diff --git a/Modules/IGT/Algorithms/mitkNavigationDataDisplacementFilter.cpp b/Modules/IGT/Algorithms/mitkNavigationDataDisplacementFilter.cpp
index 335c1fd11f..2d5b96caa7 100644
--- a/Modules/IGT/Algorithms/mitkNavigationDataDisplacementFilter.cpp
+++ b/Modules/IGT/Algorithms/mitkNavigationDataDisplacementFilter.cpp
@@ -1,73 +1,138 @@
/*===================================================================
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 "mitkNavigationDataDisplacementFilter.h"
#include "mitkPropertyList.h"
#include "mitkProperties.h"
mitk::NavigationDataDisplacementFilter::NavigationDataDisplacementFilter()
-: mitk::NavigationDataToNavigationDataFilter()
+: mitk::NavigationDataToNavigationDataFilter(), m_Transform6DOF(false)
{
m_Offset[0] = 0.0;
m_Offset[1] = 0.0;
m_Offset[2] = 0.0;
+
+ m_Transformation = mitk::NavigationData::New();
+
}
mitk::NavigationDataDisplacementFilter::~NavigationDataDisplacementFilter()
{
}
void mitk::NavigationDataDisplacementFilter::GenerateData()
{
/* update outputs with tracking data from tools */
- for (unsigned int i = 0; i < this->GetNumberOfOutputs() ; ++i)
+ if( !m_Transform6DOF )
+ {
+ for (unsigned int i = 0; i < this->GetNumberOfOutputs() ; ++i)
+ {
+ mitk::NavigationData* output = this->GetOutput(i);
+ assert(output);
+ const mitk::NavigationData* input = this->GetInput(i);
+ assert(input);
+
+ if (input->IsDataValid() == false)
+ {
+ output->SetDataValid(false);
+ continue;
+ }
+ output->Graft(input); // First, copy all information from input to output
+ output->SetPosition(input->GetPosition() + m_Offset); // Then change the member(s): add offset to position of navigation data
+ output->SetDataValid(true); // operation was successful, therefore data of output is valid.
+ // don't change anything else here
+ }
+ }
+ else
{
- mitk::NavigationData* output = this->GetOutput(i);
- assert(output);
- const mitk::NavigationData* input = this->GetInput(i);
- assert(input);
+ if( this->GetNumberOfOutputs() < 2 )
+ {
+ MITK_WARN << "TrackedUltrasound not possible. The number of tracked devices must be at least 2.";
+ return;
+ }
+
+ //important: First device = Needle | Second device = US-Tracker
+
+ mitk::NavigationData::Pointer needleOut = this->GetOutput(0);
+ const mitk::NavigationData* needleIn = this->GetInput(0);
+
+ mitk::NavigationData::Pointer usTrackerOut = this->GetOutput(1);
+ const mitk::NavigationData* usTrackerIn = this->GetInput(1);
- if (input->IsDataValid() == false)
+ if(needleIn->IsDataValid() == false )
{
- output->SetDataValid(false);
- continue;
+ needleOut->SetDataValid(false);
+ }
+ else
+ needleOut->Graft(needleIn);
+
+ if (usTrackerIn->IsDataValid() == false)
+ {
+ usTrackerOut->SetDataValid(false);
+ }
+ else
+ usTrackerOut->Graft(usTrackerIn);
+
+ needleOut->Compose( usTrackerOut->GetInverse(), false );
+ needleOut->Compose( m_Transformation->GetInverse() );
+
+ usTrackerOut->SetDataValid(true);
+ needleOut->SetDataValid(true);
+
+ if( this->GetNumberOfOutputs() > 2 )
+ {
+ for( unsigned int i = 2; i < this->GetNumberOfOutputs(); ++i )
+ {
+ mitk::NavigationData* output = this->GetOutput(i);
+ const mitk::NavigationData* input = this->GetInput(i);
+
+ if (input->IsDataValid() == false)
+ {
+ output->SetDataValid(false);
+ continue;
+ }
+ output->Graft(input);
+ output->SetDataValid(true);
+ }
}
- output->Graft(input); // First, copy all information from input to output
- output->SetPosition(input->GetPosition() + m_Offset); // Then change the member(s): add offset to position of navigation data
- output->SetDataValid(true); // operation was successful, therefore data of output is valid.
- // don't change anything else here
}
}
+void mitk::NavigationDataDisplacementFilter::SetTransformation(mitk::AffineTransform3D::Pointer transform)
+{
+ mitk::NavigationData::Pointer transformation = mitk::NavigationData::New(transform);
+ m_Transformation = transformation;
+}
+
void mitk::NavigationDataDisplacementFilter::SetParameters( const mitk::PropertyList* p )
{
if (p == nullptr)
return;
mitk::Vector3D v;
if (p->GetPropertyValue<mitk::Vector3D>("NavigationDataDisplacementFilter_Offset", v) == true) // search for Offset parameter
this->SetOffset(v); // apply if found;
}
mitk::PropertyList::ConstPointer mitk::NavigationDataDisplacementFilter::GetParameters() const
{
mitk::PropertyList::Pointer p = mitk::PropertyList::New();
p->SetProperty("NavigationDataDisplacementFilter_Offset", mitk::Vector3DProperty::New(this->GetOffset())); // store Offset parameter
return mitk::PropertyList::ConstPointer(p);
}
diff --git a/Modules/IGT/Algorithms/mitkNavigationDataDisplacementFilter.h b/Modules/IGT/Algorithms/mitkNavigationDataDisplacementFilter.h
index e5dfba4422..d1ae1695a4 100644
--- a/Modules/IGT/Algorithms/mitkNavigationDataDisplacementFilter.h
+++ b/Modules/IGT/Algorithms/mitkNavigationDataDisplacementFilter.h
@@ -1,76 +1,85 @@
/*===================================================================
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 MITKNavigationDataDisplacementFilter_H_HEADER_INCLUDED_
#define MITKNavigationDataDisplacementFilter_H_HEADER_INCLUDED_
#include <mitkNavigationDataToNavigationDataFilter.h>
namespace mitk
{
/**Documentation
* \brief NavigationDataDisplacementFilter adds an offset to navigation data objects
*
* Example class that shows how to write a navigation filter. This filter
* adds a offset that can be specified as a parameter to each input navigation data.
*
* \ingroup IGT
*/
class MITKIGT_EXPORT NavigationDataDisplacementFilter : public NavigationDataToNavigationDataFilter
{
public:
mitkClassMacro(NavigationDataDisplacementFilter, NavigationDataToNavigationDataFilter);
itkFactorylessNewMacro(Self)
itkCloneMacro(Self)
mitkSetVectorMacro(Offset, mitk::Vector3D); ///< Get Offset parameter
mitkGetVectorMacro(Offset, mitk::Vector3D); ///< Set Offset parameter
+ itkSetMacro(Transform6DOF, bool);
+ itkGetMacro(Transform6DOF, bool);
+
+ void SetTransformation( mitk::AffineTransform3D::Pointer transform );
/**
*\brief Set all filter parameters (Offset) as the PropertyList p
*
* This method reads the following properties from the PropertyList (name : data type):
* - "NavigationDataDisplacementFilter_Offset" : mitk::Vector3DProperty
*/
void SetParameters(const mitk::PropertyList* p) override;
/**
*\brief Get all filter parameters (offset) as a PropertyList
*
* This method returns a PropertyList containing the following
* properties (name : data type):
* - "NavigationDataDisplacementFilter_Offset" : mitk::Vector3DProperty
* The returned PropertyList must be assigned to a
* SmartPointer immediately, or else it will get destroyed.
*/
mitk::PropertyList::ConstPointer GetParameters() const override;
protected:
NavigationDataDisplacementFilter();
~NavigationDataDisplacementFilter() override;
/**Documentation
* \brief filter execute method
*
* adds the offset m_Offset to all inputs
*/
void GenerateData() override;
mitk::Vector3D m_Offset; ///< offset that is added to all inputs
+
+ bool m_Transform6DOF;
+
+ mitk::NavigationData::Pointer m_Transformation;
+
};
} // namespace mitk
#endif /* MITKNAVIGATIONDATATONAVIGATIONDATAFILTER_H_HEADER_INCLUDED_ */
diff --git a/Modules/US/USModel/mitkUSDevice.cpp b/Modules/US/USModel/mitkUSDevice.cpp
index 05ea8dcffc..40913afa64 100644
--- a/Modules/US/USModel/mitkUSDevice.cpp
+++ b/Modules/US/USModel/mitkUSDevice.cpp
@@ -1,712 +1,717 @@
/*===================================================================
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 "mitkUSDevice.h"
#include "mitkImageReadAccessor.h"
// US Control Interfaces
#include "mitkUSControlInterfaceProbes.h"
#include "mitkUSControlInterfaceBMode.h"
#include "mitkUSControlInterfaceDoppler.h"
// Microservices
#include <usGetModuleContext.h>
#include <usModule.h>
#include <usServiceProperties.h>
#include <usModuleContext.h>
mitk::USDevice::PropertyKeys mitk::USDevice::GetPropertyKeys()
{
static mitk::USDevice::PropertyKeys propertyKeys;
return propertyKeys;
}
mitk::USDevice::USImageCropArea mitk::USDevice::GetCropArea()
{
MITK_INFO << "Return Crop Area L:" << m_CropArea.cropLeft
<< " R:" << m_CropArea.cropRight << " T:" << m_CropArea.cropTop
<< " B:" << m_CropArea.cropBottom;
return m_CropArea;
}
+unsigned int mitk::USDevice::GetSizeOfImageVector()
+{
+ return m_ImageVector.size();
+}
+
mitk::USDevice::USDevice(std::string manufacturer, std::string model)
: mitk::ImageSource(),
m_FreezeBarrier(nullptr),
m_FreezeMutex(),
m_MultiThreader(itk::MultiThreader::New()),
m_ImageMutex(itk::FastMutexLock::New()),
m_ThreadID(-1),
m_ImageVector(),
m_Spacing(),
m_IGTLServer(nullptr),
m_IGTLMessageProvider(nullptr),
m_ImageToIGTLMsgFilter(nullptr),
m_IsFreezed(false),
m_DeviceState(State_NoState),
m_NumberOfOutputs(1),
m_ServiceProperties(),
m_ServiceRegistration(),
m_Manufacturer(manufacturer),
m_Name(model),
m_Comment(),
m_SpawnAcquireThread(true),
m_UnregisteringStarted(false)
{
USImageCropArea empty;
empty.cropBottom = 0;
empty.cropTop = 0;
empty.cropLeft = 0;
empty.cropRight = 0;
this->m_CropArea = empty;
// set number of outputs
this->SetNumberOfIndexedOutputs(m_NumberOfOutputs);
// create a new output
mitk::Image::Pointer newOutput = mitk::Image::New();
this->SetNthOutput(0, newOutput);
}
mitk::USDevice::USDevice(mitk::USImageMetadata::Pointer metadata)
: mitk::ImageSource(),
m_FreezeBarrier(nullptr),
m_FreezeMutex(),
m_MultiThreader(itk::MultiThreader::New()),
m_ImageMutex(itk::FastMutexLock::New()),
m_ThreadID(-1),
m_ImageVector(),
m_Spacing(),
m_IGTLServer(nullptr),
m_IGTLMessageProvider(nullptr),
m_ImageToIGTLMsgFilter(nullptr),
m_IsFreezed(false),
m_DeviceState(State_NoState),
m_NumberOfOutputs(1),
m_ServiceProperties(),
m_ServiceRegistration(),
m_SpawnAcquireThread(true),
m_UnregisteringStarted(false)
{
m_Manufacturer = metadata->GetDeviceManufacturer();
m_Name = metadata->GetDeviceModel();
m_Comment = metadata->GetDeviceComment();
USImageCropArea empty;
empty.cropBottom = 0;
empty.cropTop = 0;
empty.cropLeft = 0;
empty.cropRight = 0;
this->m_CropArea = empty;
// set number of outputs
this->SetNumberOfIndexedOutputs(m_NumberOfOutputs);
// create a new output
mitk::Image::Pointer newOutput = mitk::Image::New();
this->SetNthOutput(0, newOutput);
}
mitk::USDevice::~USDevice()
{
if (m_ThreadID >= 0)
{
m_MultiThreader->TerminateThread(m_ThreadID);
}
// make sure that the us device is not registered at the micro service
// anymore after it is destructed
this->UnregisterOnService();
}
mitk::USAbstractControlInterface::Pointer
mitk::USDevice::GetControlInterfaceCustom()
{
MITK_INFO << "Custom control interface does not exist for this object.";
return nullptr;
}
mitk::USControlInterfaceBMode::Pointer
mitk::USDevice::GetControlInterfaceBMode()
{
MITK_INFO << "Control interface BMode does not exist for this object.";
return nullptr;
}
mitk::USControlInterfaceProbes::Pointer
mitk::USDevice::GetControlInterfaceProbes()
{
MITK_INFO << "Control interface Probes does not exist for this object.";
return nullptr;
}
mitk::USControlInterfaceDoppler::Pointer
mitk::USDevice::GetControlInterfaceDoppler()
{
MITK_INFO << "Control interface Doppler does not exist for this object.";
return nullptr;
}
void mitk::USDevice::SetManufacturer(std::string manufacturer)
{
m_Manufacturer = manufacturer;
if (m_DeviceState >= State_Initialized)
{
this->UpdateServiceProperty(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_MANUFACTURER,
manufacturer);
}
}
void mitk::USDevice::SetName(std::string name)
{
m_Name = name;
if (m_DeviceState >= State_Initialized)
{
this->UpdateServiceProperty(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_NAME, name);
}
}
void mitk::USDevice::SetComment(std::string comment)
{
m_Comment = comment;
if (m_DeviceState >= State_Initialized)
{
this->UpdateServiceProperty(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_COMMENT, comment);
}
}
us::ServiceProperties mitk::USDevice::ConstructServiceProperties()
{
mitk::USDevice::PropertyKeys propertyKeys = mitk::USDevice::GetPropertyKeys();
us::ServiceProperties props;
props[propertyKeys.US_PROPKEY_ISCONNECTED] =
this->GetIsConnected() ? "true" : "false";
props[propertyKeys.US_PROPKEY_ISACTIVE] =
this->GetIsActive() ? "true" : "false";
props[propertyKeys.US_PROPKEY_LABEL] = this->GetServicePropertyLabel();
// get identifier of selected probe if there is one selected
mitk::USControlInterfaceProbes::Pointer probesControls =
this->GetControlInterfaceProbes();
if (probesControls.IsNotNull() && probesControls->GetIsActive())
{
mitk::USProbe::Pointer probe = probesControls->GetSelectedProbe();
if (probe.IsNotNull())
{
props[propertyKeys.US_PROPKEY_PROBES_SELECTED] = probe->GetName();
}
}
props[propertyKeys.US_PROPKEY_CLASS] = GetDeviceClass();
props[propertyKeys.US_PROPKEY_MANUFACTURER] = m_Manufacturer;
props[propertyKeys.US_PROPKEY_NAME] = m_Name;
props[propertyKeys.US_PROPKEY_COMMENT] = m_Comment;
m_ServiceProperties = props;
return props;
}
void mitk::USDevice::UnregisterOnService()
{
// unregister on micro service
if (m_ServiceRegistration && !m_UnregisteringStarted)
{
// make sure that unregister is not started a second
// time due to a callback during unregister for example
m_UnregisteringStarted = true;
m_ServiceRegistration.Unregister();
m_ServiceRegistration = 0;
}
}
bool mitk::USDevice::Initialize()
{
if (!this->OnInitialization())
{
return false;
}
m_DeviceState = State_Initialized;
// Get Context and Module
us::ModuleContext* context = us::GetModuleContext();
us::ServiceProperties props = this->ConstructServiceProperties();
m_ServiceRegistration = context->RegisterService(this, props);
return true;
}
bool mitk::USDevice::Connect()
{
MITK_DEBUG << "mitk::USDevice::Connect() called";
if (this->GetIsConnected())
{
MITK_INFO("mitkUSDevice") << "Tried to connect an ultrasound device that "
"was already connected. Ignoring call...";
return true;
}
if (!this->GetIsInitialized())
{
MITK_ERROR("mitkUSDevice")
<< "Cannot connect device if it is not in initialized state.";
return false;
}
// Prepare connection, fail if this fails.
if (!this->OnConnection())
{
return false;
}
// Update state
m_DeviceState = State_Connected;
this->UpdateServiceProperty(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_ISCONNECTED, true);
return true;
}
void mitk::USDevice::ConnectAsynchron()
{
this->m_MultiThreader->SpawnThread(this->ConnectThread, this);
}
bool mitk::USDevice::Disconnect()
{
if (!GetIsConnected())
{
MITK_WARN << "Tried to disconnect an ultrasound device that was not "
"connected. Ignoring call...";
return false;
}
// Prepare connection, fail if this fails.
if (!this->OnDisconnection())
return false;
// Update state
m_DeviceState = State_Initialized;
this->UpdateServiceProperty(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_ISCONNECTED, false);
return true;
}
bool mitk::USDevice::Activate()
{
if (!this->GetIsConnected())
{
MITK_INFO("mitkUSDevice")
<< "Cannot activate device if it is not in connected state.";
return true;
}
if (OnActivation())
{
m_DeviceState = State_Activated;
m_FreezeBarrier = itk::ConditionVariable::New();
// spawn thread for aquire images if us device is active
if (m_SpawnAcquireThread)
{
this->m_ThreadID =
this->m_MultiThreader->SpawnThread(this->Acquire, this);
}
this->UpdateServiceProperty(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_ISACTIVE, true);
this->UpdateServiceProperty(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_LABEL,
this->GetServicePropertyLabel());
// initialize the b mode control properties of the micro service
mitk::USControlInterfaceBMode::Pointer bmodeControls =
this->GetControlInterfaceBMode();
if (bmodeControls.IsNotNull())
{
bmodeControls->Initialize();
}
}
this->ProvideViaOIGTL();
return m_DeviceState == State_Activated;
}
void mitk::USDevice::ProvideViaOIGTL()
{
// create a new OpenIGTLink Server
if (m_IGTLServer.IsNull())
m_IGTLServer = mitk::IGTLServer::New(true);
m_IGTLServer->SetName(this->GetName());
// create a new OpenIGTLink Device source
if (m_IGTLMessageProvider.IsNull())
m_IGTLMessageProvider = mitk::IGTLMessageProvider::New();
// set the OpenIGTLink server as the source for the device source
m_IGTLMessageProvider->SetIGTLDevice(m_IGTLServer);
// register the provider so that it can be configured with the IGTL manager
// plugin. This could be hardcoded but now I already have the fancy plugin.
m_IGTLMessageProvider->RegisterAsMicroservice();
m_ImageToIGTLMsgFilter = mitk::ImageToIGTLMessageFilter::New();
m_ImageToIGTLMsgFilter->ConnectTo(this);
// set the name of this filter to identify it easier
m_ImageToIGTLMsgFilter->SetName(this->GetName());
// register this filter as micro service. The message provider looks for
// provided IGTLMessageSources, once it found this microservice and someone
// requested this data type then the provider will connect with this filter
// automatically.
m_ImageToIGTLMsgFilter->RegisterAsMicroservice();
}
void mitk::USDevice::Deactivate()
{
if (!this->GetIsActive())
{
MITK_WARN("mitkUSDevice")
<< "Cannot deactivate a device which is not activae.";
return;
}
if (!OnDeactivation())
{
return;
}
DisableOIGTL();
m_DeviceState = State_Connected;
this->UpdateServiceProperty(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_ISACTIVE, false);
this->UpdateServiceProperty(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_LABEL,
this->GetServicePropertyLabel());
}
void mitk::USDevice::DisableOIGTL()
{
// TODO: This seems not to be enough cleanup to catch all cases. For example, if the device is disconnected
// from the OIGTL GUI, this won't get cleaned up correctly.
m_IGTLServer->CloseConnection();
m_IGTLMessageProvider->UnRegisterMicroservice();
m_ImageToIGTLMsgFilter->UnRegisterMicroservice();
}
void mitk::USDevice::SetIsFreezed(bool freeze)
{
if (!this->GetIsActive())
{
MITK_WARN("mitkUSDevice")
<< "Cannot freeze or unfreeze if device is not active.";
return;
}
this->OnFreeze(freeze);
if (freeze)
{
m_IsFreezed = true;
}
else
{
m_IsFreezed = false;
// wake up the image acquisition thread
m_FreezeBarrier->Signal();
}
}
bool mitk::USDevice::GetIsFreezed()
{
/*
if (!this->GetIsActive())
{
MITK_WARN("mitkUSDevice")("mitkUSTelemedDevice")
<< "Cannot get freeze state if the hardware interface is not ready. "
"Returning false...";
return false;
}*/
return m_IsFreezed;
}
void mitk::USDevice::PushFilter(AbstractOpenCVImageFilter::Pointer filter)
{
mitk::USImageSource::Pointer imageSource = this->GetUSImageSource();
if (imageSource.IsNull())
{
MITK_ERROR << "ImageSource must not be null when pushing a filter.";
mitkThrow() << "ImageSource must not be null when pushing a filter.";
}
imageSource->PushFilter(filter);
}
void mitk::USDevice::PushFilterIfNotPushedBefore(
AbstractOpenCVImageFilter::Pointer filter)
{
mitk::USImageSource::Pointer imageSource = this->GetUSImageSource();
if (imageSource.IsNull())
{
MITK_ERROR << "ImageSource must not be null when pushing a filter.";
mitkThrow() << "ImageSource must not be null when pushing a filter.";
}
if (!imageSource->GetIsFilterInThePipeline(filter))
{
imageSource->PushFilter(filter);
}
}
bool mitk::USDevice::RemoveFilter(AbstractOpenCVImageFilter::Pointer filter)
{
mitk::USImageSource::Pointer imageSource = this->GetUSImageSource();
if (imageSource.IsNull())
{
MITK_ERROR << "ImageSource must not be null when pushing a filter.";
mitkThrow() << "ImageSource must not be null when removing a filter.";
}
return imageSource->RemoveFilter(filter);
}
void mitk::USDevice::UpdateServiceProperty(std::string key, std::string value)
{
m_ServiceProperties[key] = value;
m_ServiceRegistration.SetProperties(m_ServiceProperties);
// send event to notify listeners about the changed property
m_PropertyChangedMessage(key, value);
}
void mitk::USDevice::UpdateServiceProperty(std::string key, double value)
{
std::stringstream stream;
stream << value;
this->UpdateServiceProperty(key, stream.str());
}
void mitk::USDevice::UpdateServiceProperty(std::string key, bool value)
{
this->UpdateServiceProperty(
key, value ? std::string("true") : std::string("false"));
}
/**
mitk::Image* mitk::USDevice::GetOutput()
{
if (this->GetNumberOfOutputs() < 1)
return nullptr;
return static_cast<USImage*>(this->ProcessObject::GetPrimaryOutput());
}
mitk::Image* mitk::USDevice::GetOutput(unsigned int idx)
{
if (this->GetNumberOfOutputs() < 1)
return nullptr;
return static_cast<USImage*>(this->ProcessObject::GetOutput(idx));
}
void mitk::USDevice::GraftOutput(itk::DataObject *graft)
{
this->GraftNthOutput(0, graft);
}
void mitk::USDevice::GraftNthOutput(unsigned int idx, itk::DataObject *graft)
{
if ( idx >= this->GetNumberOfOutputs() )
{
itkExceptionMacro(<<"Requested to graft output " << idx <<
" but this filter only has " << this->GetNumberOfOutputs() << " Outputs.");
}
if ( !graft )
{
itkExceptionMacro(<<"Requested to graft output with a nullptr pointer object" );
}
itk::DataObject* output = this->GetOutput(idx);
if ( !output )
{
itkExceptionMacro(<<"Requested to graft output that is a nullptr pointer" );
}
// Call Graft on USImage to copy member data
output->Graft( graft );
}
*/
void mitk::USDevice::GrabImage()
{
std::vector<mitk::Image::Pointer> image = this->GetUSImageSource()->GetNextImage();
m_ImageMutex->Lock();
this->SetImageVector(image);
m_ImageMutex->Unlock();
}
//########### GETTER & SETTER ##################//
bool mitk::USDevice::GetIsInitialized()
{
return m_DeviceState == State_Initialized;
}
bool mitk::USDevice::GetIsActive() { return m_DeviceState == State_Activated; }
bool mitk::USDevice::GetIsConnected()
{
return m_DeviceState == State_Connected;
}
std::string mitk::USDevice::GetDeviceManufacturer() { return m_Manufacturer; }
std::string mitk::USDevice::GetDeviceModel() { return m_Name; }
std::string mitk::USDevice::GetDeviceComment() { return m_Comment; }
void mitk::USDevice::SetSpacing(double xSpacing, double ySpacing)
{
m_Spacing[0] = xSpacing;
m_Spacing[1] = ySpacing;
m_Spacing[2] = 1;
if( m_ImageVector.size() > 0 )
{
for( size_t index = 0; index < m_ImageVector.size(); ++index )
{
auto& image = m_ImageVector[index];
if( image.IsNotNull() && image->IsInitialized() )
{
image->GetGeometry()->SetSpacing(m_Spacing);
}
}
this->Modified();
}
MITK_INFO << "Spacing: " << m_Spacing;
}
void mitk::USDevice::GenerateData()
{
m_ImageMutex->Lock();
for (unsigned int i = 0; i < m_ImageVector.size() && i < this->GetNumberOfIndexedOutputs(); ++i)
{
auto& image = m_ImageVector[i];
if (image.IsNull() || !image->IsInitialized())
{
// skip image
}
else
{
mitk::Image::Pointer output = this->GetOutput(i);
if (!output->IsInitialized() ||
output->GetDimension(0) != image->GetDimension(0) ||
output->GetDimension(1) != image->GetDimension(1) ||
output->GetDimension(2) != image->GetDimension(2) ||
output->GetPixelType() != image->GetPixelType())
{
output->Initialize(image->GetPixelType(), image->GetDimension(),
image->GetDimensions());
}
// copy contents of the given image into the member variable
mitk::ImageReadAccessor inputReadAccessor(image);
output->SetImportVolume(inputReadAccessor.GetData());
output->SetGeometry(image->GetGeometry());
}
}
m_ImageMutex->Unlock();
};
std::string mitk::USDevice::GetServicePropertyLabel()
{
std::string isActive;
if (this->GetIsActive())
{
isActive = " (Active)";
}
else
{
isActive = " (Inactive)";
}
// e.g.: Zonare MyLab5 (Active)
return m_Manufacturer + " " + m_Name + isActive;
}
ITK_THREAD_RETURN_TYPE mitk::USDevice::Acquire(void* pInfoStruct)
{
/* extract this pointer from Thread Info structure */
struct itk::MultiThreader::ThreadInfoStruct* pInfo =
(struct itk::MultiThreader::ThreadInfoStruct*)pInfoStruct;
mitk::USDevice* device = (mitk::USDevice*)pInfo->UserData;
while (device->GetIsActive())
{
// lock this thread when ultrasound device is freezed
if (device->m_IsFreezed)
{
itk::SimpleMutexLock* mutex = &(device->m_FreezeMutex);
mutex->Lock();
if (device->m_FreezeBarrier.IsNotNull())
{
device->m_FreezeBarrier->Wait(mutex);
}
}
device->GrabImage();
}
return ITK_THREAD_RETURN_VALUE;
}
ITK_THREAD_RETURN_TYPE mitk::USDevice::ConnectThread(void* pInfoStruct)
{
/* extract this pointer from Thread Info structure */
struct itk::MultiThreader::ThreadInfoStruct* pInfo =
(struct itk::MultiThreader::ThreadInfoStruct*)pInfoStruct;
mitk::USDevice* device = (mitk::USDevice*)pInfo->UserData;
device->Connect();
return ITK_THREAD_RETURN_VALUE;
}
void mitk::USDevice::ProbeChanged(std::string probename)
{
this->UpdateServiceProperty(mitk::USDevice::GetPropertyKeys().US_PROPKEY_PROBES_SELECTED, probename);
}
void mitk::USDevice::DepthChanged(double depth)
{
this->UpdateServiceProperty(mitk::USDevice::GetPropertyKeys().US_PROPKEY_BMODE_DEPTH, depth);
}
diff --git a/Modules/US/USModel/mitkUSDevice.h b/Modules/US/USModel/mitkUSDevice.h
index 095f3fbf1b..0e3ac90b83 100644
--- a/Modules/US/USModel/mitkUSDevice.h
+++ b/Modules/US/USModel/mitkUSDevice.h
@@ -1,489 +1,488 @@
/*===================================================================
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 MITKUSDevice_H_HEADER_INCLUDED_
#define MITKUSDevice_H_HEADER_INCLUDED_
// STL
#include <vector>
// MitkUS
#include "mitkUSProbe.h"
#include <MitkUSExports.h>
#include "mitkUSImageSource.h"
// MitkIGTL
#include "mitkIGTLMessageProvider.h"
#include "mitkIGTLServer.h"
#include "mitkIGTLDeviceSource.h"
#include "mitkImageToIGTLMessageFilter.h"
// MITK
#include <mitkCommon.h>
#include <mitkMessage.h>
#include <mitkImageSource.h>
// ITK
#include <itkObjectFactory.h>
#include <itkConditionVariable.h>
// Microservices
#include <mitkServiceInterface.h>
#include <usServiceRegistration.h>
#include <usServiceProperties.h>
// DEPRECATED
#include "mitkUSImageMetadata.h"
namespace itk {
template<class T> class SmartPointer;
}
namespace mitk {
class USAbstractControlInterface;
class USControlInterfaceBMode;
class USControlInterfaceProbes;
class USControlInterfaceDoppler;
/**
* \brief A device holds information about it's model, make and the connected probes. It is the
* common super class for all devices and acts as an image source for mitkUSImages. It is the base class
* for all US Devices, and every new device should extend it.
*
* US Devices support output of calibrated images, i.e. images that include a specific geometry.
* To achieve this, call SetCalibration, and make sure that the subclass also calls apply
* transformation at some point (The USDevice does not automatically apply the transformation to the image)
*
* Note that USDevices will be removed from micro servive when their
* destructor is called. Registering into micro service is done when
* mitk::USDevice::Initialize() is called.
*
* \ingroup US
*/
class MITKUS_EXPORT USDevice : public mitk::ImageSource
{
public:
enum DeviceStates { State_NoState, State_Initialized, State_Connected, State_Activated };
mitkClassMacro(USDevice, mitk::ImageSource);
itkSetMacro(SpawnAcquireThread, bool);
itkGetMacro(SpawnAcquireThread, bool);
struct USImageCropArea
{
int cropLeft;
int cropRight;
int cropBottom;
int cropTop;
};
/**
* \brief These constants are used in conjunction with Microservices.
* The constants aren't defined as static member attributes to avoid the
* "static initialization order fiasco", which would occur when objects of
* this class are used in module activators (for restoring stored device,
* for example).
*/
struct PropertyKeys
{
const std::string US_INTERFACE_NAME; // Common Interface name of all US Devices. Used to refer to this device via Microservices
const std::string US_PROPKEY_MANUFACTURER;
const std::string US_PROPKEY_NAME;
const std::string US_PROPKEY_COMMENT;
const std::string US_PROPKEY_LABEL; // Human readable text represntation of this device
const std::string US_PROPKEY_ISCONNECTED; // Whether this device is connected or not.
const std::string US_PROPKEY_ISACTIVE; // Whether this device is active or not.
const std::string US_PROPKEY_CLASS; // Class Name of this Object
const std::string US_PROPKEY_PROBES_SELECTED;
const std::string US_PROPKEY_BMODE_FREQUENCY;
const std::string US_PROPKEY_BMODE_POWER;
const std::string US_PROPKEY_BMODE_DEPTH;
const std::string US_PROPKEY_BMODE_GAIN;
const std::string US_PROPKEY_BMODE_REJECTION;
const std::string US_PROPKEY_BMODE_DYNAMIC_RANGE;
PropertyKeys()
: US_INTERFACE_NAME("org.mitk.services.UltrasoundDevice"),
US_PROPKEY_MANUFACTURER(US_INTERFACE_NAME + ".manufacturer"),
US_PROPKEY_NAME(US_INTERFACE_NAME + ".name"),
US_PROPKEY_COMMENT(US_INTERFACE_NAME + ".comment"),
US_PROPKEY_LABEL(US_INTERFACE_NAME + ".label"),
US_PROPKEY_ISCONNECTED(US_INTERFACE_NAME + ".isConnected"),
US_PROPKEY_ISACTIVE(US_INTERFACE_NAME + ".isActive"),
US_PROPKEY_CLASS(US_INTERFACE_NAME + ".class"),
US_PROPKEY_PROBES_SELECTED(US_INTERFACE_NAME + ".probes.selected"),
US_PROPKEY_BMODE_FREQUENCY(US_INTERFACE_NAME + ".bmode.frequency"),
US_PROPKEY_BMODE_POWER(US_INTERFACE_NAME + ".bmode.power"),
US_PROPKEY_BMODE_DEPTH(US_INTERFACE_NAME + ".bmode.depth"),
US_PROPKEY_BMODE_GAIN(US_INTERFACE_NAME + ".bmode.gain"),
US_PROPKEY_BMODE_REJECTION(US_INTERFACE_NAME + ".bmode.rejection"),
US_PROPKEY_BMODE_DYNAMIC_RANGE(US_INTERFACE_NAME + ".bmode.dynamicRange")
{}
};
/**
* \brief Event for being notified about changes of the micro service properties.
* This event can be used if no micro service context is available.
*/
mitkNewMessage2Macro(PropertyChanged, const std::string&, const std::string&)
/**
* \return keys for the microservice properties of ultrasound devices
*/
static mitk::USDevice::PropertyKeys GetPropertyKeys();
/**
* \brief Default getter for the custom control interface.
* Has to be implemented in a subclass if a custom control interface is
* available. Default implementation returns null.
*
* \return null pointer
*/
virtual itk::SmartPointer<USAbstractControlInterface> GetControlInterfaceCustom();
/**
* \brief Default getter for the b mode control interface.
* Has to be implemented in a subclass if a b mode control interface is
* available. Default implementation returns null.
*
* \return null pointer
*/
virtual itk::SmartPointer<USControlInterfaceBMode> GetControlInterfaceBMode();
/**
* \brief Default getter for the probes control interface.
* Has to be implemented in a subclass if a probes control interface is
* available. Default implementation returns null.
*
* \return null pointer
*/
virtual itk::SmartPointer<USControlInterfaceProbes> GetControlInterfaceProbes();
/**
* \brief Default getter for the doppler control interface.
* Has to be implemented in a subclass if a doppler control interface is
* available. Default implementation returns null.
*
* \return null pointer
*/
virtual itk::SmartPointer<USControlInterfaceDoppler> GetControlInterfaceDoppler();
/**
* \brief Changes device state to mitk::USDevice::State_Initialized.
* During initialization the virtual method
* mitk::USDevice::OnInitialization will be called. If this method
* returns false the initialization process will be canceled. Otherwise
* the mitk::USDevice is registered in a micro service.
*/
bool Initialize();
/**
* \brief Connects this device. A connected device is ready to deliver images (i.e. be Activated). A Connected Device can be active. A disconnected Device cannot be active.
* Internally calls onConnect and then registers the device with the service. A device usually should
* override the OnConnection() method, but never the Connect() method, since this will possibly exclude the device
* from normal service management. The exact flow of events is:
* 0. Check if the device is already connected. If yes, return true anyway, but don't do anything.
* 1. Call OnConnection() Here, a device should establish it's connection with the hardware Afterwards, it should be ready to start transmitting images at any time.
* 2. If OnConnection() returns true ("successful"), then the device is registered with the service.
* 3. if not, it the method itself returns false or may throw an expection, depeneding on the device implementation.
*
*/
bool Connect();
void ConnectAsynchron();
/**
* \brief Works analogously to mitk::USDevice::Connect(). Don't override this Method, but onDisconnection instead.
*/
bool Disconnect();
/**
* \brief Activates this device.
* After the activation process, the device will start to produce images.
* This Method will fail, if the device is not connected.
*/
bool Activate();
/**
* \brief Deactivates this device.
* After the deactivation process, the device will no longer produce
* images, but still be connected.
*/
void Deactivate();
/**
* \brief Can toggle if ultrasound image is currently updated or freezed.
*
* \param freeze true to stop updating the ultrasound image, false to start updating again
*/
virtual void SetIsFreezed(bool freeze);
/**
* \return true if device is currently freezed (no image update is done), false otherwise
*/
virtual bool GetIsFreezed();
void PushFilter(AbstractOpenCVImageFilter::Pointer filter);
void PushFilterIfNotPushedBefore(AbstractOpenCVImageFilter::Pointer filter);
bool RemoveFilter(AbstractOpenCVImageFilter::Pointer filter);
/**
* @brief To be called when the used probe changed. Will update the service properties
* @param probename of the now used probe
*/
void ProbeChanged(std::string probename);
/**
* @brief To be called when the scanning depth of the probe changed. Will update the service properties
* @param depth that is now used
*/
void DepthChanged(double depth);
/**
* \brief Given property is updated in the device micro service.
* This method is mainly for being used by the control interface
* superclasses. You do not need to call it by yoursefs in your
* concrete control interface classes.
*/
void UpdateServiceProperty(std::string key, std::string value);
void UpdateServiceProperty(std::string key, double value);
void UpdateServiceProperty(std::string key, bool value);
//########### GETTER & SETTER ##################//
/**
* \brief Returns the Class of the Device. This Method must be reimplemented by every Inheriting Class.
*/
virtual std::string GetDeviceClass() = 0;
/**
* \brief True, if the device object is created and initialized, false otherwise.
*/
bool GetIsInitialized();
/**
* \brief True, if the device is currently generating image data, false otherwise.
*/
bool GetIsActive();
/**
* \brief True, if the device is currently ready to start transmitting image data or is already
* transmitting image data. A disconnected device cannot be activated.
*/
bool GetIsConnected();
/* @return Returns the area that will be cropped from the US image. Is disabled / [0,0,0,0] by default. */
mitk::USDevice::USImageCropArea GetCropArea();
/* @return Returns the size of the m_ImageVector of the ultrasound device.*/
unsigned int GetSizeOfImageVector();
/** @return Returns the current image source of this device. */
virtual USImageSource::Pointer GetUSImageSource() = 0;
/** \brief Deprecated -> use GetManufacturer() instead */
DEPRECATED(std::string GetDeviceManufacturer());
/** \brief Deprecated -> use GetName() instead */
DEPRECATED(std::string GetDeviceModel());
/** \brief Deprecated -> use GetCommend() instead */
DEPRECATED(std::string GetDeviceComment());
itkGetMacro(Manufacturer, std::string);
itkGetMacro(Name, std::string);
itkGetMacro(Comment, std::string);
void SetManufacturer(std::string manufacturer);
void SetName(std::string name);
void SetComment(std::string comment);
itkGetMacro(DeviceState, DeviceStates)
itkGetMacro(ServiceProperties, us::ServiceProperties)
void GrabImage();
virtual void SetSpacing(double xSpacing, double ySpacing);
-
protected:
// Threading-Related
itk::ConditionVariable::Pointer m_FreezeBarrier;
itk::SimpleMutexLock m_FreezeMutex;
itk::MultiThreader::Pointer m_MultiThreader; ///< itk::MultiThreader used for thread handling
itk::FastMutexLock::Pointer m_ImageMutex; ///< mutex for images provided by the image source
int m_ThreadID; ///< ID of the started thread
virtual void SetImageVector(std::vector<mitk::Image::Pointer> vec)
{
if (this->m_ImageVector != vec)
{
this->m_ImageVector = vec;
this->Modified();
}
}
static ITK_THREAD_RETURN_TYPE Acquire(void* pInfoStruct);
static ITK_THREAD_RETURN_TYPE ConnectThread(void* pInfoStruct);
std::vector<mitk::Image::Pointer> m_ImageVector;
// Variables to determine if spacing was calibrated and needs to be applied to the incoming images
mitk::Vector3D m_Spacing;
/**
* \brief Registers an OpenIGTLink device as a microservice so that we can send the images of
* this device via the network.
*/
void ProvideViaOIGTL();
/**
* \brief Deregisters the microservices for OpenIGTLink.
*/
void DisableOIGTL();
mitk::IGTLServer::Pointer m_IGTLServer;
mitk::IGTLMessageProvider::Pointer m_IGTLMessageProvider;
mitk::ImageToIGTLMessageFilter::Pointer m_ImageToIGTLMsgFilter;
bool m_IsFreezed;
DeviceStates m_DeviceState;
/* @brief defines the area that should be cropped from the US image */
USImageCropArea m_CropArea;
/**
* \brief This Method constructs the service properties which can later be used to
* register the object with the Microservices
* Return service properties
*/
us::ServiceProperties ConstructServiceProperties();
/**
* \brief Remove this device from the micro service.
*/
void UnregisterOnService();
/**
* \brief Is called during the initialization process.
* Override this method in a subclass to handle the actual initialization.
* If it returns false, the initialization process will be canceled.
*
* \return true if successful and false if unsuccessful
* \throw mitk::Exception implementation may throw an exception to clarify what went wrong
*/
virtual bool OnInitialization() = 0;
/**
* \brief Is called during the connection process.
* Override this method in a subclass to handle the actual connection.
* If it returns false, the connection process will be canceled.
*
* \return true if successful and false if unsuccessful
* \throw mitk::Exception implementation may throw an exception to clarify what went wrong
*/
virtual bool OnConnection() = 0;
/**
* \brief Is called during the disconnection process.
* Override this method in a subclass to handle the actual disconnection.
* If it returns false, the disconnection process will be canceled.
*
* \return true if successful and false if unsuccessful
* \throw mitk::Exception implementation may throw an exception to clarify what went wrong
*/
virtual bool OnDisconnection() = 0;
/**
* \brief Is called during the activation process.
* After this method is finished, the device should be generating images.
* If it returns false, the activation process will be canceled.
*
* \return true if successful and false if unsuccessful
* \throw mitk::Exception implementation may throw an exception to clarify what went wrong
*/
virtual bool OnActivation() = 0;
/**
* \brief Is called during the deactivation process.
* After a call to this method the device should still be connected,
* but not producing images anymore.
*
* \return true if successful and false if unsuccessful
* \throw mitk::Exception implementation may throw an exception to clarify what went wrong
*/
virtual bool OnDeactivation() = 0;
/**
* \brief Called when mitk::USDevice::SetIsFreezed() is called.
* Subclasses can overwrite this method to do additional actions. Default
* implementation does noting.
*/
virtual void OnFreeze(bool) { }
/**
* \brief Enforces minimal Metadata to be set.
*/
USDevice(std::string manufacturer, std::string model);
/**
* \brief Constructs a device with the given Metadata. Make sure the Metadata contains meaningful content!
* \deprecated Use USDevice(std::string manufacturer, std::string model) instead.
*/
USDevice(mitk::USImageMetadata::Pointer metadata);
~USDevice() override;
/**
* \brief Grabs the next frame from the Video input.
* This method is called internally, whenever Update() is invoked by an Output.
*/
void GenerateData() override;
std::string GetServicePropertyLabel();
unsigned int m_NumberOfOutputs;
/**
* \brief Properties of the device's Microservice.
*/
us::ServiceProperties m_ServiceProperties;
/**
* \brief The device's ServiceRegistration object that allows to modify it's Microservice registraton details.
*/
us::ServiceRegistration<Self> m_ServiceRegistration;
private:
std::string m_Manufacturer;
std::string m_Name;
std::string m_Comment;
bool m_SpawnAcquireThread;
bool m_UnregisteringStarted;
};
} // namespace mitk
// This is the microservice declaration. Do not meddle!
MITK_DECLARE_SERVICE_INTERFACE(mitk::USDevice, "org.mitk.services.UltrasoundDevice")
#endif // MITKUSDevice_H_HEADER_INCLUDED_
diff --git a/Modules/US/USNavigation/Testing/mitkCombinedModalityTest.cpp b/Modules/US/USNavigation/Testing/mitkCombinedModalityTest.cpp
index 0556c322ba..f7dc20005a 100644
--- a/Modules/US/USNavigation/Testing/mitkCombinedModalityTest.cpp
+++ b/Modules/US/USNavigation/Testing/mitkCombinedModalityTest.cpp
@@ -1,180 +1,180 @@
/*===================================================================
The Medical Imaging Interaction Toolkit (MITK)
Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.
This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.
See LICENSE.txt or http://www.mitk.org for details.
===================================================================*/
#include "mitkUSCombinedModality.h"
#include <mitkVirtualTrackingDevice.h>
#include <mitkUSVideoDevice.h>
#include <mitkTestingMacros.h>
#include <mitkTrackingDeviceSource.h>
class mitkCombinedModalityTestClass
{
public:
/*
* \brief Returns a reference string for serialized calibrations.
*/
static std::string GetSerializedReference()
{
return std::string("<calibrations>\n<") + mitk::USCombinedModality::DefaultProbeIdentifier + mitk::USCombinedModality::ProbeAndDepthSeperator
+ "0 M00=\"1.1234\" M01=\"1.2234\" M02=\"1.3234\" M10=\"1.4234\" M11=\"1.5234\" M12=\"1.6234\" M20=\"1.7234\" M21=\"1.8234\" M22=\"1.9234\" T0=\"2.1234\" T1=\"2.2234\" T2=\"2.3234\" />\n</calibrations>\n";
}
static bool CompareDoubles (double A, double B)
{
float diff = A - B;
return (diff < 0.0001) && (-diff < 0.0001);
}
/*
* \brief Creates a dummy combined modality.
*/
static mitk::USCombinedModality::Pointer CreateModality()
{
mitk::USVideoDevice::Pointer usDevice = mitk::USVideoDevice::New("IllegalPath", "Manufacturer", "Model");
mitk::VirtualTrackingDevice::Pointer tracker = mitk::VirtualTrackingDevice::New();
tracker->AddTool("tool1");
tracker->AddTool("tool2");
mitk::TrackingDeviceSource::Pointer source = mitk::TrackingDeviceSource::New();
source->SetTrackingDevice(tracker);
source->Connect();
source->StartTracking();
- return mitk::USCombinedModality::New(usDevice.GetPointer(), source.GetPointer(), "MBI", "EchoTrack");
+ return mitk::USCombinedModality::New(usDevice.GetPointer(), source.GetPointer(), false);
}
static void TestInstantiation()
{
mitk::USCombinedModality::Pointer combinedModality = CreateModality();
MITK_TEST_CONDITION_REQUIRED(combinedModality.IsNotNull(), "CombinedModality should not be null after instantiation");
}
static void TestSerialization()
{
mitk::USCombinedModality::Pointer modality = CreateModality();
mitk::AffineTransform3D::MatrixType matrix;
matrix[0][0] = 1.1234;
matrix[0][1] = 1.2234;
matrix[0][2] = 1.3234;
matrix[1][0] = 1.4234;
matrix[1][1] = 1.5234;
matrix[1][2] = 1.6234;
matrix[2][0] = 1.7234;
matrix[2][1] = 1.8234;
matrix[2][2] = 1.9234;
mitk::AffineTransform3D::OffsetType offset;
offset[0] = 2.1234;
offset[1] = 2.2234;
offset[2] = 2.3234;
mitk::AffineTransform3D::Pointer transform = mitk::AffineTransform3D::New();
transform->SetMatrix(matrix);
transform->SetOffset(offset);
modality->SetCalibration(transform);
MITK_TEST_CONDITION_REQUIRED(modality->SerializeCalibration() == GetSerializedReference(), "Testing correct Serialization...");
}
static void TestDeserialization()
{
mitk::USCombinedModality::Pointer modality = CreateModality();
modality->DeserializeCalibration(GetSerializedReference());
mitk::AffineTransform3D::Pointer transform = modality->GetCalibration();
mitk::AffineTransform3D::MatrixType matrix = transform->GetMatrix();
mitk::AffineTransform3D::OffsetType offset = transform->GetOffset();;
bool identical = true;
if (! CompareDoubles(matrix[0][0], 1.1234)) identical = false;
if (! CompareDoubles(matrix[0][1], 1.2234)) identical = false;
if (! CompareDoubles(matrix[0][2], 1.3234)) identical = false;
if (! CompareDoubles(matrix[1][0], 1.4234)) identical = false;
if (! CompareDoubles(matrix[1][1], 1.5234)) identical = false;
if (! CompareDoubles(matrix[1][2], 1.6234)) identical = false;
if (! CompareDoubles(matrix[2][0], 1.7234)) identical = false;
if (! CompareDoubles(matrix[2][1], 1.8234)) identical = false;
if (! CompareDoubles(matrix[2][2], 1.9234)) identical = false;
if (! CompareDoubles(offset[0], 2.1234)) identical = false;
if (! CompareDoubles(offset[1], 2.2234)) identical = false;
if (! CompareDoubles(offset[2], 2.3234)) identical = false;
MITK_TEST_CONDITION_REQUIRED(identical, "Testing if deserialized calibration is identical to serialized one...");
// test if invalid strings cause exceptions
MITK_TEST_FOR_EXCEPTION(mitk::Exception, modality->DeserializeCalibration("invalid-string"));
MITK_TEST_FOR_EXCEPTION(mitk::Exception, modality->DeserializeCalibration("<xml><test></xml>", false));
}
static void TestFilterPipeline()
{
/*mitk::USCombinedModality::Pointer combinedModality = mitkCombinedModalityTestClass::CreateModality();
MITK_INFO << combinedModality->GetNavigationDataSource()->GetNameOfClass();
MITK_TEST_CONDITION(strcmp(combinedModality->GetNavigationDataSource()->GetNameOfClass(), "TrackingDeviceSource") == 0,
"")*/
mitk::USVideoDevice::Pointer usDevice = mitk::USVideoDevice::New("IllegalPath", "Manufacturer", "Model");
mitk::VirtualTrackingDevice::Pointer tracker = mitk::VirtualTrackingDevice::New();
tracker->AddTool("tool1");
tracker->AddTool("tool2");
mitk::TrackingDeviceSource::Pointer source = mitk::TrackingDeviceSource::New();
source->SetTrackingDevice(tracker);
source->Connect();
source->StartTracking();
- mitk::USCombinedModality::Pointer modality = mitk::USCombinedModality::New(usDevice.GetPointer(), source.GetPointer(), "MBI", "EchoTrack");
+ mitk::USCombinedModality::Pointer modality = mitk::USCombinedModality::New(usDevice.GetPointer(), source.GetPointer(), false);
MITK_TEST_CONDITION(source->GetOutput(0) == modality->GetNavigationDataSource()->GetOutput(0),
"Navigation data output of the Combined Modality should be the same as the source output as no filters are active.")
modality->SetNumberOfSmoothingValues(2);
mitk::NavigationDataSource::Pointer smoothingFilter = modality->GetNavigationDataSource();
MITK_TEST_CONDITION(source->GetOutput(0) != smoothingFilter->GetOutput(0),
"Navigation data output of the Combined Modality should be different to the source output as smoothing filter is active.")
modality->SetNumberOfSmoothingValues(0);
MITK_TEST_CONDITION(source->GetOutput(0) == modality->GetNavigationDataSource()->GetOutput(0),
"Navigation data output of the Combined Modality should be the same as the source output again.")
modality->SetDelayCount(5);
MITK_TEST_CONDITION(source->GetOutput(0) != smoothingFilter->GetOutput(0),
"Navigation data output of the Combined Modality should be different to the source output as delay filter is active.")
modality->SetDelayCount(0);
MITK_TEST_CONDITION(source->GetOutput(0) == modality->GetNavigationDataSource()->GetOutput(0),
"Navigation data output of the Combined Modality should be the same as the source output again.")
}
};
/**
* This function is testing methods of the class USDevice.
*/
int mitkCombinedModalityTest(int /* argc */, char* /*argv*/[])
{
MITK_TEST_BEGIN("mitkCombinedModalityTest");
mitkCombinedModalityTestClass::TestInstantiation();
mitkCombinedModalityTestClass::TestSerialization();
mitkCombinedModalityTestClass::TestDeserialization();
mitkCombinedModalityTestClass::TestFilterPipeline();
MITK_TEST_END();
}
diff --git a/Modules/US/USNavigation/files.cmake b/Modules/US/USNavigation/files.cmake
index b240daaede..0b77d91b58 100644
--- a/Modules/US/USNavigation/files.cmake
+++ b/Modules/US/USNavigation/files.cmake
@@ -1,5 +1,7 @@
SET(CPP_FILES
mitkUSCombinedModality.cpp
+ mitkTrackedUltrasound.cpp
+ mitkAbstractUltrasoundTrackerDevice.cpp
Filter/mitkNodeDisplacementFilter.cpp
)
diff --git a/Modules/US/USNavigation/mitkAbstractUltrasoundTrackerDevice.cpp b/Modules/US/USNavigation/mitkAbstractUltrasoundTrackerDevice.cpp
new file mode 100644
index 0000000000..8bb5a8975b
--- /dev/null
+++ b/Modules/US/USNavigation/mitkAbstractUltrasoundTrackerDevice.cpp
@@ -0,0 +1,473 @@
+/*===================================================================
+
+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 "mitkAbstractUltrasoundTrackerDevice.h"
+#include "mitkImageReadAccessor.h"
+#include "mitkNavigationDataSmoothingFilter.h"
+#include "mitkNavigationDataDelayFilter.h"
+#include "mitkNavigationDataDisplacementFilter.h"
+#include "mitkTrackingDeviceSource.h"
+
+// US Control Interfaces
+#include "mitkUSControlInterfaceProbes.h"
+#include "mitkUSControlInterfaceBMode.h"
+#include "mitkUSControlInterfaceDoppler.h"
+
+//Microservices
+#include <usGetModuleContext.h>
+#include <usModule.h>
+#include <usServiceProperties.h>
+#include <usModuleContext.h>
+
+#include <algorithm>
+
+//TempIncludes
+#include <tinyxml.h>
+
+const std::string mitk::AbstractUltrasoundTrackerDevice::DeviceClassIdentifier = "org.mitk.modules.us.AbstractUltrasoundTrackerDevice";
+const char* mitk::AbstractUltrasoundTrackerDevice::DefaultProbeIdentifier = "default";
+const char* mitk::AbstractUltrasoundTrackerDevice::ProbeAndDepthSeperator = "_";
+
+const std::string mitk::AbstractUltrasoundTrackerDevice::US_INTERFACE_NAME = "org.mitk.services.AbstractUltrasoundTrackerDevice";
+const std::string mitk::AbstractUltrasoundTrackerDevice::US_PROPKEY_DEVICENAME = US_INTERFACE_NAME + ".devicename";
+const std::string mitk::AbstractUltrasoundTrackerDevice::US_PROPKEY_CLASS = US_INTERFACE_NAME + ".class";
+const std::string mitk::AbstractUltrasoundTrackerDevice::US_PROPKEY_ID = US_INTERFACE_NAME + ".id";
+//____
+
+
+mitk::AbstractUltrasoundTrackerDevice::AbstractUltrasoundTrackerDevice(
+ USDevice::Pointer usDevice, NavigationDataSource::Pointer trackingDevice,
+ bool trackedUltrasoundActive ) :
+ m_UltrasoundDevice(usDevice), m_TrackingDeviceDataSource(trackingDevice),
+ m_SmoothingFilter(mitk::NavigationDataSmoothingFilter::New()),
+ m_DelayFilter(mitk::NavigationDataDelayFilter::New(0)),
+ m_DisplacementFilter(mitk::NavigationDataDisplacementFilter::New()),
+ m_LastFilterOfIGTPipeline(nullptr),
+ m_NumberOfSmoothingValues(0), m_DelayCount(0),
+ m_IsTrackedUltrasoundActive( trackedUltrasoundActive )
+{
+ m_DisplacementFilter->SetTransform6DOF(true);
+
+ this->RebuildFilterPipeline();
+
+ //create a new output (for the image data)
+ //___ mitk::Image::Pointer newOutput = mitk::Image::New();
+ //___ this->SetNthOutput(0, newOutput);
+
+ // Combined Modality should not spawn an own acquire thread, because
+ // image acquiring is done by the included us device
+ //___ m_UltrasoundDevice->SetSpawnAcquireThread(false);
+}
+
+
+mitk::AbstractUltrasoundTrackerDevice::~AbstractUltrasoundTrackerDevice()
+{
+ if (m_ServiceRegistration != nullptr)
+ {
+ m_ServiceRegistration.Unregister();
+ }
+ m_ServiceRegistration = 0;
+}
+
+mitk::AffineTransform3D::Pointer
+ mitk::AbstractUltrasoundTrackerDevice::GetCalibration()
+{
+ return this->GetCalibration( this->GetCurrentDepthValue(),
+ this->GetIdentifierForCurrentProbe() );
+}
+
+mitk::AffineTransform3D::Pointer
+ mitk::AbstractUltrasoundTrackerDevice::GetCalibration(std::string depth)
+{
+ return this->GetCalibration(depth, this->GetIdentifierForCurrentProbe());
+}
+
+mitk::AffineTransform3D::Pointer
+ mitk::AbstractUltrasoundTrackerDevice::GetCalibration( std::string depth,
+ std::string probe )
+{
+ // make sure that there is no '/' which would cause problems for TinyXML
+ std::replace(probe.begin(), probe.end(), '/', '-');
+
+ // create identifier for calibration from probe and depth
+ std::string calibrationKey =
+ probe +
+ mitk::AbstractUltrasoundTrackerDevice::ProbeAndDepthSeperator +
+ depth;
+
+ // find calibration for combination of probe identifier and depth
+ std::map<std::string, mitk::AffineTransform3D::Pointer>::iterator calibrationIterator
+ = m_Calibrations.find(calibrationKey);
+
+ if (calibrationIterator == m_Calibrations.end()) { return 0; }
+
+ return calibrationIterator->second;
+}
+
+void mitk::AbstractUltrasoundTrackerDevice::SetCalibration(
+ mitk::AffineTransform3D::Pointer calibration )
+{
+ if( calibration.IsNull() )
+ {
+ MITK_WARN << "Null pointer passed to SetCalibration of mitk::USDevice. Ignoring call.";
+ return;
+ }
+
+ std::string calibrationKey = this->GetIdentifierForCurrentCalibration();
+ if( calibrationKey.empty() )
+ {
+ MITK_WARN << "Could not get a key for the calibration -> Calibration cannot be set.";
+ return;
+ }
+
+ m_Calibrations[calibrationKey] = calibration;
+}
+
+bool mitk::AbstractUltrasoundTrackerDevice::RemoveCalibration()
+{
+ return this->RemoveCalibration( this->GetCurrentDepthValue(),
+ this->GetIdentifierForCurrentProbe() );
+}
+
+bool mitk::AbstractUltrasoundTrackerDevice::RemoveCalibration(std::string depth)
+{
+ return this->RemoveCalibration( depth,
+ this->GetIdentifierForCurrentProbe() );
+}
+
+bool mitk::AbstractUltrasoundTrackerDevice::RemoveCalibration( std::string depth,
+ std::string probe )
+{
+ // make sure that there is no '/' which would cause problems for TinyXML
+ std::replace(probe.begin(), probe.end(), '/', '-');
+
+ // create identifier for calibration from probe and depth
+ std::string calibrationKey =
+ probe +
+ mitk::AbstractUltrasoundTrackerDevice::ProbeAndDepthSeperator +
+ depth;
+
+ return m_Calibrations.erase(calibrationKey) > 0;
+}
+
+std::string mitk::AbstractUltrasoundTrackerDevice::GetDeviceClass()
+{
+ return DeviceClassIdentifier;
+}
+
+mitk::USImageSource::Pointer mitk::AbstractUltrasoundTrackerDevice::GetUSImageSource()
+{
+ if (m_UltrasoundDevice.IsNull())
+ {
+ MITK_ERROR("AbstractUltrasoundTrackerDevice")("USDevice") << "UltrasoundDevice must not be null.";
+ mitkThrow() << "UltrasoundDevice must not be null.";
+ }
+
+ return m_UltrasoundDevice->GetUSImageSource();
+}
+
+mitk::NavigationDataSource::Pointer mitk::AbstractUltrasoundTrackerDevice::GetNavigationDataSource()
+{
+ if( m_LastFilterOfIGTPipeline.IsNull() )
+ {
+ this->RebuildFilterPipeline();
+ }
+ return m_LastFilterOfIGTPipeline;
+}
+
+bool mitk::AbstractUltrasoundTrackerDevice::GetIsCalibratedForCurrentStatus()
+{
+ return m_Calibrations.find(this->GetIdentifierForCurrentCalibration()) != m_Calibrations.end();
+}
+
+bool mitk::AbstractUltrasoundTrackerDevice::GetContainsAtLeastOneCalibration()
+{
+ return !m_Calibrations.empty();
+}
+
+std::string mitk::AbstractUltrasoundTrackerDevice::SerializeCalibration()
+{
+ std::stringstream result;
+ result << "<calibrations>" << std::endl;
+ // For each calibration in the set
+ for( std::map<std::string,
+ mitk::AffineTransform3D::Pointer>::iterator it = m_Calibrations.begin();
+ it != m_Calibrations.end(); it++ )
+ {
+ mitk::AffineTransform3D::MatrixType matrix = it->second->GetMatrix();
+ mitk::AffineTransform3D::TranslationType translation = it->second->GetTranslation();
+ TiXmlElement elem(it->first);
+ // Serialize Matrix
+ elem.SetDoubleAttribute("M00", matrix[0][0]);
+ elem.SetDoubleAttribute("M01", matrix[0][1]);
+ elem.SetDoubleAttribute("M02", matrix[0][2]);
+ elem.SetDoubleAttribute("M10", matrix[1][0]);
+ elem.SetDoubleAttribute("M11", matrix[1][1]);
+ elem.SetDoubleAttribute("M12", matrix[1][2]);
+ elem.SetDoubleAttribute("M20", matrix[2][0]);
+ elem.SetDoubleAttribute("M21", matrix[2][1]);
+ elem.SetDoubleAttribute("M22", matrix[2][2]);
+ // Serialize Offset
+ elem.SetDoubleAttribute("T0", translation[0]);
+ elem.SetDoubleAttribute("T1", translation[1]);
+ elem.SetDoubleAttribute("T2", translation[2]);
+
+ result << elem << std::endl;
+ }
+ result << "</calibrations>" << std::endl;
+
+ return result.str();
+}
+
+void mitk::AbstractUltrasoundTrackerDevice::DeserializeCalibration(
+ const std::string& xmlString,
+ bool clearPreviousCalibrations )
+{
+ // Sanitize Input
+ if (xmlString == "")
+ {
+ MITK_ERROR << "Empty string passed to Deserialize() method of CombinedModality. Aborting...";
+ mitkThrow() << "Empty string passed to Deserialize() method of CombinedModality. Aborting...";
+ return;
+ }
+ // Clear previous calibrations if necessary
+ if (clearPreviousCalibrations) m_Calibrations.clear();
+
+ // Parse Input
+ TiXmlDocument doc;
+ if (!doc.Parse(xmlString.c_str()))
+ {
+ MITK_ERROR << "Unable to deserialize calibrations in CombinedModality. Error was: " << doc.ErrorDesc();
+ mitkThrow() << "Unable to deserialize calibrations in CombinedModality. Error was: " << doc.ErrorDesc();
+ return;
+ }
+ TiXmlElement* root = doc.FirstChildElement();
+ if (root == nullptr)
+ {
+ MITK_ERROR << "Unable to deserialize calibrations in CombinedModality. String contained no root element.";
+ mitkThrow() << "Unable to deserialize calibrations in CombinedModality. String contained no root element.";
+ return;
+ }
+ // Read Calibrations
+ for (TiXmlElement* elem = root->FirstChildElement(); elem != nullptr; elem = elem->NextSiblingElement())
+ {
+ mitk::AffineTransform3D::MatrixType matrix;
+ mitk::AffineTransform3D::OffsetType translation;
+
+ std::string calibName = elem->Value();
+
+ // Deserialize Matrix
+ elem->QueryDoubleAttribute("M00", &matrix[0][0]);
+ elem->QueryDoubleAttribute("M01", &matrix[0][1]);
+ elem->QueryDoubleAttribute("M02", &matrix[0][2]);
+ elem->QueryDoubleAttribute("M10", &matrix[1][0]);
+ elem->QueryDoubleAttribute("M11", &matrix[1][1]);
+ elem->QueryDoubleAttribute("M12", &matrix[1][2]);
+ elem->QueryDoubleAttribute("M20", &matrix[2][0]);
+ elem->QueryDoubleAttribute("M21", &matrix[2][1]);
+ elem->QueryDoubleAttribute("M22", &matrix[2][2]);
+
+ // Deserialize Offset
+ elem->QueryDoubleAttribute("T0", &translation[0]);
+ elem->QueryDoubleAttribute("T1", &translation[1]);
+ elem->QueryDoubleAttribute("T2", &translation[2]);
+
+ mitk::AffineTransform3D::Pointer calibration = mitk::AffineTransform3D::New();
+ calibration->SetMatrix(matrix);
+ calibration->SetTranslation(translation);
+ m_Calibrations[calibName] = calibration;
+ }
+}
+
+void mitk::AbstractUltrasoundTrackerDevice::SetNumberOfSmoothingValues(
+ unsigned int numberOfSmoothingValues )
+{
+ unsigned int oldNumber = m_NumberOfSmoothingValues;
+ m_NumberOfSmoothingValues = numberOfSmoothingValues;
+
+ // if filter should be activated or deactivated
+ if ((oldNumber == 0 && numberOfSmoothingValues != 0) ||
+ (oldNumber != 0 && numberOfSmoothingValues == 0))
+ {
+ this->RebuildFilterPipeline();
+ }
+ m_SmoothingFilter->SetNumerOfValues(numberOfSmoothingValues);
+}
+
+void mitk::AbstractUltrasoundTrackerDevice::SetDelayCount( unsigned int delayCount )
+{
+ unsigned int oldCount = m_DelayCount;
+ m_DelayCount = delayCount;
+
+ // if filter should be activated or deactivated
+ if ((oldCount == 0 && delayCount != 0) ||
+ (oldCount != 0 && delayCount == 0))
+ {
+ this->RebuildFilterPipeline();
+ }
+ m_DelayFilter->SetDelay(delayCount);
+}
+
+void mitk::AbstractUltrasoundTrackerDevice::GenerateData()
+{
+}
+
+std::string mitk::AbstractUltrasoundTrackerDevice::GetIdentifierForCurrentCalibration()
+{
+ return this->GetIdentifierForCurrentProbe()
+ + mitk::AbstractUltrasoundTrackerDevice::ProbeAndDepthSeperator
+ + this->GetCurrentDepthValue();
+}
+
+std::string mitk::AbstractUltrasoundTrackerDevice::GetIdentifierForCurrentProbe()
+{
+ us::ServiceProperties usdeviceProperties = m_UltrasoundDevice->GetServiceProperties();
+
+ us::ServiceProperties::const_iterator probeIt = usdeviceProperties.find(
+ mitk::USDevice::GetPropertyKeys().US_PROPKEY_PROBES_SELECTED);
+
+ // get probe identifier from control interface for probes
+ std::string probeName = mitk::AbstractUltrasoundTrackerDevice::DefaultProbeIdentifier;
+ if (probeIt != usdeviceProperties.end())
+ {
+ probeName = (probeIt->second).ToString();
+ }
+
+ // make sure that there is no '/' which would cause problems for TinyXML
+ std::replace(probeName.begin(), probeName.end(), '/', '-');
+
+ return probeName;
+}
+
+std::string mitk::AbstractUltrasoundTrackerDevice::GetCurrentDepthValue()
+{
+ us::ServiceProperties usdeviceProperties = m_UltrasoundDevice->GetServiceProperties();
+
+ // get string for depth value from the micro service properties
+ std::string depth;
+ us::ServiceProperties::iterator depthIterator = usdeviceProperties.find(
+ mitk::USDevice::GetPropertyKeys().US_PROPKEY_BMODE_DEPTH);
+
+ if (depthIterator != usdeviceProperties.end())
+ {
+ depth = depthIterator->second.ToString();
+ }
+ else
+ {
+ depth = "0";
+ }
+
+ return depth;
+}
+
+void mitk::AbstractUltrasoundTrackerDevice::RebuildFilterPipeline()
+{
+ m_LastFilterOfIGTPipeline = m_TrackingDeviceDataSource;
+
+ if( m_NumberOfSmoothingValues > 0 )
+ {
+ m_SmoothingFilter->ConnectTo(m_LastFilterOfIGTPipeline.GetPointer());
+ m_LastFilterOfIGTPipeline = m_SmoothingFilter;
+ }
+
+ if( m_DelayCount > 0 )
+ {
+ m_DelayFilter->ConnectTo(m_LastFilterOfIGTPipeline.GetPointer());
+ m_LastFilterOfIGTPipeline = m_DelayFilter;
+ }
+
+ if( m_IsTrackedUltrasoundActive )
+ {
+ m_DisplacementFilter->ConnectTo(m_LastFilterOfIGTPipeline.GetPointer());
+ m_LastFilterOfIGTPipeline = m_DisplacementFilter;
+ }
+}
+
+void mitk::AbstractUltrasoundTrackerDevice::UnregisterOnService()
+{
+ if (m_UltrasoundDevice->GetDeviceState() == USDevice::State_Activated)
+ {
+ m_UltrasoundDevice->Deactivate();
+ }
+ if (m_UltrasoundDevice->GetDeviceState() == USDevice::State_Connected)
+ {
+ m_UltrasoundDevice->Disconnect();
+ }
+
+ if (m_ServiceRegistration != nullptr)
+ m_ServiceRegistration.Unregister();
+ m_ServiceRegistration = 0;
+}
+
+void mitk::AbstractUltrasoundTrackerDevice::RegisterAsMicroservice()
+{
+ //Get Context
+ us::ModuleContext* context = us::GetModuleContext();
+
+ //Define ServiceProps
+ //us::ServiceProperties props;
+ mitk::UIDGenerator uidGen =
+ mitk::UIDGenerator("org.mitk.services.AbstractUltrasoundTrackerDevice", 16);
+ m_ServiceProperties[US_PROPKEY_ID] = uidGen.GetUID();
+ m_ServiceProperties[US_PROPKEY_DEVICENAME] = m_UltrasoundDevice->GetName();
+ m_ServiceProperties[US_PROPKEY_CLASS] = mitk::AbstractUltrasoundTrackerDevice::DeviceClassIdentifier;
+
+ m_ServiceRegistration = context->RegisterService(this, m_ServiceProperties);
+}
+
+mitk::USAbstractControlInterface::Pointer mitk::AbstractUltrasoundTrackerDevice::GetControlInterfaceCustom()
+{
+ if (m_UltrasoundDevice.IsNull())
+ {
+ MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
+ mitkThrow() << "UltrasoundDevice must not be null.";
+ }
+
+ return m_UltrasoundDevice->GetControlInterfaceCustom();
+}
+
+mitk::USControlInterfaceBMode::Pointer mitk::AbstractUltrasoundTrackerDevice::GetControlInterfaceBMode()
+{
+ if (m_UltrasoundDevice.IsNull())
+ {
+ MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
+ mitkThrow() << "UltrasoundDevice must not be null.";
+ }
+
+ return m_UltrasoundDevice->GetControlInterfaceBMode();
+}
+
+mitk::USControlInterfaceProbes::Pointer mitk::AbstractUltrasoundTrackerDevice::GetControlInterfaceProbes()
+{
+ if (m_UltrasoundDevice.IsNull())
+ {
+ MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
+ mitkThrow() << "UltrasoundDevice must not be null.";
+ }
+
+ return m_UltrasoundDevice->GetControlInterfaceProbes();
+}
+
+mitk::USControlInterfaceDoppler::Pointer mitk::AbstractUltrasoundTrackerDevice::GetControlInterfaceDoppler()
+{
+ if (m_UltrasoundDevice.IsNull())
+ {
+ MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
+ mitkThrow() << "UltrasoundDevice must not be null.";
+ }
+
+ return m_UltrasoundDevice->GetControlInterfaceDoppler();
+}
diff --git a/Modules/US/USNavigation/mitkUSCombinedModality.h b/Modules/US/USNavigation/mitkAbstractUltrasoundTrackerDevice.h
similarity index 51%
copy from Modules/US/USNavigation/mitkUSCombinedModality.h
copy to Modules/US/USNavigation/mitkAbstractUltrasoundTrackerDevice.h
index a549299f54..8e0f8bf705 100644
--- a/Modules/US/USNavigation/mitkUSCombinedModality.h
+++ b/Modules/US/USNavigation/mitkAbstractUltrasoundTrackerDevice.h
@@ -1,256 +1,257 @@
/*===================================================================
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 MITKUSCombinedModality_H_HEADER_INCLUDED_
-#define MITKUSCombinedModality_H_HEADER_INCLUDED_
+#ifndef __mitkAbstractUltrasoundTrackerDevice_h
+#define __mitkAbstractUltrasoundTrackerDevice_h
#include <MitkUSNavigationExports.h>
#include "mitkUSDevice.h"
+#include "mitkImageSource.h"
#include "mitkNavigationDataSource.h"
+// Microservices
+#include <mitkServiceInterface.h>
+#include <usServiceRegistration.h>
+#include <usGetModuleContext.h>
+#include <usModule.h>
+#include <usServiceProperties.h>
+#include <usModuleContext.h>
+
namespace itk {
template<class T> class SmartPointer;
}
namespace mitk {
class NavigationDataSmoothingFilter;
class NavigationDataDelayFilter;
- class USControlInterfaceBMode;
- class USControlInterfaceProbes;
- class USControlInterfaceDoppler;
+ class NavigationDataDisplacementFilter;
/**
- * \brief Combination of USDevice and NavigationDataSource.
