An object of this class represents a navigation tool in the view of the software. A few informations like an identifier, a toolname, a surface and a itk spatial object are stored in such an object. The classes NavigationToolReader and are availiable to write/read tools to/from the harddisc. If you need a collection of navigation tools the class NavigationToolStorage could be used. More...

#include <mitkNavigationTool.h>

Inheritance diagram for mitk::NavigationTool:

Public Types
enum	NavigationToolType { Instrument , Fiducial , Skinmarker , Unknown }

Public Member Functions
	mitkClassMacroItkParent (NavigationTool, itk::DataObject)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

	itkGetConstMacro (Type, NavigationToolType)

	itkSetMacro (Type, NavigationToolType)

	itkGetConstMacro (Identifier, std::string)

	itkSetMacro (Identifier, std::string)

	itkGetConstMacro (DataNode, mitk::DataNode::Pointer)

	itkSetMacro (DataNode, mitk::DataNode::Pointer)

	itkGetConstMacro (SpatialObject, itk::SpatialObject< 3 >::Pointer)

	itkSetMacro (SpatialObject, itk::SpatialObject< 3 >::Pointer)

	itkGetConstMacro (CalibrationFile, std::string)

void	SetCalibrationFile (const std::string filename)

	itkGetConstMacro (ToolTipPosition, mitk::Point3D)

	itkSetMacro (ToolTipPosition, mitk::Point3D)

	itkGetConstMacro (ToolAxisOrientation, mitk::Quaternion)

	itkSetMacro (ToolAxisOrientation, mitk::Quaternion)

mitk::Point3D	GetToolAxis ()

void	SetToolAxis (mitk::Point3D toolAxis)

mitk::AffineTransform3D::Pointer	GetToolTipTransform ()

bool	IsToolTipSet ()

	itkGetConstMacro (ToolLandmarks, mitk::PointSet::Pointer)

	itkSetMacro (ToolLandmarks, mitk::PointSet::Pointer)
	Sets the tool landmarks which represent markers / special points on a tool that can be used for registration. The landmarks should be given in tool coordinates.

	itkGetConstMacro (ToolControlPoints, mitk::PointSet::Pointer)

	itkSetMacro (ToolControlPoints, mitk::PointSet::Pointer)
	Sets the tool calibration landmarks for calibration of defined points in the tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool.

	itkGetConstMacro (SerialNumber, std::string)

	itkSetMacro (SerialNumber, std::string)

	itkGetConstMacro (TrackingDeviceType, mitk::TrackingDeviceType)

	itkSetMacro (TrackingDeviceType, mitk::TrackingDeviceType)

std::string	GetToolName ()

mitk::Surface::Pointer	GetToolSurface ()

void	Graft (const DataObject *data) override
	Graft the data and information from one NavigationTool to another.

std::string	GetStringWithAllToolInformation () const

void	SetDefaultSurface ()

Protected Member Functions
	NavigationTool ()

	NavigationTool (const NavigationTool &other)

	~NavigationTool () override

itk::LightObject::Pointer	InternalClone () const override

Protected Attributes
std::string	m_Identifier

NavigationToolType	m_Type

mitk::DataNode::Pointer	m_DataNode
	This DataNode holds a toolname and a tool surface.

itk::SpatialObject< 3 >::Pointer	m_SpatialObject
	This member variable holds a mathamatical description of the tool.

std::string	m_CalibrationFile
	The path to the calibration file of the tool.

std::string	m_SerialNumber
	A unique serial number of the tool which is needed to identify the tool correctly. This is very important in case of the NDI Aurora System.

mitk::TrackingDeviceType	m_TrackingDeviceType
	This member holds the tracking device type of the tool.

mitk::PointSet::Pointer	m_ToolLandmarks
	Holds landmarks for tool registration.

mitk::PointSet::Pointer	m_ToolControlPoints
	Holds control points in the tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool.

mitk::Point3D	m_ToolTipPosition
	Holds the position of the tool tip.

mitk::Quaternion	m_ToolAxisOrientation
	Holds the transformation of the main tool axis to the negative z-axis (0,0,-1)

Detailed Description

An object of this class represents a navigation tool in the view of the software. A few informations like an identifier, a toolname, a surface and a itk spatial object are stored in such an object. The classes NavigationToolReader and are availiable to write/read tools to/from the harddisc. If you need a collection of navigation tools the class NavigationToolStorage could be used.

