(); // check if DataStorage is available - if(ds == NULL) - throw std::invalid_argument("DataStorage is not available"); - - mitk::TrackingDevice::Pointer tracker = m_NDIConfigWidget->GetTracker(); // get current tracker from configuration widget - if(tracker.IsNull()) // check if tracker is valid - throw std::invalid_argument("tracking device is NULL!"); - - m_Source = mitk::TrackingDeviceSource::New(); // create new source for the IGT-Pipeline - m_Source->SetTrackingDevice(tracker); // set the found tracker from the configuration widget to the source - - this->InitializeFilters(); // initialize all needed filters - - if(m_NDIConfigWidget->GetTracker()->GetType() == mitk::NDIAurora) - { - - for (unsigned int i=0; i < m_Source->GetNumberOfOutputs(); ++i) - { - m_FiducialRegistrationFilter->SetInput(i, m_Source->GetOutput(i)); // set input for registration filter - m_Visualizer->SetInput(i, m_FiducialRegistrationFilter->GetOutput(i)); // set input for visualization filter - } - - for(unsigned int i= 0; i < m_Visualizer->GetNumberOfOutputs(); ++i) - { - const char* toolName = tracker->GetTool(i)->GetToolName(); - - mitk::DataNode::Pointer representation = this->CreateInstrumentVisualization(this->GetDefaultDataStorage(), toolName); - m_PSRecToolSelectionComboBox->addItem(QString(toolName)); - - m_PermanentRegistrationToolSelectionWidget->AddToolName(QString(toolName)); - m_VirtualViewToolSelectionWidget->AddToolName(QString(toolName)); - - m_Visualizer->SetRepresentationObject(i, representation->GetData()); - - } - - if(m_Source->GetTrackingDevice()->GetToolCount() > 0) - m_RenderingTimerWidget->setEnabled(true); - - mitk::RenderingManager::GetInstance()->RequestUpdateAll(mitk::RenderingManager::REQUEST_UPDATE_ALL); - this->GlobalReinit(); - } - - // this->CreateInstrumentVisualization(ds, tracker);//create for each single connected ND a corresponding 3D representation + this->InitializeRegistration(); //initializes the registration widget } void QmitkIGTTrackingLabView::InitializeFilters() { - //1. Fiducial Registration Filters - m_FiducialRegistrationFilter = mitk::NavigationDataLandmarkTransformFilter::New(); // filter used for initial fiducial registration - - //2. Visualization Filter - m_Visualizer = mitk::NavigationDataObjectVisualizationFilter::New(); // filter to display NavigationData - - m_PermanentRegistrationFilter = mitk::NavigationDataLandmarkTransformFilter::New(); - //3. Virtual Camera - m_VirtualView = mitk::CameraVisualization::New(); // filter to update the vtk camera according to the reference navigation data - m_VirtualView->SetRenderer(mitk::BaseRenderer::GetInstance(this->GetActiveStdMultiWidget()->mitkWidget4->GetRenderWindow())); - - mitk::Vector3D viewUpInToolCoordinatesVector; - viewUpInToolCoordinatesVector[0]=1; - viewUpInToolCoordinatesVector[1]=0; - viewUpInToolCoordinatesVector[2]=0; - - m_VirtualView->SetDirectionOfProjectionInToolCoordinates(m_DirectionOfProjectionVector); - m_VirtualView->SetFocalLength(5000.0); - m_VirtualView->SetViewUpInToolCoordinates(viewUpInToolCoordinatesVector); } void QmitkIGTTrackingLabView::OnRegisterFiducials( ) { - /* filter pipeline can only be build, if source and visualization filters exist */ - if (m_Source.IsNull() || m_Visualizer.IsNull() || m_FiducialRegistrationFilter.IsNull()) - { - QMessageBox::warning(NULL, "Registration not possible", "Navigation pipeline is not ready. Please (re)start the navigation"); - return; - } - if (m_Source->IsTracking() == false) - { - QMessageBox::warning(NULL, "Registration not possible", "Registration only possible if navigation is running"); - return; - } - /* retrieve fiducials from data storage */ mitk::DataStorage* ds = this->GetDefaultDataStorage(); mitk::PointSet::Pointer imageFiducials = dynamic_cast(m_ImageFiducialsDataNode->GetData()); mitk::PointSet::Pointer trackerFiducials = dynamic_cast(m_TrackerFiducialsDataNode->GetData()); - //mitk::PointSet::Pointer imageFiducials = ds->GetNamedObject(m_RegistrationImageFiducialsName.c_str()); - //mitk::PointSet::Pointer trackerFiducials = ds->GetNamedObject(m_RegistrationTrackingFiducialsName.c_str()); if (imageFiducials.IsNull() || trackerFiducials.IsNull()) { QMessageBox::warning(NULL, "Registration not possible", "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"); return; } unsigned int minFiducialCount = 3; // \Todo: move to view option if ((imageFiducials->GetSize() < minFiducialCount) || (trackerFiducials->GetSize() < minFiducialCount) || (imageFiducials->GetSize() != trackerFiducials->GetSize())) { QMessageBox::warning(NULL, "Registration not possible", QString("Not enough fiducial pairs found. At least %1 fiducial must " "exist for the image and the tracking system respectively.