- * This class can be used as any USDevice subclass. Additionally tracking data be
- * retrieved from the NavigationDataSource returned by GetTrackingDevice().
- *
- * A calibration of the ultrasound image stream to the navigation datas can be set
- * for the currently active zoom level (of the ultrasound device) by SetCalibration().
- * The ultrasound images are transformed according to this calibration in the
- * GenerateData() method.
- */
- class MITKUSNAVIGATION_EXPORT USCombinedModality : public USDevice
+ * \brief Abstract class for an easy handling of a combination of an USDevice and
+ * a NavigationDataSource.
+ * This class can be used as an ImageSource subclass. Additionally tracking data be
+ * retrieved from the NavigationDataSource returned by GetTrackingDevice().
+ *
+ * A calibration of the ultrasound image stream to the navigation datas can be set
+ * for the currently active zoom level (of the ultrasound device) by SetCalibration()
+ * The ultrasound images are transformed according to this calibration in the
+ * GenerateData() method.
+ */
+
+ class MITKUSNAVIGATION_EXPORT AbstractUltrasoundTrackerDevice : public mitk::ImageSource
{
public:
+
static const std::string DeviceClassIdentifier;
static const char* DefaultProbeIdentifier;
static const char* ProbeAndDepthSeperator;
+ static const std::string US_INTERFACE_NAME;
+ static const std::string US_PROPKEY_DEVICENAME;
+ static const std::string US_PROPKEY_CLASS;
+ static const std::string US_PROPKEY_ID;
+
- mitkClassMacro(USCombinedModality, USDevice);
- mitkNewMacro4Param(USCombinedModality, USDevice::Pointer, itk::SmartPointer<NavigationDataSource>, std::string, std::string);
+ mitkClassMacro(AbstractUltrasoundTrackerDevice, mitk::ImageSource);
+ mitkNewMacro3Param(AbstractUltrasoundTrackerDevice, USDevice::Pointer, itk::SmartPointer<NavigationDataSource>, bool);
itkGetMacro(UltrasoundDevice, itk::SmartPointer<USDevice>);
itkSetMacro(UltrasoundDevice, itk::SmartPointer<USDevice>);
- itkGetMacro(TrackingDevice, itk::SmartPointer<NavigationDataSource>);
- itkSetMacro(TrackingDevice, itk::SmartPointer<NavigationDataSource>);
+ itkGetMacro(TrackingDeviceDataSource, itk::SmartPointer<NavigationDataSource>);
+ itkSetMacro(TrackingDeviceDataSource, itk::SmartPointer<NavigationDataSource>);
+
+ itkGetMacro(IsTrackedUltrasoundActive, bool);
/**
* \brief Getter for calibration data of the currently active depth and probe.
*
* \return Transformation for calibration or null if no calibration is available.
*/
AffineTransform3D::Pointer GetCalibration();
/**
- * \brief Getter for calibration data of the given depth and the currently active probe.
- *
- * \param depth depth of the b mode ultrasound image for which the calibration should be returned
- * \return Transformation for calibration or null if no calibration is available.
- */
+ * \brief Getter for calibration data of the given depth and the currently active probe.
+ *
+ * \param depth depth of the b mode ultrasound image for which the calibration should be returned
+ * \return Transformation for calibration or null if no calibration is available.
+ */
AffineTransform3D::Pointer GetCalibration(std::string depth);
/**
- * \brief Getter for calibration data of the given depth and probe.
- *
- * \param depth depth of the b mode ultrasound image for which the calibration should be returned
- * \param probe probe of the ultrasound device for which the calibration should be returned
- * \return Transformation for calibration or null if no calibration is available.
- */
+ * \brief Getter for calibration data of the given depth and probe.
+ *
+ * \param depth depth of the b mode ultrasound image for which the calibration should be returned
+ * \param probe probe of the ultrasound device for which the calibration should be returned
+ * \return Transformation for calibration or null if no calibration is available.
+ */
AffineTransform3D::Pointer GetCalibration(std::string depth, std::string probe);
/**
* \brief Sets a transformation as calibration data.
* Calibration data is set for the currently activated probe and their current
* zoom factor. It also marks the device as calibrated.
*/
void SetCalibration(AffineTransform3D::Pointer calibration);
/**
- * \brief Removes the calibration data of the currently active depth and probe.
- * \return true on success, false if there was no calibration
- */
+ * \brief Removes the calibration data of the currently active depth and probe.
+ * \return true on success, false if there was no calibration
+ */
bool RemoveCalibration();
/**
- * \brief Removes the calibration data of the given depth and the currently active probe.
- *
- * \param depth depth of the b mode ultrasound image for which the calibration should be removed
- * \return true on success, false if there was no calibration
- */
+ * \brief Removes the calibration data of the given depth and the currently active probe.
+ *
+ * \param depth depth of the b mode ultrasound image for which the calibration should be removed
+ * \return true on success, false if there was no calibration
+ */
bool RemoveCalibration(std::string depth);
/**
- * \brief Removes the calibration data of the given depth and probe.
- *
- * \param depth depth of the b mode ultrasound image for which the calibration should be removed
- * \param probe probe of the ultrasound device for which the calibration should be removed
- * \return true on success, false if there was no calibration
- */
+ * \brief Removes the calibration data of the given depth and probe.
+ *
+ * \param depth depth of the b mode ultrasound image for which the calibration should be removed
+ * \param probe probe of the ultrasound device for which the calibration should be removed
+ * \return true on success, false if there was no calibration
+ */
bool RemoveCalibration(std::string depth, std::string probe);
/**
* \brief Returns the Class of the Device.
*/
- std::string GetDeviceClass() override;
+ std::string GetDeviceClass();
/**
* \brief Wrapper for returning USImageSource of the UltrasoundDevice.
*/
- USImageSource::Pointer GetUSImageSource() override;
+ USImageSource::Pointer GetUSImageSource();
- /**
- * \brief Wrapper for returning custom control interface of the UltrasoundDevice.
- */
- itk::SmartPointer<USAbstractControlInterface> GetControlInterfaceCustom() override;
-
- /**
- * \brief Wrapper for returning B mode control interface of the UltrasoundDevice.
- */
- itk::SmartPointer<USControlInterfaceBMode> GetControlInterfaceBMode() override;
-
- /**
- * \brief Wrapper for returning probes control interface of the UltrasoundDevice.
- */
- itk::SmartPointer<USControlInterfaceProbes> GetControlInterfaceProbes() override;
+ itk::SmartPointer<mitk::NavigationDataSource> GetNavigationDataSource();
/**
- * \brief Wrapper for returning doppler control interface of the UltrasoundDevice.
+ * \return true if the device is calibrated for the currently selected probe with the current zoom level
*/
- itk::SmartPointer<USControlInterfaceDoppler> GetControlInterfaceDoppler() override;
-
- virtual itk::SmartPointer<mitk::NavigationDataSource> GetNavigationDataSource();
-
- /**
- * \return true if the device is calibrated for the currently selected probe with the current zoom level
- */
bool GetIsCalibratedForCurrentStatus();
/**
- * \return true if a calibration was loaded for at least one probe and depth
- */
- bool GetContainsAtLeastOneCalibration();
-
- /**
- * \brief Remove this device from the micro service.
- * This method is public for mitk::USCombinedModality, because this devices
- * can be completly removed. This is not possible for API devices, which
- * should be available while their sub module is loaded.
+ * \return true if a calibration was loaded for at least one probe and depth
*/
- void UnregisterOnService();
+ bool GetContainsAtLeastOneCalibration();
/**
* \brief Serializes all contained calibrations into an xml fragment.
*
* The returned string contains one parent node named "calibrations" and several
* subnodes, one for each calibration that is present.
*/
std::string SerializeCalibration();
/**
* \brief Deserializes a string provided by a prior call to Serialize().
* If the bool flag is true, all prior calibrations will be deleted.
* If the flag is set to false, prior calibrations will be retained, but overwritten
* if one of equal name is present.
*
* \throws mitk::Exception if the given string could not be parsed correctly.
*/
void DeserializeCalibration(const std::string &xmlString, bool clearPreviousCalibrations = true);
void SetNumberOfSmoothingValues(unsigned int numberOfSmoothingValues);
void SetDelayCount(unsigned int delayCount);
- void RegisterAsMicroservice();
-
/**
- *\brief These Constants are used in conjunction with Microservices
+ * \brief Remove this device from the micro service.
+ * This method is public for mitk::USCombinedModality, because this devices
+ * can be completly removed. This is not possible for API devices, which
+ * should be available while their sub module is loaded.
*/
- static const std::string US_INTERFACE_NAME;
- static const std::string US_PROPKEY_DEVICENAME;
- static const std::string US_PROPKEY_CLASS;
- static const std::string US_PROPKEY_ID;
- protected:
- USCombinedModality(USDevice::Pointer usDevice, itk::SmartPointer<NavigationDataSource> trackingDevice, std::string manufacturer = "", std::string model = "");
- ~USCombinedModality() override;
+ void UnregisterOnService();
- /**
- * \brief Initializes UltrasoundDevice.
- */
- bool OnInitialization() override;
+ virtual void RegisterAsMicroservice();
/**
- * \brief Connects UltrasoundDevice.
+ * \brief Wrapper for returning custom control interface of the UltrasoundDevice.
*/
- bool OnConnection() override;
+ virtual itk::SmartPointer<USAbstractControlInterface> GetControlInterfaceCustom();
/**
- * \brief Disconnects UltrasoundDevice.
+ * \brief Wrapper for returning B mode control interface of the UltrasoundDevice.
*/
- bool OnDisconnection() override;
+ virtual itk::SmartPointer<USControlInterfaceBMode> GetControlInterfaceBMode();
/**
- * \brief Activates UltrasoundDevice.
+ * \brief Wrapper for returning probes control interface of the UltrasoundDevice.
*/
- bool OnActivation() override;
+ virtual itk::SmartPointer<USControlInterfaceProbes> GetControlInterfaceProbes();
/**
- * \brief Deactivates UltrasoundDevice.
+ * \brief Wrapper for returning doppler control interface of the UltrasoundDevice.
*/
- bool OnDeactivation() override;
+ virtual itk::SmartPointer<USControlInterfaceDoppler> GetControlInterfaceDoppler();
+
+ protected:
+ AbstractUltrasoundTrackerDevice( USDevice::Pointer usDevice,
+ itk::SmartPointer<NavigationDataSource> trackingDevice,
+ bool trackedUltrasoundActive );
+ virtual ~AbstractUltrasoundTrackerDevice();
- /**
- * \brief Freezes or unfreezes UltrasoundDevice.
- */
- void OnFreeze(bool) override;
/**
* \brief Grabs the next frame from the input.
+ * Must be implemented by the derived class.
* This method is called internally, whenever Update() is invoked by an Output.
*/
- void GenerateData() override;
+ virtual void GenerateData() override;
std::string GetIdentifierForCurrentCalibration();
std::string GetIdentifierForCurrentProbe();
std::string GetCurrentDepthValue();
void RebuildFilterPipeline();
USDevice::Pointer m_UltrasoundDevice;
- itk::SmartPointer<NavigationDataSource> m_TrackingDevice;
+ itk::SmartPointer<NavigationDataSource> m_TrackingDeviceDataSource;
std::map<std::string, AffineTransform3D::Pointer> m_Calibrations;
itk::SmartPointer<mitk::NavigationDataSmoothingFilter> m_SmoothingFilter;
itk::SmartPointer<mitk::NavigationDataDelayFilter> m_DelayFilter;
- itk::SmartPointer<mitk::NavigationDataSource> m_LastFilter;
+ itk::SmartPointer<mitk::NavigationDataDisplacementFilter> m_DisplacementFilter;
+ itk::SmartPointer<mitk::NavigationDataSource> m_LastFilterOfIGTPipeline;
unsigned int m_NumberOfSmoothingValues;
unsigned int m_DelayCount;
+ /**
+ * \brief The device's ServiceRegistration object that allows to modify it's Microservice registraton details.
+ */
+ us::ServiceRegistration<Self> m_ServiceRegistration;
+
+ /**
+ * \brief Properties of the device's Microservice.
+ */
+ us::ServiceProperties m_ServiceProperties;
+
+ private:
+
+
+ bool m_IsTrackedUltrasoundActive;
};
+
} // namespace mitk
-//MITK_DECLARE_SERVICE_INTERFACE(mitk::USCombinedModality, "org.mitk.services.USCombinedModality")
-#endif // MITKUSCombinedModality_H_HEADER_INCLUDED_
+MITK_DECLARE_SERVICE_INTERFACE(mitk::AbstractUltrasoundTrackerDevice, "org.mitk.services.AbstractUltrasoundTrackerDevice")
+
+#endif
diff --git a/Modules/US/USNavigation/mitkTrackedUltrasound.cpp b/Modules/US/USNavigation/mitkTrackedUltrasound.cpp
new file mode 100644
index 0000000000..2e0b8cda28
--- /dev/null
+++ b/Modules/US/USNavigation/mitkTrackedUltrasound.cpp
@@ -0,0 +1,83 @@
+/*===================================================================
+
+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 "mitkTrackedUltrasound.h"
+#include "mitkImageReadAccessor.h"
+#include <mitkNavigationDataSmoothingFilter.h>
+#include <mitkNavigationDataDelayFilter.h>
+#include "mitkNavigationDataDisplacementFilter.h"
+#include "mitkTrackingDeviceSource.h"
+
+
+
+
+mitk::TrackedUltrasound::TrackedUltrasound( USDevice::Pointer usDevice,
+ NavigationDataSource::Pointer trackingDevice,
+ bool trackedUltrasoundActive )
+ : AbstractUltrasoundTrackerDevice( usDevice, trackingDevice, trackedUltrasoundActive )
+{
+}
+
+mitk::TrackedUltrasound::~TrackedUltrasound()
+{
+}
+
+void mitk::TrackedUltrasound::GenerateData()
+{
+ //Call Update auf US-Device + evtl. auf Tracker (???)
+
+ if (m_UltrasoundDevice->GetIsFreezed()) { return; } //if the image is freezed: do nothing
+
+ //get next image from ultrasound image source
+ //FOR LATER: Be aware if the for loop behaves correct, if the UltrasoundDevice has more than 1 output.
+ int i = 0;
+ mitk::Image::Pointer image = m_UltrasoundDevice->GetUSImageSource()->GetNextImage().at(i);
+
+ if (image.IsNull() || !image->IsInitialized()) //check the image
+ {
+ mitk::Image::Pointer image = m_UltrasoundDevice->GetOutput(i);
+ if (image.IsNull() || !image->IsInitialized()) //check the image
+ {
+ MITK_WARN << "Invalid image in TrackedUltrasound, aborting!";
+ return;
+ }
+ //___MITK_INFO << "GetSpacing: " << image->GetGeometry()->GetSpacing();
+
+ //get output and initialize it if it wasn't initialized before
+ mitk::Image::Pointer output = this->GetOutput(i);
+ if (!output->IsInitialized()) { output->Initialize(image); }
+
+ //now update image data
+ mitk::ImageReadAccessor inputReadAccessor(image, image->GetSliceData(0, 0, 0));
+ output->SetSlice(inputReadAccessor.GetData()); //copy image data
+ output->GetGeometry()->SetSpacing(image->GetGeometry()->GetSpacing()); //copy spacing because this might also change
+ }
+
+ //and update calibration (= transformation of the image)
+ std::string calibrationKey = this->GetIdentifierForCurrentCalibration();
+ if (!calibrationKey.empty())
+ {
+ std::map<std::string, mitk::AffineTransform3D::Pointer>::iterator calibrationIterator
+ = m_Calibrations.find(calibrationKey);
+ if (calibrationIterator != m_Calibrations.end())
+ {
+ // transform image according to callibration if one is set
+ // for current configuration of probe and depth
+ m_DisplacementFilter->SetTransformation(calibrationIterator->second);
+ //Setze Update auf Displacementfilter ????
+ }
+ }
+}
diff --git a/Modules/US/USNavigation/mitkTrackedUltrasound.h b/Modules/US/USNavigation/mitkTrackedUltrasound.h
new file mode 100644
index 0000000000..e05f650bd5
--- /dev/null
+++ b/Modules/US/USNavigation/mitkTrackedUltrasound.h
@@ -0,0 +1,66 @@
+/*===================================================================
+
+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 __mitkTrackedUltrasound_h
+#define __mitkTrackedUltrasound_h
+
+#include <MitkUSNavigationExports.h>
+#include "mitkUSDevice.h"
+#include "mitkImageSource.h"
+#include "mitkAbstractUltrasoundTrackerDevice.h"
+#include "mitkNavigationDataSource.h"
+
+namespace itk {
+ template<class T> class SmartPointer;
+}
+
+namespace mitk {
+
+ /**
+ * \brief Combination of USDevice and NavigationDataSource.
+ * This class can be used as an ImageSource subclass. Additionally tracking data be
+ * retrieved from the NavigationDataSource returned by GetTrackingDevice().
+ *
+ * A calibration of the ultrasound image stream to the navigation datas can be set
+ * for the currently active zoom level (of the ultrasound device) by SetCalibration().
+ * The ultrasound images are transformed according to this calibration in the
+ * GenerateData() method.
+ */
+ class MITKUSNAVIGATION_EXPORT TrackedUltrasound : public mitk::AbstractUltrasoundTrackerDevice
+ {
+ public:
+
+ mitkClassMacro(TrackedUltrasound, mitk::AbstractUltrasoundTrackerDevice);
+ mitkNewMacro3Param(TrackedUltrasound, USDevice::Pointer, itk::SmartPointer<NavigationDataSource>, bool);
+
+
+
+
+ protected:
+ TrackedUltrasound( USDevice::Pointer usDevice,
+ itk::SmartPointer<NavigationDataSource> trackingDevice,
+ bool trackedUltrasoundActive = true );
+ virtual ~TrackedUltrasound();
+
+ /**
+ * \brief Grabs the next frame from the input.
+ * This method is called internally, whenever Update() is invoked by an Output.
+ */
+ void GenerateData() override;
+
+ };
+} // namespace mitk
+#endif // __mitkTrackedUltrasound_h
diff --git a/Modules/US/USNavigation/mitkUSCombinedModality.cpp b/Modules/US/USNavigation/mitkUSCombinedModality.cpp
index 7c1baf9f71..3e29544288 100644
--- a/Modules/US/USNavigation/mitkUSCombinedModality.cpp
+++ b/Modules/US/USNavigation/mitkUSCombinedModality.cpp
@@ -1,576 +1,75 @@
/*===================================================================
The Medical Imaging Interaction Toolkit (MITK)
Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.
This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.
See LICENSE.txt or http://www.mitk.org for details.
===================================================================*/
#include "mitkUSCombinedModality.h"
-#include "mitkUSDevice.h"
-#include "mitkNavigationDataSource.h"
#include "mitkImageReadAccessor.h"
#include <mitkNavigationDataSmoothingFilter.h>
#include <mitkNavigationDataDelayFilter.h>
#include "mitkTrackingDeviceSource.h"
// US Control Interfaces
#include "mitkUSControlInterfaceProbes.h"
#include "mitkUSControlInterfaceBMode.h"
#include "mitkUSControlInterfaceDoppler.h"
-//Microservices
-#include <usGetModuleContext.h>
-#include <usModule.h>
-#include <usServiceProperties.h>
-#include <usModuleContext.h>
-
-#include <algorithm>
-
-//TempIncludes
-#include <tinyxml.h>
-
-const std::string mitk::USCombinedModality::DeviceClassIdentifier = "org.mitk.modules.us.USCombinedModality";
-const char* mitk::USCombinedModality::DefaultProbeIdentifier = "default";
-const char* mitk::USCombinedModality::ProbeAndDepthSeperator = "_";
-
-const std::string mitk::USCombinedModality::US_INTERFACE_NAME = "org.mitk.services.USCombinedModality";
-const std::string mitk::USCombinedModality::US_PROPKEY_DEVICENAME = US_INTERFACE_NAME + ".devicename";
-const std::string mitk::USCombinedModality::US_PROPKEY_CLASS = US_INTERFACE_NAME + ".class";
-const std::string mitk::USCombinedModality::US_PROPKEY_ID = US_INTERFACE_NAME + ".id";
-
-mitk::USCombinedModality::USCombinedModality(USDevice::Pointer usDevice, NavigationDataSource::Pointer trackingDevice, std::string manufacturer, std::string model)
- : mitk::USDevice(manufacturer, model), m_UltrasoundDevice(usDevice), m_TrackingDevice(trackingDevice),
- m_SmoothingFilter(mitk::NavigationDataSmoothingFilter::New()), m_DelayFilter(mitk::NavigationDataDelayFilter::New(0)),
- m_NumberOfSmoothingValues(0), m_DelayCount(0)
+mitk::USCombinedModality::USCombinedModality( USDevice::Pointer usDevice,
+ NavigationDataSource::Pointer trackingDevice,
+ bool trackedUltrasoundActive )
+ : AbstractUltrasoundTrackerDevice( usDevice, trackingDevice, trackedUltrasoundActive )
{
- this->RebuildFilterPipeline();
-
- //create a new output (for the image data)
- mitk::Image::Pointer newOutput = mitk::Image::New();
- this->SetNthOutput(0, newOutput);
-
- // Combined Modality should not spawn an own acquire thread, because
- // image acquiring is done by the included us device
- this->SetSpawnAcquireThread(false);
}
mitk::USCombinedModality::~USCombinedModality()
{
}
-std::string mitk::USCombinedModality::GetDeviceClass()
-{
- return DeviceClassIdentifier;
-}
-
-mitk::USImageSource::Pointer mitk::USCombinedModality::GetUSImageSource()
-{
- if (m_UltrasoundDevice.IsNull())
- {
- MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
- mitkThrow() << "UltrasoundDevice must not be null.";
- }
-
- return m_UltrasoundDevice->GetUSImageSource();
-}
-
-mitk::USAbstractControlInterface::Pointer mitk::USCombinedModality::GetControlInterfaceCustom()
-{
- if (m_UltrasoundDevice.IsNull())
- {
- MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
- mitkThrow() << "UltrasoundDevice must not be null.";
- }
-
- return m_UltrasoundDevice->GetControlInterfaceCustom();
-}
-
-mitk::USControlInterfaceBMode::Pointer mitk::USCombinedModality::GetControlInterfaceBMode()
-{
- if (m_UltrasoundDevice.IsNull())
- {
- MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
- mitkThrow() << "UltrasoundDevice must not be null.";
- }
-
- return m_UltrasoundDevice->GetControlInterfaceBMode();
-}
-
-mitk::USControlInterfaceProbes::Pointer mitk::USCombinedModality::GetControlInterfaceProbes()
-{
- if (m_UltrasoundDevice.IsNull())
- {
- MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
- mitkThrow() << "UltrasoundDevice must not be null.";
- }
-
- return m_UltrasoundDevice->GetControlInterfaceProbes();
-}
-
-mitk::USControlInterfaceDoppler::Pointer mitk::USCombinedModality::GetControlInterfaceDoppler()
-{
- if (m_UltrasoundDevice.IsNull())
- {
- MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
- mitkThrow() << "UltrasoundDevice must not be null.";
- }
-
- return m_UltrasoundDevice->GetControlInterfaceDoppler();
-}
-
-void mitk::USCombinedModality::UnregisterOnService()
-{
- if (m_DeviceState == State_Activated) { this->Deactivate(); }
- if (m_DeviceState == State_Connected) { this->Disconnect(); }
-
- mitk::USDevice::UnregisterOnService();
-}
-
-mitk::AffineTransform3D::Pointer mitk::USCombinedModality::GetCalibration()
-{
- return this->GetCalibration(this->GetCurrentDepthValue(), this->GetIdentifierForCurrentProbe());
-}
-
-mitk::AffineTransform3D::Pointer mitk::USCombinedModality::GetCalibration(std::string depth)
-{
- return this->GetCalibration(depth, this->GetIdentifierForCurrentProbe());
-}
-
-mitk::AffineTransform3D::Pointer mitk::USCombinedModality::GetCalibration(std::string depth, std::string probe)
-{
- // make sure that there is no '/' which would cause problems for TinyXML
- std::replace(probe.begin(), probe.end(), '/', '-');
-
- // create identifier for calibration from probe and depth
- std::string calibrationKey = probe + mitk::USCombinedModality::ProbeAndDepthSeperator + depth;
-
- // find calibration for combination of probe identifier and depth
- std::map<std::string, mitk::AffineTransform3D::Pointer>::iterator calibrationIterator
- = m_Calibrations.find(calibrationKey);
-
- if (calibrationIterator == m_Calibrations.end()) { return nullptr; }
-
- return calibrationIterator->second;
-}
-
-void mitk::USCombinedModality::SetCalibration(mitk::AffineTransform3D::Pointer calibration)
-{
- if (calibration.IsNull())
- {
- MITK_WARN << "Null pointer passed to SetCalibration of mitk::USDevice. Ignoring call.";
- return;
- }
-
- std::string calibrationKey = this->GetIdentifierForCurrentCalibration();
- if (calibrationKey.empty())
- {
- MITK_WARN << "Could not get a key for the calibration -> Calibration cannot be set.";
- return;
- }
-
- m_Calibrations[calibrationKey] = calibration;
-}
-
-bool mitk::USCombinedModality::RemoveCalibration()
-{
- return this->RemoveCalibration(this->GetCurrentDepthValue(), this->GetIdentifierForCurrentProbe());
-}
-
-bool mitk::USCombinedModality::RemoveCalibration(std::string depth)
-{
- return this->RemoveCalibration(depth, this->GetIdentifierForCurrentProbe());
-}
-
-bool mitk::USCombinedModality::RemoveCalibration(std::string depth, std::string probe)
-{
- // make sure that there is no '/' which would cause problems for TinyXML
- std::replace(probe.begin(), probe.end(), '/', '-');
-
- // create identifier for calibration from probe and depth
- std::string calibrationKey = probe + mitk::USCombinedModality::ProbeAndDepthSeperator + depth;
-
- return m_Calibrations.erase(calibrationKey) > 0;
-}
-
-void mitk::USCombinedModality::SetNumberOfSmoothingValues(unsigned int numberOfSmoothingValues)
-{
- unsigned int oldNumber = m_NumberOfSmoothingValues;
- m_NumberOfSmoothingValues = numberOfSmoothingValues;
-
- // if filter should be activated or deactivated
- if ((oldNumber == 0 && numberOfSmoothingValues != 0) ||
- (oldNumber != 0 && numberOfSmoothingValues == 0))
- {
- this->RebuildFilterPipeline();
- }
- m_SmoothingFilter->SetNumerOfValues(numberOfSmoothingValues);
-}
-
-void mitk::USCombinedModality::SetDelayCount(unsigned int delayCount)
-{
- unsigned int oldCount = m_DelayCount;
- m_DelayCount = delayCount;
-
- // if filter should be activated or deactivated
- if ((oldCount == 0 && delayCount != 0) ||
- (oldCount != 0 && delayCount == 0))
- {
- this->RebuildFilterPipeline();
- }
- m_DelayFilter->SetDelay(delayCount);
-}
-
-bool mitk::USCombinedModality::OnInitialization()
-{
- if (m_UltrasoundDevice.IsNull())
- {
- MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
- mitkThrow() << "UltrasoundDevice must not be null.";
- }
-
- if (m_UltrasoundDevice->GetDeviceState() < mitk::USDevice::State_Initialized)
- {
- return m_UltrasoundDevice->Initialize();
- }
- else
- {
- return true;
- }
-}
-
-bool mitk::USCombinedModality::OnConnection()
-{
- if (m_UltrasoundDevice.IsNull())
- {
- MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
- mitkThrow() << "UltrasoundDevice must not be null.";
- }
-
- // connect ultrasound device only if it is not already connected
- if (m_UltrasoundDevice->GetDeviceState() >= mitk::USDevice::State_Connected)
- {
- return true;
- }
- else
- {
- return m_UltrasoundDevice->Connect();
- }
-}
-
-bool mitk::USCombinedModality::OnDisconnection()
-{
- if (m_UltrasoundDevice.IsNull())
- {
- MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
- mitkThrow() << "UltrasoundDevice must not be null.";
- }
-
- return m_UltrasoundDevice->Disconnect();
-}
-
-bool mitk::USCombinedModality::OnActivation()
-{
- if (m_UltrasoundDevice.IsNull())
- {
- MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
- mitkThrow() << "UltrasoundDevice must not be null.";
- }
-
- mitk::TrackingDeviceSource::Pointer trackingDeviceSource = dynamic_cast<mitk::TrackingDeviceSource*>(m_TrackingDevice.GetPointer());
- if (trackingDeviceSource.IsNull())
- {
- MITK_WARN("USCombinedModality")("USDevice") << "Cannot start tracking as TrackingDeviceSource is null.";
- }
- trackingDeviceSource->StartTracking();
-
- // activate ultrasound device only if it is not already activated
- if (m_UltrasoundDevice->GetDeviceState() >= mitk::USDevice::State_Activated)
- {
- return true;
- }
- else
- {
- return m_UltrasoundDevice->Activate();
- }
-}
-
-bool mitk::USCombinedModality::OnDeactivation()
-{
- if (m_UltrasoundDevice.IsNull())
- {
- MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
- mitkThrow() << "UltrasoundDevice must not be null.";
- }
-
- mitk::TrackingDeviceSource::Pointer trackingDeviceSource = dynamic_cast<mitk::TrackingDeviceSource*>(m_TrackingDevice.GetPointer());
- if (trackingDeviceSource.IsNull())
- {
- MITK_WARN("USCombinedModality")("USDevice") << "Cannot stop tracking as TrackingDeviceSource is null.";
- }
- trackingDeviceSource->StopTracking();
-
- m_UltrasoundDevice->Deactivate();
-
- return m_UltrasoundDevice->GetIsConnected();
-}
-
-void mitk::USCombinedModality::OnFreeze(bool freeze)
-{
- mitk::TrackingDeviceSource::Pointer trackingDeviceSource = dynamic_cast<mitk::TrackingDeviceSource*>(m_TrackingDevice.GetPointer());
- if (trackingDeviceSource.IsNull())
- {
- MITK_WARN("USCombinedModality")("USDevice") << "Cannot freeze tracking.";
- }
- else
- {
- if (freeze) { trackingDeviceSource->Freeze(); }
- else { trackingDeviceSource->UnFreeze(); }
- }
-
- if (m_UltrasoundDevice.IsNull())
- {
- MITK_ERROR("USCombinedModality")("USDevice") << "UltrasoundDevice must not be null.";
- mitkThrow() << "UltrasoundDevice must not be null.";
- }
- m_UltrasoundDevice->SetIsFreezed(freeze);
-}
-
-mitk::NavigationDataSource::Pointer mitk::USCombinedModality::GetNavigationDataSource()
-{
- return m_LastFilter.GetPointer();
-}
-
-bool mitk::USCombinedModality::GetIsCalibratedForCurrentStatus()
-{
- return m_Calibrations.find(this->GetIdentifierForCurrentCalibration()) != m_Calibrations.end();
-}
-
-bool mitk::USCombinedModality::GetContainsAtLeastOneCalibration()
-{
- return !m_Calibrations.empty();
-}
void mitk::USCombinedModality::GenerateData()
{
if (m_UltrasoundDevice->GetIsFreezed()) { return; } //if the image is freezed: do nothing
-
//get next image from ultrasound image source
- mitk::Image::Pointer image = m_UltrasoundDevice->GetUSImageSource()->GetNextImage()[0];
-
+ //FOR LATER: Be aware if the for loop behaves correct, if the UltrasoundDevice has more than 1 output.
+ int i = 0;
+ mitk::Image::Pointer image = m_UltrasoundDevice->GetUSImageSource()->GetNextImage().at(i);
if (image.IsNull() || !image->IsInitialized()) //check the image
{
MITK_WARN << "Invalid image in USCombinedModality, aborting!";
return;
}
//get output and initialize it if it wasn't initialized before
mitk::Image::Pointer output = this->GetOutput();
if (!output->IsInitialized()) { output->Initialize(image); }
//now update image data
mitk::ImageReadAccessor inputReadAccessor(image, image->GetSliceData(0, 0, 0));
output->SetSlice(inputReadAccessor.GetData()); //copy image data
output->GetGeometry()->SetSpacing(image->GetGeometry()->GetSpacing()); //copy spacing because this might also change
//and update calibration (= transformation of the image)
std::string calibrationKey = this->GetIdentifierForCurrentCalibration();
if (!calibrationKey.empty())
{
std::map<std::string, mitk::AffineTransform3D::Pointer>::iterator calibrationIterator
= m_Calibrations.find(calibrationKey);
if (calibrationIterator != m_Calibrations.end())
{
// transform image according to callibration if one is set
// for current configuration of probe and depth
this->GetOutput()->GetGeometry()->SetIndexToWorldTransform(calibrationIterator->second);
}
}
}
-
-std::string mitk::USCombinedModality::SerializeCalibration()
-{
- std::stringstream result;
- result << "<calibrations>" << std::endl;
- // For each calibration in the set
- for (std::map<std::string, mitk::AffineTransform3D::Pointer>::iterator it = m_Calibrations.begin(); it != m_Calibrations.end(); it++)
- {
- mitk::AffineTransform3D::MatrixType matrix = it->second->GetMatrix();
- mitk::AffineTransform3D::TranslationType translation = it->second->GetTranslation();
- TiXmlElement elem(it->first);
- // Serialize Matrix
- elem.SetDoubleAttribute("M00", matrix[0][0]);
- elem.SetDoubleAttribute("M01", matrix[0][1]);
- elem.SetDoubleAttribute("M02", matrix[0][2]);
- elem.SetDoubleAttribute("M10", matrix[1][0]);
- elem.SetDoubleAttribute("M11", matrix[1][1]);
- elem.SetDoubleAttribute("M12", matrix[1][2]);
- elem.SetDoubleAttribute("M20", matrix[2][0]);
- elem.SetDoubleAttribute("M21", matrix[2][1]);
- elem.SetDoubleAttribute("M22", matrix[2][2]);
- // Serialize Offset
- elem.SetDoubleAttribute("T0", translation[0]);
- elem.SetDoubleAttribute("T1", translation[1]);
- elem.SetDoubleAttribute("T2", translation[2]);
-
- result << elem << std::endl;
- }
- result << "</calibrations>" << std::endl;
-
- return result.str();
-}
-
-void mitk::USCombinedModality::DeserializeCalibration(const std::string& xmlString, bool clearPreviousCalibrations)
-{
- // Sanitize Input
- if (xmlString == "")
- {
- MITK_ERROR << "Empty string passed to Deserialize() method of CombinedModality. Aborting...";
- mitkThrow() << "Empty string passed to Deserialize() method of CombinedModality. Aborting...";
- return;
- }
- // Clear previous calibrations if necessary
- if (clearPreviousCalibrations) m_Calibrations.clear();
-
- // Parse Input
- TiXmlDocument doc;
- if (!doc.Parse(xmlString.c_str()))
- {
- MITK_ERROR << "Unable to deserialize calibrations in CombinedModality. Error was: " << doc.ErrorDesc();
- mitkThrow() << "Unable to deserialize calibrations in CombinedModality. Error was: " << doc.ErrorDesc();
- return;
- }
- TiXmlElement* root = doc.FirstChildElement();
- if (root == nullptr)
- {
- MITK_ERROR << "Unable to deserialize calibrations in CombinedModality. String contained no root element.";
- mitkThrow() << "Unable to deserialize calibrations in CombinedModality. String contained no root element.";
- return;
- }
- // Read Calibrations
- for (TiXmlElement* elem = root->FirstChildElement(); elem != nullptr; elem = elem->NextSiblingElement())
- {
- mitk::AffineTransform3D::MatrixType matrix;
- mitk::AffineTransform3D::OffsetType translation;
-
- std::string calibName = elem->Value();
-
- // Deserialize Matrix
- elem->QueryDoubleAttribute("M00", &matrix[0][0]);
- elem->QueryDoubleAttribute("M01", &matrix[0][1]);
- elem->QueryDoubleAttribute("M02", &matrix[0][2]);
- elem->QueryDoubleAttribute("M10", &matrix[1][0]);
- elem->QueryDoubleAttribute("M11", &matrix[1][1]);
- elem->QueryDoubleAttribute("M12", &matrix[1][2]);
- elem->QueryDoubleAttribute("M20", &matrix[2][0]);
- elem->QueryDoubleAttribute("M21", &matrix[2][1]);
- elem->QueryDoubleAttribute("M22", &matrix[2][2]);
-
- // Deserialize Offset
- elem->QueryDoubleAttribute("T0", &translation[0]);
- elem->QueryDoubleAttribute("T1", &translation[1]);
- elem->QueryDoubleAttribute("T2", &translation[2]);
-
- mitk::AffineTransform3D::Pointer calibration = mitk::AffineTransform3D::New();
- calibration->SetMatrix(matrix);
- calibration->SetTranslation(translation);
- m_Calibrations[calibName] = calibration;
- }
-}
-
-std::string mitk::USCombinedModality::GetIdentifierForCurrentCalibration()
-{
- return this->GetIdentifierForCurrentProbe()
- + mitk::USCombinedModality::ProbeAndDepthSeperator
- + this->GetCurrentDepthValue();
-}
-
-std::string mitk::USCombinedModality::GetIdentifierForCurrentProbe()
-{
- us::ServiceProperties usdeviceProperties = m_UltrasoundDevice->GetServiceProperties();
-
- us::ServiceProperties::const_iterator probeIt = usdeviceProperties.find(
- mitk::USCombinedModality::GetPropertyKeys().US_PROPKEY_PROBES_SELECTED);
-
- // get probe identifier from control interface for probes
- std::string probeName = mitk::USCombinedModality::DefaultProbeIdentifier;
- if (probeIt != usdeviceProperties.end())
- {
- probeName = (probeIt->second).ToString();
- }
-
- // make sure that there is no '/' which would cause problems for TinyXML
- std::replace(probeName.begin(), probeName.end(), '/', '-');
-
- return probeName;
-}
-
-std::string mitk::USCombinedModality::GetCurrentDepthValue()
-{
- us::ServiceProperties usdeviceProperties = m_UltrasoundDevice->GetServiceProperties();
-
- // get string for depth value from the micro service properties
- std::string depth;
- us::ServiceProperties::iterator depthIterator = usdeviceProperties.find(
- mitk::USCombinedModality::GetPropertyKeys().US_PROPKEY_BMODE_DEPTH);
-
- if (depthIterator != usdeviceProperties.end())
- {
- depth = depthIterator->second.ToString();
- }
- else
- {
- depth = "0";
- }
-
- return depth;
-}
-
-void mitk::USCombinedModality::RebuildFilterPipeline()
-{
- m_LastFilter = m_TrackingDevice;
-
- if (m_NumberOfSmoothingValues > 0)
- {
- for (unsigned int i = 0; i < m_TrackingDevice->GetNumberOfOutputs(); i++)
- {
- m_SmoothingFilter->SetInput(i, m_LastFilter->GetOutput(i));
- }
- m_LastFilter = m_SmoothingFilter;
- }
-
- if (m_DelayCount > 0)
- {
- for (unsigned int i = 0; i < m_TrackingDevice->GetNumberOfOutputs(); i++)
- {
- m_DelayFilter->SetInput(i, m_LastFilter->GetOutput(i));
- }
- m_LastFilter = m_DelayFilter;
- }
-}
-
-void mitk::USCombinedModality::RegisterAsMicroservice()
-{
- //Get Context
- us::ModuleContext* context = us::GetModuleContext();
-
- //Define ServiceProps
- us::ServiceProperties props;
- mitk::UIDGenerator uidGen =
- mitk::UIDGenerator("org.mitk.services.USCombinedModality", 16);
- props[US_PROPKEY_ID] = uidGen.GetUID();
- props[US_PROPKEY_DEVICENAME] = this->GetName();
- props[US_PROPKEY_CLASS] = this->GetDeviceClass();
-
- m_ServiceProperties = props;
-
- m_ServiceRegistration = context->RegisterService(this, props);
-}
diff --git a/Modules/US/USNavigation/mitkUSCombinedModality.h b/Modules/US/USNavigation/mitkUSCombinedModality.h
index a549299f54..d9f5c3ae62 100644
--- a/Modules/US/USNavigation/mitkUSCombinedModality.h
+++ b/Modules/US/USNavigation/mitkUSCombinedModality.h
@@ -1,256 +1,71 @@
/*===================================================================
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 MITKUSCombinedModality_H_HEADER_INCLUDED_
#define MITKUSCombinedModality_H_HEADER_INCLUDED_
#include <MitkUSNavigationExports.h>
#include "mitkUSDevice.h"
+#include "mitkImageSource.h"
+#include "mitkAbstractUltrasoundTrackerDevice.h"
#include "mitkNavigationDataSource.h"
+// Microservices
+#include <mitkServiceInterface.h>
+#include <usServiceRegistration.h>
+
namespace itk {
template<class T> class SmartPointer;
}
namespace mitk {
- class NavigationDataSmoothingFilter;
- class NavigationDataDelayFilter;
class USControlInterfaceBMode;
class USControlInterfaceProbes;
class USControlInterfaceDoppler;
/**
* \brief Combination of USDevice and NavigationDataSource.
- * This class can be used as any USDevice subclass. Additionally tracking data be
+ * This class can be used as an ImageSource subclass. Additionally tracking data be
* retrieved from the NavigationDataSource returned by GetTrackingDevice().
*
* A calibration of the ultrasound image stream to the navigation datas can be set
* for the currently active zoom level (of the ultrasound device) by SetCalibration().
* The ultrasound images are transformed according to this calibration in the
* GenerateData() method.
*/
- class MITKUSNAVIGATION_EXPORT USCombinedModality : public USDevice
+ class MITKUSNAVIGATION_EXPORT USCombinedModality : public mitk::AbstractUltrasoundTrackerDevice
{
public:
- static const std::string DeviceClassIdentifier;
- static const char* DefaultProbeIdentifier;
- static const char* ProbeAndDepthSeperator;
-
- mitkClassMacro(USCombinedModality, USDevice);
- mitkNewMacro4Param(USCombinedModality, USDevice::Pointer, itk::SmartPointer<NavigationDataSource>, std::string, std::string);
-
- itkGetMacro(UltrasoundDevice, itk::SmartPointer<USDevice>);
- itkSetMacro(UltrasoundDevice, itk::SmartPointer<USDevice>);
- itkGetMacro(TrackingDevice, itk::SmartPointer<NavigationDataSource>);
- itkSetMacro(TrackingDevice, itk::SmartPointer<NavigationDataSource>);
-
- /**
- * \brief Getter for calibration data of the currently active depth and probe.
- *
- * \return Transformation for calibration or null if no calibration is available.
- */
- AffineTransform3D::Pointer GetCalibration();
-
- /**
- * \brief Getter for calibration data of the given depth and the currently active probe.
- *
- * \param depth depth of the b mode ultrasound image for which the calibration should be returned
- * \return Transformation for calibration or null if no calibration is available.
- */
- AffineTransform3D::Pointer GetCalibration(std::string depth);
-
- /**
- * \brief Getter for calibration data of the given depth and probe.
- *
- * \param depth depth of the b mode ultrasound image for which the calibration should be returned
- * \param probe probe of the ultrasound device for which the calibration should be returned
- * \return Transformation for calibration or null if no calibration is available.
- */
- AffineTransform3D::Pointer GetCalibration(std::string depth, std::string probe);
-
- /**
- * \brief Sets a transformation as calibration data.
- * Calibration data is set for the currently activated probe and their current
- * zoom factor. It also marks the device as calibrated.
- */
- void SetCalibration(AffineTransform3D::Pointer calibration);
-
- /**
- * \brief Removes the calibration data of the currently active depth and probe.
- * \return true on success, false if there was no calibration
- */
- bool RemoveCalibration();
-
- /**
- * \brief Removes the calibration data of the given depth and the currently active probe.
- *
- * \param depth depth of the b mode ultrasound image for which the calibration should be removed
- * \return true on success, false if there was no calibration
- */
- bool RemoveCalibration(std::string depth);
-
- /**
- * \brief Removes the calibration data of the given depth and probe.
- *
- * \param depth depth of the b mode ultrasound image for which the calibration should be removed
- * \param probe probe of the ultrasound device for which the calibration should be removed
- * \return true on success, false if there was no calibration
- */
- bool RemoveCalibration(std::string depth, std::string probe);
-
- /**
- * \brief Returns the Class of the Device.
- */
- std::string GetDeviceClass() override;
-
- /**
- * \brief Wrapper for returning USImageSource of the UltrasoundDevice.
- */
- USImageSource::Pointer GetUSImageSource() override;
-
- /**
- * \brief Wrapper for returning custom control interface of the UltrasoundDevice.
- */
- itk::SmartPointer<USAbstractControlInterface> GetControlInterfaceCustom() override;
-
- /**
- * \brief Wrapper for returning B mode control interface of the UltrasoundDevice.
- */
- itk::SmartPointer<USControlInterfaceBMode> GetControlInterfaceBMode() override;
-
- /**
- * \brief Wrapper for returning probes control interface of the UltrasoundDevice.
- */
- itk::SmartPointer<USControlInterfaceProbes> GetControlInterfaceProbes() override;
-
- /**
- * \brief Wrapper for returning doppler control interface of the UltrasoundDevice.
- */
- itk::SmartPointer<USControlInterfaceDoppler> GetControlInterfaceDoppler() override;
-
- virtual itk::SmartPointer<mitk::NavigationDataSource> GetNavigationDataSource();
-
- /**
- * \return true if the device is calibrated for the currently selected probe with the current zoom level
- */
- bool GetIsCalibratedForCurrentStatus();
-
- /**
- * \return true if a calibration was loaded for at least one probe and depth
- */
- bool GetContainsAtLeastOneCalibration();
-
- /**
- * \brief Remove this device from the micro service.
- * This method is public for mitk::USCombinedModality, because this devices
- * can be completly removed. This is not possible for API devices, which
- * should be available while their sub module is loaded.
- */
- void UnregisterOnService();
-
- /**
- * \brief Serializes all contained calibrations into an xml fragment.
- *
- * The returned string contains one parent node named "calibrations" and several
- * subnodes, one for each calibration that is present.
- */
- std::string SerializeCalibration();
-
- /**
- * \brief Deserializes a string provided by a prior call to Serialize().
- * If the bool flag is true, all prior calibrations will be deleted.
- * If the flag is set to false, prior calibrations will be retained, but overwritten
- * if one of equal name is present.
- *
- * \throws mitk::Exception if the given string could not be parsed correctly.
- */
- void DeserializeCalibration(const std::string &xmlString, bool clearPreviousCalibrations = true);
-
- void SetNumberOfSmoothingValues(unsigned int numberOfSmoothingValues);
- void SetDelayCount(unsigned int delayCount);
+ mitkClassMacro(USCombinedModality, mitk::AbstractUltrasoundTrackerDevice);
+ mitkNewMacro3Param(USCombinedModality, USDevice::Pointer, itk::SmartPointer<NavigationDataSource>, bool);
- void RegisterAsMicroservice();
-
- /**
- *\brief These Constants are used in conjunction with Microservices
- */
- static const std::string US_INTERFACE_NAME;
- static const std::string US_PROPKEY_DEVICENAME;
- static const std::string US_PROPKEY_CLASS;
- static const std::string US_PROPKEY_ID;
protected:
- USCombinedModality(USDevice::Pointer usDevice, itk::SmartPointer<NavigationDataSource> trackingDevice, std::string manufacturer = "", std::string model = "");
- ~USCombinedModality() override;
-
- /**
- * \brief Initializes UltrasoundDevice.
- */
- bool OnInitialization() override;
-
- /**
- * \brief Connects UltrasoundDevice.
- */
- bool OnConnection() override;
-
- /**
- * \brief Disconnects UltrasoundDevice.
- */
- bool OnDisconnection() override;
-
- /**
- * \brief Activates UltrasoundDevice.
- */
- bool OnActivation() override;
-
- /**
- * \brief Deactivates UltrasoundDevice.
- */
- bool OnDeactivation() override;
-
- /**
- * \brief Freezes or unfreezes UltrasoundDevice.
- */
- void OnFreeze(bool) override;
+ USCombinedModality( USDevice::Pointer usDevice,
+ itk::SmartPointer<NavigationDataSource> trackingDevice,
+ bool trackedUltrasoundActive = false );
+ virtual ~USCombinedModality();
/**
* \brief Grabs the next frame from the input.
* This method is called internally, whenever Update() is invoked by an Output.
*/
void GenerateData() override;
- std::string GetIdentifierForCurrentCalibration();
- std::string GetIdentifierForCurrentProbe();
- std::string GetCurrentDepthValue();
-
- void RebuildFilterPipeline();
-
- USDevice::Pointer m_UltrasoundDevice;
- itk::SmartPointer<NavigationDataSource> m_TrackingDevice;
- std::map<std::string, AffineTransform3D::Pointer> m_Calibrations;
-
- itk::SmartPointer<mitk::NavigationDataSmoothingFilter> m_SmoothingFilter;
- itk::SmartPointer<mitk::NavigationDataDelayFilter> m_DelayFilter;
- itk::SmartPointer<mitk::NavigationDataSource> m_LastFilter;
-
- unsigned int m_NumberOfSmoothingValues;
- unsigned int m_DelayCount;
-
};
} // namespace mitk
-//MITK_DECLARE_SERVICE_INTERFACE(mitk::USCombinedModality, "org.mitk.services.USCombinedModality")
#endif // MITKUSCombinedModality_H_HEADER_INCLUDED_
diff --git a/Modules/USUI/Qmitk/QmitkUSNewVideoDeviceWidget.cpp b/Modules/USUI/Qmitk/QmitkUSNewVideoDeviceWidget.cpp
index 7c3dcfdbb3..c88d5bff0a 100644
--- a/Modules/USUI/Qmitk/QmitkUSNewVideoDeviceWidget.cpp
+++ b/Modules/USUI/Qmitk/QmitkUSNewVideoDeviceWidget.cpp
@@ -1,811 +1,812 @@
/*===================================================================
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.
===================================================================*/
//#define _USE_MATH_DEFINES
#include <QmitkUSNewVideoDeviceWidget.h>
// QT headers
#include <QFileDialog>
#include <QMessageBox>
// mitk headers
// itk headers
#include <mitkUSDeviceReaderXML.h>
#include <mitkUSDeviceWriterXML.h>
const std::string QmitkUSNewVideoDeviceWidget::VIEW_ID =
"org.mitk.views.QmitkUSNewVideoDeviceWidget";
QmitkUSNewVideoDeviceWidget::QmitkUSNewVideoDeviceWidget(QWidget* parent,
Qt::WindowFlags f)
: QWidget(parent, f)
{
m_Controls = nullptr;
CreateQtPartControl(this);
}
QmitkUSNewVideoDeviceWidget::~QmitkUSNewVideoDeviceWidget() {}
//////////////////// INITIALIZATION /////////////////////
void QmitkUSNewVideoDeviceWidget::CreateQtPartControl(QWidget* parent)
{
if (!m_Controls)
{
// create GUI widgets
m_Controls = new Ui::QmitkUSNewVideoDeviceWidgetControls;
m_Controls->setupUi(parent);
this->CreateConnections();
}
}
void QmitkUSNewVideoDeviceWidget::CreateConnections()
{
if (m_Controls)
{
// connect(m_Controls->m_BtnDone, SIGNAL(clicked()), this,
// SLOT(OnClickedDone()));
connect(m_Controls->m_BtnCancel, SIGNAL(clicked()), this,
SLOT(OnClickedCancel()));
connect(m_Controls->m_RadioDeviceSource, SIGNAL(clicked()), this,
SLOT(OnDeviceTypeSelection()));
connect(m_Controls->m_RadioFileSource, SIGNAL(clicked()), this,
SLOT(OnDeviceTypeSelection()));
connect(m_Controls->m_RadioOIGTLClientSource, SIGNAL(clicked()), this,
SLOT(OnDeviceTypeSelection()));
connect(m_Controls->m_RadioOIGTLServerSource, SIGNAL(clicked()), this,
SLOT(OnDeviceTypeSelection()));
connect(m_Controls->m_OpenFileButton, SIGNAL(clicked()), this,
SLOT(OnOpenFileButtonClicked()));
connect(m_Controls->m_BtnSave, SIGNAL(clicked()), this,
SLOT(OnSaveButtonClicked()));
connect(m_Controls->m_BtnLoadConfiguration, SIGNAL(clicked()), this,
SLOT(OnLoadConfigurationButtonClicked()));
//Connect buttons and functions for editing of probes
connect(m_Controls->m_AddNewProbePushButton, SIGNAL(clicked()), this, SLOT(OnAddNewProbeClicked()));
connect(m_Controls->m_BtnRemoveProbe, SIGNAL(clicked()), this, SLOT(OnClickedRemoveProbe()));
connect(m_Controls->m_BtnRemoveDepth, SIGNAL(clicked()), this, SLOT(OnClickedRemoveDepth()));
connect(m_Controls->m_BtnAddDepths, SIGNAL(clicked()), this, SLOT(OnClickedAddDepths()));
connect(m_Controls->m_Probes, SIGNAL(currentTextChanged(const QString &)), this, SLOT(OnProbeChanged(const QString &)));
connect(m_Controls->m_Depths, SIGNAL(currentTextChanged(const QString &)), this, SLOT(OnDepthChanged(const QString &)));
connect(m_Controls->m_XSpacingSpinBox, SIGNAL(valueChanged(double)), this, SLOT(OnXSpacingSpinBoxChanged(double)));
connect(m_Controls->m_YSpacingSpinBox, SIGNAL(valueChanged(double)), this, SLOT(OnYSpacingSpinBoxChanged(double)));
connect(m_Controls->m_CroppingTopSpinBox, SIGNAL(valueChanged(int)), this, SLOT(OnCroppingTopSpinBoxChanged(int)));
connect(m_Controls->m_CroppingRightSpinBox, SIGNAL(valueChanged(int)), this, SLOT(OnCroppingRightSpinBoxChanged(int)));
connect(m_Controls->m_CroppingBottomSpinBox, SIGNAL(valueChanged(int)), this, SLOT(OnCroppingBottomSpinBoxChanged(int)));
connect(m_Controls->m_CroppingLeftSpinBox, SIGNAL(valueChanged(int)), this, SLOT(OnCroppingLeftSpinBoxChanged(int)));
}
}
///////////// Methods & Slots Handling Direct Interaction /////////////////
void QmitkUSNewVideoDeviceWidget::OnClickedDone()
{
m_Active = false;
// Create Device
mitk::USVideoDevice::Pointer newDevice;
if (m_Controls->m_RadioDeviceSource->isChecked())
{
newDevice = mitk::USVideoDevice::New(
m_Controls->m_DeviceSelector->value(),
m_Controls->m_Manufacturer->text().toStdString(),
m_Controls->m_Model->text().toStdString());
newDevice->SetComment(m_Controls->m_Comment->text().toStdString());
}
else if (m_Controls->m_RadioFileSource->isChecked())
{
newDevice = mitk::USVideoDevice::New(
m_Controls->m_FilePathSelector->text().toStdString(),
m_Controls->m_Manufacturer->text().toStdString(),
m_Controls->m_Model->text().toStdString());
newDevice->SetComment(m_Controls->m_Comment->text().toStdString());
}
else if (m_Controls->m_RadioOIGTLClientSource->isChecked())
{
std::string host = m_Controls->m_OIGTLClientHost->text().toStdString();
int port = m_Controls->m_OIGTLClientPort->value();
// Create a new USIGTLDevice. The last parameter tells the device that it should be a client.
mitk::USIGTLDevice::Pointer device =
mitk::USIGTLDevice::New(m_Controls->m_Manufacturer->text().toStdString(),
m_Controls->m_Model->text().toStdString(), host, port, false);
device->Initialize();
emit Finished();
// The rest of this method does stuff that is specific to USVideoDevices,
// which we don't need. So we return directly.
return;
}
else
{
std::string host = m_Controls->m_OIGTLServerHost->text().toStdString();
int port = m_Controls->m_OIGTLServerPort->value();
// Create a new USIGTLDevice. The last parameter tells the device that it should be a server.
mitk::USIGTLDevice::Pointer device =
mitk::USIGTLDevice::New(m_Controls->m_Manufacturer->text().toStdString(),
m_Controls->m_Model->text().toStdString(), host, port, true);
device->Initialize();
emit Finished();
// The rest of this method does stuff that is specific to USVideoDevices,
// which we don't need. So we return directly.