Documentation

Definition at line 39 of file mitkNavigationTool.h.

Member Enumeration Documentation

◆ NavigationToolType

enum mitk::NavigationTool::NavigationToolType

Enumerator
Instrument
Fiducial
Skinmarker
Unknown

Definition at line 47 of file mitkNavigationTool.h.

Constructor & Destructor Documentation

◆ NavigationTool() [1/2]

mitk::NavigationTool::NavigationTool ( )

protected

Definition at line 29 of file mitkNavigationTool.cpp.

◆ NavigationTool() [2/2]

mitk::NavigationTool::NavigationTool ( const NavigationTool & other )

protected

Definition at line 52 of file mitkNavigationTool.cpp.

◆ ~NavigationTool()

mitk::NavigationTool::~NavigationTool ( )

overrideprotected

Definition at line 80 of file mitkNavigationTool.cpp.

Member Function Documentation

◆ GetStringWithAllToolInformation()

std::string mitk::NavigationTool::GetStringWithAllToolInformation ( ) const

Return all relevant information as string, e.g. to display all tool information

Definition at line 344 of file mitkNavigationTool.cpp.

◆ GetToolAxis()

mitk::Point3D mitk::NavigationTool::GetToolAxis ( )

Returns: Returns the main tool axis which is defined as the z-coordinate of the tool coordinate system.

Definition at line 84 of file mitkNavigationTool.cpp.

◆ GetToolName()

std::string mitk::NavigationTool::GetToolName ( )

Returns: Returns the name of this navigation tool. Returns an empty string if there is no name (for example because the data node has not been set yet).

Note: There is no setter for the name, because the name of the corresponding data node is used as tool name. So if you want to modify the name of this navigation tool only get the data node and modify its name.

Definition at line 203 of file mitkNavigationTool.cpp.

◆ GetToolSurface()

mitk::Surface::Pointer mitk::NavigationTool::GetToolSurface ( )

Returns: Returns the surface of this navigation tool. Returns nullptr if there is no surface (for example because the data node has not been set yet).

Note: There is no setter for the surface, because the surface is the data of the corresponding data node. So if you want to set a new surface only get the data node and modify its data.

Definition at line 209 of file mitkNavigationTool.cpp.

◆ GetToolTipTransform()

mitk::AffineTransform3D::Pointer mitk::NavigationTool::GetToolTipTransform ( )

Returns: Returns the tooltip as transform object.

Definition at line 129 of file mitkNavigationTool.cpp.

◆ Graft()

void mitk::NavigationTool::Graft ( const DataObject * data )

override

Graft the data and information from one NavigationTool to another.

Copies the content of data into this object. This is a convenience method to setup a second NavigationTool object with all the meta information of another NavigationTool object. Note that this method is different than just using two SmartPointers to the same NavigationTool object since separate DataObjects are still maintained.

Definition at line 137 of file mitkNavigationTool.cpp.

◆ InternalClone()

itk::LightObject::Pointer mitk::NavigationTool::InternalClone ( ) const

overrideprotected

Definition at line 45 of file mitkNavigationTool.cpp.

◆ IsToolTipSet()

bool mitk::NavigationTool::IsToolTipSet ( )

Returns: Returns true if a tooltip is set, false if not.

Definition at line 173 of file mitkNavigationTool.cpp.

◆ itkCloneMacro()

mitk::NavigationTool::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::NavigationTool::itkFactorylessNewMacro ( Self )

◆ itkGetConstMacro() [1/11]

mitk::NavigationTool::itkGetConstMacro	(	CalibrationFile	,
		std::string	)

◆ itkGetConstMacro() [2/11]

mitk::NavigationTool::itkGetConstMacro	(	DataNode	,
		mitk::DataNode::Pointer	)

◆ itkGetConstMacro() [3/11]

mitk::NavigationTool::itkGetConstMacro	(	Identifier	,
		std::string	)

◆ itkGetConstMacro() [4/11]

mitk::NavigationTool::itkGetConstMacro	(	SerialNumber	,
		std::string	)

◆ itkGetConstMacro() [5/11]

mitk::NavigationTool::itkGetConstMacro	(	SpatialObject	,
		itk::SpatialObject< 3 >::Pointer	)

◆ itkGetConstMacro() [6/11]

mitk::NavigationTool::itkGetConstMacro	(	ToolAxisOrientation	,
		mitk::Quaternion	)

◆ itkGetConstMacro() [7/11]

mitk::NavigationTool::itkGetConstMacro	(	ToolControlPoints	,
		mitk::PointSet::Pointer	)

Returns: Returns the tool control point in the tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool.