\n" "Currently, %2 fiducials exist for the image, %3 fiducials exist for the tracking system").arg(minFiducialCount).arg(imageFiducials->GetSize()).arg(trackerFiducials->GetSize())); return; } - /* now we have two PointSets with enough points to perform a landmark based transform */ - if ( m_RegistrationWidget->UseICPIsChecked() ) - m_FiducialRegistrationFilter->UseICPInitializationOn(); - else - m_FiducialRegistrationFilter->UseICPInitializationOff(); - - m_FiducialRegistrationFilter->SetSourceLandmarks(trackerFiducials); - m_FiducialRegistrationFilter->SetTargetLandmarks(imageFiducials); + //convert point sets to vtk poly data + vtkSmartPointer sourcePoints = vtkSmartPointer::New(); + vtkSmartPointer targetPoints = vtkSmartPointer::New(); - - if (m_FiducialRegistrationFilter.IsNotNull() && m_FiducialRegistrationFilter->IsInitialized()) // update registration quality display + for (int i=0; iGetSize(); i++) { - QString registrationQuality = QString("%0: FRE is %1mm (Std.Dev. %2), \n" - "RMS error is %3mm,\n" - "Minimum registration error (best fitting landmark) is %4mm,\n" - "Maximum registration error (worst fitting landmark) is %5mm.") - .arg("Fiducial Registration") - .arg(m_FiducialRegistrationFilter->GetFRE(), 3, 'f', 3) - .arg(m_FiducialRegistrationFilter->GetFREStdDev(), 3, 'f', 3) - .arg(m_FiducialRegistrationFilter->GetRMSError(), 3, 'f', 3) - .arg(m_FiducialRegistrationFilter->GetMinError(), 3, 'f', 3) - .arg(m_FiducialRegistrationFilter->GetMaxError(), 3, 'f', 3); - m_RegistrationWidget->SetQualityDisplayText(registrationQuality); + 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); } - //trackerFiducials->Clear(); - //this->GlobalReinit(); + //compute transform + vtkSmartPointer transform = vtkSmartPointer::New(); + transform->SetSourceLandmarks(sourcePoints); + transform->SetTargetLandmarks(targetPoints); + transform->Modified(); + transform->Update(); + + //convert from vtk to itk data types + itk::Matrix rotationFloat = itk::Matrix(); + itk::Vector translationFloat = itk::Vector(); + + vtkSmartPointer m = transform->GetMatrix(); + for(int k=0; k<3; k++) for(int l=0; l<3; l++) + { + rotationFloat[k][l] = m->GetElement(k,l); + + } + for(int k=0; k<3; k++) + { + translationFloat[k] = m->GetElement(k,3); + } + + //create new transform object + mitk::AffineTransform3D::Pointer newTransform = mitk::AffineTransform3D::New(); + newTransform->SetMatrix(rotationFloat); + newTransform->SetOffset(translationFloat); + + m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()->GetGeometry()->SetIndexToWorldTransform(newTransform); } void QmitkIGTTrackingLabView::OnTrackerDisconnected() { m_RenderingTimerWidget->DisableWidget(); this->DestroyInstrumentVisualization(this->GetDefaultDataStorage(), m_NDIConfigWidget->GetTracker()); } mitk::DataNode::Pointer QmitkIGTTrackingLabView::CreateInstrumentVisualization(mitk::DataStorage* ds, const char* toolName) { //const char* toolName = tracker->GetTool(i)->GetToolName(); mitk::DataNode::Pointer toolRepresentationNode; toolRepresentationNode = ds->GetNamedNode(toolName); // check if node with same name already exists if(toolRepresentationNode.IsNotNull()) ds->Remove(toolRepresentationNode); // remove old node with same name toolRepresentationNode = this->CreateConeRepresentation( toolName ); - // m_Visualizer->SetRepresentationObject(i, toolRepresentationNode->GetData()); ds->Add(toolRepresentationNode); // adds node to data storage return toolRepresentationNode; } mitk::DataNode::Pointer QmitkIGTTrackingLabView::CreateConeRepresentation( const char* label ) { //new data mitk::Cone::Pointer activeToolData = mitk::Cone::New(); vtkConeSource* vtkData = vtkConeSource::New(); vtkData->SetRadius(7.5); vtkData->SetHeight(15.0); vtkData->SetDirection(m_DirectionOfProjectionVector[0],m_DirectionOfProjectionVector[1],m_DirectionOfProjectionVector[2]); vtkData->SetCenter(0.0, 0.0, 7.5); vtkData->SetResolution(20); vtkData->CappingOn(); vtkData->Update(); activeToolData->SetVtkPolyData(vtkData->GetOutput()); vtkData->Delete(); //new node mitk::DataNode::Pointer coneNode = mitk::DataNode::New(); coneNode->SetData(activeToolData); coneNode->GetPropertyList()->SetProperty("name", mitk::StringProperty::New( label )); coneNode->GetPropertyList()->SetProperty("layer", mitk::IntProperty::New(0)); coneNode->GetPropertyList()->SetProperty("visible", mitk::BoolProperty::New(true)); coneNode->SetColor(1.0,0.0,0.0); coneNode->SetOpacity(0.85); coneNode->Modified(); return