return;
}
// get USImageVideoSource from new device
mitk::USImageVideoSource::Pointer imageSource =
dynamic_cast<mitk::USImageVideoSource*>(
newDevice->GetUSImageSource().GetPointer());
if (!imageSource)
{
MITK_ERROR << "There is no USImageVideoSource at the current device.";
mitkThrow() << "There is no USImageVideoSource at the current device.";
}
// Set Video Options
imageSource->SetColorOutput(!m_Controls->m_CheckGreyscale->isChecked());
// If Resolution override is activated, apply it
if (m_Controls->m_CheckResolutionOverride->isChecked())
{
int width = m_Controls->m_ResolutionWidth->value();
int height = m_Controls->m_ResolutionHeight->value();
imageSource->OverrideResolution(width, height);
imageSource->SetResolutionOverride(true);
}
if (m_Controls->m_Probes->count() != 0 ) //there are informations about the probes of the device, so create the probes
{
this->AddProbesToDevice(newDevice);
}
else //no information about the probes of the device, so set default value
{
mitk::USProbe::Pointer probe = mitk::USProbe::New("default");
probe->SetDepth(0);
newDevice->DeleteAllProbes();
newDevice->AddNewProbe(probe);
}
newDevice->Initialize();
CleanUpAfterCreatingNewDevice();
emit Finished();
}
void QmitkUSNewVideoDeviceWidget::OnClickedFinishedEditing()
{
m_Active = false;
m_TargetDevice->SetManufacturer(m_Controls->m_Manufacturer->text().toStdString());
m_TargetDevice->SetName(m_Controls->m_Model->text().toStdString());
m_TargetDevice->SetComment(m_Controls->m_Comment->text().toStdString());
if (m_Controls->m_Probes->count() != 0) //there are informations about the probes of the device, so create the probes
{
this->AddProbesToDevice(m_TargetDevice);
}
else //no information about the probes of the device, so set default value
{
mitk::USProbe::Pointer probe = mitk::USProbe::New("default");
probe->SetDepth(0);
m_TargetDevice->DeleteAllProbes();
m_TargetDevice->AddNewProbe(probe);
}
mitk::USImageVideoSource::Pointer imageSource =
dynamic_cast<mitk::USImageVideoSource*>(
m_TargetDevice->GetUSImageSource().GetPointer());
if (!imageSource)
{
MITK_ERROR << "There is no USImageVideoSource at the current device.";
mitkThrow() << "There is no USImageVideoSource at the current device.";
}
// Set Video Options
imageSource->SetColorOutput(!m_Controls->m_CheckGreyscale->isChecked());
// If Resolution override is activated, apply it
if (m_Controls->m_CheckResolutionOverride->isChecked())
{
int width = m_Controls->m_ResolutionWidth->value();
int height = m_Controls->m_ResolutionHeight->value();
imageSource->OverrideResolution(width, height);
imageSource->SetResolutionOverride(true);
}
CleanUpAfterEditingOfDevice();
MITK_INFO << "Finished Editing";
emit Finished();
}
void QmitkUSNewVideoDeviceWidget::OnClickedCancel()
{
m_TargetDevice = nullptr;
m_Active = false;
CleanUpAfterCreatingNewDevice();
CleanUpAfterEditingOfDevice();
emit Finished();
}
void QmitkUSNewVideoDeviceWidget::OnDeviceTypeSelection()
{
m_Controls->m_FilePathSelector->setEnabled(
m_Controls->m_RadioFileSource->isChecked());
m_Controls->m_DeviceSelector->setEnabled(
m_Controls->m_RadioDeviceSource->isChecked());
m_Controls->m_OIGTLClientHost->setEnabled(
m_Controls->m_RadioOIGTLClientSource->isChecked());
m_Controls->m_OIGTLClientPort->setEnabled(
m_Controls->m_RadioOIGTLClientSource->isChecked());
m_Controls->m_OIGTLServerHost->setEnabled(
m_Controls->m_RadioOIGTLServerSource->isChecked());
m_Controls->m_OIGTLServerPort->setEnabled(
m_Controls->m_RadioOIGTLServerSource->isChecked());
}
void QmitkUSNewVideoDeviceWidget::OnOpenFileButtonClicked()
{
QString fileName = QFileDialog::getOpenFileName(nullptr, "Open Video File");
if (fileName.isNull())
{
return;
} // user pressed cancel
m_Controls->m_FilePathSelector->setText(fileName);
m_Controls->m_RadioFileSource->setChecked(true);
this->OnDeviceTypeSelection();
}
///////////////// Methods & Slots Handling Logic //////////////////////////
void QmitkUSNewVideoDeviceWidget::EditDevice(mitk::USDevice::Pointer device)
{
// If no VideoDevice is given, throw an exception
if (device->GetDeviceClass().compare("org.mitk.modules.us.USVideoDevice") !=
0)
{
// TODO Alert if bad path
mitkThrow() << "NewVideoDeviceWidget recieved an incompatible device type "
"to edit. Type was: " << device->GetDeviceClass();
}
m_TargetDevice = static_cast<mitk::USVideoDevice*>(device.GetPointer());
m_Active = true;
m_ConfigProbes.clear();
m_ConfigProbes = m_TargetDevice->GetAllProbes();
ChangeUIEditingUSVideoDevice();
}
void QmitkUSNewVideoDeviceWidget::CreateNewDevice()
{
//Toggle functionality of Btn_Done
connect(m_Controls->m_BtnDone, SIGNAL(clicked()), this, SLOT(OnClickedDone()));
m_Controls->m_BtnDone->setText("Add Video Device");
//Fill Metadata with default information
m_Controls->m_Manufacturer->setText("Unknown Manufacturer");
m_Controls->m_Model->setText("Unknown Model");
m_Controls->m_Comment->setText("None");
m_TargetDevice = nullptr;
m_ConfigProbes.clear();
+ m_ConfigProbes.clear();
m_Active = true;
}
/////////////////////// HOUSEHOLDING CODE ///////////////////////////////
QListWidgetItem* QmitkUSNewVideoDeviceWidget::ConstructItemFromDevice(
mitk::USDevice::Pointer device)
{
QListWidgetItem* result = new QListWidgetItem;
std::string text =
device->GetManufacturer() + "|" + device->GetName();
result->setText(text.c_str());
return result;
}
void QmitkUSNewVideoDeviceWidget::ChangeUIEditingUSVideoDevice()
{
for (std::vector<mitk::USProbe::Pointer>::iterator it = m_ConfigProbes.begin(); it != m_ConfigProbes.end(); it++)
{
std::string probeName = (*it)->GetName();
m_Controls->m_Probes->addItem(QString::fromUtf8(probeName.data(), probeName.size()));
}
OnProbeChanged(m_Controls->m_Probes->currentText());
//Toggle functionality of Btn_Done
m_Controls->m_BtnDone->setText("Apply Changes");
connect(m_Controls->m_BtnDone, SIGNAL(clicked()), this, SLOT(OnClickedFinishedEditing()));
//Fill Metadata with Information provided by the Device selected to edit
m_Controls->m_Manufacturer->setText(m_TargetDevice->GetManufacturer().c_str());
m_Controls->m_Model->setText(m_TargetDevice->GetName().c_str());
m_Controls->m_Comment->setText(m_TargetDevice->GetComment().c_str());
}
void QmitkUSNewVideoDeviceWidget::OnClickedAddDepths()
{
if (!m_Controls->m_Probes->currentText().isEmpty())
{
QString depths = m_Controls->m_AddDepths->text();
if( depths.isEmpty() )
return;
std::string probename = m_Controls->m_Probes->currentText().toStdString();
mitk::USProbe::Pointer currentProbe = this->CheckIfProbeExistsAlready(probename);
QStringList singleDepths = depths.split(',');
for (int i = 0; i < singleDepths.size(); i++)
{
currentProbe->SetDepth(singleDepths.at(i).toInt());
}
m_Controls->m_AddDepths->clear();
m_Controls->m_Depths->setEnabled(true);
m_Controls->m_BtnRemoveDepth->setEnabled(true);
OnProbeChanged(m_Controls->m_Probes->currentText());
}
}
void QmitkUSNewVideoDeviceWidget::OnClickedRemoveDepth()
{
if (!m_Controls->m_Probes->currentText().isEmpty() && !m_Controls->m_Depths->currentText().isEmpty())
{
std::string probename = m_Controls->m_Probes->currentText().toStdString();
int indexOfDepthToRemove = m_Controls->m_Depths->currentIndex();
mitk::USProbe::Pointer currentProbe = this->CheckIfProbeExistsAlready(probename);
currentProbe->RemoveDepth(m_Controls->m_Depths->currentText().toInt());
m_Controls->m_Depths->removeItem(indexOfDepthToRemove);
if (m_Controls->m_Depths->count() == 0)
{
m_Controls->m_Depths->setEnabled(false);
m_Controls->m_BtnRemoveDepth->setEnabled(false);
this->EnableDisableSpacingAndCropping(false);
}
}
}
void QmitkUSNewVideoDeviceWidget::OnClickedRemoveProbe()
{
if (!m_Controls->m_Probes->currentText().isEmpty())
{
std::string probename = m_Controls->m_Probes->currentText().toStdString();
int indexOfProbeToRemove = m_Controls->m_Probes->currentIndex();
m_ConfigProbes.erase(m_ConfigProbes.begin() + indexOfProbeToRemove);
m_Controls->m_Probes->removeItem(indexOfProbeToRemove);
if( m_Controls->m_Probes->count() == 0 )
{
m_Controls->m_Probes->setEnabled(false);
m_Controls->m_BtnRemoveProbe->setEnabled(false);
m_Controls->m_BtnAddDepths->setEnabled(false);
m_Controls->m_AddDepths->setEnabled(false);
m_Controls->m_Depths->setEnabled(false);
m_Controls->m_BtnRemoveDepth->setEnabled(false);
this->EnableDisableSpacingAndCropping(false);
}
}
}
void QmitkUSNewVideoDeviceWidget::OnProbeChanged(const QString & probename)
{
if (!probename.isEmpty())
{
std::string name = probename.toStdString();
mitk::USProbe::Pointer probe = this->CheckIfProbeExistsAlready(name);
if( probe.IsNotNull() )
{
std::map<int, mitk::Vector3D> depths = probe->GetDepthsAndSpacing();
m_Controls->m_Depths->clear();
for (std::map<int, mitk::Vector3D>::iterator it = depths.begin(); it != depths.end(); it++)
{
m_Controls->m_Depths->addItem(QString::number(it->first));
}
this->OnDepthChanged(m_Controls->m_Depths->currentText().toInt(), probe);
}
}
else
{
m_Controls->m_Depths->clear();
m_Controls->m_Depths->setEnabled(false);
m_Controls->m_BtnRemoveDepth->setEnabled(false);
}
}
void QmitkUSNewVideoDeviceWidget::OnDepthChanged(int depth, mitk::USProbe::Pointer probe)
{
if (m_Controls->m_Depths->count() == 0)
{
m_Controls->m_Depths->setEnabled(false);
m_Controls->m_BtnRemoveDepth->setEnabled(false);
this->EnableDisableSpacingAndCropping(false);
return;
}
if (probe.IsNotNull())
{
mitk::Vector3D spacing = probe->GetSpacingForGivenDepth(depth);
m_Controls->m_XSpacingSpinBox->setValue(spacing[0]);
m_Controls->m_YSpacingSpinBox->setValue(spacing[1]);
mitk::USProbe::USProbeCropping cropping = probe->GetProbeCropping();
m_Controls->m_CroppingTopSpinBox->setValue(cropping.top);
m_Controls->m_CroppingRightSpinBox->setValue(cropping.right);
m_Controls->m_CroppingBottomSpinBox->setValue(cropping.bottom);
m_Controls->m_CroppingLeftSpinBox->setValue(cropping.left);
this->EnableDisableSpacingAndCropping(true);
m_Controls->m_Depths->setEnabled(true);
m_Controls->m_BtnRemoveDepth->setEnabled(true);
m_Controls->m_AddDepths->setEnabled(true);
m_Controls->m_BtnAddDepths->setEnabled(true);
m_Controls->m_Probes->setEnabled(true);
m_Controls->m_BtnRemoveProbe->setEnabled(true);
}
}
void QmitkUSNewVideoDeviceWidget::OnDepthChanged(const QString &depth)
{
MITK_INFO << "OnDepthChanged(int, mitk::USProbe)";
if( depth.isEmpty() )
{
this->EnableDisableSpacingAndCropping(false);
return;
}
QString probeName = m_Controls->m_Probes->currentText();
this->OnDepthChanged(depth.toInt(), this->CheckIfProbeExistsAlready(probeName.toStdString()) );
}
void QmitkUSNewVideoDeviceWidget::OnSaveButtonClicked()
{
QString fileName = QFileDialog::getSaveFileName(nullptr, "Save Configuration ...", "", "XML files (*.xml)");
if( fileName.isNull() )
{
return;
} // user pressed cancel
mitk::USDeviceWriterXML deviceWriter;
deviceWriter.SetFilename(fileName.toStdString());
mitk::USDeviceReaderXML::USVideoDeviceConfigData config;
this->CollectUltrasoundVideoDeviceConfigInformation(config);
if (!deviceWriter.WriteUltrasoundVideoDeviceConfiguration(config))
{
QMessageBox msgBox;
msgBox.setText("Error when writing the configuration to the selected file. Could not write device information.");
msgBox.exec();
return;
}
}
void QmitkUSNewVideoDeviceWidget::OnLoadConfigurationButtonClicked()
{
QString fileName = QFileDialog::getOpenFileName(this, "Open ultrasound device configuration ...");
if (fileName.isNull())
{
return;
} // user pressed cancel
mitk::USDeviceReaderXML deviceReader;
deviceReader.SetFilename(fileName.toStdString());
if (!deviceReader.ReadUltrasoundDeviceConfiguration())
{
QMessageBox msgBox;
msgBox.setText("Error when parsing the selected file. Could not load stored device information.");
msgBox.exec();
return;
}
mitk::USDeviceReaderXML::USVideoDeviceConfigData config = deviceReader.GetUSVideoDeviceConfigData();
if( config.fileversion == 1.0 )
{
if (config.deviceType.compare("video") == 0)
{
//Fill info in metadata groupbox:
m_Controls->m_DeviceName->setText(QString::fromStdString(config.deviceName));
m_Controls->m_Manufacturer->setText(QString::fromStdString(config.manufacturer));
m_Controls->m_Model->setText(QString::fromStdString(config.model));
m_Controls->m_Comment->setText(QString::fromStdString(config.comment));
//Fill info about video source:
m_Controls->m_DeviceSelector->setValue(config.sourceID);
m_Controls->m_FilePathSelector->setText(QString::fromStdString(config.filepathVideoSource));
//Fill video options:
m_Controls->m_CheckGreyscale->setChecked(config.useGreyscale);
//Fill override options:
m_Controls->m_CheckResolutionOverride->setChecked(config.useResolutionOverride);
m_Controls->m_ResolutionWidth->setValue(config.resolutionWidth);
m_Controls->m_ResolutionHeight->setValue(config.resolutionHeight);
//Fill information about probes:
m_ConfigProbes.clear();
m_ConfigProbes = config.probes;
m_Controls->m_Probes->clear();
m_Controls->m_ProbeNameLineEdit->clear();
m_Controls->m_AddDepths->clear();
m_Controls->m_Depths->clear();
for( size_t index = 0; index < m_ConfigProbes.size(); ++index)
{
m_Controls->m_Probes->addItem(QString::fromStdString(config.probes.at(index)->GetName()));
}
this->OnProbeChanged(m_Controls->m_Probes->currentText());
}
else
{
MITK_WARN << "Unknown device type detected. The device type must be of type |video|";
}
}
else
{
MITK_WARN << "Unknown fileversion. Only fileversion 1.0 is known to the system.";
}
}
void QmitkUSNewVideoDeviceWidget::OnAddNewProbeClicked()
{
QString probeName = m_Controls->m_ProbeNameLineEdit->text();
probeName = probeName.trimmed();
if (probeName.isEmpty())
{
m_Controls->m_ProbeNameLineEdit->clear();
return;
}
if( this->CheckIfProbeExistsAlready(probeName.toStdString() ) != nullptr )
{
QMessageBox msgBox;
msgBox.setText("Probe name already exists. Please choose another name for the probe.");
msgBox.exec();
m_Controls->m_ProbeNameLineEdit->clear();
}
else
{
mitk::USProbe::Pointer newProbe = mitk::USProbe::New(probeName.toStdString());
m_ConfigProbes.push_back(newProbe);
m_Controls->m_Probes->addItem(QString::fromStdString(probeName.toStdString()));
m_Controls->m_Probes->setEnabled(true);
m_Controls->m_BtnRemoveProbe->setEnabled(true);
m_Controls->m_BtnAddDepths->setEnabled(true);
m_Controls->m_AddDepths->setEnabled(true);
m_Controls->m_ProbeNameLineEdit->clear();
}
}
void QmitkUSNewVideoDeviceWidget::OnXSpacingSpinBoxChanged(double value)
{
MITK_INFO << "Changing x-spacing to: " << value;
QString probeName = m_Controls->m_Probes->currentText();
int depth = m_Controls->m_Depths->currentText().toInt();
mitk::USProbe::Pointer probe = this->CheckIfProbeExistsAlready(probeName.toStdString());
if (probe.IsNull())
{
QMessageBox msgBox;
msgBox.setText("An error occurred when changing the spacing. \
The specified probe does not exist. \
Please restart the configuration process.");
msgBox.exec();
return;
}
mitk::Vector3D spacing = probe->GetSpacingForGivenDepth(depth);
spacing[0] = value;
probe->SetSpacingForGivenDepth(depth, spacing);
}
void QmitkUSNewVideoDeviceWidget::OnYSpacingSpinBoxChanged(double value)
{
MITK_INFO << "Changing y-spacing to: " << value;
QString probeName = m_Controls->m_Probes->currentText();
int depth = m_Controls->m_Depths->currentText().toInt();
mitk::USProbe::Pointer probe = this->CheckIfProbeExistsAlready(probeName.toStdString());
if (probe.IsNull())
{
QMessageBox msgBox;
msgBox.setText("An error occurred when changing the spacing. \
The specified probe does not exist. \
Please restart the configuration process.");
msgBox.exec();
return;
}
mitk::Vector3D spacing = probe->GetSpacingForGivenDepth(depth);
spacing[1] = value;
probe->SetSpacingForGivenDepth(depth, spacing);
}
void QmitkUSNewVideoDeviceWidget::OnCroppingTopSpinBoxChanged(int value)
{
MITK_INFO << "Changing cropping top to: " << value;
QString probeName = m_Controls->m_Probes->currentText();
mitk::USProbe::Pointer probe = this->CheckIfProbeExistsAlready(probeName.toStdString());
if (probe.IsNull())
{
QMessageBox msgBox;
msgBox.setText("An error occurred when changing the probe cropping. \
The specified probe does not exist. \
Please restart the configuration process.");
msgBox.exec();
return;
}
mitk::USProbe::USProbeCropping cropping = probe->GetProbeCropping();
probe->SetProbeCropping(value, cropping.bottom, cropping.left, cropping.right);
}
void QmitkUSNewVideoDeviceWidget::OnCroppingRightSpinBoxChanged(int value)
{
MITK_INFO << "Changing cropping right to: " << value;
QString probeName = m_Controls->m_Probes->currentText();
mitk::USProbe::Pointer probe = this->CheckIfProbeExistsAlready(probeName.toStdString());
if (probe.IsNull())
{
QMessageBox msgBox;
msgBox.setText("An error occurred when changing the probe cropping. \
The specified probe does not exist. \
Please restart the configuration process.");
msgBox.exec();
return;
}
mitk::USProbe::USProbeCropping cropping = probe->GetProbeCropping();
probe->SetProbeCropping(cropping.top, cropping.bottom, cropping.left, value);
}
void QmitkUSNewVideoDeviceWidget::OnCroppingBottomSpinBoxChanged(int value)
{
MITK_INFO << "Changing cropping bottom to: " << value;
QString probeName = m_Controls->m_Probes->currentText();
mitk::USProbe::Pointer probe = this->CheckIfProbeExistsAlready(probeName.toStdString());
if (probe.IsNull())
{
QMessageBox msgBox;
msgBox.setText("An error occurred when changing the probe cropping. \
The specified probe does not exist. \
Please restart the configuration process.");
msgBox.exec();
return;
}
mitk::USProbe::USProbeCropping cropping = probe->GetProbeCropping();
probe->SetProbeCropping(cropping.top, value, cropping.left, cropping.right);
}
void QmitkUSNewVideoDeviceWidget::OnCroppingLeftSpinBoxChanged(int value)
{
MITK_INFO << "Changing cropping left to: " << value;
QString probeName = m_Controls->m_Probes->currentText();
mitk::USProbe::Pointer probe = this->CheckIfProbeExistsAlready(probeName.toStdString());
if (probe.IsNull())
{
QMessageBox msgBox;
msgBox.setText("An error occurred when changing the probe cropping. \
The specified probe does not exist. \
Please restart the configuration process.");
msgBox.exec();
return;
}
mitk::USProbe::USProbeCropping cropping = probe->GetProbeCropping();
probe->SetProbeCropping(cropping.top, cropping.bottom, value, cropping.right);
}
void QmitkUSNewVideoDeviceWidget::CleanUpAfterCreatingNewDevice()
{
disconnect(m_Controls->m_BtnDone, SIGNAL(clicked()), this, SLOT(OnClickedDone()));
m_Controls->m_Probes->clear();
m_Controls->m_Depths->clear();
m_Controls->m_AddDepths->clear();
m_Controls->m_ProbeNameLineEdit->clear();
m_ConfigProbes.clear();
}
void QmitkUSNewVideoDeviceWidget::CleanUpAfterEditingOfDevice()
{
disconnect(m_Controls->m_BtnDone, SIGNAL(clicked()), this, SLOT(OnClickedFinishedEditing()));
m_Controls->m_Probes->clear();
m_Controls->m_Depths->clear();
m_Controls->m_AddDepths->clear();
m_ConfigProbes.clear();
}
void QmitkUSNewVideoDeviceWidget::AddProbesToDevice(mitk::USVideoDevice::Pointer device)
{
device->DeleteAllProbes();
for( std::vector<mitk::USProbe::Pointer>::iterator it = m_ConfigProbes.begin();
it != m_ConfigProbes.end(); it++)
{
if ((*it)->IsDepthAndSpacingEmpty())
{
(*it)->SetDepth(0);
}
device->AddNewProbe((*it));
}
}
mitk::USProbe::Pointer QmitkUSNewVideoDeviceWidget::CheckIfProbeExistsAlready(const std::string &probeName)
{
for( std::vector<mitk::USProbe::Pointer>::iterator it = m_ConfigProbes.begin();
it != m_ConfigProbes.end(); it++ )
{
if( probeName.compare((*it)->GetName()) == 0)
return (*it);
}
return nullptr; //no matching probe was found so nullptr is returned
}
void QmitkUSNewVideoDeviceWidget::CollectUltrasoundVideoDeviceConfigInformation(mitk::USDeviceReaderXML::USVideoDeviceConfigData &config)
{
config.fileversion = 1.0;
config.deviceType = "video";
//Fill info in metadata groupbox:
config.deviceName = m_Controls->m_DeviceName->text().toStdString();
config.manufacturer = m_Controls->m_Manufacturer->text().toStdString();
config.model = m_Controls->m_Model->text().toStdString();
config.comment = m_Controls->m_Comment->text().toStdString();
//Fill info about video source:
config.sourceID = m_Controls->m_DeviceSelector->value();
config.filepathVideoSource = m_Controls->m_FilePathSelector->text().toStdString();
//Fill video options:
config.useGreyscale = m_Controls->m_CheckGreyscale->isChecked();
//Fill override options:
config.useResolutionOverride = m_Controls->m_CheckResolutionOverride->isChecked();
config.resolutionWidth = m_Controls->m_ResolutionWidth->value();
config.resolutionHeight = m_Controls->m_ResolutionHeight->value();
//Fill information about probes:
config.probes = m_ConfigProbes;
}
void QmitkUSNewVideoDeviceWidget::EnableDisableSpacingAndCropping(bool enable)
{
m_Controls->m_XSpacingSpinBox->setEnabled(enable);
m_Controls->m_YSpacingSpinBox->setEnabled(enable);
m_Controls->m_XSpacingLabel->setEnabled(enable);
m_Controls->m_YSpacingLabel->setEnabled(enable);
m_Controls->m_CroppingTopSpinBox->setEnabled(enable);
m_Controls->m_CroppingRightSpinBox->setEnabled(enable);
m_Controls->m_CroppingBottomSpinBox->setEnabled(enable);
m_Controls->m_CroppingLeftSpinBox->setEnabled(enable);
m_Controls->m_CroppingTopLabel->setEnabled(enable);
m_Controls->m_CroppingBottomLabel->setEnabled(enable);
m_Controls->m_CroppingLeftLabel->setEnabled(enable);
m_Controls->m_CroppingRightLabel->setEnabled(enable);
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/files.cmake b/Plugins/org.mitk.gui.qt.igt.app.echotrack/files.cmake
index a980a60ba8..c7bf3f73ac 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/files.cmake
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/files.cmake
@@ -1,136 +1,132 @@
set(SRC_CPP_FILES
)
set(INTERNAL_CPP_FILES
org_mbi_gui_qt_usnavigation_Activator.cpp
#USNavigation.cpp //not functional anymore. Delete code?
QmitkUltrasoundCalibration.cpp
QmitkUSNavigationMarkerPlacement.cpp
QmitkUSNavigationPerspective.cpp
mitkUSTargetPlacementQualityCalculator.cpp
QmitkUSZonesDataModel.cpp
QmitkUSNavigationCalibrationsDataModel.cpp
QmitkUSZoneManagementColorDialogDelegate.cpp
QmitkUSNavigationCalibrationRemoveDelegate.cpp
QmitkUSNavigationCalibrationUpdateDepthDelegate.cpp
Interactors/mitkUSZonesInteractor.cpp
Interactors/mitkUSPointMarkInteractor.cpp
Widgets/QmitkUSCombinedModalityCreationWidget.cpp
Widgets/QmitkUSCombinedModalityEditWidget.cpp
Widgets/QmitkUSNavigationFreezeButton.cpp
- Widgets/QmitkUSNavigationProcessWidget.cpp
Widgets/QmitkUSNavigationZoneDistancesWidget.cpp
Widgets/QmitkUSZoneManagementWidget.cpp
Widgets/QmitkZoneProgressBar.cpp
NavigationStepWidgets/QmitkUSAbstractNavigationStep.cpp
NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.cpp
NavigationStepWidgets/QmitkUSNavigationStepTumourSelection.cpp
NavigationStepWidgets/QmitkUSNavigationStepZoneMarking.cpp
NavigationStepWidgets/QmitkUSNavigationStepPlacementPlanning.cpp
NavigationStepWidgets/QmitkUSNavigationStepMarkerIntervention.cpp
NavigationStepWidgets/QmitkUSNavigationStepPunctuationIntervention.cpp
SettingsWidgets/QmitkUSNavigationCombinedSettingsWidget.cpp
SettingsWidgets/QmitkUSNavigationAbstractSettingsWidget.cpp
Filter/mitkUSNavigationTargetOcclusionFilter.cpp
Filter/mitkUSNavigationTargetUpdateFilter.cpp
Filter/mitkUSNavigationTargetIntersectionFilter.cpp
IO/mitkUSNavigationCombinedModalityPersistence.cpp
IO/mitkUSNavigationLoggingBackend.cpp
IO/mitkUSNavigationExperimentLogging.cpp
IO/mitkUSNavigationStepTimer.cpp
)
set(UI_FILES
#src/internal/USNavigationControls.ui //not functional anymore. Delete code?
src/internal/QmitkUltrasoundCalibrationControls.ui
src/internal/QmitkUSNavigationMarkerPlacement.ui
src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.ui
src/internal/Widgets/QmitkUSCombinedModalityEditWidget.ui
- src/internal/Widgets/QmitkUSNavigationProcessWidget.ui
src/internal/Widgets/QmitkUSZoneManagementWidget.ui
src/internal/NavigationStepWidgets/QmitkUSAbstractNavigationStep.ui
src/internal/NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.ui
src/internal/NavigationStepWidgets/QmitkUSNavigationStepTumourSelection.ui
src/internal/NavigationStepWidgets/QmitkUSNavigationStepZoneMarking.ui
src/internal/NavigationStepWidgets/QmitkUSNavigationStepPlacementPlanning.ui
src/internal/NavigationStepWidgets/QmitkUSNavigationStepMarkerIntervention.ui
src/internal/NavigationStepWidgets/QmitkUSNavigationStepPunctuationIntervention.ui
src/internal/SettingsWidgets/QmitkUSNavigationCombinedSettingsWidget.ui
)
set(MOC_H_FILES
src/internal/org_mbi_gui_qt_usnavigation_Activator.h
- #src/internal/USNavigation.h //not functional anymore. Delete code?
src/internal/QmitkUltrasoundCalibration.h
src/internal/QmitkUSNavigationMarkerPlacement.h
src/internal/QmitkUSZonesDataModel.h
src/internal/QmitkUSNavigationCalibrationsDataModel.h
src/internal/QmitkUSZoneManagementColorDialogDelegate.h
src/internal/QmitkUSNavigationCalibrationRemoveDelegate.h
src/internal/QmitkUSNavigationCalibrationUpdateDepthDelegate.h
src/internal/QmitkUSNavigationPerspective.h
src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.h
src/internal/Widgets/QmitkUSCombinedModalityEditWidget.h
src/internal/Widgets/QmitkUSNavigationFreezeButton.h
- src/internal/Widgets/QmitkUSNavigationProcessWidget.h
src/internal/Widgets/QmitkUSNavigationZoneDistancesWidget.h
src/internal/Widgets/QmitkUSZoneManagementWidget.h
src/internal/Widgets/QmitkZoneProgressBar.h
src/internal/NavigationStepWidgets/QmitkUSAbstractNavigationStep.h
src/internal/NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.h
src/internal/NavigationStepWidgets/QmitkUSNavigationStepTumourSelection.h
src/internal/NavigationStepWidgets/QmitkUSNavigationStepZoneMarking.h
src/internal/NavigationStepWidgets/QmitkUSNavigationStepPlacementPlanning.h
src/internal/NavigationStepWidgets/QmitkUSNavigationStepMarkerIntervention.h
src/internal/NavigationStepWidgets/QmitkUSNavigationStepPunctuationIntervention.h
src/internal/SettingsWidgets/QmitkUSNavigationCombinedSettingsWidget.h
src/internal/SettingsWidgets/QmitkUSNavigationAbstractSettingsWidget.h
)
# list of resource files which can be used by the plug-in
# system without loading the plug-ins shared library,
# for example the icon used in the menu and tabs for the
# plug-in views in the workbench
set(CACHED_RESOURCE_FILES
resources/icon_US_navigation.svg
resources/icon_US_calibration.svg
plugin.xml
)
# list of Qt .qrc files which contain additional resources
# specific to this plugin
set(QRC_FILES
resources/USNavigation.qrc
)
set(CPP_FILES )
foreach(file ${SRC_CPP_FILES})
set(CPP_FILES ${CPP_FILES} src/${file})
endforeach(file ${SRC_CPP_FILES})
foreach(file ${INTERNAL_CPP_FILES})
set(CPP_FILES ${CPP_FILES} src/internal/${file})
endforeach(file ${INTERNAL_CPP_FILES})
set(RESOURCE_FILES
Interactions/USPointMarkInteractions.xml
Interactions/USZoneInteractions.xml
Interactions/USZoneInteractionsHold.xml
)
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/IO/mitkUSNavigationCombinedModalityPersistence.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/IO/mitkUSNavigationCombinedModalityPersistence.cpp
index cd2a4d0017..44f8bad907 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/IO/mitkUSNavigationCombinedModalityPersistence.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/IO/mitkUSNavigationCombinedModalityPersistence.cpp
@@ -1,213 +1,213 @@
/*===================================================================
The Medical Imaging Interaction Toolkit (MITK)
Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.
This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.
See LICENSE.txt or http://www.mitk.org for details.
===================================================================*/
#include "mitkUSNavigationCombinedModalityPersistence.h"
#include "mitkUSCombinedModality.h"
// Microservices
#include <usServiceReference.h>
#include <usModuleContext.h>
#include <usGetModuleContext.h>
#include <usModuleContext.h>
// Qt
#include <QSettings>
#include <QVector>
#include <QHash>
#include <QStringList>
#include "internal/org_mbi_gui_qt_usnavigation_Activator.h"
mitk::USNavigationCombinedModalityPersistence::USNavigationCombinedModalityPersistence()
{
us::ModuleContext* context = us::GetModuleContext();
this->LoadStoredDevices();
// to be notified about every register and unregister of an USDevice
std::string filterExcludeCombinedModalities = "(&(" + us::ServiceConstants::OBJECTCLASS() + "="
+ "org.mitk.services.UltrasoundDevice)(!(" + mitk::USDevice::GetPropertyKeys().US_PROPKEY_CLASS + "="
+ mitk::USCombinedModality::DeviceClassIdentifier + ")))";
context->AddServiceListener(this, &mitk::USNavigationCombinedModalityPersistence::OnServiceEvent,
filterExcludeCombinedModalities);
// to be notified about every register and unregister of an NavigationDataSource
context->AddServiceListener(this, &mitk::USNavigationCombinedModalityPersistence::OnServiceEvent,
"(" + us::ServiceConstants::OBJECTCLASS() + "=" + us_service_interface_iid<mitk::NavigationDataSource>() + ")");
}
mitk::USNavigationCombinedModalityPersistence::~USNavigationCombinedModalityPersistence()
{
//this->StoreCurrentDevices(); //disabled because persistence is buggy
}
void mitk::USNavigationCombinedModalityPersistence::OnServiceEvent(const us::ServiceEvent event)
{
if ( event.GetType() == event.REGISTERED )
{
//this->LoadStoredDevices(); //disabled because persistence is buggy
}
}
void mitk::USNavigationCombinedModalityPersistence::StoreCurrentDevices()
{
QList<QVariant> devices;
us::ModuleContext* context = us::GetModuleContext();
// get all combined modality from the service registry
std::string filterOnlyCombinedModalities = "(&(" + us::ServiceConstants::OBJECTCLASS() + "=" + "org.mitk.services.UltrasoundDevice)(" + mitk::USDevice::GetPropertyKeys().US_PROPKEY_CLASS + "=" + mitk::USCombinedModality::DeviceClassIdentifier + "))";
std::vector<us::ServiceReference<USDevice> > services = context->GetServiceReferences<USDevice>(filterOnlyCombinedModalities);
for ( std::vector<us::ServiceReference<USDevice> >::iterator it = services.begin();
it != services.end(); ++it )
{
QStringList deviceStrings;
mitk::USCombinedModality::Pointer currentDevice = dynamic_cast<mitk::USCombinedModality*>(context->GetService(*it));
if ( currentDevice.IsNotNull() )
{
// save manufacturer and model strig of the combined modality
- deviceStrings.push_back(QString::fromStdString(currentDevice->GetManufacturer()));
- deviceStrings.push_back(QString::fromStdString(currentDevice->GetName()));
+ deviceStrings.push_back(QString::fromStdString(currentDevice->GetUltrasoundDevice()->GetManufacturer()));
+ deviceStrings.push_back(QString::fromStdString(currentDevice->GetUltrasoundDevice()->GetName()));
// save name of the navigation data source
mitk::NavigationDataSource::Pointer navigationDataSource = currentDevice->GetNavigationDataSource();
if ( currentDevice.IsNull() ) { continue; }
deviceStrings.push_back(QString::fromStdString(navigationDataSource->GetName()));
// save manufacturer, model and comment of the ultrasound device
mitk::USDevice::Pointer ultrasoundDevice = currentDevice->GetUltrasoundDevice();
if ( ultrasoundDevice.IsNull() ) { continue; }
deviceStrings.push_back(QString::fromStdString(ultrasoundDevice->GetManufacturer()));
deviceStrings.push_back(QString::fromStdString(ultrasoundDevice->GetName()));
deviceStrings.push_back(QString::fromStdString(ultrasoundDevice->GetComment()));
// save calibration of the combined modality
deviceStrings.push_back(QString::fromStdString(currentDevice->SerializeCalibration()));
}
devices.push_back(deviceStrings);
}
// store everything in QSettings
QSettings settings;
settings.setValue("combined-modalities", devices);
}
void mitk::USNavigationCombinedModalityPersistence::LoadStoredDevices()
{
// load everything from QSettings
QSettings settings;
QList<QVariant> devices = settings.value("combined-modalities").value< QList<QVariant> >();
for ( QList<QVariant>::iterator it = devices.begin();
it != devices.end(); ++it )
{
// get the saved strings for the combined modality (there must be at least
// the seven strings, which where saved before)
QStringList stringList = it->toStringList();
// test if the combined modality wasn't restored before
if (stringList.size() >= 7 && this->GetCombinedModality(stringList.at(0).toStdString(), stringList.at(1).toStdString()).IsNull())
{
// try to get matching navigation data source and ultrasound device
mitk::NavigationDataSource::Pointer navigationDataSource = this->GetNavigationDataSource(stringList.at(2).toStdString());
mitk::USDevice::Pointer usDevice = this->GetUSDevice(stringList.at(3).toStdString(), stringList.at(4).toStdString(), stringList.at(5).toStdString());
// create the combined modality if matching navigation data source and
// ultrasound device werde found
if ( navigationDataSource.IsNotNull() && usDevice.IsNotNull() )
{
- mitk::USCombinedModality::Pointer combinedModality = mitk::USCombinedModality::New(usDevice, navigationDataSource, stringList.at(0).toStdString(), stringList.at(1).toStdString());
+ mitk::USCombinedModality::Pointer combinedModality = mitk::USCombinedModality::New(usDevice, navigationDataSource, false);
combinedModality->DeserializeCalibration(stringList.at(6).toStdString());
- combinedModality->Initialize();
+ combinedModality->GetUltrasoundDevice()->Initialize();
}
}
}
}
mitk::USCombinedModality::Pointer mitk::USNavigationCombinedModalityPersistence::GetCombinedModality(std::string manufacturer, std::string model)
{
us::ModuleContext* context = us::GetModuleContext();
std::string filterOnlyCombinedModalities = "(&(" + us::ServiceConstants::OBJECTCLASS() + "="
+ "org.mitk.services.UltrasoundDevice)(" + mitk::USDevice::GetPropertyKeys().US_PROPKEY_CLASS + "="
+ mitk::USCombinedModality::DeviceClassIdentifier + "))";
std::vector<us::ServiceReference<USDevice> > services = context->GetServiceReferences<USDevice>(filterOnlyCombinedModalities);
for ( std::vector<us::ServiceReference<USDevice> >::iterator it = services.begin();
it != services.end(); ++it )
{
mitk::USCombinedModality::Pointer currentDevice = dynamic_cast<mitk::USCombinedModality*>(context->GetService(*it));
if ( currentDevice.IsNotNull() )
{
- if ( currentDevice->GetManufacturer() == manufacturer && currentDevice->GetName() == model )
+ if ( currentDevice->GetUltrasoundDevice()->GetManufacturer() == manufacturer && currentDevice->GetUltrasoundDevice()->GetName() == model )
{
return currentDevice;
}
}
}
return 0;
}
mitk::USDevice::Pointer mitk::USNavigationCombinedModalityPersistence::GetUSDevice(std::string manufacturer, std::string model, std::string comment)
{
us::ModuleContext* context = us::GetModuleContext();
std::string filterExcludeCombinedModalities = "(&(" + us::ServiceConstants::OBJECTCLASS() + "="
+ "org.mitk.services.UltrasoundDevice)(!(" + mitk::USDevice::GetPropertyKeys().US_PROPKEY_CLASS + "="
+ mitk::USCombinedModality::DeviceClassIdentifier + ")))";
std::vector<us::ServiceReference<USDevice> > services = context->GetServiceReferences<USDevice>(filterExcludeCombinedModalities);
for ( std::vector<us::ServiceReference<USDevice> >::iterator it = services.begin();
it != services.end(); ++it )
{
mitk::USDevice::Pointer currentDevice = dynamic_cast<mitk::USDevice*>(context->GetService(*it));
if ( currentDevice.IsNotNull() )
{
if ( currentDevice->GetManufacturer() == manufacturer && currentDevice->GetName() == model
&& currentDevice->GetComment() == comment )
{
return currentDevice;
}
}
}
return 0;
}
mitk::NavigationDataSource::Pointer mitk::USNavigationCombinedModalityPersistence::GetNavigationDataSource(std::string name)
{
us::ModuleContext* context = us::GetModuleContext();
std::vector<us::ServiceReference<mitk::NavigationDataSource> > services = context->GetServiceReferences<mitk::NavigationDataSource>();
for ( std::vector<us::ServiceReference<mitk::NavigationDataSource> >::iterator it = services.begin();
it != services.end(); ++it )
{
mitk::NavigationDataSource::Pointer currentDevice = dynamic_cast<mitk::NavigationDataSource*>(context->GetService(*it));
if ( currentDevice.IsNotNull() )
{
if ( currentDevice->GetName() == name )
{
return currentDevice;
}
}
}
return 0;
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSAbstractNavigationStep.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSAbstractNavigationStep.cpp
index 774f3a2594..e7afbbd4bf 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSAbstractNavigationStep.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSAbstractNavigationStep.cpp
@@ -1,208 +1,209 @@
/*===================================================================
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 "QmitkUSAbstractNavigationStep.h"
#include "ui_QmitkUSAbstractNavigationStep.h"
#include "mitkNavigationDataToNavigationDataFilter.h"
const char* QmitkUSAbstractNavigationStep::DATANAME_SETTINGS = "Settings";
const char* QmitkUSAbstractNavigationStep::DATANAME_IMAGESTREAM = "US Image Stream";
const char* QmitkUSAbstractNavigationStep::DATANAME_BASENODE = QmitkUSAbstractNavigationStep::DATANAME_IMAGESTREAM;
QmitkUSAbstractNavigationStep::QmitkUSAbstractNavigationStep(QWidget *parent) :
QWidget(parent), m_NavigationStepState(State_Stopped)
{
}
QmitkUSAbstractNavigationStep::~QmitkUSAbstractNavigationStep()
{
}
bool QmitkUSAbstractNavigationStep::OnRestartStep()
{
return this->OnStopStep() && this->OnStartStep();
}
bool QmitkUSAbstractNavigationStep::GetIsRestartable()
{
return true;
}
QmitkUSAbstractNavigationStep::FilterVector QmitkUSAbstractNavigationStep::GetFilter()
{
return FilterVector();
}
void QmitkUSAbstractNavigationStep::SetDataStorage(itk::SmartPointer<mitk::DataStorage> dataStorage)
{
m_DataStorage = dataStorage;
}
-void QmitkUSAbstractNavigationStep::SetCombinedModality(itk::SmartPointer<mitk::USCombinedModality> combinedModality)
+void QmitkUSAbstractNavigationStep::SetCombinedModality(itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice> combinedModality)
{
m_CombinedModality = combinedModality;
+ MITK_INFO << "Combined modality set to NULL: " << m_CombinedModality.IsNull();
this->OnSetCombinedModality();
}
bool QmitkUSAbstractNavigationStep::StartStep()
{
if ( this->GetNavigationStepState() == State_Stopped && this->OnStartStep() )
{
m_NavigationStepState = State_Started;
return true;
}
return false;
}
bool QmitkUSAbstractNavigationStep::StopStep()
{
if ( this->GetNavigationStepState() == State_Started ||
( this->GetNavigationStepState() > State_Started && this->DeactivateStep() ) )
{
if ( this->OnStopStep() )
{
m_NavigationStepState = State_Stopped;
return true;
}
}
return false;
}
bool QmitkUSAbstractNavigationStep::RestartStep()
{
return this->OnRestartStep();
}
bool QmitkUSAbstractNavigationStep::FinishStep()
{
if ( this->GetNavigationStepState() > State_Started && this->DeactivateStep() )
{
if ( this->OnFinishStep() )
{
m_NavigationStepState = State_Started;
return true;
}
}
return false;
}
bool QmitkUSAbstractNavigationStep::ActivateStep()
{
if ( this->GetNavigationStepState() == State_Started ||
( this->GetNavigationStepState() < State_Started && this->StartStep() ) )
{
if ( this->OnActivateStep() )
{
m_NavigationStepState = State_Active;
return true;
}
}
return false;
}
bool QmitkUSAbstractNavigationStep::DeactivateStep()
{
if ( this->GetNavigationStepState() == State_Active )
{
if ( this->OnDeactivateStep() )
{
m_NavigationStepState = State_Started;
return true;
}
}
return false;
}
void QmitkUSAbstractNavigationStep::Update()
{
this->OnUpdate();
}
QmitkUSAbstractNavigationStep::NavigationStepState QmitkUSAbstractNavigationStep::GetNavigationStepState()
{
return m_NavigationStepState;
}
itk::SmartPointer<mitk::DataStorage> QmitkUSAbstractNavigationStep::GetDataStorage(bool throwNull)
{
if ( throwNull && m_DataStorage.IsNull() )
{
MITK_ERROR << "Data storage must be set to step widget before.";
mitkThrow() << "Data storage must be set to step widget before.";
}
return m_DataStorage;
}
-itk::SmartPointer<mitk::USCombinedModality> QmitkUSAbstractNavigationStep::GetCombinedModality(bool throwNull)
+itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice> QmitkUSAbstractNavigationStep::GetCombinedModality(bool throwNull)
{
if ( throwNull && m_CombinedModality.IsNull() )
{
- MITK_ERROR << "Combined modality is not set yet for this widget.";
+ MITK_INFO << "Combined modality is not set yet for this widget.";
mitkThrow() << "Combined modality is not set yet for this widget.";
}
return m_CombinedModality;
}
itk::SmartPointer<mitk::DataNode> QmitkUSAbstractNavigationStep::GetNamedDerivedNode(const char *name, const char *sourceName)
{
if ( m_DataStorage.IsNull() )
{
MITK_ERROR << "Data storage must be set to step widget before.";
mitkThrow() << "Data storage must be set to step widget before.";
}
mitk::DataNode::Pointer sourceNode = m_DataStorage->GetNamedNode(sourceName);
if ( sourceNode.IsNull() )
{
MITK_WARN << "Source node cannot be found in data storage. Returning null.";
return nullptr;
}
return m_DataStorage->GetNamedDerivedNode(name, m_DataStorage->GetNamedNode(sourceName));
}
itk::SmartPointer<mitk::DataNode> QmitkUSAbstractNavigationStep::GetNamedDerivedNodeAndCreate(const char* name, const char* sourceName)
{
if ( m_DataStorage.IsNull() )
{
MITK_ERROR << "Data storage must be set to step widget before.";
mitkThrow() << "Data storage must be set to step widget before.";
}
mitk::DataNode::Pointer sourceNode = m_DataStorage->GetNamedNode(sourceName);
mitk::DataNode::Pointer dataNode = m_DataStorage->GetNamedDerivedNode(name, sourceNode);
if ( dataNode.IsNull() )
{
dataNode = mitk::DataNode::New();
dataNode->SetName(name);
if ( sourceNode.IsNotNull() )
{this->GetDataStorage()->Add(dataNode, sourceNode);}
else
{this->GetDataStorage()->Add(dataNode);}
}
return dataNode;
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSAbstractNavigationStep.h b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSAbstractNavigationStep.h
index f61a605670..02d663a7c9 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSAbstractNavigationStep.h
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSAbstractNavigationStep.h
@@ -1,311 +1,311 @@
/*===================================================================
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 QMITKUSABSTRACTNAVIGATIONSTEP_H
#define QMITKUSABSTRACTNAVIGATIONSTEP_H
#include <QWidget>
#include "mitkDataStorage.h"
-#include "mitkUSCombinedModality.h"
+#include "mitkAbstractUltrasoundTrackerDevice.h"
namespace itk {
template<class T> class SmartPointer;
}
namespace mitk {
class NavigationDataToNavigationDataFilter;
}
/**
* \brief Abstract base class for navigation step widgets.
*
* This class defines a life cycle for navigation steps. Steps can be activated
* and deactivated. The first time a step is activated, it is started before
* the activation. Steps can be stopped, finished and restarted, too.
*
* On every state change, the corresponding virtual On... method is called
* (OnStartStep(), OnActivateStep(), OnFinishStep(), ...). These methods are
* to implement by concrete navigation step widgets. While a step is in the
* "active" state, its OnUpdate() method is called periodically.
*/
class QmitkUSAbstractNavigationStep : public QWidget
{
Q_OBJECT
signals:
/**
* \brief Signals that all necessary actions where done.
* The user can proceed with the next stept after this was signaled.
*/
void SignalReadyForNextStep();
/**
* \brief Signals that it is no longer possible to proceed with following steps.
* This signal is emmited when the result data of the step was removed or
* changed, so that the old results are invalid for following steps.
*/
void SignalNoLongerReadyForNextStep();
/**
* \brief Signals that the combined modality was changed by this step.
* This signal is mainly for steps which creates the combined modality. The
* new combined modality is given as a parameter.
*/
- void SignalCombinedModalityChanged(itk::SmartPointer<mitk::USCombinedModality>);
+ void SignalCombinedModalityChanged(itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice>);
/**
* \brief Signals that an intermediate result was produced.
* The properties of the given data node must contain the results. This signal
* can be used to log the intermediate results of an experiment, for example
* by using the mitk::USNavigationExperimentLogging.
*/
void SignalIntermediateResult(const itk::SmartPointer<mitk::DataNode>);
/**
* \brief Signals that the settings node was changed.
* This signal must not be emited in an OnSettingsChanged() method.
*/
void SignalSettingsNodeChanged(itk::SmartPointer<mitk::DataNode>);
public:
typedef std::vector< itk::SmartPointer<mitk::NavigationDataToNavigationDataFilter> > FilterVector;
enum NavigationStepState { State_Stopped, State_Started, State_Active };
static const char* DATANAME_SETTINGS;
static const char* DATANAME_IMAGESTREAM;
static const char* DATANAME_BASENODE;
explicit QmitkUSAbstractNavigationStep(QWidget *parent = 0);
~QmitkUSAbstractNavigationStep();
/**
* \brief Getter for the title of the navigation step.
* This title should be human readable and can be used to display the
* available steps and the currently active step to the user.
* The method has to be implemented by a concrete subclass.
*/
virtual QString GetTitle() = 0;
/**
* \brief Indicates if it makes sense to be able to restart the step.
* This method must be implemented by concrete subclasses if it should not be
* possible to restart them.
*
* \return true for the default implementation
*/
virtual bool GetIsRestartable();
/**
* \brief Called every time the settings for the navigation process where changed.
* This method may be implemented by a concrete subclass. The default
* implementation does nothing.
*/
virtual void OnSettingsChanged(const itk::SmartPointer<mitk::DataNode> /*settingsNode*/) { }
/**
* \brief Getter for navigation data filters of the navigation step.
* This method may be implemented by a concrete subclass. The default
* implementation returns an empty vector.
*
* \return all navigation data filters that should be updated during the navigation process
*/
virtual FilterVector GetFilter();
/**
* \brief Sets the data storage for the exchange of results between navigation steps.
*/
void SetDataStorage(itk::SmartPointer<mitk::DataStorage> dataStorage);
/**
* \brief Sets the combined modality for the navigation step.
* OnSetCombinedModality() is called internal.
*/
- void SetCombinedModality(itk::SmartPointer<mitk::USCombinedModality> combinedModality);
+ void SetCombinedModality(itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice> combinedModality);
/**
* \brief Should be called to start the navigation step.
* \return true if the state was 'stopped' before and OnStartStep() returns true
*/
bool StartStep();
/**
* \brief Should be called to stop the navigation step.
* \return true if the state was 'started' (or 'active') and OnStopStep() (and OnDeactivateStep()) return true
*/
bool StopStep();
/**
* \brief Should be called to restart the navigation step.
* \return true if OnRestartStep() returns true
*/
bool RestartStep();
/**
* \brief Should be called to finish the navigation step.
* The state has to be 'active' before and is 'started' afterwards.
*
* \return true if the state was 'active' and DeactivateStep() and OnFinishStep() return true
*/
bool FinishStep();
/**
* \brief Should be called to activate the navigation step.
* The step gets started before if it was stopped.
*
* \return true if the state wasn't 'activated' and OnActivateStep() returns true
*/
bool ActivateStep();
/**
* \brief Should be called to deactivate the navigation step.
* \return true if the state was 'activated' and OnDeactivateStep() returns true
*/
bool DeactivateStep();
/**
* \brief Should be called periodically while the navigation step is active.
* Internal, the method OnUpdate() is called.
*/
void Update();
/**
* \brief Get the current state of the navigation step.
* \return State_Stopped, State_Started or State_Active
*/
NavigationStepState GetNavigationStepState();
protected:
/**
* \brief Called when the navigation step gets started.
* This method has to be implemented by a concrete subclass to handle actions
* necessary for starting the step (e.g. initializing that has only to be done
* once).
*
* \return if the actions were done successfully
*/
virtual bool OnStartStep() = 0;
/**
* \brief Callen when the navigation step gets stopped.
* This method may be implemented by a concrete subclass to handle actions
* necessary for stopping the step (e.g. cleanup). The default implementation
* does nothing.
*
* \return if the actions were done successfully; true on every call for the default implementation
*/
virtual bool OnStopStep() { return true; }
/**
* \brief Called when restarting a navigation step.
* This method may be implemented by a concrete subclass to handle actions
* necessary for restarting the navigation step. The default implementations
* calls OnStopStep() followed by OnStartStep().
*
* \return if the actions were done successfully
*/
virtual bool OnRestartStep();
/**
* \brief Called when all necessary actions for the step where done.
* This method has to be implemented by a concrete subclass to handle actions
* necessary for finishing the navigation step.
*
* \return if the actions were done successfully
*/
virtual bool OnFinishStep() = 0;
/**
* \brief Called when the navigation step gets activated.
* This method has to be implemented by a concrete subclass to handle actions
* necessary on activating the navigation step.
*
* \return if the actions were done successfully
*/
virtual bool OnActivateStep() = 0;
/**
* \brief Called when the navigation step gets deactivated (-> state started).
* This method may be implemented by a concrete subclass to handle actions
* necessary on deactivating the navigation step, which means switching to
* another step.
*
* \return if the actions were done successfully; true on every call for the default implementation
*/
virtual bool OnDeactivateStep() { return true; }
/**
* \brief Called periodically while a navigation step is active.
* This method has to be implemented by a concrete subclass to handle all
* periodic actions during the navigation step.
*/
virtual void OnUpdate() = 0;
/**
* \brief Called every time SetCombinedModality() was called.
* This method may be implemented by a concrete subclass to handle this event.
* The default implementation does nothing.
*/
virtual void OnSetCombinedModality() { }
/**
* \brief Returns the data storage set for the navigation step.
*
* \param throwNull if this method should throw an exception when the data storage is null (default: true)
* \return the data storage set by SetDataStorage(); can only be null if the parameter throwNull is set to false
* \throws mitk::Exception if the data storage is null and the parameter throwNull is set to true
*/
itk::SmartPointer<mitk::DataStorage> GetDataStorage(bool throwNull = true);
/**
* \brief Returns the combined modality set for the navigation step.
*
* \param throwNull if this method should throw an exception when the combined modality is null (default: true)
* \return the combined modality set by SetCombinedModality(); can only be null if the parameter throwNull is set to false
* \throws mitk::Exception if the combined modality is null and the parameter throwNull is set to true
*/
- itk::SmartPointer<mitk::USCombinedModality> GetCombinedModality(bool throwNull = true);
+ itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice> GetCombinedModality(bool throwNull = true);
/**
* \brief Returns node with the given name and the given source node (parent) from the data storage.
*
* \param name the name of the node which should be got from the data storage
* \param sourceName name of the source node under which the node should be searched
* \return node with the given name or null if no node with the given name and source node could be found
* \throws mitk::Exception if the data storage (can be set by SetDataStorage()) is null
*/
itk::SmartPointer<mitk::DataNode> GetNamedDerivedNode(const char* name, const char* sourceName);
/**
* \brief Returns node with the given name and the given source node (parent) from the data storage.
* The node is created if no matching node was found.
*
* \param name the name of the node which should be got from the data storage
* \param sourceName name of the source node under which the node should be searched
* \return node with the given name
* \throws mitk::Exception if the data storage (can be set by SetDataStorage()) is null
*/
itk::SmartPointer<mitk::DataNode> GetNamedDerivedNodeAndCreate(const char* name, const char* sourceName);
private:
itk::SmartPointer<mitk::DataStorage> m_DataStorage;
- itk::SmartPointer<mitk::USCombinedModality> m_CombinedModality;
+ itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice> m_CombinedModality;
NavigationStepState m_NavigationStepState;
};
#endif // QMITKUSABSTRACTNAVIGATIONSTEP_H
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.cpp
index 00ab7836c7..6cf3cb256b 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.cpp
@@ -1,428 +1,430 @@
/*===================================================================
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 "QmitkUSNavigationStepCombinedModality.h"
#include "ui_QmitkUSNavigationStepCombinedModality.h"
+#include "mitkAbstractUltrasoundTrackerDevice.h"
#include "mitkUSCombinedModality.h"
+
#include "../Widgets/QmitkUSCombinedModalityEditWidget.h"
#include <QFileDialog>
#include <QTextStream>
#include <QSettings>
#include "mitkBaseRenderer.h"
QmitkUSNavigationStepCombinedModality::QmitkUSNavigationStepCombinedModality(QWidget *parent) :
QmitkUSAbstractNavigationStep(parent),
m_LastCalibrationFilename(""),
m_CalibrationLoadedNecessary(true),
m_ListenerDeviceChanged(this, &QmitkUSNavigationStepCombinedModality::OnDevicePropertyChanged),
ui(new Ui::QmitkUSNavigationStepCombinedModality)
{
ui->setupUi(this);
// combined modality create widget should only be visible after button press
ui->combinedModalityCreateWidget->setVisible(false);
ui->combinedModalityEditWidget->setVisible(false);
connect(ui->combinedModalityListWidget, SIGNAL(ServiceSelectionChanged(us::ServiceReferenceU)), this, SLOT(OnDeviceSelectionChanged()));
connect(ui->combinedModalityListWidget, SIGNAL(ServiceModified(us::ServiceReferenceU)), this, SLOT(OnDeviceSelectionChanged()));
connect(ui->combinedModalityCreateWidget, SIGNAL(SignalAborted()), this, SLOT(OnCombinedModalityCreationExit()));
connect(ui->combinedModalityCreateWidget, SIGNAL(SignalCreated()), this, SLOT(OnCombinedModalityCreationExit()));
connect(ui->combinedModalityEditWidget, SIGNAL(SignalAborted()), this, SLOT(OnCombinedModalityEditExit()));
connect(ui->combinedModalityEditWidget, SIGNAL(SignalSaved()), this, SLOT(OnCombinedModalityEditExit()));
- std::string filterOnlyCombinedModalities = "(&(" + us::ServiceConstants::OBJECTCLASS() + "=" + "org.mitk.services.USCombinedModality)(" + mitk::USCombinedModality::GetPropertyKeys().US_PROPKEY_CLASS + "=" + mitk::USCombinedModality::DeviceClassIdentifier + "))";
+ std::string filterOnlyCombinedModalities = "(&(" + us::ServiceConstants::OBJECTCLASS() + "=" + "org.mitk.services.AbstractUltrasoundTrackerDevice)(" + mitk::AbstractUltrasoundTrackerDevice::US_PROPKEY_CLASS + "=" + mitk::AbstractUltrasoundTrackerDevice::DeviceClassIdentifier + "))";
//std::string filter = "(&(" + us::ServiceConstants::OBJECTCLASS() + "=" + "org.mitk.services.UltrasoundDevice))";
- ui->combinedModalityListWidget->Initialize<mitk::USCombinedModality>(mitk::USCombinedModality::US_PROPKEY_DEVICENAME);
+ ui->combinedModalityListWidget->Initialize<mitk::AbstractUltrasoundTrackerDevice>(filterOnlyCombinedModalities);
ui->combinedModalityListWidget->SetAutomaticallySelectFirstEntry(true);
//try to load UI settings
QSettings settings;
settings.beginGroup(QString::fromStdString("QmitkUSNavigationStepCombinedModality"));
m_LastCalibrationFilename = settings.value("LastCalibrationFilename", QVariant("")).toString().toStdString();
MITK_DEBUG << "PERSISTENCE load: " << m_LastCalibrationFilename;
settings.endGroup();
}
QmitkUSNavigationStepCombinedModality::~QmitkUSNavigationStepCombinedModality()
{
ui->combinedModalityListWidget->blockSignals(true);
//save UI settings
QSettings settings;
settings.beginGroup(QString::fromStdString("QmitkUSNavigationStepCombinedModality"));
settings.setValue("LastCalibrationFilename", QVariant(m_LastCalibrationFilename.c_str()));
settings.endGroup();
MITK_DEBUG << "PERSISTENCE save: " << m_LastCalibrationFilename;
//delete UI
delete ui;
}
void QmitkUSNavigationStepCombinedModality::OnDeviceSelectionChanged()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetSelectedCombinedModality();
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetSelectedCombinedModality();
bool combinedModalitySelected = combinedModality.IsNotNull();
ui->calibrationGroupBox->setEnabled(combinedModalitySelected);
ui->combinedModalityDeleteButton->setEnabled(combinedModalitySelected);
ui->combinedModalitEditButton->setEnabled(combinedModalitySelected);
if (!combinedModalitySelected || m_CombinedModality != combinedModality)
{
emit SignalNoLongerReadyForNextStep();
if (m_CombinedModality.IsNotNull() && m_CombinedModality->GetUltrasoundDevice().IsNotNull())
{
m_CombinedModality->GetUltrasoundDevice()->RemovePropertyChangedListener(m_ListenerDeviceChanged);
}
if (combinedModalitySelected && combinedModality->GetUltrasoundDevice().IsNotNull())
{
combinedModality->GetUltrasoundDevice()->RemovePropertyChangedListener(m_ListenerDeviceChanged);
}
}
m_CombinedModality = combinedModality;
if (combinedModalitySelected)
{
bool calibrated = this->UpdateCalibrationState();
if (!m_CalibrationLoadedNecessary) { emit SignalReadyForNextStep(); }
else
{
if (calibrated) { emit SignalReadyForNextStep(); }
else { emit SignalNoLongerReadyForNextStep(); }
}
// enable disconnect button only if combined modality is connected or active
- ui->combinedModalityDistconnectButton->setEnabled(combinedModality->GetDeviceState() >= mitk::USCombinedModality::State_Connected);
- ui->combinedModalityActivateButton->setEnabled(combinedModality->GetDeviceState() < mitk::USCombinedModality::State_Activated);
+ ui->combinedModalityDistconnectButton->setEnabled(combinedModality->GetUltrasoundDevice()->GetDeviceState() >= mitk::USDevice::State_Connected);
+ ui->combinedModalityActivateButton->setEnabled(combinedModality->GetUltrasoundDevice()->GetDeviceState() < mitk::USDevice::State_Activated);
this->UpdateTrackingToolNames();
}
else
{
ui->combinedModalityDistconnectButton->setEnabled(false);
ui->combinedModalityActivateButton->setEnabled(false);
}
}
void QmitkUSNavigationStepCombinedModality::OnLoadCalibration()
{
QString filename = QFileDialog::getOpenFileName(QApplication::activeWindow(),
"Load Calibration",
m_LastCalibrationFilename.c_str(),
"Calibration files *.cal");
m_LastCalibrationFilename = filename.toStdString();
- mitk::USCombinedModality::Pointer combinedModality = this->GetSelectedCombinedModality();
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetSelectedCombinedModality();
if (combinedModality.IsNull())
{
ui->calibrationLoadStateLabel->setText("Selected device is no USCombinedModality.");
emit SignalNoLongerReadyForNextStep();
return;
}
if (filename.isEmpty())
{
bool calibrated = this->UpdateCalibrationState();
if (!calibrated) { emit SignalNoLongerReadyForNextStep(); }
return;
}
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
{
MITK_WARN << "Cannot open file '" << filename.toStdString() << "' for reading.";
ui->calibrationLoadStateLabel->setText("Cannot open file '" + filename + "' for reading.");
emit SignalNoLongerReadyForNextStep();
return;
}
QTextStream inStream(&file);
m_LoadedCalibration = inStream.readAll().toStdString();
if (m_LoadedCalibration.empty())
{
MITK_WARN << "Failed to load file. Unsupported format?";
ui->calibrationLoadStateLabel->setText("Failed to load file. Unsupported format?");
emit SignalNoLongerReadyForNextStep();
return;
}
try
{
combinedModality->DeserializeCalibration(m_LoadedCalibration);
}
catch (const mitk::Exception& /*exception*/)
{
MITK_WARN << "Failed to deserialize calibration. Unsuppoerted format?";
ui->calibrationLoadStateLabel->setText("Failed to deserialize calibration. Unsuppoerted format?");
emit SignalNoLongerReadyForNextStep();
return;
}
ui->calibrationLoadStateLabel->setText("Loaded calibration : " + filename);
m_CombinedModality = combinedModality;
emit SignalReadyForNextStep();
}
void QmitkUSNavigationStepCombinedModality::OnCombinedModalityCreateNewButtonClicked()
{
this->SetCombinedModalityCreateWidgetEnabled(true);
}
void QmitkUSNavigationStepCombinedModality::OnCombinedModalityCreationExit()
{
this->SetCombinedModalityCreateWidgetEnabled(false);
mitk::DataNode::Pointer usNode = mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))->GetDataStorage()//GetDataStorage
->GetNamedNode("US Viewing Stream - Image 0");
if (usNode.IsNotNull())
{
mitk::RenderingManager::GetInstance()->InitializeViews(//Reinit
usNode->GetData()->GetTimeGeometry());//GetNode
}
else
{
- mitkThrow()<< "No reinit possible";
+ MITK_WARN << "No reinit possible";
}
}
void QmitkUSNavigationStepCombinedModality::OnCombinedModalityEditExit()
{
this->SetCombinedModalityEditWidgetEnabled(false);
ui->combinedModalityEditWidget->SetCombinedModality(0);
}
void QmitkUSNavigationStepCombinedModality::OnDeleteButtonClicked()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetSelectedCombinedModality();
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetSelectedCombinedModality();
if (combinedModality.IsNotNull())
{
combinedModality->RemoveAllObservers();
combinedModality->UnregisterOnService();
}
}
void QmitkUSNavigationStepCombinedModality::OnCombinedModalityEditButtonClicked()
{
ui->combinedModalityEditWidget->SetCombinedModality(m_CombinedModality);
this->SetCombinedModalityEditWidgetEnabled(true);
}
void QmitkUSNavigationStepCombinedModality::OnActivateButtonClicked()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetSelectedCombinedModality();
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetSelectedCombinedModality();
if (combinedModality.IsNotNull())
{
- if (!combinedModality->GetIsConnected()) { combinedModality->Connect(); }
- if (!combinedModality->GetIsActive()) { combinedModality->Activate(); }
+ if (!combinedModality->GetUltrasoundDevice()->GetIsConnected()) { combinedModality->GetUltrasoundDevice()->Connect(); }
+ if (!combinedModality->GetUltrasoundDevice()->GetIsActive()) { combinedModality->GetUltrasoundDevice()->Activate(); }
}
}
void QmitkUSNavigationStepCombinedModality::OnDisconnectButtonClicked()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetSelectedCombinedModality();
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetSelectedCombinedModality();
if (combinedModality.IsNotNull())
{
- if (combinedModality->GetIsActive()) { combinedModality->Deactivate(); }
- if (combinedModality->GetIsConnected()) { combinedModality->Disconnect(); }
+ if (combinedModality->GetUltrasoundDevice()->GetIsActive()) { combinedModality->GetUltrasoundDevice()->Deactivate(); }
+ if (combinedModality->GetUltrasoundDevice()->GetIsConnected()) { combinedModality->GetUltrasoundDevice()->Disconnect(); }
}
}
bool QmitkUSNavigationStepCombinedModality::OnStartStep()
{
return true;
}
bool QmitkUSNavigationStepCombinedModality::OnRestartStep()
{
return true;
}
bool QmitkUSNavigationStepCombinedModality::OnFinishStep()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetSelectedCombinedModality();
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetSelectedCombinedModality();
if (combinedModality.IsNotNull())
{
QApplication::setOverrideCursor(Qt::WaitCursor);
// make sure that the combined modality is in connected state before using it
- if (combinedModality->GetDeviceState() < mitk::USDevice::State_Connected) { combinedModality->Connect(); }
- if (combinedModality->GetDeviceState() < mitk::USDevice::State_Activated) { combinedModality->Activate(); }
+ if (combinedModality->GetUltrasoundDevice()->GetDeviceState() < mitk::USDevice::State_Connected) { combinedModality->GetUltrasoundDevice()->Connect(); }
+ if (combinedModality->GetUltrasoundDevice()->GetDeviceState() < mitk::USDevice::State_Activated) { combinedModality->GetUltrasoundDevice()->Activate(); }
QApplication::restoreOverrideCursor();
}
emit SignalCombinedModalityChanged(combinedModality);
this->CreateCombinedModalityResultAndSignalIt();
return true;
}
bool QmitkUSNavigationStepCombinedModality::OnActivateStep()
{
// make sure that device selection status is up-to-date
this->OnDeviceSelectionChanged();
return true;
}
void QmitkUSNavigationStepCombinedModality::OnUpdate()
{
}
QString QmitkUSNavigationStepCombinedModality::GetTitle()
{
return "Selection of Combined Modality";
}
bool QmitkUSNavigationStepCombinedModality::GetIsRestartable()
{
return false;
}
void QmitkUSNavigationStepCombinedModality::SetCombinedModalityCreateWidgetEnabled(bool enabled)
{
ui->combinedModalityLabel->setVisible(!enabled);
ui->combinedModalityListWidget->setVisible(!enabled);
ui->combinedModalityCreateButton->setVisible(!enabled);
ui->combinedModalityDeleteButton->setVisible(!enabled);
ui->combinedModalitEditButton->setVisible(!enabled);
ui->combinedModalityActivateButton->setVisible(!enabled);
ui->combinedModalityDistconnectButton->setVisible(!enabled);
ui->helpLabel->setVisible(!enabled);
ui->calibrationGroupBox->setVisible(!enabled);
ui->combinedModalityCreateWidget->setVisible(enabled);
}
void QmitkUSNavigationStepCombinedModality::SetCombinedModalityEditWidgetEnabled(bool enabled)
{
ui->combinedModalityLabel->setVisible(!enabled);
ui->combinedModalityListWidget->setVisible(!enabled);
ui->combinedModalityCreateButton->setVisible(!enabled);
ui->combinedModalityDeleteButton->setVisible(!enabled);
ui->combinedModalitEditButton->setVisible(!enabled);
ui->combinedModalityActivateButton->setVisible(!enabled);
ui->combinedModalityDistconnectButton->setVisible(!enabled);
ui->helpLabel->setVisible(!enabled);
ui->calibrationGroupBox->setVisible(!enabled);
ui->combinedModalityEditWidget->setVisible(enabled);
}
void QmitkUSNavigationStepCombinedModality::CreateCombinedModalityResultAndSignalIt()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetCombinedModality();
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetCombinedModality();
mitk::USDevice::Pointer usDevice = combinedModality->GetUltrasoundDevice();
// save identifiers and calibration to a result object
mitk::DataNode::Pointer combinedModalityResult = mitk::DataNode::New();
combinedModalityResult->SetName("CombinedModalityResult");
combinedModalityResult->SetStringProperty("USNavigation::CombinedModality",
- std::string(combinedModality->GetManufacturer() + ": " + combinedModality->GetName()
- + " (" + combinedModality->GetComment() + ")").c_str());
+ std::string(combinedModality->GetUltrasoundDevice()->GetManufacturer() + ": " + combinedModality->GetUltrasoundDevice()->GetName()
+ + " (" + combinedModality->GetUltrasoundDevice()->GetComment() + ")").c_str());
combinedModalityResult->SetStringProperty("USNavigation::UltrasoundDevice",
std::string(usDevice->GetManufacturer() + ": " + usDevice->GetName()
+ " (" + usDevice->GetComment() + ")").c_str());
combinedModalityResult->SetStringProperty("USNavigation::TrackingDevice",
combinedModality->GetNavigationDataSource()->GetName().c_str());
combinedModalityResult->SetStringProperty("USNavigation::Calibration",
combinedModality->SerializeCalibration().c_str());
emit SignalIntermediateResult(combinedModalityResult);
}
bool QmitkUSNavigationStepCombinedModality::UpdateCalibrationState()
{
if (m_CombinedModality.IsNull()) { return false; }
bool calibrated = m_CombinedModality->GetContainsAtLeastOneCalibration();
if (calibrated) { ui->calibrationLoadStateLabel->setText("Selected device contains at least one calibration."); }
else { ui->calibrationLoadStateLabel->setText("Selected device is not calibrated."); }
return calibrated;
}
-mitk::USCombinedModality::Pointer QmitkUSNavigationStepCombinedModality::GetSelectedCombinedModality()
+mitk::AbstractUltrasoundTrackerDevice::Pointer QmitkUSNavigationStepCombinedModality::GetSelectedCombinedModality()
{
// nothing more to do if no device is selected at the moment
if (!ui->combinedModalityListWidget->GetIsServiceSelected()) { return 0; }
- mitk::USCombinedModality::Pointer combinedModality = ui->combinedModalityListWidget->GetSelectedService<mitk::USCombinedModality>();
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = ui->combinedModalityListWidget->GetSelectedService<mitk::AbstractUltrasoundTrackerDevice>();
if (combinedModality.IsNull())
{
MITK_WARN << "Selected device is no USCombinedModality.";
}
return combinedModality;
}
void QmitkUSNavigationStepCombinedModality::SetCalibrationLoadedNecessary(bool necessary)
{
m_CalibrationLoadedNecessary = necessary;
}
void QmitkUSNavigationStepCombinedModality::OnDevicePropertyChanged(const std::string& key, const std::string&)
{
// property changes only matter if the navigation step is currently active
// (being sensitive to them in other states may even be dangerous)
if (this->GetNavigationStepState() < QmitkUSAbstractNavigationStep::State_Active) { return; }
// calibration state could have changed if the depth was changed
if (key == mitk::USDevice::GetPropertyKeys().US_PROPKEY_BMODE_DEPTH)
{
bool calibrated = this->UpdateCalibrationState();
if (calibrated) { emit SignalReadyForNextStep(); }
else { emit SignalNoLongerReadyForNextStep(); }
}
}
void QmitkUSNavigationStepCombinedModality::UpdateTrackingToolNames()
{
//check if everything is initialized
if (m_CombinedModality.IsNull()) { return; }
mitk::NavigationDataSource::Pointer navigationDataSource = m_CombinedModality->GetNavigationDataSource();
if (navigationDataSource.IsNull()) { return; }
if (GetDataStorage(false).IsNull()) { return; }
// get the settings node
mitk::DataNode::Pointer settingsNode = this->GetNamedDerivedNode(DATANAME_SETTINGS, DATANAME_BASENODE);
std::string needleNames;
itk::ProcessObject::DataObjectPointerArray outputs = navigationDataSource->GetOutputs();
for (itk::ProcessObject::DataObjectPointerArray::iterator it = outputs.begin(); it != outputs.end(); ++it)
{
needleNames += std::string((static_cast<mitk::NavigationData*>(it->GetPointer()))->GetName()) + ";";
}
// change the settings node only if the settings changed
std::string oldProperty;
if (!settingsNode->GetStringProperty("settings.needle-names", oldProperty)
|| oldProperty != needleNames
|| !settingsNode->GetStringProperty("settings.reference-names", oldProperty)
|| oldProperty != needleNames)
{
settingsNode->SetStringProperty("settings.needle-names", needleNames.c_str());
settingsNode->SetStringProperty("settings.reference-names", needleNames.c_str());
emit SignalSettingsNodeChanged(settingsNode);
}
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.h b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.h
index 66d9f22848..2df8b2dd3a 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.h
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.h
@@ -1,122 +1,122 @@
/*===================================================================
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 QMITKUSNAVIGATIONSTEPCOMBINEDMODALITY_H
#define QMITKUSNAVIGATIONSTEPCOMBINEDMODALITY_H
#include "QmitkUSAbstractNavigationStep.h"
namespace Ui {
class QmitkUSNavigationStepCombinedModality;
}
/**
* \brief Navigation step for creating and selecting a combined modality.
