QmitkUltrasoundCalibration.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 QmitkUltrasoundCalibration_h
#define QmitkUltrasoundCalibration_h
 
#include <berryISelectionListener.h>
 
#include <QmitkAbstractView.h>
 
// MITK
#include <mitkIGTLClient.h>
#include <mitkNavigationDataToIGTLMessageFilter.h>
#include <mitkNeedleProjectionFilter.h>
#include <mitkPointSet.h>
#include <mitkPointSetDifferenceStatisticsCalculator.h>
#include <mitkUSCombinedModality.h>
 
// Microservices
#include "ui_QmitkUltrasoundCalibrationControls.h"
 
#include <vtkLandmarkTransform.h>
#include <vtkPolyData.h>
#include <vtkSmartPointer.h>
 
#include <ctkServiceEvent.h>
 
class QmitkUltrasoundCalibration : public QmitkAbstractView
{
  Q_OBJECT
 
public:
  QmitkUltrasoundCalibration();
  ~QmitkUltrasoundCalibration() override;
 
  static const std::string VIEW_ID;
 
  void CreateQtPartControl(QWidget *parent) override;
 
  void OnUSDepthChanged(const std::string &, const std::string &);
 
protected slots:
 
  void OnTabSwitch(int index);
 
  void OnDeviceSelected();
  void OnDeviceDeselected();
 
  void OnAddCalibPoint();
 
  void OnCalibration();
 
  void OnAddEvalTargetPoint();
 
  void OnAddEvalProjectedPoint();
 
  void OnSaveEvaluation();
 
  void OnSaveCalibration();
 
  void OnReset();
 
  void Update();
 
  void SwitchFreeze();
 
  void OnStartCalibrationProcess();
 
  void OnStartPlusCalibration();
 
  void OnStopPlusCalibration();
 
  void OnStartStreaming();
 
  void OnNewConnection();
 
  void OnGetPlusCalibration();
 
  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();
 
  /*
   * \brief load the configuration of the phantom fiducials which have to be saved as points in the sensor coordinate
   * system of the tracking sensor attached to the phantom
   */
  void OnLoadPhantomConfiguration();
  /*
   * \brief match the annotation pointset with the geometry of the phantom configuration
   */
  void OnMatchAnnotationToPhantomConfiguration();
  /*
   * \brief move the annotation pointset up
   */
  void OnMovePhantomAnnotationsUp();
  /*
   * \brief move the annotation pointset down
   */
  void OnMovePhantomAnnotationsDown();
  /*
   * \brief move the annotation pointset left
   */
  void OnMovePhantomAnnotationsLeft();
  /*
   * \brief move the annotation pointset right
   */
  void OnMovePhantomAnnotationsRight();
  /*
   * \brief rotate the annotation pointset right
   */
  void OnRotatePhantomAnnotationsRight();
  /*
   * \brief rotate the annotation pointset left
   */
  void OnRotatePhantomAnnotationsLeft();
 
  /*
   * \brief add a calibration point to be used for phantom based calibration
   */
  void OnPhantomCalibPointsChanged();
  /*
   * \brief perform phantom based calibration
   */
  void OnPhantomBasedCalibration();
 
signals:
  void NewConnectionSignal();
 
protected:
  void SetFocus() override;
 
  void OnSelectionChanged(berry::IWorkbenchPart::Pointer source, const QList<mitk::DataNode::Pointer> &nodes) override;
 
  void UpdatePhantomAnnotationPointVisualization(int index = -1);
  void TranslatePhantomAnnotations(double tx, double ty, double tz);
  void RotatePhantomAnnotations(double angle);
 
  Ui::QmitkUltrasoundCalibrationControls m_Controls;
 
  void ShowNeedlePath();
 
  void ClearTemporaryMembers();
 
  void OnPlusConnected();
 
  mitk::AbstractUltrasoundTrackerDevice::Pointer m_CombinedModality;
 
  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;
 
  mitk::Image::Pointer m_Image;
  mitk::Point3D m_FreezePoint;
 
  mitk::PointSet::Pointer m_CalibPointsImage;
  mitk::PointSet::Pointer m_CalibPointsTool;
  mitk::PointSet::Pointer
    m_PhantomConfigurationPointSet; 
  mitk::PointSet::Pointer m_EvalPointsProjected;
  mitk::PointSet::Pointer m_EvalPointsImage;
  mitk::PointSet::Pointer m_EvalPointsTool;
 
  mitk::PointSet::Pointer m_VerificationReferencePoints;
  mitk::DataNode::Pointer m_VerificationReferencePointsDataNode;
 
  int m_currentPoint;
  std::vector<mitk::Point3D> m_allReferencePoints;
  std::vector<double> m_allErrors;
 
  mitk::NeedleProjectionFilter::Pointer m_NeedleProjectionFilter;
  int m_CalibPointsCount;
 
  QString m_CurrentDepth;
 
  mitk::PointSetDifferenceStatisticsCalculator::Pointer m_ProjectionStatistics;
  mitk::PointSetDifferenceStatisticsCalculator::Pointer m_EvaluationStatistics;
  mitk::PointSetDifferenceStatisticsCalculator::Pointer m_CalibrationStatistics;
 
  mitk::AffineTransform3D::Pointer m_Transformation;
 
  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<vtkAbstractTransform> 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