coneNode; } void QmitkIGTTrackingLabView::DestroyIGTPipeline() { if(m_Source.IsNotNull()) { m_Source->StopTracking(); m_Source->Disconnect(); m_Source = NULL; } - m_FiducialRegistrationFilter = NULL; m_PermanentRegistrationFilter = NULL; m_Visualizer = NULL; m_VirtualView = NULL; } -void QmitkIGTTrackingLabView::OnChangeToolName(int index, QString name) -{ - if(m_Source.IsNull()) - return; - - mitk::DataStorage* ds = this->GetDefaultDataStorage(); - if(ds == NULL) - { - QMessageBox::warning(NULL,"DataStorage Access Error", "Could not access DataStorage. Tool Name can not be changed!"); - return; - } - - mitk::NavigationData::Pointer tempND = m_Source->GetOutput(index); - if(tempND.IsNull()) - return; - - const char* oldName = tempND->GetName(); - - mitk::DataNode::Pointer tempNode = ds->GetNamedNode(oldName); - - if(tempNode.IsNotNull()) - { - tempNode->SetName(name.toStdString().c_str()); - tempND->SetName(name.toStdString().c_str()); - } - else - QMessageBox::warning(NULL, "Rename Tool Error", "Couldn't find the corresponding tool for changing it's name!"); -} - -void QmitkIGTTrackingLabView::OnToolLoaded(int index, mitk::DataNode::Pointer toolNode) -{ - if(m_Source.IsNull() || m_Visualizer.IsNull()) - return; - - mitk::DataStorage* ds = this->GetDefaultDataStorage(); - if(ds == NULL) - { - QMessageBox::warning(NULL,"DataStorage Access Error", "Could not access DataStorage. Loaded tool representation can not be shown!"); - return; - } - - mitk::NavigationData::Pointer tempND = m_Source->GetOutput(index); - if(tempND.IsNull()) - return; - - // try to find DataNode for tool in DataStorage - const char* toolName = tempND->GetName(); - mitk::DataNode::Pointer tempNode = ds->GetNamedNode(toolName); - - if(tempNode.IsNull()) - { - tempNode = mitk::DataNode::New(); // create new node, if none was found - ds->Add(tempNode); - } - - tempNode->SetData(toolNode->GetData()); - tempNode->SetName(toolNode->GetName()); - - m_PSRecToolSelectionComboBox->setItemText(index,toolNode->GetName().c_str()); - - m_VirtualViewToolSelectionWidget->ChangeToolName(index, QString(toolNode->GetName().c_str())); - m_PermanentRegistrationToolSelectionWidget->ChangeToolName(index, QString(toolNode->GetName().c_str())); - - m_Visualizer->SetRepresentationObject(index, tempNode->GetData()); - m_Visualizer->Update(); - - tempNode->Modified(); - this->GlobalReinit(); -} - -void QmitkIGTTrackingLabView::OnStartNavigation() -{ - - if(m_Source.IsNull()) - { - QMessageBox::warning(NULL, "IGTTrackingLab: Error", "can not access tracking source. Navigation not possible"); - return; - } - - if(!m_Source->IsTracking()) - { - m_Source->StartTracking(); - - try - { - m_RenderingTimerWidget->GetTimerInterval(); - this->StartContinuousUpdate(); // start tracker with set interval - - for(unsigned int i = 0; i < m_Source->GetNumberOfOutputs(); i++) // add navigation data to bundle widgets - { - m_ToolStatusWidget->AddNavigationData(dynamic_cast(m_Source->GetOutputs().at(i).GetPointer())); - } - - m_ToolStatusWidget->ShowStatusLabels(); // show status for every tool if ND is valid or not - //m_IGTPlayerWidget->setEnabled(true); - } - catch(...) - { - //m_IGTPlayerWidget->setDisabled(true); - this->StopContinuousUpdate(); - this->DestroyIGTPipeline(); - return; - } - - m_NDIConfigWidget->EnableAddToolsButton(false); - - } -} - - void QmitkIGTTrackingLabView::StopContinuousUpdate() { if (this->m_RenderingTimerWidget->GetUpdateTimer() != NULL) { m_RenderingTimerWidget->StopTimer(); disconnect( (QTimer*) m_RenderingTimerWidget->GetUpdateTimer(), SIGNAL(timeout()), this, SLOT(RenderScene()) ); // disconnect timer from RenderScene() method } if(m_PointSetRecordPushButton) m_PointSetRecordPushButton->setDisabled(true); } void QmitkIGTTrackingLabView::RenderScene( ) { try { if (m_Visualizer.IsNull() || this->GetActiveStdMultiWidget() == NULL) return; try { if(m_Source.IsNotNull() && m_Source->IsTracking()) m_ToolStatusWidget->Refresh(); if(m_VirtualViewToolSelectionWidget->IsSelectedToolActivated()) { m_VirtualView->Update(); mitk::Point3D p = m_Visualizer->GetOutput(m_VirtualViewToolSelectionWidget->GetCurrentSelectedIndex())->GetPosition(); this->GetActiveStdMultiWidget()->MoveCrossToPosition(p); } - if(m_PermanentRegistrationToolSelectionWidget->IsSelectedToolActivated() && m_PermanentRegistrationToolSelectionWidget->GetCurrentSelectedIndex() >= 0 ) - { - mitk::NavigationData::Pointer permRegTool = m_Source->GetOutput((unsigned int) m_PermanentRegistrationToolSelectionWidget->GetCurrentSelectedIndex()); + mitk::NavigationData::Pointer permRegTool = this->m_ObjectmarkerNavigationData; + - m_PermanentRegistrationFilter->SetSourceLandmarks(this->GetVirtualPointSetFromPosition(permRegTool)); - } if(m_PointSetRecording && m_PSRecordingPointSet.IsNotNull()) { int size = m_PSRecordingPointSet->GetSize(); mitk::NavigationData::Pointer nd= m_Visualizer->GetOutput(m_PSRecToolSelectionComboBox->currentIndex()); if(size > 0) { mitk::Point3D p = m_PSRecordingPointSet->GetPoint(size-1); if(p.EuclideanDistanceTo(nd->GetPosition()) > (double) m_PSRecordingSpinBox->value()) m_PSRecordingPointSet->InsertPoint(size, nd->GetPosition()); } else m_PSRecordingPointSet->InsertPoint(size, nd->GetPosition()); } } catch(std::exception& e) { MITK_WARN << "Exception during QmitkIGTTrackingLab::RenderScene():" << e.what() << "\n"; } //if(m_VirtualViewCheckBox->isChecked()) // mitk::RenderingManager::GetInstance()->RequestUpdateAll(mitk::RenderingManager::REQUEST_UPDATE_ALL); ////update all Widgets //else m_Visualizer->Update(); mitk::RenderingManager::GetInstance()->RequestUpdateAll(mitk::RenderingManager::REQUEST_UPDATE_ALL); } catch (std::exception& e) { MITK_WARN << "RenderAll exception: " << e.what() << "\n"; } catch (...) { MITK_WARN << "RenderAll unknown exception\n"; } } void QmitkIGTTrackingLabView::StartContinuousUpdate( ) { if (m_Source.IsNull() || m_Visualizer.IsNull() ) throw std::invalid_argument("Pipeline is not set up correctly"); if (m_RenderingTimerWidget->GetUpdateTimer() == NULL) return; else { connect( (QTimer*) m_RenderingTimerWidget->GetUpdateTimer(), SIGNAL(timeout()), this, SLOT(RenderScene()) ); // connect update timer to RenderScene() method } if(m_PointSetRecordPushButton) m_PointSetRecordPushButton->setEnabled(true); } - -void QmitkIGTTrackingLabView::OnStopNavigation() -{ - if(m_Source.IsNull()) - { - QMessageBox::warning(NULL, "IGTSurfaceTracker: Error", "can not access tracking source. Navigation not possible"); - return; - } - if(m_Source->IsTracking()) - { - m_Source->StopTracking(); - this->StopContinuousUpdate(); - m_ToolStatusWidget->RemoveStatusLabels(); - - m_NDIConfigWidget->EnableAddToolsButton(true); - } -} - - -void QmitkIGTTrackingLabView::OnToolsAdded(QStringList toolsList) -{ - - if(m_Source.IsNull() || m_FiducialRegistrationFilter.IsNull() || m_Visualizer.IsNull()) - return; - - m_Source->UpdateOutputInformation(); - - unsigned int nrOfOldOutputs = m_Visualizer->GetNumberOfOutputs(); - - for(unsigned int i = nrOfOldOutputs; i < m_Source->GetNumberOfOutputs(); ++i) - { - m_FiducialRegistrationFilter->SetInput(i, m_Source->GetOutput(i)); - m_Visualizer->SetInput(i, m_FiducialRegistrationFilter->GetOutput(i)); - } - - for(unsigned int j = nrOfOldOutputs; j < m_Visualizer->GetNumberOfOutputs(); ++j) - { - mitk::DataNode::Pointer representation = this->CreateInstrumentVisualization(this->GetDefaultDataStorage(), m_Source->GetTrackingDevice()->GetTool(j)->GetToolName()); - - m_PSRecToolSelectionComboBox->addItem(QString(m_Source->GetTrackingDevice()->GetTool(j)->GetToolName())); - - m_PermanentRegistrationToolSelectionWidget->AddToolName(QString(m_Source->GetTrackingDevice()->GetTool(j)->GetToolName())); - m_VirtualViewToolSelectionWidget->AddToolName(QString(m_Source->GetTrackingDevice()->GetTool(j)->GetToolName())); - - m_Visualizer->SetRepresentationObject(j, representation->GetData()); - } - - if(m_Source->GetTrackingDevice()->GetToolCount() > 0) - m_RenderingTimerWidget->setEnabled(true); - - mitk::RenderingManager::GetInstance()->RequestUpdateAll(mitk::RenderingManager::REQUEST_UPDATE_ALL); - this->GlobalReinit(); - - //mitk::RenderingManager::GetInstance()->RequestUpdateAll(mitk::RenderingManager::REQUEST_UPDATE_ALL); -} - void QmitkIGTTrackingLabView::InitializeRegistration() { mitk::DataStorage* ds = this->GetDefaultDataStorage(); if( ds == NULL ) return; m_RegistrationWidget->SetMultiWidget(this->GetActiveStdMultiWidget()); // passing multiwidget to pointsetwidget 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(m_RegistrationImageFiducialsName); m_ImageFiducialsDataNode->SetColor(color); m_ImageFiducialsDataNode->SetBoolProperty( "updateDataOnRender", false ); ds->Add(m_ImageFiducialsDataNode); } m_RegistrationWidget->SetMultiWidget(this->GetActiveStdMultiWidget()); 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(m_RegistrationTrackingFiducialsName); m_TrackerFiducialsDataNode->SetColor(color); m_TrackerFiducialsDataNode->SetBoolProperty( "updateDataOnRender", false ); ds->Add(m_TrackerFiducialsDataNode); } m_RegistrationWidget->SetTrackerFiducialsNode(m_TrackerFiducialsDataNode); } void QmitkIGTTrackingLabView::OnToolBoxCurrentChanged(const