* Already created combined modalities can be selected from a service list
* widget and calibrations can be loaded for them. New combined modalities can
* be created from two service list widgets of NavigationDataSources and
* USDevices.
*/
class QmitkUSNavigationStepCombinedModality : public QmitkUSAbstractNavigationStep
{
Q_OBJECT
protected slots:
/**
* \brief Triggered, when the selection in the service list widget has changed.
*/
void OnDeviceSelectionChanged();
/**
* \brief Triggered, when the user has clicked "Load Calibration".
* Opens a file open dialog and sets the selected calibration for the selected
* combined modality.
*/
void OnLoadCalibration();
/**
* \brief Triggered, when the button for creating a new combined modality was clicked.
*/
void OnCombinedModalityCreateNewButtonClicked();
/**
* \brief Triggered, when the dialog for creating a new combined modality was closed.
*/
void OnCombinedModalityCreationExit();
void OnCombinedModalityEditExit();
/**
* \brief Triggered, when the button for deleting a combined modality was clicked.
* Unregisters the combined modality from the microservice and removes it.
*/
void OnDeleteButtonClicked();
void OnCombinedModalityEditButtonClicked();
void OnActivateButtonClicked();
/**
* \brief Triggered, when the button for disconnecting a combined modality was clicked.
* The state of the combined modality is changed to 'initialized'.
*/
void OnDisconnectButtonClicked();
public:
explicit QmitkUSNavigationStepCombinedModality(QWidget *parent = 0);
~QmitkUSNavigationStepCombinedModality();
virtual bool OnStartStep();
virtual bool OnRestartStep();
virtual bool OnFinishStep();
virtual bool OnActivateStep();
virtual void OnUpdate();
virtual QString GetTitle();
virtual bool GetIsRestartable();
- mitk::USCombinedModality::Pointer GetSelectedCombinedModality();
+ mitk::AbstractUltrasoundTrackerDevice::Pointer GetSelectedCombinedModality();
void SetCalibrationLoadedNecessary(bool);
void OnDevicePropertyChanged(const std::string&, const std::string&);
protected:
void SetCombinedModalityCreateWidgetEnabled(bool enabled);
void SetCombinedModalityEditWidgetEnabled(bool enabled);
void CreateCombinedModalityResultAndSignalIt();
bool UpdateCalibrationState();
void UpdateTrackingToolNames();
/**
* \brief The Combined Modality which was selected by the user.
*/
- itk::SmartPointer<mitk::USCombinedModality> m_CombinedModality;
+ itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice> m_CombinedModality;
std::string m_LoadedCalibration; //<<< Temporary saving point for loaded calibration data.
std::string m_LastCalibrationFilename; //<<< saves the filename last loaded calibration
bool m_CalibrationLoadedNecessary;
private:
mitk::MessageDelegate2<QmitkUSNavigationStepCombinedModality, const std::string&, const std::string&> m_ListenerDeviceChanged;
Ui::QmitkUSNavigationStepCombinedModality *ui;
};
#endif // QMITKUSNAVIGATIONSTEPCOMBINEDMODALITY_H
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepMarkerIntervention.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepMarkerIntervention.cpp
index 8ad60d0537..f57d51e3a2 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepMarkerIntervention.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepMarkerIntervention.cpp
@@ -1,1017 +1,1017 @@
/*===================================================================
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 "QmitkUSNavigationStepMarkerIntervention.h"
#include "ui_QmitkUSNavigationStepMarkerIntervention.h"
#include "mitkBaseRenderer.h"
#include "mitkContourModel.h"
#include "mitkNeedleProjectionFilter.h"
#include "mitkNodeDisplacementFilter.h"
#include "mitkSurface.h"
#include "mitkTextAnnotation2D.h"
#include <mitkBaseGeometry.h>
#include <mitkManualPlacementAnnotationRenderer.h>
#include "../Filter/mitkUSNavigationTargetIntersectionFilter.h"
#include "../Filter/mitkUSNavigationTargetOcclusionFilter.h"
#include "../Filter/mitkUSNavigationTargetUpdateFilter.h"
#include "../QmitkUSNavigationMarkerPlacement.h"
#include "../Widgets/QmitkZoneProgressBar.h"
#include "../mitkUSTargetPlacementQualityCalculator.h"
#include "../Interactors/mitkUSPointMarkInteractor.h"
#include "usModuleRegistry.h"
#include "mitkLookupTable.h"
#include "mitkLookupTableProperty.h"
#include "mitkSurface.h"
// VTK
#include "vtkCellLocator.h"
#include "vtkDataSet.h"
#include "vtkDoubleArray.h"
#include "vtkFloatArray.h"
#include "vtkIdList.h"
#include "vtkLinearTransform.h"
#include "vtkLookupTable.h"
#include "vtkMath.h"
#include "vtkOBBTree.h"
#include "vtkPointData.h"
#include "vtkPointData.h"
#include "vtkPolyData.h"
#include "vtkSelectEnclosedPoints.h"
#include "vtkSmartPointer.h"
#include <vtkSphereSource.h>
#include "vtkTransformPolyDataFilter.h"
#include "vtkWarpScalar.h"
QmitkUSNavigationStepMarkerIntervention::QmitkUSNavigationStepMarkerIntervention(QWidget *parent)
: QmitkUSAbstractNavigationStep(parent),
m_NumberOfTargets(0),
m_PlannedTargetsNodes(),
m_ReachedTargetsNodes(),
m_TargetProgressBar(new QmitkZoneProgressBar(QString::fromStdString("Target: %1 mm"), 200, 0, this)),
m_PlannedTargetProgressBar(nullptr),
m_CurrentTargetIndex(0),
m_CurrentTargetReached(false),
m_ShowPlanningColors(false),
m_PointMarkInteractor(mitk::USPointMarkInteractor::New()),
m_TargetNode(nullptr),
m_TargetColorLookupTableProperty(nullptr),
m_TargetSurface(nullptr),
m_NeedleProjectionFilter(mitk::NeedleProjectionFilter::New()),
m_NodeDisplacementFilter(mitk::NodeDisplacementFilter::New()),
m_TargetUpdateFilter(mitk::USNavigationTargetUpdateFilter::New()),
m_TargetOcclusionFilter(mitk::USNavigationTargetOcclusionFilter::New()),
m_TargetIntersectionFilter(mitk::USNavigationTargetIntersectionFilter::New()),
m_PlacementQualityCalculator(mitk::USTargetPlacementQualityCalculator::New()),
m_TargetStructureWarnOverlay(mitk::TextAnnotation2D::New()),
m_ReferenceSensorName(),
m_NeedleSensorName(),
m_ReferenceSensorIndex(1),
m_NeedleSensorIndex(0),
m_ListenerTargetCoordinatesChanged(this, &QmitkUSNavigationStepMarkerIntervention::UpdateTargetCoordinates),
ui(new Ui::QmitkUSNavigationStepMarkerIntervention)
{
m_ActiveTargetColor[0] = 1;
m_ActiveTargetColor[1] = 1;
m_ActiveTargetColor[2] = 0;
m_InactiveTargetColor[0] = 1;
m_InactiveTargetColor[1] = 1;
m_InactiveTargetColor[2] = 0.5;
m_ReachedTargetColor[0] = 0.6;
m_ReachedTargetColor[1] = 1;
m_ReachedTargetColor[2] = 0.6;
ui->setupUi(this);
connect(ui->freezeImageButton, SIGNAL(SignalFreezed(bool)), this, SLOT(OnFreeze(bool)));
connect(ui->backToLastTargetButton, SIGNAL(clicked()), this, SLOT(OnBackToLastTargetClicked()));
connect(ui->targetReachedButton, SIGNAL(clicked()), this, SLOT(OnTargetLeft()));
connect(this, SIGNAL(TargetReached(int)), this, SLOT(OnTargetReached()));
connect(this, SIGNAL(TargetLeft(int)), this, SLOT(OnTargetLeft()));
connect(ui->riskStructuresRangeWidget,
SIGNAL(SignalZoneViolated(const mitk::DataNode *, mitk::Point3D)),
this,
SLOT(OnRiskZoneViolated(const mitk::DataNode *, mitk::Point3D)));
m_PointMarkInteractor->CoordinatesChangedEvent.AddListener(m_ListenerTargetCoordinatesChanged);
this->GenerateTargetColorLookupTable();
m_TargetProgressBar->SetTextFormatInvalid("Target is not on Needle Path");
ui->targetStructuresRangeLayout->addWidget(m_TargetProgressBar);
m_TargetUpdateFilter->SetScalarArrayIdentifier("USNavigation::ReachedTargetScores");
}
QmitkUSNavigationStepMarkerIntervention::~QmitkUSNavigationStepMarkerIntervention()
{
mitk::DataStorage::Pointer dataStorage = this->GetDataStorage(false);
if (dataStorage.IsNotNull())
{
// remove the node for the needle path
mitk::DataNode::Pointer node =
this->GetNamedDerivedNode("Needle Path", QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
if (node.IsNotNull())
{
dataStorage->Remove(node);
}
}
delete ui;
m_PointMarkInteractor->CoordinatesChangedEvent.RemoveListener(m_ListenerTargetCoordinatesChanged);
}
bool QmitkUSNavigationStepMarkerIntervention::OnStartStep()
{
m_NeedleProjectionFilter->SelectInput(m_NeedleSensorIndex);
// create node for Needle Projection
mitk::DataNode::Pointer node =
this->GetNamedDerivedNodeAndCreate("Needle Path", QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
node->SetData(m_NeedleProjectionFilter->GetProjection());
node->SetBoolProperty("show contour", true);
// initialize warning overlay (and do not display it, yet)
m_TargetStructureWarnOverlay->SetText("Warning: Needle is Inside the Target Structure.");
m_TargetStructureWarnOverlay->SetVisibility(false);
// set position and font size for the text overlay
mitk::Point2D overlayPosition;
overlayPosition.SetElement(0, 10.0f);
overlayPosition.SetElement(1, 10.0f);
m_TargetStructureWarnOverlay->SetPosition2D(overlayPosition);
m_TargetStructureWarnOverlay->SetFontSize(18);
// overlay should be red
mitk::Color color;
color[0] = 1;
color[1] = 0;
color[2] = 0;
m_TargetStructureWarnOverlay->SetColor(color);
mitk::ManualPlacementAnnotationRenderer::AddAnnotation(m_TargetStructureWarnOverlay.GetPointer(), "stdmulti.widget4");
return true;
}
bool QmitkUSNavigationStepMarkerIntervention::OnStopStep()
{
mitk::DataStorage::Pointer dataStorage = this->GetDataStorage();
// remove all reached nodes from the data storage
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_ReachedTargetsNodes.begin();
it != m_ReachedTargetsNodes.end();
++it)
{
dataStorage->Remove(*it);
}
m_ReachedTargetsNodes.clear();
m_CurrentTargetIndex = 0;
// reset button states
ui->freezeImageButton->setEnabled(false);
ui->backToLastTargetButton->setEnabled(false);
ui->targetReachedButton->setEnabled(true);
// make sure that it is unfreezed after stopping the step
ui->freezeImageButton->Unfreeze();
// remove base node for reached targets from the data storage
mitk::DataNode::Pointer reachedTargetsNode = this->GetNamedDerivedNode(
QmitkUSAbstractNavigationStep::DATANAME_BASENODE, QmitkUSNavigationMarkerPlacement::DATANAME_REACHED_TARGETS);
if (reachedTargetsNode.IsNotNull())
{
dataStorage->Remove(reachedTargetsNode);
}
return true;
}
bool QmitkUSNavigationStepMarkerIntervention::OnFinishStep()
{
return true;
}
bool QmitkUSNavigationStepMarkerIntervention::OnActivateStep()
{
this->ClearZones(); // clear risk zones before adding new ones
// get target node from data storage and make sure that it contains data
m_TargetNode = this->GetNamedDerivedNode(QmitkUSNavigationMarkerPlacement::DATANAME_TARGETSURFACE,
QmitkUSNavigationMarkerPlacement::DATANAME_TUMOUR);
if (m_TargetNode.IsNull() || m_TargetNode->GetData() == 0)
{
mitkThrow() << "Target node (" << QmitkUSNavigationMarkerPlacement::DATANAME_TARGETSURFACE << ") must not be null.";
}
// get target data and make sure that it is a surface
m_TargetSurface = dynamic_cast<mitk::Surface *>(m_TargetNode->GetData());
if (m_TargetSurface.IsNull())
{
mitkThrow() << "Target node (" << QmitkUSNavigationMarkerPlacement::DATANAME_TARGETSURFACE
<< ") data must be of type mitk::Surface";
}
// delete progress bars for reinitializing them again afterwards
if (m_PlannedTargetProgressBar)
{
ui->targetStructuresRangeLayout->removeWidget(m_PlannedTargetProgressBar);
delete m_PlannedTargetProgressBar;
m_PlannedTargetProgressBar = 0;
}
m_NodeDisplacementFilter->SelectInput(m_ReferenceSensorIndex);
this->UpdateTargetProgressDisplay();
mitk::DataNode::Pointer tumourNode = this->GetNamedDerivedNode(QmitkUSNavigationMarkerPlacement::DATANAME_TUMOUR,
QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
if (tumourNode.IsNotNull())
{
// do not show tumour node during intervention (target surface is shown)
tumourNode->SetBoolProperty("visible", false);
// add tumour as a risk structure
ui->riskStructuresRangeWidget->AddZone(tumourNode);
}
// set target structure for target update filter
m_TargetUpdateFilter->SetTargetStructure(m_TargetNode);
m_TargetOcclusionFilter->SetTargetStructure(m_TargetNode);
// set lookup table of tumour node
m_TargetNode->SetProperty("LookupTable", m_TargetColorLookupTableProperty);
//
mitk::DataNode::Pointer targetsBaseNode = this->GetNamedDerivedNode(QmitkUSNavigationMarkerPlacement::DATANAME_TARGETS,
QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
mitk::DataStorage::SetOfObjects::ConstPointer plannedTargetNodes;
if (targetsBaseNode.IsNotNull())
{
plannedTargetNodes = this->GetDataStorage()->GetDerivations(targetsBaseNode);
}
if (plannedTargetNodes.IsNotNull() && plannedTargetNodes->Size() > 0)
{
for (mitk::DataStorage::SetOfObjects::ConstIterator it = plannedTargetNodes->Begin();
it != plannedTargetNodes->End();
++it)
{
m_PlannedTargetsNodes.push_back(it->Value());
}
m_PlannedTargetProgressBar = new QmitkZoneProgressBar(QString::fromStdString("Planned Target"), 200, 0);
ui->targetStructuresRangeLayout->addWidget(m_PlannedTargetProgressBar);
}
// add progress bars for risk zone nodes
mitk::DataNode::Pointer zonesBaseNode = this->GetNamedDerivedNode(QmitkUSNavigationMarkerPlacement::DATANAME_ZONES,
QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
// only add progress bars if the base node for zones was created
if (zonesBaseNode.IsNotNull())
{
mitk::DataStorage::SetOfObjects::ConstPointer zoneNodes = this->GetDataStorage()->GetDerivations(zonesBaseNode);
for (mitk::DataStorage::SetOfObjects::ConstIterator it = zoneNodes->Begin(); it != zoneNodes->End(); ++it)
{
ui->riskStructuresRangeWidget->AddZone(it->Value());
}
m_TargetOcclusionFilter->SelectStartPositionInput(m_NeedleSensorIndex);
m_TargetOcclusionFilter->SetObstacleStructures(zoneNodes);
}
return true;
}
bool QmitkUSNavigationStepMarkerIntervention::OnDeactivateStep()
{
ui->freezeImageButton->Unfreeze();
return true;
}
void QmitkUSNavigationStepMarkerIntervention::OnUpdate()
{
// get navigation data source and make sure that it is not null
mitk::NavigationDataSource::Pointer navigationDataSource = this->GetCombinedModality()->GetNavigationDataSource();
if (navigationDataSource.IsNull())
{
MITK_ERROR("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepMarkerIntervention") << "Navigation Data Source of Combined Modality must not be null.";
mitkThrow() << "Navigation Data Source of Combined Modality must not be null.";
}
ui->riskStructuresRangeWidget->UpdateDistancesToNeedlePosition(navigationDataSource->GetOutput(m_NeedleSensorIndex));
this->UpdateBodyMarkerStatus(navigationDataSource->GetOutput(m_ReferenceSensorIndex));
this->UpdateTargetColors();
this->UpdateTargetScore();
this->UpdateTargetViolationStatus();
}
void QmitkUSNavigationStepMarkerIntervention::OnSettingsChanged(const itk::SmartPointer<mitk::DataNode> settingsNode)
{
if (settingsNode.IsNull())
{
return;
}
int numberOfTargets;
if (settingsNode->GetIntProperty("settings.number-of-targets", numberOfTargets))
{
m_NumberOfTargets = numberOfTargets;
m_TargetUpdateFilter->SetNumberOfTargets(numberOfTargets);
m_PlacementQualityCalculator->SetOptimalAngle(m_TargetUpdateFilter->GetOptimalAngle());
}
std::string referenceSensorName;
if (settingsNode->GetStringProperty("settings.reference-name-selected", referenceSensorName))
{
m_ReferenceSensorName = referenceSensorName;
}
std::string needleSensorName;
if (settingsNode->GetStringProperty("settings.needle-name-selected", needleSensorName))
{
m_NeedleSensorName = needleSensorName;
}
this->UpdateSensorsNames();
}
QString QmitkUSNavigationStepMarkerIntervention::GetTitle()
{
return "Computer-assisted Intervention";
}
bool QmitkUSNavigationStepMarkerIntervention::GetIsRestartable()
{
return true;
}
QmitkUSAbstractNavigationStep::FilterVector QmitkUSNavigationStepMarkerIntervention::GetFilter()
{
FilterVector filter;
filter.push_back(m_NeedleProjectionFilter.GetPointer());
filter.push_back(m_NodeDisplacementFilter.GetPointer());
filter.push_back(m_TargetOcclusionFilter.GetPointer());
return filter;
}
void QmitkUSNavigationStepMarkerIntervention::OnSetCombinedModality()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetCombinedModality(false);
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetCombinedModality(false);
if (combinedModality.IsNotNull())
{
mitk::AffineTransform3D::Pointer calibration = combinedModality->GetCalibration();
if (calibration.IsNotNull())
{
m_NeedleProjectionFilter->SetTargetPlane(calibration);
}
}
ui->freezeImageButton->SetCombinedModality(combinedModality, m_ReferenceSensorIndex);
this->UpdateSensorsNames();
}
void QmitkUSNavigationStepMarkerIntervention::OnTargetReached()
{
m_CurrentTargetReached = true;
}
void QmitkUSNavigationStepMarkerIntervention::OnTargetLeft()
{
m_CurrentTargetReached = false;
m_CurrentTargetIndex++;
if (m_CurrentTargetIndex >= 0 && static_cast<unsigned int>(m_CurrentTargetIndex) >= m_NumberOfTargets)
{
ui->targetReachedButton->setDisabled(true);
}
ui->backToLastTargetButton->setEnabled(true);
ui->freezeImageButton->setEnabled(true);
this->UpdateTargetProgressDisplay();
if (m_ReachedTargetsNodes.size() < m_CurrentTargetIndex)
{
mitk::DataNode::Pointer node = mitk::DataNode::New();
node->SetName(
(QString("Target ") + QString("%1").arg(m_CurrentTargetIndex, 2, 10, QLatin1Char('0'))).toStdString());
this->GetDataStorage()->Add(
node,
this->GetNamedDerivedNodeAndCreate(QmitkUSNavigationMarkerPlacement::DATANAME_REACHED_TARGETS,
QmitkUSAbstractNavigationStep::DATANAME_BASENODE));
m_ReachedTargetsNodes.push_back(node);
}
mitk::DataNode::Pointer node = m_ReachedTargetsNodes.at(m_CurrentTargetIndex - 1);
mitk::Surface::Pointer zone = mitk::Surface::New();
// create a vtk sphere with given radius
vtkSmartPointer<vtkSphereSource> vtkSphere = vtkSmartPointer<vtkSphereSource>::New();
vtkSphere->SetRadius(5);
vtkSphere->SetCenter(0, 0, 0);
vtkSphere->Update();
zone->SetVtkPolyData(vtkSphere->GetOutput());
// set vtk sphere and origin to data node
node->SetData(zone);
node->GetData()->GetGeometry()->SetOrigin(
this->GetCombinedModality()->GetNavigationDataSource()->GetOutput(m_NeedleSensorIndex)->GetPosition());
node->SetColor(0.2, 0.9, 0.2);
this->UpdateTargetCoordinates(node);
}
void QmitkUSNavigationStepMarkerIntervention::OnBackToLastTargetClicked()
{
if (m_CurrentTargetIndex < 1)
{
MITK_WARN << "Cannot go back to last target as there is no last target.";
return;
}
m_CurrentTargetIndex--;
if (m_ReachedTargetsNodes.size() > m_CurrentTargetIndex)
{
this->GetDataStorage()->Remove(m_ReachedTargetsNodes.last());
MITK_INFO("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepMarkerIntervention") << "Removed Target " << m_ReachedTargetsNodes.size();
m_ReachedTargetsNodes.pop_back();
}
if (m_CurrentTargetIndex == 0)
{
ui->backToLastTargetButton->setDisabled(true);
}
if (m_CurrentTargetIndex >= 0 && static_cast<unsigned int>(m_CurrentTargetIndex) < m_NumberOfTargets)
{
ui->targetReachedButton->setEnabled(true);
}
ui->freezeImageButton->setEnabled(false);
ui->freezeImageButton->Unfreeze();
this->UpdateTargetProgressDisplay();
m_TargetUpdateFilter->RemovePositionOfTarget(m_CurrentTargetIndex);
}
void QmitkUSNavigationStepMarkerIntervention::OnFreeze(bool freezed)
{
if (freezed)
{
- this->GetCombinedModality()->SetIsFreezed(true);
+ this->GetCombinedModality()->GetUltrasoundDevice()->SetIsFreezed(true);
// load state machine and event config for data interactor
m_PointMarkInteractor->LoadStateMachine("USPointMarkInteractions.xml", us::ModuleRegistry::GetModule("MitkUS"));
m_PointMarkInteractor->SetEventConfig("globalConfig.xml");
if (m_CurrentTargetIndex < 1)
{
mitkThrow() << "Current target index has to be greater zero when freeze button is clicked.";
}
if (m_ReachedTargetsNodes.size() < m_CurrentTargetIndex)
{
mitk::DataNode::Pointer node = mitk::DataNode::New();
node->SetName(
(QString("Target ") + QString("%1").arg(m_CurrentTargetIndex, 2, 10, QLatin1Char('0'))).toStdString());
this->GetDataStorage()->Add(
node,
this->GetNamedDerivedNodeAndCreate(QmitkUSNavigationMarkerPlacement::DATANAME_REACHED_TARGETS,
QmitkUSAbstractNavigationStep::DATANAME_BASENODE));
m_ReachedTargetsNodes.push_back(node);
}
m_PointMarkInteractor->SetDataNode(m_ReachedTargetsNodes.last());
}
else
{
m_PointMarkInteractor->SetDataNode(0);
- this->GetCombinedModality()->SetIsFreezed(false);
+ this->GetCombinedModality()->GetUltrasoundDevice()->SetIsFreezed(false);
}
}
void QmitkUSNavigationStepMarkerIntervention::OnShowPlanningView(bool show)
{
m_ShowPlanningColors = show;
}
void QmitkUSNavigationStepMarkerIntervention::OnRiskZoneViolated(const mitk::DataNode *node, mitk::Point3D position)
{
MITK_INFO << "Risk zone (" << node->GetName() << ") violated at position " << position << ".";
}
void QmitkUSNavigationStepMarkerIntervention::ClearZones()
{
ui->riskStructuresRangeWidget->ClearZones();
// remove all reached target nodes from the data storage and clear the list
mitk::DataStorage::Pointer dataStorage = this->GetDataStorage();
for (QVector<mitk::DataNode::Pointer>::iterator it = m_ReachedTargetsNodes.begin(); it != m_ReachedTargetsNodes.end();
++it)
{
if (it->IsNotNull())
{
dataStorage->Remove(*it);
}
}
m_ReachedTargetsNodes.clear();
}
void QmitkUSNavigationStepMarkerIntervention::UpdateTargetCoordinates(mitk::DataNode *dataNode)
{
m_NodeDisplacementFilter->ResetNodes();
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_ReachedTargetsNodes.begin();
it != m_ReachedTargetsNodes.end();
++it)
{
if (it->IsNotNull() && (*it)->GetData() != 0)
{
m_NodeDisplacementFilter->AddNode(*it);
}
}
mitk::BaseData *baseData = dataNode->GetData();
if (!baseData)
{
mitkThrow() << "Data of the data node must not be null.";
}
mitk::BaseGeometry::Pointer geometry = baseData->GetGeometry();
if (geometry.IsNull())
{
mitkThrow() << "Geometry of the data node must not be null.";
}
m_TargetUpdateFilter->SetControlNode(m_CurrentTargetIndex - 1, dataNode);
if (m_PlannedTargetsNodes.size() > m_CurrentTargetIndex - 1)
{
m_PlannedTargetsNodes.at(m_CurrentTargetIndex - 1)->SetVisibility(false);
}
MITK_INFO("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepMarkerIntervention") << "Target " << m_CurrentTargetIndex << " reached at position "
<< geometry->GetOrigin();
this->CalculateTargetPlacementQuality();
}
void QmitkUSNavigationStepMarkerIntervention::UpdateBodyMarkerStatus(mitk::NavigationData::Pointer bodyMarker)
{
if (bodyMarker.IsNull())
{
MITK_ERROR("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepMarkerIntervention")
<< "Current Navigation Data for body marker of Combined Modality must not be null.";
mitkThrow() << "Current Navigation Data for body marker of Combined Modality must not be null.";
}
bool valid = bodyMarker->IsDataValid();
// update body marker status label
if (valid)
{
ui->bodyMarkerTrackingStatusLabel->setStyleSheet(
"background-color: #8bff8b; margin-right: 1em; margin-left: 1em; border: 1px solid grey");
ui->bodyMarkerTrackingStatusLabel->setText("Body marker is inside the tracking volume.");
}
else
{
ui->bodyMarkerTrackingStatusLabel->setStyleSheet(
"background-color: #ff7878; margin-right: 1em; margin-left: 1em; border: 1px solid grey");
ui->bodyMarkerTrackingStatusLabel->setText("Body marker is not inside the tracking volume.");
}
ui->targetStructuresRangeGroupBox->setEnabled(valid);
ui->riskStructuresRangeGroupBox->setEnabled(valid);
}
void QmitkUSNavigationStepMarkerIntervention::GenerateTargetColorLookupTable()
{
vtkSmartPointer<vtkLookupTable> lookupTable = vtkSmartPointer<vtkLookupTable>::New();
lookupTable->SetHueRange(0.0, 0.33);
lookupTable->SetSaturationRange(1.0, 1.0);
lookupTable->SetValueRange(1.0, 1.0);
lookupTable->SetTableRange(0.0, 1.0);
lookupTable->Build();
mitk::LookupTable::Pointer lut = mitk::LookupTable::New();
lut->SetVtkLookupTable(lookupTable);
m_TargetColorLookupTableProperty = mitk::LookupTableProperty::New(lut);
}
void QmitkUSNavigationStepMarkerIntervention::UpdateTargetColors()
{
if (m_TargetNode.IsNull())
{
return;
}
m_TargetNode->SetColor(1, 1, 1);
mitk::BaseData *targetNodeData = m_TargetNode->GetData();
if (targetNodeData == 0)
{
return;
}
mitk::Surface::Pointer targetNodeSurface = dynamic_cast<mitk::Surface *>(targetNodeData);
vtkSmartPointer<vtkPolyData> targetNodeSurfaceVtk = targetNodeSurface->GetVtkPolyData();
vtkPointData *targetPointData = targetNodeSurface->GetVtkPolyData()->GetPointData();
vtkFloatArray *scalars = dynamic_cast<vtkFloatArray *>(targetPointData->GetScalars("USNavigation::Occlusion"));
vtkFloatArray *targetScoreScalars;
if (m_ShowPlanningColors)
{
targetScoreScalars = dynamic_cast<vtkFloatArray *>(targetPointData->GetScalars("USNavigation::PlanningScalars"));
}
else
{
targetScoreScalars =
dynamic_cast<vtkFloatArray *>(targetPointData->GetScalars("USNavigation::ReachedTargetScores"));
}
if (!scalars || !targetScoreScalars)
{
return;
}
unsigned int numberOfTupels = scalars->GetNumberOfTuples();
vtkSmartPointer<vtkFloatArray> colors = vtkSmartPointer<vtkFloatArray>::New();
colors->SetNumberOfComponents(1);
colors->SetNumberOfTuples(numberOfTupels);
colors->SetName("Colors");
double color, intersection, markerScore;
for (unsigned int n = 0; n < numberOfTupels; n++)
{
scalars->GetTuple(n, &intersection);
targetScoreScalars->GetTuple(n, &markerScore);
if (intersection > 0)
{
color = 0;
}
else
{
color = markerScore;
}
colors->SetTuple(n, &color);
}
if (numberOfTupels > 0)
{
targetNodeSurfaceVtk->GetPointData()->SetScalars(colors);
targetNodeSurfaceVtk->GetPointData()->Update();
}
}
void QmitkUSNavigationStepMarkerIntervention::UpdateTargetScore()
{
if (m_NeedleProjectionFilter->GetProjection()->GetSize() != 2)
{
return;
}
vtkSmartPointer<vtkPolyData> targetSurfaceVtk = m_TargetSurface->GetVtkPolyData();
m_TargetIntersectionFilter->SetTargetSurface(m_TargetSurface);
m_TargetIntersectionFilter->SetLine(m_NeedleProjectionFilter->GetProjection());
m_TargetIntersectionFilter->CalculateIntersection();
if (m_TargetIntersectionFilter->GetIsIntersecting())
{
vtkFloatArray *scalars =
dynamic_cast<vtkFloatArray *>(targetSurfaceVtk->GetPointData()->GetScalars("USNavigation::ReachedTargetScores"));
double score;
scalars->GetTuple(m_TargetIntersectionFilter->GetIntersectionNearestSurfacePointId(), &score);
double color[3];
m_TargetColorLookupTableProperty->GetLookupTable()->GetVtkLookupTable()->GetColor(score, color);
float colorF[3];
colorF[0] = color[0];
colorF[1] = color[1];
colorF[2] = color[2];
m_TargetProgressBar->SetColor(colorF);
m_TargetProgressBar->SetBorderColor(colorF);
m_TargetProgressBar->setValue(m_TargetIntersectionFilter->GetDistanceToIntersection());
if (m_PlannedTargetProgressBar)
{
vtkFloatArray *scalars =
dynamic_cast<vtkFloatArray *>(targetSurfaceVtk->GetPointData()->GetScalars("USNavigation::PlanningScalars"));
if (scalars)
{
double score;
scalars->GetTuple(m_TargetIntersectionFilter->GetIntersectionNearestSurfacePointId(), &score);
double color[3];
m_TargetColorLookupTableProperty->GetLookupTable()->GetVtkLookupTable()->GetColor(score, color);
float colorF[3];
colorF[0] = color[0];
colorF[1] = color[1];
colorF[2] = color[2];
m_PlannedTargetProgressBar->SetColor(colorF);
m_PlannedTargetProgressBar->SetBorderColor(colorF);
m_PlannedTargetProgressBar->SetTextFormatValid("Planned Target: %1 mm");
mitk::Point3D intersectionPoint = m_TargetIntersectionFilter->GetIntersectionPoint();
mitk::ScalarType minDistance = -1;
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_PlannedTargetsNodes.begin();
it != m_PlannedTargetsNodes.end();
++it)
{
mitk::ScalarType distance =
intersectionPoint.EuclideanDistanceTo((*it)->GetData()->GetGeometry()->GetOrigin());
if (minDistance < 0 || distance < minDistance)
{
minDistance = distance;
}
}
m_PlannedTargetProgressBar->setValue(minDistance);
}
}
}
else
{
m_TargetProgressBar->setValueInvalid();
}
}
void QmitkUSNavigationStepMarkerIntervention::UpdateTargetProgressDisplay()
{
QString description;
if (m_CurrentTargetIndex >= static_cast<int>(m_NumberOfTargets))
{
description = "All Targets Reached";
if (m_TargetProgressBar)
{
m_TargetProgressBar->hide();
}
}
else
{
description = QString("Distance to Target ") + QString::number(m_CurrentTargetIndex + 1) + QString(" of ") +
QString::number(m_NumberOfTargets);
if (m_TargetProgressBar)
{
m_TargetProgressBar->show();
}
}
ui->targetStructuresRangeGroupBox->setTitle(description);
}
void QmitkUSNavigationStepMarkerIntervention::UpdatePlannedTargetProgressDisplay()
{
// make sure that the needle projection consists of two points
if (m_NeedleProjectionFilter->GetProjection()->GetSize() != 2)
{
return;
}
vtkSmartPointer<vtkPolyData> targetSurfaceVtk = m_TargetSurface->GetVtkPolyData();
m_TargetIntersectionFilter->SetTargetSurface(m_TargetSurface);
m_TargetIntersectionFilter->SetLine(m_NeedleProjectionFilter->GetProjection());
m_TargetIntersectionFilter->CalculateIntersection();
// update target progress bar according to the color of the intersection
// point on the target surface and the distance to the intersection
if (m_TargetIntersectionFilter->GetIsIntersecting())
{
vtkFloatArray *scalars = dynamic_cast<vtkFloatArray *>(targetSurfaceVtk->GetPointData()->GetScalars("Colors"));
double score;
scalars->GetTuple(m_TargetIntersectionFilter->GetIntersectionNearestSurfacePointId(), &score);
double color[3];
m_TargetColorLookupTableProperty->GetLookupTable()->GetVtkLookupTable()->GetColor(score, color);
float colorF[3];
colorF[0] = color[0];
colorF[1] = color[1];
colorF[2] = color[2];
m_TargetProgressBar->SetColor(colorF);
m_TargetProgressBar->SetBorderColor(colorF);
m_TargetProgressBar->setValue(m_TargetIntersectionFilter->GetDistanceToIntersection());
}
else
{
float red[3] = {0.6f, 0.0f, 0.0f};
m_TargetProgressBar->SetBorderColor(red);
m_TargetProgressBar->setValueInvalid();
}
}
void QmitkUSNavigationStepMarkerIntervention::UpdateTargetViolationStatus()
{
// transform vtk polydata according to mitk geometry
vtkSmartPointer<vtkTransformPolyDataFilter> transformFilter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transformFilter->SetInputData(0, m_TargetSurface->GetVtkPolyData());
transformFilter->SetTransform(m_TargetSurface->GetGeometry()->GetVtkTransform());
transformFilter->Update();
vtkSmartPointer<vtkSelectEnclosedPoints> enclosedPoints = vtkSmartPointer<vtkSelectEnclosedPoints>::New();
enclosedPoints->Initialize(transformFilter->GetOutput());
mitk::Point3D needleTip = m_NeedleProjectionFilter->GetProjection()->GetPoint(0);
// show warning if the needle tip is inside the target surface
if (enclosedPoints->IsInsideSurface(needleTip[0], needleTip[1], needleTip[2]))
{
if (!m_TargetStructureWarnOverlay->IsVisible(NULL))
{
m_TargetStructureWarnOverlay->SetVisibility(true);
mitk::DataNode::Pointer targetViolationResult = mitk::DataNode::New();
targetViolationResult->SetName("TargetViolation");
targetViolationResult->SetProperty("USNavigation::TargetViolationPoint", mitk::Point3dProperty::New(needleTip));
emit SignalIntermediateResult(targetViolationResult);
}
MITK_INFO("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepMarkerIntervention") << "Target surface violated at " << needleTip << ".";
}
else
{
m_TargetStructureWarnOverlay->SetVisibility(false);
}
}
void QmitkUSNavigationStepMarkerIntervention::CalculateTargetPlacementQuality()
{
// clear quality display if there aren't all targets reached
if (m_ReachedTargetsNodes.size() != static_cast<int>(m_NumberOfTargets))
{
ui->placementQualityGroupBox->setEnabled(false);
ui->angleDifferenceValue->setText("");
ui->centersOfMassValue->setText("");
return;
}
ui->placementQualityGroupBox->setEnabled(true);
mitk::Surface::Pointer targetSurface = dynamic_cast<mitk::Surface *>(m_TargetNode->GetData());
if (targetSurface.IsNull())
{
mitkThrow() << "Target surface must not be null.";
}
m_PlacementQualityCalculator->SetTargetSurface(targetSurface);
mitk::PointSet::Pointer targetPointSet = mitk::PointSet::New();
// copy the origins of all reached target nodes into a point set
// for the quality calculator
mitk::PointSet::PointIdentifier n = 0;
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_ReachedTargetsNodes.begin();
it != m_ReachedTargetsNodes.end();
++it)
{
targetPointSet->InsertPoint(n++, (*it)->GetData()->GetGeometry()->GetOrigin());
}
m_PlacementQualityCalculator->SetTargetPoints(targetPointSet);
m_PlacementQualityCalculator->Update();
double centersOfMassDistance = m_PlacementQualityCalculator->GetCentersOfMassDistance();
ui->centersOfMassValue->setText(QString::number(centersOfMassDistance, 103, 2) + " mm");
double meanAnglesDifference = m_PlacementQualityCalculator->GetMeanAngleDifference();
ui->angleDifferenceValue->setText(QString::number(meanAnglesDifference, 103, 2) + QString::fromLatin1(" °"));
// create an intermediate result of the placement quality
mitk::DataNode::Pointer placementQualityResult = mitk::DataNode::New();
placementQualityResult->SetName("PlacementQuality");
placementQualityResult->SetFloatProperty("USNavigation::CentersOfMassDistance", centersOfMassDistance);
placementQualityResult->SetFloatProperty("USNavigation::MeanAngleDifference", meanAnglesDifference);
placementQualityResult->SetProperty(
"USNavigation::AngleDifferences",
mitk::GenericProperty<mitk::VnlVector>::New(m_PlacementQualityCalculator->GetAngleDifferences()));
if (m_PlannedTargetsNodes.size() == static_cast<int>(m_NumberOfTargets))
{
mitk::VnlVector reachedPlannedDifferences;
double reachedPlannedDifferencesSum = 0;
double reachedPlannedDifferencesMax = 0;
reachedPlannedDifferences.set_size(m_NumberOfTargets);
// get sum and maximum of the planning / reality differences
for (unsigned int n = 0; n < m_NumberOfTargets; ++n)
{
mitk::ScalarType distance =
m_PlannedTargetsNodes.at(n)->GetData()->GetGeometry()->GetOrigin().EuclideanDistanceTo(
m_ReachedTargetsNodes.at(n)->GetData()->GetGeometry()->GetOrigin());
reachedPlannedDifferences.put(n, distance);
reachedPlannedDifferencesSum += distance;
if (distance > reachedPlannedDifferencesMax)
{
reachedPlannedDifferencesMax = distance;
}
}
// add distances between planning and reality to the quality intermediate result
placementQualityResult->SetProperty("USNavigation::PlanningRealityDistances",
mitk::GenericProperty<mitk::VnlVector>::New(reachedPlannedDifferences));
placementQualityResult->SetProperty(
"USNavigation::MeanPlanningRealityDistance",
mitk::DoubleProperty::New(reachedPlannedDifferencesSum / static_cast<double>(m_NumberOfTargets)));
placementQualityResult->SetProperty("USNavigation::MaximumPlanningRealityDistance",
mitk::DoubleProperty::New(reachedPlannedDifferencesMax));
}
emit SignalIntermediateResult(placementQualityResult);
}
void QmitkUSNavigationStepMarkerIntervention::UpdateSensorsNames()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetCombinedModality(false);
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetCombinedModality(false);
if (combinedModality.IsNull())
{
return;
}
mitk::NavigationDataSource::Pointer navigationDataSource = combinedModality->GetNavigationDataSource();
if (navigationDataSource.IsNull())
{
return;
}
if (!m_NeedleSensorName.empty())
{
try
{
m_NeedleSensorIndex = navigationDataSource->GetOutputIndex(m_NeedleSensorName);
}
catch (const std::exception &e)
{
MITK_WARN("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepPlacementPlanning") << "Cannot get index for needle sensor name: " << e.what();
}
}
if (this->GetNavigationStepState() >= QmitkUSAbstractNavigationStep::State_Active)
{
m_NeedleProjectionFilter->SelectInput(m_NeedleSensorIndex);
}
if (!m_ReferenceSensorName.empty())
{
try
{
m_ReferenceSensorIndex = navigationDataSource->GetOutputIndex(m_ReferenceSensorName);
}
catch (const std::exception &e)
{
MITK_WARN("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepPlacementPlanning") << "Cannot get index for reference sensor name: " << e.what();
}
}
if (this->GetNavigationStepState() >= QmitkUSAbstractNavigationStep::State_Active)
{
m_NodeDisplacementFilter->SelectInput(m_ReferenceSensorIndex);
}
ui->freezeImageButton->SetCombinedModality(combinedModality, m_ReferenceSensorIndex);
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepPlacementPlanning.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepPlacementPlanning.cpp
index b86f9595d3..bcf772e00d 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepPlacementPlanning.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepPlacementPlanning.cpp
@@ -1,816 +1,816 @@
/*===================================================================
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 "QmitkUSNavigationStepPlacementPlanning.h"
#include "ui_QmitkUSNavigationStepPlacementPlanning.h"
#include "../Interactors/mitkUSPointMarkInteractor.h"
#include "../mitkUSTargetPlacementQualityCalculator.h"
#include "mitkNeedleProjectionFilter.h"
#include "mitkNodeDisplacementFilter.h"
#include "usModuleRegistry.h"
#include "../Filter/mitkUSNavigationTargetIntersectionFilter.h"
#include "../Filter/mitkUSNavigationTargetUpdateFilter.h"
#include "../QmitkUSNavigationMarkerPlacement.h"
#include "mitkLookupTableProperty.h"
#include "mitkSurface.h"
#include <mitkBaseGeometry.h>
#include "mitkLayoutAnnotationRenderer.h"
#include "mitkTextAnnotation3D.h"
#include "vtkFloatArray.h"
#include "vtkLookupTable.h"
#include "vtkPointData.h"
#include "vtkPolyData.h"
#include "vtkSmartPointer.h"
#include "vtkLineSource.h"
#include <vtkSphereSource.h>
#include "vtkCenterOfMass.h"
#include "vtkLinearTransform.h"
#include "vtkPoints.h"
#include "vtkTransformPolyDataFilter.h"
#include "vtkUnstructuredGrid.h"
#include "vtkMath.h"
QmitkUSNavigationStepPlacementPlanning::QmitkUSNavigationStepPlacementPlanning(QWidget *parent)
: QmitkUSAbstractNavigationStep(parent),
m_NumberOfTargets(0),
m_CurrentTargetIndex(0),
m_BodyMarkerValid(false),
m_PointMarkInteractor(mitk::USPointMarkInteractor::New()),
m_TargetUpdateFilter(mitk::USNavigationTargetUpdateFilter::New()),
m_NodeDisplacementFilter(mitk::NodeDisplacementFilter::New()),
m_NeedleProjectionFilter(mitk::NeedleProjectionFilter::New()),
m_TargetIntersectionFilter(mitk::USNavigationTargetIntersectionFilter::New()),
m_PlacementQualityCalculator(mitk::USTargetPlacementQualityCalculator::New()),
m_ReferenceSensorIndex(1),
m_NeedleSensorIndex(0),
m_ListenerTargetCoordinatesChanged(this, &QmitkUSNavigationStepPlacementPlanning::UpdateTargetCoordinates),
ui(new Ui::QmitkUSNavigationStepPlacementPlanning)
{
ui->setupUi(this);
connect(ui->freezeImageButton, SIGNAL(SignalFreezed(bool)), this, SLOT(OnFreeze(bool)));
m_TargetUpdateFilter->SetScalarArrayIdentifier("USNavigation::PlanningPlacement");
this->GenerateTargetColorLookupTable();
}
QmitkUSNavigationStepPlacementPlanning::~QmitkUSNavigationStepPlacementPlanning()
{
delete ui;
}
bool QmitkUSNavigationStepPlacementPlanning::OnStartStep()
{
// create node for needle projection
mitk::DataNode::Pointer node =
this->GetNamedDerivedNodeAndCreate("Needle Path", QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
node->SetData(m_NeedleProjectionFilter->GetProjection());
node->SetBoolProperty("show contour", true);
// make sure that the targets node exist in the data storage
this->GetNamedDerivedNodeAndCreate(QmitkUSNavigationMarkerPlacement::DATANAME_TARGETS,
QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
this->GetNamedDerivedNodeAndCreate(QmitkUSNavigationMarkerPlacement::DATANAME_TARGETS_PATHS,
QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
// listen to event of point mark interactor
m_PointMarkInteractor->CoordinatesChangedEvent.AddListener(m_ListenerTargetCoordinatesChanged);
return true;
}
bool QmitkUSNavigationStepPlacementPlanning::OnStopStep()
{
// remove listener to event of point mark interactor
m_PointMarkInteractor->CoordinatesChangedEvent.RemoveListener(m_ListenerTargetCoordinatesChanged);
m_CurrentTargetIndex = 0;
m_TargetUpdateFilter->Reset();
m_NodeDisplacementFilter->ResetNodes();
// remove the planned target nodes from the data storage
mitk::DataStorage::Pointer dataStorage = this->GetDataStorage();
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_PlannedTargetNodes.begin();
it != m_PlannedTargetNodes.end();
++it)
{
dataStorage->Remove(*it);
}
m_PlannedTargetNodes.clear();
// remove the planned target path nodes from the data storage
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_PlannedNeedlePaths.begin();
it != m_PlannedNeedlePaths.end();
++it)
{
dataStorage->Remove(*it);
}
m_PlannedNeedlePaths.clear();
// remove the targets node from the data storage
mitk::DataNode::Pointer targetsNode = this->GetNamedDerivedNode(QmitkUSNavigationMarkerPlacement::DATANAME_TARGETS,
QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
if (targetsNode.IsNotNull())
{
dataStorage->Remove(targetsNode);
}
// remove the target paths node from the data storage
mitk::DataNode::Pointer targetPathsNode = this->GetNamedDerivedNode(
QmitkUSNavigationMarkerPlacement::DATANAME_TARGETS_PATHS, QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
if (targetPathsNode.IsNotNull())
{
dataStorage->Remove(targetPathsNode);
}
// make sure that the image is no longer freezed after stopping
ui->freezeImageButton->Unfreeze();
return true;
}
bool QmitkUSNavigationStepPlacementPlanning::OnRestartStep()
{
this->OnStopStep();
this->OnStartStep();
return true;
}
bool QmitkUSNavigationStepPlacementPlanning::OnFinishStep()
{
// create scalars showing the planned positions on the target surface
if (!m_PlannedTargetNodes.isEmpty())
{
mitk::USNavigationTargetUpdateFilter::Pointer planningSurfaceFilter = mitk::USNavigationTargetUpdateFilter::New();
planningSurfaceFilter->SetOptimalAngle(0);
planningSurfaceFilter->SetScalarArrayIdentifier("USNavigation::PlanningScalars");
planningSurfaceFilter->SetUseMaximumScore(true);
planningSurfaceFilter->SetTargetStructure(m_TargetNode);
unsigned int n = 0;
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_PlannedTargetNodes.begin();
it != m_PlannedTargetNodes.end();
++it)
{
bool isSurfaceEmpty;
if (((*it)->GetBoolProperty("surface_empty", isSurfaceEmpty)) && isSurfaceEmpty)
{
// remove node from data storage if it is not fully planned
this->GetDataStorage()->Remove(*it);
}
else
{
// set origin to filter for coloring target surface (good
// positions are positions near to the origin)
planningSurfaceFilter->SetControlNode(n, *it);
}
n++;
}
}
// make sure that the image is no longer freezed after finishing
ui->freezeImageButton->Unfreeze();
return true;
}
bool QmitkUSNavigationStepPlacementPlanning::OnActivateStep()
{
emit SignalReadyForNextStep();
m_NodeDisplacementFilter->SelectInput(m_ReferenceSensorIndex);
m_NeedleProjectionFilter->SelectInput(m_NeedleSensorIndex);
if (m_PlannedTargetNodes.empty())
{
m_CurrentTargetIndex = 0;
}
else
{
m_CurrentTargetIndex = m_PlannedTargetNodes.size() - 1;
}
m_TargetNode = this->GetNamedDerivedNode(QmitkUSNavigationMarkerPlacement::DATANAME_TARGETSURFACE,
QmitkUSNavigationMarkerPlacement::DATANAME_TUMOUR);
m_TargetNode->SetBoolProperty("visible", true);
// set lookup table of tumour node
m_TargetNode->SetProperty("LookupTable", m_TargetColorLookupTableProperty);
m_TargetUpdateFilter->SetTargetStructure(m_TargetNode);
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_PlannedTargetNodes.begin();
it != m_PlannedTargetNodes.end();
++it)
{
(*it)->SetBoolProperty("visible", true);
}
this->UpdateTargetDescriptions();
// m_TargetUpdateFilter->UpdateTargetScores();
return true;
}
bool QmitkUSNavigationStepPlacementPlanning::OnDeactivateStep()
{
ui->freezeImageButton->Unfreeze();
return true;
}
void QmitkUSNavigationStepPlacementPlanning::OnUpdate()
{
this->UpdateTargetColors();
// get navigation data source and make sure that it is not null
mitk::NavigationDataSource::Pointer navigationDataSource = this->GetCombinedModality()->GetNavigationDataSource();
if (navigationDataSource.IsNull())
{
MITK_ERROR("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepPunctuationIntervention") << "Navigation Data Source of Combined Modality must not be null.";
mitkThrow() << "Navigation Data Source of Combined Modality must not be null.";
}
navigationDataSource->Update();
this->UpdateBodyMarkerStatus(navigationDataSource->GetOutput(m_ReferenceSensorIndex));
ui->freezeImageButton->setEnabled(m_BodyMarkerValid);
mitk::PointSet::Pointer needleProjectionPointSet = m_NeedleProjectionFilter->GetProjection();
if (needleProjectionPointSet->GetSize() == 2)
{
m_TargetIntersectionFilter->SetTargetSurface(dynamic_cast<mitk::Surface *>(m_TargetNode->GetData()));
m_TargetIntersectionFilter->SetLine(needleProjectionPointSet);
m_TargetIntersectionFilter->CalculateIntersection();
if (m_TargetIntersectionFilter->GetIsIntersecting())
{
// only enable button if body marker is in the tracking volume, too
ui->placeTargetButton->setEnabled(m_BodyMarkerValid);
ui->placeTargetButton->setToolTip("");
if (m_PlannedTargetNodes.size() == m_NumberOfTargets - 1)
{
mitk::PointSet::Pointer targetPointSet = mitk::PointSet::New();
mitk::PointSet::PointIdentifier n = 0;
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_PlannedTargetNodes.begin();
it != m_PlannedTargetNodes.end();
++it)
{
targetPointSet->InsertPoint(n++, (*it)->GetData()->GetGeometry()->GetOrigin());
}
targetPointSet->InsertPoint(n, m_TargetIntersectionFilter->GetIntersectionPoint());
this->CalculatePlanningQuality(dynamic_cast<mitk::Surface *>(m_TargetNode->GetData()), targetPointSet);
}
}
else
{
ui->placeTargetButton->setEnabled(false);
ui->placeTargetButton->setToolTip(
"Target cannot be placed as the needle path is not intersecting the target surface.");
// no not show planning quality if not all nodes are planned for now
// and there is no needle path intersection
if (m_PlannedTargetNodes.size() < m_NumberOfTargets)
{
ui->angleDifferenceValue->setText("");
ui->centersOfMassValue->setText("");
}
}
}
}
void QmitkUSNavigationStepPlacementPlanning::OnSettingsChanged(const itk::SmartPointer<mitk::DataNode> settingsNode)
{
int numberOfTargets;
if (settingsNode->GetIntProperty("settings.number-of-targets", numberOfTargets))
{
m_NumberOfTargets = numberOfTargets;
m_TargetUpdateFilter->SetNumberOfTargets(numberOfTargets);
m_PlacementQualityCalculator->SetOptimalAngle(m_TargetUpdateFilter->GetOptimalAngle());
}
std::string referenceSensorName;
if (settingsNode->GetStringProperty("settings.reference-name-selected", referenceSensorName))
{
m_ReferenceSensorName = referenceSensorName;
}
std::string needleSensorName;
if (settingsNode->GetStringProperty("settings.needle-name-selected", needleSensorName))
{
m_NeedleSensorName = needleSensorName;
}
this->UpdateSensorsNames();
}
QString QmitkUSNavigationStepPlacementPlanning::GetTitle()
{
return "Placement Planning";
}
QmitkUSAbstractNavigationStep::FilterVector QmitkUSNavigationStepPlacementPlanning::GetFilter()
{
FilterVector filterVector;
filterVector.push_back(m_NodeDisplacementFilter.GetPointer());
filterVector.push_back(m_NeedleProjectionFilter.GetPointer());
return filterVector;
}
void QmitkUSNavigationStepPlacementPlanning::OnSetCombinedModality()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetCombinedModality(false);
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetCombinedModality(false);
if (combinedModality.IsNotNull())
{
mitk::AffineTransform3D::Pointer calibration = combinedModality->GetCalibration();
if (calibration.IsNotNull())
{
m_NeedleProjectionFilter->SetTargetPlane(calibration);
}
}
ui->freezeImageButton->SetCombinedModality(combinedModality, m_ReferenceSensorIndex);
this->UpdateSensorsNames();
}
void QmitkUSNavigationStepPlacementPlanning::OnFreeze(bool freeze)
{
if (freeze)
- this->GetCombinedModality()->SetIsFreezed(true);
+ this->GetCombinedModality()->GetUltrasoundDevice()->SetIsFreezed(true);
if (freeze)
{
// load state machine and event config for data interactor
m_PointMarkInteractor->LoadStateMachine("USPointMarkInteractions.xml", us::ModuleRegistry::GetModule("MitkUS"));
m_PointMarkInteractor->SetEventConfig("globalConfig.xml");
this->CreateTargetNodesIfNecessary();
m_PointMarkInteractor->SetDataNode(m_PlannedTargetNodes.at(m_CurrentTargetIndex));
}
else
{
m_PointMarkInteractor->SetDataNode(0);
}
if (!freeze)
- this->GetCombinedModality()->SetIsFreezed(false);
+ this->GetCombinedModality()->GetUltrasoundDevice()->SetIsFreezed(false);
}
void QmitkUSNavigationStepPlacementPlanning::OnPlaceTargetButtonClicked()
{
this->CreateTargetNodesIfNecessary();
mitk::DataNode::Pointer currentNode = m_PlannedTargetNodes.at(m_CurrentTargetIndex);
currentNode->SetData(this->CreateSphere(5));
currentNode->SetBoolProperty("surface_empty", false);
mitk::PointSet::Pointer needleProjection = m_NeedleProjectionFilter->GetProjection();
m_TargetIntersectionFilter->SetTargetSurface(dynamic_cast<mitk::Surface *>(m_TargetNode->GetData()));
m_TargetIntersectionFilter->SetLine(m_NeedleProjectionFilter->GetProjection());
m_TargetIntersectionFilter->CalculateIntersection();
mitk::Point3D intersectionPoint = m_TargetIntersectionFilter->GetIntersectionPoint();
currentNode->GetData()->GetGeometry()->SetOrigin(intersectionPoint);
m_TargetUpdateFilter->SetControlNode(m_CurrentTargetIndex, currentNode);
mitk::PointSet::Pointer plannedPath = mitk::PointSet::New();
m_PlannedNeedlePaths.at(m_CurrentTargetIndex)->SetData(plannedPath);
plannedPath->SetPoint(0, needleProjection->GetPoint(0));
plannedPath->SetPoint(1, intersectionPoint);
if (m_CurrentTargetIndex < m_NumberOfTargets - 1)
{
this->OnGoToNextTarget();
}
else
{
this->UpdateTargetDescriptions();
}
this->ReinitNodeDisplacementFilter();
MITK_INFO("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepPlacementPlanning") << "Target " << m_CurrentTargetIndex + 1 << " planned at position "
<< intersectionPoint << ".";
}
void QmitkUSNavigationStepPlacementPlanning::OnGoToPreviousTarget()
{
if (m_CurrentTargetIndex < 1)
{
mitkThrow() << "Cannot go to previous target as current target is first target.";
}
m_CurrentTargetIndex--;
this->UpdateTargetDescriptions();
}
void QmitkUSNavigationStepPlacementPlanning::OnGoToNextTarget()
{
m_CurrentTargetIndex++;
this->UpdateTargetDescriptions();
}
void QmitkUSNavigationStepPlacementPlanning::OnRemoveCurrentTargetClicked()
{
if (m_CurrentTargetIndex >= m_PlannedTargetNodes.size())
{
MITK_WARN << "Cannot remove current target as there aren't as much planned target nodes.";
return;
}
this->GetDataStorage()->Remove(m_PlannedTargetNodes.at(m_CurrentTargetIndex));
m_PlannedTargetNodes.remove(m_CurrentTargetIndex);
this->GetDataStorage()->Remove(m_PlannedNeedlePaths.at(m_CurrentTargetIndex));
m_PlannedNeedlePaths.remove(m_CurrentTargetIndex);
this->ReinitNodeDisplacementFilter();
for (int n = 0; n < m_PlannedTargetNodes.size(); ++n)
{
// set name of the target node according to its new index
m_PlannedTargetNodes.at(n)->SetName(
QString("Target %1").arg(n + 1, m_NumberOfTargets / 10 + 1, 10, QLatin1Char('0')).toStdString());
m_PlannedNeedlePaths.at(n)->SetName(
QString("Target Path %1").arg(n + 1, m_NumberOfTargets / 10 + 1, 10, QLatin1Char('0')).toStdString());
}
m_TargetUpdateFilter->RemovePositionOfTarget(m_CurrentTargetIndex);
m_CurrentTargetIndex = m_PlannedTargetNodes.size();
this->UpdateTargetDescriptions();
MITK_INFO("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepPlacementPlanning") << "Planned target " << m_CurrentTargetIndex + 1 << " removed.";
}
void QmitkUSNavigationStepPlacementPlanning::CreateTargetNodesIfNecessary()
{
mitk::DataStorage::Pointer dataStorage = this->GetDataStorage();
while (m_PlannedTargetNodes.size() <= m_CurrentTargetIndex)
{
QString targetNumber =
QString("%1").arg(m_PlannedTargetNodes.size() + 1, m_NumberOfTargets / 10 + 1, 10, QLatin1Char('0'));
mitk::DataNode::Pointer targetNode = this->GetNamedDerivedNodeAndCreate(
(QString("Target ") + targetNumber).toStdString().c_str(), QmitkUSNavigationMarkerPlacement::DATANAME_TARGETS);
targetNode->SetOpacity(0.5);
targetNode->SetBoolProperty("surface_empty", true);
targetNode->SetData(mitk::Surface::New());
m_PlannedTargetNodes.push_back(targetNode);
mitk::DataNode::Pointer targetPathNode =
this->GetNamedDerivedNodeAndCreate((QString("Target Path ") + targetNumber).toStdString().c_str(),
QmitkUSNavigationMarkerPlacement::DATANAME_TARGETS_PATHS);
targetPathNode->SetOpacity(0.5);
targetPathNode->SetColor(1, 1, 1);
targetPathNode->SetColor(1, 1, 1, nullptr, "contourcolor");
targetPathNode->SetBoolProperty("show contour", true);
m_PlannedNeedlePaths.push_back(targetPathNode);
mitk::Surface::Pointer pathSurface = mitk::Surface::New();
targetPathNode->SetData(pathSurface);
}
}
void QmitkUSNavigationStepPlacementPlanning::UpdateTargetCoordinates(mitk::DataNode *dataNode)
{
bool surfaceEmpty;
if (dataNode->GetBoolProperty("surface_empty", surfaceEmpty) && surfaceEmpty)
{
mitk::Point3D origin = dataNode->GetData()->GetGeometry()->GetOrigin();
dataNode->SetData(this->CreateSphere(5));
dataNode->SetBoolProperty("surface_empty", false);
dataNode->GetData()->GetGeometry()->SetOrigin(origin);
}
this->ReinitNodeDisplacementFilter();
mitk::BaseData *baseData = dataNode->GetData();
if (!baseData)
{
mitkThrow() << "Data of the data node must not be null.";
}
mitk::BaseGeometry::Pointer geometry = baseData->GetGeometry();
if (geometry.IsNull())
{
mitkThrow() << "Geometry of the data node must not be null.";
}
m_TargetUpdateFilter->SetControlNode(m_CurrentTargetIndex, dataNode);
MITK_INFO("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepPlacementPlanning") << "Target " << m_CurrentTargetIndex + 1 << " planned at position "
<< geometry->GetOrigin() << ".";
if (ui->freezeImageButton->isChecked())
{
ui->freezeImageButton->Unfreeze();
if (m_CurrentTargetIndex < m_NumberOfTargets - 1)
{
this->OnGoToNextTarget();
}
}
this->UpdateTargetDescriptions();
}
void QmitkUSNavigationStepPlacementPlanning::UpdateTargetColors()
{
if (m_TargetNode.IsNull())
{
return;
}
m_TargetNode->SetColor(1, 1, 1);
mitk::BaseData *targetNodeData = m_TargetNode->GetData();
if (targetNodeData == 0)
{
return;
}
mitk::Surface::Pointer targetNodeSurface = dynamic_cast<mitk::Surface *>(targetNodeData);
vtkSmartPointer<vtkPolyData> targetNodeSurfaceVtk = targetNodeSurface->GetVtkPolyData();
vtkFloatArray *targetScoreScalars = dynamic_cast<vtkFloatArray *>(
targetNodeSurface->GetVtkPolyData()->GetPointData()->GetScalars("USNavigation::PlanningPlacement"));
if (!targetScoreScalars)
{
return;
}
unsigned int numberOfTupels = targetScoreScalars->GetNumberOfTuples();
vtkSmartPointer<vtkFloatArray> colors = vtkSmartPointer<vtkFloatArray>::New();
colors->SetNumberOfComponents(1);
colors->SetNumberOfTuples(numberOfTupels);
colors->SetName("Colors");
double markerScore;
for (unsigned int n = 0; n < numberOfTupels; n++)
{
targetScoreScalars->GetTuple(n, &markerScore);
colors->SetTuple(n, &markerScore);
}
if (numberOfTupels > 0)
{
targetNodeSurfaceVtk->GetPointData()->SetScalars(colors);
targetNodeSurfaceVtk->GetPointData()->Update();
}
}
void QmitkUSNavigationStepPlacementPlanning::UpdateTargetDescriptions()
{
ui->previousButton->setEnabled(m_CurrentTargetIndex > 0);
ui->nextButton->setEnabled(m_CurrentTargetIndex + 1 < m_PlannedTargetNodes.size());
ui->removeButton->setEnabled(m_PlannedTargetNodes.size() > 0);
ui->currentTargetLabel->setText(
QString("Planning Target %1 of %2").arg(m_CurrentTargetIndex + 1).arg(m_NumberOfTargets));
ui->removeButton->setEnabled(m_CurrentTargetIndex < m_PlannedTargetNodes.size());
this->CalculatePlanningQuality();
}
void QmitkUSNavigationStepPlacementPlanning::GenerateTargetColorLookupTable()
{
vtkSmartPointer<vtkLookupTable> lookupTable = vtkSmartPointer<vtkLookupTable>::New();
lookupTable->SetHueRange(0.0, 0.27);
lookupTable->SetSaturationRange(1.0, 1.0);
lookupTable->SetValueRange(1.0, 1.0);
lookupTable->SetTableRange(0.0, 1.0);
lookupTable->Build();
mitk::LookupTable::Pointer lut = mitk::LookupTable::New();
lut->SetVtkLookupTable(lookupTable);
m_TargetColorLookupTableProperty = mitk::LookupTableProperty::New(lut);
}
void QmitkUSNavigationStepPlacementPlanning::ReinitNodeDisplacementFilter()
{
m_NodeDisplacementFilter->ResetNodes();
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_PlannedTargetNodes.begin();
it != m_PlannedTargetNodes.end();
++it)
{
if (it->IsNotNull() && (*it)->GetData() != 0)
{
m_NodeDisplacementFilter->AddNode(*it);
}
}
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_PlannedNeedlePaths.begin();
it != m_PlannedNeedlePaths.end();
++it)
{
if (it->IsNotNull() && (*it)->GetData() != 0)
{
m_NodeDisplacementFilter->AddNode(*it);
}
}
}
void QmitkUSNavigationStepPlacementPlanning::CalculatePlanningQuality()
{
if (m_PlannedTargetNodes.size() != m_NumberOfTargets)
{
ui->angleDifferenceLabel->setEnabled(false);
ui->centersOfMassLabel->setEnabled(false);
ui->allTargetsPlannedLabel->setEnabled(false);
ui->angleDifferenceValue->setText("");
ui->centersOfMassValue->setText("");
return;
}
ui->angleDifferenceLabel->setEnabled(true);
ui->centersOfMassLabel->setEnabled(true);
ui->allTargetsPlannedLabel->setEnabled(true);
mitk::PointSet::Pointer targetPointSet = mitk::PointSet::New();
mitk::PointSet::PointIdentifier n = 0;
for (QVector<itk::SmartPointer<mitk::DataNode>>::iterator it = m_PlannedTargetNodes.begin();
it != m_PlannedTargetNodes.end();
++it)
{
targetPointSet->InsertPoint(n++, (*it)->GetData()->GetGeometry()->GetOrigin());
}
mitk::DataNode::Pointer planningQualityResult =
this->CalculatePlanningQuality(dynamic_cast<mitk::Surface *>(m_TargetNode->GetData()), targetPointSet);
emit SignalIntermediateResult(planningQualityResult);
}
mitk::DataNode::Pointer QmitkUSNavigationStepPlacementPlanning::CalculatePlanningQuality(
mitk::Surface::Pointer targetSurface, mitk::PointSet::Pointer targetPoints)
{
if (targetSurface.IsNull())
{
mitkThrow() << "Target surface must not be null.";
}
m_PlacementQualityCalculator->SetTargetSurface(targetSurface);
m_PlacementQualityCalculator->SetTargetPoints(targetPoints);
m_PlacementQualityCalculator->Update();
mitk::DataNode::Pointer planningQualityResult = mitk::DataNode::New();
planningQualityResult->SetName("PlanningQuality");
double centersOfMassDistance = m_PlacementQualityCalculator->GetCentersOfMassDistance();
ui->centersOfMassValue->setText(QString::number(centersOfMassDistance, 103, 2) + " mm");
planningQualityResult->SetFloatProperty("USNavigation::CentersOfMassDistance", centersOfMassDistance);
if (m_PlannedTargetNodes.size() > 1)
{
double meanAnglesDifference = m_PlacementQualityCalculator->GetMeanAngleDifference();
ui->angleDifferenceValue->setText(QString::number(meanAnglesDifference, 103, 2) + QString::fromLatin1(" °"));
planningQualityResult->SetFloatProperty("USNavigation::MeanAngleDifference", meanAnglesDifference);
planningQualityResult->SetProperty(
"USNavigation::AngleDifferences",
mitk::GenericProperty<mitk::VnlVector>::New(m_PlacementQualityCalculator->GetAngleDifferences()));
}
else
{
ui->angleDifferenceValue->setText("not valid for one point");
