mitkNavigationDataSet.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 "mitkNavigationDataSet.h"
#include "mitkPointSet.h"
#include "mitkBaseRenderer.h"
 
mitk::NavigationDataSet::NavigationDataSet( unsigned int numberOfTools )
  : m_NavigationDataVectors(std::vector<std::vector<mitk::NavigationData::Pointer> >()), m_NumberOfTools(numberOfTools)
{
}
 
mitk::NavigationDataSet::~NavigationDataSet( )
{
}
 
bool mitk::NavigationDataSet::AddNavigationDatas( std::vector<mitk::NavigationData::Pointer> navigationDatas )
{
  // test if tool with given index exist
  if ( navigationDatas.size() != m_NumberOfTools )
  {
    MITK_WARN("NavigationDataSet") << "Tried to add too many or too few navigation Datas to NavigationDataSet. " << m_NumberOfTools << " required, tried to add " << navigationDatas.size() << ".";
    return false;
  }
 
  // test for consistent timestamp
  if ( m_NavigationDataVectors.size() > 0)
  {
    for (std::vector<mitk::NavigationData::Pointer>::size_type i = 0; i < navigationDatas.size(); i++)
      if (navigationDatas[i]->GetIGTTimeStamp() <= m_NavigationDataVectors.back()[i]->GetIGTTimeStamp())
      {
        MITK_WARN("NavigationDataSet") << "IGTTimeStamp of new NavigationData should be newer than timestamp of last NavigationData.";
        return false;
      }
  }
 
  m_NavigationDataVectors.push_back(navigationDatas);
  return true;
}
 
mitk::NavigationData::Pointer mitk::NavigationDataSet::GetNavigationDataForIndex( unsigned int index, unsigned int toolIndex ) const
{
  if ( index >= m_NavigationDataVectors.size() )
  {
    MITK_WARN("NavigationDataSet") << "There is no NavigationData available at index " << index << ".";
    return nullptr;
  }
 
  if ( toolIndex >= m_NavigationDataVectors.at(index).size() )
  {
    MITK_WARN("NavigationDataSet") << "There is NavigatitionData available at index " << index << " for tool " << toolIndex << ".";
    return nullptr;
  }
 
  return m_NavigationDataVectors.at(index).at(toolIndex);
}
 
// Method not yet supported, code below compiles but delivers wrong results
//mitk::NavigationData::Pointer mitk::NavigationDataSet::GetNavigationDataBeforeTimestamp(
//  mitk::NavigationData::TimeStampType timestamp, unsigned int toolIndex) const
//{
//  if ( toolIndex >= m_NavigationDataVectors.size() )
//  {
//    MITK_WARN("NavigationDataSet") << "There is no tool with index " << toolIndex << ".";
//    return nullptr;
//  }
//
//  std::vector<mitk::NavigationData::Pointer>::const_iterator it;
//
//  // iterate through all NavigationData objects of the given tool index
//  // till the timestamp of the NavigationData is greater then the given timestamp
//  for (it = m_NavigationDataVectors.at(toolIndex).begin();
//    it != m_NavigationDataVectors.at(toolIndex).end(); ++it)
//  {
//    if ( (*it)->GetIGTTimeStamp() > timestamp) { break; }
//  }
//
//  // first element was greater than timestamp -> return null
//  if ( it == m_NavigationDataVectors.at(toolIndex).begin() )
//  {
//    MITK_WARN("NavigationDataSet") << "No NavigationData was recorded before given timestamp.";
//    return nullptr;
//  }
//
//  // return last element smaller than the given timestamp
//  return *(it-1);
//}
 
std::vector< mitk::NavigationData::Pointer > mitk::NavigationDataSet::GetDataStreamForTool(unsigned int toolIndex)
{
  if (toolIndex >= m_NumberOfTools )
  {
    MITK_WARN("NavigationDataSet") << "Invalid toolIndex: " << m_NumberOfTools << " Tools known, requested index " << toolIndex << "";
    return std::vector<mitk::NavigationData::Pointer>();
  }
 
  std::vector< mitk::NavigationData::Pointer > result;
 
  for(std::vector<std::vector<NavigationData::Pointer> >::size_type i = 0; i < m_NavigationDataVectors.size(); i++)
    result.push_back(m_NavigationDataVectors[i][toolIndex]);
 
  return result;
}
 
std::vector< mitk::NavigationData::Pointer > mitk::NavigationDataSet::GetTimeStep(unsigned int index) const
{
  return m_NavigationDataVectors[index];
}
 
unsigned int mitk::NavigationDataSet::GetNumberOfTools() const
{
  return m_NumberOfTools;
}
 
unsigned int mitk::NavigationDataSet::Size() const
{
  return m_NavigationDataVectors.size();
}
 
// ---> methods necessary for BaseData
void mitk::NavigationDataSet::SetRequestedRegionToLargestPossibleRegion()
{
}
 
bool mitk::NavigationDataSet::RequestedRegionIsOutsideOfTheBufferedRegion()
{
  return false;
}
 
bool mitk::NavigationDataSet::VerifyRequestedRegion()
{
  return true;
}
 
void mitk::NavigationDataSet::SetRequestedRegion(const DataObject * )
{
}
 
bool mitk::NavigationDataSet::IsEmpty() const
{
  return (Size() == 0);
}
 
void mitk::NavigationDataSet::ConvertNavigationDataToPointSet() const
{
  //iterate over all tools
  for (unsigned int toolIndex = 0; toolIndex < this->GetNumberOfTools(); ++ toolIndex)
  {
    mitk::PointSet::Pointer _tempPointSet = mitk::PointSet::New();
    //iterate over all time steps
    for (unsigned int time = 0; time < m_NavigationDataVectors.size(); time++)
    {
      _tempPointSet->InsertPoint(time,m_NavigationDataVectors[time][toolIndex]->GetPosition());
      MITK_DEBUG << m_NavigationDataVectors[time][toolIndex]->GetPosition() << " --- " << _tempPointSet->GetPoint(time);
    }
    mitk::DataNode::Pointer dn = mitk::DataNode::New();
    std::stringstream str;
    str << "NavigationData Tool " << toolIndex;
    dn->SetProperty("name", mitk::StringProperty::New(str.str()));
    dn->SetData(_tempPointSet);
    mitk::RenderingManager::GetInstance()->GetDataStorage()->Add(dn);
  }
}
 
// <--- methods necessary for BaseData
 
// ---> methods for Iterators
 
mitk::NavigationDataSet::NavigationDataSetConstIterator mitk::NavigationDataSet::Begin() const
{
  return m_NavigationDataVectors.cbegin();
}
 
mitk::NavigationDataSet::NavigationDataSetConstIterator mitk::NavigationDataSet::End() const
{
  return m_NavigationDataVectors.cend();
}