int index) { switch (index) { case RegistrationWidget: this->InitializeRegistration(); break; default: break; } } mitk::DataNode::Pointer QmitkIGTTrackingLabView::CreateRegistrationFiducialsNode( const std::string& label, const mitk::Color& color) { mitk::DataNode::Pointer fiducialsNode = mitk::DataNode::New(); mitk::PointSet::Pointer fiducialsPointSet = mitk::PointSet::New(); fiducialsNode->SetData(fiducialsPointSet); fiducialsNode->SetName( label ); fiducialsNode->SetColor( color ); fiducialsNode->SetBoolProperty( "updateDataOnRender", false ); return fiducialsNode; } void QmitkIGTTrackingLabView::ChangeToolRepresentation( int toolID , mitk::Surface::Pointer surface ) { mitk::DataStorage* ds = this->GetDefaultDataStorage(); if(ds == NULL) { QMessageBox::warning(NULL, "IGTSurfaceTracker: Error", "Can not access DataStorage. Changing tool representation not possible!"); return; } mitk::TrackingDevice::Pointer tracker = m_NDIConfigWidget->GetTracker(); if(tracker.IsNull()) { QMessageBox::warning(NULL, "IGTSurfaceTracker: Error", "Can not access Tracker. Changing tool representation not possible!"); return; } try { const char* name = tracker->GetTool(toolID)->GetToolName(); // get tool name by id mitk::DataNode::Pointer toolNode = ds->GetNamedNode(name); if(toolNode.IsNull()) return; toolNode->SetData(surface); // change surface representation of node toolNode->SetColor(0.45,0.70,0.85); //light blue like old 5D sensors toolNode->Modified(); m_Visualizer->SetRepresentationObject( toolID, toolNode->GetData()); // updating node with changed surface back in visualizer mitk::RenderingManager::GetInstance()->RequestUpdateAll(); } catch(std::exception& e) { QMessageBox::warning(NULL, QString("IGTSurfaceTracker: Error"), QString("Can not change tool representation!").arg(e.what())); return; } } QWidget* QmitkIGTTrackingLabView::CreatePointSetRecordingWidget(QWidget* parent) { QWidget* pointSetRecordingWidget = new QWidget(parent); m_PSRecToolSelectionComboBox = new QComboBox(pointSetRecordingWidget); m_PSRecordingSpinBox = new QSpinBox(pointSetRecordingWidget); QLabel* psRecordingEpsilonDistance = new QLabel("mm (point distance)", pointSetRecordingWidget); // the recording button m_PointSetRecordPushButton = new QPushButton("Start PointSet Recording", pointSetRecordingWidget); m_PointSetRecordPushButton->setDisabled(true); m_PointSetRecordPushButton->setIcon(QIcon(":/QmitkQmitkIGTTrackingLabView/start_rec.png")); m_PointSetRecordPushButton->setCheckable(true); connect( m_PointSetRecordPushButton, SIGNAL(toggled(bool)), this, SLOT(OnPointSetRecording(bool)) ); // distances spin m_PSRecordingSpinBox->setValue(1); m_PSRecordingSpinBox->setMinimum(1); m_PSRecordingSpinBox->setMaximum(20); QLabel* toolSelectLabel = new QLabel("Select tool for recording:", pointSetRecordingWidget); QGridLayout* layout = new QGridLayout(pointSetRecordingWidget); int row = 0; int col = 0; layout->addWidget(toolSelectLabel,row,col++,1,1,Qt::AlignRight); layout->addWidget(m_PSRecToolSelectionComboBox,row,col++,1,3,Qt::AlignLeft); col +=2; layout->addWidget(m_PSRecordingSpinBox,row,col++,1,1,Qt::AlignRight); layout->addWidget(psRecordingEpsilonDistance, row, col++,1,1,Qt::AlignLeft); row++; col=4; layout->addWidget(m_PointSetRecordPushButton,row,col++,1,2,Qt::AlignRight); return pointSetRecordingWidget; } void QmitkIGTTrackingLabView::OnPointSetRecording(bool record) { mitk::DataStorage* ds = this->GetDefaultDataStorage(); if(ds == NULL) return; if(record) { mitk::DataNode::Pointer psRecND = ds->GetNamedNode(m_PointSetRecordingDataNodeName); if(m_PSRecordingPointSet.IsNull() || psRecND.IsNull()) { m_PSRecordingPointSet = NULL; m_PSRecordingPointSet = mitk::PointSet::New(); mitk::DataNode::Pointer dn = mitk::DataNode::New(); dn->SetName(m_PointSetRecordingDataNodeName); dn->SetColor(0.,1.,0.); dn->SetData(m_PSRecordingPointSet); ds->Add(dn); } else m_PSRecordingPointSet->Clear(); m_PointSetRecording = true; m_PointSetRecordPushButton->setText("Stop PointSet Recording"); m_PSRecToolSelectionComboBox->setDisabled(true); } else { m_PointSetRecording = false; m_PointSetRecordPushButton->setText("Start PointSet Recording"); m_PSRecToolSelectionComboBox->setEnabled(true); } } void QmitkIGTTrackingLabView::DestroyInstrumentVisualization(mitk::DataStorage* ds, mitk::TrackingDevice::Pointer tracker) { if(ds == NULL || tracker.IsNull()) return; for(int i=0; i < tracker->GetToolCount(); ++i) { mitk::DataNode::Pointer dn = ds->GetNamedNode(tracker->GetTool(i)->GetToolName()); if(dn.IsNotNull()) ds->Remove(dn); } } void