mitk: QmitkIGTRecorderView.cpp Source File

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00001 /*=========================================================================
00002 
00003 Program:   Medical Imaging & Interaction Toolkit
00004 Language:  C++
00005 Date:      $Date: 2009-05-06 16:03:09 +0200 (Mi, 06 Mai 2009) $
00006 Version:   $Revision: 17113 $
00007 
00008 Copyright (c) German Cancer Research Center, Division of Medical and
00009 Biological Informatics. All rights reserved.
00010 See MITKCopyright.txt or https://www.mitk.org/copyright.html for details.
00011 
00012 This software is distributed WITHOUT ANY WARRANTY; without even
00013 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00014 PURPOSE.  See the above copyright notices for more information.
00015 
00016 =========================================================================*/
00017 #include "QmitkIGTRecorderView.h"
00018 
00019 //#include "resources/icon.xpm"
00020 
00021 #include "QmitkStdMultiWidget.h"
00022 
00023 #include "mitkCone.h"
00024 #include "mitkInternalTrackingTool.h"
00025 #include "mitkNDIPassiveTool.h"
00026 #include "mitkNDITrackingDevice.h"
00027 #include "mitkTrackingVolume.h"
00028 
00029 #include "mitkProperties.h"
00030 
00031 #include "QmitkNDIConfigurationWidget.h"
00032 
00033 #include "mitkNodePredicateProperty.h"
00034 #include "mitkNodePredicateDataType.h"
00035 #include "mitkNodePredicateAnd.h"
00036 #include "mitkNodePredicateNot.h"
00037 #include "mitkGroupTagProperty.h"
00038 
00039 #include <itksys/SystemTools.hxx>
00040 
00041 #include <QPushButton>
00042 #include <QTextEdit>
00043 #include <QTimer>
00044 #include <QLabel>
00045 #include <QLineEdit>
00046 #include <QFileDialog>
00047 #include <QTime>
00048 
00049 #include <vtkTextSource.h>
00050 #include <vtkAppendPolyData.h>
00051 #include <vtkSphereSource.h>
00052 #include <vtkAxes.h>
00053 #include <vtkTubeFilter.h>
00054 #include <vtkConeSource.h>
00055 #include <vtkCamera.h>
00056 
00057 #include "mitkStatusBar.h"
00058 
00059 
00060 QmitkIGTRecorderView::QmitkIGTRecorderView(QObject * /*parent*/, const char * /*name*/)
00061  : QmitkFunctionality()
00062 {
00063   m_Timer = new QTimer(this);
00064   m_RecordingTimer = new QTimer(this);
00065   m_PlayingTimer = new QTimer(this);
00066   //m_XValues.clear();
00067   //m_YValues.clear();
00068   m_Controls = NULL;
00069 }
00070 
00071 
00072 QmitkIGTRecorderView::~QmitkIGTRecorderView()
00073 {
00074   this->OnStopRecording();  // cleanup IGT pipeline, if tracking is in progress
00075   m_RecordingTimer->stop();
00076   m_PlayingTimer->stop();
00077   m_Recorder = NULL;
00078   //m_Player = NULL;
00079   m_RecordingTimer = NULL;
00080   m_PlayingTimer = NULL;
00081 }
00082 
00083 void QmitkIGTRecorderView::CreateQtPartControl(QWidget *parent)
00084 {
00085   if (!m_Controls)
00086   {
00087     m_Controls = new Ui::QmitkIGTRecorderControls;
00088     m_Controls->setupUi(parent);
00089     m_ConfigWidget = new QmitkNDIConfigurationWidget(parent);
00090     mitk::NodePredicateAnd::Pointer pred = mitk::NodePredicateAnd::New(
00091       mitk::NodePredicateNot::New(mitk::NodePredicateProperty::New("already Assigned")), 
00092       mitk::NodePredicateDataType::New("Surface"));  // does not have assigned tag and is surface
00093     m_ConfigWidget->SetDataStorage(this->GetDefaultDataStorage());
00094     m_ConfigWidget->SetPredicate(pred.GetPointer());
00095     m_ConfigWidget->SetTagPropertyName("already Assigned");
00096     m_ConfigWidget->SetTagProperty(mitk::GroupTagProperty::New().GetPointer());  // 
00097     m_ConfigWidget->SetToolTypes(QStringList() << "Instrument");
