QmitkIGTTrackingLabView.h

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/*============================================================================
 
The Medical Imaging Interaction Toolkit (MITK)
 
Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.
 
Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.
 
============================================================================*/
 
 
#ifndef QmitkIGTTrackingLabView_h
#define QmitkIGTTrackingLabView_h
 
#include <berryISelectionListener.h>
 
#include <QmitkAbstractView.h>
 
#include "ui_QmitkIGTTrackingLabViewControls.h"
 
#include <mitkNavigationDataToPointSetFilter.h>
#include <mitkNavigationDataLandmarkTransformFilter.h>
#include <mitkNavigationDataReferenceTransformFilter.h>
#include <mitkNavigationDataObjectVisualizationFilter.h>
#include <mitkNavigationDataToPointSetFilter.h>
#include <mitkTrackingDeviceSource.h>
#include <mitkSurface.h>
#include <mitkCameraVisualization.h>
 
#include <QToolBox>
#include <QCheckBox>
#include <QComboBox>
#include <QPushButton>
#include <QLabel>
#include <QSpinBox>
#include <QTimer>
 
#include <vtkLandmarkTransform.h>
#include <vtkSmartPointer.h>
 
class QmitkIGTTrackingLabView : 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:
 
static const std::string VIEW_ID;
 
QmitkIGTTrackingLabView();
 
~QmitkIGTTrackingLabView() override;
 
void CreateQtPartControl(QWidget *parent) override;
 
void SetFocus() override;
 
protected slots:
 
void UpdateTimer();
 
//############## Configuration Step #####################
 
void OnSetupNavigation();
 
void OnInstrumentSelected();
 
void OnObjectmarkerSelected();
 
//############## Initial Registration Step ##############
 
void OnInitialRegistration();
 
void OnAddRegistrationTrackingFiducial();
 
void InitializeRegistration();
 
//############## Permanent Registration Step ############
 
void OnPermanentRegistration(bool on);
 
//############## Pointset Recording Step ################
 
void OnPointSetRecording(bool record);
 
//############## Camera View Step #######################
void OnVirtualCamera(bool on);
 
protected:
 
Ui::QmitkIGTTrackingLabViewControls m_Controls;
void CreateBundleWidgets();
void CreateConnections();
bool CheckRegistrationInitialization();
void DestroyIGTPipeline();
 
//####################### Members for the IGT pipeline ######################################
// The IGT pipeline is basically initialized in the method OnSetupNavigation(). Further initialization
// is done in the methods OnPermanentRegistration(), OnPointSetRecording() and OnVirtualCamera().
// The pipline is updated in the method UpdateTimer(). When the complete pipeline is active, it is
// structured as follows:
//          ,-> m_PermanentRegistrationFilter
// m_Source -> m_Visualizer
//          `-> m_VirtualView
mitk::TrackingDeviceSource::Pointer m_Source;                                         
mitk::NavigationDataObjectVisualizationFilter::Pointer m_PermanentRegistrationFilter; 
mitk::NavigationDataObjectVisualizationFilter::Pointer m_Visualizer;                  
mitk::CameraVisualization::Pointer m_VirtualView;                                     
//in addition to the pipeline objects, pointers to the navigation data objects are stored for fast access:
mitk::NavigationData::Pointer m_InstrumentNavigationData;                             
mitk::NavigationData::Pointer m_ObjectmarkerNavigationData;                           
 
//####################### other members ######################################
QTimer* m_Timer; 
 
//members for the point set recording
mitk::NavigationData::Pointer m_PointSetRecordingNavigationData;
mitk::PointSet::Pointer m_PSRecordingPointSet;
bool m_PointSetRecording;
bool m_PermanentRegistration;
bool m_CameraView;
 
//members for initial registration
mitk::DataNode::Pointer m_ImageFiducialsDataNode;
mitk::DataNode::Pointer m_TrackerFiducialsDataNode;
 
//members for permanent registration
mitk::PointSet::Pointer m_PermanentRegistrationSourcePoints;
mitk::NavigationData::Pointer m_T_MarkerRel;
mitk::NavigationData::Pointer m_T_ObjectReg;
mitk::AffineTransform3D::Pointer m_T_ImageReg;
mitk::AffineTransform3D::Pointer m_T_ImageGeo;
mitk::NavigationData::Pointer m_ObjectmarkerNavigationDataLastUpdate; 
 
//######################## some internal help methods ############################
bool IsTransformDifferenceHigh(mitk::NavigationData::Pointer transformA, mitk::NavigationData::Pointer transformB, double euclideanDistanceThreshold = .8, double angularDifferenceThreshold = .8);
 
 
 
};
 
#endif