#include <QmitkIGTRecorderView.h>

Inheritance diagram for QmitkIGTRecorderView:

Collaboration diagram for QmitkIGTRecorderView:

Public Member Functions
	QmitkIGTRecorderView (QObject parent=0, const char name=0)
	default constructor
virtual	~QmitkIGTRecorderView ()
	default destructor
virtual void	CreateQtPartControl (QWidget *parent)
	method for creating the widget containing the application controls, like sliders, buttons etc.
virtual void	StdMultiWidgetAvailable (QmitkStdMultiWidget &stdMultiWidget)
virtual void	StdMultiWidgetNotAvailable ()
virtual void	CreateConnections ()
	method for creating the connections of main and control widget
Protected Slots
void	OnStartRecording ()
void	OnStopRecording ()
void	OnPauseRecording (bool pause)
void	OnStartReplaying ()
void	OnStopReplaying ()
void	RecordFrame ()
void	OnConnect ()
void	OnDisconnect ()
Protected Member Functions
mitk::TrackingDevice::Pointer	ConfigureTrackingDevice ()
	create the selected tracker object and configure it (using values from m_Controls)
void	SetupIGTPipeline (mitk::TrackingDevice::Pointer tracker, QString fileName)
mitk::DataNode::Pointer	CreateInstrumentVisualization (const char *label)
Protected Attributes
QmitkStdMultiWidget *	m_MultiWidget
	default render widget
Ui::QmitkIGTRecorderControls *	m_Controls
	GUI widget for this functionality.
mitk::TrackingDeviceSource::Pointer	m_Source
	first filter in the pipeline
mitk::NavigationDataObjectVisualizationFilter::Pointer	m_Visualizer
mitk::NavigationDataRecorder::Pointer	m_Recorder
	records NDs to a XML file
mitk::NavigationDataToPointSetFilter::Pointer	m_PointSetFilter
	has a NDs as input and a PointSet as output
mitk::NavigationDataToMessageFilter::Pointer	m_MessageFilter
	calls OnErrorValueChanged when the error value of its input changes
QTimer *	m_Timer
	timer for continuous tracking update
QTimer *	m_RecordingTimer
	timer for continuous recording
QTimer *	m_PlayingTimer
	timer for continuous playing
QStringList	m_ToolList
	list to the tool description files
QmitkNDIConfigurationWidget *	m_ConfigWidget

Detailed Description

QmitkIGTRecorderView.

Example functionality that shows the usage of the MITK-IGT component

See also:: QmitkFunctionality

Definition at line 47 of file QmitkIGTRecorderView.h.

Constructor & Destructor Documentation

QmitkIGTRecorderView::QmitkIGTRecorderView	(	QObject *	parent = `0`,
		const char *	name = `0`
	)

default constructor

Definition at line 60 of file QmitkIGTRecorderView.cpp.

References m_Controls, m_PlayingTimer, m_RecordingTimer, and m_Timer.

 : QmitkFunctionality()
{
  m_Timer = new QTimer(this);
  m_RecordingTimer = new QTimer(this);
  m_PlayingTimer = new QTimer(this);
  //m_XValues.clear();
  //m_YValues.clear();
  m_Controls = NULL;
}

QmitkIGTRecorderView::~QmitkIGTRecorderView ( ) [virtual]

default destructor

Definition at line 72 of file QmitkIGTRecorderView.cpp.

References m_PlayingTimer, m_Recorder, m_RecordingTimer, and OnStopRecording().

{
  this->OnStopRecording();  // cleanup IGT pipeline, if tracking is in progress
  m_RecordingTimer->stop();
  m_PlayingTimer->stop();
  m_Recorder = NULL;
  //m_Player = NULL;
  m_RecordingTimer = NULL;
  m_PlayingTimer = NULL;
}

Member Function Documentation

mitk::TrackingDevice::Pointer QmitkIGTRecorderView::ConfigureTrackingDevice ( ) [protected]

create the selected tracker object and configure it (using values from m_Controls)

void QmitkIGTRecorderView::CreateConnections ( ) [virtual]

method for creating the connections of main and control widget

Definition at line 118 of file QmitkIGTRecorderView.cpp.

References m_ConfigWidget, m_Controls, Ui_QmitkIGTRecorderControls::m_PauseRecording, m_RecordingTimer, Ui_QmitkIGTRecorderControls::m_StartRecording, Ui_QmitkIGTRecorderControls::m_StartReplay, Ui_QmitkIGTRecorderControls::m_StopRecording, Ui_QmitkIGTRecorderControls::m_StopReplay, OnConnect(), OnDisconnect(), OnPauseRecording(), OnStartRecording(), OnStartReplaying(), OnStopRecording(), OnStopReplaying(), and RecordFrame().

Referenced by CreateQtPartControl().

