This filter moves DataNodes relatively to tracking Data from a 6-DoF Sensor. More...

#include <mitkNodeDisplacementFilter.h>

Inheritance diagram for mitk::NodeDisplacementFilter:

Public Member Functions
	mitkClassMacro (NodeDisplacementFilter, NavigationDataPassThroughFilter)

	itkNewMacro (Self)

bool	AddNode (mitk::DataNode::Pointer node)
	Adds a node to the filter. The position of which will then be continously update relatively to the selected input stream.

bool	RemoveNode (unsigned int i)
	Removes a node from the filter.

virtual int	GetNumberOfNodes ()
	Returns the number of nodes that were added to this filter.

virtual mitk::DataNode::Pointer	GetNode (unsigned int i=0)
	Returns the nth node that was added to this filter.

virtual mitk::NavigationData::Pointer	GetRawDisplacementNavigationData (unsigned int i=0)

virtual std::vector< mitk::DataNode::Pointer >	GetNodes ()
	Returns a vector containing all nodes that have been added to this filter.

virtual void	SelectInput (int i)
	Selects an input stream as the reference stream.

	itkSetMacro (InitialReferencePose, mitk::NavigationData::Pointer)

virtual void	ResetNodes ()
	Removes all added Nodes from the Filter but leaves all other configuration intact.

Public Member Functions inherited from mitk::NavigationDataPassThroughFilter
	mitkClassMacro (NavigationDataPassThroughFilter, NavigationDataToNavigationDataFilter)

	itkNewMacro (Self)

Public Member Functions inherited from mitk::NavigationDataToNavigationDataFilter
	mitkClassMacro (NavigationDataToNavigationDataFilter, NavigationDataSource)

virtual void	SetInput (const NavigationData *nd)
	Set the input of this filter.

virtual void	SetInput (unsigned int idx, const NavigationData *nd)
	Set input with id idx of this filter.

const NavigationData *	GetInput (void) const
	Get the input of this filter.

const NavigationData *	GetInput (unsigned int idx) const
	Get the input with id idx of this filter.

const NavigationData *	GetInput (std::string navDataName) const
	Get the input with name navDataName of this filter.

DataObjectPointerArraySizeType	GetInputIndex (std::string navDataName)
	return the index of the input with name navDataName, throw std::invalid_argument exception if that name was not found

virtual void	ConnectTo (mitk::NavigationDataSource *UpstreamFilter)
	Connects the input of this filter to the outputs of the given NavigationDataSource.

Public Member Functions inherited from mitk::NavigationDataSource
	mitkClassMacroItkParent (NavigationDataSource, itk::ProcessObject)

	itkGetMacro (Name, std::string)

	itkSetMacro (Name, std::string)
	Sets the human readable name of this source. There is also a default name, but you can use this method if you need to define it on your own.

NavigationData *	GetOutput (void)
	return the output (output with id 0) of the filter

NavigationData *	GetOutput (DataObjectPointerArraySizeType idx)
	return the output with id idx of the filter

NavigationData *	GetOutput (const std::string &navDataName)
	return the output with name navDataName of the filter

NavigationTool::Pointer	GetToolMetaData (DataObjectPointerArraySizeType idx)

NavigationTool::Pointer	GetToolMetaData (const std::string &navDataName)

	itkGetMacro (ToolMetaDataCollection, mitk::NavigationToolStorage::Pointer)

	itkSetMacro (ToolMetaDataCollection, mitk::NavigationToolStorage::Pointer)

DataObjectPointerArraySizeType	GetOutputIndex (std::string navDataName)
	return the index of the output with name navDataName, -1 if no output with that name was found

virtual void	RegisterAsMicroservice ()
	Registers this object as a Microservice, making it available to every module and/or plugin. To unregister, call UnregisterMicroservice().

virtual void	UnRegisterMicroservice ()
	Registers this object as a Microservice, making it available to every module and/or plugin.

std::string	GetMicroserviceID ()
	Returns the id that this device is registered with. The id will only be valid, if the NavigationDataSource has been registered using RegisterAsMicroservice().

virtual void	GraftNthOutput (unsigned int idx, itk::DataObject *graft)
	Graft the specified DataObject onto this ProcessObject's output.

virtual void	GraftOutput (itk::DataObject *graft)
	Graft the specified DataObject onto this ProcessObject's output.

itk::DataObject::Pointer	MakeOutput (DataObjectPointerArraySizeType idx) override

itk::DataObject::Pointer	MakeOutput (const DataObjectIdentifierType &name) override

virtual void	SetParameters (const mitk::PropertyList *)
	Set all filter parameters as the PropertyList p.

virtual mitk::PropertyList::ConstPointer	GetParameters () const
	Get all filter parameters as a PropertyList.

virtual void	Freeze ()

virtual void	UnFreeze ()

	itkGetMacro (IsFrozen, bool)

Protected Member Functions
	NodeDisplacementFilter ()

	~NodeDisplacementFilter () override

void	GenerateData () override

mitk::Geometry3D::Pointer	TransformToGeometry (mitk::AffineTransform3D::Pointer transform)
	Creates an Geometry 3D Object from an AffineTransformation.