QmitkIGTTrackingLabView::GlobalReinit() { // request global reiinit 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::TimeSlicedGeometry::Pointer bounds = this->GetDataStorage()->ComputeBoundingGeometry3D(rs, "visible"); // initialize the views to the bounding geometry mitk::RenderingManager::GetInstance()->InitializeViews(bounds); //global reinit end } void QmitkIGTTrackingLabView::OnVirtualCamera(int toolNr, bool on) { - if(m_VirtualView.IsNull() || m_FiducialRegistrationFilter.IsNull()) + if(m_VirtualView.IsNull()) return; if(on) { - m_VirtualView->SetInput(m_FiducialRegistrationFilter->GetOutput(toolNr)); + //m_VirtualView->SetInput(m_FiducialRegistrationFilter->GetOutput(toolNr)); this->GetActiveStdMultiWidget()->SetWidgetPlaneModeToRotation(true); } else this->GetActiveStdMultiWidget()->SetWidgetPlaneModeToSlicing(true); } -void QmitkIGTTrackingLabView::OnPermanentRegistration(int toolID, bool on) +void QmitkIGTTrackingLabView::OnPermanentRegistration(bool on) { - if (m_PermanentRegistrationFilter.IsNull() || m_FiducialRegistrationFilter.IsNull()) - return; - + MITK_INFO << "Permanent registration" << on; if(on) - { - if(m_PermanentRegistrationSourcePoints.IsNull()) - m_PermanentRegistrationSourcePoints = mitk::PointSet::New(); - - // interconnectiong permanent registration filter between tracking source and fiducial registration filter - for(unsigned int i=0; i < m_Source->GetNumberOfOutputs(); ++i) { - m_PermanentRegistrationFilter->SetInput(i,m_Source->GetOutput(i)); - m_FiducialRegistrationFilter->SetInput(i,m_PermanentRegistrationFilter->GetOutput(i)); - } - mitk::NavigationData::Pointer nd = m_Source->GetOutput((unsigned int) toolID); + m_PermanentRegistrationFilter = mitk::NavigationDataObjectVisualizationFilter::New(); - m_PermanentRegistrationFilter->SetTargetLandmarks(this->GetVirtualPointSetFromPosition(nd)); - } + //connect filter to source + m_PermanentRegistrationFilter->SetInput(this->m_ObjectmarkerNavigationData); + + mitk::AffineTransform3D::Pointer initialTransform = this->m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()->GetGeometry()->GetIndexToWorldTransform(); + + m_PermanentRegistrationFilter->SetRepresentationObject(0,this->m_Controls.m_ObjectComboBox->GetSelectedNode()->GetData()); + itk::Matrix OffsetR = itk::Matrix(this->m_ObjectmarkerNavigationData->GetOrientation().rotation_matrix_transpose()); + itk::Vector OffsetT = itk::Vector(); + OffsetT[0] = this->m_ObjectmarkerNavigationData->GetPosition()[0]; + OffsetT[1] = this->m_ObjectmarkerNavigationData->GetPosition()[1]; + OffsetT[2] = this->m_ObjectmarkerNavigationData->GetPosition()[2]; + + MITK_INFO << "Offset R:" << OffsetR; + MITK_INFO << "Orientation Quat:" << m_ObjectmarkerNavigationData->GetOrientation(); + + OffsetR = OffsetR.GetInverse(); + OffsetT = (OffsetR * OffsetT) * -1.; + + mitk::AffineTransform3D::Pointer offset = mitk::AffineTransform3D::New(); + offset->SetMatrix(OffsetR); + offset->SetOffset(OffsetT); + + mitk::AffineTransform3D::Pointer overall_transform = mitk::AffineTransform3D::New(); + overall_transform->SetIdentity(); + overall_transform->Compose(initialTransform); + overall_transform->Compose(offset); + + m_PermanentRegistrationFilter->SetOffset(0,overall_transform); + + //start timer + m_Timer->start(30); + } else - { - for(unsigned int i=0; i < m_FiducialRegistrationFilter->GetNumberOfOutputs(); ++i) - m_FiducialRegistrationFilter->SetInput(i,m_Source->GetOutput()); - } + { + //stop timer + m_Timer->stop(); + + //delete filter + m_PermanentRegistrationFilter = NULL; + } + } mitk::PointSet::Pointer QmitkIGTTrackingLabView::GetVirtualPointSetFromPosition(mitk::NavigationData::Pointer navigationData) { typedef itk::QuaternionRigidTransform QuaternionTransformType; mitk::NavigationData::PositionType pointA; mitk::NavigationData::PositionType pointB; mitk::NavigationData::PositionType pointC; //initializing three points with position(0|0|0) pointA.Fill(0); pointB.Fill(0); pointC.Fill(0); // changing position off all points in order to make them orthogonal pointA[0] = 1; pointB[1] = 1; pointC[2] = 1; QuaternionTransformType::Pointer quatTransform = QuaternionTransformType::New(); // orientation of NavigationData from parameter mitk::NavigationData::OrientationType quatIn = navigationData->GetOrientation(); // set orientation to quaternion transform vnl_quaternion const vnlQuatIn(quatIn.x(), quatIn.y(), quatIn.z(), quatIn.r()); quatTransform->SetRotation(vnlQuatIn); // transform each point pointA = quatTransform->TransformPoint(pointA); pointB = quatTransform->TransformPoint(pointB); pointC = quatTransform->TransformPoint(pointC); // add