◆ itkGetConstMacro() [8/11]

mitk::NavigationTool::itkGetConstMacro	(	ToolLandmarks	,
		mitk::PointSet::Pointer	)

For overview, here are descriptons of the two types of tool landmarks:

control points: These landmarks may be used clearly define the tools pose only by using landmarks in the tool coordinate system. E.g., two landmarks for a 5DoF tool and three landmarks for a 6DoF tool. These landmarks may be used, e.g., for a point based registration of a tool from image space to tracking space.

tool landmarks: These landmarks are designed for representing defined landmarks on a tools surface. The number of these landmarks might exeed the number of tool control points for reasons of redundancy and averaging. They are used for, e.g., manually registering the pose of a tool by visual markers in a CT scan. If you would use these landmarks to do a point based registration from image space to tracking space later, you might overweight the tool because of two many landmarks compared to other markers.

Returns: Returns the tool registration landmarks which represent markers / special points on a tool that can be used for registration. The landmarks should be given in tool coordinates. If there are no landmarks defined for this tool the method returns an empty point set.

◆ itkGetConstMacro() [9/11]

mitk::NavigationTool::itkGetConstMacro	(	ToolTipPosition	,
		mitk::Point3D	)

◆ itkGetConstMacro() [10/11]

mitk::NavigationTool::itkGetConstMacro	(	TrackingDeviceType	,
		mitk::TrackingDeviceType	)

◆ itkGetConstMacro() [11/11]

mitk::NavigationTool::itkGetConstMacro	(	Type	,
		NavigationToolType	)

◆ itkSetMacro() [1/10]

mitk::NavigationTool::itkSetMacro	(	DataNode	,
		mitk::DataNode::Pointer	)

◆ itkSetMacro() [2/10]

mitk::NavigationTool::itkSetMacro	(	Identifier	,
		std::string	)

◆ itkSetMacro() [3/10]

mitk::NavigationTool::itkSetMacro	(	SerialNumber	,
		std::string	)

◆ itkSetMacro() [4/10]

mitk::NavigationTool::itkSetMacro	(	SpatialObject	,
		itk::SpatialObject< 3 >::Pointer	)

◆ itkSetMacro() [5/10]

mitk::NavigationTool::itkSetMacro	(	ToolAxisOrientation	,
		mitk::Quaternion	)

◆ itkSetMacro() [6/10]

mitk::NavigationTool::itkSetMacro	(	ToolControlPoints	,
		mitk::PointSet::Pointer	)

Sets the tool calibration landmarks for calibration of defined points in the tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool.

◆ itkSetMacro() [7/10]

mitk::NavigationTool::itkSetMacro	(	ToolLandmarks	,
		mitk::PointSet::Pointer	)

Sets the tool landmarks which represent markers / special points on a tool that can be used for registration. The landmarks should be given in tool coordinates.

◆ itkSetMacro() [8/10]

mitk::NavigationTool::itkSetMacro	(	ToolTipPosition	,
		mitk::Point3D	)

◆ itkSetMacro() [9/10]

mitk::NavigationTool::itkSetMacro	(	TrackingDeviceType	,
		mitk::TrackingDeviceType	)

◆ itkSetMacro() [10/10]

mitk::NavigationTool::itkSetMacro	(	Type	,
		NavigationToolType	)

◆ mitkClassMacroItkParent()

mitk::NavigationTool::mitkClassMacroItkParent	(	NavigationTool	,
		itk::DataObject	)

◆ SetCalibrationFile()

void mitk::NavigationTool::SetCalibrationFile ( const std::string filename )

Definition at line 186 of file mitkNavigationTool.cpp.

◆ SetDefaultSurface()

void mitk::NavigationTool::SetDefaultSurface ( )

Definition at line 216 of file mitkNavigationTool.cpp.

◆ SetToolAxis()

void mitk::NavigationTool::SetToolAxis ( mitk::Point3D toolAxis )

Convenience function to define the tool orientation given the main tool axis. As the main tool axis is defined as the negative z-axis of the tool coordinate system, the tool orientation is calculated as a rotation of the actual tool axis in tool coordinates as obtained by a calibration to the main axis.

Definition at line 99 of file mitkNavigationTool.cpp.

