mitk: QmitkToolPairNavigationView.cpp Source File

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00001 /*=========================================================================
00002 
00003 Program:   Medical Imaging & Interaction Toolkit
00004 Language:  C++
00005 Date:      $Date: 2009-05-28 17:19:30 +0200 (Do, 28 Mai 2009) $
00006 Version:   $Revision: 17495 $
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 
00018 #include "QmitkToolPairNavigationView.h"
00019 #include "QmitkNDIConfigurationWidget.h"
00020 #include "QmitkUpdateTimerWidget.h"
00021 #include "QmitkToolDistanceWidget.h"
00022 #include "mitkNodePredicateDataType.h"
00023 #include <mitkTrackingVolume.h>
00024 #include "QmitkDataStorageComboBox.h"
00025 #include "QmitkStdMultiWidget.h"
00026 #include <mitkCone.h>
00027 #include <vtkConeSource.h>
00028 #include <mitkEllipsoid.h>
00029 #include <vtkSphereSource.h>
00030 #include <mitkProperties.h>
00031 #include <mitkNodePredicateProperty.h>
00032 #include <mitkStatusBar.h>
00033 
00034 
00035 #include <QMessageBox>
00036 #include <qtimer.h>
00037 
00038 
00039 #define WARN LOG_WARN("ToolPairNavigation")
00040 
00041 const std::string QmitkToolPairNavigationView::VIEW_ID = "org.mitk.views.toolpairnavigation";
00042 
00043 QmitkToolPairNavigationView::QmitkToolPairNavigationView()
00044 : QmitkFunctionality(), m_MultiWidget(NULL)
00045 {
00046 }
00047 
00048 QmitkToolPairNavigationView::~QmitkToolPairNavigationView()
00049 {
00050 
00051   delete m_NDIConfigWidget;
00052   delete m_DistanceWidget;
00053   m_NDIConfigWidget = NULL;
00054   m_DistanceWidget = NULL;
00055   m_Source = NULL;
00056   m_Visualizer = NULL;
00057   m_CameraVisualizer = NULL;
00058 
00059 }
00060 
00061 void QmitkToolPairNavigationView::CreateQtPartControl(QWidget *parent)
00062 {
00063   // create GUI widgets
00064   m_Controls.setupUi(parent);
00065   this->CreateBundleWidgets(parent);
00066   this->CreateConnections();
00067 }
00068 
00069 void QmitkToolPairNavigationView::CreateBundleWidgets(QWidget* parent)
00070 {
00071   //get default data storage
00072   //mitk::DataStorage* ds = this->GetDefaultDataStorage();
00073 
00074   //instanciate widget
00075   m_NDIConfigWidget = new QmitkNDIConfigurationWidget(parent);
00076   m_DistanceWidget = new QmitkToolDistanceWidget(parent);
00077 
00078 
00079   // removes all placeholder tabs from the toolbox that where created in the qt designer before
00080   int tabnr = this->m_Controls.m_ToolBox->count();
00081   for(int i=0; i < tabnr ;i++)
00082   {
00083     this->m_Controls.m_ToolBox->removeItem(0);
00084   }
00085 
00086   // inserts this bundle's widgets into the toolbox
00087   this->m_Controls.m_ToolBox->insertItem(0,m_NDIConfigWidget,QString("Configuration"));
00088   this->m_Controls.m_ToolBox->insertItem(1,m_DistanceWidget,QString("Distances"));
00089 
00090 
00091 
00092 }
00093 
00094 void QmitkToolPairNavigationView::StdMultiWidgetAvailable (QmitkStdMultiWidget &stdMultiWidget)
00095 {
00096   m_MultiWidget = &stdMultiWidget;
00097 }
00098 
00099 void QmitkToolPairNavigationView::StdMultiWidgetNotAvailable()
00100 {
00101   m_MultiWidget = NULL;
00102 }
00103 
00104 void QmitkToolPairNavigationView::CreateConnections()
00105 {
00106   connect( m_NDIConfigWidget, SIGNAL(Connected()), this, SLOT(SetNavigationUp()));
00107   connect( m_NDIConfigWidget, SIGNAL(Connected()), this->m_Controls.m_RenderingTimerWidget, SLOT(EnableWidget()));
00108   connect( m_NDIConfigWidget, SIGNAL(Disconnected()), this, SLOT(Disconnected()));
00109   connect( m_NDIConfigWidget, SIGNAL(Disconnected()), this->m_Controls.m_RenderingTimerWidget, SLOT(DisableWidget()));
00110 
00111 
00112   //to be implemented for tool name changig e.g.
