mitkIGTTutorialStep1.cpp

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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.
 
============================================================================*/
 
#include <mitkVirtualTrackingDevice.h>
#include <mitkTrackingTool.h>
#include <mitkIOUtil.h>
 
#include <mitkNavigationData.h>
#include <mitkTrackingDeviceSource.h>
#include "mitkNavigationDataDisplacementFilter.h"
#include <mitkNavigationDataRecorder.h>
#include <mitkNavigationDataSequentialPlayer.h>
 
#include <itksys/SystemTools.hxx>
 
//##Documentation
//## \brief A small console tutorial about MITK-IGT
int main(int  /*argc*/, char*  /*argv*/[])
{
  //The next line starts a snippet to display this code in the documentation. If you don't revise the documentation, don't remove it!
  //*************************************************************************
  // What we will do...
  //*************************************************************************
  //In this tutorial we build up a small navigation pipeline with a virtual tracking device
  //which produce random positions and orientation so no additional hardware is required.
  //
  //The source of the pipeline is a TrackingDeviceSource object. This we connect to a simple
  //filter which just displaces the positions with an offset. After that we use a recorder
  //to store this new positions and other information to disc in a XML file. After that, we use
  //another source (NavigationDataPlayer) to replay the recorded data.
 
  //*************************************************************************
  // Part I: Basic initialization of the source and tracking device
  //*************************************************************************
  //First of all create a tracking device object and two tools for this "device".
 
  //Here we take the VirtualTrackingDevice. This is not a real tracking device it just delivers random
  //positions and orientations. You can use other/real tracking devices if you replace the following
  //code with different tracking devices, e.g. mitk::NDITrackingDevice. The tools represent the
  //sensors of the tracking device. The TrackingDevice fills the tools with data.
  std::cout << "Generating TrackingDevice ..." << std::endl;
 
  mitk::VirtualTrackingDevice::Pointer tracker = mitk::VirtualTrackingDevice::New();
  tracker->AddTool("tool1");
  tracker->AddTool("tool2");
 
  //The tracking device object is used for the physical connection to the device. To use the
  //data inside of our tracking pipeline we need a source. This source encapsulate the tracking device
  //and provides objects of the type mitk::NavigationData as output. The NavigationData objects stores
  //position, orientation, if the data is valid or not and special error informations in a covariance
  //matrix.
  //
  //Typically the start of our pipeline is a TrackingDeviceSource. To work correct we have to set a
  //TrackingDevice object. Attention you have to set the tools before you set the whole TrackingDevice
  //object to the TrackingDeviceSource because the source need to know how many outputs should be
  //generated.
 
  std::cout << "Generating Source ..." << std::endl;
 
  mitk::TrackingDeviceSource::Pointer source = mitk::TrackingDeviceSource::New();
  source->SetTrackingDevice(tracker); //here we set the device for the pipeline source
 
  source->Connect();        //here we connect to the tracking system
  //Note we do not call this on the TrackingDevice object
  source->StartTracking();  //start the tracking
  //Now the source generates outputs.
 
  //*************************************************************************
  // Part II: Create a NavigationDataToNavigationDataFilter
  //*************************************************************************
 
  //The next thing we do is using a NavigationDataToNavigationDataFilter. One of these filter is the
  //very simple NavigationDataDisplacementFilter. This filter just changes the positions of the input
  //NavigationData objects with an offset for each direction (X,Y,Z). The input of this filter is the
  //source and the output of this filter is the "displaced" input.
 
  std::cout << "Generating DisplacementFilter ..." << std::endl;
 
  mitk::NavigationDataDisplacementFilter::Pointer displacer = mitk::NavigationDataDisplacementFilter::New();
  mitk::Vector3D offset;
  mitk::FillVector3D(offset, 10.0, 100.0, 1.0); //initialize the offset
  displacer->SetOffset(offset); //now set the offset in the NavigationDataDisplacementFilter object
 
  //Connect the two filters. You can use the ConnectTo method to automatically connect all outputs from one filter
  // to inputs from another filter.
  displacer->ConnectTo(source.GetPointer());
 
