diff --git a/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp b/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp index 87c5594839..c6fe5253fe 100644 --- a/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp +++ b/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp @@ -1,434 +1,432 @@ /*=================================================================== 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 #define _USE_MATH_DEFINES #include #include BYTE MotionBuf[0x1FA400]; mitk::PolhemusInterface::PolhemusInterface() : m_continousTracking(false) { m_pdiDev = new CPDIdev(); m_numberOfTools = 0; } mitk::PolhemusInterface::~PolhemusInterface() { delete m_pdiDev; } bool mitk::PolhemusInterface::InitializeDevice() { m_pdiDev->ResetTracker(); m_pdiDev->ResetSAlignment(-1); m_pdiDev->Trace(TRUE, 7); m_continousTracking = false; return true; } bool mitk::PolhemusInterface::SetupDevice() { m_pdiDev->SetPnoBuffer(MotionBuf, 0x1FA400); m_pdiDev->SetMetric(true); //use cm instead of inches m_pdiDev->StartPipeExport(); CPDImdat pdiMDat; pdiMDat.Empty(); pdiMDat.Append(PDI_MODATA_FRAMECOUNT); pdiMDat.Append(PDI_MODATA_POS); pdiMDat.Append(PDI_MODATA_ORI); m_pdiDev->SetSDataList(-1, pdiMDat); CPDIbiterr cBE; m_pdiDev->GetBITErrs(cBE); if (!(cBE.IsClear())) { m_pdiDev->ClearBITErrs(); } return true; } bool mitk::PolhemusInterface::StartTracking() { m_continousTracking = true; return m_pdiDev->StartContPno(0); } bool mitk::PolhemusInterface::StopTracking() { m_continousTracking = false; m_pdiDev->StopContPno(); return true; } bool mitk::PolhemusInterface::Connect() { bool returnValue; //Initialize, and if it is not successful, return false. if (!InitializeDevice()) { returnValue = false; } //Connect else if (m_pdiDev->CnxReady()) { returnValue = true; } //If it is not successful, search for connections. else { CPDIser pdiSer; m_pdiDev->SetSerialIF(&pdiSer); ePiCommType eType = m_pdiDev->DiscoverCnx(); switch (eType) { case PI_CNX_USB: MITK_INFO << "USB Connection: " << m_pdiDev->GetLastResultStr(); break; case PI_CNX_SERIAL: MITK_INFO << "Serial Connection: " << m_pdiDev->GetLastResultStr(); break; default: MITK_INFO << "DiscoverCnx result: " << m_pdiDev->GetLastResultStr(); break; } //Setup device if (!SetupDevice()) { returnValue = false; } else { returnValue = m_pdiDev->CnxReady(); } } if (returnValue) { m_numberOfTools = this->GetNumberOfTools(); } //Get the tracking data to find out which tools are available. std::vector _trackingData; if (m_continousTracking) { _trackingData = GetLastFrame(); } else { _trackingData = GetSingleFrame(); } //if we had tool before, check if they are still the same. if (m_ToolPorts.size() == _trackingData.size()) { for (int i = 0; i < _trackingData.size(); ++i) { //if they are not the same, clear hemispheres and toolNames and break. if (m_ToolPorts[i] != _trackingData.at(i).id) { m_ToolPorts.clear(); m_Hemispheres.clear(); break; } } } //if we don't have old tool names or if the old ones don't match any more, assign them again. if (m_ToolPorts.size() == 0) { for (int i = 0; i < _trackingData.size(); ++i) { m_ToolPorts.push_back(_trackingData.at(i).id); } } return returnValue; } bool mitk::PolhemusInterface::Disconnect() { bool returnValue = true; //If Tracking is running, stop tracking first if (m_continousTracking) { this->StopTracking(); } returnValue = m_pdiDev->Disconnect(); MITK_INFO << "Disconnect: " << m_pdiDev->GetLastResultStr(); return returnValue; } std::vector mitk::PolhemusInterface::GetLastFrame() { PBYTE pBuf; DWORD dwSize; //read one frame if (!m_pdiDev->LastPnoPtr(pBuf, dwSize)) { MITK_WARN << m_pdiDev->GetLastResultStr(); } std::vector returnValue = ParsePolhemusRawData(pBuf, dwSize); if (returnValue.empty()) { MITK_WARN << "Cannot parse data / no tools present"; } return returnValue; } unsigned int mitk::PolhemusInterface::GetNumberOfTools() { if (m_continousTracking) return GetLastFrame().size(); else return GetSingleFrame().size(); } std::vector mitk::PolhemusInterface::GetSingleFrame() { if (m_continousTracking) { MITK_WARN << "Cannot get a single frame when continuous tracking is on!"; return std::vector(); } PBYTE pBuf; DWORD dwSize; //read one frame if (!m_pdiDev->ReadSinglePnoBuf(pBuf, dwSize)) { MITK_WARN << m_pdiDev->GetLastResultStr(); return std::vector(); } return ParsePolhemusRawData(pBuf, dwSize); } std::vector mitk::PolhemusInterface::ParsePolhemusRawData(PBYTE pBuf, DWORD dwSize) { std::vector returnValue; DWORD i = 0; while (i < dwSize) { BYTE ucSensor = pBuf[i + 2]; SHORT shSize = pBuf[i + 6]; // skip rest of header i += 8; PDWORD pFC = (PDWORD)(&pBuf[i]); PFLOAT pPno = (PFLOAT)(&pBuf[i + 4]); mitk::PolhemusInterface::trackingData currentTrackingData; currentTrackingData.id = ucSensor; currentTrackingData.pos[0] = pPno[0] * 10; //from cm to mm currentTrackingData.pos[1] = pPno[1] * 10; currentTrackingData.pos[2] = pPno[2] * 10; double azimuthAngle = pPno[3] / 180 * M_PI; //from degree to rad double elevationAngle = pPno[4] / 180 * M_PI; double rollAngle = pPno[5] / 180 * M_PI; vnl_quaternion eulerQuat(rollAngle, elevationAngle, azimuthAngle); currentTrackingData.rot = eulerQuat; returnValue.push_back(currentTrackingData); i += shSize; } return returnValue; } void mitk::PolhemusInterface::SetHemisphereTrackingEnabled(bool _HeisphereTrackingEnabeled) { //only if connection is ready! if (!this->m_pdiDev->CnxReady()) return; //HemisphereTracking is switched on by SetSHemiTrack(-1). "-1" means for all sensors. //To switch heisphere tracking of, you need to set a hemisphere vector by calling SetSHemisphere(-1, { (float)1,0,0 }) if (_HeisphereTrackingEnabeled) { //Remember the Hemisphere and Position when switching on to avoid wrong positions ("jumps") when swithing HemiTracking off. if (m_Hemispheres.empty()) { //only if it is empty. Otherwise, it might already be on and we overwrite it with (0|0|0). for (int i = 0; i < m_numberOfTools; ++i) { m_Hemispheres.push_back(GetHemisphere(m_ToolPorts[i])); } } m_pdiDev->SetSHemiTrack(-1); } //switch HemiTracking OFF else { //Get Tool Position. ToDo, this should not be the tool tip but the sensor position. Any chance, to get that from Polhemus interface?! std::vector _position; if (m_continousTracking) { _position = GetLastFrame(); } else { _position = GetSingleFrame(); } if (m_Hemispheres.empty()) { //Default Hemisphere for all tools, maybe the first setup. //But we still check the position, 'cause maybe the tool is in negative space. //We can't do that every time, in case the user wants to use e.g. (0|1|0). Therefore, storing the last one makes sense... mitk::Vector3D temp; mitk::FillVector3D(temp, 1, 0, 0); m_Hemispheres.assign(m_numberOfTools, temp); } for (int i = 0; i < m_numberOfTools; ++i) { if (m_Hemispheres.at(i).GetNorm() == 0) { //hemisphere vector can be 0 if Polhemus was in "HemiTracking" status when MITK connected or when user manually set it... mitk::FillVector3D(m_Hemispheres.at(i), 1, 0, 0); } //Scalar product between mitk::point and mitk::vector double _scalarProduct = _position.at(i).pos.GetVectorFromOrigin() * m_Hemispheres.at(i); //if scalar product is negative, then the tool