}
return planningQualityResult;
}
itk::SmartPointer<mitk::Surface> QmitkUSNavigationStepPlacementPlanning::CreateSphere(float)
{
mitk::Surface::Pointer surface = mitk::Surface::New();
// create a vtk sphere with fixed radius
vtkSmartPointer<vtkSphereSource> vtkSphere = vtkSmartPointer<vtkSphereSource>::New();
vtkSphere->SetRadius(5);
vtkSphere->SetCenter(0, 0, 0);
vtkSphere->Update();
surface->SetVtkPolyData(vtkSphere->GetOutput());
return surface;
}
void QmitkUSNavigationStepPlacementPlanning::UpdateBodyMarkerStatus(mitk::NavigationData::Pointer bodyMarker)
{
if (bodyMarker.IsNull())
{
MITK_ERROR("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepPunctuationIntervention")
<< "Current Navigation Data for body marker of Combined Modality must not be null.";
mitkThrow() << "Current Navigation Data for body marker of Combined Modality must not be null.";
}
m_BodyMarkerValid = bodyMarker->IsDataValid();
// update body marker status label
if (m_BodyMarkerValid)
{
ui->bodyMarkerTrackingStatusLabel->setStyleSheet(
"background-color: #8bff8b; margin-right: 1em; margin-left: 1em; border: 1px solid grey");
ui->bodyMarkerTrackingStatusLabel->setText("Body marker is inside the tracking volume.");
}
else
{
ui->bodyMarkerTrackingStatusLabel->setStyleSheet(
"background-color: #ff7878; margin-right: 1em; margin-left: 1em; border: 1px solid grey");
ui->bodyMarkerTrackingStatusLabel->setText("Body marker is not inside the tracking volume.");
}
}
void QmitkUSNavigationStepPlacementPlanning::UpdateSensorsNames()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetCombinedModality(false);
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetCombinedModality(false);
if (combinedModality.IsNull())
{
return;
}
mitk::NavigationDataSource::Pointer navigationDataSource = combinedModality->GetNavigationDataSource();
if (navigationDataSource.IsNull())
{
return;
}
if (!m_NeedleSensorName.empty())
{
try
{
m_NeedleSensorIndex = navigationDataSource->GetOutputIndex(m_NeedleSensorName);
}
catch (const std::exception &e)
{
MITK_WARN("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepPlacementPlanning") << "Cannot get index for needle sensor name: " << e.what();
}
}
if (this->GetNavigationStepState() >= QmitkUSAbstractNavigationStep::State_Active)
{
m_NeedleProjectionFilter->SelectInput(m_NeedleSensorIndex);
}
if (!m_ReferenceSensorName.empty())
{
try
{
m_ReferenceSensorIndex = navigationDataSource->GetOutputIndex(m_ReferenceSensorName);
}
catch (const std::exception &e)
{
MITK_WARN("QmitkUSAbstractNavigationStep")
("QmitkUSNavigationStepPlacementPlanning") << "Cannot get index for reference sensor name: " << e.what();
}
}
if (this->GetNavigationStepState() >= QmitkUSAbstractNavigationStep::State_Active)
{
m_NodeDisplacementFilter->SelectInput(m_ReferenceSensorIndex);
}
ui->freezeImageButton->SetCombinedModality(combinedModality, m_ReferenceSensorIndex);
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepPunctuationIntervention.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepPunctuationIntervention.cpp
index 1fdbbb5ded..4cc5291594 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepPunctuationIntervention.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepPunctuationIntervention.cpp
@@ -1,283 +1,294 @@
/*===================================================================
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 "QmitkUSNavigationStepPunctuationIntervention.h"
#include "ui_QmitkUSNavigationStepPunctuationIntervention.h"
#include "mitkNeedleProjectionFilter.h"
#include "../Widgets/QmitkZoneProgressBar.h"
#include "../QmitkUSNavigationMarkerPlacement.h"
#include "usModuleRegistry.h"
#include <mitkTrackingTypes.h>
QmitkUSNavigationStepPunctuationIntervention::QmitkUSNavigationStepPunctuationIntervention(QWidget *parent) :
QmitkUSAbstractNavigationStep(parent),
m_Ui(new Ui::QmitkUSNavigationStepPunctuationIntervention),
m_ZoneNodes(nullptr),
m_NeedleProjectionFilter(mitk::NeedleProjectionFilter::New()),
m_NeedleNavigationTool(mitk::NavigationTool::New()),
m_OldColors(),
m_SphereSource(vtkSmartPointer<vtkSphereSource>::New()),
m_OBBTree(vtkSmartPointer<vtkOBBTree>::New()),
m_IntersectPoints(vtkSmartPointer<vtkPoints>::New())
{
m_Ui->setupUi(this);
connect(m_Ui->m_AddNewAblationZone, SIGNAL(clicked()), this, SLOT(OnAddAblationZoneClicked()));
connect(m_Ui->m_ShowToolAxisN, SIGNAL(stateChanged(int)), this, SLOT(OnShowToolAxisEnabled(int)));
connect(m_Ui->m_EnableAblationMarking, SIGNAL(clicked()), this, SLOT(OnEnableAblationZoneMarkingClicked()));
connect(m_Ui->m_AblationZoneSizeSlider, SIGNAL(valueChanged(int)), this, SLOT(OnAblationZoneSizeSliderChanged(int)));
m_Ui->m_AblationZonesBox->setVisible(false);
}
void QmitkUSNavigationStepPunctuationIntervention::SetNeedleMetaData(mitk::NavigationTool::Pointer needleNavigationTool)
{
this->m_NeedleNavigationTool = needleNavigationTool;
}
void QmitkUSNavigationStepPunctuationIntervention::OnEnableAblationZoneMarkingClicked()
{
if(m_Ui->m_EnableAblationMarking->isChecked())
m_Ui->m_AblationZonesBox->setVisible(true);
else
m_Ui->m_AblationZonesBox->setVisible(false);
}
void QmitkUSNavigationStepPunctuationIntervention::OnAblationZoneSizeSliderChanged(int size)
{
int id = m_Ui->m_AblationZonesList->currentRow();
if (id!=-1) {emit AblationZoneChanged(id,size);}
}//
void QmitkUSNavigationStepPunctuationIntervention::OnAddAblationZoneClicked()
{
QListWidgetItem* newItem = new QListWidgetItem("Ablation Zone (initial size: " + QString::number(m_Ui->m_AblationZoneSizeSlider->value()) + " mm)", m_Ui->m_AblationZonesList);
newItem->setSelected(true);
emit AddAblationZoneClicked(m_Ui->m_AblationZoneSizeSlider->value());
}
QmitkUSNavigationStepPunctuationIntervention::~QmitkUSNavigationStepPunctuationIntervention()
{
mitk::DataStorage::Pointer dataStorage = this->GetDataStorage(false);
if ( dataStorage.IsNotNull() )
{
// remove needle path from data storage if it is there
mitk::DataNode::Pointer node = this->GetNamedDerivedNode
("Needle Path", QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
if ( node.IsNotNull() ) { dataStorage->Remove(node); }
}
delete m_Ui;
}
bool QmitkUSNavigationStepPunctuationIntervention::OnStartStep()
{
// create node for Needle Projection
mitk::DataNode::Pointer node = this->GetNamedDerivedNodeAndCreate
("Needle Path", QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
node->SetData(m_NeedleProjectionFilter->GetProjection());
node->SetBoolProperty("show contour", true);
m_NeedleProjectionFilter->SetToolAxisForFilter(m_NeedleNavigationTool->GetToolAxis());
return true;
}
bool QmitkUSNavigationStepPunctuationIntervention::OnRestartStep()
{
return this->OnActivateStep();
}
bool QmitkUSNavigationStepPunctuationIntervention::OnFinishStep()
{
mitk::DataNode::Pointer finishPunctionResult = mitk::DataNode::New();
finishPunctionResult->SetName("PunctionResult");
mitk::Point3D needlePos = m_NeedleProjectionFilter->GetOutput(0)->GetPosition();
mitk::Quaternion needleRot = m_NeedleProjectionFilter->GetOutput(0)->GetOrientation();
finishPunctionResult->SetProperty("USNavigation::TipPositionEnd", mitk::Point3dProperty::New(needlePos));
MITK_INFO("USNavigationLogging") << "Instrument tip at end: " <<needlePos<< " / " << needleRot;
emit SignalIntermediateResult(finishPunctionResult);
return true;
}
bool QmitkUSNavigationStepPunctuationIntervention::OnActivateStep()
{
this->ClearZones();
mitk::DataStorage::Pointer dataStorage = this->GetDataStorage();
// add progress bars for risk zone nodes
m_ZoneNodes = dataStorage->GetDerivations(dataStorage->GetNamedNode(QmitkUSNavigationMarkerPlacement::DATANAME_ZONES));
// add zones to the widgets for risk structures
for (mitk::DataStorage::SetOfObjects::ConstIterator it = m_ZoneNodes->Begin();
it != m_ZoneNodes->End(); ++it)
{
m_Ui->riskStructuresRangeWidget->AddZone(it->Value());
float rgb[3];
it->Value()->GetColor(rgb);
mitk::Color color;
color.SetRed(rgb[0]);
color.SetGreen(rgb[1]);
color.SetBlue(rgb[2]);
m_OldColors[it->Value()] = color;
}
m_NeedleProjectionFilter->SelectInput(0);
return true;
}
void QmitkUSNavigationStepPunctuationIntervention::OnShowToolAxisEnabled(int enabled)
{
if (enabled == 0) { m_NeedleProjectionFilter->ShowToolAxis(false); }
else { m_NeedleProjectionFilter->ShowToolAxis(true); }
}
void QmitkUSNavigationStepPunctuationIntervention::OnUpdate()
{
+ if (this->GetCombinedModality(false).IsNull()) return;
// get navigation data source and make sure that it is not null
mitk::NavigationDataSource::Pointer navigationDataSource =
- this->GetCombinedModality()->GetNavigationDataSource();
+ this->GetCombinedModality()->GetNavigationDataSource();
+
if ( navigationDataSource.IsNull() )
{
+
MITK_ERROR("QmitkUSAbstractNavigationStep")("QmitkUSNavigationStepPunctuationIntervention")
<< "Navigation Data Source of Combined Modality must not be null.";
mitkThrow() << "Navigation Data Source of Combined Modality must not be null.";
}
// update body marker
this->UpdateBodyMarkerStatus(navigationDataSource->GetOutput(1));
// update critical structures
this->UpdateCriticalStructures(navigationDataSource->GetOutput(0),m_NeedleProjectionFilter->GetProjection());
+ m_NeedleProjectionFilter->Update();
+
//Update Distance to US image
mitk::Point3D point1 = m_NeedleProjectionFilter->GetProjection()->GetPoint(0);
mitk::Point3D point2 = m_NeedleProjectionFilter->GetProjection()->GetPoint(1);
double distance = point1.EuclideanDistanceTo(point2);
m_Ui->m_DistanceToUSPlane->setText(QString::number(distance) + " mm");
}
void QmitkUSNavigationStepPunctuationIntervention::OnSettingsChanged(const itk::SmartPointer<mitk::DataNode> settingsNode)
{
if ( settingsNode.IsNull() ) { return; }
}
QString QmitkUSNavigationStepPunctuationIntervention::GetTitle()
{
return "Computer-assisted Intervention";
}
bool QmitkUSNavigationStepPunctuationIntervention::GetIsRestartable()
{
return false;
}
QmitkUSNavigationStepPunctuationIntervention::FilterVector QmitkUSNavigationStepPunctuationIntervention::GetFilter()
{
return FilterVector(1, m_NeedleProjectionFilter.GetPointer());
}
void QmitkUSNavigationStepPunctuationIntervention::OnSetCombinedModality()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetCombinedModality(false);
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetCombinedModality(false);
if ( combinedModality.IsNotNull() )
{
+ m_NeedleProjectionFilter->ConnectTo(combinedModality->GetNavigationDataSource());
+
// set calibration of the combined modality to the needle projection filter
mitk::AffineTransform3D::Pointer calibration = combinedModality->GetCalibration();
if ( calibration.IsNotNull() )
{
m_NeedleProjectionFilter->SetTargetPlane(calibration);
}
}
+ else
+ {
+ MITK_WARN << "CombinedModality is null!";
+ }
}
void QmitkUSNavigationStepPunctuationIntervention::ClearZones()
{
m_Ui->riskStructuresRangeWidget->ClearZones();
}
void QmitkUSNavigationStepPunctuationIntervention::UpdateBodyMarkerStatus(mitk::NavigationData::Pointer bodyMarker)
{
if ( bodyMarker.IsNull() )
{
MITK_ERROR("QmitkUSAbstractNavigationStep")("QmitkUSNavigationStepPunctuationIntervention")
<< "Current Navigation Data for body marker of Combined Modality must not be null.";
mitkThrow() << "Current Navigation Data for body marker of Combined Modality must not be null.";
}
bool valid = bodyMarker->IsDataValid();
// update body marker status label
if (valid)
{
m_Ui->bodyMarkerTrackingStatusLabel->setStyleSheet(
"background-color: #8bff8b; margin-right: 1em; margin-left: 1em; border: 1px solid grey");
m_Ui->bodyMarkerTrackingStatusLabel->setText("Body marker is inside the tracking volume.");
}
else
{
m_Ui->bodyMarkerTrackingStatusLabel->setStyleSheet(
"background-color: #ff7878; margin-right: 1em; margin-left: 1em; border: 1px solid grey");
m_Ui->bodyMarkerTrackingStatusLabel->setText("Body marker is not inside the tracking volume.");
}
m_Ui->riskStructuresRangeGroupBox->setEnabled(valid);
}
void QmitkUSNavigationStepPunctuationIntervention::UpdateCriticalStructures(mitk::NavigationData::Pointer needle, mitk::PointSet::Pointer path)
{
// update the distances for the risk structures widget
m_Ui->riskStructuresRangeWidget->UpdateDistancesToNeedlePosition(needle);
//iterate through all zones
for (mitk::DataStorage::SetOfObjects::ConstIterator it = m_ZoneNodes->Begin();
it != m_ZoneNodes->End(); ++it)
{
mitk::DataNode::Pointer currentNode = it->Value();
//get center point and radius
float radius = -1;
mitk::Point3D center;
currentNode->GetFloatProperty("zone.size", radius);
center = currentNode->GetData()->GetGeometry()->GetIndexToWorldTransform()->GetTranslation();
mitk::Point3D point0 = path->GetPoint(0);
mitk::Point3D point1 = path->GetPoint(1);
if (CheckSphereLineIntersection(center,radius,point0,point1))
{currentNode->SetColor(mitk::IGTColor_WARNING);}
else
{currentNode->SetColor(m_OldColors[currentNode]);}
}
}
bool QmitkUSNavigationStepPunctuationIntervention::CheckSphereLineIntersection(mitk::Point3D& sphereOrigin, float& sphereRadius, mitk::Point3D& lineStart, mitk::Point3D& lineEnd)
{
double center[3] = {sphereOrigin[0],sphereOrigin[1],sphereOrigin[2]};
m_SphereSource->SetCenter(center);
m_SphereSource->SetRadius(sphereRadius);
m_SphereSource->Update();
m_OBBTree->SetDataSet(m_SphereSource->GetOutput());
m_OBBTree->BuildLocator();
double lineP0[3] = {lineStart[0], lineStart[1], lineStart[2]};
double lineP1[3] = {lineEnd[0], lineEnd[1], lineEnd[2]};
m_OBBTree->IntersectWithLine(lineP0, lineP1, m_IntersectPoints, nullptr);
if (m_IntersectPoints->GetNumberOfPoints() > 0) {return true;}
else {return false;}
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepTumourSelection.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepTumourSelection.cpp
index db3c0c8b0c..035a7266e5 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepTumourSelection.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepTumourSelection.cpp
@@ -1,427 +1,430 @@
/*===================================================================
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 "QmitkUSNavigationStepTumourSelection.h"
#include "ui_QmitkUSNavigationStepTumourSelection.h"
#include "usModuleRegistry.h"
#include "mitkDataNode.h"
#include "mitkSurface.h"
#include "mitkUSCombinedModality.h"
#include "../Interactors/mitkUSZonesInteractor.h"
#include "mitkNodeDisplacementFilter.h"
#include "QmitkUSNavigationStepCombinedModality.h"
#include "../QmitkUSNavigationMarkerPlacement.h"
#include "mitkIOUtil.h"
#include "vtkSmartPointer.h"
#include "vtkDoubleArray.h"
#include "vtkPolyData.h"
#include "vtkPointData.h"
#include "vtkWarpScalar.h"
QmitkUSNavigationStepTumourSelection::QmitkUSNavigationStepTumourSelection(QWidget* parent) :
QmitkUSAbstractNavigationStep(parent),
m_targetSelectionOptional(false),
m_SecurityDistance(0),
m_Interactor(mitk::USZonesInteractor::New()),
m_NodeDisplacementFilter(mitk::NodeDisplacementFilter::New()),
m_StateMachineFilename("USZoneInteractions.xml"),
m_ReferenceSensorIndex(1),
m_ListenerChangeNode(this, &QmitkUSNavigationStepTumourSelection::TumourNodeChanged),
ui(new Ui::QmitkUSNavigationStepTumourSelection)
{
ui->setupUi(this);
connect(ui->freezeImageButton, SIGNAL(SignalFreezed(bool)), this, SLOT(OnFreeze(bool)));
connect(ui->tumourSizeSlider, SIGNAL(valueChanged(int)), this, SLOT(OnTumourSizeChanged(int)));
connect(ui->deleteTumourButton, SIGNAL(clicked()), this, SLOT(OnDeleteButtonClicked()));
m_SphereColor = mitk::Color();
//default color: green
m_SphereColor[0] = 0;
m_SphereColor[1] = 255;
m_SphereColor[2] = 0;
}
void QmitkUSNavigationStepTumourSelection::SetTumorColor(mitk::Color c)
{
m_SphereColor = c;
}
void QmitkUSNavigationStepTumourSelection::SetTargetSelectionOptional(bool t)
{
m_targetSelectionOptional = t;
}
QmitkUSNavigationStepTumourSelection::~QmitkUSNavigationStepTumourSelection()
{
delete ui;
}
bool QmitkUSNavigationStepTumourSelection::OnStartStep()
{
m_TumourNode = this->GetNamedDerivedNodeAndCreate(
QmitkUSNavigationMarkerPlacement::DATANAME_TUMOUR,
QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
m_TumourNode->SetColor(m_SphereColor[0], m_SphereColor[1], m_SphereColor[2]);
// load state machine and event config for data interactor
m_Interactor->LoadStateMachine(m_StateMachineFilename, us::ModuleRegistry::GetModule("MitkUS"));
m_Interactor->SetEventConfig("globalConfig.xml");
this->GetDataStorage()->ChangedNodeEvent.AddListener(m_ListenerChangeNode);
m_TargetSurfaceNode = this->GetNamedDerivedNodeAndCreate(
QmitkUSNavigationMarkerPlacement::DATANAME_TARGETSURFACE,
QmitkUSNavigationMarkerPlacement::DATANAME_TUMOUR);
// do not show the surface until this is requested
m_TargetSurfaceNode->SetBoolProperty("visible", false);
// make sure that scalars will be renderer on the surface
m_TargetSurfaceNode->SetBoolProperty("scalar visibility", true);
m_TargetSurfaceNode->SetBoolProperty("color mode", true);
m_TargetSurfaceNode->SetBoolProperty("Backface Culling", true);
return true;
}
bool QmitkUSNavigationStepTumourSelection::OnStopStep()
{
// make sure that imaging isn't freezed anymore
ui->freezeImageButton->Unfreeze();
m_NodeDisplacementFilter->ResetNodes();
mitk::DataStorage::Pointer dataStorage = this->GetDataStorage(false);
if (dataStorage.IsNotNull())
{
// remove target surface node from data storage, if available there
if (m_TargetSurfaceNode.IsNotNull()) { dataStorage->Remove(m_TargetSurfaceNode); }
dataStorage->ChangedNodeEvent.RemoveListener(m_ListenerChangeNode);
dataStorage->Remove(m_TumourNode);
m_TumourNode = 0;
}
MITK_INFO("QmitkUSAbstractNavigationStep")("QmitkUSNavigationStepTumourSelection")
<< "Removing tumour.";
return true;
}
bool QmitkUSNavigationStepTumourSelection::OnRestartStep()
{
ui->tumourSizeExplanationLabel->setEnabled(false);
ui->tumourSizeLabel->setEnabled(false);
ui->tumourSizeSlider->setEnabled(false);
ui->deleteTumourButton->setEnabled(false);
ui->tumourSizeSlider->blockSignals(true);
ui->tumourSizeSlider->setValue(0);
ui->tumourSizeSlider->blockSignals(false);
return QmitkUSAbstractNavigationStep::OnRestartStep();
}
bool QmitkUSNavigationStepTumourSelection::OnFinishStep()
{
// make sure that the surface has the right extent (in case the
// tumor size was changed since the initial surface creation)
m_TargetSurfaceNode->SetData(this->CreateTargetSurface());
return true;
}
bool QmitkUSNavigationStepTumourSelection::OnActivateStep()
{
m_Interactor = mitk::USZonesInteractor::New();
m_Interactor->LoadStateMachine(m_StateMachineFilename, us::ModuleRegistry::GetModule("MitkUS"));
m_Interactor->SetEventConfig("globalConfig.xml");
- m_NodeDisplacementFilter->SelectInput(m_ReferenceSensorIndex);
+ m_NodeDisplacementFilter->ConnectTo(this->GetCombinedModality()->GetNavigationDataSource());
+ m_NodeDisplacementFilter->SelectInput(1);//m_ReferenceSensorIndex
//target selection is optional
if (m_targetSelectionOptional) { emit SignalReadyForNextStep(); }
return true;
}
bool QmitkUSNavigationStepTumourSelection::OnDeactivateStep()
{
m_Interactor->SetDataNode(0);
bool value;
if (m_TumourNode.IsNotNull() && !(m_TumourNode->GetBoolProperty("zone.created", value) && value))
{
m_TumourNode->SetData(0);
}
// make sure that imaging isn't freezed anymore
ui->freezeImageButton->Unfreeze();
return true;
}
void QmitkUSNavigationStepTumourSelection::OnUpdate()
{
if (m_NavigationDataSource.IsNull()) { return; }
m_NavigationDataSource->Update();
+ m_NodeDisplacementFilter->Update();
bool valid = m_NavigationDataSource->GetOutput(m_ReferenceSensorIndex)->IsDataValid();
if (valid)
{
ui->bodyMarkerTrackingStatusLabel->setStyleSheet(
"background-color: #8bff8b; margin-right: 1em; margin-left: 1em; border: 1px solid grey");
ui->bodyMarkerTrackingStatusLabel->setText("Body marker is inside the tracking volume.");
}
else
{
ui->bodyMarkerTrackingStatusLabel->setStyleSheet(
"background-color: #ff7878; margin-right: 1em; margin-left: 1em; border: 1px solid grey");
ui->bodyMarkerTrackingStatusLabel->setText("Body marker is not inside the tracking volume.");
}
ui->freezeImageButton->setEnabled(valid);
bool created;
if (m_TumourNode.IsNull() || !m_TumourNode->GetBoolProperty("zone.created", created) || !created)
{
ui->tumourSearchExplanationLabel->setEnabled(valid);
}
}
void QmitkUSNavigationStepTumourSelection::OnSettingsChanged(const itk::SmartPointer<mitk::DataNode> settingsNode)
{
if (settingsNode.IsNull()) { return; }
float securityDistance;
if (settingsNode->GetFloatProperty("settings.security-distance", securityDistance))
{
m_SecurityDistance = securityDistance;
}
std::string stateMachineFilename;
if (settingsNode->GetStringProperty("settings.interaction-concept", stateMachineFilename) && stateMachineFilename != m_StateMachineFilename)
{
m_StateMachineFilename = stateMachineFilename;
m_Interactor->LoadStateMachine(stateMachineFilename, us::ModuleRegistry::GetModule("MitkUS"));
}
std::string referenceSensorName;
if (settingsNode->GetStringProperty("settings.reference-name-selected", referenceSensorName))
{
m_ReferenceSensorName = referenceSensorName;
}
this->UpdateReferenceSensorName();
}
QString QmitkUSNavigationStepTumourSelection::GetTitle()
{
return "Localisation of Tumour Position";
}
QmitkUSAbstractNavigationStep::FilterVector QmitkUSNavigationStepTumourSelection::GetFilter()
{
return FilterVector(1, m_NodeDisplacementFilter.GetPointer());
}
void QmitkUSNavigationStepTumourSelection::OnFreeze(bool freezed)
{
- if (freezed) this->GetCombinedModality()->SetIsFreezed(true);
+ if (freezed) this->GetCombinedModality()->GetUltrasoundDevice()->SetIsFreezed(true);
ui->tumourSelectionExplanation1Label->setEnabled(freezed);
ui->tumourSelectionExplanation2Label->setEnabled(freezed);
if (freezed)
{
if (!m_TumourNode->GetData())
{
// load state machine and event config for data interactor
m_Interactor->LoadStateMachine(m_StateMachineFilename, us::ModuleRegistry::GetModule("MitkUS"));
m_Interactor->SetEventConfig("globalConfig.xml");
m_Interactor->SetDataNode(m_TumourNode);
// feed reference pose to node displacement filter
m_NodeDisplacementFilter->SetInitialReferencePose(this->GetCombinedModality()->GetNavigationDataSource()->GetOutput(m_ReferenceSensorIndex)->Clone());
}
}
else
{
bool value;
if (m_TumourNode->GetBoolProperty("zone.created", value) && value)
{
ui->freezeImageButton->setEnabled(false);
ui->tumourSearchExplanationLabel->setEnabled(false);
}
}
- if (!freezed) this->GetCombinedModality()->SetIsFreezed(false);
+ if (!freezed) this->GetCombinedModality()->GetUltrasoundDevice()->SetIsFreezed(false);
}
void QmitkUSNavigationStepTumourSelection::OnSetCombinedModality()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetCombinedModality(false);
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetCombinedModality(false);
if (combinedModality.IsNotNull())
{
m_NavigationDataSource = combinedModality->GetNavigationDataSource();
}
else
{
m_NavigationDataSource = 0;
}
ui->freezeImageButton->SetCombinedModality(combinedModality, m_ReferenceSensorIndex);
this->UpdateReferenceSensorName();
}
void QmitkUSNavigationStepTumourSelection::OnTumourSizeChanged(int size)
{
m_TumourNode->SetFloatProperty("zone.size", static_cast<float>(size));
mitk::USZonesInteractor::UpdateSurface(m_TumourNode);
MITK_INFO("QmitkUSAbstractNavigationStep")("QmitkUSNavigationStepTumourSelection")
<< "Changing tumour radius to " << size << ".";
}
void QmitkUSNavigationStepTumourSelection::OnDeleteButtonClicked()
{
this->OnRestartStep();
}
void QmitkUSNavigationStepTumourSelection::TumourNodeChanged(const mitk::DataNode* dataNode)
{
// only changes of tumour node are of interest
if (dataNode != m_TumourNode) { return; }
float size;
dataNode->GetFloatProperty("zone.size", size);
ui->tumourSizeSlider->setValue(static_cast<int>(size));
bool created;
if (dataNode->GetBoolProperty("zone.created", created) && created)
{
if (ui->freezeImageButton->isChecked())
{
m_NodeDisplacementFilter->AddNode(const_cast<mitk::DataNode*>(dataNode));
m_TargetSurfaceNode->SetData(this->CreateTargetSurface());
m_NodeDisplacementFilter->AddNode(m_TargetSurfaceNode);
MITK_INFO("QmitkUSAbstractNavigationStep")("QmitkUSNavigationStepTumourSelection")
<< "Tumour created with center " << dataNode->GetData()->GetGeometry()->GetOrigin()
<< " and radius " << size << ".";
mitk::DataNode::Pointer tumourResultNode = mitk::DataNode::New();
tumourResultNode->SetName("TumourResult");
tumourResultNode->SetProperty("USNavigation::TumourCenter",
mitk::Point3dProperty::New(dataNode->GetData()->GetGeometry()->GetOrigin()));
tumourResultNode->SetProperty("USNavigation::TumourRadius", mitk::DoubleProperty::New(size));
emit SignalIntermediateResult(tumourResultNode);
ui->freezeImageButton->Unfreeze();
}
ui->tumourSearchExplanationLabel->setEnabled(false);
ui->tumourSizeExplanationLabel->setEnabled(true);
ui->tumourSizeLabel->setEnabled(true);
ui->tumourSizeSlider->setEnabled(true);
ui->deleteTumourButton->setEnabled(true);
emit SignalReadyForNextStep();
}
}
mitk::Surface::Pointer QmitkUSNavigationStepTumourSelection::CreateTargetSurface()
{
mitk::Surface::Pointer tumourSurface = dynamic_cast<mitk::Surface*>(m_TumourNode->GetData());
if (tumourSurface.IsNull())
{
MITK_WARN << "No target selected, cannot create surface!";
return mitk::Surface::New(); //return a empty surface in this case...
}
// make a deep copy of the tumour surface polydata
vtkSmartPointer<vtkPolyData> tumourSurfaceVtk = vtkSmartPointer<vtkPolyData>::New();
tumourSurfaceVtk->DeepCopy(tumourSurface->GetVtkPolyData());
// create scalars for moving every point the same size onto its normal vector
vtkSmartPointer<vtkDoubleArray> scalars = vtkSmartPointer<vtkDoubleArray>::New();
int numberOfPoints = tumourSurfaceVtk->GetNumberOfPoints();
scalars->SetNumberOfTuples(numberOfPoints);
// set scalars for warp filter
for (vtkIdType i = 0; i < numberOfPoints; ++i) { scalars->SetTuple1(i, m_SecurityDistance * 10); }
tumourSurfaceVtk->GetPointData()->SetScalars(scalars);
vtkSmartPointer<vtkWarpScalar> warpScalar = vtkSmartPointer<vtkWarpScalar>::New();
warpScalar->SetInputData(tumourSurfaceVtk);
warpScalar->SetScaleFactor(1); // use the scalars themselves
warpScalar->Update();
vtkSmartPointer<vtkPolyData> targetSurfaceVtk = warpScalar->GetPolyDataOutput();
// set the moved points to the deep copied tumour surface; this is
// necessary as setting the targetSurfaceVtk as polydata for the
// targetSurface would result in flat shading for the surface (seems
// to be a bug in MITK or VTK)
tumourSurfaceVtk->SetPoints(targetSurfaceVtk->GetPoints());
mitk::Surface::Pointer targetSurface = mitk::Surface::New();
targetSurface->SetVtkPolyData(tumourSurfaceVtk);
targetSurface->GetGeometry()->SetOrigin(tumourSurface->GetGeometry()->GetOrigin());
return targetSurface;
}
itk::SmartPointer<mitk::NodeDisplacementFilter> QmitkUSNavigationStepTumourSelection::GetTumourNodeDisplacementFilter()
{
return m_NodeDisplacementFilter;
}
void QmitkUSNavigationStepTumourSelection::UpdateReferenceSensorName()
{
if (m_NavigationDataSource.IsNull()) { return; }
if (!m_ReferenceSensorName.empty())
{
try
{
m_ReferenceSensorIndex = m_NavigationDataSource->GetOutputIndex(m_ReferenceSensorName);
}
catch (const std::exception &e)
{
MITK_WARN("QmitkUSAbstractNavigationStep")("QmitkUSNavigationStepTumourSelection")
<< "Cannot get index for reference sensor name: " << e.what();
}
}
if (this->GetNavigationStepState() >= QmitkUSAbstractNavigationStep::State_Active)
{
+ MITK_INFO << "############### " << m_NodeDisplacementFilter->GetNumberOfIndexedInputs();
m_NodeDisplacementFilter->SelectInput(m_ReferenceSensorIndex);
}
ui->freezeImageButton->SetCombinedModality(this->GetCombinedModality(false), m_ReferenceSensorIndex);
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepZoneMarking.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepZoneMarking.cpp
index ffe7a26b38..06fa4cb5d3 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepZoneMarking.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/NavigationStepWidgets/QmitkUSNavigationStepZoneMarking.cpp
@@ -1,269 +1,272 @@
/*===================================================================
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 "QmitkUSNavigationStepZoneMarking.h"
#include "ui_QmitkUSNavigationStepZoneMarking.h"
#include "mitkNodeDisplacementFilter.h"
#include "../QmitkUSNavigationMarkerPlacement.h"
QmitkUSNavigationStepZoneMarking::QmitkUSNavigationStepZoneMarking(QWidget *parent) :
QmitkUSAbstractNavigationStep(parent),
m_ZoneDisplacementFilter(mitk::NodeDisplacementFilter::New()),
m_ReferenceSensorIndex(1),
m_CurrentlyAddingZone(false),
ui(new Ui::QmitkUSNavigationStepZoneMarking)
{
ui->setupUi(this);
connect( ui->freezeButton, SIGNAL(SignalFreezed(bool)), this, SLOT(OnFreeze(bool)) );
connect( ui->zonesWidget, SIGNAL(ZoneAdded()), this, SLOT(OnZoneAdded()) );
connect( ui->zonesWidget, SIGNAL(ZoneRemoved()), this, SLOT(OnZoneRemoved()) );
connect(ui->showStructureList, SIGNAL(stateChanged(int)), this, SLOT(OnShowListClicked(int)));
ui->zonesLabel->setVisible(false);
ui->zonesWidget->setVisible(false);
}
void QmitkUSNavigationStepZoneMarking::OnShowListClicked(int state)
{
ui->zonesLabel->setVisible(state);
ui->zonesWidget->setVisible(state);
}
QmitkUSNavigationStepZoneMarking::~QmitkUSNavigationStepZoneMarking()
{
delete ui;
}
bool QmitkUSNavigationStepZoneMarking::OnStartStep()
{
this->GetNamedDerivedNodeAndCreate(QmitkUSNavigationMarkerPlacement::DATANAME_ZONES,
QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
ui->zonesWidget->SetDataStorage(this->GetDataStorage(), QmitkUSNavigationMarkerPlacement::DATANAME_ZONES);
return true;
}
bool QmitkUSNavigationStepZoneMarking::OnStopStep()
{
m_ZoneDisplacementFilter->ResetNodes();
ui->zonesWidget->OnResetZones();
m_ZoneNodes.clear();
// remove zone nodes from the data storage
mitk::DataStorage::Pointer dataStorage = this->GetDataStorage(false);
if ( dataStorage.IsNotNull() )
{
mitk::DataNode::Pointer baseNode = dataStorage->GetNamedNode(QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
if ( baseNode.IsNotNull() )
{
dataStorage->Remove(dataStorage->GetNamedDerivedNode(QmitkUSNavigationMarkerPlacement::DATANAME_ZONES, baseNode));
}
}
return true;
}
bool QmitkUSNavigationStepZoneMarking::OnFinishStep()
{
return true;
}
bool QmitkUSNavigationStepZoneMarking::OnActivateStep()
{
+ m_ZoneDisplacementFilter->ConnectTo(this->GetCombinedModality()->GetNavigationDataSource());
m_ZoneDisplacementFilter->SelectInput(m_ReferenceSensorIndex);
emit SignalReadyForNextStep();
return true;
}
bool QmitkUSNavigationStepZoneMarking::OnDeactivateStep()
{
ui->freezeButton->Unfreeze();
return true;
}
void QmitkUSNavigationStepZoneMarking::OnUpdate()
{
if (m_NavigationDataSource.IsNull()) { return; }
m_NavigationDataSource->Update();
+ m_ZoneDisplacementFilter->Update();
bool valid = m_NavigationDataSource->GetOutput(m_ReferenceSensorIndex)->IsDataValid();
if (valid)
{
ui->bodyMarkerTrackingStatusLabel->setStyleSheet(
"background-color: #8bff8b; margin-right: 1em; margin-left: 1em; border: 1px solid grey");
ui->bodyMarkerTrackingStatusLabel->setText("Body marker is inside the tracking volume.");
}
else
{
ui->bodyMarkerTrackingStatusLabel->setStyleSheet(
"background-color: #ff7878; margin-right: 1em; margin-left: 1em; border: 1px solid grey");
ui->bodyMarkerTrackingStatusLabel->setText("Body marker is not inside the tracking volume.");
}
ui->freezeButton->setEnabled(valid);
}
void QmitkUSNavigationStepZoneMarking::OnSettingsChanged(const itk::SmartPointer<mitk::DataNode> settingsNode)
{
if ( settingsNode.IsNull() ) { return; }
std::string stateMachineFilename;
if ( settingsNode->GetStringProperty("settings.interaction-concept", stateMachineFilename) && stateMachineFilename != m_StateMachineFilename )
{
m_StateMachineFilename = stateMachineFilename;
ui->zonesWidget->SetStateMachineFilename(stateMachineFilename);
}
std::string referenceSensorName;
if ( settingsNode->GetStringProperty("settings.reference-name-selected", referenceSensorName) )
{
m_ReferenceSensorName = referenceSensorName;
}
this->UpdateReferenceSensorName();
}
QString QmitkUSNavigationStepZoneMarking::GetTitle()
{
return "Critical Structures";
}
QmitkUSAbstractNavigationStep::FilterVector QmitkUSNavigationStepZoneMarking::GetFilter()
{
return FilterVector(1, m_ZoneDisplacementFilter.GetPointer());
}
void QmitkUSNavigationStepZoneMarking::OnFreeze(bool freezed)
{
- if (freezed) this->GetCombinedModality()->SetIsFreezed(true);
+ if (freezed) this->GetCombinedModality()->GetUltrasoundDevice()->SetIsFreezed(true);
ui->zoneAddingExplanationLabel->setEnabled(freezed);
if ( freezed )
{
m_CurrentlyAddingZone = true;
ui->zonesWidget->OnStartAddingZone();
// feed reference pose to node displacement filter
m_ZoneDisplacementFilter->SetInitialReferencePose(this->GetCombinedModality()->GetNavigationDataSource()->GetOutput(m_ReferenceSensorIndex)->Clone());
}
else if ( m_CurrentlyAddingZone )
{
m_CurrentlyAddingZone = false;
ui->zonesWidget->OnAbortAddingZone();
}
- if (!freezed) this->GetCombinedModality()->SetIsFreezed(false);
+ if (!freezed) this->GetCombinedModality()->GetUltrasoundDevice()->SetIsFreezed(false);
}
void QmitkUSNavigationStepZoneMarking::OnZoneAdded()
{
m_CurrentlyAddingZone = false;
ui->freezeButton->Unfreeze();
ui->zoneAddingExplanationLabel->setEnabled(ui->freezeButton->isChecked());
mitk::DataStorage::SetOfObjects::ConstPointer zoneNodesSet = ui->zonesWidget->GetZoneNodes();
for (mitk::DataStorage::SetOfObjects::ConstIterator it = zoneNodesSet->Begin();
it != zoneNodesSet->End(); ++it)
{
// add all zones to zone filter which aren't added until now
if ( std::find(m_ZoneNodes.begin(), m_ZoneNodes.end(), it->Value()) == m_ZoneNodes.end() )
{
// logging center point and radius
float radius = -1;
it->Value()->GetFloatProperty("zone.size", radius);
MITK_INFO("QmitkUSNavigationStepZoneMarking")("QmitkUSAbstractNavigationStep")
<< "Risk zone (" << it->Value()->GetName() << ") added with center "
<< it->Value()->GetData()->GetGeometry()->GetOrigin() << " and radius " << radius << ".";
m_ZoneNodes.push_back(it->Value());
m_ZoneDisplacementFilter->AddNode(it->Value());
}
}
}
void QmitkUSNavigationStepZoneMarking::OnZoneRemoved()
{
mitk::DataStorage::SetOfObjects::ConstPointer zoneNodesSet = ui->zonesWidget->GetZoneNodes();
for ( int n = m_ZoneNodes.size() - 1; n >= 0; --n )
{
bool found = false;
// test if the node can be found in the set of zone nodes
for (mitk::DataStorage::SetOfObjects::ConstIterator itSet = zoneNodesSet->Begin();
itSet != zoneNodesSet->End(); ++itSet)
{
if ( m_ZoneNodes.at(n) == itSet->Value() ) { found = true; break; }
}
if ( ! found )
{
MITK_INFO("QmitkUSNavigationStepZoneMarking")("QmitkUSAbstractNavigationStep")
<< "Risk zone (" << m_ZoneNodes.at(n)->GetName() << ") removed.";
m_ZoneNodes.erase(m_ZoneNodes.begin()+n);
m_ZoneDisplacementFilter->RemoveNode(n);
}
}
}
void QmitkUSNavigationStepZoneMarking::OnSetCombinedModality()
{
- mitk::USCombinedModality::Pointer combinedModality = this->GetCombinedModality(false);
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality = this->GetCombinedModality(false);
if (combinedModality.IsNotNull())
{
m_NavigationDataSource = combinedModality->GetNavigationDataSource();
}
ui->freezeButton->SetCombinedModality(combinedModality, m_ReferenceSensorIndex);
this->UpdateReferenceSensorName();
}
void QmitkUSNavigationStepZoneMarking::UpdateReferenceSensorName()
{
if ( m_NavigationDataSource.IsNull() ) { return; }
if ( ! m_ReferenceSensorName.empty() )
{
try
{
- m_ReferenceSensorIndex = m_NavigationDataSource->GetOutputIndex(m_ReferenceSensorName);
+ //m_ReferenceSensorIndex = m_NavigationDataSource->GetOutputIndex(m_ReferenceSensorName);
+ m_ReferenceSensorIndex = 1;
}
catch ( const std::exception &e )
{
MITK_WARN("QmitkUSAbstractNavigationStep")("QmitkUSNavigationStepZoneMarking")
<< "Cannot get index for reference sensor name: " << e.what();
}
}
if ( this->GetNavigationStepState() >= QmitkUSAbstractNavigationStep::State_Active )
{
m_ZoneDisplacementFilter->SelectInput(m_ReferenceSensorIndex);
}
ui->freezeButton->SetCombinedModality(this->GetCombinedModality(false), m_ReferenceSensorIndex);
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationCalibrationsDataModel.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationCalibrationsDataModel.cpp
index 0258f3b058..988a5a9170 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationCalibrationsDataModel.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationCalibrationsDataModel.cpp
@@ -1,250 +1,250 @@
/*===================================================================
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 "QmitkUSNavigationCalibrationsDataModel.h"
#include <mitkUSCombinedModality.h>
#include <mitkUSControlInterfaceBMode.h>
#include <QBrush>
#include <QColor>
#include <QIcon>
#include <QFont>
QmitkUSNavigationCalibrationsDataModel::QmitkUSNavigationCalibrationsDataModel(QObject *parent)
: QAbstractTableModel(parent),
m_ListenerDeviceChanged(this, &QmitkUSNavigationCalibrationsDataModel::OnDeviceChanged)
{
}
QmitkUSNavigationCalibrationsDataModel::~QmitkUSNavigationCalibrationsDataModel()
{
if ( m_CombinedModality.IsNotNull() )
{
m_CombinedModality->GetUltrasoundDevice()->RemovePropertyChangedListener(m_ListenerDeviceChanged);
}
}
- void QmitkUSNavigationCalibrationsDataModel::SetCombinedModality(mitk::USCombinedModality::Pointer combinedModality)
+ void QmitkUSNavigationCalibrationsDataModel::SetCombinedModality(mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality)
{
if ( m_CombinedModality.IsNotNull() && m_CombinedModality->GetUltrasoundDevice().IsNotNull() )
{
m_CombinedModality->GetUltrasoundDevice()->RemovePropertyChangedListener(m_ListenerDeviceChanged);
}
m_CombinedModality = combinedModality;
if ( m_CombinedModality.IsNotNull() )
{
m_ControlInterfaceBMode = m_CombinedModality->GetControlInterfaceBMode();
// make sure that the combined modality is active as this may be
// necessary to get the available depths
- if ( m_CombinedModality->GetDeviceState() < mitk::USDevice::State_Connected ) { m_CombinedModality->Connect(); }
- if ( m_CombinedModality->GetDeviceState() == mitk::USDevice::State_Connected ) { m_CombinedModality->Activate(); }
+ if ( m_CombinedModality->GetUltrasoundDevice()->GetDeviceState() < mitk::USDevice::State_Connected ) { m_CombinedModality->GetUltrasoundDevice()->Connect(); }
+ if ( m_CombinedModality->GetUltrasoundDevice()->GetDeviceState() == mitk::USDevice::State_Connected ) { m_CombinedModality->GetUltrasoundDevice()->Activate(); }
if ( m_CombinedModality->GetUltrasoundDevice().IsNotNull() )
{
m_CombinedModality->GetUltrasoundDevice()->AddPropertyChangedListener(m_ListenerDeviceChanged);
}
}
// as the combined modality was changed, an old table model
// would not be valid anymore
this->beginResetModel();
this->endResetModel();
}
void QmitkUSNavigationCalibrationsDataModel::OnDeviceChanged(const std::string&, const std::string&)
{
this->beginResetModel();
this->endResetModel();
}
/** \brief Return number of rows of the model. */
int QmitkUSNavigationCalibrationsDataModel::rowCount ( const QModelIndex & ) const
{
if ( m_ControlInterfaceBMode.IsNull() )
{
return 1; // only one default depth can be assumed
}
else
{
return m_ControlInterfaceBMode->GetScanningDepthValues().size();
}
}
/** \brief Return number of columns (3) of the model. */
int QmitkUSNavigationCalibrationsDataModel::columnCount ( const QModelIndex & ) const
{
return 3;
}
/** \brief Return names for the columns, numbers for the rows and invalid for DisplayRole. */
QVariant QmitkUSNavigationCalibrationsDataModel::headerData ( int section, Qt::Orientation orientation, int role ) const
{
if ( role != Qt::DisplayRole ) { return QVariant(QVariant::Invalid); }
if ( orientation == Qt::Horizontal )
{
switch ( section )
{
case 0: return QVariant("Depth");
case 1: return QVariant("Calibrated");
case 2: return QVariant("");
}
}
return QVariant(QVariant::Invalid);
}
/** \brief Return selectable and enabled for column 1 (size); selectable, enabled and editable for every other column. */
Qt::ItemFlags QmitkUSNavigationCalibrationsDataModel::flags ( const QModelIndex & ) const
{
return Qt::ItemIsSelectable | Qt::ItemIsEnabled;
}
/** \brief Return model data of the selected cell. */
QVariant QmitkUSNavigationCalibrationsDataModel::data ( const QModelIndex & index, int role ) const
{
if ( m_CombinedModality.IsNull() ) { return QVariant(QVariant::Invalid); }
std::vector<double> scanningDepthValues = m_ControlInterfaceBMode.IsNull() ?
std::vector<double>(1,0) : m_ControlInterfaceBMode->GetScanningDepthValues();
// make sure that row and column index fit data borders
if (index.row() >= this->rowCount()
|| index.column() >= this->columnCount())
{
return QVariant(QVariant::Invalid);
}
double currentDepth = 0;
if ( m_ControlInterfaceBMode.IsNotNull() ) { currentDepth = m_ControlInterfaceBMode->GetScanningDepth(); }
bool isCalibratedForCurrentDepth =
m_CombinedModality->GetCalibration(QString::number(scanningDepthValues.at(index.row())).toStdString()).IsNotNull();
switch (role)
{
case Qt::BackgroundColorRole:
{
if ( isCalibratedForCurrentDepth )
{
return QVariant(QBrush(QColor(125, 255, 125)));
}
else
{
return QVariant(QBrush(QColor(255, 125, 125)));
}
break;
}
case Qt::FontRole:
{
if ( scanningDepthValues.at(index.row()) == currentDepth )
{
QFont qFont;
qFont.setBold(true);
return qFont;
}
else
{
return QVariant::Invalid;
}
}
case Qt::DecorationRole:
{
if ( index.column() == 2 )
{
if ( isCalibratedForCurrentDepth )
{
return QIcon(":/USNavigation/process-stop.png");
}
}
else { return QVariant::Invalid; }
}
case Qt::EditRole:
case Qt::DisplayRole:
{
switch ( index.column() )
{
case 0:
{
return QVariant::fromValue<double>(scanningDepthValues.at(index.row()));
}
case 1:
{
if ( m_ControlInterfaceBMode.IsNull() )
{
// use the current zoom level (which is assumed to be the only one),
// when no b mode controls are available
return QVariant(m_CombinedModality->GetCalibration().IsNotNull());
}
else
{
return QVariant(isCalibratedForCurrentDepth);
}
}
case 2:
{
return QVariant("");
}
}
break;
}
case Qt::ToolTipRole:
{
if ( index.column() == 2 && isCalibratedForCurrentDepth )
{
return QVariant(QString("Remove calibration for depth ") + QString::number(scanningDepthValues.at(index.row())) + " on mouse click.");
}
break;
}
}
return QVariant(QVariant::Invalid);
}
/** \brief Set model data for the selected cell. */
bool QmitkUSNavigationCalibrationsDataModel::setData ( const QModelIndex & index, const QVariant & value, int )
{
if ( m_CombinedModality.IsNull() || index.column() != 2 || value != false )
return false;
if ( m_ControlInterfaceBMode.IsNull() )
{
m_CombinedModality->RemoveCalibration();
}
else
{
m_CombinedModality->RemoveCalibration(QString::number(m_ControlInterfaceBMode->GetScanningDepthValues().at(index.row())).toStdString());
}
emit dataChanged(this->index(index.row(), 0), this->index(index.row(), 1));
return true;
}
/** \brief Remove given rows from the model.
* \param removeFromDataStorage zone nodes are removed from the data storage too, if this is set to true
*/
bool QmitkUSNavigationCalibrationsDataModel::removeRows ( int, int, const QModelIndex&, bool )
{
return false;
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationCalibrationsDataModel.h b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationCalibrationsDataModel.h
index 358b15fb10..db16f09fcd 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationCalibrationsDataModel.h
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationCalibrationsDataModel.h
@@ -1,74 +1,74 @@
/*===================================================================
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 QMITKUSNAVIGATIONCALIBRATIONSDATAMODEL_H
#define QMITKUSNAVIGATIONCALIBRATIONSDATAMODEL_H
#include <QAbstractTableModel>
#include <mitkMessage.h>
#include <itkSmartPointer.h>
namespace mitk {
- class USCombinedModality;
+ class AbstractUltrasoundTrackerDevice;
class USControlInterfaceBMode;
class USControlInterfaceProbes;
}
class QmitkUSNavigationCalibrationsDataModel : public QAbstractTableModel
{
Q_OBJECT
public:
explicit QmitkUSNavigationCalibrationsDataModel(QObject *parent = 0);
virtual ~QmitkUSNavigationCalibrationsDataModel();
- void SetCombinedModality(itk::SmartPointer<mitk::USCombinedModality> combinedModality);
+ void SetCombinedModality(itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice> combinedModality);
void OnDeviceChanged(const std::string&, const std::string&);
/** \brief Return number of rows of the model. */
virtual int rowCount ( const QModelIndex & parent = QModelIndex() ) const;
/** \brief Return number of columns (3) of the model. */
virtual int columnCount ( const QModelIndex & parent = QModelIndex() ) const;
/** \brief Return names for the columns, numbers for the rows and invalid for DisplayRole. */
virtual QVariant headerData ( int section, Qt::Orientation orientation, int role = Qt::DisplayRole ) const;
/** \brief Return selectable and enabled for column 1 (size); selectable, enabled and editable for every other column. */
virtual Qt::ItemFlags flags ( const QModelIndex & index ) const;
/** \brief Return model data of the selected cell. */
virtual QVariant data ( const QModelIndex & index, int role = Qt::DisplayRole ) const;
/** \brief Set model data for the selected cell. */
virtual bool setData ( const QModelIndex & index, const QVariant & value, int role = Qt::EditRole );
using QAbstractTableModel::removeRows;
/** \brief Remove given rows from the model.
* \param removeFromDataStorage zone nodes are removed from the data storage too, if this is set to true
*/
virtual bool removeRows ( int row, int count, const QModelIndex& parent, bool removeFromDataStorage );
private:
- itk::SmartPointer<mitk::USCombinedModality> m_CombinedModality;
+ itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice> m_CombinedModality;
itk::SmartPointer<mitk::USControlInterfaceBMode> m_ControlInterfaceBMode;
mitk::MessageDelegate2<QmitkUSNavigationCalibrationsDataModel, const std::string&, const std::string&> m_ListenerDeviceChanged;
};
#endif // QMITKUSNAVIGATIONCALIBRATIONSDATAMODEL_H
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.cpp
index 3cc40c3395..049f7f5ea4 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.cpp
@@ -1,874 +1,697 @@
/*===================================================================
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 "QmitkUSNavigationMarkerPlacement.h"
#include "ui_QmitkUSNavigationMarkerPlacement.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepMarkerIntervention.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepPlacementPlanning.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepPunctuationIntervention.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepTumourSelection.h"
#include "NavigationStepWidgets/QmitkUSNavigationStepZoneMarking.h"
#include "SettingsWidgets/QmitkUSNavigationCombinedSettingsWidget.h"
#include "mitkIRenderingManager.h"
#include "mitkNodeDisplacementFilter.h"
-#include "mitkUSCombinedModality.h"
+#include "mitkAbstractUltrasoundTrackerDevice.h"
#include <mitkIOUtil.h>
-#include "IO/mitkUSNavigationExperimentLogging.h"
#include "IO/mitkUSNavigationStepTimer.h"
#include <QDateTime>
#include <QDir>
#include <QInputDialog>
#include <QMessageBox>
#include <QSignalMapper>
#include <QTimer>
#include "QmitkRenderWindow.h"
#include "QmitkStdMultiWidget.h"
#include "QmitkStdMultiWidgetEditor.h"
#include "mitkLayoutAnnotationRenderer.h"
#include "mitkCameraController.h"
#include <vtkSmartPointer.h>
// scene serialization
#include <mitkConvert2Dto3DImageFilter.h>
#include <mitkNodePredicateNot.h>
#include <mitkNodePredicateProperty.h>
#include <mitkSceneIO.h>
#include <mitkSurface.h>
const std::string QmitkUSNavigationMarkerPlacement::VIEW_ID = "org.mitk.views.usmarkerplacement";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_TUMOUR = "Tumour";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_TARGETSURFACE = "Target Surface";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_ZONES = "Zones";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_TARGETS = "Targets";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_TARGETS_PATHS = "Target Paths";
const char *QmitkUSNavigationMarkerPlacement::DATANAME_REACHED_TARGETS = "Reached Targets";
QmitkUSNavigationMarkerPlacement::QmitkUSNavigationMarkerPlacement()
: m_Parent(nullptr),
- m_NavigationSteps(),
m_UpdateTimer(new QTimer(this)),
m_ImageAndNavigationDataLoggingTimer(new QTimer(this)),
m_StdMultiWidget(nullptr),
m_CombinedModality(nullptr),
m_ReinitAlreadyDone(false),
m_IsExperimentRunning(false),
m_CurrentApplicationName(),
m_NavigationStepTimer(mitk::USNavigationStepTimer::New()),
- m_ExperimentLogging(mitk::USNavigationExperimentLogging::New()),
m_IconRunning(QPixmap(":/USNavigation/record.png")),
m_IconNotRunning(QPixmap(":/USNavigation/record-gray.png")),
m_ResultsDirectory(),
m_ExperimentName(),
m_ExperimentResultsSubDirectory(),
m_NavigationStepNames(),
m_LoggingBackend(),
m_USImageLoggingFilter(mitk::USImageLoggingFilter::New()),
m_NavigationDataRecorder(mitk::NavigationDataRecorder::New()),
m_TargetNodeDisplacementFilter(nullptr),
m_AblationZonesDisplacementFilter(mitk::NodeDisplacementFilter::New()),
m_AblationZonesVector(),
m_NeedleIndex(0),
m_MarkerIndex(1),
m_SceneNumber(1),
m_WarnOverlay(mitk::TextAnnotation2D::New()),
m_NavigationDataSource(nullptr),
m_CurrentStorage(nullptr),
- m_ListenerDeviceChanged(this, &QmitkUSNavigationMarkerPlacement::OnCombinedModalityPropertyChanged),
ui(new Ui::QmitkUSNavigationMarkerPlacement )
{
connect(m_UpdateTimer, SIGNAL(timeout()), this, SLOT(OnTimeout()));
connect(
m_ImageAndNavigationDataLoggingTimer, SIGNAL(timeout()), this, SLOT(OnImageAndNavigationDataLoggingTimeout()));
// scale running (and not running) icon the specific height
m_IconRunning = m_IconRunning.scaledToHeight(20, Qt::SmoothTransformation);
m_IconNotRunning = m_IconNotRunning.scaledToHeight(20, Qt::SmoothTransformation);
- // set prefix for experiment logging (only keys with this prefix are taken
- // into consideration
- m_ExperimentLogging->SetKeyPrefix("USNavigation::");
-
m_UpdateTimer->start(33); // every 33 Milliseconds = 30 Frames/Second
}
QmitkUSNavigationMarkerPlacement::~QmitkUSNavigationMarkerPlacement()
{
- // remove listener for ultrasound device changes
- if (m_CombinedModality.IsNotNull() && m_CombinedModality->GetUltrasoundDevice().IsNotNull())
- {
- m_CombinedModality->GetUltrasoundDevice()->RemovePropertyChangedListener(m_ListenerDeviceChanged);
- }
-
- // remove listener for ultrasound device changes
- if (m_CombinedModality.IsNotNull() && m_CombinedModality->GetUltrasoundDevice().IsNotNull())
- {
- m_CombinedModality->GetUltrasoundDevice()->RemovePropertyChangedListener(m_ListenerDeviceChanged);
- }
-
delete ui;
}
void QmitkUSNavigationMarkerPlacement::OnChangeAblationZone(int id, int newSize)
{
if ((static_cast<int>(m_AblationZonesVector.size()) < id) || (id < 0))
{
return;
}
MITK_INFO << "Ablation Zone " << id << " changed, new size: " << newSize;
// create a vtk sphere with given radius
vtkSmartPointer<vtkSphereSource> vtkSphere = vtkSmartPointer<vtkSphereSource>::New();
vtkSphere->SetRadius(newSize / 2);
vtkSphere->SetCenter(0, 0, 0);
vtkSphere->SetPhiResolution(20);
vtkSphere->SetThetaResolution(20);
vtkSphere->Update();
mitk::Surface::Pointer zoneSurface = dynamic_cast<mitk::Surface *>(m_AblationZonesVector.at(id)->GetData());
zoneSurface->SetVtkPolyData(vtkSphere->GetOutput());
}
void QmitkUSNavigationMarkerPlacement::OnAddAblationZone(int size)
{
m_AblationZonesDisplacementFilter->SetInitialReferencePose(
m_CombinedModality->GetNavigationDataSource()->GetOutput(m_MarkerIndex));
mitk::DataNode::Pointer NewAblationZone = mitk::DataNode::New();
mitk::Point3D origin = m_CombinedModality->GetNavigationDataSource()->GetOutput(m_NeedleIndex)->GetPosition();
MITK_INFO("USNavigationLogging") << "Ablation Zone Added, initial size: " << size << ", origin: " << origin;
mitk::Surface::Pointer zone = mitk::Surface::New();
// create a vtk sphere with given radius
vtkSmartPointer<vtkSphereSource> vtkSphere = vtkSmartPointer<vtkSphereSource>::New();
vtkSphere->SetRadius(size / 2);
vtkSphere->SetCenter(0, 0, 0);
vtkSphere->SetPhiResolution(20);
vtkSphere->SetThetaResolution(20);
vtkSphere->Update();
zone->SetVtkPolyData(vtkSphere->GetOutput());
// set vtk sphere and origin to data node (origin must be set
// again, because of the new sphere set as data)
NewAblationZone->SetData(zone);
NewAblationZone->GetData()->GetGeometry()->SetOrigin(origin);
mitk::Color SphereColor = mitk::Color();
// default color
SphereColor[0] = 102;
SphereColor[1] = 0;
SphereColor[2] = 204;
NewAblationZone->SetColor(SphereColor);
NewAblationZone->SetOpacity(0.3);
// set name of zone
std::stringstream name;
name << "Ablation Zone" << m_AblationZonesVector.size();
NewAblationZone->SetName(name.str());
// add zone to filter
m_AblationZonesDisplacementFilter->AddNode(NewAblationZone);
m_AblationZonesVector.push_back(NewAblationZone);
this->GetDataStorage()->Add(NewAblationZone);
}
void QmitkUSNavigationMarkerPlacement::CreateQtPartControl(QWidget *parent)
{
m_Parent = parent;
ui->setupUi(parent);
- connect(ui->navigationProcessWidget,
- SIGNAL(SignalCombinedModalityChanged(itk::SmartPointer<mitk::USCombinedModality>)),
- this,
- SLOT(OnCombinedModalityChanged(itk::SmartPointer<mitk::USCombinedModality>)));
-
- connect(ui->navigationProcessWidget,
- SIGNAL(SignalSettingsChanged(itk::SmartPointer<mitk::DataNode>)),
- this,
- SLOT(OnSettingsChanged(itk::SmartPointer<mitk::DataNode>)));
-
- connect(ui->navigationProcessWidget,
- SIGNAL(SignalActiveNavigationStepChanged(int)),
- this,
- SLOT(OnActiveNavigationStepChanged(int)));
-
- connect(ui->navigationProcessWidget,
- SIGNAL(SignalActiveNavigationStepChangeRequested(int)),
- this,
- SLOT(OnNextNavigationStepInitialization(int)));
-
connect(ui->startExperimentButton, SIGNAL(clicked()), this, SLOT(OnStartExperiment()));
connect(ui->finishExperimentButton, SIGNAL(clicked()), this, SLOT(OnFinishExperiment()));
connect(ui->m_enableNavigationLayout, SIGNAL(clicked()), this, SLOT(OnChangeLayoutClicked()));
connect(ui->m_RenderWindowSelection, SIGNAL(valueChanged(int)), this, SLOT(OnRenderWindowSelection()));
connect(ui->m_RefreshView, SIGNAL(clicked()), this, SLOT(OnRefreshView()));
- connect(ui->navigationProcessWidget,
- SIGNAL(SignalIntermediateResult(const itk::SmartPointer<mitk::DataNode>)),
- this,
- SLOT(OnIntermediateResultProduced(const itk::SmartPointer<mitk::DataNode>)));
+ m_BaseNode = this->GetDataStorage()->GetNamedNode(QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
+ if (m_BaseNode.IsNull())
+ {
+ m_BaseNode = mitk::DataNode::New();
+ m_BaseNode->SetName(QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
+ this->GetDataStorage()->Add(m_BaseNode);
+ }
- ui->navigationProcessWidget->SetDataStorage(this->GetDataStorage());
+ connect(ui->m_initializeTargetMarking, SIGNAL(clicked()), this, SLOT(OnInitializeTargetMarking()));
+ connect(ui->m_initializeCritStructureMarking, SIGNAL(clicked()), this, SLOT(OnInitializeCriticalStructureMarking()));
+ connect(ui->m_initializeNavigation, SIGNAL(clicked()), this, SLOT(OnInitializeNavigation()));
// indicate that no experiment is running at start
ui->runningLabel->setPixmap(m_IconNotRunning);
- ui->navigationProcessWidget->SetSettingsWidget(new QmitkUSNavigationCombinedSettingsWidget(m_Parent));
+ connect(ui->m_settingsWidget, SIGNAL(SettingsChanged(itk::SmartPointer<mitk::DataNode>)), this, SLOT(OnSettingsChanged(itk::SmartPointer<mitk::DataNode>)));
+
+}
+
+void QmitkUSNavigationMarkerPlacement::ReInitializeSettingsNodesAndImageStream()
+{
+ m_SettingsNode = mitk::DataNode::New();
+ ui->m_settingsWidget->OnSetSettingsNode(m_SettingsNode, true);
+ InitImageStream();
+ m_CombinedModality = ui->m_CombinedModalityCreationWidget->GetSelectedCombinedModality();
+}
+
+void QmitkUSNavigationMarkerPlacement::OnInitializeTargetMarking()
+{
+ ReInitializeSettingsNodesAndImageStream();
+ ui->m_TargetMarkingWidget->SetCombinedModality(m_CombinedModality);
+ ui->m_TargetMarkingWidget->SetDataStorage(this->GetDataStorage());
+ ui->m_TargetMarkingWidget->OnSettingsChanged(m_SettingsNode);
+ ui->m_TargetMarkingWidget->OnActivateStep();
+ ui->m_TargetMarkingWidget->OnStartStep();
+ ui->m_TargetMarkingWidget->Update();
+
+}
+void QmitkUSNavigationMarkerPlacement::OnInitializeCriticalStructureMarking()
+{
+ ReInitializeSettingsNodesAndImageStream();
+ ui->m_CriticalStructuresWidget->SetCombinedModality(m_CombinedModality);
+ ui->m_CriticalStructuresWidget->SetDataStorage(this->GetDataStorage());
+ ui->m_CriticalStructuresWidget->OnSettingsChanged(m_SettingsNode);
+ ui->m_CriticalStructuresWidget->OnActivateStep();
+ ui->m_CriticalStructuresWidget->OnStartStep();
+ ui->m_CriticalStructuresWidget->Update();
+}
+void QmitkUSNavigationMarkerPlacement::OnInitializeNavigation()
+{
+
+ ReInitializeSettingsNodesAndImageStream();
+ ui->m_NavigationWidget->SetCombinedModality(m_CombinedModality);
+ ui->m_NavigationWidget->SetDataStorage(this->GetDataStorage());
+ ui->m_NavigationWidget->OnSettingsChanged(m_SettingsNode);
+ ui->m_NavigationWidget->OnActivateStep();
+ ui->m_NavigationWidget->OnStartStep();
+ ui->m_NavigationWidget->Update();
+
+}
+
+void QmitkUSNavigationMarkerPlacement::InitImageStream()
+{
+ if (m_ImageStreamNode.IsNull())
+ {
+ m_ImageStreamNode = mitk::DataNode::New();
+ m_ImageStreamNode->SetName("US Navigation Viewing Stream");
+ this->GetDataStorage()->Add(m_ImageStreamNode);
+ }
}
void QmitkUSNavigationMarkerPlacement::OnCombinedModalityPropertyChanged(const std::string &key, const std::string &)
{
if (key == mitk::USDevice::GetPropertyKeys().US_PROPKEY_BMODE_DEPTH)
{
m_ReinitAlreadyDone = false;
this->ReinitOnImage();
if (m_CombinedModality.IsNotNull() && !m_CombinedModality->GetIsCalibratedForCurrentStatus())
{
mitk::LayoutAnnotationRenderer::AddAnnotation(
m_WarnOverlay.GetPointer(), "stdmulti.widget1", mitk::LayoutAnnotationRenderer::TopLeft);
MITK_WARN << "No calibration available for the selected ultrasound image depth.";
}
}
}
void QmitkUSNavigationMarkerPlacement::SetFocus()
{
this->ReinitOnImage();
}
void QmitkUSNavigationMarkerPlacement::OnTimeout()
{
+ if (m_CombinedModality.IsNull()) return;
+ m_CombinedModality->Modified(); //shouldn't be nessecary ... fix in abstract ultrasound tracker device!