position data from NavigationData parameter to each point pointA[0] += navigationData->GetPosition()[0]; pointA[1] += navigationData->GetPosition()[1]; pointA[2] += navigationData->GetPosition()[2]; pointB[0] += navigationData->GetPosition()[0]; pointB[1] += navigationData->GetPosition()[1]; pointB[2] += navigationData->GetPosition()[2]; pointC[0] += navigationData->GetPosition()[0]; pointC[1] += navigationData->GetPosition()[1]; pointC[2] += navigationData->GetPosition()[2]; // insert points in source points pointset for the permanent registration landmark transform m_PermanentRegistrationSourcePoints->InsertPoint(0,pointA); m_PermanentRegistrationSourcePoints->InsertPoint(1,pointB); m_PermanentRegistrationSourcePoints->InsertPoint(2,pointC); return m_PermanentRegistrationSourcePoints; } 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 4748f78813..32ee9cfb28 100644 --- a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.h +++ b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabView.h @@ -1,267 +1,261 @@ /*=================================================================== 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 #include #include "ui_QmitkIGTTrackingLabViewControls.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include +#include class QmitkNDIConfigurationWidget; class QmitkFiducialRegistrationWidget; class QmitkUpdateTimerWidget; class QmitkToolSelectionWidget; class QmitkToolTrackingStatusWidget; /*! \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 QmitkFunctionality { // 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); protected slots: + + void UpdateTimer(); + /** \brief This method adds a new fiducial to the tracker fiducials PointSet. */ void OnAddRegistrationTrackingFiducial(); /** \brief This method calls the fiducial registration. */ void OnRegisterFiducials(); /** \brief This method should be called if deconnecting the tracker. */ void OnTrackerDisconnected(); /** \brief This method sets up the navigation pipeline before tracking is started. */ void OnSetupNavigation(); /** - \brief This method changes the name of a specific tool. - */ - void OnChangeToolName(int index, QString name); - /** - \brief This method creates the surface representation for a tool loaded from file. - */ - void OnToolLoaded(int index, mitk::DataNode::Pointer toolNode); - /** - \brief This method starts the navigation. - */ - void OnStartNavigation(); - /** - \brief This method stops the navigation. - */ - void OnStopNavigation(); - /** \brief This method performs the visualisation of all NavigationDatas and performs the PointSet recording if activated. */ void RenderScene(); /** - \brief This method should be called if new tools have been added to the tracking device. - */ - void OnToolsAdded(QStringList toolsList); - /** \brief This method reacts on toolbox item changes. */ void OnToolBoxCurrentChanged(int index); /** \brief This method initializes the registration for the FiducialRegistrationWidget. */ void InitializeRegistration(); /** \brief This method reacts on tool surface changes. */ void ChangeToolRepresentation( int toolID , mitk::Surface::Pointer surface ); /** \brief This method starts the PointSet recording. */ void OnPointSetRecording(bool record); /** \brief This method activates the virtual camera. */ void OnVirtualCamera(int toolNr, bool on); /** \brief This method activates the permanent registration based on one tool's position. */ - void OnPermanentRegistration(int toolID, bool on); + void OnPermanentRegistration(bool on); + + void OnInstrumentSelected(); + + void OnObjectmarkerSelected(); + protected: enum ToolBoxElement // enums for the different ToolBox item tabs. { NDIConfigurationWidget = 0, RegistrationWidget = 1, PermanentRecording = 2, PointSetRecording = 3, VirtualCamera = 4 }; 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(); /** \brief This method sets up the filter pipeline. */ void SetupIGTPipeline(); /** \brief This method initializes all needed filters. */ void InitializeFilters(); /** \brief This method destroys the filter pipeline. */ void DestroyIGTPipeline(); /** \brief This method starts the continuos update of the tracking device and the rendering. */ void StartContinuousUpdate(); /** \brief This method stops the continuos update of the tracking device and the rendering. */ void StopContinuousUpdate(); /** \brief This method creates a DataNode for fiducial PointSets. */ mitk::DataNode::Pointer CreateRegistrationFiducialsNode( const std::string& label, const mitk::Color& color); /** \brief This method creates the