Member Data Documentation

◆ m_CalibrationFile

std::string mitk::NavigationTool::m_CalibrationFile

protected

The path to the calibration file of the tool.

Definition at line 186 of file mitkNavigationTool.h.

◆ m_DataNode

mitk::DataNode::Pointer mitk::NavigationTool::m_DataNode

protected

This DataNode holds a toolname and a tool surface.

Definition at line 182 of file mitkNavigationTool.h.

◆ m_Identifier

std::string mitk::NavigationTool::m_Identifier

protected

Definition at line 179 of file mitkNavigationTool.h.

◆ m_SerialNumber

std::string mitk::NavigationTool::m_SerialNumber

protected

A unique serial number of the tool which is needed to identify the tool correctly. This is very important in case of the NDI Aurora System.

Definition at line 189 of file mitkNavigationTool.h.

◆ m_SpatialObject

itk::SpatialObject<3>::Pointer mitk::NavigationTool::m_SpatialObject

protected

This member variable holds a mathamatical description of the tool.

Definition at line 184 of file mitkNavigationTool.h.

◆ m_ToolAxisOrientation

mitk::Quaternion mitk::NavigationTool::m_ToolAxisOrientation

protected

Holds the transformation of the main tool axis to the negative z-axis (0,0,-1)

Definition at line 201 of file mitkNavigationTool.h.

◆ m_ToolControlPoints

mitk::PointSet::Pointer mitk::NavigationTool::m_ToolControlPoints

protected

Holds control points in the tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool.

Definition at line 197 of file mitkNavigationTool.h.

◆ m_ToolLandmarks

mitk::PointSet::Pointer mitk::NavigationTool::m_ToolLandmarks

protected

Holds landmarks for tool registration.

Definition at line 193 of file mitkNavigationTool.h.

◆ m_ToolTipPosition

mitk::Point3D mitk::NavigationTool::m_ToolTipPosition

protected

Holds the position of the tool tip.

Definition at line 199 of file mitkNavigationTool.h.

◆ m_TrackingDeviceType

mitk::TrackingDeviceType mitk::NavigationTool::m_TrackingDeviceType

protected

This member holds the tracking device type of the tool.

Definition at line 191 of file mitkNavigationTool.h.

◆ m_Type

NavigationToolType mitk::NavigationTool::m_Type

protected

Definition at line 180 of file mitkNavigationTool.h.

The documentation for this class was generated from the following files:

Modules/IGT/DataManagement/mitkNavigationTool.h
Modules/IGT/DataManagement/mitkNavigationTool.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ NavigationToolType

Constructor & Destructor Documentation

◆ NavigationTool() [1/2]

◆ NavigationTool() [2/2]

◆ ~NavigationTool()

Member Function Documentation

◆ GetStringWithAllToolInformation()

◆ GetToolAxis()

◆ GetToolName()

◆ GetToolSurface()

◆ GetToolTipTransform()

◆ Graft()

◆ InternalClone()

◆ IsToolTipSet()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ itkGetConstMacro() [1/11]

◆ itkGetConstMacro() [2/11]

◆ itkGetConstMacro() [3/11]

◆ itkGetConstMacro() [4/11]

◆ itkGetConstMacro() [5/11]

◆ itkGetConstMacro() [6/11]

◆ itkGetConstMacro() [7/11]

◆ itkGetConstMacro() [8/11]

◆ itkGetConstMacro() [9/11]

◆ itkGetConstMacro() [10/11]

◆ itkGetConstMacro() [11/11]

◆ itkSetMacro() [1/10]

◆ itkSetMacro() [2/10]

◆ itkSetMacro() [3/10]

◆ itkSetMacro() [4/10]

◆ itkSetMacro() [5/10]

◆ itkSetMacro() [6/10]

◆ itkSetMacro() [7/10]

◆ itkSetMacro() [8/10]

◆ itkSetMacro() [9/10]

◆ itkSetMacro() [10/10]

◆ mitkClassMacroItkParent()

◆ SetCalibrationFile()

◆ SetDefaultSurface()

◆ SetToolAxis()

Member Data Documentation

◆ m_CalibrationFile

◆ m_DataNode

◆ m_Identifier

◆ m_SerialNumber

◆ m_SpatialObject

◆ m_ToolAxisOrientation

◆ m_ToolControlPoints

◆ m_ToolLandmarks

◆ m_ToolTipPosition

◆ m_TrackingDeviceType

◆ m_Type