+ m_CombinedModality->Update();
+ ui->m_TargetMarkingWidget->Update();
+ ui->m_CriticalStructuresWidget->Update();
+ ui->m_NavigationWidget->Update();
+
+ mitk::Image::Pointer image = m_CombinedModality->GetOutput();
+ // make sure that always the current image is set to the data node
+ if (image.IsNotNull() && m_ImageStreamNode->GetData() != image.GetPointer() && image->IsInitialized())
+ {
+ m_ImageStreamNode->SetData(image);
+ }
+
if (!m_StdMultiWidget)
{
// try to get the standard multi widget if it couldn't be got before
mitk::IRenderWindowPart *renderWindow = this->GetRenderWindowPart();
QmitkStdMultiWidgetEditor *multiWidgetEditor = dynamic_cast<QmitkStdMultiWidgetEditor *>(renderWindow);
// if there is a standard multi widget now, disable the level window and
// change the layout to 2D up and 3d down
if (multiWidgetEditor)
{
m_StdMultiWidget = multiWidgetEditor->GetStdMultiWidget();
SetTwoWindowView();
}
this->CreateOverlays();
}
if (m_CombinedModality.IsNotNull() &&
- !this->m_CombinedModality->GetIsFreezed()) // if the combined modality is freezed: do nothing
+ !this->m_CombinedModality->GetUltrasoundDevice()->GetIsFreezed()) // if the combined modality is freezed: do nothing
{
- ui->navigationProcessWidget->UpdateNavigationProgress();
m_AblationZonesDisplacementFilter->Update();
+
+
// update the 3D window only every fourth time to speed up the rendering (at least in 2D)
this->RequestRenderWindowUpdate(mitk::RenderingManager::REQUEST_UPDATE_2DWINDOWS);
// make sure that a reinit was performed on the image
this->ReinitOnImage();
}
}
void QmitkUSNavigationMarkerPlacement::OnEnableNavigationLayout()
{
MITK_INFO << "Navigation Layout";
// try to get the standard multi widget if it couldn't be got before
mitk::IRenderWindowPart *renderWindow = this->GetRenderWindowPart();
QmitkStdMultiWidgetEditor *multiWidgetEditor = dynamic_cast<QmitkStdMultiWidgetEditor *>(renderWindow);
// if there is a standard multi widget now, disable the level window and
// change the layout to 2D up and 3d down
if (multiWidgetEditor)
{
m_StdMultiWidget = multiWidgetEditor->GetStdMultiWidget();
SetTwoWindowView();
}
}
void QmitkUSNavigationMarkerPlacement::OnRenderWindowSelection()
{
SetTwoWindowView();
}
void QmitkUSNavigationMarkerPlacement::OnRefreshView()
{
if (!ui->m_enableNavigationLayout->isChecked())
OnResetStandardLayout();
else
{
//Reinit the US Image Stream (this might be broken if there was a global reinit somewhere...)
try
{
mitk::RenderingManager::GetInstance()->InitializeViews(//Reinit
this->GetDataStorage()//GetDataStorage
->GetNamedNode("US Support Viewing Stream")->GetData()->GetTimeGeometry());//GetNode
}
catch (...)
{
MITK_DEBUG << "No reinit possible";
}
SetTwoWindowView();
}
}
void QmitkUSNavigationMarkerPlacement::SetTwoWindowView()
{
if (m_StdMultiWidget)
{
m_StdMultiWidget->DisableStandardLevelWindow();
int i, j, k;
switch (this->ui->m_RenderWindowSelection->value())
{
case 1:
mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))->GetCameraController()->SetViewToCaudal();
i = 2; j = 3; //other windows
k = 1;
break;
case 2:
mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))->GetCameraController()->SetViewToSinister();
i = 1; j = 3;
k = 2;
break;
case 3:
mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4"))->GetCameraController()->SetViewToAnterior();
i = 2; j = 1;
k = 3;
break;
default:
return;
}
m_StdMultiWidget->changeLayoutTo2DUpAnd3DDown(k);
////Crosshair invisible in 3D view
this->GetDataStorage()->GetNamedNode("stdmulti.widget" + std::to_string(i) + ".plane")->
SetBoolProperty("visible", false, mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4")));
this->GetDataStorage()->GetNamedNode("stdmulti.widget" + std::to_string(j) + ".plane")->
SetBoolProperty("visible", false, mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4")));
this->GetDataStorage()->GetNamedNode("stdmulti.widget" + std::to_string(k) + ".plane")->
SetBoolProperty("visible", true, mitk::BaseRenderer::GetInstance(mitk::BaseRenderer::GetRenderWindowByName("stdmulti.widget4")));
this->GetDataStorage()->GetNamedNode("stdmulti.widget" + std::to_string(i) + ".plane")->
SetIntProperty("Crosshair.Gap Size", 0);
this->GetDataStorage()->GetNamedNode("stdmulti.widget" + std::to_string(j) + ".plane")->
SetIntProperty("Crosshair.Gap Size", 0);
}
}
void QmitkUSNavigationMarkerPlacement::OnResetStandardLayout()
{
//reset render windows
mitk::DataNode::Pointer widget1 = this->GetDataStorage()->GetNamedNode("stdmulti.widget1.plane");
if (widget1.IsNotNull()) { widget1->SetVisibility(true); }
mitk::DataNode::Pointer widget2 = this->GetDataStorage()->GetNamedNode("stdmulti.widget2.plane");
if (widget2.IsNotNull()) { widget2->SetVisibility(true); }
mitk::DataNode::Pointer widget3 = this->GetDataStorage()->GetNamedNode("stdmulti.widget3.plane");
if (widget3.IsNotNull()) { widget3->SetVisibility(true); }
m_StdMultiWidget->changeLayoutToDefault();
}
void QmitkUSNavigationMarkerPlacement::OnChangeLayoutClicked()
{
if (ui->m_enableNavigationLayout->isChecked()) OnEnableNavigationLayout();
else OnResetStandardLayout();
}
void QmitkUSNavigationMarkerPlacement::OnImageAndNavigationDataLoggingTimeout()
{
// update filter for logging navigation data and ultrasound images
if (m_CombinedModality.IsNotNull())
{
m_NavigationDataRecorder->Update();
// get last messages for logging filer and store them
std::vector<std::string> messages = m_LoggingBackend.GetNavigationMessages();
std::string composedMessage = "";
for (std::size_t i = 0; i < messages.size(); i++)
{
composedMessage += messages.at(i);
}
m_USImageLoggingFilter->AddMessageToCurrentImage(composedMessage);
m_LoggingBackend.ClearNavigationMessages();
// update logging filter
m_USImageLoggingFilter->Update();
}
}
void QmitkUSNavigationMarkerPlacement::OnStartExperiment()
{
// get name for the experiment by a QInputDialog
bool ok;
if (m_ExperimentName.isEmpty())
{ // default: current date
m_ExperimentName = QString::number(QDateTime::currentDateTime().date().year()) + "_" +
QString::number(QDateTime::currentDateTime().date().month()) + "_" +
QString::number(QDateTime::currentDateTime().date().day()) + "_experiment_" +
QString::number(QDateTime::currentDateTime().time().hour()) + "." +
QString::number(QDateTime::currentDateTime().time().minute());
}
m_ExperimentName = QInputDialog::getText(
m_Parent, QString("Experiment Name"), QString("Name of the Experiment"), QLineEdit::Normal, m_ExperimentName, &ok);
MITK_INFO("USNavigationLogging") << "Experiment started: " << m_ExperimentName.toStdString();
if (ok && !m_ExperimentName.isEmpty())
{
// display error message and call the function recursivly if a directory
// with the given name already exists
QDir experimentResultsDir(m_ResultsDirectory + QDir::separator() + m_ExperimentName);
if (experimentResultsDir.exists())
{
QMessageBox::critical(
m_Parent, "Results Directory Exists", "The result directory already exists.\nPlease choose an other name.");
this->OnStartExperiment();
}
else
{
QDir(m_ResultsDirectory).mkdir(m_ExperimentName);
m_ExperimentResultsSubDirectory = m_ResultsDirectory + QDir::separator() + m_ExperimentName;
// experiment is running now
ui->runningLabel->setPixmap(m_IconRunning);
- ui->navigationProcessWidget->EnableInteraction(true);
// (re)start timer for navigation step durations
m_NavigationStepTimer->Reset();
m_NavigationStepTimer->SetOutputFileName(
QString(m_ExperimentResultsSubDirectory + QDir::separator() + QString("durations.cvs")).toStdString());
- m_NavigationStepTimer->SetActiveIndex(0, m_NavigationSteps.at(0)->GetTitle().toStdString());
+ m_NavigationStepTimer->SetActiveIndex(0, "Initialization");
ui->finishExperimentButton->setEnabled(true);
ui->startExperimentButton->setDisabled(true);
// initialize and register logging backend
QString loggingFilename = m_ExperimentResultsSubDirectory + QDir::separator() + "logging.txt";
m_LoggingBackend.SetOutputFileName(loggingFilename.toStdString());
mbilog::RegisterBackend(&m_LoggingBackend);
// initialize and start navigation data recorder form xml recording
m_NavigationDataRecorder->StartRecording();
m_IsExperimentRunning = true;
m_ImageAndNavigationDataLoggingTimer->start(1000);
-
- // (re)start experiment logging and set output file name
- m_ExperimentLogging->Reset();
- m_ExperimentLogging->SetFileName(
- QString(m_ExperimentResultsSubDirectory + QDir::separator() + "experiment-logging.xml").toStdString());
}
}
}
void QmitkUSNavigationMarkerPlacement::OnFinishExperiment()
{
this->WaitCursorOn();
MITK_INFO("USNavigationLogging") << "Experiment finished!";
MITK_INFO("USNavigationLogging")
<< "Position/Orientation of needle tip: "
- << (dynamic_cast<mitk::NavigationData *>(m_CombinedModality->GetTrackingDevice()->GetOutput(0)))->GetPosition();
+ << (dynamic_cast<mitk::NavigationData *>(m_CombinedModality->GetTrackingDeviceDataSource()->GetOutput(0)))->GetPosition();
MITK_INFO("USNavigationLogging")
<< "Position of target: " << m_TargetNodeDisplacementFilter->GetRawDisplacementNavigationData(0)->GetPosition();
MITK_INFO("USNavigationLogging") << "Total duration: " << m_NavigationStepTimer->GetTotalDuration();
- ui->navigationProcessWidget->FinishCurrentNavigationStep();
m_ImageAndNavigationDataLoggingTimer->stop();
ui->runningLabel->setPixmap(m_IconNotRunning);
- ui->navigationProcessWidget->EnableInteraction(false);
m_NavigationStepTimer->Stop();
- // make sure that the navigation process will be start from beginning at the
- // next experiment
- ui->navigationProcessWidget->ResetNavigationProcess();
ui->finishExperimentButton->setDisabled(true);
ui->startExperimentButton->setEnabled(true);
MITK_INFO("USNavigationLogging") << "Writing logging data to " << m_ExperimentResultsSubDirectory.toStdString();
// save ultrasound images to the file system
QDir(m_ExperimentResultsSubDirectory).mkdir("ImageStream");
m_USImageLoggingFilter->Update();
m_USImageLoggingFilter->SetImageFilesExtension(".jpg");
m_USImageLoggingFilter->SaveImages(
QString(m_ExperimentResultsSubDirectory + QDir::separator() + "ImageStream" + QDir::separator()).toStdString());
m_USImageLoggingFilter = mitk::USImageLoggingFilter::New();
m_NavigationDataRecorder->StopRecording();
// Write data to csv and xml file
mitk::IOUtil::Save(
m_NavigationDataRecorder->GetNavigationDataSet(),
(QString(m_ExperimentResultsSubDirectory + QDir::separator() + "navigation-data.xml").toStdString().c_str()));
mitk::IOUtil::Save(
m_NavigationDataRecorder->GetNavigationDataSet(),
(QString(m_ExperimentResultsSubDirectory + QDir::separator() + "navigation-data.csv").toStdString().c_str()));
// write logged navigation data messages to separate file
std::stringstream csvNavigationMessagesFilename;
csvNavigationMessagesFilename << m_ExperimentResultsSubDirectory.toStdString() << QDir::separator().toLatin1()
<< "CSVNavigationMessagesLogFile.csv";
MITK_INFO("USNavigationLogging") << "Writing logged navigation messages to separate csv file: "
<< csvNavigationMessagesFilename.str();
m_LoggingBackend.WriteCSVFileWithNavigationMessages(csvNavigationMessagesFilename.str());
mbilog::UnregisterBackend(&m_LoggingBackend);
m_IsExperimentRunning = false;
m_ImageAndNavigationDataLoggingTimer->stop();
m_CombinedModality = nullptr;
// reset scene number for next experiment
m_SceneNumber = 1;
this->WaitCursorOff();
MITK_INFO("USNavigationLogging") << "Finished!";
}
-void QmitkUSNavigationMarkerPlacement::OnCombinedModalityChanged(
- itk::SmartPointer<mitk::USCombinedModality> combinedModality)
-{
- // remove old listener for ultrasound device changes
- if (m_CombinedModality.IsNotNull() && m_CombinedModality->GetUltrasoundDevice().IsNotNull())
- {
- m_CombinedModality->GetUltrasoundDevice()->RemovePropertyChangedListener(m_ListenerDeviceChanged);
- }
-
- m_CombinedModality = combinedModality;
- m_ReinitAlreadyDone = false;
-
- // add a listener for ultrasound device changes
- if (m_CombinedModality.IsNotNull() && m_CombinedModality->GetUltrasoundDevice().IsNotNull())
- {
- m_CombinedModality->GetUltrasoundDevice()->AddPropertyChangedListener(m_ListenerDeviceChanged);
- }
-
- // update navigation data recorder for using the new combined modality
- mitk::NavigationDataSource::Pointer navigationDataSource = combinedModality->GetNavigationDataSource();
- m_NavigationDataRecorder->ConnectTo(navigationDataSource);
- m_NavigationDataRecorder->ResetRecording();
-
- // update ultrasound image logging filter for using the new combined modality
- mitk::USDevice::Pointer ultrasoundImageSource = combinedModality->GetUltrasoundDevice();
- for (unsigned int n = 0; n < ultrasoundImageSource->GetNumberOfIndexedOutputs(); ++n)
- {
- m_USImageLoggingFilter->SetInput(n, ultrasoundImageSource->GetOutput(n));
- }
-
- // update ablation zone filter for using the new combined modality
- for (unsigned int n = 0; n < navigationDataSource->GetNumberOfIndexedOutputs(); ++n)
- {
- m_AblationZonesDisplacementFilter->SetInput(n, navigationDataSource->GetOutput(n));
- }
- m_AblationZonesDisplacementFilter->SelectInput(m_MarkerIndex);
-
- // make sure that a reinit is done for the new images
- this->ReinitOnImage();
-}
-
void QmitkUSNavigationMarkerPlacement::OnSettingsChanged(itk::SmartPointer<mitk::DataNode> settings)
{
- std::string applicationName;
- if (!settings->GetStringProperty("settings.application", applicationName))
- {
- // set default application if the string property is not available
- applicationName = "Marker Placement";
- }
-
- // create navigation step widgets according to the selected application
- if (applicationName != m_CurrentApplicationName)
- {
- m_CurrentApplicationName = applicationName;
-
- QmitkUSNavigationProcessWidget::NavigationStepVector navigationSteps;
- if (applicationName == "Puncture")
- {
- QmitkUSNavigationStepCombinedModality* stepCombinedModality =
- new QmitkUSNavigationStepCombinedModality(m_Parent);
- QmitkUSNavigationStepTumourSelection* stepTumourSelection =
- new QmitkUSNavigationStepTumourSelection(m_Parent);
- stepTumourSelection->SetTargetSelectionOptional(true);
- m_TargetNodeDisplacementFilter = stepTumourSelection->GetTumourNodeDisplacementFilter();
- QmitkUSNavigationStepZoneMarking* stepZoneMarking =
- new QmitkUSNavigationStepZoneMarking(m_Parent);
- QmitkUSNavigationStepPunctuationIntervention* stepIntervention =
- new QmitkUSNavigationStepPunctuationIntervention(m_Parent);
-
- connect(stepIntervention, SIGNAL(AddAblationZoneClicked(int)), this, SLOT(OnAddAblationZone(int)));
- connect(stepIntervention, SIGNAL(AblationZoneChanged(int, int)), this, SLOT(OnChangeAblationZone(int, int)));
-
- m_NavigationStepNames = std::vector<QString>();
- navigationSteps.push_back(stepCombinedModality);
- m_NavigationStepNames.push_back("Combined Modality Initialization");
- navigationSteps.push_back(stepTumourSelection);
- m_NavigationStepNames.push_back("Target Selection");
- navigationSteps.push_back(stepZoneMarking);
- m_NavigationStepNames.push_back("Critical Structure Marking");
- navigationSteps.push_back(stepIntervention);
- m_NavigationStepNames.push_back("Intervention");
- }
- else if (applicationName == "Marker Placement")
- {
- QmitkUSNavigationStepCombinedModality *stepCombinedModality = new QmitkUSNavigationStepCombinedModality(m_Parent);
- QmitkUSNavigationStepTumourSelection *stepTumourSelection = new QmitkUSNavigationStepTumourSelection(m_Parent);
- m_TargetNodeDisplacementFilter = stepTumourSelection->GetTumourNodeDisplacementFilter();
- QmitkUSNavigationStepZoneMarking *stepZoneMarking = new QmitkUSNavigationStepZoneMarking(m_Parent);
- QmitkUSNavigationStepPlacementPlanning *stepPlacementPlanning =
- new QmitkUSNavigationStepPlacementPlanning(m_Parent);
- QmitkUSNavigationStepMarkerIntervention *stepMarkerIntervention =
- new QmitkUSNavigationStepMarkerIntervention(m_Parent);
-
- m_NavigationStepNames = std::vector<QString>();
- navigationSteps.push_back(stepCombinedModality);
- m_NavigationStepNames.push_back("Combined Modality Initialization");
- navigationSteps.push_back(stepTumourSelection);
- m_NavigationStepNames.push_back("Target Selection");
- navigationSteps.push_back(stepZoneMarking);
- m_NavigationStepNames.push_back("Critical Structure Marking");
- navigationSteps.push_back(stepPlacementPlanning);
- m_NavigationStepNames.push_back("Placement Planning");
- navigationSteps.push_back(stepMarkerIntervention);
- m_NavigationStepNames.push_back("Marker Intervention");
- }
-
- // set navigation step widgets to the process widget
- ui->navigationProcessWidget->SetNavigationSteps(navigationSteps);
-
- for (QmitkUSNavigationProcessWidget::NavigationStepIterator it = m_NavigationSteps.begin();
- it != m_NavigationSteps.end();
- ++it)
- {
- delete *it;
- }
- m_NavigationSteps.clear();
- m_NavigationSteps = navigationSteps;
- }
-
// initialize gui according to the experiment mode setting
bool experimentMode = false;
settings->GetBoolProperty("settings.experiment-mode", experimentMode);
ui->startExperimentButton->setVisible(experimentMode);
ui->finishExperimentButton->setVisible(experimentMode);
ui->runningLabel->setVisible(experimentMode);
if (experimentMode && !m_IsExperimentRunning)
{
- ui->navigationProcessWidget->ResetNavigationProcess();
- ui->navigationProcessWidget->EnableInteraction(false);
ui->runningLabel->setPixmap(m_IconNotRunning);
}
else if (!experimentMode)
{
if (m_IsExperimentRunning)
{
this->OnFinishExperiment();
}
- ui->navigationProcessWidget->EnableInteraction(true);
}
// get the results directory from the settings and use home directory if
// there is no results directory configured
std::string resultsDirectory;
if (settings->GetStringProperty("settings.experiment-results-directory", resultsDirectory))
{
m_ResultsDirectory = QString::fromStdString(resultsDirectory);
}
else
{
m_ResultsDirectory = QDir::homePath();
}
// make sure that the results directory exists
QDir resultsDirectoryQDir = QDir(m_ResultsDirectory);
if (!resultsDirectoryQDir.exists())
{
resultsDirectoryQDir.mkpath(m_ResultsDirectory);
}
MITK_INFO("USNavigation") << "Results Directory: " << m_ResultsDirectory.toStdString();
}
-void QmitkUSNavigationMarkerPlacement::OnActiveNavigationStepChanged(int index)
-{
- // update navigation step timer each time the active navigation step changes
- m_NavigationStepTimer->SetActiveIndex(index, m_NavigationSteps.at(index)->GetTitle().toStdString());
- if (static_cast<int>(m_NavigationStepNames.size()) <= index)
- {
- MITK_INFO("USNavigationLogging") << "Someting went wrong: unknown navigation step!";
- }
- else
- {
- MITK_INFO("USNavigationLogging") << "Navigation step finished/changed, next step: "
- << this->m_NavigationStepNames.at(index).toStdString()
- << "; duration until now: " << m_NavigationStepTimer->GetTotalDuration();
- }
-}
-
-void QmitkUSNavigationMarkerPlacement::OnNextNavigationStepInitialization(int index)
-{
- MITK_DEBUG << "Next Step: " << m_NavigationSteps.at(index)->GetTitle().toStdString();
-
- if (m_NavigationSteps.at(index)->GetTitle().toStdString() == "Computer-assisted Intervention")
- {
- QmitkUSNavigationStepPunctuationIntervention* navigationStepPunctuationIntervention = static_cast<QmitkUSNavigationStepPunctuationIntervention*>(m_NavigationSteps.at(index));
- if (navigationStepPunctuationIntervention != nullptr)
- {
- if (m_CurrentStorage.IsNull()) { this->UpdateToolStorage(); }
- if (m_CurrentStorage.IsNull() || (m_CurrentStorage->GetTool(m_NeedleIndex).IsNull()))
- {
- MITK_WARN << "Found null pointer when setting the tool axis, aborting";
- }
- else
- {
- navigationStepPunctuationIntervention->SetNeedleMetaData(m_CurrentStorage->GetTool(m_NeedleIndex));
- MITK_DEBUG << "Needle axis vector: " << m_CurrentStorage->GetTool(m_NeedleIndex)->GetToolAxis();
- }
- }
- }
-}
-
-void QmitkUSNavigationMarkerPlacement::OnIntermediateResultProduced(const itk::SmartPointer<mitk::DataNode> resultsNode)
-{
- // intermediate results only matter during an experiment
- if (!m_IsExperimentRunning)
- {
- return;
- }
-
- this->WaitCursorOn();
-
- // set results node to the experiment logging (for saving contents to the
- // file system)
- m_ExperimentLogging->SetResult(resultsNode);
-
- std::string resultsName;
- if (!resultsNode->GetName(resultsName))
- {
- MITK_WARN << "Could not get name of current results node.";
- return;
- }
-
- // save the mitk scene
- std::string scenefile = QString(m_ExperimentResultsSubDirectory + QDir::separator() +
- QString("Scene %1 - ").arg(m_SceneNumber++, 2, 10, QChar('0')) +
- QString::fromStdString(resultsName).replace(":", "_") + ".mitk")
- .toStdString();
- MITK_INFO << "Saving Scene File: " << scenefile;
-
- mitk::SceneIO::Pointer sceneIO = mitk::SceneIO::New();
- mitk::NodePredicateNot::Pointer isNotHelperObject =
- mitk::NodePredicateNot::New(mitk::NodePredicateProperty::New("helper object", mitk::BoolProperty::New(true)));
- mitk::DataStorage::SetOfObjects::ConstPointer nodesToBeSaved = this->GetDataStorage()->GetSubset(isNotHelperObject);
-
- this->Convert2DImagesTo3D(nodesToBeSaved);
-
- sceneIO->SaveScene(nodesToBeSaved, this->GetDataStorage(), scenefile);
-
- this->WaitCursorOff();
-}
-
void QmitkUSNavigationMarkerPlacement::ReinitOnImage()
{
if (!m_ReinitAlreadyDone && m_CombinedModality.IsNotNull())
{
// make sure that the output is already calibrated correctly
// (if the zoom level was changed recently)
m_CombinedModality->Modified();
m_CombinedModality->Update();
mitk::Image::Pointer image = m_CombinedModality->GetOutput();
if (image.IsNotNull() && image->IsInitialized())
{
// make a reinit on the ultrasound image
mitk::IRenderWindowPart *renderWindow = this->GetRenderWindowPart();
if (renderWindow != NULL && image->GetTimeGeometry()->IsValid())
{
renderWindow->GetRenderingManager()->InitializeViews(
image->GetTimeGeometry(), mitk::RenderingManager::REQUEST_UPDATE_ALL, true);
renderWindow->GetRenderingManager()->RequestUpdateAll();
}
this->RequestRenderWindowUpdate();
m_ReinitAlreadyDone = true;
}
}
}
void QmitkUSNavigationMarkerPlacement::Convert2DImagesTo3D(mitk::DataStorage::SetOfObjects::ConstPointer nodes)
{
for (mitk::DataStorage::SetOfObjects::ConstIterator it = nodes->Begin(); it != nodes->End(); ++it)
{
if (it->Value()->GetData() && strcmp(it->Value()->GetData()->GetNameOfClass(), "Image") == 0)
{
// convert image to 3d image if it is 2d at the moment
mitk::Image::Pointer image = dynamic_cast<mitk::Image *>(it->Value()->GetData());
if (image.IsNotNull() && image->GetDimension() == 2 && !image->GetGeometry()->Is2DConvertable())
{
mitk::Convert2Dto3DImageFilter::Pointer convert2DTo3DImageFilter = mitk::Convert2Dto3DImageFilter::New();
convert2DTo3DImageFilter->SetInput(image);
convert2DTo3DImageFilter->Update();
it->Value()->SetData(convert2DTo3DImageFilter->GetOutput());
}
}
}
}
void QmitkUSNavigationMarkerPlacement::CreateOverlays()
{
// initialize warning overlay (and do not display it, yet)
m_WarnOverlay->SetText("Warning: No calibration available for current depth.");
// set position and font size for the text overlay
// (nonesense postition as a layouter is used, but it ignored
// the overlay without setting a position here)
mitk::Point2D overlayPosition;
overlayPosition.SetElement(0, -50.0f);
overlayPosition.SetElement(1, -50.0f);
m_WarnOverlay->SetPosition2D(overlayPosition);
m_WarnOverlay->SetFontSize(22);
m_WarnOverlay->SetColor(1, 0, 0); // overlay should be red
}
void QmitkUSNavigationMarkerPlacement::UpdateToolStorage()
{
if (m_NavigationDataSource.IsNull()) { m_NavigationDataSource = m_CombinedModality->GetNavigationDataSource(); }
if (m_NavigationDataSource.IsNull()) { MITK_WARN << "Found an invalid navigation data source object!"; }
us::ModuleContext* context = us::GetModuleContext();
std::string id = m_NavigationDataSource->US_PROPKEY_ID;
std::string filter = "(" + mitk::NavigationToolStorage::US_PROPKEY_SOURCE_ID + "=" + id + ")";
// Get Storage
std::vector<us::ServiceReference<mitk::NavigationToolStorage> > refs = context->GetServiceReferences<mitk::NavigationToolStorage>();
m_CurrentStorage = context->GetService(refs.front());
if (m_CurrentStorage.IsNull())
{
MITK_WARN << "Found an invalid storage object!";
}
else if (m_CurrentStorage->GetToolCount() != m_NavigationDataSource->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;
}
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.h b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.h
index e4e4634543..c58dfad0ba 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.h
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.h
@@ -1,216 +1,207 @@
/*===================================================================
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 QmitkUSNAVIGATIONMARKERPLACEMENT_H
#define QmitkUSNAVIGATIONMARKERPLACEMENT_H
#include <QmitkAbstractView.h>
#include "IO/mitkUSNavigationLoggingBackend.h"
-#include "Widgets/QmitkUSNavigationProcessWidget.h"
#include "mitkNavigationDataRecorder.h"
#include "mitkNodeDisplacementFilter.h"
#include "mitkUSImageLoggingFilter.h"
#include <mitkMessage.h>
#include <mitkTextAnnotation2D.h>
-#include <mitkUSCombinedModality.h>
+#include <mitkAbstractUltrasoundTrackerDevice.h>
#include <mitkNavigationToolStorage.h>
namespace itk
{
template <class T>
class SmartPointer;
}
namespace mitk
{
class USNavigationStepTimer;
- class USNavigationExperimentLogging;
}
namespace Ui
{
class QmitkUSNavigationMarkerPlacement;
}
class QmitkUSAbstractNavigationStep;
class QmitkUSNavigationStepPunctuationIntervention;
class QmitkStdMultiWidget;
class QTimer;
class QSignalMapper;
/**
* \brief View for navigated marker placement using the combined modality.
* This view utilizes the QmitkUSNavigationProcessWidget to do the navigation
* process. It can be switched between widgets for marker placement and widgets
* for punctuation.
*
* An experiment mode allows for logging results, durations and the ultrasound
* images.
*/
class QmitkUSNavigationMarkerPlacement : public QmitkAbstractView
{
Q_OBJECT
protected slots:
+
+ void OnInitializeTargetMarking();
+ void OnInitializeCriticalStructureMarking();
+ void OnInitializeNavigation();
+
/**
* \brief Called periodically to update the rendering.
* The standard multi widget is changed to fit the navigation process once it
* is available and a reinit on the ultrasound image is done for a new image
* node.
*/
void OnTimeout();
/**
* \brief Called periodically during an experiment for logging the ultrasound images.
*/
void OnImageAndNavigationDataLoggingTimeout();
/**
* \brief Initializes anything neccessary for an experiment.
* The user is asked for a directory for storing the results and the logging
* is started.
*/
void OnStartExperiment();
/**
* \brief Stops logging and saves everything to the file system.
*/
void OnFinishExperiment();
- void OnCombinedModalityChanged(itk::SmartPointer<mitk::USCombinedModality>);
-
/**
* \brief Switches the navigation step widgets if the navigation application was changed.
*/
void OnSettingsChanged(itk::SmartPointer<mitk::DataNode>);
- /**
- * \brief Updates the timer for the navigation steps durations every time the active navigation step changes.
- */
- void OnActiveNavigationStepChanged(int);
-
- /** Initializes the next navigation step */
- void OnNextNavigationStepInitialization(int);
-
- /**
- * \brief The data node is given to the experiment logging and scene is saved to the file system.
- */
- void OnIntermediateResultProduced(const itk::SmartPointer<mitk::DataNode>);
-
void OnAddAblationZone(int size);
void OnEnableNavigationLayout();
void OnResetStandardLayout();
void OnChangeLayoutClicked();
void OnChangeAblationZone(int id, int newSize);
void OnRenderWindowSelection();
void OnRefreshView();
public:
static const char *DATANAME_TUMOUR;
static const char *DATANAME_TARGETSURFACE;
static const char *DATANAME_ZONES;
static const char *DATANAME_TARGETS;
static const char *DATANAME_TARGETS_PATHS;
static const char *DATANAME_REACHED_TARGETS;
explicit QmitkUSNavigationMarkerPlacement();
~QmitkUSNavigationMarkerPlacement();
virtual void CreateQtPartControl(QWidget *parent);
static const std::string VIEW_ID;
void OnCombinedModalityPropertyChanged(const std::string &, const std::string &);
protected:
/**
* \brief A reinit on the ultrasound image is performed every time the view gets the focus.
*/
virtual void SetFocus();
/**
* \brief Helper function which performs a reinit on the ultrasound image.
*/
void ReinitOnImage();
/**
* \brief Sets the multiwidget to two windows, axial on top and 3D render window on the bottom.
*/
virtual void SetTwoWindowView();
/**
* \brief Helper function for being able to serialize the 2d ultrasound image.
*/
void Convert2DImagesTo3D(mitk::DataStorage::SetOfObjects::ConstPointer nodes);
+ void ReInitializeSettingsNodesAndImageStream();
+
void UpdateToolStorage();
void CreateOverlays();
+ void InitImageStream();
+
QWidget *m_Parent;
- QmitkUSNavigationProcessWidget::NavigationStepVector m_NavigationSteps;
QTimer *m_UpdateTimer;
QTimer *m_ImageAndNavigationDataLoggingTimer;
QmitkStdMultiWidget *m_StdMultiWidget;
- itk::SmartPointer<mitk::USCombinedModality> m_CombinedModality;
+ itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice> m_CombinedModality;
+ itk::SmartPointer<mitk::DataNode> m_SettingsNode;
bool m_ReinitAlreadyDone;
bool m_IsExperimentRunning;
std::string m_CurrentApplicationName;
-
itk::SmartPointer<mitk::USNavigationStepTimer> m_NavigationStepTimer;
- itk::SmartPointer<mitk::USNavigationExperimentLogging> m_ExperimentLogging;
QPixmap m_IconRunning;
QPixmap m_IconNotRunning;
QString m_ResultsDirectory;
QString m_ExperimentName;
QString m_ExperimentResultsSubDirectory;
std::vector<QString>
m_NavigationStepNames; // stores the names of the navigation steps which are currently used (for logging purposes)
mitk::USNavigationLoggingBackend m_LoggingBackend;
mitk::USImageLoggingFilter::Pointer m_USImageLoggingFilter;
mitk::NavigationDataRecorder::Pointer m_NavigationDataRecorder; // records navigation data files
mitk::NodeDisplacementFilter::Pointer m_TargetNodeDisplacementFilter;
mitk::NodeDisplacementFilter::Pointer m_AblationZonesDisplacementFilter;
std::vector<mitk::DataNode::Pointer> m_AblationZonesVector;
int m_NeedleIndex;
int m_MarkerIndex;
int m_SceneNumber;
itk::SmartPointer<mitk::TextAnnotation2D> m_WarnOverlay;
//To get tool storage
mitk::NavigationDataSource::Pointer m_NavigationDataSource;
mitk::NavigationToolStorage::Pointer m_CurrentStorage;
-private:
- mitk::MessageDelegate2<QmitkUSNavigationMarkerPlacement, const std::string &, const std::string &> m_ListenerDeviceChanged;
+ itk::SmartPointer<mitk::DataNode> m_BaseNode;
+ itk::SmartPointer<mitk::DataNode> m_ImageStreamNode;
+private:
Ui::QmitkUSNavigationMarkerPlacement *ui;
};
#endif // USNAVIGATIONMARKERPLACEMENT_H
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.ui b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.ui
index ceb1ffc701..953bcaad53 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.ui
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUSNavigationMarkerPlacement.ui
@@ -1,123 +1,251 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QmitkUSNavigationMarkerPlacement</class>
<widget class="QWidget" name="QmitkUSNavigationMarkerPlacement">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
- <width>443</width>
- <height>146</height>
+ <width>562</width>
+ <height>446</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
- <layout class="QVBoxLayout" name="verticalLayout">
- <property name="spacing">
- <number>0</number>
- </property>
- <property name="leftMargin">
- <number>0</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>0</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
<item>
- <widget class="QmitkUSNavigationProcessWidget" name="navigationProcessWidget" native="true"/>
- </item>
- <item>
- <widget class="Line" name="line">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
+ <widget class="QTabWidget" name="tabWidget">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="currentIndex">
+ <number>0</number>
</property>
+ <widget class="QWidget" name="tab_2">
+ <attribute name="title">
+ <string>Initialization</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QmitkUSNavigationStepCombinedModality" name="m_CombinedModalityCreationWidget" native="true"/>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab">
+ <attribute name="title">
+ <string>Navigation Control</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_3">
+ <item>
+ <widget class="QToolBox" name="navigationSteps">
+ <property name="currentIndex">
+ <number>0</number>
+ </property>
+ <widget class="QWidget" name="page_3">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>93</width>
+ <height>57</height>
+ </rect>
+ </property>
+ <attribute name="label">
+ <string>Target</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_5">
+ <item>
+ <widget class="QPushButton" name="m_initializeTargetMarking">
+ <property name="text">
+ <string>Initialize</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QmitkUSNavigationStepTumourSelection" name="m_TargetMarkingWidget" native="true"/>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="page_4">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>93</width>
+ <height>57</height>
+ </rect>
+ </property>
+ <attribute name="label">
+ <string>Critical Structures</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_6">
+ <item>
+ <widget class="QPushButton" name="m_initializeCritStructureMarking">
+ <property name="text">
+ <string>Initialize</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QmitkUSNavigationStepZoneMarking" name="m_CriticalStructuresWidget" native="true"/>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="page_2">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>93</width>
+ <height>57</height>
+ </rect>
+ </property>
+ <attribute name="label">
+ <string>Needle Insertion</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_7">
+ <item>
+ <widget class="QPushButton" name="m_initializeNavigation">
+ <property name="text">
+ <string>Initialize</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QmitkUSNavigationStepPunctuationIntervention" name="m_NavigationWidget" native="true"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab_3">
+ <attribute name="title">
+ <string>Settings</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_8">
+ <item>
+ <widget class="QmitkUSNavigationCombinedSettingsWidget" name="m_settingsWidget" native="true"/>
+ </item>
+ <item>
+ <widget class="Line" name="line">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QCheckBox" name="m_enableNavigationLayout">
+ <property name="text">
+ <string>Enable Navigation Render Window Layout with RenderWindow</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QSpinBox" name="m_RenderWindowSelection">
+ <property name="minimum">
+ <number>1</number>
+ </property>
+ <property name="maximum">
+ <number>3</number>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="m_RefreshView">
+ <property name="text">
+ <string>Refresh view</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="Line" name="line_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="finishExperimentButton">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Finish Experiment</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="startExperimentButton">
+ <property name="text">
+ <string>Start New Experiment</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
</widget>
</item>
<item>
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QCheckBox" name="m_enableNavigationLayout">
- <property name="text">
- <string>Enable Navigation Render Window Layout with RenderWindow</string>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSpinBox" name="m_RenderWindowSelection">
- <property name="minimum">
- <number>1</number>
- </property>
- <property name="maximum">
- <number>3</number>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="m_RefreshView">
- <property name="text">
- <string>Refresh view</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QPushButton" name="startExperimentButton">
- <property name="text">
- <string>Start New Experiment</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="finishExperimentButton">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="text">
- <string>Finish Experiment</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="runningLabel">
- <property name="maximumSize">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- </layout>
+ <widget class="QLabel" name="runningLabel">
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
- <class>QmitkUSNavigationProcessWidget</class>
+ <class>QmitkUSNavigationStepCombinedModality</class>
+ <extends>QWidget</extends>
+ <header>src/internal/NavigationStepWidgets/QmitkUSNavigationStepCombinedModality.h</header>
+ <container>1</container>
+ </customwidget>
+ <customwidget>
+ <class>QmitkUSNavigationStepTumourSelection</class>
+ <extends>QWidget</extends>
+ <header>src/internal/NavigationStepWidgets/QmitkUSNavigationStepTumourSelection.h</header>
+ <container>1</container>
+ </customwidget>
+ <customwidget>
+ <class>QmitkUSNavigationStepZoneMarking</class>
+ <extends>QWidget</extends>
+ <header>src/internal/NavigationStepWidgets/QmitkUSNavigationStepZoneMarking.h</header>
+ <container>1</container>
+ </customwidget>
+ <customwidget>
+ <class>QmitkUSNavigationStepPunctuationIntervention</class>
+ <extends>QWidget</extends>
+ <header>src/internal/NavigationStepWidgets/QmitkUSNavigationStepPunctuationIntervention.h</header>
+ <container>1</container>
+ </customwidget>
+ <customwidget>
+ <class>QmitkUSNavigationCombinedSettingsWidget</class>
<extends>QWidget</extends>
- <header>src/internal/Widgets/QmitkUSNavigationProcessWidget.h</header>
+ <header>src/internal/SettingsWidgets/QmitkUSNavigationCombinedSettingsWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
<slots>
<slot>OnStartExperiment()</slot>
<slot>OnFinishExperiment()</slot>
</slots>
</ui>
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUltrasoundCalibration.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUltrasoundCalibration.cpp
index e817742768..6f1cd0efbc 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUltrasoundCalibration.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUltrasoundCalibration.cpp
@@ -1,1155 +1,1155 @@
/*===================================================================
The Medical Imaging Interaction Toolkit (MITK)
Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.
This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.
See LICENSE.txt or http://www.mitk.org for details.
===================================================================*/
// Blueberry
#include <berryISelectionService.h>
#include <berryIWorkbenchWindow.h>
// Qmitk
#include "QmitkUltrasoundCalibration.h"
#include <QTimer>
// Qt
#include <QMessageBox>
#include <QmitkServiceListWidget.h>
#include <QFileDialog>
#include <QTextStream>
// MITK
#include <mitkVector.h>
//#include <mitkPointSetWriter.h>
#include <mitkNodePredicateDataType.h>
#include <mitkImageGenerator.h>
#include <mitkSceneIO.h>
#include <mitkNodePredicateNot.h>
#include <mitkNodePredicateProperty.h>
#include "mitkIRenderingManager.h"
// us
#include <usServiceReference.h>
//VTK
#include <vtkPoints.h>
#include <vtkLandmarkTransform.h>
#include <vtkTransform.h>
#include <vtkMatrix4x4.h>
#include <vtkPlane.h>
#include <vtkVertexGlyphFilter.h>
#include "internal/org_mbi_gui_qt_usnavigation_Activator.h"
//sleep headers
#include <chrono>
#include <thread>
const std::string QmitkUltrasoundCalibration::VIEW_ID = "org.mitk.views.ultrasoundcalibration";
QmitkUltrasoundCalibration::QmitkUltrasoundCalibration() :
m_USDeviceChanged(this, &QmitkUltrasoundCalibration::OnUSDepthChanged)
{
ctkPluginContext* pluginContext = mitk::PluginActivator::GetContext();
if (pluginContext)
{
// to be notified about service event of an USDevice
pluginContext->connectServiceListener(this, "OnDeviceServiceEvent",
QString::fromStdString("(" + us::ServiceConstants::OBJECTCLASS() + "=" + us_service_interface_iid<mitk::USDevice>() + ")"));
}
}
QmitkUltrasoundCalibration::~QmitkUltrasoundCalibration()
{
m_Controls.m_CombinedModalityManagerWidget->blockSignals(true);
- mitk::USCombinedModality::Pointer combinedModality;
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality;
combinedModality = m_Controls.m_CombinedModalityManagerWidget->GetSelectedCombinedModality();
if (combinedModality.IsNotNull())
{
combinedModality->GetUltrasoundDevice()->RemovePropertyChangedListener(m_USDeviceChanged);
}
m_Timer->stop();
// Sleep(500); //This might be problematic... seems like sometimes some ressources are still in use at calling time.
this->OnStopCalibrationProcess();
this->OnStopPlusCalibration();
/*mitk::DataNode::Pointer node = this->GetDataStorage()->GetNamedNode("Tool Calibration Points");
if (node.IsNotNull())this->GetDataStorage()->Remove(node);
node = this->GetDataStorage()->GetNamedNode("Image Calibration Points");
if (node.IsNotNull())this->GetDataStorage()->Remove(node);
node = this->GetDataStorage()->GetNamedNode("US Image Stream");
if (node.IsNotNull())this->GetDataStorage()->Remove(node);*/
mitk::DataNode::Pointer node = this->GetDataStorage()->GetNamedNode("Needle Path");
if (node.IsNotNull())this->GetDataStorage()->Remove(node);
this->GetDataStorage()->Remove(m_VerificationReferencePointsDataNode);
delete m_Timer;
}
void QmitkUltrasoundCalibration::SetFocus()
{
m_Controls.m_ToolBox->setFocus();
}
void QmitkUltrasoundCalibration::CreateQtPartControl(QWidget *parent)
{
// create GUI widgets from the Qt Designer's .ui file
m_Controls.setupUi(parent);
m_Controls.m_CombinedModalityManagerWidget->SetCalibrationLoadedNecessary(false);
m_Timer = new QTimer(this);
m_StreamingTimer = new QTimer(this);
m_Controls.m_SpacingBtnFreeze->setEnabled(true);
m_Controls.m_SpacingAddPoint->setEnabled(false);
m_Controls.m_CalculateSpacing->setEnabled(false);
m_SpacingPointsCount = 0;
m_SpacingPoints = mitk::PointSet::New();
m_SpacingNode = mitk::DataNode::New();
m_SpacingNode->SetName("Spacing Points");
m_SpacingNode->SetData(this->m_SpacingPoints);
this->GetDataStorage()->Add(m_SpacingNode);
// Pointset for Calibration Points
m_CalibPointsTool = mitk::PointSet::New();
// Pointset for Worldpoints
m_CalibPointsImage = mitk::PointSet::New();
m_CalibPointsCount = 0;
// Evaluation Pointsets (Non-Visualized)
m_EvalPointsImage = mitk::PointSet::New();
m_EvalPointsTool = mitk::PointSet::New();
m_EvalPointsProjected = mitk::PointSet::New();
// Neelde Projection Filter
m_NeedleProjectionFilter = mitk::NeedleProjectionFilter::New();
// Tracking Status Widgets
m_Controls.m_CalibTrackingStatus->ShowStatusLabels();
m_Controls.m_EvalTrackingStatus->ShowStatusLabels();
- m_OverrideSpacing = false;
-
// General & Device Selection
connect(m_Timer, SIGNAL(timeout()), this, SLOT(Update()));
//connect(m_Controls.m_ToolBox, SIGNAL(currentChanged(int)), this, SLOT(OnTabSwitch(int)));
// Calibration
connect(m_Controls.m_CalibBtnFreeze, SIGNAL(clicked()), this, SLOT(SwitchFreeze())); // Freeze
connect(m_Controls.m_CalibBtnAddPoint, SIGNAL(clicked()), this, SLOT(OnAddCalibPoint())); // Tracking & Image Points (Calibration)
connect(m_Controls.m_CalibBtnCalibrate, SIGNAL(clicked()), this, SLOT(OnCalibration())); // Perform Calibration
// Evaluation
connect(m_Controls.m_EvalBtnStep1, SIGNAL(clicked()), this, SLOT(OnAddEvalProjectedPoint())); // Needle Projection
connect(m_Controls.m_EvalBtnStep2, SIGNAL(clicked()), this, SLOT(SwitchFreeze())); // Freeze
connect(m_Controls.m_EvalBtnStep3, SIGNAL(clicked()), this, SLOT(OnAddEvalTargetPoint())); // Tracking & Image Points (Evaluation)
connect(m_Controls.m_EvalBtnSave, SIGNAL(clicked()), this, SLOT(OnSaveEvaluation())); // Save Evaluation Results
connect(m_Controls.m_CalibBtnSaveCalibration, SIGNAL(clicked()), this, SLOT(OnSaveCalibration())); // Save Evaluation Results
connect(m_Controls.m_BtnReset, SIGNAL(clicked()), this, SLOT(OnReset())); // Reset Pointsets
// PLUS Calibration
connect(m_Controls.m_GetCalibrationFromPLUS, SIGNAL(clicked()), this, SLOT(OnGetPlusCalibration()));
connect(m_Controls.m_StartStreaming, SIGNAL(clicked()), this, SLOT(OnStartStreaming()));
connect(m_StreamingTimer, SIGNAL(timeout()), this, SLOT(OnStreamingTimerTimeout()));
connect(m_Controls.m_StopPlusCalibration, SIGNAL(clicked()), this, SLOT(OnStopPlusCalibration()));
connect(m_Controls.m_SavePlusCalibration, SIGNAL(clicked()), this, SLOT(OnSaveCalibration()));
connect(this, SIGNAL(NewConnectionSignal()), this, SLOT(OnNewConnection()));
//Determine Spacing for Calibration of USVideoDevice
connect(m_Controls.m_SpacingBtnFreeze, SIGNAL(clicked()), this, SLOT(OnFreezeClicked()));
connect(m_Controls.m_SpacingAddPoint, SIGNAL(clicked()), this, SLOT(OnAddSpacingPoint()));
connect(m_Controls.m_CalculateSpacing, SIGNAL(clicked()), this, SLOT(OnCalculateSpacing()));
//connect( m_Controls.m_CombinedModalityManagerWidget, SIGNAL(SignalCombinedModalitySelected(mitk::USCombinedModality::Pointer)),
// this, SLOT(OnSelectDevice(mitk::USCombinedModality::Pointer)) );
connect(m_Controls.m_CombinedModalityManagerWidget, SIGNAL(SignalReadyForNextStep()),
this, SLOT(OnDeviceSelected()));
connect(m_Controls.m_CombinedModalityManagerWidget, SIGNAL(SignalNoLongerReadyForNextStep()),
this, SLOT(OnDeviceDeselected()));
connect(m_Controls.m_StartCalibrationButton, SIGNAL(clicked()), this, SLOT(OnStartCalibrationProcess()));
connect(m_Controls.m_StartPlusCalibrationButton, SIGNAL(clicked()), this, SLOT(OnStartPlusCalibration()));
connect(m_Controls.m_CalibBtnRestartCalibration, SIGNAL(clicked()), this, SLOT(OnReset()));
connect(m_Controls.m_CalibBtnStopCalibration, SIGNAL(clicked()), this, SLOT(OnStopCalibrationProcess()));
connect(m_Controls.m_AddReferencePoints, SIGNAL(clicked()), this, SLOT(OnAddCurrentTipPositionToReferencePoints()));
connect(m_Controls.m_AddCurrentPointerTipForVerification, SIGNAL(clicked()), this, SLOT(OnAddCurrentTipPositionForVerification()));
connect(m_Controls.m_StartVerification, SIGNAL(clicked()), this, SLOT(OnStartVerification()));
//initialize data storage combo box
m_Controls.m_ReferencePointsComboBox->SetDataStorage(this->GetDataStorage());
m_Controls.m_ReferencePointsComboBox->SetAutoSelectNewItems(true);
m_Controls.m_ReferencePointsComboBox->SetPredicate(mitk::NodePredicateDataType::New("PointSet"));
//initialize point list widget
if (m_VerificationReferencePoints.IsNull()) { m_VerificationReferencePoints = mitk::PointSet::New(); }
if (m_VerificationReferencePointsDataNode.IsNull())
{
m_VerificationReferencePointsDataNode = mitk::DataNode::New();
m_VerificationReferencePointsDataNode->SetName("US Verification Reference Points");
m_VerificationReferencePointsDataNode->SetData(m_VerificationReferencePoints);
this->GetDataStorage()->Add(m_VerificationReferencePointsDataNode);
}
m_Controls.m_ReferencePointsPointListWidget->SetPointSetNode(m_VerificationReferencePointsDataNode);
m_Controls.m_ToolBox->setCurrentIndex(0);
}
void QmitkUltrasoundCalibration::OnSelectionChanged(berry::IWorkbenchPart::Pointer /*source*/,
const QList<mitk::DataNode::Pointer>& /*nodes*/)
{
}
void QmitkUltrasoundCalibration::OnTabSwitch(int index)
{
switch (index)
{
case 0:
if (m_Controls.m_ToolBox->isItemEnabled(1) || m_Controls.m_ToolBox->isItemEnabled(2))
{
this->OnStopCalibrationProcess();
}
break;
default:
;
}
}
//void QmitkUltrasoundCalibration::OnSelectDevice(mitk::USCombinedModality::Pointer combinedModality)
void QmitkUltrasoundCalibration::OnDeviceSelected()
{
- mitk::USCombinedModality::Pointer combinedModality;
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality;
combinedModality = m_Controls.m_CombinedModalityManagerWidget->GetSelectedCombinedModality();
if (combinedModality.IsNotNull())
{
//m_Tracker = m_CombinedModality->GetNavigationDataSource();
// Construct Pipeline
//this->m_NeedleProjectionFilter->SetInput(0, m_Tracker->GetOutput(0));
combinedModality->GetUltrasoundDevice()->AddPropertyChangedListener(m_USDeviceChanged);
m_Controls.m_StartCalibrationButton->setEnabled(true);
m_Controls.m_StartPlusCalibrationButton->setEnabled(true);
m_Controls.m_ToolBox->setItemEnabled(1, true);
m_Controls.m_ToolBox->setItemEnabled(2, true);
}
}
void QmitkUltrasoundCalibration::OnDeviceDeselected()
{
- mitk::USCombinedModality::Pointer combinedModality;
+ mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality;
combinedModality = m_Controls.m_CombinedModalityManagerWidget->GetSelectedCombinedModality();
if (combinedModality.IsNotNull())
{
combinedModality->GetUltrasoundDevice()->RemovePropertyChangedListener(m_USDeviceChanged);
}
m_Controls.m_StartCalibrationButton->setEnabled(false);
m_Controls.m_StartPlusCalibrationButton->setEnabled(false);
m_Controls.m_ToolBox->setCurrentIndex(0);
m_Controls.m_ToolBox->setItemEnabled(1, false);
m_Controls.m_ToolBox->setItemEnabled(2, false);
}
void QmitkUltrasoundCalibration::OnAddCurrentTipPositionToReferencePoints()
{
if (m_Controls.m_VerificationPointerChoser->GetSelectedNavigationDataSource().IsNull() ||
(m_Controls.m_VerificationPointerChoser->GetSelectedToolID() == -1))
{
MITK_WARN << "No tool selected, aborting";
return;
}
mitk::NavigationData::Pointer currentPointerData = m_Controls.m_VerificationPointerChoser->GetSelectedNavigationDataSource()->GetOutput(m_Controls.m_VerificationPointerChoser->GetSelectedToolID());
mitk::Point3D currentTipPosition = currentPointerData->GetPosition();
m_VerificationReferencePoints->InsertPoint(m_VerificationReferencePoints->GetSize(), currentTipPosition);
}
void QmitkUltrasoundCalibration::OnStartVerification()
{
m_currentPoint = 0;
mitk::PointSet::Pointer selectedPointSet = dynamic_cast<mitk::PointSet*>(m_Controls.m_ReferencePointsComboBox->GetSelectedNode()->GetData());
m_Controls.m_CurrentPointLabel->setText("Point " + QString::number(m_currentPoint) + " of " + QString::number(selectedPointSet->GetSize()));
m_allErrors = std::vector<double>();
m_allReferencePoints = std::vector<mitk::Point3D>();
for (int i = 0; i < selectedPointSet->GetSize(); i++)
{
m_allReferencePoints.push_back(selectedPointSet->GetPoint(i));
}
}
void QmitkUltrasoundCalibration::OnAddCurrentTipPositionForVerification()
{
if (m_currentPoint == -1) { MITK_WARN << "Cannot add point"; return; }
if (m_Controls.m_VerificationPointerChoser->GetSelectedNavigationDataSource().IsNull() ||
(m_Controls.m_VerificationPointerChoser->GetSelectedToolID() == -1))
{
MITK_WARN << "No tool selected, aborting";
return;
}
mitk::NavigationData::Pointer currentPointerData = m_Controls.m_VerificationPointerChoser->GetSelectedNavigationDataSource()->GetOutput(m_Controls.m_VerificationPointerChoser->GetSelectedToolID());
mitk::Point3D currentTipPosition = currentPointerData->GetPosition();
double currentError = m_allReferencePoints.at(m_currentPoint).EuclideanDistanceTo(currentTipPosition);
MITK_INFO << "Current Error: " << currentError << " mm";
m_allErrors.push_back(currentError);
if (++m_currentPoint < static_cast<int>(m_allReferencePoints.size()))
{
m_Controls.m_CurrentPointLabel->setText("Point " + QString::number(m_currentPoint) + " of " + QString::number(m_allReferencePoints.size()));
}
else
{
m_currentPoint = -1;
double meanError = 0;
for (std::size_t i = 0; i < m_allErrors.size(); ++i)
{
meanError += m_allErrors[i];
}
meanError /= m_allErrors.size();
QString result = "Finished verification! \n Verification of " + QString::number(m_allErrors.size()) + " points, mean error: " + QString::number(meanError) + " mm";
m_Controls.m_ResultsTextEdit->setText(result);
MITK_INFO << result.toStdString();
}
}
void QmitkUltrasoundCalibration::OnStartCalibrationProcess()
{
// US Image Stream
m_Node = mitk::DataNode::New();
m_Node->SetName("US Calibration Viewing Stream");
//create a dummy image (gray values 0..255) for correct initialization of level window, etc.
mitk::Image::Pointer dummyImage = mitk::ImageGenerator::GenerateRandomImage<float>(100, 100, 1, 1, 1, 1, 1, 255, 0);
m_Node->SetData(dummyImage);
this->GetDataStorage()->Add(m_Node);
// data node for calibration point set
m_CalibNode = mitk::DataNode::New();
m_CalibNode->SetName("Tool Calibration Points");
m_CalibNode->SetData(this->m_CalibPointsImage);
this->GetDataStorage()->Add(m_CalibNode);
// data node for world point set
m_WorldNode = mitk::DataNode::New();
m_WorldNode->SetName("Image Calibration Points");
m_WorldNode->SetData(this->m_CalibPointsTool);
this->GetDataStorage()->Add(m_WorldNode);
m_CombinedModality = m_Controls.m_CombinedModalityManagerWidget->GetSelectedCombinedModality();
if (m_CombinedModality.IsNull()) { return; }
m_Tracker = m_CombinedModality->GetNavigationDataSource();
//QString curDepth = service.getProperty(QString::fromStdString(mitk::USDevice::US_PROPKEY_BMODE_DEPTH)).toString();
// Construct Pipeline
this->m_NeedleProjectionFilter->SetInput(0, m_Tracker->GetOutput(0));
QApplication::setOverrideCursor(Qt::WaitCursor);
// make sure that the combined modality is in connected state before using it
- if (m_CombinedModality->GetDeviceState() < mitk::USDevice::State_Connected) { m_CombinedModality->Connect(); }
- if (m_CombinedModality->GetDeviceState() < mitk::USDevice::State_Activated) { m_CombinedModality->Activate(); }
+ if (m_CombinedModality->GetUltrasoundDevice()->GetDeviceState() < mitk::USDevice::State_Connected) { m_CombinedModality->GetUltrasoundDevice()->Connect(); }
+ if (m_CombinedModality->GetUltrasoundDevice()->GetDeviceState() < mitk::USDevice::State_Activated) { m_CombinedModality->GetUltrasoundDevice()->Activate(); }
QApplication::restoreOverrideCursor();
this->SwitchFreeze();
// Todo: Maybe display this elsewhere
this->ShowNeedlePath();
// Switch active tab to Calibration page
m_Controls.m_ToolBox->setItemEnabled(1, true);
m_Controls.m_ToolBox->setCurrentIndex(1);
}
void QmitkUltrasoundCalibration::OnStartPlusCalibration()
{
if (m_CombinedModality.IsNull()){
m_CombinedModality = m_Controls.m_CombinedModalityManagerWidget->GetSelectedCombinedModality();
if (m_CombinedModality.IsNull()) { return; } //something went wrong, there is no combined modality
}
//setup server to send UltrasoundImages to PLUS
mitk::IGTLServer::Pointer m_USServer = mitk::IGTLServer::New(true);
m_USServer->SetName("EchoTrack Image Source");
m_USServer->SetHostname("127.0.0.1");
m_USServer->SetPortNumber(18944);
m_USMessageProvider = mitk::IGTLMessageProvider::New();
m_USMessageProvider->SetIGTLDevice(m_USServer);
m_USMessageProvider->SetFPS(5);
m_USImageToIGTLMessageFilter = mitk::ImageToIGTLMessageFilter::New();
m_USImageToIGTLMessageFilter->ConnectTo(m_CombinedModality->GetUltrasoundDevice());
m_USImageToIGTLMessageFilter->SetName("USImage Filter");
//setup server to send TrackingData to PLUS
m_TrackingServer = mitk::IGTLServer::New(true);
m_TrackingServer->SetName("EchoTrack Tracking Source");
m_TrackingServer->SetHostname("127.0.0.1");
m_TrackingServer->SetPortNumber(18945);
m_TrackingMessageProvider = mitk::IGTLMessageProvider::New();
m_TrackingMessageProvider->SetIGTLDevice(m_TrackingServer);
m_TrackingMessageProvider->SetFPS(5);
m_TrackingToIGTLMessageFilter = mitk::NavigationDataToIGTLMessageFilter::New();
- m_TrackingToIGTLMessageFilter->ConnectTo(m_CombinedModality->GetTrackingDevice());
+ m_TrackingToIGTLMessageFilter->ConnectTo(m_CombinedModality->GetTrackingDeviceDataSource());
m_TrackingToIGTLMessageFilter->SetName("Tracker Filter");
typedef itk::SimpleMemberCommand< QmitkUltrasoundCalibration > CurCommandType;
CurCommandType::Pointer newConnectionCommand = CurCommandType::New();
newConnectionCommand->SetCallbackFunction(
this, &QmitkUltrasoundCalibration::OnPlusConnected);
this->m_NewConnectionObserverTag = this->m_TrackingServer->AddObserver(
mitk::NewClientConnectionEvent(), newConnectionCommand);
//Open connections of both servers
if (m_USServer->OpenConnection())
{
MITK_INFO << "US Server opened its connection successfully";
m_USServer->StartCommunication();
}
else
{
MITK_INFO << "US Server could not open its connection";
}
if (m_TrackingServer->OpenConnection())
{
MITK_INFO << "Tracking Server opened its connection successfully";
m_TrackingServer->StartCommunication();
}
else
{
MITK_INFO << "Tracking Server could not open its connection";
}
if (m_USMessageProvider->IsCommunicating() && m_TrackingMessageProvider->IsCommunicating())
{
m_Controls.m_StartPlusCalibrationButton->setEnabled(false);
m_Controls.m_GetCalibrationFromPLUS->setEnabled(true);
m_Controls.m_StartStreaming->setEnabled(false);
m_Controls.m_SavePlusCalibration->setEnabled(false);
m_Controls.m_SetupStatus->setStyleSheet("QLabel { color : green; }");
m_Controls.m_SetupStatus->setText("Setup successfull you can now connect PLUS");
}
else
{
m_Controls.m_SetupStatus->setStyleSheet("QLabel { color : red; }");
m_Controls.m_SetupStatus->setText("Something went wrong. Please try again");
}
}
void QmitkUltrasoundCalibration::OnStopPlusCalibration()
{
//closing all server and clients when PlusCalibration is finished
if (m_USMessageProvider.IsNotNull())
{
if (m_USMessageProvider->IsStreaming())
{
m_USMessageProvider->StopStreamingOfSource(m_USImageToIGTLMessageFilter);
}
}
if (m_TrackingMessageProvider.IsNotNull())
{
if (m_TrackingMessageProvider->IsStreaming())
{
m_TrackingMessageProvider->StopStreamingOfSource(m_TrackingToIGTLMessageFilter);
}
}
if (m_USServer.IsNotNull())
{
m_USServer->CloseConnection();
}
if (m_TrackingServer.IsNotNull())
{
m_TrackingServer->CloseConnection();
}
if (m_TransformClient.IsNotNull())
{
m_TransformClient->CloseConnection();
}
m_Controls.m_GotCalibrationLabel->setText("");
m_Controls.m_ConnectionStatus->setText("");
m_Controls.m_SetupStatus->setText("");
m_Controls.m_StartPlusCalibrationButton->setEnabled(true);
m_StreamingTimer->stop();
delete m_StreamingTimer;
}
void QmitkUltrasoundCalibration::OnPlusConnected()
{
emit NewConnectionSignal();
}
void QmitkUltrasoundCalibration::OnNewConnection()
{
m_Controls.m_StartStreaming->setEnabled(true);
m_Controls.m_ConnectionStatus->setStyleSheet("QLabel { color : green; }");
m_Controls.m_ConnectionStatus->setText("Connection successfull you can now start streaming");
}
void QmitkUltrasoundCalibration::OnStreamingTimerTimeout()
{
m_USMessageProvider->Update();
m_TrackingMessageProvider->Update();
}
void QmitkUltrasoundCalibration::OnStartStreaming()
{
m_USMessageProvider->StartStreamingOfSource(m_USImageToIGTLMessageFilter, 5);
m_TrackingMessageProvider->StartStreamingOfSource(m_TrackingToIGTLMessageFilter, 5);
m_Controls.m_StartStreaming->setEnabled(false);
m_Controls.m_ConnectionStatus->setText("");
m_StreamingTimer->start((1.0 / 5.0 * 1000.0));
}
void QmitkUltrasoundCalibration::OnGetPlusCalibration()
{
m_TransformClient = mitk::IGTLClient::New(true);
m_TransformClient->SetHostname("127.0.0.1");
m_TransformClient->SetPortNumber(18946);
m_TransformDeviceSource = mitk::IGTLDeviceSource::New();
m_TransformDeviceSource->SetIGTLDevice(m_TransformClient);
m_TransformDeviceSource->Connect();
if (m_TransformDeviceSource->IsConnected())
{
MITK_INFO << "successfully connected";
m_TransformDeviceSource->StartCommunication();
if (m_TransformDeviceSource->IsCommunicating())
{
MITK_INFO << "communication started";
mitk::IGTLMessage::Pointer receivedMessage;
bool condition = false;
igtl::Matrix4x4 transformPLUS;
while (!(receivedMessage.IsNotNull() && receivedMessage->IsDataValid()))
{
std::this_thread::sleep_for(std::chrono::milliseconds(50));
m_TransformDeviceSource->Update();
receivedMessage = m_TransformDeviceSource->GetOutput();
igtl::TransformMessage::Pointer msg = dynamic_cast<igtl::TransformMessage*>(m_TransformDeviceSource->GetOutput()->GetMessage().GetPointer());
if (msg == nullptr || msg.IsNull())
{
MITK_INFO << "Received message could not be casted to TransformMessage. Skipping..";
continue;
}
else
{
if (std::strcmp(msg->GetDeviceName(), "ImageToTracker") != 0)
{
MITK_INFO << "Was not Image to Tracker Transform. Skipping...";
continue;
}
else
{
msg->GetMatrix(transformPLUS);
condition = true;
break;
}
}
}
if (condition)
{
this->ProcessPlusCalibration(transformPLUS);
}
else
{
m_Controls.m_GotCalibrationLabel->setStyleSheet("QLabel { color : red; }");
m_Controls.m_GotCalibrationLabel->setText("Something went wrong. Please try again");
}
}
else
{
MITK_INFO << " no connection";
m_Controls.m_GotCalibrationLabel->setStyleSheet("QLabel { color : red; }");
m_Controls.m_GotCalibrationLabel->setText("Something went wrong. Please try again");
}
}
else
{
m_Controls.m_GotCalibrationLabel->setStyleSheet("QLabel { color : red; }");
m_Controls.m_GotCalibrationLabel->setText("Something went wrong. Please try again");
}
}
void QmitkUltrasoundCalibration::ProcessPlusCalibration(igtl::Matrix4x4& imageToTracker)
{
mitk::AffineTransform3D::Pointer imageToTrackerTransform = mitk::AffineTransform3D::New();
itk::Matrix<mitk::ScalarType, 3, 3> rotationFloat = itk::Matrix<mitk::ScalarType, 3, 3>();
itk::Vector<mitk::ScalarType, 3> translationFloat = itk::Vector<mitk::ScalarType, 3>();
rotationFloat[0][0] = imageToTracker[0][0];
rotationFloat[0][1] = imageToTracker[0][1];
rotationFloat[0][2] = imageToTracker[0][2];
rotationFloat[1][0] = imageToTracker[1][0];
rotationFloat[1][1] = imageToTracker[1][1];
rotationFloat[1][2] = imageToTracker[1][2];
rotationFloat[2][0] = imageToTracker[2][0];
rotationFloat[2][1] = imageToTracker[2][1];
rotationFloat[2][2] = imageToTracker[2][2];
translationFloat[0] = imageToTracker[0][3];
translationFloat[1] = imageToTracker[1][3];
translationFloat[2] = imageToTracker[2][3];
imageToTrackerTransform->SetTranslation(translationFloat);
imageToTrackerTransform->SetMatrix(rotationFloat);
m_CombinedModality->SetCalibration(imageToTrackerTransform);
m_Controls.m_ToolBox->setItemEnabled(2, true);
m_Controls.m_SavePlusCalibration->setEnabled(true);
m_Controls.m_GotCalibrationLabel->setStyleSheet("QLabel { color : green; }");
m_Controls.m_GotCalibrationLabel->setText("Recieved Calibration from PLUS you can now save it");
}
void QmitkUltrasoundCalibration::OnStopCalibrationProcess()
{
this->ClearTemporaryMembers();
m_Timer->stop();
this->GetDataStorage()->Remove(m_Node);
m_Node = 0;
this->GetDataStorage()->Remove(m_CalibNode);
m_CalibNode = 0;
this->GetDataStorage()->Remove(m_WorldNode);
m_WorldNode = 0;
m_Controls.m_ToolBox->setCurrentIndex(0);
}
void QmitkUltrasoundCalibration::OnDeviceServiceEvent(const ctkServiceEvent event)
{
if (m_CombinedModality.IsNull() || event.getType() != ctkServiceEvent::MODIFIED) { return; }
ctkServiceReference service = event.getServiceReference();
QString curDepth = service.getProperty(QString::fromStdString(mitk::USDevice::GetPropertyKeys().US_PROPKEY_BMODE_DEPTH)).toString();
if (m_CurrentDepth != curDepth)
{
m_CurrentDepth = curDepth;
this->OnReset();
}
}
void QmitkUltrasoundCalibration::OnAddCalibPoint()
{
mitk::Point3D world = this->GetRenderWindowPart()->GetSelectedPosition();
this->m_CalibPointsImage->InsertPoint(m_CalibPointsCount, world);
this->m_CalibPointsTool->InsertPoint(m_CalibPointsCount, this->m_FreezePoint);
QString text = text.number(m_CalibPointsCount + 1);
text = "Point " + text;
this->m_Controls.m_CalibPointList->addItem(text);
m_CalibPointsCount++;
SwitchFreeze();
}
void QmitkUltrasoundCalibration::OnCalibration()
{
// Compute transformation
vtkSmartPointer<vtkLandmarkTransform> transform = vtkSmartPointer<vtkLandmarkTransform>::New();
transform->SetSourceLandmarks(this->ConvertPointSetToVtkPolyData(m_CalibPointsImage)->GetPoints());
transform->SetTargetLandmarks(this->ConvertPointSetToVtkPolyData(m_CalibPointsTool)->GetPoints());
- if (m_Controls.m_ScaleTransform->isChecked())
+
+ if( !m_CombinedModality->GetIsTrackedUltrasoundActive() )
{
- transform->SetModeToSimilarity();
- } //use affine transform
+ if (m_Controls.m_ScaleTransform->isChecked())
+ {
+ transform->SetModeToSimilarity();
+ } //use affine transform
+ else
+ {
+ transform->SetModeToRigidBody();
+ } //use similarity transform: scaling is not touched
+ MITK_INFO << "TEST";
+ }
else
{
- transform->SetModeToRigidBody();
- } //use similarity transform: scaling is not touched
+ transform->SetModeToRigidBody();//use similarity transform: scaling is not touched
+ }
+
transform->Modified();
transform->Update();
// Convert from vtk to itk data types
itk::Matrix<mitk::ScalarType, 3, 3> rotationFloat = itk::Matrix<mitk::ScalarType, 3, 3>();
itk::Vector<mitk::ScalarType, 3> translationFloat = itk::Vector<mitk::ScalarType, 3>();
vtkSmartPointer<vtkMatrix4x4> m = transform->GetMatrix();
rotationFloat[0][0] = m->GetElement(0, 0);
rotationFloat[0][1] = m->GetElement(0, 1);
rotationFloat[0][2] = m->GetElement(0, 2);
rotationFloat[1][0] = m->GetElement(1, 0);
rotationFloat[1][1] = m->GetElement(1, 1);
rotationFloat[1][2] = m->GetElement(1, 2);
rotationFloat[2][0] = m->GetElement(2, 0);
rotationFloat[2][1] = m->GetElement(2, 1);
rotationFloat[2][2] = m->GetElement(2, 2);
translationFloat[0] = m->GetElement(0, 3);
translationFloat[1] = m->GetElement(1, 3);
translationFloat[2] = m->GetElement(2, 3);
mitk::DataNode::Pointer CalibPointsImage = mitk::DataNode::New();
CalibPointsImage->SetName("Calibration Points Image");
CalibPointsImage->SetData(m_CalibPointsImage);
this->GetDataStorage()->Add(CalibPointsImage);
mitk::DataNode::Pointer CalibPointsTracking = mitk::DataNode::New();
CalibPointsTracking->SetName("Calibration Points Tracking");
CalibPointsTracking->SetData(m_CalibPointsTool);
this->GetDataStorage()->Add(CalibPointsTracking);
mitk::PointSet::Pointer ImagePointsTransformed = m_CalibPointsImage->Clone();
this->ApplyTransformToPointSet(ImagePointsTransformed, transform);
mitk::DataNode::Pointer CalibPointsImageTransformed = mitk::DataNode::New();
CalibPointsImageTransformed->SetName("Calibration Points Image (Transformed)");
CalibPointsImageTransformed->SetData(ImagePointsTransformed);
this->GetDataStorage()->Add(CalibPointsImageTransformed);
// Set output variable
-
- mitk::AffineTransform3D::Pointer oldUSImageTransform = m_Image->GetGeometry()->GetIndexToWorldTransform(); //including spacing!
