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 c81d252302..7a23f762d8 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 +1,1029 @@ /*=================================================================== 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 // 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); + //initialize configuration widget + m_NDIConfigWidget = m_Controls.m_NDIConfigWidget; 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); + //initialize permanent registration widget + m_PermanentRegistrationToolSelectionWidget = m_Controls.m_PermanentRegistrationToolSelectionWidget; 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"); + + //create widget for pointset recording + m_Controls.m_PointSetRecordingLayout->addWidget(this->CreatePointSetRecordingWidget(parent)); - // virtual view - m_VirtualViewToolSelectionWidget = new QmitkToolSelectionWidget(parent); + //initialize virtual view tab + m_VirtualViewToolSelectionWidget = m_Controls.m_VirtualViewToolSelectionWidget; 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 ); + //initialize tracking status widget + m_ToolStatusWidget = m_Controls.m_ToolStatusWidget; + + //initialize update timer + m_RenderingTimerWidget = m_Controls.m_RenderingTimerWidget; m_RenderingTimerWidget->SetPurposeLabelText(QString("Navigation")); m_RenderingTimerWidget->SetTimerInterval( 50 ); // set rendering timer at 20Hz (updating every 50msec) - - m_Controls.m_VBoxLayout->addWidget(m_RenderingTimerWidget); } void QmitkIGTTrackingLabView::CreateConnections() { connect( m_ToolBox, SIGNAL(currentChanged(int)), this, SLOT(OnToolBoxCurrentChanged(int)) ); //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_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))); 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) { std::string message("There are no tracking instruments! Please add an instrument first!"); QMessageBox::warning(NULL, "Adding Fiducials not possible", message.c_str()); return; } 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); 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::OnSetupNavigation() { 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 } 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); if (m_FiducialRegistrationFilter.IsNotNull() && m_FiducialRegistrationFilter->IsInitialized()) // update registration quality display { 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); } //trackerFiducials->Clear(); //this->GlobalReinit(); } 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()); 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()) return; if(on) { m_VirtualView->SetInput(m_FiducialRegistrationFilter->GetOutput(toolNr)); this->GetActiveStdMultiWidget()->SetWidgetPlaneModeToRotation(true); } else this->GetActiveStdMultiWidget()->SetWidgetPlaneModeToSlicing(true); } void QmitkIGTTrackingLabView::OnPermanentRegistration(int toolID, bool on) { if (m_PermanentRegistrationFilter.IsNull() || m_FiducialRegistrationFilter.IsNull()) return; 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->SetTargetLandmarks(this->GetVirtualPointSetFromPosition(nd)); } else { for(unsigned int i=0; i < m_FiducialRegistrationFilter->GetNumberOfOutputs(); ++i) m_FiducialRegistrationFilter->SetInput(i,m_Source->GetOutput()); } } 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/QmitkIGTTrackingLabViewControls.ui b/Plugins/org.mitk.gui.qt.igtexamples/src/internal/QmitkIGTTrackingLabViewControls.ui index f945916514..b79470123f 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 +1,149 @@ QmitkIGTTrackingLabViewControls 0 0 - 436 - 374 + 364 + 375 0 0 QmitkTemplate - + + + 0 + + + + Configuration + + + + + + + + + + + 0 + 0 + 414 + 85 + + + + Initial Registration + + + + + + + + + + Permanent Registration + + + + + + + + + + PointSet Recording + + + + + + + + + + Virtual Camera + + + + + + + + + + + + m_RenderingTimerWidget + + + + Qt::Vertical QSizePolicy::Expanding 20 220 + + + QmitkFiducialRegistrationWidget + QWidget +
QmitkFiducialRegistrationWidget.h
+ 1 + + + QmitkNDIConfigurationWidget + QWidget +
QmitkNDIConfigurationWidget.h
+ 1 + + + QmitkToolSelectionWidget + QWidget +
QmitkToolSelectionWidget.h
+ 1 + + + QmitkToolTrackingStatusWidget + QWidget +
QmitkToolTrackingStatusWidget.h
+ 1 + + + QmitkUpdateTimerWidget + QWidget +
QmitkUpdateTimerWidget.h
+ 1 + +