Protected Member Functions inherited from mitk::NavigationDataPassThroughFilter
	NavigationDataPassThroughFilter ()

	~NavigationDataPassThroughFilter () override

void	GenerateData () override
	Passes navigation data from all inputs to all outputs. If a subclass wants to implement its own version of the GenerateData() method it should call this method inside its implementation.

Protected Member Functions inherited from mitk::NavigationDataToNavigationDataFilter
	NavigationDataToNavigationDataFilter ()

	~NavigationDataToNavigationDataFilter () override

void	CreateOutputsForAllInputs ()
	Create an output for each input.

Protected Member Functions inherited from mitk::NavigationDataSource
	NavigationDataSource ()

	~NavigationDataSource () override

Protected Attributes
std::vector< mitk::DataNode::Pointer >	m_Nodes
	All Nodes that are being managed by this Filter.

std::vector< mitk::AffineTransform3D::Pointer >	m_Transforms
	The transformation that each node has to be reached from the selected navigation tool. The indexes correspond to indexes in the node vector.

int	m_SelectedInput
	The Input that is used as a reference to orient the managed nodes.

mitk::NavigationData::Pointer	m_InitialReferencePose

Protected Attributes inherited from mitk::NavigationDataSource
std::string	m_Name

bool	m_IsFrozen

NavigationToolStorage::Pointer	m_ToolMetaDataCollection

Additional Inherited Members
Static Public Attributes inherited from mitk::NavigationDataSource
static const std::string	US_INTERFACE_NAME = "org.mitk.services.NavigationDataSource"
	These Constants are used in conjunction with Microservices.

static const std::string	US_PROPKEY_DEVICENAME = US_INTERFACE_NAME + ".devicename"

static const std::string	US_PROPKEY_ID = US_INTERFACE_NAME + ".id"

static const std::string	US_PROPKEY_ISACTIVE = US_INTERFACE_NAME + ".isActive"

Detailed Description

This filter moves DataNodes relatively to tracking Data from a 6-DoF Sensor.

Documentation

This behaviour can for example be used for rigid tracking of risk structures relative to a skin marker. To use it, connect the Filter and select the input that delivers tracking data from the reference marker via SelectInput(). Make sure tracking is started before proceeding any further: The filter requires tracking data from the sensor to calculate the relative position of the added node.

One can then add Nodes to the filter via AddNode(). Make sure that the node has a geometry and position set in the tracking coordinate system of the reference input. The Filter will then calculate the offset between Node and reference marker and continously update the node position accordign to the tracking data.

Definition at line 43 of file mitkNodeDisplacementFilter.h.

Constructor & Destructor Documentation

◆ NodeDisplacementFilter()

mitk::NodeDisplacementFilter::NodeDisplacementFilter ( )

protected

Definition at line 17 of file mitkNodeDisplacementFilter.cpp.

◆ ~NodeDisplacementFilter()

mitk::NodeDisplacementFilter::~NodeDisplacementFilter ( )

overrideprotected

Definition at line 22 of file mitkNodeDisplacementFilter.cpp.

Member Function Documentation

◆ AddNode()

bool mitk::NodeDisplacementFilter::AddNode ( mitk::DataNode::Pointer node )

Adds a node to the filter. The position of which will then be continously update relatively to the selected input stream.

The node should have a geometry and position set in the coordinate system of the selected input stream

Definition at line 26 of file mitkNodeDisplacementFilter.cpp.

◆ GenerateData()

void mitk::NodeDisplacementFilter::GenerateData ( )

overrideprotected

Definition at line 139 of file mitkNodeDisplacementFilter.cpp.

◆ GetNode()

mitk::DataNode::Pointer mitk::NodeDisplacementFilter::GetNode ( unsigned int i = 0 )

virtual

Returns the nth node that was added to this filter.

Definition at line 92 of file mitkNodeDisplacementFilter.cpp.

◆ GetNodes()

std::vector< mitk::DataNode::Pointer > mitk::NodeDisplacementFilter::GetNodes ( )

virtual

Returns a vector containing all nodes that have been added to this filter.

Indexes in this vector correspond to indexes in the vector provided by GetOffsets().

Definition at line 98 of file mitkNodeDisplacementFilter.cpp.