visualization for all connected instruments. */ mitk::DataNode::Pointer CreateInstrumentVisualization(mitk::DataStorage* ds, const char* toolName); // create 3D models for all connected tools /** \brief This method creates a DataNode of a 3D cone object. */ mitk::DataNode::Pointer CreateConeRepresentation(const char* label = ""); // create a 3D cone as representation for a tool /** \brief This method destroys the instrument visualization. */ void DestroyInstrumentVisualization(mitk::DataStorage* ds, mitk::TrackingDevice::Pointer tracker); /** \brief This method creates a widget with all input objects needed for the PointSet recording. */ QWidget* CreatePointSetRecordingWidget(QWidget* parent); /** \brief This method returns a PointSet with three vritual points transformed from the position and orientation of the given NavigationData. This method is needed to calculate the source points for permanent registration from one tool's position. */ mitk::PointSet::Pointer GetVirtualPointSetFromPosition(mitk::NavigationData::Pointer navigationData); mitk::TrackingDeviceSource::Pointer m_Source; ///< source that connects to the tracking device - mitk::NavigationDataLandmarkTransformFilter::Pointer m_FiducialRegistrationFilter; ///< this filter transforms from tracking coordinates into mitk world coordinates - mitk::NavigationDataLandmarkTransformFilter::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_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 mitk::Vector3D m_DirectionOfProjectionVector;///< vector for direction of projection of instruments private: + QTimer* m_Timer; + QToolBox* m_ToolBox; QComboBox* m_PSRecToolSelectionComboBox; QSpinBox* m_PSRecordingSpinBox; QPushButton* m_PointSetRecordPushButton; mitk::PointSet::Pointer m_PSRecordingPointSet; QmitkNDIConfigurationWidget* m_NDIConfigWidget; // tracking device configuration widget QmitkFiducialRegistrationWidget* m_RegistrationWidget; // landmark registration widget QmitkUpdateTimerWidget* m_RenderingTimerWidget; // update timer widget for rendering and updating QmitkToolTrackingStatusWidget* m_ToolStatusWidget; // tracking status visualizer widget std::string m_RegistrationTrackingFiducialsName; std::string m_RegistrationImageFiducialsName; std::string m_PointSetRecordingDataNodeName; bool m_PointSetRecording; mitk::DataNode::Pointer m_ImageFiducialsDataNode; mitk::DataNode::Pointer m_TrackerFiducialsDataNode; QmitkToolSelectionWidget* m_PermanentRegistrationToolSelectionWidget; QmitkToolSelectionWidget* m_VirtualViewToolSelectionWidget; mitk::NavigationData::PositionType m_TargetPosition; mitk::NavigationData::OrientationType m_PermanentRegistrationInitialOrientation; mitk::PointSet::Pointer m_PermanentRegistrationSourcePoints; + mitk::NavigationData::Pointer m_InstrumentNavigationData; + mitk::NavigationData::Pointer m_ObjectmarkerNavigationData; + /** \brief This method performs GlobalReinit() for the rendering widgets. */ void GlobalReinit(); }; #endif // QmitkIGTTrackingLabView_h diff --git a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabViewControls.ui b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabViewControls.ui index f945916514..bb93c7276a 100644 --- a/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabViewControls.ui +++ b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabViewControls.ui @@ -1,47 +1,275 @@ QmitkIGTTrackingLabViewControls 0 0 - 436 - 374 + 364 + 1058 0 0 QmitkTemplate - + + + + 0 + 600 + + + + 0 + + + + + 0 + 0 + 345 + 455 + + + + Configuration + + + + + + + 0 + 150 + + + + + + + + Tool Selection + + + + + + + + Pointer: + + + + + + + Qt::Horizontal + + + + 13 + 20 + + + + + + + + <not selected> + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + Use selected tool + + + + + + + + + + + Objectmarker: + + + + + + + Qt::Horizontal + + + + 47 + 20 + + + + + + + + <not selected> + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + + + Use selected tool + + + + + + + + + + + + Object Selection + + + + + + + + + + + + + + 0 + 0 + 342 + 507 + + + + Initial Registration + + + + + + + + + + + 0 + 0 + 342 + 507 + + + + Permanent Registration + + + + + + Activate permanent registration + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + 0 + 0 + 342 + 476 + + + + PointSet Recording + + + + + + + + Qt::Vertical QSizePolicy::Expanding 20 220 + + + QmitkFiducialRegistrationWidget + QWidget +
QmitkFiducialRegistrationWidget.h
+ 1 + + + QmitkNavigationDataSourceSelectionWidget + QWidget +
QmitkNavigationDataSourceSelectionWidget.h
+ 1 + + + QmitkDataStorageComboBox + QComboBox +
QmitkDataStorageComboBox.h
+ +