+ mitk::AffineTransform3D::Pointer oldUSImageTransform = m_CombinedModality->GetUltrasoundDevice()->GetOutput()->GetGeometry()->GetIndexToWorldTransform(); //including spacing!
MITK_INFO << "Old US Image transform: " << oldUSImageTransform;
mitk::AffineTransform3D::Pointer calibTransform = mitk::AffineTransform3D::New();
calibTransform->SetTranslation(translationFloat);
calibTransform->SetMatrix(rotationFloat);
MITK_INFO << "Calibration transform: " << calibTransform;
m_Transformation = mitk::AffineTransform3D::New();
- if (!m_Controls.m_ScaleTransform->isChecked()) { m_Transformation->Compose(oldUSImageTransform); }
+ if( !m_CombinedModality->GetIsTrackedUltrasoundActive() )
+ {
+ if( !m_Controls.m_ScaleTransform->isChecked() ) { m_Transformation->Compose(oldUSImageTransform); }
+ MITK_INFO << "Used old USImageTransform";
+ }
+
m_Transformation->Compose(calibTransform);
MITK_INFO << "New combined transform: " << m_Transformation;
mitk::SlicedGeometry3D::Pointer sliced3d = dynamic_cast<mitk::SlicedGeometry3D*> (m_Node->GetData()->GetGeometry());
mitk::PlaneGeometry::Pointer plane = const_cast<mitk::PlaneGeometry*> (sliced3d->GetPlaneGeometry(0));
plane->SetIndexToWorldTransform(m_Transformation);
// Save to US-Device
m_CombinedModality->SetCalibration(m_Transformation);
m_Controls.m_ToolBox->setItemEnabled(2, true);
// Save to NeedleProjectionFilter
m_NeedleProjectionFilter->SetTargetPlane(m_Transformation);
// Update Calibration FRE
m_CalibrationStatistics = mitk::PointSetDifferenceStatisticsCalculator::New();
mitk::PointSet::Pointer p1 = this->m_CalibPointsTool->Clone(); // We use clones to calculate statistics to avoid concurrency Problems
// Create point set with transformed image calibration points for
// calculating the difference of image calibration and tool
// calibration points in one geometry space
mitk::PointSet::Pointer p2 = mitk::PointSet::New();
int n = 0;
for (mitk::PointSet::PointsConstIterator it = m_CalibPointsImage->Begin();
it != m_CalibPointsImage->End(); ++it, ++n)
{
p2->InsertPoint(n, m_Transformation->TransformPoint(it->Value()));
}
m_CalibrationStatistics->SetPointSets(p1, p2);
//QString text = text.number(m_CalibrationStatistics->GetRMS());
QString text = QString::number(ComputeFRE(m_CalibPointsImage, m_CalibPointsTool, transform));
MITK_INFO << "Calibration FRE: " << text.toStdString().c_str();
m_Controls.m_EvalLblCalibrationFRE->setText(text);
m_Node->SetStringProperty("Calibration FRE", text.toStdString().c_str());
// Enable Button to save Calibration
m_Controls.m_CalibBtnSaveCalibration->setEnabled(true);
}
void QmitkUltrasoundCalibration::OnAddEvalTargetPoint()
{
mitk::Point3D world = this->GetRenderWindowPart()->GetSelectedPosition();
this->m_EvalPointsImage->InsertPoint(m_EvalPointsImage->GetSize(), world);
this->m_EvalPointsTool->InsertPoint(m_EvalPointsTool->GetSize(), this->m_FreezePoint);
QString text = text.number(this->m_EvalPointsTool->GetSize());
this->m_Controls.m_EvalLblNumTargetPoints->setText(text);
// Update FREs
// Update Evaluation FRE, but only if it contains more than one point (will crash otherwise)
if ((m_EvalPointsProjected->GetSize() > 1) && (m_EvalPointsTool->GetSize() > 1)) {
m_EvaluationStatistics = mitk::PointSetDifferenceStatisticsCalculator::New();
m_ProjectionStatistics = mitk::PointSetDifferenceStatisticsCalculator::New();
mitk::PointSet::Pointer p1 = this->m_EvalPointsTool->Clone(); // We use clones to calculate statistics to avoid concurrency Problems
mitk::PointSet::Pointer p2 = this->m_EvalPointsImage->Clone();
mitk::PointSet::Pointer p3 = this->m_EvalPointsProjected->Clone();
m_EvaluationStatistics->SetPointSets(p1, p2);
m_ProjectionStatistics->SetPointSets(p1, p3);
QString evalText = evalText.number(m_EvaluationStatistics->GetRMS());
QString projText = projText.number(m_ProjectionStatistics->GetRMS());
m_Controls.m_EvalLblEvaluationFRE->setText(evalText);
m_Controls.m_EvalLblProjectionFRE->setText(projText);
}
SwitchFreeze();
}
void QmitkUltrasoundCalibration::OnAddEvalProjectedPoint()
{
MITK_WARN << "Projection Evaluation may currently be inaccurate.";
// TODO: Verify correct Evaluation. Is the Point that is added really current?
mitk::Point3D projection = this->m_NeedleProjectionFilter->GetProjection()->GetPoint(1);
m_EvalPointsProjected->InsertPoint(m_EvalPointsProjected->GetSize(), projection);
QString text = text.number(this->m_EvalPointsProjected->GetSize());
this->m_Controls.m_EvalLblNumProjectionPoints->setText(text);
}
void QmitkUltrasoundCalibration::OnSaveEvaluation()
{
//Filename without suffix
QString filename = m_Controls.m_EvalFilePath->text() + "//" + m_Controls.m_EvalFilePrefix->text();
MITK_WARN << "CANNOT SAVE, ABORTING!";
/* not working any more TODO!
mitk::PointSetWriter::Pointer psWriter = mitk::PointSetWriter::New();
psWriter->SetInput(0, m_CalibPointsImage);
psWriter->SetInput(1, m_CalibPointsTool);
psWriter->SetInput(2, m_EvalPointsImage);
psWriter->SetInput(3, m_EvalPointsTool);
psWriter->SetInput(4, m_EvalPointsProjected);
psWriter->SetFileName(filename.toStdString() + ".xml");
psWriter->Write();
*/
// TODO: New writer for transformations must be implemented.
/*
mitk::TransformationFileWriter::Pointer tWriter = mitk::TransformationFileWriter::New();
tWriter->SetInput(0, m_CalibPointsImage);
tWriter->SetInput(1, m_CalibPointsTool);
tWriter->SetInput(2, m_EvalPointsImage);
tWriter->SetInput(3, m_EvalPointsTool);
tWriter->SetInput(4, m_EvalPointsProjected);
tWriter->SetOutputFilename(filename.toStdString() + ".txt");
tWriter->DoWrite(this->m_Transformation);
*/
}
void QmitkUltrasoundCalibration::OnSaveCalibration()
{
m_Controls.m_GotCalibrationLabel->setText("");
QString filename = QFileDialog::getSaveFileName(QApplication::activeWindow(),
"Save Calibration",
"",
"Calibration files *.cal");
QFile file(filename);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text | QIODevice::Truncate))
{
MITK_WARN << "Cannot open file '" << filename.toStdString() << "' for writing.";
return;
}
std::string calibrationSerialization = m_CombinedModality->SerializeCalibration();
QTextStream outStream(&file);
outStream << QString::fromStdString(calibrationSerialization);
//save additional information
if (m_Controls.m_saveAdditionalCalibrationLog->isChecked())
{
mitk::SceneIO::Pointer mySceneIO = mitk::SceneIO::New();
QString filenameScene = filename + "_mitkScene.mitk";
mitk::NodePredicateNot::Pointer isNotHelperObject =
mitk::NodePredicateNot::New(mitk::NodePredicateProperty::New("helper object", mitk::BoolProperty::New(true)));
mitk::DataStorage::SetOfObjects::ConstPointer nodesToBeSaved = this->GetDataStorage()->GetSubset(isNotHelperObject);
mySceneIO->SaveScene(nodesToBeSaved, this->GetDataStorage(), filenameScene.toStdString().c_str());
}
}
void QmitkUltrasoundCalibration::OnReset()
{
this->ClearTemporaryMembers();
if (m_Transformation.IsNull()) { m_Transformation = mitk::AffineTransform3D::New(); }
m_Transformation->SetIdentity();
if (m_Node.IsNotNull() && (m_Node->GetData() != nullptr) && (m_Node->GetData()->GetGeometry() != nullptr))
{
mitk::SlicedGeometry3D::Pointer sliced3d = dynamic_cast<mitk::SlicedGeometry3D*> (m_Node->GetData()->GetGeometry());
mitk::PlaneGeometry::Pointer plane = const_cast<mitk::PlaneGeometry*> (sliced3d->GetPlaneGeometry(0));
plane->SetIndexToWorldTransform(m_Transformation);
}
QString text1 = text1.number(this->m_EvalPointsTool->GetSize());
this->m_Controls.m_EvalLblNumTargetPoints->setText(text1);
QString text2 = text2.number(this->m_EvalPointsProjected->GetSize());
this->m_Controls.m_EvalLblNumProjectionPoints->setText(text2);
}
void QmitkUltrasoundCalibration::Update()
{
//QList<mitk::DataNode::Pointer> nodes = this->GetDataManagerSelection();
// if (nodes.empty()) return;
// Update Tracking Data
std::vector<mitk::NavigationData::Pointer>* datas = new std::vector<mitk::NavigationData::Pointer>();
datas->push_back(m_Tracker->GetOutput());
m_Controls.m_CalibTrackingStatus->SetNavigationDatas(datas);
m_Controls.m_CalibTrackingStatus->Refresh();
m_Controls.m_EvalTrackingStatus->SetNavigationDatas(datas);
m_Controls.m_EvalTrackingStatus->Refresh();
// Update US Image
- m_CombinedModality->Modified();
- m_CombinedModality->Update();
- mitk::Image::Pointer m_Image = m_CombinedModality->GetOutput();
if (m_Image.IsNotNull() && m_Image->IsInitialized())
{
- if (m_OverrideSpacing)
- {
- m_Image->GetGeometry()->SetSpacing(m_Spacing);
- }
- if (m_Image.IsNotNull() && m_Image->IsInitialized())
- {
- m_Node->SetData(m_Image);
- }
+ m_Node->SetData(m_Image);
+ }
+ else
+ {
+ mitk::Image::Pointer m_Image = m_CombinedModality->GetUltrasoundDevice()->GetOutput();
+ m_Node->SetData(m_Image); //Workaround because image is not initalized, maybe problem of the Ultrasound view?
}
+ m_CombinedModality->Modified();
+ m_CombinedModality->Update();
// Update Needle Projection
m_NeedleProjectionFilter->Update();
//only update 2d window because it is faster
- //this->RequestRenderWindowUpdate(mitk::RenderingManager::REQUEST_UPDATE_2DWINDOWS);
+ this->RequestRenderWindowUpdate(mitk::RenderingManager::REQUEST_UPDATE_2DWINDOWS);
}
void QmitkUltrasoundCalibration::SwitchFreeze()
{
m_Controls.m_CalibBtnAddPoint->setEnabled(false); // generally deactivate
// We use the activity state of the timer to determine whether we are currently viewing images
if (!m_Timer->isActive()) // Activate Imaging
{
// if (m_Node) m_Node->ReleaseData();
if (m_CombinedModality.IsNull()){
m_Timer->stop();
return;
}
m_CombinedModality->Update();
m_Image = m_CombinedModality->GetOutput();
if (m_Image.IsNotNull() && m_Image->IsInitialized())
{
m_Node->SetData(m_Image);
}
std::vector<mitk::NavigationData::Pointer> datas;
datas.push_back(m_Tracker->GetOutput());
m_Controls.m_CalibTrackingStatus->SetNavigationDatas(&datas);
m_Controls.m_CalibTrackingStatus->ShowStatusLabels();
m_Controls.m_CalibTrackingStatus->Refresh();
m_Controls.m_EvalTrackingStatus->SetNavigationDatas(&datas);
m_Controls.m_EvalTrackingStatus->ShowStatusLabels();
m_Controls.m_EvalTrackingStatus->Refresh();
int interval = 40;
m_Timer->setInterval(interval);
m_Timer->start();
- m_CombinedModality->SetIsFreezed(false);
+ m_CombinedModality->GetUltrasoundDevice()->SetIsFreezed(false);
}
else if (this->m_Tracker->GetOutput(0)->IsDataValid())
{
//deactivate Imaging
m_Timer->stop();
// Remember last tracking coordinates
m_FreezePoint = this->m_Tracker->GetOutput(0)->GetPosition();
m_Controls.m_CalibBtnAddPoint->setEnabled(true); // activate only, if valid point is set
- m_CombinedModality->SetIsFreezed(true);
+ m_CombinedModality->GetUltrasoundDevice()->SetIsFreezed(true);
}
}
void QmitkUltrasoundCalibration::ShowNeedlePath()
{
// Init Filter
this->m_NeedleProjectionFilter->SelectInput(0);
// Create Node for Pointset
mitk::DataNode::Pointer node = this->GetDataStorage()->GetNamedNode("Needle Path");
if (node.IsNull())
{
node = mitk::DataNode::New();
node->SetName("Needle Path");
node->SetData(m_NeedleProjectionFilter->GetProjection());
node->SetBoolProperty("show contour", true);
this->GetDataStorage()->Add(node);
}
}
void QmitkUltrasoundCalibration::ClearTemporaryMembers()
{
m_CalibPointsTool->Clear();
m_CalibPointsImage->Clear();
m_CalibPointsCount = 0;
m_EvalPointsImage->Clear();
m_EvalPointsTool->Clear();
m_EvalPointsProjected->Clear();
this->m_Controls.m_CalibPointList->clear();
m_SpacingPoints->Clear();
m_Controls.m_SpacingPointsList->clear();
m_SpacingPointsCount = 0;
}
vtkSmartPointer<vtkPolyData> QmitkUltrasoundCalibration::ConvertPointSetToVtkPolyData(mitk::PointSet::Pointer PointSet)
{
vtkSmartPointer<vtkPolyData> returnValue = vtkSmartPointer<vtkPolyData>::New();
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
for (int i = 0; i < PointSet->GetSize(); i++)
{
double point[3] = { PointSet->GetPoint(i)[0], PointSet->GetPoint(i)[1], PointSet->GetPoint(i)[2] };
points->InsertNextPoint(point);
}
vtkSmartPointer<vtkPolyData> temp = vtkSmartPointer<vtkPolyData>::New();
temp->SetPoints(points);
vtkSmartPointer<vtkVertexGlyphFilter> vertexFilter = vtkSmartPointer<vtkVertexGlyphFilter>::New();
vertexFilter->SetInputData(temp);
vertexFilter->Update();
returnValue->ShallowCopy(vertexFilter->GetOutput());
return returnValue;
}
double QmitkUltrasoundCalibration::ComputeFRE(mitk::PointSet::Pointer imageFiducials, mitk::PointSet::Pointer realWorldFiducials, vtkSmartPointer<vtkLandmarkTransform> transform)
{
if (imageFiducials->GetSize() != realWorldFiducials->GetSize()) return -1;
double FRE = 0;
for (int i = 0; i < imageFiducials->GetSize(); ++i)
{
itk::Point<double> current_image_fiducial_point = imageFiducials->GetPoint(i);
if (transform != nullptr)
{
current_image_fiducial_point = transform->TransformPoint(imageFiducials->GetPoint(i)[0], imageFiducials->GetPoint(i)[1], imageFiducials->GetPoint(i)[2]);
}
double cur_error_squared = current_image_fiducial_point.SquaredEuclideanDistanceTo(realWorldFiducials->GetPoint(i));
FRE += cur_error_squared;
}
FRE = sqrt(FRE / (double)imageFiducials->GetSize());
return FRE;
}
void QmitkUltrasoundCalibration::ApplyTransformToPointSet(mitk::PointSet::Pointer pointSet, vtkSmartPointer<vtkLandmarkTransform> transform)
{
for (int i = 0; i < pointSet->GetSize(); ++i)
{
itk::Point<double> current_point_transformed = itk::Point<double>();
current_point_transformed = transform->TransformPoint(pointSet->GetPoint(i)[0], pointSet->GetPoint(i)[1], pointSet->GetPoint(i)[2]);
pointSet->SetPoint(i, current_point_transformed);
}
}
void QmitkUltrasoundCalibration::OnFreezeClicked()
{
- if (m_CombinedModality->GetIsFreezed())
+ if (m_CombinedModality->GetUltrasoundDevice()->GetIsFreezed())
{
if (!m_Timer->isActive()) // Activate Imaging
{
// if (m_Node) m_Node->ReleaseData();
if (m_CombinedModality.IsNull()) {
m_Timer->stop();
return;
}
m_Timer->start();
}
//device was already frozen so we need to delete all Spacing points because they need to be collected all at once
// no need to check if all four points are already collected, because if thats the case you can no longer click the Freeze Button
m_SpacingPoints->Clear();
m_Controls.m_SpacingPointsList->clear();
m_SpacingPointsCount = 0;
m_Controls.m_SpacingAddPoint->setEnabled(false);
- m_CombinedModality->SetIsFreezed(false);
+ m_CombinedModality->GetUltrasoundDevice()->SetIsFreezed(false);
}
else
{
//deactivate Imaging
m_Timer->stop();
- m_CombinedModality->SetIsFreezed(true);
+ m_CombinedModality->GetUltrasoundDevice()->SetIsFreezed(true);
m_Controls.m_SpacingAddPoint->setEnabled(true);
}
//SwitchFreeze();
}
void QmitkUltrasoundCalibration::OnAddSpacingPoint()
{
mitk::Point3D point = this->GetRenderWindowPart()->GetSelectedPosition();
this->m_SpacingPoints->InsertPoint(m_SpacingPointsCount, point);
QString text = text.number(m_SpacingPointsCount + 1);
text = "Point " + text;
this->m_Controls.m_SpacingPointsList->addItem(text);
m_SpacingPointsCount++;
if (m_SpacingPointsCount == 4) //now we have all 4 points needed
{
m_Controls.m_SpacingAddPoint->setEnabled(false);
m_Controls.m_CalculateSpacing->setEnabled(true);
m_Controls.m_SpacingBtnFreeze->setEnabled(false);
}
}
void QmitkUltrasoundCalibration::OnCalculateSpacing()
{
mitk::Point3D horizontalOne = m_SpacingPoints->GetPoint(0);
mitk::Point3D horizontalTwo = m_SpacingPoints->GetPoint(1);
mitk::Point3D verticalOne = m_SpacingPoints->GetPoint(2);
mitk::Point3D verticalTwo = m_SpacingPoints->GetPoint(3);
//Get the distances between the points in the image
double xDistance = horizontalOne.EuclideanDistanceTo(horizontalTwo);
double yDistance = verticalOne.EuclideanDistanceTo(verticalTwo);
//Calculate the spacing of the image and fill a vector with it
double xSpacing = 30 / xDistance;
double ySpacing = 20 / yDistance;
- m_Spacing[0] = xSpacing;
- m_Spacing[1] = ySpacing;
- m_Spacing[2] = 1;
-
- MITK_INFO << m_Spacing;
-
- //Make sure the new spacing is applied to the USVideoDeviceImages
- m_OverrideSpacing = true;
+ m_CombinedModality->GetUltrasoundDevice()->SetSpacing(xSpacing, ySpacing);
//Now that the spacing is set clear all stuff and return to Calibration
m_SpacingPoints->Clear();
m_Controls.m_SpacingPointsList->clear();
m_SpacingPointsCount = 0;
- m_CombinedModality->SetIsFreezed(false);
+ m_CombinedModality->GetUltrasoundDevice()->SetIsFreezed(false);
}
void QmitkUltrasoundCalibration::OnUSDepthChanged(const std::string& key, const std::string&)
{
//whenever depth of USImage is changed the spacing should no longer be overwritten
if (key == mitk::USDevice::GetPropertyKeys().US_PROPKEY_BMODE_DEPTH)
{
-
- m_OverrideSpacing = false;
}
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUltrasoundCalibration.h b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUltrasoundCalibration.h
index a248221248..2f89c17461 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUltrasoundCalibration.h
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/QmitkUltrasoundCalibration.h
@@ -1,348 +1,344 @@
/*===================================================================
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 QmitkUltrasoundCalibration_h
#define QmitkUltrasoundCalibration_h
#include <berryISelectionListener.h>
#include <QmitkAbstractView.h>
//QT
//#include <QTimer>
//MITK
#include <mitkUSCombinedModality.h>
#include <mitkPointSet.h>
#include <mitkNeedleProjectionFilter.h>
#include <mitkPointSetDifferenceStatisticsCalculator.h>
#include <mitkIGTLClient.h>
#include <mitkNavigationDataToIGTLMessageFilter.h>
// Microservices
#include "ui_QmitkUltrasoundCalibrationControls.h"
#include <vtkPolyData.h>
#include <vtkSmartPointer.h>
#include <vtkLandmarkTransform.h>
#include <ctkServiceEvent.h>
/*!
\brief QmitkUltrasoundCalibration
\warning This view provides a simple calibration process.
\sa QmitkFunctionality
\ingroup ${plugin_target}_internal
*/
class QmitkUltrasoundCalibration : public QmitkAbstractView
{
// this is needed for all Qt objects that should have a Qt meta-object
// (everything that derives from QObject and wants to have signal/slots)
Q_OBJECT
public:
QmitkUltrasoundCalibration();
~QmitkUltrasoundCalibration();
static const std::string VIEW_ID;
virtual void CreateQtPartControl(QWidget *parent);
void OnUSDepthChanged(const std::string&, const std::string&);
protected slots:
/**
* \brief Triggered, whenever the user switches Tabs
*
*/
void OnTabSwitch(int index);
/**
* \brief Triggered, when the user has clicked "select Devices".
*
*/
//void OnSelectDevice(mitk::USCombinedModality::Pointer);
void OnDeviceSelected();
void OnDeviceDeselected();
/**
* \brief Triggered, when the user clicks "Add Point"
*
*/
void OnAddCalibPoint();
/**
* \brief Triggered, when the user clicks "Calibrate"
*
*/
void OnCalibration();
/**
* \brief Triggered, when the user clicks "Add Target Points".
*
* Adds an image point and an tracking point to their respective evaluation pointsets
*/
void OnAddEvalTargetPoint();
/**
* \brief Triggered, when the user clicks "Add Point".
*
* Adds a projected point to the projected point evaluation set.
*/
void OnAddEvalProjectedPoint();
/**
* \brief Triggered when the user clicks "Save Results" in the Evaluation tab.
*/
void OnSaveEvaluation();
/**
* \brief Triggered when the user clicks "Save Calibration" in the Calibration tab.
*/
void OnSaveCalibration();
/**
* \brief Triggered when the user clicks "Run Next Round". Also used as a reset mechanism.
*/
void OnReset();
/**
* \brief Triggered in regular intervals by a timer, when live view is enabled.
*
*/
void Update();
/**
* \brief Freezes or unfreezes the image.
*/
void SwitchFreeze();
/**
*
*/
void OnStartCalibrationProcess();
/**
*\brief Method to use the PLUS-Toolkoit for Calibration of EchoTrack
*/
void OnStartPlusCalibration();
void OnStopPlusCalibration();
/**
*\ brief Starts the Streaming of USImage and Navigation Data when PLUS is connected
*/
void OnStartStreaming();
void OnNewConnection();
/**
\*brief Get the Calibration from the PLUS-Toolkit once Calibration with fCal is done
*/
void OnGetPlusCalibration();
/**
\*brief Convert the recieved igtl::Matrix into an mitk::AffineTransform3D which can be used to calibrate the CombinedModality
*/
void ProcessPlusCalibration(igtl::Matrix4x4& imageToTracker);
void OnStreamingTimerTimeout();
/**
*
*/
void OnStopCalibrationProcess();
void OnAddCurrentTipPositionToReferencePoints();
void OnStartVerification();
void OnAddCurrentTipPositionForVerification();
void OnDeviceServiceEvent(const ctkServiceEvent event);
void OnFreezeClicked();
void OnAddSpacingPoint();
void OnCalculateSpacing();
signals:
/**
* \brief used for thread seperation, the worker thread must not call OnNewConnection directly.
* QT signals are thread safe and separate the threads
*/
void NewConnectionSignal();
protected:
virtual void SetFocus();
/// \brief called by QmitkFunctionality when DataManager's selection has changed
virtual void OnSelectionChanged(berry::IWorkbenchPart::Pointer source,
const QList<mitk::DataNode::Pointer>& nodes);
Ui::QmitkUltrasoundCalibrationControls m_Controls;
/**
* \brief Internal function that activates display of the needle path.
*/
void ShowNeedlePath();
/**
* \brief Clears all member attributes which are holding intermediate results for the calibration.
*/
void ClearTemporaryMembers();
void OnPlusConnected();
/**
* \brief The combined modality used for imaging and tracking.
*/
- mitk::USCombinedModality::Pointer m_CombinedModality;
+ mitk::AbstractUltrasoundTrackerDevice::Pointer m_CombinedModality;
/**
* \brief NavigationDataSource used for tracking data.
* This will be gotten by the combined modality.
*/
mitk::NavigationDataSource::Pointer m_Tracker;
QTimer *m_Timer;
mitk::DataNode::Pointer m_Node;
mitk::DataNode::Pointer m_CalibNode;
mitk::DataNode::Pointer m_WorldNode;
//IGTL Servers and Devices needed for the communication with PLUS
mitk::IGTLServer::Pointer m_USServer;
mitk::IGTLMessageProvider::Pointer m_USMessageProvider;
mitk::ImageToIGTLMessageFilter::Pointer m_USImageToIGTLMessageFilter;
mitk::IGTLServer::Pointer m_TrackingServer;
mitk::IGTLMessageProvider::Pointer m_TrackingMessageProvider;
mitk::NavigationDataToIGTLMessageFilter::Pointer m_TrackingToIGTLMessageFilter;
mitk::IGTLClient::Pointer m_TransformClient;
mitk::IGTLDeviceSource::Pointer m_TransformDeviceSource;
QTimer *m_StreamingTimer;
unsigned long m_NewConnectionObserverTag;
- // Variables to determine if spacing was calibrated and needs to be applied to the incoming images
- mitk::Vector3D m_Spacing;
- bool m_OverrideSpacing;
-
/**
* \brief The current Ultrasound Image.
*/
mitk::Image::Pointer m_Image;
/**
* \brief Current point when the image was last frozen.
*/
mitk::Point3D m_FreezePoint;
/**
* \brief Pointset containing all tool points.
*/
mitk::PointSet::Pointer m_CalibPointsImage;
/**
* \brief Pointset containing corresponding points on the image.
*/
mitk::PointSet::Pointer m_CalibPointsTool;
/**
* \brief Pointset containing Projected Points (aka "where we thought the needle was gonna land")
*/
mitk::PointSet::Pointer m_EvalPointsProjected;
/**
* \brief Pointset containing the evaluated points on the image.
*/
mitk::PointSet::Pointer m_EvalPointsImage;
/**
* \brief Pointset containing tracked evaluation points.
*/
mitk::PointSet::Pointer m_EvalPointsTool;
/**
* \brief Pointset containing tracked evaluation points.
*/
mitk::PointSet::Pointer m_VerificationReferencePoints;
mitk::DataNode::Pointer m_VerificationReferencePointsDataNode;
int m_currentPoint;
std::vector<mitk::Point3D> m_allReferencePoints;
std::vector<double> m_allErrors;
/**
* \brief Pointset containing points along the needle's prohected path. Only used for visualization. The first point is the needle tip.
*/
//mitk::PointSet::Pointer m_NeedlePathPoints;
/**
* \brief Creates a Pointset that projects the needle's path
*/
mitk::NeedleProjectionFilter::Pointer m_NeedleProjectionFilter;
/**
* \brief Total number of calibration points set.
*/
int m_CalibPointsCount;
QString m_CurrentDepth;
/**
* \brief StatisticsRegarding Projection Accuracy.
* (Compares m_EvalPointsProjected to m_EvalPointsImage)
*/
mitk::PointSetDifferenceStatisticsCalculator::Pointer m_ProjectionStatistics;
/**
* \brief StatisticsRegarding Evaluation Accuracy.
* (Compares m_EvalPointsTool to m_EvalPointsImage)
*/
mitk::PointSetDifferenceStatisticsCalculator::Pointer m_EvaluationStatistics;
/**
* \brief StatisticsRegarding Calibration Accuracy.
* (Compares m_CalibPointsTool to a transformed copy of m_CalibPointsImage).
*/
mitk::PointSetDifferenceStatisticsCalculator::Pointer m_CalibrationStatistics;
/**
* \brief Result of the Calibration.
*/
mitk::AffineTransform3D::Pointer m_Transformation;
/**
* This method is copied from PointSetModifier which is part of MBI. It should be replaced
* by external method call as soon as this functionality will be available in MITK.
*/
vtkSmartPointer<vtkPolyData> ConvertPointSetToVtkPolyData(mitk::PointSet::Pointer PointSet);
double ComputeFRE(mitk::PointSet::Pointer imageFiducials, mitk::PointSet::Pointer realWorldFiducials, vtkSmartPointer<vtkLandmarkTransform> transform = nullptr);
void ApplyTransformToPointSet(mitk::PointSet::Pointer pointSet, vtkSmartPointer<vtkLandmarkTransform> transform);
mitk::PointSet::Pointer m_SpacingPoints;
mitk::DataNode::Pointer m_SpacingNode;
int m_SpacingPointsCount;
private:
mitk::MessageDelegate2<QmitkUltrasoundCalibration, const std::string&, const std::string&> m_USDeviceChanged;
};
#endif // UltrasoundCalibration_h
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/SettingsWidgets/QmitkUSNavigationCombinedSettingsWidget.h b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/SettingsWidgets/QmitkUSNavigationCombinedSettingsWidget.h
index 4b18edce98..0150da4b10 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/SettingsWidgets/QmitkUSNavigationCombinedSettingsWidget.h
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/SettingsWidgets/QmitkUSNavigationCombinedSettingsWidget.h
@@ -1,53 +1,53 @@
/*===================================================================
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 QMITKUSNAVIGATIONCOMBINEDSETTINGSWIDGET_H
#define QMITKUSNAVIGATIONCOMBINEDSETTINGSWIDGET_H
#include "QmitkUSNavigationAbstractSettingsWidget.h"
#include "mitkDataNode.h"
namespace Ui {
class QmitkUSNavigationCombinedSettingsWidget;
}
/**
* \brief Settings widget for the USNavigationMarkerPlacement.
* This widgets allows for configuring the experiment mode and for changing the
* application between marker placement and punctuation.
*/
class QmitkUSNavigationCombinedSettingsWidget : public QmitkUSNavigationAbstractSettingsWidget
{
Q_OBJECT
protected slots:
void OnApplicationChanged(int);
public:
explicit QmitkUSNavigationCombinedSettingsWidget(QWidget *parent = 0);
~QmitkUSNavigationCombinedSettingsWidget();
+ virtual void OnSetSettingsNode(itk::SmartPointer<mitk::DataNode> settingsNode, bool overwriteValues);
protected:
- virtual void OnSetSettingsNode(itk::SmartPointer<mitk::DataNode> settingsNode, bool overwriteValues);
virtual void OnSaveProcessing();
virtual void OnLoadSettingsProcessing();
QString InteractionNameToFile(const QString& name) const;
private:
Ui::QmitkUSNavigationCombinedSettingsWidget *ui;
};
#endif // QMITKUSNAVIGATIONCOMBINEDSETTINGSWIDGET_H
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.cpp
index 62955187e3..f93de764c0 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.cpp
@@ -1,81 +1,92 @@
/*===================================================================
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 "QmitkUSCombinedModalityCreationWidget.h"
#include "ui_QmitkUSCombinedModalityCreationWidget.h"
+#include "mitkTrackedUltrasound.h"
+
QmitkUSCombinedModalityCreationWidget::QmitkUSCombinedModalityCreationWidget(QWidget *parent) :
QWidget(parent),
ui(new Ui::QmitkUSCombinedModalityCreationWidget)
{
ui->setupUi(this);
std::string filterExcludeCombinedModalities = "(&(" + us::ServiceConstants::OBJECTCLASS() + "=" + "org.mitk.services.UltrasoundDevice)(!(" + mitk::USDevice::GetPropertyKeys().US_PROPKEY_CLASS + "=" + mitk::USCombinedModality::DeviceClassIdentifier + ")))";
connect(ui->usDevicesServiceList, SIGNAL(ServiceSelectionChanged(us::ServiceReferenceU)), this, SLOT(OnSelectedUltrasoundOrTrackingDevice()));
connect(ui->trackingDevicesServiceList, SIGNAL(ServiceSelectionChanged(us::ServiceReferenceU)), this, SLOT(OnSelectedUltrasoundOrTrackingDevice()));
ui->usDevicesServiceList->SetAutomaticallySelectFirstEntry(true);
ui->trackingDevicesServiceList->SetAutomaticallySelectFirstEntry(true);
ui->usDevicesServiceList->Initialize<mitk::USDevice>(mitk::USDevice::GetPropertyKeys().US_PROPKEY_LABEL, filterExcludeCombinedModalities);
ui->trackingDevicesServiceList->Initialize<mitk::NavigationDataSource>(mitk::NavigationDataSource::US_PROPKEY_DEVICENAME);
connect(ui->createButton, SIGNAL(clicked()), this, SLOT(OnCreation()));
connect(ui->cancelButton, SIGNAL(clicked()), this, SIGNAL(SignalAborted()));
}
QmitkUSCombinedModalityCreationWidget::~QmitkUSCombinedModalityCreationWidget()
{
delete ui;
}
void QmitkUSCombinedModalityCreationWidget::OnCreation()
{
mitk::USDevice::Pointer usDevice = ui->usDevicesServiceList->GetSelectedService<mitk::USDevice>();
if (usDevice.IsNull())
{
MITK_WARN << "No Ultrasound Device selected for creation of Combined Modality.";
return;
}
mitk::NavigationDataSource::Pointer trackingDevice = ui->trackingDevicesServiceList->GetSelectedService<mitk::NavigationDataSource>();
if (trackingDevice.IsNull())
{
MITK_WARN << "No Traccking Device selected for creation of Combined Modality.";
return;
}
QString vendor = ui->vendorLineEdit->text();
QString name = ui->nameLineEdit->text();
- if (name.isEmpty()) { name = "Combined Modality"; }
+ if (name.isEmpty()) { name = "Ultrasound Tracker Device"; }
+
+ if( ui->activateTrackedUSCheckbox->isChecked() )
+ {
+ m_CombinedModality = mitk::TrackedUltrasound::New(usDevice, trackingDevice, true);
+ MITK_INFO << "Created TrackedUltrasound device";
+ }
+ else
+ {
+ m_CombinedModality = mitk::USCombinedModality::New(usDevice, trackingDevice, false);
+ MITK_INFO << "Created CombinedModality device";
+ }
- mitk::USCombinedModality::Pointer combinedModality = mitk::USCombinedModality::New(
- usDevice, trackingDevice, vendor.toStdString(), name.toStdString());
- combinedModality->Initialize();
- combinedModality->RegisterAsMicroservice(); // register as micro service
+ m_CombinedModality->GetUltrasoundDevice()->Initialize();
+ m_CombinedModality->RegisterAsMicroservice(); // register as micro service
emit SignalCreated();
- emit SignalCreated(combinedModality);
+ //emit SignalCreated(m_CombinedModality);
}
void QmitkUSCombinedModalityCreationWidget::OnSelectedUltrasoundOrTrackingDevice()
{
// create button is enabled only if an ultrasound
// and a tracking device is selected
ui->createButton->setEnabled(
ui->usDevicesServiceList->GetIsServiceSelected()
&& ui->trackingDevicesServiceList->GetIsServiceSelected());
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.h b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.h
index f98b4f8e65..1b43d5ea25 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.h
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.h
@@ -1,62 +1,64 @@
/*===================================================================
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 QMITKUSCOMBINEDMODALITYCREATIONWIDGET_H
#define QMITKUSCOMBINEDMODALITYCREATIONWIDGET_H
#include <QWidget>
#include "mitkUSCombinedModality.h"
namespace Ui {
class QmitkUSCombinedModalityCreationWidget;
}
/**
* \brief Widget that enables the user to create a mitk::USCombinedModality of a mitk::NavigationDataSource and a mitk::USDevice.
* A mitk::NavigationDataSource and a mitk::USDevice can be picked from two lists, showing
* the corresponding micro service objects. The combined modality is registered as a micro
* service as well during the creation process.
*/
class QmitkUSCombinedModalityCreationWidget : public QWidget
{
Q_OBJECT
signals:
/** \brief Emmited when the user clicks the "Cancel" button. */
void SignalAborted();
/** \brief Emmited when the user clicked the "Create" button and the creation is successfull. */
void SignalCreated(mitk::USCombinedModality::Pointer combinedModality);
/** \brief Emmited when the user clicked the "Create" button and the creation is successfull. */
void SignalCreated();
protected slots:
/** \brief Creates a combined modility of the selected mitk::NavigationDataSource and mitk::USDevice. **/
void OnCreation();
/** \brief Handles the enabled state of the "Create" button. **/
void OnSelectedUltrasoundOrTrackingDevice();
public:
explicit QmitkUSCombinedModalityCreationWidget(QWidget *parent = 0);
~QmitkUSCombinedModalityCreationWidget();
private:
Ui::QmitkUSCombinedModalityCreationWidget *ui;
+
+ itk::SmartPointer<mitk::AbstractUltrasoundTrackerDevice> m_CombinedModality;
};
#endif // QMITKUSCOMBINEDMODALITYCREATIONWIDGET_H
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.ui b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.ui
index 8454199a6b..fddd41ad6f 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.ui
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityCreationWidget.ui
@@ -1,167 +1,174 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QmitkUSCombinedModalityCreationWidget</class>
<widget class="QWidget" name="QmitkUSCombinedModalityCreationWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>323</width>
<height>350</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>350</height>
</size>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="usDevicesServiceListLabel">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Ultrasound Devices:</string>
</property>
</widget>
</item>
<item>
<widget class="QmitkServiceListWidget" name="usDevicesServiceList" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="trackingDevicesServiceListLabel">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Tracking Devices:</string>
</property>
</widget>
</item>
<item>
<widget class="QmitkServiceListWidget" name="trackingDevicesServiceList" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="helpLabel">
<property name="text">
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
p, li { white-space: pre-wrap; }
</style></head><body style=" font-family:'Sans Serif'; font-size:10pt; font-weight:400; font-style:normal;">
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:8pt;">Please select an ultrasound device and a tracking device from the lists above. These devices will be used to create a combined modality. Additionally, you may specifiy a vendor and a name.</span></p></body></html></string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QFormLayout" name="formLayout">
- <item row="1" column="0">
- <widget class="QLabel" name="nameLineEditLabel">
+ <item row="0" column="0">
+ <widget class="QLabel" name="vendorLineEditLabel">
<property name="text">
- <string>Name</string>
+ <string>Vendor</string>
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="nameLineEdit">
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="vendorLineEdit">
<property name="text">
- <string>Combined Modality</string>
+ <string>MBI</string>
</property>
</widget>
</item>
- <item row="0" column="0">
- <widget class="QLabel" name="vendorLineEditLabel">
+ <item row="1" column="0">
+ <widget class="QLabel" name="nameLineEditLabel">
<property name="text">
- <string>Vendor</string>
+ <string>Name</string>
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QLineEdit" name="vendorLineEdit">
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="nameLineEdit">
<property name="text">
- <string>MBI</string>
+ <string>Combined Modality</string>
</property>
</widget>
</item>
</layout>
</item>
+ <item>
+ <widget class="QCheckBox" name="activateTrackedUSCheckbox">
+ <property name="text">
+ <string>Activate Tracked Ultrasound</string>
+ </property>
+ </widget>
+ </item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="createButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Create Combined Modality</string>
</property>
<property name="icon">
<iconset resource="../../../resources/USNavigation.qrc">
<normaloff>:/USNavigation/accept.png</normaloff>:/USNavigation/accept.png</iconset>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="cancelButton">
<property name="text">
<string>Cancel</string>
</property>
<property name="icon">
<iconset resource="../../../resources/USNavigation.qrc">
<normaloff>:/USNavigation/restart.png</normaloff>:/USNavigation/restart.png</iconset>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>QmitkServiceListWidget</class>
<extends>QWidget</extends>
<header>QmitkServiceListWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../../../resources/USNavigation.qrc"/>
</resources>
<connections/>
<slots>
<slot>SignalAborted()</slot>
</slots>
</ui>
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.cpp
index 7386a037de..87531c2631 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.cpp
@@ -1,159 +1,159 @@
/*===================================================================
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 "QmitkUSCombinedModalityEditWidget.h"
#include "ui_QmitkUSCombinedModalityEditWidget.h"
#include "mitkUSControlInterfaceBMode.h"
#include "mitkUSControlInterfaceProbes.h"
#include "../QmitkUSNavigationCalibrationsDataModel.h"
#include "../QmitkUSNavigationCalibrationRemoveDelegate.h"
#include "../QmitkUSNavigationCalibrationUpdateDepthDelegate.h"
#include <QFileDialog>
#include <QFile>
#include <QTextStream>
QmitkUSCombinedModalityEditWidget::QmitkUSCombinedModalityEditWidget(QWidget *parent) :
QWidget(parent),
m_CalibrationsDataModel(new QmitkUSNavigationCalibrationsDataModel(this)),
m_CalibrationUpdateDepthDelegate(new QmitkUSNavigationCalibrationUpdateDepthDelegate(this)),
ui(new Ui::QmitkUSCombinedModalityEditWidget)
{
ui->setupUi(this);
ui->calibrationsTable->setModel(m_CalibrationsDataModel);
ui->calibrationsTable->setItemDelegateForColumn(2, new QmitkUSNavigationCalibrationRemoveDelegate(this));
ui->calibrationsTable->setItemDelegateForColumn(0, m_CalibrationUpdateDepthDelegate);
}
QmitkUSCombinedModalityEditWidget::~QmitkUSCombinedModalityEditWidget()
{
delete ui;
}
-void QmitkUSCombinedModalityEditWidget::SetCombinedModality(mitk::USCombinedModality::Pointer combinedModality)
+void QmitkUSCombinedModalityEditWidget::SetCombinedModality(mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality)
{
m_CalibrationsDataModel->SetCombinedModality(combinedModality);
m_CombinedModality = combinedModality;
if ( combinedModality.IsNull() ) { return; }
m_LastCalibrations = m_CombinedModality->SerializeCalibration();
- ui->vendorLineEdit->setText(QString::fromStdString(combinedModality->GetManufacturer()));
- ui->nameLineEdit->setText(QString::fromStdString(combinedModality->GetName()));
+ ui->vendorLineEdit->setText(QString::fromStdString(combinedModality->GetUltrasoundDevice()->GetManufacturer()));
+ ui->nameLineEdit->setText(QString::fromStdString(combinedModality->GetUltrasoundDevice()->GetName()));
ui->ultrasoundDeviceLabel->setText(QString::fromStdString(combinedModality->GetUltrasoundDevice()->GetManufacturer() + " " +
combinedModality->GetUltrasoundDevice()->GetName()));
ui->trackingDeviceLabel->setText(QString::fromStdString(combinedModality->GetNavigationDataSource()->GetName()));
mitk::USDevice::Pointer usDevice = combinedModality->GetUltrasoundDevice();
if ( usDevice.IsNull() ) { return; }
mitk::USControlInterfaceBMode::Pointer controlInterfaceBMode = usDevice->GetControlInterfaceBMode();
if ( controlInterfaceBMode.IsNull() ) { return; }
m_CalibrationUpdateDepthDelegate->SetControlInterfaceBMode(controlInterfaceBMode);
}
void QmitkUSCombinedModalityEditWidget::OnSaveButtonClicked()
{
if ( m_CombinedModality.IsNotNull() )
{
- m_CombinedModality->SetManufacturer(ui->vendorLineEdit->text().toStdString());
- m_CombinedModality->SetName(ui->nameLineEdit->text().toStdString());
+ m_CombinedModality->GetUltrasoundDevice()->SetManufacturer(ui->vendorLineEdit->text().toStdString());
+ m_CombinedModality->GetUltrasoundDevice()->SetName(ui->nameLineEdit->text().toStdString());
m_LastCalibrations = m_CombinedModality->SerializeCalibration();
}
emit SignalSaved();
}
void QmitkUSCombinedModalityEditWidget::OnCancelButtonClicked()
{
if ( m_CombinedModality.IsNotNull() && ! m_LastCalibrations.empty() )
{
// restore previous calibrations if cancel button was clicked
m_CombinedModality->DeserializeCalibration(m_LastCalibrations);
}
emit SignalAborted();
}
void QmitkUSCombinedModalityEditWidget::OnCalibrationsSaveButtonClicked()
{
if ( m_CombinedModality.IsNull() )
{
MITK_WARN << "Cannot save calibrations as no combined modality is available.";
return;
}
QString filename = QFileDialog::getSaveFileName( QApplication::activeWindow(),
"Save Calibrations", "", "Calibration files *.cal" );
QFile file(filename);
if ( ! file.open(QIODevice::WriteOnly | QIODevice::Text | QIODevice::Truncate) )
{
MITK_WARN << "Cannot open file '" << filename.toStdString() << "' for writing.";
return;
}
std::string calibrationSerialization = m_CombinedModality->SerializeCalibration();
QTextStream outStream(&file);
outStream << QString::fromStdString(calibrationSerialization);
}
void QmitkUSCombinedModalityEditWidget::OnCalibrationsLoadButtonClicked()
{
if ( m_CombinedModality.IsNull() )
{
MITK_WARN << "Cannot load calibrations as no combined modality is available.";
return;
}
QString filename = QFileDialog::getOpenFileName( QApplication::activeWindow(),
"Load Calibration", "", "Calibration files *.cal" );
if ( filename.isNull() ) { return; }
QFile file(filename);
if ( ! file.open(QIODevice::ReadOnly | QIODevice::Text) )
{
MITK_WARN << "Cannot open file '" << filename.toStdString() << "' for reading.";
return;
}
QTextStream inStream(&file);
std::string calibration = inStream.readAll().toStdString();
if ( calibration.empty() )
{
MITK_WARN << "Failed to load file. Unsupported format?";
return;
}
try
{
m_CombinedModality->DeserializeCalibration(calibration, false);
}
catch ( const mitk::Exception& /*exception*/ )
{
MITK_WARN << "Failed to deserialize calibration. Unsuppoerted format?";
return;
}
// make sure that the table model is up to date
m_CalibrationsDataModel->SetCombinedModality(m_CombinedModality);
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.h b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.h
index 0a97cf70b1..e1a822a14b 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.h
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.h
@@ -1,61 +1,61 @@
/*===================================================================
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 QMITKUSCOMBINEDMODALITYEDITWIDGET_H
#define QMITKUSCOMBINEDMODALITYEDITWIDGET_H
#include <QWidget>
#include "mitkUSCombinedModality.h"
namespace Ui {
class QmitkUSCombinedModalityEditWidget;
}
class QmitkUSNavigationCalibrationsDataModel;
class QmitkUSNavigationCalibrationUpdateDepthDelegate;
class QmitkUSCombinedModalityEditWidget : public QWidget
{
Q_OBJECT
signals:
void SignalSaved();
void SignalAborted();
protected slots:
void OnSaveButtonClicked();
void OnCancelButtonClicked();
void OnCalibrationsSaveButtonClicked();
void OnCalibrationsLoadButtonClicked();
public:
explicit QmitkUSCombinedModalityEditWidget(QWidget *parent = 0);
~QmitkUSCombinedModalityEditWidget();
- void SetCombinedModality(mitk::USCombinedModality::Pointer combinedModality);
+ void SetCombinedModality(mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality);
private:
- mitk::USCombinedModality::Pointer m_CombinedModality;
+ mitk::AbstractUltrasoundTrackerDevice::Pointer m_CombinedModality;
std::string m_LastCalibrations;
QmitkUSNavigationCalibrationsDataModel* m_CalibrationsDataModel;
QmitkUSNavigationCalibrationUpdateDepthDelegate* m_CalibrationUpdateDepthDelegate;
Ui::QmitkUSCombinedModalityEditWidget* ui;
};
#endif // QMITKUSCOMBINEDMODALITYEDITWIDGET_H
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.ui b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.ui
index 85c8d9f55e..ad752a7e63 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.ui
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSCombinedModalityEditWidget.ui
@@ -1,343 +1,352 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QmitkUSCombinedModalityEditWidget</class>
<widget class="QWidget" name="QmitkUSCombinedModalityEditWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>404</width>
- <height>418</height>
+ <height>456</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>350</height>
</size>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string><html><head/><body><p><span style=" font-weight:600;">Identifier:</span></p></body></html></string>
</property>
</widget>
</item>
<item>
<layout class="QFormLayout" name="formLayout">
<item row="1" column="0">
<widget class="QLabel" name="nameLineEditLabel">
<property name="text">
<string>Name</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="nameLineEdit">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="vendorLineEditLabel">
<property name="text">
<string>Vendor</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="vendorLineEdit">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="usDevicesServiceListLabel">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Ultrasound Device:</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="ultrasoundDeviceLabel">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="trackingDevicesServiceListLabel">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Tracking Device:</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="trackingDeviceLabel">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string><html><head/><body><p><span style=" font-weight:600;">Calibrations:</span></p></body></html></string>
</property>
</widget>
</item>
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QTableView" name="calibrationsTable">
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="verticalScrollBarPolicy">
+ <enum>Qt::ScrollBarAlwaysOn</enum>
+ </property>
<property name="selectionMode">
<enum>QAbstractItemView::NoSelection</enum>
</property>
<attribute name="horizontalHeaderDefaultSectionSize">
<number>80</number>
</attribute>
<attribute name="horizontalHeaderMinimumSectionSize">
<number>15</number>
</attribute>
<attribute name="horizontalHeaderStretchLastSection">
<bool>true</bool>
</attribute>
<attribute name="verticalHeaderVisible">
<bool>false</bool>
</attribute>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QPushButton" name="calibrationsLoadButton">
<property name="toolTip">
<string>Load Calibrations from File System</string>
</property>
<property name="text">
<string>Load</string>
</property>
<property name="icon">
<iconset resource="../../../resources/USNavigation.qrc">
<normaloff>:/USNavigation/document-open.png</normaloff>:/USNavigation/document-open.png</iconset>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="calibrationsSaveButton">
<property name="toolTip">
<string>Write Calibrations to File System</string>
</property>
<property name="text">
<string>Write</string>
</property>
<property name="icon">
<iconset resource="../../../resources/USNavigation.qrc">
<normaloff>:/USNavigation/document-save.png</normaloff>:/USNavigation/document-save.png</iconset>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="saveButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>OK</string>
</property>
<property name="icon">
<iconset resource="../../../resources/USNavigation.qrc">
<normaloff>:/USNavigation/accept.png</normaloff>:/USNavigation/accept.png</iconset>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="cancelButton">
<property name="text">
<string>Cancel</string>
</property>
<property name="icon">
<iconset resource="../../../resources/USNavigation.qrc">
<normaloff>:/USNavigation/restart.png</normaloff>:/USNavigation/restart.png</iconset>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources>
<include location="../../../resources/USNavigation.qrc"/>
</resources>
<connections>
<connection>
<sender>saveButton</sender>
<signal>clicked()</signal>
<receiver>QmitkUSCombinedModalityEditWidget</receiver>
<slot>OnSaveButtonClicked()</slot>
<hints>
<hint type="sourcelabel">
<x>104</x>
<y>347</y>
</hint>
<hint type="destinationlabel">
<x>201</x>
<y>184</y>
</hint>
</hints>
</connection>
<connection>
<sender>cancelButton</sender>
<signal>clicked()</signal>
<receiver>QmitkUSCombinedModalityEditWidget</receiver>
<slot>OnCancelButtonClicked()</slot>
<hints>
<hint type="sourcelabel">
<x>299</x>
<y>347</y>
</hint>
<hint type="destinationlabel">
<x>201</x>
<y>184</y>
</hint>
</hints>
</connection>
<connection>
<sender>calibrationsSaveButton</sender>
<signal>clicked()</signal>
<receiver>QmitkUSCombinedModalityEditWidget</receiver>
<slot>OnCalibrationsSaveButtonClicked()</slot>
<hints>
<hint type="sourcelabel">
<x>201</x>
<y>348</y>
</hint>
<hint type="destinationlabel">
<x>201</x>
<y>208</y>
</hint>
</hints>
</connection>
<connection>
<sender>calibrationsLoadButton</sender>
<signal>clicked()</signal>
<receiver>QmitkUSCombinedModalityEditWidget</receiver>
<slot>OnCalibrationsLoadButtonClicked()</slot>
<hints>
<hint type="sourcelabel">
<x>109</x>
<y>337</y>
</hint>
<hint type="destinationlabel">
<x>201</x>
<y>208</y>
</hint>
</hints>
</connection>
</connections>
<slots>
<slot>SignalAborted()</slot>
<slot>OnSaveButtonClicked()</slot>
<slot>OnCancelButtonClicked()</slot>
<slot>OnCalibrationsSaveButtonClicked()</slot>
<slot>OnCalibrationsLoadButtonClicked()</slot>
</slots>
</ui>
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationFreezeButton.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationFreezeButton.cpp
index 9017f35302..fdf97175d2 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationFreezeButton.cpp
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationFreezeButton.cpp
@@ -1,136 +1,136 @@
/*===================================================================
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 "QmitkUSNavigationFreezeButton.h"
#include <QShortcut>
QmitkUSNavigationFreezeButton::QmitkUSNavigationFreezeButton(QWidget* parent) :
QPushButton(parent),
m_OutputIndex(-1),
m_FreezeButtonToggle(true)
{
this->setText("Freeze Imaging");
this->setIcon(QIcon(":/USNavigation/system-lock-screen.png"));
this->setCheckable(true);
//set shortcuts
QShortcut *shortcut = new QShortcut(QKeySequence("F12"), parent);
connect(shortcut, SIGNAL(activated()), this, SLOT(OnFreezeButtonToggle()));
connect(this, SIGNAL(clicked(bool)), this, SLOT(OnButtonClicked(bool)));
}
QmitkUSNavigationFreezeButton::~QmitkUSNavigationFreezeButton()
{
}
-void QmitkUSNavigationFreezeButton::SetCombinedModality(mitk::USCombinedModality::Pointer combinedModality, int outputIndex)
+void QmitkUSNavigationFreezeButton::SetCombinedModality(mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality, int outputIndex)
{
m_CombinedModality = combinedModality;
m_OutputIndex = outputIndex;
}
void QmitkUSNavigationFreezeButton::Freeze()
{
if ( ! this->isChecked() )
{
this->setChecked(true);
this->OnButtonClicked(true);
}
}
void QmitkUSNavigationFreezeButton::Unfreeze()
{
if ( this->isChecked() )
{
this->setChecked(false);
this->OnButtonClicked(false);
}
}
void QmitkUSNavigationFreezeButton::OnFreezeButtonToggle()
{
if(this->isVisible())
{
this->setChecked(m_FreezeButtonToggle);
OnButtonClicked(m_FreezeButtonToggle);
}
}
void QmitkUSNavigationFreezeButton::OnButtonClicked(bool checked)
{
// cannot do anything without a combined modality
if ( m_CombinedModality.IsNull() )
{
MITK_WARN("QmitkUSNavigationFreezeButton")
<< "Cannot freeze the device as the device is null.";
this->setChecked(false);
m_FreezeButtonToggle = true;
return;
}
m_FreezeButtonToggle = !checked;
// cannot do anything without a navigation data source
mitk::NavigationDataSource::Pointer navigationDataSource = m_CombinedModality->GetNavigationDataSource();
if ( navigationDataSource.IsNull() )
{
MITK_WARN("QmitkUSNavigationFreezeButton")
<< "Cannot freeze the device as the NavigationDataSource is null.";
this->setChecked(false);
return;
}
if (checked) //freezing
{
MITK_INFO << "Freezing";
// freeze the imaging and the tracking
- m_CombinedModality->SetIsFreezed(true);
+ m_CombinedModality->GetUltrasoundDevice()->SetIsFreezed(true);
if ( m_OutputIndex >= 0 )
{
// make sure that the navigation data is up to date
navigationDataSource->Update();
// unfreeze if the navigation data got invalid during the time between
// the button click and the actual freeze
if ( checked &&
! navigationDataSource->GetOutput(m_OutputIndex)->IsDataValid() )
{
MITK_WARN("QmitkUSNavigationStepZoneMarking")("QmitkUSNavigationStepTumourSelection")
<< "Unfreezing device as the last tracking data of the reference sensor wasn't valid.";
- m_CombinedModality->SetIsFreezed(false);
+ m_CombinedModality->GetUltrasoundDevice()->SetIsFreezed(false);
this->setChecked(false);
return;
}
}
emit SignalFreezed(true);
}
else //unfreezing
{
MITK_INFO << "Unfreezing";
emit SignalFreezed(false);
//m_CombinedModality->SetIsFreezed(false);//commented out to workaround bug: may only be unfreezed after critical structure was added
}
}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationFreezeButton.h b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationFreezeButton.h
index f55d7a7c2a..6fe9e97ac0 100644
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationFreezeButton.h
+++ b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationFreezeButton.h
@@ -1,81 +1,81 @@
/*===================================================================
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 QMITKUSNAVIGATIONFREEZEBUTTON_H
#define QMITKUSNAVIGATIONFREEZEBUTTON_H
#include <QPushButton>
#include "mitkUSCombinedModality.h"
/**
* \brief QPushButton for freezing and unfreezing a combined modality.
* The button already has an icon and a text. On every successfull
* freeze or unfreeze the signal SignalFrezzed() is emitted. One should
* listen to this signal rather than to the clicked() signal of the
* QPushButton as the combined modality may not be freezed after
* clicked() was emitted.
*/
class QmitkUSNavigationFreezeButton : public QPushButton
{
Q_OBJECT
signals:
/**
* \brief Emitted every time the freeze state of the combined modality changed.
* True if the combined modality is freezed now, false if it isn't.
*/
void SignalFreezed(bool);
protected slots:
void OnButtonClicked(bool checked);
void OnFreezeButtonToggle();
public:
explicit QmitkUSNavigationFreezeButton(QWidget* parent = 0);
~QmitkUSNavigationFreezeButton();
/**
* \brief Setter for the combined modality to be freezed by this button.
* An index may be specified for a tracking data output. The combined
* modality will only be freezed then, if the current tracking data of
* this output is valid.
*/
- void SetCombinedModality(mitk::USCombinedModality::Pointer combinedModality, int outputIndex = -1);
+ void SetCombinedModality(mitk::AbstractUltrasoundTrackerDevice::Pointer combinedModality, int outputIndex = -1);
/**
* \brief Try to freeze the combined modality.
* This does the same as clicking the button while the combined
* modality isn't freezed. If the combined modality is already
* freezed this method does nothing.
*/
void Freeze();
/**
* \brief Unfreeze the combined modality.
* This does the same as clicking the button while the combined
* modality is freezed. If the combined modality isn't freezed
* this method does nothing.