◆ GetNumberOfNodes()

int mitk::NodeDisplacementFilter::GetNumberOfNodes ( )

virtual

Returns the number of nodes that were added to this filter.

Definition at line 87 of file mitkNodeDisplacementFilter.cpp.

◆ GetRawDisplacementNavigationData()

mitk::NavigationData::Pointer mitk::NodeDisplacementFilter::GetRawDisplacementNavigationData ( unsigned int i = 0 )

virtual

Returns: Returns the current pose in world coordinates of node i as raw navigation data.

Definition at line 115 of file mitkNodeDisplacementFilter.cpp.

◆ itkNewMacro()

mitk::NodeDisplacementFilter::itkNewMacro ( Self )

◆ itkSetMacro()

mitk::NodeDisplacementFilter::itkSetMacro	(	InitialReferencePose	,
		mitk::NavigationData::Pointer	)

Manually sets the initial marker pose which is used for computing the offset. By default this option is disabled and the current pose of the selected input is used to compute the offset. However, sometimes it is needed to give a defined marker pose, then this method can be used. To disable the option you can set MarkerPosition to nullptr.

◆ mitkClassMacro()

mitk::NodeDisplacementFilter::mitkClassMacro	(	NodeDisplacementFilter	,
		NavigationDataPassThroughFilter	)

◆ RemoveNode()

bool mitk::NodeDisplacementFilter::RemoveNode ( unsigned int i )

Removes a node from the filter.

Parameters

i	index of the node, the index corresponds to the order in which the nodes where added by AddNode()

Returns: true if a node with the given index was removed, false if the index was greater or equal the number of nodes in the filter

Definition at line 78 of file mitkNodeDisplacementFilter.cpp.

◆ ResetNodes()

void mitk::NodeDisplacementFilter::ResetNodes ( )

virtual

Removes all added Nodes from the Filter but leaves all other configuration intact.

Documentation

Definition at line 173 of file mitkNodeDisplacementFilter.cpp.

◆ SelectInput()

void mitk::NodeDisplacementFilter::SelectInput ( int i )

virtual

Selects an input stream as the reference stream.

Position and orientation of all Nodes will be Updated according to information from the selected stream. Make sure to select the input before adding nodes. The input should deliver 6DoF Data. Behaviour is undefined for 5-Dof Data. The selected input can be changed during intervention if both old and new reference input Lie in the same coordinate system. Be aware however that the offsets will not be recalculated, just moved to the new stream.

Definition at line 103 of file mitkNodeDisplacementFilter.cpp.

◆ TransformToGeometry()

mitk::Geometry3D::Pointer mitk::NodeDisplacementFilter::TransformToGeometry ( mitk::AffineTransform3D::Pointer transform )

protected

Creates an Geometry 3D Object from an AffineTransformation.

Definition at line 179 of file mitkNodeDisplacementFilter.cpp.

Member Data Documentation

◆ m_InitialReferencePose

mitk::NavigationData::Pointer mitk::NodeDisplacementFilter::m_InitialReferencePose

protected

Reference pose of the selected input to compute the offset. If this is nullptr the current pose of the selected input is used instead.

Definition at line 137 of file mitkNodeDisplacementFilter.h.

◆ m_Nodes

std::vector<mitk::DataNode::Pointer> mitk::NodeDisplacementFilter::m_Nodes

protected

All Nodes that are being managed by this Filter.

Definition at line 121 of file mitkNodeDisplacementFilter.h.

◆ m_SelectedInput

int mitk::NodeDisplacementFilter::m_SelectedInput

protected

The Input that is used as a reference to orient the managed nodes.

Definition at line 132 of file mitkNodeDisplacementFilter.h.

◆ m_Transforms

std::vector<mitk::AffineTransform3D::Pointer> mitk::NodeDisplacementFilter::m_Transforms

protected

The transformation that each node has to be reached from the selected navigation tool. The indexes correspond to indexes in the node vector.

Definition at line 127 of file mitkNodeDisplacementFilter.h.

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

Modules/US/USNavigation/Filter/mitkNodeDisplacementFilter.h
Modules/US/USNavigation/Filter/mitkNodeDisplacementFilter.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NodeDisplacementFilter()

◆ ~NodeDisplacementFilter()

Member Function Documentation

◆ AddNode()

◆ GenerateData()

◆ GetNode()

◆ GetNodes()

◆ GetNumberOfNodes()

◆ GetRawDisplacementNavigationData()

◆ itkNewMacro()

◆ itkSetMacro()

◆ mitkClassMacro()

◆ RemoveNode()

◆ ResetNodes()

◆ SelectInput()

◆ TransformToGeometry()

Member Data Documentation

◆ m_InitialReferencePose

◆ m_Nodes

◆ m_SelectedInput

◆ m_Transforms