00113   //  connect(m_NDIConfigWidget, SIGNAL(ToolsChanged()), this, SLOT(ToolsChanged()));
00114 }
00115 
00116 void QmitkToolPairNavigationView::Activated()
00117 {
00118   QmitkFunctionality::Activated();
00119 
00120   //switch to 3D rendering mode in Widget3
00121   m_LastMapperIDWidget3 = mitk::BaseRenderer::GetInstance(m_MultiWidget->mitkWidget3->GetRenderWindow())->GetMapperID();
00122   mitk::BaseRenderer::GetInstance(m_MultiWidget->mitkWidget3->GetRenderWindow())->SetMapperID(2);
00123   mitk::BaseRenderer::GetInstance(m_MultiWidget->mitkWidget2->GetRenderWindow())->SetMapperID(2);
00124 }
00125 
00126 void QmitkToolPairNavigationView::Deactivated()
00127 {
00128   QmitkFunctionality::Deactivated();
00129 
00130   //switch back cameravisualization view in Widget3
00131   mitk::BaseRenderer::GetInstance(m_MultiWidget->mitkWidget3->GetRenderWindow())->SetMapperID(m_LastMapperIDWidget3);
00132   mitk::BaseRenderer::GetInstance(m_MultiWidget->mitkWidget2->GetRenderWindow())->SetMapperID(1);
00133 }
00134 
00135 void QmitkToolPairNavigationView::Disconnected()
00136 {
00137   if(m_Controls.m_RenderingTimerWidget != NULL)
00138   {
00139     this->m_Controls.m_RenderingTimerWidget->StopTimer();
00140   }
00141   if(m_Source.IsNotNull() && m_Source->IsTracking())
00142   {
00143     this->m_Source->StopTracking();
00144   }
00145   this->DestroyIGTPipeline();
00146   this->RemoveVisualizationObjects(this->GetDefaultDataStorage());
00147 
00148   if(this->m_DistanceWidget != NULL)
00149     this->m_DistanceWidget->ClearDistanceMatrix();
00150 }
00151 
00152 void QmitkToolPairNavigationView::ToolsAdded( QStringList /*tools*/ )
00153 {
00154 
00155 }
00156 
00157 
00158 void QmitkToolPairNavigationView::SetNavigationUp()
00159 {
00160   if (m_Source.IsNotNull())
00161     if (m_Source->IsTracking())
00162       return;
00163 
00164   mitk::DataStorage* ds = this->GetDefaultDataStorage();
00165   if (ds == NULL)
00166   {
00167     QMessageBox::warning(NULL, "ToolPairNavigation: Error", "can not access DataStorage. Navigation not possible");
00168     return;
00169   }
00170 
00171   //1. build up the filter pipeline
00172   try
00173   {
00174     this->SetupIGTPipeline();
00175   }
00176   catch(std::exception& e)
00177   {
00178     QMessageBox::warning(NULL, "ToolPairNavigation: Error", QString("Error while building the IGT-Pipeline: %1").arg(e.what()));
00179     this->DestroyIGTPipeline();
00180     return;
00181   }
00182   catch (...)