*/
void Unfreeze();
private:
- mitk::USCombinedModality::Pointer m_CombinedModality;
+ mitk::AbstractUltrasoundTrackerDevice::Pointer m_CombinedModality;
int m_OutputIndex;
bool m_FreezeButtonToggle;
};
#endif // QMITKUSNAVIGATIONFREEZEBUTTON_H
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationProcessWidget.cpp b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationProcessWidget.cpp
deleted file mode 100644
index 0ef68154c7..0000000000
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationProcessWidget.cpp
+++ /dev/null
@@ -1,557 +0,0 @@
-/*===================================================================
-
-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 "QmitkUSNavigationProcessWidget.h"
-#include "ui_QmitkUSNavigationProcessWidget.h"
-
-#include "../NavigationStepWidgets/QmitkUSAbstractNavigationStep.h"
-#include "../SettingsWidgets/QmitkUSNavigationAbstractSettingsWidget.h"
-
-#include "mitkDataNode.h"
-#include "mitkNavigationDataToNavigationDataFilter.h"
-
-#include <QTimer>
-#include <QSignalMapper>
-#include <QShortcut>
-
-QmitkUSNavigationProcessWidget::QmitkUSNavigationProcessWidget(QWidget* parent) :
- QWidget(parent),
- m_SettingsWidget(0),
- m_BaseNode(mitk::DataNode::New()), m_CurrentTabIndex(0), m_CurrentMaxStep(0),
- m_ImageAlreadySetToNode(false),
- m_ReadySignalMapper(new QSignalMapper(this)), m_NoLongerReadySignalMapper(new QSignalMapper(this)),
- m_StdMultiWidget(0),
- m_UsePlanningStepWidget(false),
- ui(new Ui::QmitkUSNavigationProcessWidget)
-{
- m_Parent = parent;
-
- ui->setupUi(this);
-
- // remove the default page
- ui->stepsToolBox->setCurrentIndex(1);// ->removeItem(0);
-
- //set shortcuts
- QShortcut *nextShortcut = new QShortcut(QKeySequence("F10"), parent);
- QShortcut *prevShortcut = new QShortcut(QKeySequence("F11"), parent);
- connect(nextShortcut, SIGNAL(activated()), this, SLOT(OnNextButtonClicked()));
- connect(prevShortcut, SIGNAL(activated()), this, SLOT(OnPreviousButtonClicked()));
-
- //connect other slots
- connect( ui->restartStepButton, SIGNAL(clicked()), this, SLOT(OnRestartStepButtonClicked()) );
- connect( ui->previousButton, SIGNAL(clicked()), this, SLOT(OnPreviousButtonClicked()) );
- connect( ui->nextButton, SIGNAL(clicked()), this, SLOT(OnNextButtonClicked()) );
- connect( ui->stepsToolBox, SIGNAL(currentChanged(int)), this, SLOT(OnTabChanged(int)) );
- connect (ui->settingsButton, SIGNAL(clicked()), this, SLOT(OnSettingsButtonClicked()) );
- connect( m_ReadySignalMapper, SIGNAL(mapped(int)), this, SLOT(OnStepReady(int)) );
- connect( m_NoLongerReadySignalMapper, SIGNAL(mapped(int)), this, SLOT(OnStepNoLongerReady(int)) );
-
- ui->settingsFrameWidget->setHidden(true);
-}
-
-QmitkUSNavigationProcessWidget::~QmitkUSNavigationProcessWidget()
-{
- ui->stepsToolBox->blockSignals(true);
-
- for ( NavigationStepVector::iterator it = m_NavigationSteps.begin();
- it != m_NavigationSteps.end(); ++it )
- {
- if ( (*it)->GetNavigationStepState() > QmitkUSAbstractNavigationStep::State_Stopped ) { (*it)->StopStep(); }
- delete *it;
- }
- m_NavigationSteps.clear();
-
- if ( m_SettingsNode.IsNotNull() && m_DataStorage.IsNotNull() )
- {
- m_DataStorage->Remove(m_SettingsNode);
- }
-
- delete ui;
-}
-
-void QmitkUSNavigationProcessWidget::EnableInteraction(bool enable)
-{
- if (enable)
- {
- ui->restartStepButton->setEnabled(true);
- ui->previousButton->setEnabled(true);
- ui->nextButton->setEnabled(true);
- ui->stepsToolBox->setEnabled(true);
- }
- else
- {
- ui->restartStepButton->setEnabled(false);
- ui->previousButton->setEnabled(false);
- ui->nextButton->setEnabled(false);
- ui->stepsToolBox->setEnabled(false);
- }
-}
-
-void QmitkUSNavigationProcessWidget::SetDataStorage(itk::SmartPointer<mitk::DataStorage> dataStorage)
-{
- m_DataStorage = dataStorage;
-
- if ( dataStorage.IsNull() )
- {
- mitkThrow() << "Data Storage must not be null for QmitkUSNavigationProcessWidget.";
- }
-
- // test if base node is already in the data storage and add it if not
- m_BaseNode = dataStorage->GetNamedNode(QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
- if ( m_BaseNode.IsNull() )
- {
- m_BaseNode = mitk::DataNode::New();
- m_BaseNode->SetName(QmitkUSAbstractNavigationStep::DATANAME_BASENODE);
- dataStorage->Add(m_BaseNode);
- }
-
- // base node and image stream node may be the same node
- if ( strcmp(QmitkUSAbstractNavigationStep::DATANAME_BASENODE, QmitkUSAbstractNavigationStep::DATANAME_IMAGESTREAM) != 0)
- {
- m_ImageStreamNode = dataStorage->GetNamedNode(QmitkUSAbstractNavigationStep::DATANAME_IMAGESTREAM);
- if (m_ImageStreamNode.IsNull())
- {
- // Create Node for US Stream
- m_ImageStreamNode = mitk::DataNode::New();
- m_ImageStreamNode->SetName(QmitkUSAbstractNavigationStep::DATANAME_IMAGESTREAM);
- dataStorage->Add(m_ImageStreamNode);
- }
- }
- else
- {
- m_ImageStreamNode = m_BaseNode;
- }
-
-
- m_SettingsNode =
- dataStorage->GetNamedDerivedNode(QmitkUSAbstractNavigationStep::DATANAME_SETTINGS, m_BaseNode);
-
- if ( m_SettingsNode.IsNull() )
- {
- m_SettingsNode = mitk::DataNode::New();
- m_SettingsNode->SetName(QmitkUSAbstractNavigationStep::DATANAME_SETTINGS);
- dataStorage->Add(m_SettingsNode, m_BaseNode);
- }
-
- if (m_SettingsWidget) { m_SettingsWidget->SetSettingsNode(m_SettingsNode); }
-
-}
-
-void QmitkUSNavigationProcessWidget::SetSettingsWidget(QmitkUSNavigationAbstractSettingsWidget* settingsWidget)
-{
- // disconnect slots to settings widget if there was a widget before
- if ( m_SettingsWidget )
- {
- disconnect( ui->settingsSaveButton, SIGNAL(clicked()), m_SettingsWidget, SLOT(OnSave()) );
- disconnect( ui->settingsCancelButton, SIGNAL(clicked()), m_SettingsWidget, SLOT(OnCancel()) );
-
- disconnect (m_SettingsWidget, SIGNAL(Saved()), this, SLOT(OnSettingsWidgetReturned()) );
- disconnect (m_SettingsWidget, SIGNAL(Canceled()), this, SLOT(OnSettingsWidgetReturned()) );
- disconnect (m_SettingsWidget, SIGNAL(SettingsChanged(itk::SmartPointer<mitk::DataNode>)), this, SLOT(OnSettingsChanged(itk::SmartPointer<mitk::DataNode>)) );
-
- ui->settingsWidget->removeWidget(m_SettingsWidget);
- }
-
- m_SettingsWidget = settingsWidget;
- if ( m_SettingsWidget )
- {
- m_SettingsWidget->LoadSettings();
-
- connect( ui->settingsSaveButton, SIGNAL(clicked()), m_SettingsWidget, SLOT(OnSave()) );
- connect( ui->settingsCancelButton, SIGNAL(clicked()), m_SettingsWidget, SLOT(OnCancel()) );
-
- connect (m_SettingsWidget, SIGNAL(Saved()), this, SLOT(OnSettingsWidgetReturned()) );
- connect (m_SettingsWidget, SIGNAL(Canceled()), this, SLOT(OnSettingsWidgetReturned()) );
- connect (m_SettingsWidget, SIGNAL(SettingsChanged(itk::SmartPointer<mitk::DataNode>)), this, SLOT(OnSettingsChanged(itk::SmartPointer<mitk::DataNode>)) );
-
- if ( m_SettingsNode.IsNotNull() ) { m_SettingsWidget->SetSettingsNode(m_SettingsNode, true); }
-
- ui->settingsWidget->addWidget(m_SettingsWidget);
- }
- ui->settingsButton->setEnabled(m_SettingsWidget != 0);
-}
-
-void QmitkUSNavigationProcessWidget::SetNavigationSteps(NavigationStepVector navigationSteps)
-{
- disconnect( this, SLOT(OnTabChanged(int)) );
-
- for ( int n = ui->stepsToolBox->count()-1; n >= 0; --n )
- {
- //ui->stepsToolBox->removeItem(n);
- }
-
- connect( ui->stepsToolBox, SIGNAL(currentChanged(int)), this, SLOT(OnTabChanged(int)) );
-
- m_NavigationSteps.clear();
-
- m_NavigationSteps = navigationSteps;
-
- this->InitializeNavigationStepWidgets();
-
- // notify all navigation step widgets about the current settings
- for (NavigationStepIterator it = m_NavigationSteps.begin(); it != m_NavigationSteps.end(); ++it)
- {
- (*it)->OnSettingsChanged(m_SettingsNode);
- }
-}
-
-void QmitkUSNavigationProcessWidget::ResetNavigationProcess()
-{
- MITK_INFO("QmitkUSNavigationProcessWidget") << "Resetting navigation process.";
-
- ui->stepsToolBox->blockSignals(true);
- for ( int n = 0; n <= m_CurrentMaxStep; ++n )
- {
- m_NavigationSteps.at(n)->StopStep();
- //if ( n > 0 ) { ui->stepsToolBox->setItemEnabled(n, false); }
- }
- ui->stepsToolBox->blockSignals(false);
-
- m_CurrentMaxStep = 0;
-
- ui->stepsToolBox->setCurrentIndex(0);
-
- if ( m_NavigationSteps.size() > 0 )
- {
- m_NavigationSteps.at(0)->ActivateStep();
- }
-
- this->UpdatePrevNextButtons();
-}
-
-void QmitkUSNavigationProcessWidget::UpdateNavigationProgress()
-{
- if ( m_CombinedModality.IsNotNull() && !m_CombinedModality->GetIsFreezed() )
- {
- m_CombinedModality->Modified();
- m_CombinedModality->Update();
-
- if ( m_LastNavigationDataFilter.IsNotNull() ) { m_LastNavigationDataFilter->Update(); }
-
- mitk::Image::Pointer image = m_CombinedModality->GetOutput();
- // make sure that always the current image is set to the data node
- if ( image.IsNotNull() && m_ImageStreamNode->GetData() != image.GetPointer() && image->IsInitialized() )
- {
- m_ImageStreamNode->SetData(image);
- m_ImageAlreadySetToNode = true;
- }
- }
-
- if ( m_CurrentTabIndex > 0 && static_cast<unsigned int>(m_CurrentTabIndex) < m_NavigationSteps.size() )
- {
- m_NavigationSteps.at(m_CurrentTabIndex)->Update();
- }
-}
-
-void QmitkUSNavigationProcessWidget::OnNextButtonClicked()
-{
- if (m_CombinedModality.IsNotNull() && m_CombinedModality->GetIsFreezed()) {return;} //no moving through steps when the modality is nullptr or frozen
-
- int currentIndex = ui->stepsToolBox->currentIndex();
- if (currentIndex >= m_CurrentMaxStep)
- {
- MITK_WARN << "Next button clicked though no next tab widget is available.";
- return;
- }
-
- ui->stepsToolBox->setCurrentIndex(++currentIndex);
-
- this->UpdatePrevNextButtons();
-}
-
-void QmitkUSNavigationProcessWidget::OnPreviousButtonClicked()
-{
- if (m_CombinedModality.IsNotNull() && m_CombinedModality->GetIsFreezed()) {return;} //no moving through steps when the modality is nullptr or frozen
-
- int currentIndex = ui->stepsToolBox->currentIndex();
- if (currentIndex <= 0)
- {
- MITK_WARN << "Previous button clicked though no previous tab widget is available.";
- return;
- }
-
- ui->stepsToolBox->setCurrentIndex(--currentIndex);
-
- this->UpdatePrevNextButtons();
-}
-
-void QmitkUSNavigationProcessWidget::OnRestartStepButtonClicked()
-{
- MITK_DEBUG("QmitkUSNavigationProcessWidget") << "Restarting step "
- << m_CurrentTabIndex << " (" << m_NavigationSteps.at(m_CurrentTabIndex)->GetTitle().toStdString() << ").";
-
- m_NavigationSteps.at(ui->stepsToolBox->currentIndex())->RestartStep();
- m_NavigationSteps.at(ui->stepsToolBox->currentIndex())->ActivateStep();
-}
-
-void QmitkUSNavigationProcessWidget::OnTabChanged(int index)
-{
- emit SignalActiveNavigationStepChangeRequested(index);
- if ( index < 0 || index >= static_cast<int>(m_NavigationSteps.size()) )
- {
- return;
- }
- else if ( m_CurrentTabIndex == index )
- {
- // just activate the step if it is the same step againg
- m_NavigationSteps.at(index)->ActivateStep();
- return;
- }
-
- MITK_DEBUG("QmitkUSNavigationProcessWidget") << "Activating navigation step "
- << index << " (" << m_NavigationSteps.at(index)->GetTitle().toStdString() <<").";
-
- if (index > m_CurrentTabIndex)
- {
- this->UpdateFilterPipeline();
-
- // finish all previous steps to make sure that all data is valid
- for (int n = m_CurrentTabIndex; n < index; ++n)
- {
- m_NavigationSteps.at(n)->FinishStep();
- }
- }
-
- // deactivate the previously active step
- if ( m_CurrentTabIndex > 0 && m_NavigationSteps.size() > static_cast<unsigned int>(m_CurrentTabIndex) )
- {
- m_NavigationSteps.at(m_CurrentTabIndex)->DeactivateStep();
- }
-
- // start step of the current tab if it wasn't started before
- if ( m_NavigationSteps.at(index)->GetNavigationStepState() == QmitkUSAbstractNavigationStep::State_Stopped )
- {
- m_NavigationSteps.at(index)->StartStep();
- }
-
- m_NavigationSteps.at(index)->ActivateStep();
-
- if (static_cast<unsigned int>(index) < m_NavigationSteps.size())
- ui->restartStepButton->setEnabled(m_NavigationSteps.at(index)->GetIsRestartable());
-
- this->UpdatePrevNextButtons();
-
- m_CurrentTabIndex = index;
- emit SignalActiveNavigationStepChanged(index);
-}
-
-void QmitkUSNavigationProcessWidget::OnSettingsButtonClicked()
-{
- this->SetSettingsWidgetVisible(true);
-}
-
-void QmitkUSNavigationProcessWidget::OnSettingsWidgetReturned()
-{
- this->SetSettingsWidgetVisible(false);
-}
-
-void QmitkUSNavigationProcessWidget::OnSettingsNodeChanged(itk::SmartPointer<mitk::DataNode> dataNode)
-{
- if ( m_SettingsWidget ) m_SettingsWidget->SetSettingsNode(dataNode);
-}
-
-void QmitkUSNavigationProcessWidget::OnStepReady(int index)
-{
- if (m_CurrentMaxStep <= index)
- {
- m_CurrentMaxStep = index + 1;
- this->UpdatePrevNextButtons();
- for (int n = 0; n <= m_CurrentMaxStep; ++n)
- {
- //ui->stepsToolBox->setItemEnabled(n, true);
- }
- }
-
- emit SignalNavigationStepFinished(index, true);
-}
-
-void QmitkUSNavigationProcessWidget::OnStepNoLongerReady(int index)
-{
- if (m_CurrentMaxStep > index)
- {
- m_CurrentMaxStep = index;
- this->UpdatePrevNextButtons();
- this->UpdateFilterPipeline();
- for (int n = m_CurrentMaxStep+1; n < ui->stepsToolBox->count(); ++n)
- {
- //ui->stepsToolBox->setItemEnabled(n, false);
- m_NavigationSteps.at(n)->StopStep();
- }
- }
-
- emit SignalNavigationStepFinished(index, false);
-}
-
-void QmitkUSNavigationProcessWidget::OnCombinedModalityChanged(itk::SmartPointer<mitk::USCombinedModality> combinedModality)
-{
- m_CombinedModality = combinedModality;
- m_ImageAlreadySetToNode = false;
-
- if ( combinedModality.IsNotNull() )
- {
- if ( combinedModality->GetNavigationDataSource().IsNull() )
- {
- MITK_WARN << "There is no navigation data source set for the given combined modality.";
- return;
- }
-
- this->UpdateFilterPipeline();
- }
-
- for (NavigationStepIterator it = m_NavigationSteps.begin(); it != m_NavigationSteps.end(); ++it)
- {
- (*it)->SetCombinedModality(combinedModality);
- }
-
- emit SignalCombinedModalityChanged(combinedModality);
-}
-
-void QmitkUSNavigationProcessWidget::OnSettingsChanged(const mitk::DataNode::Pointer dataNode)
-{
- static bool methodEntered = false;
- if ( methodEntered )
- {
- MITK_WARN("QmitkUSNavigationProcessWidget") << "Ignoring recursive call to 'OnSettingsChanged()'. "
- << "Make sure to no emit 'SignalSettingsNodeChanged' in an 'OnSettingsChanged()' method.";
- return;
- }
- methodEntered = true;
-
- std::string application;
- if ( dataNode->GetStringProperty("settings.application", application) )
- {
- QString applicationQString = QString::fromStdString(application);
- if ( applicationQString != ui->titleLabel->text() )
- {
- ui->titleLabel->setText(applicationQString);
- }
- }
-
- // notify all navigation step widgets about the changed settings
- for (NavigationStepIterator it = m_NavigationSteps.begin(); it != m_NavigationSteps.end(); ++it)
- {
- (*it)->OnSettingsChanged(dataNode);
- }
-
- emit SignalSettingsChanged(dataNode);
-
- methodEntered = false;
-}
-
-void QmitkUSNavigationProcessWidget::InitializeNavigationStepWidgets()
-{
- // do not listen for steps tool box signal during insertion of items into tool box
- disconnect( ui->stepsToolBox, SIGNAL(currentChanged(int)), this, SLOT(OnTabChanged(int)) );
-
- m_CurrentMaxStep = 0;
-
- mitk::DataStorage::Pointer dataStorage = m_DataStorage;
-
- for (unsigned int n = 0; n < m_NavigationSteps.size(); ++n)
- {
- QmitkUSAbstractNavigationStep* curNavigationStep = m_NavigationSteps.at(n);
-
- curNavigationStep->SetDataStorage(dataStorage);
-
- connect( curNavigationStep, SIGNAL(SignalReadyForNextStep()), m_ReadySignalMapper, SLOT(map()));
- connect( curNavigationStep, SIGNAL(SignalNoLongerReadyForNextStep()), m_NoLongerReadySignalMapper, SLOT(map()) );
- connect( curNavigationStep, SIGNAL(SignalCombinedModalityChanged(itk::SmartPointer<mitk::USCombinedModality>)), this, SLOT(OnCombinedModalityChanged(itk::SmartPointer<mitk::USCombinedModality>)) );
- connect( curNavigationStep, SIGNAL(SignalIntermediateResult(const itk::SmartPointer<mitk::DataNode>)), this, SIGNAL(SignalIntermediateResult(const itk::SmartPointer<mitk::DataNode>)) );
- connect( curNavigationStep, SIGNAL(SignalSettingsNodeChanged(itk::SmartPointer<mitk::DataNode>)), this, SLOT(OnSettingsNodeChanged(itk::SmartPointer<mitk::DataNode>)) );
-
- m_ReadySignalMapper->setMapping(curNavigationStep, n);
- m_NoLongerReadySignalMapper->setMapping(curNavigationStep, n);
-
- ui->stepsToolBox->insertWidget(n, curNavigationStep);
- //if ( n > 0 ) { ui->stepsToolBox->get(n, false); }
- }
-
- ui->restartStepButton->setEnabled(m_NavigationSteps.at(0)->GetIsRestartable());
- ui->stepsToolBox->setCurrentIndex(0);
-
- // activate the first navigation step widgets
- if ( ! m_NavigationSteps.empty() ) { m_NavigationSteps.at(0)->ActivateStep(); }
-
- // after filling the steps tool box the signal is interesting again
- connect( ui->stepsToolBox, SIGNAL(currentChanged(int)), this, SLOT(OnTabChanged(int)) );
-
- this->UpdateFilterPipeline();
-}
-
-void QmitkUSNavigationProcessWidget::UpdatePrevNextButtons()
-{
- int currentIndex = ui->stepsToolBox->currentIndex();
-
- ui->previousButton->setEnabled(currentIndex > 0);
- ui->nextButton->setEnabled(currentIndex < m_CurrentMaxStep);
-}
-
-void QmitkUSNavigationProcessWidget::UpdateFilterPipeline()
-{
- if ( m_CombinedModality.IsNull() ) { return; }
-
- std::vector<mitk::NavigationDataToNavigationDataFilter::Pointer> filterList;
-
- mitk::NavigationDataSource::Pointer navigationDataSource = m_CombinedModality->GetNavigationDataSource();
-
- for (unsigned int n = 0; n <= static_cast<unsigned int>(m_CurrentMaxStep) && n < m_NavigationSteps.size(); ++n)
- {
- QmitkUSAbstractNavigationStep::FilterVector filter = m_NavigationSteps.at(n)->GetFilter();
- if ( ! filter.empty() ) { filterList.insert(filterList.end(), filter.begin(), filter.end()); }
- }
-
- if ( ! filterList.empty() )
- {
- for (unsigned int n = 0; n < navigationDataSource->GetNumberOfOutputs(); ++n)
- {
- filterList.at(0)->SetInput(n, navigationDataSource->GetOutput(n));
- }
-
- for (std::vector<mitk::NavigationDataToNavigationDataFilter::Pointer>::iterator it = filterList.begin()+1;
- it != filterList.end(); ++it)
- {
- std::vector<mitk::NavigationDataToNavigationDataFilter::Pointer>::iterator prevIt = it-1;
-
- for (unsigned int n = 0; n < (*prevIt)->GetNumberOfOutputs(); ++n)
- {
- (*it)->SetInput(n, (*prevIt)->GetOutput(n));
- }
- }
-
- m_LastNavigationDataFilter = filterList.at(filterList.size()-1);
- }
- else
- {
- m_LastNavigationDataFilter = navigationDataSource.GetPointer();
- }
-}
-
-void QmitkUSNavigationProcessWidget::SetSettingsWidgetVisible(bool visible)
-{
- ui->settingsFrameWidget->setVisible(visible);
- ui->stepsToolBox->setHidden(visible);
- ui->settingsButton->setHidden(visible);
- ui->restartStepButton->setHidden(visible);
- ui->previousButton->setHidden(visible);
- ui->nextButton->setHidden(visible);
-}
-
-void QmitkUSNavigationProcessWidget::FinishCurrentNavigationStep()
-{
- int currentIndex = ui->stepsToolBox->currentIndex();
- QmitkUSAbstractNavigationStep* curNavigationStep = m_NavigationSteps.at(currentIndex);
- curNavigationStep->FinishStep();
-}
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationProcessWidget.h b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationProcessWidget.h
deleted file mode 100644
index 1a78fd3998..0000000000
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationProcessWidget.h
+++ /dev/null
@@ -1,179 +0,0 @@
-/*===================================================================
-
-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 USNAVIGATIONPROCESSWIDGET_H
-#define USNAVIGATIONPROCESSWIDGET_H
-
-#include <QWidget>
-
-#include <mitkDataNode.h>
-#include <mitkDataStorage.h>
-#include <mitkUSCombinedModality.h>
-
-namespace itk {
-template<class T> class SmartPointer;
-}
-
-namespace mitk {
-class NodeDisplacementFilter;
-}
-
-namespace Ui {
-class QmitkUSNavigationProcessWidget;
-}
-
-class QmitkUSAbstractNavigationStep;
-class QmitkUSNavigationAbstractSettingsWidget;
-class QmitkUSNavigationStepCombinedModality;
-
-class QmitkStdMultiWidget;
-
-class QTimer;
-class QSignalMapper;
-
-/**
- * \brief Widget for handling navigation steps.
- * The navigation steps (subclasses of QmitkUSAbstractNavigationStep) can be set
- * in a vector. The coordination of this steps is done by this widget then.
- */
-class QmitkUSNavigationProcessWidget : public QWidget
-{
- Q_OBJECT
-
-signals:
- /**
- * \brief Signals a replacement of the combined modality by one of the navigation steps.
- */
- void SignalCombinedModalityChanged(itk::SmartPointer<mitk::USCombinedModality>);
-
- /**
- * \brief Signals a change of the navigation settings.
- */
- void SignalSettingsChanged(itk::SmartPointer<mitk::DataNode>);
-
- /**
- * \brief Signals if a change of the currently active navigation step is requested. Gives the index of the new step.
- */
- void SignalActiveNavigationStepChangeRequested(int);
-
- /**
- * \brief Signals a change of the currently active navigation step after the step was changed.
- */
- void SignalActiveNavigationStepChanged(int);
-
- /**
- * \brief Signals that the navigation step with the given id was finished.
- */
- void SignalNavigationStepFinished(int, bool);
-
- /**
- * \brief Signals the creation of an intermediate result.
- * The result data is given as properties of the data node.
- */
- void SignalIntermediateResult(const itk::SmartPointer<mitk::DataNode>);
-
-protected slots:
- void OnNextButtonClicked();
- void OnPreviousButtonClicked();
- void OnRestartStepButtonClicked();
- void OnTabChanged(int index);
- void OnSettingsButtonClicked();
- void OnSettingsWidgetReturned();
- void OnSettingsNodeChanged(itk::SmartPointer<mitk::DataNode>);
-
- void OnStepReady(int);
- void OnStepNoLongerReady(int);
-
- void OnCombinedModalityChanged(itk::SmartPointer<mitk::USCombinedModality>);
- void OnSettingsChanged(const itk::SmartPointer<mitk::DataNode>);
-
-public:
- typedef std::vector<QmitkUSAbstractNavigationStep*> NavigationStepVector;
- typedef NavigationStepVector::iterator NavigationStepIterator;
-
- explicit QmitkUSNavigationProcessWidget(QWidget* parent = 0);
- ~QmitkUSNavigationProcessWidget();
-
- /**
- * \brief Setter for the data storage used for storing the navigation progress.
- */
- void SetDataStorage(itk::SmartPointer<mitk::DataStorage> dataStorage);
-
- void SetSettingsWidget(QmitkUSNavigationAbstractSettingsWidget*);
-
- /**
- * \brief Setter for a vector of navigation step widgets.
- * These widgets are used for the navigation process in the order of their
- * appearance in this vector.
- */
- void SetNavigationSteps(NavigationStepVector navigationSteps);
-
- /**
- * \brief Forget the current progress of the navigation process.
- * The process will then start again at the beginning.
- */
- void ResetNavigationProcess();
-
- /** Enables/disables the (navigation step) interaction with this widget.
- * The settings button is not affected by this flag.
- */
- void EnableInteraction(bool enable);
-
- /** Finishes the current navigation step. */
- void FinishCurrentNavigationStep();
-
- /** Updates the navigation process widget, which includes updating the
- * navigation pipeline. Has to be called from outside this class with
- * a given update rate. So no additional internal timer is needed.
- */
- void UpdateNavigationProgress();
-
-protected:
- void InitializeNavigationStepWidgets();
- void UpdatePrevNextButtons();
- void UpdateFilterPipeline();
- void SetSettingsWidgetVisible(bool visible);
-
- itk::SmartPointer<mitk::DataStorage> m_DataStorage;
- NavigationStepVector m_NavigationSteps;
- QmitkUSNavigationAbstractSettingsWidget* m_SettingsWidget;
-
- itk::SmartPointer<mitk::DataNode> m_BaseNode;
- itk::SmartPointer<mitk::DataNode> m_SettingsNode;
-
- int m_CurrentTabIndex;
- int m_CurrentMaxStep;
-
- itk::SmartPointer<mitk::DataNode> m_ImageStreamNode;
- bool m_ImageAlreadySetToNode;
-
- itk::SmartPointer<mitk::USCombinedModality> m_CombinedModality;
-
- itk::SmartPointer<mitk::NavigationDataSource> m_LastNavigationDataFilter;
-
- QWidget* m_Parent;
- QSignalMapper* m_ReadySignalMapper;
- QSignalMapper* m_NoLongerReadySignalMapper;
-
- QmitkStdMultiWidget* m_StdMultiWidget;
-
- bool m_UsePlanningStepWidget;
-
-private:
- Ui::QmitkUSNavigationProcessWidget *ui;
-};
-
-#endif // USNAVIGATIONPROCESSWIDGET_H
diff --git a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationProcessWidget.ui b/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationProcessWidget.ui
deleted file mode 100644
index 5526f413c9..0000000000
--- a/Plugins/org.mitk.gui.qt.igt.app.echotrack/src/internal/Widgets/QmitkUSNavigationProcessWidget.ui
+++ /dev/null
@@ -1,203 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>QmitkUSNavigationProcessWidget</class>
- <widget class="QWidget" name="QmitkUSNavigationProcessWidget">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>465</width>
- <height>757</height>
- </rect>
- </property>
- <property name="windowTitle">
- <string>Form</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <widget class="QLabel" name="titleLabel">
- <property name="styleSheet">
- <string notr="true">
- font-size: 10pt;
- font-weight: bold;
- </string>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="alignment">
- <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QStackedWidget" name="stepsToolBox">
- <property name="currentIndex">
- <number>0</number>
- </property>
- <widget class="QWidget" name="stepsStackedWidgetPage1">
- <layout class="QVBoxLayout" name="verticalLayout_3"/>
- </widget>
- <widget class="QWidget" name="page"/>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="navigationButtonsLayout">
- <item>
- <widget class="QToolButton" name="settingsButton">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="toolTip">
- <string>Open Preferences</string>
- </property>
- <property name="text">
- <string>Preferences</string>
- </property>
- <property name="icon">
- <iconset resource="../../../resources/USNavigation.qrc">
- <normaloff>:/USNavigation/preferences.png</normaloff>:/USNavigation/preferences.png</iconset>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="restartStepButton">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="mouseTracking">
- <bool>false</bool>
- </property>
- <property name="toolTip">
- <string>Restart the Current Step</string>
- </property>
- <property name="text">
- <string>&Restart Step</string>
- </property>
- <property name="icon">
- <iconset resource="../../../resources/USNavigation.qrc">
- <normaloff>:/USNavigation/restart.png</normaloff>:/USNavigation/restart.png</iconset>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="previousButton">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="toolTip">
- <string>Go to Previous Step</string>
- </property>
- <property name="text">
- <string>&Prev</string>
- </property>
- <property name="icon">
- <iconset resource="../../../resources/USNavigation.qrc">
- <normaloff>:/USNavigation/go-previous.png</normaloff>:/USNavigation/go-previous.png</iconset>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="nextButton">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="toolTip">
- <string>Go to Next Step</string>
- </property>
- <property name="text">
- <string>&Next</string>
- </property>
- <property name="icon">
- <iconset resource="../../../resources/USNavigation.qrc">
- <normaloff>:/USNavigation/go-next.png</normaloff>:/USNavigation/go-next.png</iconset>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QWidget" name="settingsFrameWidget" native="true">
- <layout class="QVBoxLayout" name="verticalLayout_2">
- <item>
- <widget class="QLabel" name="settingsTitleLabel">
- <property name="text">
- <string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; font-weight:600;">Settings</span></p></body></html></string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QVBoxLayout" name="settingsWidget"/>
- </item>
- <item>
- <spacer name="verticalSpacer">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>40</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <layout class="QHBoxLayout" name="settingsButtonsLayout">
- <item>
- <widget class="QPushButton" name="settingsSaveButton">
- <property name="text">
- <string>Save</string>
- </property>
- <property name="icon">
- <iconset resource="../../../resources/USNavigation.qrc">
- <normaloff>:/USNavigation/document-save.png</normaloff>:/USNavigation/document-save.png</iconset>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="settingsCancelButton">
- <property name="text">
- <string>Cancel</string>
- </property>
- <property name="icon">
- <iconset resource="../../../resources/USNavigation.qrc">
- <normaloff>:/USNavigation/restart.png</normaloff>:/USNavigation/restart.png</iconset>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <resources>
- <include location="../../../resources/USNavigation.qrc"/>
- </resources>
- <connections/>
- <slots>
- <slot>OnNextButtonClicked()</slot>
- <slot>OnPreviousButtonClicked()</slot>
- <slot>OnRestartStepButtonClicked()</slot>
- <slot>OnTabChanged(int)</slot>
- </slots>
-</ui>
diff --git a/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupport.cpp b/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupport.cpp
index 51f6110989..7fea72ccf8 100644
--- a/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupport.cpp
+++ b/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupport.cpp
@@ -1,533 +1,580 @@
/*===================================================================
The Medical Imaging Interaction Toolkit (MITK)
Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.
This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.
See LICENSE.txt or http://www.mitk.org for details.
===================================================================*/
// Blueberry
#include <berryISelectionService.h>
#include <berryIWorkbenchWindow.h>
//Mitk
#include <mitkDataNode.h>
#include <mitkNodePredicateNot.h>
#include <mitkNodePredicateProperty.h>
#include <mitkIRenderingManager.h>
#include <mitkImageGenerator.h>
// Qmitk
#include "QmitkUltrasoundSupport.h"
// Qt
#include <QMessageBox>
#include <QSettings>
#include <QTimer>
// Ultrasound
#include "mitkUSDevice.h"
#include "QmitkUSAbstractCustomWidget.h"
#include <usModuleContext.h>
#include <usGetModuleContext.h>
#include "usServiceReference.h"
#include "internal/org_mitk_gui_qt_ultrasound_Activator.h"
const std::string QmitkUltrasoundSupport::VIEW_ID = "org.mitk.views.ultrasoundsupport";
QmitkUltrasoundSupport::QmitkUltrasoundSupport()
: m_Controls(nullptr), m_ControlCustomWidget(0), m_ControlBModeWidget(0),
m_ControlProbesWidget(0), m_ImageAlreadySetToNode(false),
m_CurrentImageWidth(0), m_CurrentImageHeight(0)
{
ctkPluginContext* pluginContext = mitk::PluginActivator::GetContext();
if (pluginContext)
{
// to be notified about service event of an USDevice
pluginContext->connectServiceListener(this, "OnDeviceServiceEvent",
QString::fromStdString("(" + us::ServiceConstants::OBJECTCLASS() + "=" + us_service_interface_iid<mitk::USDevice>() + ")"));
}
}
QmitkUltrasoundSupport::~QmitkUltrasoundSupport()
{
try
{
StoreUISettings();
StopTimers();
// Get all active devicesand deactivate them to prevent freeze
std::vector<mitk::USDevice*> devices = this->m_Controls->m_ActiveVideoDevices->GetAllServices<mitk::USDevice>();
for (size_t i = 0; i < devices.size(); i++)
{
mitk::USDevice::Pointer device = devices[i];
if (device.IsNotNull() && device->GetIsActive())
{
device->Deactivate();
device->Disconnect();
}
}
}
catch (std::exception &e)
{
MITK_ERROR << "Exception during call of destructor! Message: " << e.what();
}
}
void QmitkUltrasoundSupport::SetFocus()
{
}
void QmitkUltrasoundSupport::CreateQtPartControl(QWidget *parent)
{
//initialize timers
m_UpdateTimer = new QTimer(this);
m_RenderingTimer2d = new QTimer(this);
m_RenderingTimer3d = new QTimer(this);
// build up qt view, unless already done
if (!m_Controls)
{
// create GUI widgets from the Qt Designer's .ui file
m_Controls = new Ui::UltrasoundSupportControls;
// create GUI widgets from the Qt Designer's .ui file
m_Controls->setupUi(parent);
//load persistence data before connecting slots (so no slots are called in this phase...)
LoadUISettings();
//connect signals and slots...
connect(m_Controls->m_DeviceManagerWidget, SIGNAL(NewDeviceButtonClicked()), this, SLOT(OnClickedAddNewDevice())); // Change Widget Visibilities
connect(m_Controls->m_DeviceManagerWidget, SIGNAL(NewDeviceButtonClicked()), this->m_Controls->m_NewVideoDeviceWidget, SLOT(CreateNewDevice())); // Init NewDeviceWidget
connect(m_Controls->m_ActiveVideoDevices, SIGNAL(ServiceSelectionChanged(us::ServiceReferenceU)), this, SLOT(OnChangedActiveDevice()));
connect(m_Controls->m_RunImageTimer, SIGNAL(clicked()), this, SLOT(OnChangedActiveDevice()));
connect(m_Controls->m_ShowImageStream, SIGNAL(clicked()), this, SLOT(OnChangedActiveDevice()));
connect(m_Controls->m_NewVideoDeviceWidget, SIGNAL(Finished()), this, SLOT(OnNewDeviceWidgetDone())); // After NewDeviceWidget finished editing
connect(m_Controls->m_FrameRatePipeline, SIGNAL(valueChanged(int)), this, SLOT(OnChangedFramerateLimit()));
connect(m_Controls->m_FrameRate2d, SIGNAL(valueChanged(int)), this, SLOT(OnChangedFramerateLimit()));
connect(m_Controls->m_FrameRate3d, SIGNAL(valueChanged(int)), this, SLOT(OnChangedFramerateLimit()));
connect(m_Controls->m_FreezeButton, SIGNAL(clicked()), this, SLOT(OnClickedFreezeButton()));
connect(m_UpdateTimer, SIGNAL(timeout()), this, SLOT(UpdateImage()));
connect(m_RenderingTimer2d, SIGNAL(timeout()), this, SLOT(RenderImage2d()));
connect(m_RenderingTimer3d, SIGNAL(timeout()), this, SLOT(RenderImage3d()));
connect(m_Controls->m_Update2DView, SIGNAL(clicked()), this, SLOT(StartTimers()));
connect(m_Controls->m_Update3DView, SIGNAL(clicked()), this, SLOT(StartTimers()));
connect(m_Controls->m_DeviceManagerWidget, SIGNAL(EditDeviceButtonClicked(mitk::USDevice::Pointer)), this, SLOT(OnClickedEditDevice())); //Change Widget Visibilities
connect(m_Controls->m_DeviceManagerWidget, SIGNAL(EditDeviceButtonClicked(mitk::USDevice::Pointer)), this->m_Controls->m_NewVideoDeviceWidget, SLOT(EditDevice(mitk::USDevice::Pointer)));
+ connect(m_Controls->m_SetXPoint1, SIGNAL(clicked()), this, SLOT(SetXPoint1()));
+ connect(m_Controls->m_SetXPoint2, SIGNAL(clicked()), this, SLOT(SetXPoint2()));
+ connect(m_Controls->m_SetYPoint1, SIGNAL(clicked()), this, SLOT(SetYPoint1()));
+ connect(m_Controls->m_SetYPoint2, SIGNAL(clicked()), this, SLOT(SetYPoint2()));
+ connect(m_Controls->m_SaveSpacing, SIGNAL(clicked()), this, SLOT(WriteSpacingToDevice()));
+
+
// Initializations
m_Controls->m_NewVideoDeviceWidget->setVisible(false);
std::string filter = "(&(" + us::ServiceConstants::OBJECTCLASS() + "="
+ "org.mitk.services.UltrasoundDevice)("
+ mitk::USDevice::GetPropertyKeys().US_PROPKEY_ISACTIVE + "=true))";
m_Controls->m_ActiveVideoDevices->Initialize<mitk::USDevice>(
mitk::USDevice::GetPropertyKeys().US_PROPKEY_LABEL, filter);
m_Controls->m_ActiveVideoDevices->SetAutomaticallySelectFirstEntry(true);
m_FrameCounterPipeline = 0;
m_FrameCounter2d = 0;
m_FrameCounter3d = 0;
m_Controls->tabWidget->setTabEnabled(1, false);
}
}
void QmitkUltrasoundSupport::OnClickedAddNewDevice()
{
m_Controls->m_NewVideoDeviceWidget->setVisible(true);
m_Controls->m_DeviceManagerWidget->setVisible(false);
m_Controls->m_Headline->setText("Add New Video Device:");
m_Controls->m_WidgetActiveDevices->setVisible(false);
}
void QmitkUltrasoundSupport::OnClickedEditDevice()
{
m_Controls->m_NewVideoDeviceWidget->setVisible(true);
m_Controls->m_DeviceManagerWidget->setVisible(false);
m_Controls->m_WidgetActiveDevices->setVisible(false);
m_Controls->m_Headline->setText("Edit Video Device:");
}
void QmitkUltrasoundSupport::UpdateImage()
{
//Update device
m_Device->Modified();
m_Device->Update();
//Only update the view if the image is shown
if (m_Controls->m_ShowImageStream->isChecked())
{
//Update data nodes
for (size_t i = 0; i < m_AmountOfOutputs; i++)
{
mitk::Image::Pointer curOutput = m_Device->GetOutput(i);
if (curOutput->IsEmpty())
{
m_Node.at(i)->SetName("No Data received yet ...");
//create a noise image for correct initialization of level window, etc.
mitk::Image::Pointer randomImage = mitk::ImageGenerator::GenerateRandomImage<float>(32, 32, 1, 1, 1, 1, 1, 255, 0);
m_Node.at(i)->SetData(randomImage);
curOutput->SetGeometry(randomImage->GetGeometry());
}
else
{
std::stringstream nodeName;
nodeName << "US Viewing Stream - Image " << i;
m_Node.at(i)->SetName(nodeName.str());
m_Node.at(i)->SetData(curOutput);
m_Node.at(i)->Modified();
}
// if the geometry changed: reinitialize the ultrasound image
if ((i==0) && (m_OldGeometry.IsNotNull()) &&
(curOutput->GetGeometry() != NULL) &&
(!mitk::Equal(*(m_OldGeometry.GetPointer()), *(curOutput->GetGeometry()), 0.0001, false))
)
{
mitk::IRenderWindowPart* renderWindow = this->GetRenderWindowPart();
if ((renderWindow != NULL) && (curOutput->GetTimeGeometry()->IsValid()) && (m_Controls->m_ShowImageStream->isChecked()))
{
renderWindow->GetRenderingManager()->InitializeViews(
curOutput->GetGeometry(), mitk::RenderingManager::REQUEST_UPDATE_ALL, true);
renderWindow->GetRenderingManager()->RequestUpdateAll();
}
m_CurrentImageWidth = curOutput->GetDimension(0);
m_CurrentImageHeight = curOutput->GetDimension(1);
m_OldGeometry = dynamic_cast<mitk::SlicedGeometry3D*>(curOutput->GetGeometry());
}
}
}
//Update frame counter
m_FrameCounterPipeline++;
if (m_FrameCounterPipeline >0)
{
//compute framerate of pipeline update
int nMilliseconds = m_Clock.restart();
int fps = 1000.0 / nMilliseconds;
m_FPSPipeline = fps;
m_FrameCounterPipeline = 0;
//display lowest framerate in UI
int lowestFPS = m_FPSPipeline;
if (m_Controls->m_Update2DView->isChecked() && (m_FPS2d < lowestFPS)) { lowestFPS = m_FPS2d; }
if (m_Controls->m_Update3DView->isChecked() && (m_FPS3d < lowestFPS)) { lowestFPS = m_FPS3d; }
m_Controls->m_FramerateLabel->setText("Current Framerate: " + QString::number(lowestFPS) + " FPS");
}
}
void QmitkUltrasoundSupport::RenderImage2d()
{
if (!m_Controls->m_Update2DView->isChecked())
return;
this->RequestRenderWindowUpdate(mitk::RenderingManager::REQUEST_UPDATE_2DWINDOWS);
m_FrameCounter2d++;
if (m_FrameCounter2d >0)
{
//compute framerate of 2d render window update
int nMilliseconds = m_Clock2d.restart();
int fps = 1000.0f / (nMilliseconds);
m_FPS2d = fps;
m_FrameCounter2d = 0;
}
}
void QmitkUltrasoundSupport::RenderImage3d()
{
if (!m_Controls->m_Update3DView->isChecked())
return;
this->RequestRenderWindowUpdate(mitk::RenderingManager::REQUEST_UPDATE_3DWINDOWS);
m_FrameCounter3d++;
if (m_FrameCounter3d >0)
{
//compute framerate of 2d render window update
int nMilliseconds = m_Clock3d.restart();
int fps = 1000.0f / (nMilliseconds);
m_FPS3d = fps;
m_FrameCounter3d = 0;
}
}
void QmitkUltrasoundSupport::OnChangedFramerateLimit()
{
StopTimers();
int intervalPipeline = (1000 / m_Controls->m_FrameRatePipeline->value());
int interval2D = (1000 / m_Controls->m_FrameRate2d->value());
int interval3D = (1000 / m_Controls->m_FrameRate3d->value());
SetTimerIntervals(intervalPipeline, interval2D, interval3D);
StartTimers();
}
void QmitkUltrasoundSupport::OnClickedFreezeButton()
{
if (m_Device.IsNull())
{
MITK_WARN("UltrasoundSupport") << "Freeze button clicked though no device is selected.";
return;
}
if (m_Device->GetIsFreezed())
{
m_Device->SetIsFreezed(false);
m_Controls->m_FreezeButton->setText("Freeze");
}
else
{
m_Device->SetIsFreezed(true);
m_Controls->m_FreezeButton->setText("Start Viewing Again");
}
}
void QmitkUltrasoundSupport::OnChangedActiveDevice()
{
if (m_Controls->m_RunImageTimer->isChecked() == false)
{
StopTimers();
return;
}
//clean up and stop timer
StopTimers();
this->RemoveControlWidgets();
for (size_t j = 0; j < m_Node.size(); j++)
{
this->GetDataStorage()->Remove(m_Node.at(j));
m_Node.at(j)->ReleaseData();
}
m_Node.clear();
//get current device, abort if it is invalid
m_Device = m_Controls->m_ActiveVideoDevices->GetSelectedService<mitk::USDevice>();
if (m_Device.IsNull())
{
m_Controls->tabWidget->setTabEnabled(1, false);
return;
}
m_AmountOfOutputs = m_Device->GetNumberOfIndexedOutputs();
// clear data storage, create new nodes and add
for (size_t i = 0; i < m_AmountOfOutputs; i++)
{
mitk::DataNode::Pointer currentNode = mitk::DataNode::New();
std::stringstream nodeName;
nodeName << "US Viewing Stream - Image " << i;
currentNode->SetName(nodeName.str());
//create a dummy image (gray values 0..255) for correct initialization of level window, etc.
mitk::Image::Pointer dummyImage = mitk::ImageGenerator::GenerateRandomImage<float>(100, 100, 1, 1, 1, 1, 1, 255, 0);
currentNode->SetData(dummyImage);
m_OldGeometry = dynamic_cast<mitk::SlicedGeometry3D*>(dummyImage->GetGeometry());
m_Node.push_back(currentNode);
//show node if the option is enabled
if (m_Controls->m_ShowImageStream->isChecked())
{
this->GetDataStorage()->Add(m_Node.at(i));
}
}
//create the widgets for this device and enable the widget tab
this->CreateControlWidgets();
m_Controls->tabWidget->setTabEnabled(1, true);
//start timer
if (m_Controls->m_RunImageTimer->isChecked())
{
int intervalPipeline = (1000 / m_Controls->m_FrameRatePipeline->value());
int interval2D = (1000 / m_Controls->m_FrameRate2d->value());
int interval3D = (1000 / m_Controls->m_FrameRate3d->value());
SetTimerIntervals(intervalPipeline, interval2D, interval3D);
StartTimers();
m_Controls->m_TimerWidget->setEnabled(true);
}
else
{
m_Controls->m_TimerWidget->setEnabled(false);
}
}
void QmitkUltrasoundSupport::OnNewDeviceWidgetDone()
{
m_Controls->m_NewVideoDeviceWidget->setVisible(false);
m_Controls->m_DeviceManagerWidget->setVisible(true);
m_Controls->m_Headline->setText("Ultrasound Devices:");
m_Controls->m_WidgetActiveDevices->setVisible(true);
}
void QmitkUltrasoundSupport::CreateControlWidgets()
{
m_ControlProbesWidget = new QmitkUSControlsProbesWidget(m_Device->GetControlInterfaceProbes(), m_Controls->m_ToolBoxControlWidgets);
m_Controls->probesWidgetContainer->addWidget(m_ControlProbesWidget);
// create b mode widget for current device
m_ControlBModeWidget = new QmitkUSControlsBModeWidget(m_Device->GetControlInterfaceBMode(), m_Controls->m_ToolBoxControlWidgets);
m_Controls->m_ToolBoxControlWidgets->addItem(m_ControlBModeWidget, "B Mode Controls");
if (!m_Device->GetControlInterfaceBMode())
{
m_Controls->m_ToolBoxControlWidgets->setItemEnabled(m_Controls->m_ToolBoxControlWidgets->count() - 1, false);
}
// create doppler widget for current device
m_ControlDopplerWidget = new QmitkUSControlsDopplerWidget(m_Device->GetControlInterfaceDoppler(), m_Controls->m_ToolBoxControlWidgets);
m_Controls->m_ToolBoxControlWidgets->addItem(m_ControlDopplerWidget, "Doppler Controls");
if (!m_Device->GetControlInterfaceDoppler())
{
m_Controls->m_ToolBoxControlWidgets->setItemEnabled(m_Controls->m_ToolBoxControlWidgets->count() - 1, false);
}
ctkPluginContext* pluginContext = mitk::PluginActivator::GetContext();
if (pluginContext)
{
std::string filter = "(org.mitk.services.UltrasoundCustomWidget.deviceClass=" + m_Device->GetDeviceClass() + ")";
QString interfaceName = QString::fromStdString(us_service_interface_iid<QmitkUSAbstractCustomWidget>());
m_CustomWidgetServiceReference = pluginContext->getServiceReferences(interfaceName, QString::fromStdString(filter));
if (m_CustomWidgetServiceReference.size() > 0)
{
m_ControlCustomWidget = pluginContext->getService<QmitkUSAbstractCustomWidget>
(m_CustomWidgetServiceReference.at(0))->CloneForQt(m_Controls->tab2);
m_ControlCustomWidget->SetDevice(m_Device);
m_Controls->m_ToolBoxControlWidgets->addItem(m_ControlCustomWidget, "Custom Controls");
}
else
{
m_Controls->m_ToolBoxControlWidgets->addItem(new QWidget(m_Controls->m_ToolBoxControlWidgets), "Custom Controls");
m_Controls->m_ToolBoxControlWidgets->setItemEnabled(m_Controls->m_ToolBoxControlWidgets->count() - 1, false);
}
}
// select first enabled control widget
for (int n = 0; n < m_Controls->m_ToolBoxControlWidgets->count(); ++n)
{
if (m_Controls->m_ToolBoxControlWidgets->isItemEnabled(n))
{
m_Controls->m_ToolBoxControlWidgets->setCurrentIndex(n);
break;
}
}
}
void QmitkUltrasoundSupport::RemoveControlWidgets()
{
if (!m_ControlProbesWidget) { return; } //widgets do not exist... nothing to do
// remove all control widgets from the tool box widget
while (m_Controls->m_ToolBoxControlWidgets->count() > 0)
{
m_Controls->m_ToolBoxControlWidgets->removeItem(0);
}
// remove probes widget (which is not part of the tool box widget)
m_Controls->probesWidgetContainer->removeWidget(m_ControlProbesWidget);
delete m_ControlProbesWidget;
m_ControlProbesWidget = 0;
delete m_ControlBModeWidget;
m_ControlBModeWidget = 0;
delete m_ControlDopplerWidget;
m_ControlDopplerWidget = 0;
// delete custom widget if it is present
if (m_ControlCustomWidget)
{
ctkPluginContext* pluginContext = mitk::PluginActivator::GetContext();
delete m_ControlCustomWidget; m_ControlCustomWidget = 0;
if (m_CustomWidgetServiceReference.size() > 0)
{
pluginContext->ungetService(m_CustomWidgetServiceReference.at(0));
}
}
}
void QmitkUltrasoundSupport::OnDeviceServiceEvent(const ctkServiceEvent event)
{
if (m_Device.IsNull() || event.getType() != ctkServiceEvent::MODIFIED)
{
return;
}
ctkServiceReference service = event.getServiceReference();
if (m_Device->GetManufacturer() != service.getProperty(QString::fromStdString(mitk::USDevice::GetPropertyKeys().US_PROPKEY_MANUFACTURER)).toString().toStdString()
&& m_Device->GetName() != service.getProperty(QString::fromStdString(mitk::USDevice::GetPropertyKeys().US_PROPKEY_NAME)).toString().toStdString())
{
return;
}
if (!m_Device->GetIsActive() && m_UpdateTimer->isActive())
{
StopTimers();
}
if (m_CurrentDynamicRange != service.getProperty(QString::fromStdString(mitk::USDevice::GetPropertyKeys().US_PROPKEY_BMODE_DYNAMIC_RANGE)).toDouble())
{
m_CurrentDynamicRange = service.getProperty(QString::fromStdString(mitk::USDevice::GetPropertyKeys().US_PROPKEY_BMODE_DYNAMIC_RANGE)).toDouble();
// update level window for the current dynamic range
mitk::LevelWindow levelWindow;
m_Node.at(0)->GetLevelWindow(levelWindow);
levelWindow.SetAuto(m_curOutput.at(0), true, true);
m_Node.at(0)->SetLevelWindow(levelWindow);
}
}
void QmitkUltrasoundSupport::StoreUISettings()
{
QSettings settings;
settings.beginGroup(QString::fromStdString(VIEW_ID));
settings.setValue("DisplayImage", QVariant(m_Controls->m_ShowImageStream->isChecked()));
settings.setValue("RunImageTimer", QVariant(m_Controls->m_RunImageTimer->isChecked()));
settings.setValue("Update2DView", QVariant(m_Controls->m_Update2DView->isChecked()));
settings.setValue("Update3DView", QVariant(m_Controls->m_Update3DView->isChecked()));
settings.setValue("UpdateRatePipeline", QVariant(m_Controls->m_FrameRatePipeline->value()));
settings.setValue("UpdateRate2d", QVariant(m_Controls->m_FrameRate2d->value()));
settings.setValue("UpdateRate3d", QVariant(m_Controls->m_FrameRate3d->value()));
settings.endGroup();
}
void QmitkUltrasoundSupport::LoadUISettings()
{
QSettings settings;
settings.beginGroup(QString::fromStdString(VIEW_ID));
m_Controls->m_ShowImageStream->setChecked(settings.value("DisplayImage", true).toBool());
m_Controls->m_RunImageTimer->setChecked(settings.value("RunImageTimer", true).toBool());
m_Controls->m_Update2DView->setChecked(settings.value("Update2DView", true).toBool());
m_Controls->m_Update3DView->setChecked(settings.value("Update3DView", true).toBool());
m_Controls->m_FrameRatePipeline->setValue(settings.value("UpdateRatePipeline", 50).toInt());
m_Controls->m_FrameRate2d->setValue(settings.value("UpdateRate2d", 20).toInt());
m_Controls->m_FrameRate3d->setValue(settings.value("UpdateRate3d", 5).toInt());
settings.endGroup();
}
void QmitkUltrasoundSupport::StartTimers()
{
m_Clock.start();
m_UpdateTimer->start();
if (m_Controls->m_Update2DView->isChecked()) { m_RenderingTimer2d->start(); }
if (m_Controls->m_Update3DView->isChecked()) { m_RenderingTimer3d->start(); }
}
void QmitkUltrasoundSupport::StopTimers()
{
m_UpdateTimer->stop();
m_RenderingTimer2d->stop();
m_RenderingTimer3d->stop();
}
void QmitkUltrasoundSupport::SetTimerIntervals(int intervalPipeline, int interval2D, int interval3D)
{
m_UpdateTimer->setInterval(intervalPipeline);
m_RenderingTimer2d->setInterval(interval2D);
m_RenderingTimer3d->setInterval(interval3D);
}
+
+
+/* Spacing methods */
+void QmitkUltrasoundSupport::SetXPoint1()
+{
+ m_Xpoint1 = this->GetRenderWindowPart()->GetSelectedPosition();
+ m_XSpacing = ComputeSpacing(m_Xpoint1, m_Xpoint2, m_Controls->m_XDistance->value());
+ m_Controls->m_XSpacing->setText(QString("X Spacing: ") + QString::number(m_XSpacing) + " mm");
+}
+void QmitkUltrasoundSupport::SetXPoint2()
+{
+ m_Xpoint2 = this->GetRenderWindowPart()->GetSelectedPosition();
+ m_XSpacing = ComputeSpacing(m_Xpoint1, m_Xpoint2, m_Controls->m_XDistance->value());
+ m_Controls->m_XSpacing->setText(QString("X Spacing: ") + QString::number(m_XSpacing) + " mm");
+}
+void QmitkUltrasoundSupport::SetYPoint1()
+{
+ m_Ypoint1 = this->GetRenderWindowPart()->GetSelectedPosition();
+ m_YSpacing = ComputeSpacing(m_Ypoint1, m_Ypoint2, m_Controls->m_YDistance->value());
+ m_Controls->m_YSpacing->setText(QString("Y Spacing: ") + QString::number(m_YSpacing) + " mm");
+}
+void QmitkUltrasoundSupport::SetYPoint2()
+{
+ m_Ypoint2 = this->GetRenderWindowPart()->GetSelectedPosition();
+ m_YSpacing = ComputeSpacing(m_Ypoint1, m_Ypoint2, m_Controls->m_YDistance->value());
+ m_Controls->m_YSpacing->setText(QString("Y Spacing: ") + QString::number(m_YSpacing) + " mm");
+}
+void QmitkUltrasoundSupport::WriteSpacingToDevice()
+{
+ this->m_Device->SetSpacing(m_XSpacing, m_YSpacing);
+ MITK_INFO << "Spacing saved to device object, please save device data to permanently store the spacing.";
+}
+double QmitkUltrasoundSupport::ComputeSpacing(mitk::Point3D p1, mitk::Point3D p2, double distance)
+{
+ double spacing = 0;
+ double pointDistance = p1.EuclideanDistanceTo(p2);
+ spacing = distance / pointDistance;
+ return spacing;
+}
+
diff --git a/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupport.h b/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupport.h
index 6be8dc1b45..65f1141a29 100644
--- a/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupport.h
+++ b/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupport.h
@@ -1,174 +1,185 @@
/*===================================================================
The Medical Imaging Interaction Toolkit (MITK)
Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.
This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.
See LICENSE.txt or http://www.mitk.org for details.
===================================================================*/
#ifndef QmitkUltrasoundSupport_h
#define QmitkUltrasoundSupport_h
#include <mitkLookupTable.h>
#include <mitkLookupTableProperty.h>
#include <berryISelectionListener.h>
#include <QmitkAbstractView.h>
#include "ui_QmitkUltrasoundSupportControls.h"
#include "QmitkUSAbstractCustomWidget.h"
#include "QmitkUSControlsBModeWidget.h"
#include "QmitkUSControlsDopplerWidget.h"
#include "QmitkUSControlsProbesWidget.h"
#include <mitkBaseRenderer.h>
#include "QmitkRenderWindow.h"
#include <mitkStandaloneDataStorage.h>
#include <QmitkLevelWindowWidget.h>
#include <QmitkSliceWidget.h>
#include <QTime>
#include <ctkServiceEvent.h>
/*!
\brief UltrasoundSupport
This plugin provides functionality to manage Ultrasound devices, create video devices and to view device images.
\ingroup ${plugin_target}_internal
*/
class QmitkUltrasoundSupport : public QmitkAbstractView
{
// this is needed for all Qt objects that should have a Qt meta-object
// (everything that derives from QObject and wants to have signal/slots)
Q_OBJECT
public:
virtual void SetFocus() override;
static const std::string VIEW_ID;
virtual void CreateQtPartControl(QWidget *parent) override;
QmitkUltrasoundSupport();
virtual ~QmitkUltrasoundSupport();
public slots:
/*
* \brief This is called when the newDeviceWidget is closed
*/
void OnNewDeviceWidgetDone();
protected slots:
void OnClickedAddNewDevice();
void OnChangedFramerateLimit();
void OnClickedEditDevice();
/*
*\brief Called, when the selection in the list of the active devices changes.
*/
void OnChangedActiveDevice();
void OnClickedFreezeButton();
void OnDeviceServiceEvent(const ctkServiceEvent event);
/*
* \brief This is the main imaging loop that updates the image and is called regularily during the imaging process
*/
void UpdateImage();
void RenderImage2d();
void RenderImage3d();
void StartTimers();
void StopTimers();
protected:
void CreateControlWidgets();
void RemoveControlWidgets();
Ui::UltrasoundSupportControls* m_Controls;
QmitkUSAbstractCustomWidget* m_ControlCustomWidget;
QmitkUSControlsBModeWidget* m_ControlBModeWidget;
QmitkUSControlsDopplerWidget* m_ControlDopplerWidget;
QmitkUSControlsProbesWidget* m_ControlProbesWidget;
bool m_ImageAlreadySetToNode;
unsigned int m_CurrentImageWidth;
unsigned int m_CurrentImageHeight;
/** Keeps track of the amount of output Nodes*/
unsigned int m_AmountOfOutputs;
/** The device that is currently used to aquire images */
mitk::USDevice::Pointer m_Device;
void SetTimerIntervals(int intervalPipeline, int interval2D, int interval3D);
/** This timer triggers periodic updates to the pipeline */
QTimer* m_UpdateTimer;
QTimer* m_RenderingTimer2d;
QTimer* m_RenderingTimer3d;
/** These clocks are used to compute the framerate in the methods DisplayImage(),RenderImage2d() and RenderImage3d(). */
QTime m_Clock;
QTime m_Clock2d;
QTime m_Clock3d;
/** A counter to comute the framerate. */
int m_FrameCounterPipeline;
int m_FrameCounter2d;
int m_FrameCounter3d;
int m_FPSPipeline, m_FPS2d, m_FPS3d;
/** Stores the properties of some QWidgets (and the tool storage file name) to QSettings.*/
void StoreUISettings();
/** Loads the properties of some QWidgets (and the tool storage file name) from QSettings.*/
void LoadUISettings();
/** The nodes that we feed images into.*/
std::vector<mitk::DataNode::Pointer> m_Node;
/** Adds a new node to the m_Nodes vector*/
void InitNewNode();
/** Destroys the last node in the m_Nodes vector */
void DestroyLastNode();
/** Checks the amount of slices in the image from the USDevice and creates as many Nodes as there are slices */
void UpdateAmountOfOutputs();
/** This function just checks how many nodes there are currently and sets the laser image to a jet transparent colormap. */
void UpdateLevelWindows();
bool m_ForceRequestUpdateAll;
void SetColormap(mitk::DataNode::Pointer node, mitk::LookupTable::LookupTableType type);
/** The seperated slices from m_Image */
std::vector<mitk::Image::Pointer> m_curOutput;
/** The old geometry of m_Image. It is needed to check if the geometry changed (e.g. because
* the zoom factor was modified) and the image needs to be reinitialized. */
mitk::SlicedGeometry3D::Pointer m_OldGeometry;
QList<ctkServiceReference> m_CustomWidgetServiceReference;
double m_CurrentDynamicRange;
+
+ /* Spacing calibration variables and methods */
+ mitk::Point3D m_Xpoint1,m_Xpoint2,m_Ypoint1,m_Ypoint2;
+ double m_XSpacing, m_YSpacing;
+ double ComputeSpacing(mitk::Point3D p1, mitk::Point3D p2, double distance);
+ protected slots:
+ void SetXPoint1();
+ void SetXPoint2();
+ void SetYPoint1();
+ void SetYPoint2();
+ void WriteSpacingToDevice();
};
#endif // UltrasoundSupport_h
diff --git a/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupportControls.ui b/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupportControls.ui
index e6f442672a..945dcb4535 100644
--- a/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupportControls.ui
+++ b/Plugins/org.mitk.gui.qt.ultrasound/src/internal/QmitkUltrasoundSupportControls.ui
@@ -1,461 +1,683 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>UltrasoundSupportControls</class>
<widget class="QWidget" name="UltrasoundSupportControls">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
- <width>522</width>
- <height>916</height>
+ <width>341</width>
+ <height>431</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="windowTitle">
<string>QmitkTemplate</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="leftMargin">
<number>15</number>
</property>
<property name="topMargin">
<number>15</number>
</property>
<property name="rightMargin">
<number>15</number>
</property>
<property name="bottomMargin">
<number>15</number>
</property>
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="enabled">
<bool>true</bool>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="focusPolicy">
<enum>Qt::TabFocus</enum>
</property>
<property name="currentIndex">
<number>0</number>
</property>
<property name="documentMode">
<bool>false</bool>
</property>
<property name="tabsClosable">
<bool>false</bool>
</property>
<property name="movable">
<bool>false</bool>
</property>
<widget class="QWidget" name="tab">
<attribute name="icon">
<iconset resource="../../../../Modules/USUI/resources/USUI.qrc">
<normaloff>:/USUI/ultrasound01-probe-300ppi.png</normaloff>
<normalon>:/USUI/ultrasound01-probe-300ppi.png</normalon>:/USUI/ultrasound01-probe-300ppi.png</iconset>
</attribute>
<attribute name="title">
<string>Device Management</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_2" stretch="0">
<property name="leftMargin">
<number>15</number>
</property>
<property name="topMargin">
<number>15</number>
</property>
<property name="rightMargin">
<number>15</number>
</property>
<property name="bottomMargin">
<number>15</number>
</property>
<item>
<widget class="QWidget" name="m_WidgetDevices" native="true">
<layout class="QVBoxLayout" name="verticalLayout_4">
<property name="leftMargin">
<number>15</number>
</property>
<property name="topMargin">
<number>15</number>
</property>
<property name="rightMargin">
<number>15</number>
</property>
<property name="bottomMargin">
<number>15</number>
</property>
<item>
<widget class="QWidget" name="m_WidgetAvailableDevices" native="true">
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
<widget class="QLabel" name="m_Headline">
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Ultrasound Devices:</string>
</property>
</widget>
</item>
<item>
<widget class="QmitkUSNewVideoDeviceWidget" name="m_NewVideoDeviceWidget" native="true"/>
</item>
<item>
<widget class="QmitkUSDeviceManagerWidget" name="m_DeviceManagerWidget" native="true"/>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QWidget" name="m_WidgetActiveDevices" native="true">
<layout class="QVBoxLayout" name="verticalLayout">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
<widget class="QLabel" name="m_HeadlineActive">
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Active Devices:</string>
</property>
</widget>
</item>
<item>
<widget class="QmitkServiceListWidget" name="m_ActiveVideoDevices" native="true">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QCheckBox" name="m_ShowImageStream">
<property name="text">
<string>Show US image in MITK</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab2">
<property name="enabled">
<bool>false</bool>
</property>
<attribute name="icon">
<iconset resource="../../../../Modules/USUI/resources/USUI.qrc">
<normaloff>:/USUI/ultrasound02-scan-300ppi.png</normaloff>
<disabledoff>:/USUI/ultrasound02-scan-72ppi-deactivated.png</disabledoff>
<disabledon>:/USUI/ultrasound02-scan-300ppi.png</disabledon>:/USUI/ultrasound02-scan-300ppi.png</iconset>
</attribute>
<attribute name="title">
<string>US Imaging</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_7">
<item>
<layout class="QVBoxLayout" name="probesWidgetContainer"/>
</item>
<item>
<widget class="QToolBox" name="m_ToolBoxControlWidgets"/>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="Line" name="line_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="m_RunImageTimer">
<property name="text">
<string>Update Image Data Automatically</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QWidget" name="m_TimerWidget" native="true">
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QPushButton" name="m_FreezeButton">
<property name="text">
<string>Freeze</string>
</property>
<property name="icon">
<iconset resource="../../../../Modules/USUI/resources/USUI.qrc">
<normaloff>:/USUI/system-lock-screen.png</normaloff>:/USUI/system-lock-screen.png</iconset>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
p, li { white-space: pre-wrap; }
</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:7.8pt; font-weight:400; font-style:normal;">
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt; font-weight:600;">Framrate Settings:</span></p></body></html></string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="m_FramerateLabel">
<property name="text">
<string>Current overall Framerate: 0 FPS</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string>Image Pipeline Framerate Limit [FPS]:</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QSpinBox" name="m_FrameRatePipeline">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>500</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QCheckBox" name="m_Update2DView">
<property name="text">
<string>Update 2D View</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
<property name="tristate">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_2">
<property name="text">
<string>Framerate Limit [FPS]:</string>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="m_FrameRate2d">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QCheckBox" name="m_Update3DView">
<property name="text">
<string>Update 3D View</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>18</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Framerate Limit [FPS]:</string>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="m_FrameRate3d">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
+ <widget class="QWidget" name="tab_2">
+ <attribute name="title">
+ <string>Spacing Calibration</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_10">
+ <item>
+ <widget class="QLabel" name="label_5">
+ <property name="text">
+ <string>Along X-Axis:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_5">
+ <item>
+ <widget class="QPushButton" name="m_SetXPoint1">
+ <property name="text">
+ <string>Set First Point</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_4">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_8">
+ <item>
+ <widget class="QSpinBox" name="m_XDistance">
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ <property name="value">
+ <number>50</number>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>Distance [mm]</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_5">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="m_SetXPoint2">
+ <property name="text">
+ <string>Set Second Point</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QLabel" name="m_XSpacing">
+ <property name="text">
+ <string>X Spacing: <na></string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="Line" name="line">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_8">
+ <property name="text">
+ <string>Along Y-Axis:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_6">
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_9">
+ <item>
+ <widget class="QPushButton" name="m_SetYPoint1">
+ <property name="text">
+ <string>Set First Point</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_3">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QSpinBox" name="m_YDistance">
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ <property name="value">
+ <number>50</number>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_9">
+ <property name="text">
+ <string>Distance [mm]</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_4">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="m_SetYPoint2">
+ <property name="text">
+ <string>Set Second Point</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_6">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QLabel" name="m_YSpacing">
+ <property name="text">
+ <string>Y Spacing: <na></string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_5">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>14</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_7">
+ <item>
+ <spacer name="horizontalSpacer_7">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="m_SaveSpacing">
+ <property name="text">
+ <string>Save Spacing To Device</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
</widget>
</item>
</layout>
</widget>
<layoutdefault spacing="6" margin="11"/>
<customwidgets>
<customwidget>
<class>QmitkUSDeviceManagerWidget</class>
<extends>QWidget</extends>
<header>QmitkUSDeviceManagerWidget.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>QmitkUSNewVideoDeviceWidget</class>
<extends>QWidget</extends>
<header>QmitkUSNewVideoDeviceWidget.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>QmitkServiceListWidget</class>
<extends>QWidget</extends>
<header>QmitkServiceListWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../../../../Modules/USUI/resources/USUI.qrc"/>
</resources>
<connections/>
</ui>