00098     m_Controls->m_DeviceConfigGroup->layout()->addWidget(m_ConfigWidget); // add ndi config widget
00099     
00100 
00101     this->CreateConnections();
00102   }
00103 }
00104 
00105 
00106 void QmitkIGTRecorderView::StdMultiWidgetAvailable (QmitkStdMultiWidget &stdMultiWidget)
00107 {
00108   m_MultiWidget = &stdMultiWidget;
00109 }
00110 
00111 
00112 void QmitkIGTRecorderView::StdMultiWidgetNotAvailable()
00113 {
00114   m_MultiWidget = NULL;
00115 }
00116 
00117 
00118 void QmitkIGTRecorderView::CreateConnections()
00119 {
00120   if ( m_Controls )
00121   {
00122     connect((QObject*)(m_Controls->m_StartRecording), SIGNAL(clicked()), (QObject*) this, SLOT(OnStartRecording()));
00123     connect((QObject*)(m_Controls->m_PauseRecording), SIGNAL(toggled (bool)), (QObject*) this, SLOT(OnPauseRecording(bool)));
00124     connect((QObject*)(m_Controls->m_StopRecording), SIGNAL(clicked()), (QObject*) this, SLOT(OnStopRecording()));
00125     connect((QObject*)(m_Controls->m_StartReplay), SIGNAL(clicked()), (QObject*) this, SLOT(OnStartReplaying()));
00126     connect((QObject*)(m_Controls->m_StopReplay), SIGNAL(clicked()), (QObject*) this, SLOT(OnStopReplaying()));
00127     connect((QObject*)(m_RecordingTimer), SIGNAL(timeout()), (QObject*) this, SLOT(RecordFrame()));
00128     connect((QObject*)(m_ConfigWidget), SIGNAL(Connected()), this, SLOT(OnConnect()));
00129     connect((QObject*)(m_ConfigWidget), SIGNAL(Disconnected()), this, SLOT(OnDisconnect()));
00130   }
00131 }
00132 
00133 
00134 void QmitkIGTRecorderView::OnStartRecording()
00135 {
00136   if (m_Source.IsNotNull())
00137     if (m_Source->IsTracking())
00138       return;
00139 
00140   if ((m_ConfigWidget == NULL))
00141     return; 
00142   mitk::TrackingDevice::Pointer tracker = m_ConfigWidget->GetTracker();
00143 
00144   QString fileName = QFileDialog::getSaveFileName(NULL, tr("Save tracking data to"),"D:/home/jochen/Versuche/2010.01.25 EM Messungen in der Speiser�hre" /*QDir::homePath()*/, tr("MITK Navigation Data XML logfile(*.xml)"));
00145   if (fileName.isEmpty())
00146     return;
00147 // recorder!
00148 
00149   if (this->GetDefaultDataStorage()->GetNamedNode("Tracking Volume") == NULL) // add tracking volume node
00150   {
00151     mitk::TrackingVolume::Pointer tv = mitk::TrackingVolume::New();
00152     tv->SetTrackingDeviceType(tracker->GetType());
00153     mitk::DataNode::Pointer n = mitk::DataNode::New();
00154     n->SetData(tv);
00155     n->SetName("Tracking Volume");
00156     n->SetOpacity(0.1);
00157     n->SetColor(0.4, 0.4, 1.0);
00158     this->GetDefaultDataStorage()->Add(n);
00159     this->GetActiveStdMultiWidget()->SetWidgetPlanesVisibility(false);
00160     mitk::RenderingManager::GetInstance()->InitializeViews(this->GetDefaultDataStorage()->ComputeBoundingGeometry3D(this->GetDefaultDataStorage()->GetAll()));  // reset render window geometry to include all objects
00161   }
00162   try
00163   {
00164     this->SetupIGTPipeline(tracker, fileName);
00165     //m_Source->Connect();
00166     m_Source->StartTracking();
00167     m_RecordingTimer->start(50);
00168   }
00169   catch (std::exception& e)
00170   {
00171     mitk::StatusBar::GetInstance()->DisplayText(QString("Error during navigation pipeline setup: %1").arg(e.what()).toLatin1(), 4000);
00172     m_RecordingTimer->stop();
00173   }
00174 }
00175 
00176 
00177 void QmitkIGTRecorderView::OnStopRecording()
00178 {
00179   if (m_RecordingTimer != NULL)
00180     m_RecordingTimer->stop();
00181   if (m_Recorder.IsNotNull())
00182     m_Recorder->StopRecording();
00183   if (m_Source.IsNotNull())
00184   {
00185     m_Source->StopTracking();