00183   {
00184     QMessageBox::warning(NULL, "ToolPairNavigation: Error", QString("Error while building the IGT-Pipeline."));
00185     this->DestroyIGTPipeline();
00186     return;
00187   }
00188 
00189   //2. start IGT pipeline to display tracking devices (20 Hz update rate -> 50 msec timeout)
00190   try
00191   {
00192     // setup for the bundle's update timer widget
00193     m_Controls.m_RenderingTimerWidget->SetPurposeLabelText(QString("Navigation"));
00194     m_Controls.m_RenderingTimerWidget->SetTimerInterval( 50 );
00195 
00196     connect( m_Controls.m_RenderingTimerWidget->GetUpdateTimer() , SIGNAL(timeout()) , this, SLOT (RenderScene()) );
00197     connect( m_Controls.m_RenderingTimerWidget, SIGNAL(Started()), this, SLOT(StartNavigation()));
00198     connect( m_Controls.m_RenderingTimerWidget, SIGNAL(Stopped()) , this, SLOT (StopNavigation()));
00199     connect( m_Controls.m_RenderingTimerWidget, SIGNAL(Stopped()) , m_DistanceWidget, SLOT (SetDistanceLabelValuesInvalid()));
00200 
00201   }
00202   catch(std::exception& e)
00203   {
00204     QMessageBox::warning(NULL, "ToolPairNavigation: Error", QString("Error while starting the IGT-Pipeline: %1").arg(e.what()));
00205     this->m_Controls.m_RenderingTimerWidget->StopTimer();
00206     this->DestroyIGTPipeline();
00207     return;
00208   }
00209 }
00210 
00211 void QmitkToolPairNavigationView::StartNavigation()
00212 {
00213   if(m_Source.IsNotNull() && !m_Source->IsTracking())
00214   {
00215     m_Source->StartTracking();
00216     // creates the matrix with distances from the tracking source's outputs
00217     m_DistanceWidget->CreateToolDistanceMatrix(m_Source->GetOutputs());
00218   }
00219 }
00220 
00221 
00222 // is for tool changing events, like name changes
00223 void QmitkToolPairNavigationView::ToolsChanged()
00224 {
00225 
00226 }
00227 
00228 void QmitkToolPairNavigationView::StopNavigation()
00229 {
00230   if(m_Source.IsNotNull() && m_Source->IsTracking())
00231   {
00232     m_Source->StopTracking();
00233   }
00234 }
00235 
00236 
00237 void QmitkToolPairNavigationView::SetupIGTPipeline()
00238 {
00239   mitk::DataStorage* ds = this->GetDefaultDataStorage(); // check if dataStorage is available
00240   if (ds == NULL)
00241     throw std::invalid_argument("DataStorage not available");
00242 
00243   mitk::TrackingDevice::Pointer tracker = m_NDIConfigWidget->GetTracker(); // get current tracker from the configuration widget
00244   if (tracker.IsNull()) // check if tracker is valid
00245     throw std::invalid_argument("tracking device is NULL.");
00246 
00247   m_Source = mitk::TrackingDeviceSource::New(); // create a new source for the IGT filter pipeline
00248   m_Source->SetTrackingDevice(tracker); // set the found tracker to the source
00249 
00250   m_Visualizer = mitk::NavigationDataObjectVisualizationFilter::New(); // filter to display NDs
00251   m_CameraVisualizer = mitk::CameraVisualization::New();
00252   //set widget 3
00253   m_CameraVisualizer->SetRenderer(mitk::BaseRenderer::GetInstance(m_MultiWidget->mitkWidget3->GetRenderWindow()));
00254 
00255   //set viewing direction
00256   mitk::Vector3D viewVector;
00257   mitk::FillVector3D( viewVector, 0.0, 0.0, 1.0 );
00258   m_CameraVisualizer->SetDirectionOfProjectionInToolCoordinates(viewVector);
00259 
00260   /* prepare visualization objects and filter */
00261   for (unsigned int i = 0; i < m_Source->GetNumberOfOutputs(); ++i) //for each connected tool
00262   {
00263     m_Visualizer->SetInput(i, m_Source->GetOutput(i)); // set input for visualization filter
00264 
00265     const char* toolName = tracker->GetTool(i)->GetToolName();
00266     mitk::DataNode::Pointer toolrepresentationNode = ds->GetNamedNode(toolName);
00267     if (toolrepresentationNode.IsNull())
00268     {
00269       //the first tool represents the tool to guide
00270       //it will be represented as cone wheras the target tools will be represented by a sphere
00271       if (i<1) //tool to guide
00272       {
00273         toolrepresentationNode = this->CreateConeAsInstrumentVisualization(toolName);
00274         m_CameraVisualizer->SetInput(m_Source->GetOutput(i));
00275       }
00276       else
00277         toolrepresentationNode = this->CreateSphereAsInstrumentVisualization(toolName);
00278       ds->Add(toolrepresentationNode);
00279     }
00280 