  // Alternatively, you can manually connect inputs and outputs.
  // The code below shows what the ConnectTo Methods does internally:
  //
  //for (unsigned int i = 0; i < source->GetNumberOfOutputs(); i++)
  //{
  //  displacer->SetInput(i, source->GetOutput(i));  //here we connect to the displacement filter
  //}
 
 
  //*************************************************************************
  // Part III: Record the data with the NavigationDataRecorder
  //*************************************************************************
 
  //The next part of our pipeline is the recorder. The input of the recorder is the output of the displacement filter
  //and the output is a XML file with the name "Test Output-0.xml", which is written with a NavigationDataSetWriter.
 
  std::cout << "Start Recording ..." << std::endl;
 
  //we need the stringstream for building up our filename
  std::stringstream filename;
 
  //the .xml extension and an counter is NOT added automatically anymore -- that was the case in an earlier version
  filename << itksys::SystemTools::GetCurrentWorkingDirectory() << "/Test Output-0.xml";
 
  std::cout << "Record to file: " << filename.str() << " ..." << std::endl;
 
  mitk::NavigationDataRecorder::Pointer recorder = mitk::NavigationDataRecorder::New();
 
  //now the output of the displacer object is connected to the recorder object
  recorder->ConnectTo(displacer);
 
  recorder->StartRecording(); //after finishing the settings you can start the recording mechanism
  //now every update of the recorder stores one line into the file for
  //each added NavigationData
 
  for (unsigned int x = 0; x < 100; x++) //write 100 datasets
  {
    recorder->Update(); //the update causes one line in the XML file for every tool
    //in this case two lines
    itksys::SystemTools::Delay(100);         //sleep a little
  }
  recorder->StopRecording(); //to get proper XML files you should stop recording
  //if your application crashes during recording no data
  //will be lost it is all stored to disc
 
  //The IO-System needs a filename. Otherwise the output
  //is redirected to the console. See MITK-Concepts page for more details on IO in MITK
  mitk::IOUtil::Save(recorder->GetNavigationDataSet(), filename.str());
 
 
 
  //*************************************************************************
  // Part IV: Play the data with the NavigationDataSequentialPlayer
  //*************************************************************************
 
  //The recording is finished now so now we can play the data. The NavigationDataPlayer is similar
  //to the TrackingDevice source. It also derives from NavigationDataSource. So you can use a player
  //instead of a TrackingDeviceSource. The input of this player is a NavigationDataSet, which we
  //read with a NavigationDataReader.
 
  std::cout << "Start playing from file: " << filename.str() << " ..." << std::endl;
 
  mitk::NavigationDataSequentialPlayer::Pointer player = mitk::NavigationDataSequentialPlayer::New();
 
  mitk::NavigationDataSet::Pointer naviDataSet = dynamic_cast<mitk::NavigationDataSet*> (mitk::IOUtil::Load(filename.str())[0].GetPointer());
  player->SetNavigationDataSet(naviDataSet);
 
  //From now on, the player provides NavigationDatas in a sequential order. The next position is given, as soon as "update" is called, so this player is not in real time.
  //If you need the correct time of your tracking Data, use the NavigationDataPlayer instead and call "StartPlaying" and "StopPlaying".
 
  //this connects the outputs of the player to the NavigationData objects
  mitk::NavigationData::Pointer nd = player->GetOutput();
  mitk::NavigationData::Pointer nd2 = player->GetOutput(1);
  for (unsigned int x = 0; x < 100; x++)
  {
    if (nd.IsNotNull()) //check if the output is not null
    {
      //With this call, we go to the next recorded data set.
      player->GoToNextSnapshot();
 
      MITK_INFO << "Time Step " << x;
      MITK_INFO << "Tool 1:" << nd->GetPosition();
      MITK_INFO << "Tool 2:" << nd2->GetPosition();
 
      itksys::SystemTools::Delay(100); //sleep a little like in the recorder part, just for nice reading...
    }
  }
 
  itksys::SystemTools::Delay(2000);
  std::cout << "finished" << std::endl;
 
}