is in the opposite sphere then when we started to track. //Hence, we have to set the inverted hemisphere. //For default (1|0|0) this means, if x is negative, we have to set (-1|0|0). But we want to keep it generic if user sets different hemisphere... if (_scalarProduct < 0) { m_Hemispheres.at(i) = -1. * m_Hemispheres.at(i); } SetHemisphere(m_ToolPorts[i], m_Hemispheres.at(i)); } //clean up hemispheres! m_Hemispheres.clear(); } } void mitk::PolhemusInterface::ToggleHemisphere(int _tool) { //only if connection is ready! if (!this->m_pdiDev->CnxReady()) return; //we have a single tool number, which is identical with Polhemus index, i.e. first tool is "1", not "0"... //is hemiTracking on? bool _hemiTrack = GetHemisphereTrackingEnabled(_tool); //MITK_INFO << "HemisphereTracking: " << m_pdiDev->GetLastResultStr(); //if hemiTracing is on, switch it off. if (_hemiTrack) SetHemisphereTrackingEnabled(false); //toggel. if (_tool == -1) { //GetHemisphere(-1) returns the first tool. Hence, we have to loop over all tools manually... for (int i = 0; i < m_numberOfTools; ++i) { this->SetHemisphere(m_ToolPorts[i], -1.*this->GetHemisphere(m_ToolPorts[i])); } } else { this->SetHemisphere(_tool, -1.*this->GetHemisphere(_tool)); } //if hemiTracing was on, switch it on again. if (_hemiTrack) SetHemisphereTrackingEnabled(true); } void mitk::PolhemusInterface::SetHemisphere(int _tool, mitk::Vector3D _hemisphere) { //only if connection is ready! if (!this->m_pdiDev->CnxReady()) return; m_pdiDev->SetSHemisphere(_tool, { (float)_hemisphere[0], (float)_hemisphere[1], (float)_hemisphere[2] }); } mitk::Vector3D mitk::PolhemusInterface::GetHemisphere(int _tool) { //only if connection is ready! if (!this->m_pdiDev->CnxReady()) return nullptr; PDI3vec _hemisphere; mitk::Vector3D _returnVector; //Doesn't work in continuous mode. Don't know why, but so it is... Hence: stop and restart... if (m_continousTracking) { - m_continousTracking = false; m_pdiDev->StopContPno(); + } - m_pdiDev->GetSHemisphere(_tool, _hemisphere); - MITK_DEBUG << "Get Hemisphere: " << m_pdiDev->GetLastResultStr(); - mitk::FillVector3D(_returnVector, _hemisphere[0], _hemisphere[1], _hemisphere[2]); + m_pdiDev->GetSHemisphere(_tool, _hemisphere); + MITK_DEBUG << "Get Hemisphere: " << m_pdiDev->GetLastResultStr(); + mitk::FillVector3D(_returnVector, _hemisphere[0], _hemisphere[1], _hemisphere[2]); - m_pdiDev->StartContPno(0); - m_continousTracking = true; - } - else + if (m_continousTracking) { - m_pdiDev->GetSHemisphere(_tool, _hemisphere); - MITK_DEBUG << "Get Hemisphere: " << m_pdiDev->GetLastResultStr(); - mitk::FillVector3D(_returnVector, _hemisphere[0], _hemisphere[1], _hemisphere[2]); + m_pdiDev->StartContPno(0); + //I don't know why, but restart breaks the next (and only the next) frame. Hence: Get one and never use it... + std::vector _test = GetLastFrame(); } return _returnVector; } void mitk::PolhemusInterface::PrintStatus() { MITK_INFO << "Polhemus status: " << this->m_pdiDev->CnxReady(); } std::vector mitk::PolhemusInterface::GetToolPorts() { return m_ToolPorts; } - bool mitk::PolhemusInterface::GetHemisphereTrackingEnabled(int _tool) { BOOL _hemiTrack; //Get function again doesn't work in continuous mode... if (m_continousTracking) { m_pdiDev->StopContPno(); } m_pdiDev->GetSHemiTrack(_tool, _hemiTrack); if (m_continousTracking) { m_pdiDev->StartContPno(0); + //I don't know why, but restart breaks the next (and only the next) frame. Hence: Get one and never use it... + std::vector _test = GetLastFrame(); } return _hemiTrack; } \ No newline at end of file