00281     m_Visualizer->SetRepresentationObject(i, toolrepresentationNode->GetData());  // set instrument nodes as baseData for visualisation filter
00282   }
00283 
00284 
00285 }
00286 
00287 void QmitkToolPairNavigationView::DestroyIGTPipeline()
00288 {
00289   if (m_Source.IsNotNull())
00290   {
00291     m_Source->StopTracking();
00292     m_Source->Disconnect();
00293     m_Source = NULL;
00294   }
00295 
00296   m_Visualizer = NULL;
00297   m_CameraVisualizer = NULL;
00298 }
00299 
00300 
00301 
00302 mitk::DataNode::Pointer QmitkToolPairNavigationView::CreateConeAsInstrumentVisualization(const char* label)
00303 {
00304   //new data
00305   mitk::Cone::Pointer activeToolData = mitk::Cone::New();
00306   vtkConeSource* vtkData = vtkConeSource::New();
00307   vtkData->SetRadius(3.0);
00308   vtkData->SetHeight(6.0);
00309   vtkData->SetDirection(0.0, 0.0, 1.0); //(0.0, 0.0, -1.0) for 5DoF
00310   vtkData->SetCenter(0.0, 0.0, 0.0);
00311   vtkData->SetResolution(20);
00312   vtkData->CappingOn();
00313   vtkData->Update();
00314   activeToolData->SetVtkPolyData(vtkData->GetOutput());
00315   vtkData->Delete();
00316 
00317   //new node
00318   mitk::DataNode::Pointer coneNode = mitk::DataNode::New();
00319   coneNode->SetData(activeToolData);
00320   coneNode->GetPropertyList()->SetProperty("name", mitk::StringProperty::New ( label ) );
00321   coneNode->GetPropertyList()->SetProperty("layer", mitk::IntProperty::New(0));
00322   coneNode->GetPropertyList()->SetProperty("visible",mitk::BoolProperty::New(true));
00323   //don't display in widget 3 (3D camera view)
00324   coneNode->SetVisibility(false, mitk::BaseRenderer::GetInstance(m_MultiWidget->mitkWidget3->GetRenderWindow()));
00325   coneNode->SetColor(1.0,0.0,0.0);//red
00326   coneNode->SetOpacity(0.7);
00327   coneNode->Modified();
00328 
00329   return coneNode;
00330 }
00331 
00332 mitk::DataNode::Pointer QmitkToolPairNavigationView::CreateSphereAsInstrumentVisualization(const char* label)
00333 {
00334   //new data
00335   mitk::Ellipsoid::Pointer activeToolData = mitk::Ellipsoid::New();
00336   vtkSphereSource *vtkData = vtkSphereSource::New();
00337   vtkData->SetRadius(1.0f);
00338   vtkData->SetCenter(0.0, 0.0, 0.0);
00339   vtkData->Update();
00340   activeToolData->SetVtkPolyData(vtkData->GetOutput());
00341   vtkData->Delete();
00342 
00343   //new node
00344   mitk::DataNode::Pointer sphereNode = mitk::DataNode::New();
00345   sphereNode->SetData(activeToolData);
00346   sphereNode->GetPropertyList()->SetProperty("name", mitk::StringProperty::New ( label ) );
00347   sphereNode->GetPropertyList()->SetProperty("layer", mitk::IntProperty::New(0));
00348   sphereNode->GetPropertyList()->SetProperty("visible",mitk::BoolProperty::New(true));
00349   sphereNode->SetColor(0.0,1.0,0.0);//green
00350   sphereNode->SetOpacity(1.0);
00351   sphereNode->Modified();
00352 
00353   return sphereNode;
00354 }
00355 
00356 
00357 void QmitkToolPairNavigationView::RenderScene()
00358 {
00359   try
00360   {
00361     if (m_Visualizer.IsNull() || m_CameraVisualizer.IsNull() || this->GetActiveStdMultiWidget() == NULL)
00362       return;
00363     try
00364     {
00365       m_Visualizer->Update();
00366       m_CameraVisualizer->Update();
00367 
00368       //every tenth update
00369       static int counter = 0;
00370       if (counter > 9)
00371       {
00372         this->m_DistanceWidget->ShowDistanceValues(m_Source->GetOutputs());
00373         counter = 0;
00374       }
00375       else
00376         counter++;
00377     }
00378     catch(std::exception& e)
00379     {
00380       std::cout << "Exception during QmitkToolPairNavigationView::RenderScene():" << e.what() << "\n";
00381     }
00382 
00383     //update all Widgets
00384     mitk::RenderingManager::GetInstance()->RequestUpdateAll(mitk::RenderingManager::REQUEST_UPDATE_3DWINDOWS);
00385   }
00386   catch (std::exception& e)
00387   {
00388     std::cout << "RenderAll exception: " << e.what() << "\n";
00389   }
00390   catch (...)
00391   {
00392     std::cout << "RenderAll unknown exception\n";
00393   }
00394 }
00395 
00396 void QmitkToolPairNavigationView::RemoveVisualizationObjects( mitk::DataStorage* ds )
00397 {
00398   if (ds != NULL)
00399     ds->Remove(ds->GetSubset(mitk::NodePredicateProperty::New("ToolPairNavigation", mitk::BoolProperty::New(true)))); // remove all objects that have the ToolPairNavigation tag
00400 }
00401