00186     //m_Source->Disconnect();
00187   }  
00188   m_MessageFilter = NULL;
00189   m_PointSetFilter = NULL;
00190   m_Recorder = NULL;
00191   m_Visualizer = NULL;
00192   //m_Source = NULL;
00193 }
00194 
00195 
00196 void QmitkIGTRecorderView::OnPauseRecording( bool pause )
00197 {
00198   if (pause == true)
00199     m_RecordingTimer->stop();
00200   else
00201     m_RecordingTimer->start(50);
00202 }
00203 
00204 
00205 void QmitkIGTRecorderView::RecordFrame()
00206 {
00207  
00208   try
00209   {
00210     bool updated = false;
00211     if ((m_Controls->m_UpdateTrajectory->checkState() == Qt::Checked) && (m_PointSetFilter.IsNotNull()))
00212       m_PointSetFilter->Update(); // update pipeline
00213     else
00214       updated |= false;
00215     if ((m_Controls->m_UpdateRecorder->checkState() == Qt::Checked) && (m_Recorder.IsNotNull()))
00216       m_Recorder->Update(); // record data to file
00217     else
00218       updated |= false;
00219     if ((updated == false) && (m_Recorder.IsNotNull()))
00220       m_Visualizer->Update();
00221 
00222     mitk::RenderingManager::GetInstance()->RequestUpdate(this->GetActiveStdMultiWidget()->GetRenderWindow4()->GetRenderWindow()); // render 3D scene
00223   }
00224   catch (...)
00225   {
00226     mitk::StatusBar::GetInstance()->DisplayText("Error during navigation pipeline update", 1000);
00227   }
00228 }
00229 
00230 
00231 void QmitkIGTRecorderView::OnStartReplaying()
00232 {
00233 
00234 }
00235 
00236 
00237 void QmitkIGTRecorderView::OnStopReplaying()
00238 {
00239 
00240 }
00241 
00242 
00243 void QmitkIGTRecorderView::SetupIGTPipeline(mitk::TrackingDevice::Pointer tracker, QString fileName)
00244 {
00245   mitk::DataStorage* ds = this->GetDefaultDataStorage();
00246   if (ds == NULL)
00247     throw std::invalid_argument("DataStorage not available");
00248   if (tracker.IsNull())
00249     throw std::invalid_argument("invalid tracking device provided.");
00250 
00251   
00252   if (m_ConfigWidget->GetToolsByToolType("Instrument").isEmpty())
00253     throw std::invalid_argument("insufficient tool assignments for instrument");
00254 
00255   /* build pipeline filters */
00256   if (m_Source.IsNull())
00257   {
00258     m_Source = mitk::TrackingDeviceSource::New();
00259     m_Source->SetTrackingDevice(tracker);
00260   }
00261   m_Visualizer = mitk::NavigationDataObjectVisualizationFilter::New();
00262   m_MessageFilter = mitk::NavigationDataToMessageFilter::New();
00263   m_PointSetFilter = mitk::NavigationDataToPointSetFilter::New();
00264   m_PointSetFilter->SetOperationMode(mitk::NavigationDataToPointSetFilter::Mode3D);
00265   m_Recorder = mitk::NavigationDataRecorder::New();
00266   m_Recorder->SetFileName(fileName.toLatin1());
00267 
00268   /* connect inputs and outputs of filters */
00269   for (unsigned int i = 0; i < m_Source->GetNumberOfOutputs(); ++i)   // source --> visualizer --> messager --> pointset
00270   {
00271     /* visualization filter */
00272     m_Visualizer->SetInput(i, m_Source->GetOutput(i));
00273     /* message filter */
00274     m_MessageFilter->SetInput(i, m_Visualizer->GetOutput(i));  
00275     /* landmark transform filter */
00276     m_PointSetFilter->SetInput(i, m_MessageFilter->GetOutput(i));
00277     m_Recorder->AddNavigationData(m_MessageFilter->GetOutput(i));
00278   }
00279   m_Recorder->StartRecording();
00280   /* set filter parameters */
00281   /* instrument visualization */
00282   const QList<unsigned int> instruments = m_ConfigWidget->GetToolsByToolType("Instrument");
00283   foreach (const unsigned int& index, instruments)
00284   {
00285     mitk::DataNode::Pointer node = this->CreateInstrumentVisualization(m_Source->GetOutput(index)->GetName());
00286     ds->Add(node);      
00287     m_Visualizer->SetRepresentationObject(index, node->GetData());
00288   }
00289   for (unsigned int i = 0; i < m_PointSetFilter->GetNumberOfOutputs(); i++)
00290   {
00291 
00292     mitk::PointSet* p = m_PointSetFilter->GetOutput(i);
00293     assert(p);
00294 
00295     mitk::DataNode::Pointer pointSetNode = mitk::DataNode::New();
00296     pointSetNode->SetData(p);
00297     pointSetNode->SetName(QString("Trajectory of Tool #%1 (%2)").arg(i).arg(QTime::currentTime().toString()).toLatin1());
00298     mitk::Color color;
00299     color.Set(0.2, 0.3 * i ,0.9 - 0.2 * i);
00300     pointSetNode->SetColor(color); //change color of points
00301     pointSetNode->SetProperty("contourcolor", mitk::ColorProperty::New(color)); // change color of trajectory line
00302     pointSetNode->SetProperty("pointsize", mitk::FloatProperty::New(1.0)); // enlarge visualization of points
00303     pointSetNode->SetProperty("contoursize", mitk::FloatProperty::New(0.5)); // enlarge visualization of trajectory line
00304     pointSetNode->SetBoolProperty("show contour", true);
00305     pointSetNode->SetBoolProperty("updateDataOnRender", false); // do not call Update() on the pointset during render (this would cause a execution of the pipeline that is still connected to the pointset)
00306     this->GetDefaultDataStorage()->Add(pointSetNode); //add it to the DataStorage
00307   }
00308 }
00309 
00310 mitk::DataNode::Pointer QmitkIGTRecorderView::CreateInstrumentVisualization(const char* label)
00311 {
00312   vtkAxes* axes = vtkAxes::New();
00313   axes->SymmetricOn();
00314   axes->SetScaleFactor(10.0); 
00315   vtkTubeFilter* tuber = vtkTubeFilter::New();
00316   tuber->SetRadius(0.02);
00317   tuber->SetNumberOfSides(6);
00318   tuber->SetInputConnection(axes->GetOutputPort());
00319   vtkTextSource* tss = vtkTextSource::New();
00320   tss->SetText(label);
00321   tss->BackingOff();
00322   vtkConeSource* cone = vtkConeSource::New();
00323   cone->SetDirection(0.0, 0.0, -1.0); // direction: along z-axis, facing towards -z direction
00324   cone->SetCenter(0.0, 0.0, 100.0);
00325   cone->SetHeight(200.0);              // center at 100, height 200 should set the tip of the cone to the origin
00326   cone->SetRadius(10.0);
00327   vtkAppendPolyData* ap = vtkAppendPolyData::New();
00328   //ap->AddInput(tss->GetOutput());
00329   ap->AddInput(tuber->GetOutput());
00330   //ap->AddInput(cone->GetOutput());
00331   ap->GetOutput()->Update();
00332   mitk::Surface::Pointer dummy = mitk::Surface::New();
00333   dummy->SetVtkPolyData(ap->GetOutput());
00334   ap->Delete(); 
00335   cone->Delete();
00336   tss->Delete();
00337   tuber->Delete();
00338   axes->Delete();
00339 
00340   mitk::DataNode::Pointer node = mitk::DataNode::New();
00341   node->SetData(dummy);
00342   node->SetName(label);
00343   node->SetColor(0.2, 0.9, 0.2);
00344   //node->SetBoolProperty("helperObject", true);
00345   return node;
00346 }
00347 
00348 
00349 void QmitkIGTRecorderView::OnConnect()
00350 {
00351   m_Controls->m_StartRecording->setEnabled(true);
00352   m_Controls->m_StopRecording->setEnabled(true);
00353   m_Controls->m_PauseRecording->setEnabled(true);
00354   //m_Controls->m_StartReplay->setEnabled(true);
00355   //m_Controls->m_StopReplay->setEnabled(true);
00356 
00357 }
00358 
00359 
00360 void QmitkIGTRecorderView::OnDisconnect()
00361 {
00362   this->OnStopRecording();
00363   m_Controls->m_StartRecording->setEnabled(false);
00364   m_Controls->m_StopRecording->setEnabled(false);
00365   m_Controls->m_PauseRecording->setEnabled(false);
00366 }