{
  if ( m_Controls )
  {
    connect((QObject*)(m_Controls->m_StartRecording), SIGNAL(clicked()), (QObject*) this, SLOT(OnStartRecording()));
    connect((QObject*)(m_Controls->m_PauseRecording), SIGNAL(toggled (bool)), (QObject*) this, SLOT(OnPauseRecording(bool)));
    connect((QObject*)(m_Controls->m_StopRecording), SIGNAL(clicked()), (QObject*) this, SLOT(OnStopRecording()));
    connect((QObject*)(m_Controls->m_StartReplay), SIGNAL(clicked()), (QObject*) this, SLOT(OnStartReplaying()));
    connect((QObject*)(m_Controls->m_StopReplay), SIGNAL(clicked()), (QObject*) this, SLOT(OnStopReplaying()));
    connect((QObject*)(m_RecordingTimer), SIGNAL(timeout()), (QObject*) this, SLOT(RecordFrame()));
    connect((QObject*)(m_ConfigWidget), SIGNAL(Connected()), this, SLOT(OnConnect()));
    connect((QObject*)(m_ConfigWidget), SIGNAL(Disconnected()), this, SLOT(OnDisconnect()));
  }
}

mitk::DataNode::Pointer QmitkIGTRecorderView::CreateInstrumentVisualization ( const char * label ) [protected]

Definition at line 310 of file QmitkIGTRecorderView.cpp.

References mitk::DataNode::New(), and mitk::Surface::New().

Referenced by SetupIGTPipeline().

{
  vtkAxes* axes = vtkAxes::New();
  axes->SymmetricOn();
  axes->SetScaleFactor(10.0); 
  vtkTubeFilter* tuber = vtkTubeFilter::New();
  tuber->SetRadius(0.02);
  tuber->SetNumberOfSides(6);
  tuber->SetInputConnection(axes->GetOutputPort());
  vtkTextSource* tss = vtkTextSource::New();
  tss->SetText(label);
  tss->BackingOff();
  vtkConeSource* cone = vtkConeSource::New();
  cone->SetDirection(0.0, 0.0, -1.0); // direction: along z-axis, facing towards -z direction
  cone->SetCenter(0.0, 0.0, 100.0);
  cone->SetHeight(200.0);              // center at 100, height 200 should set the tip of the cone to the origin
  cone->SetRadius(10.0);
  vtkAppendPolyData* ap = vtkAppendPolyData::New();
  //ap->AddInput(tss->GetOutput());
  ap->AddInput(tuber->GetOutput());
  //ap->AddInput(cone->GetOutput());
  ap->GetOutput()->Update();
  mitk::Surface::Pointer dummy = mitk::Surface::New();
  dummy->SetVtkPolyData(ap->GetOutput());
  ap->Delete(); 
  cone->Delete();
  tss->Delete();
  tuber->Delete();
  axes->Delete();

  mitk::DataNode::Pointer node = mitk::DataNode::New();
  node->SetData(dummy);
  node->SetName(label);
  node->SetColor(0.2, 0.9, 0.2);
  //node->SetBoolProperty("helperObject", true);
  return node;
}

void QmitkIGTRecorderView::CreateQtPartControl ( QWidget * parent ) [virtual]

method for creating the widget containing the application controls, like sliders, buttons etc.

Implements berry::QtViewPart.

Definition at line 83 of file QmitkIGTRecorderView.cpp.

References CreateConnections(), QmitkFunctionality::GetDefaultDataStorage(), m_ConfigWidget, m_Controls, Ui_QmitkIGTRecorderControls::m_DeviceConfigGroup, mitk::GroupTagProperty::New(), mitk::NodePredicateDataType::New(), mitk::NodePredicateProperty::New(), mitk::NodePredicateNot::New(), mitk::NodePredicateAnd::New(), QmitkNDIConfigurationWidget::SetDataStorage(), QmitkNDIConfigurationWidget::SetPredicate(), QmitkNDIConfigurationWidget::SetTagProperty(), QmitkNDIConfigurationWidget::SetTagPropertyName(), QmitkNDIConfigurationWidget::SetToolTypes(), and Ui_QmitkIGTRecorderControls::setupUi().

{
  if (!m_Controls)
  {
    m_Controls = new Ui::QmitkIGTRecorderControls;
    m_Controls->setupUi(parent);
    m_ConfigWidget = new QmitkNDIConfigurationWidget(parent);
    mitk::NodePredicateAnd::Pointer pred = mitk::NodePredicateAnd::New(
      mitk::NodePredicateNot::New(mitk::NodePredicateProperty::New("already Assigned")), 
      mitk::NodePredicateDataType::New("Surface"));  // does not have assigned tag and is surface
    m_ConfigWidget->SetDataStorage(this->GetDefaultDataStorage());
    m_ConfigWidget->SetPredicate(pred.GetPointer());
    m_ConfigWidget->SetTagPropertyName("already Assigned");
    m_ConfigWidget->SetTagProperty(mitk::GroupTagProperty::New().GetPointer());  // 
    m_ConfigWidget->SetToolTypes(QStringList() << "Instrument");
    m_Controls->m_DeviceConfigGroup->layout()->addWidget(m_ConfigWidget); // add ndi config widget
    

    this->CreateConnections();
  }
}

void QmitkIGTRecorderView::OnConnect ( ) [protected, slot]

Definition at line 349 of file QmitkIGTRecorderView.cpp.

References m_Controls, Ui_QmitkIGTRecorderControls::m_PauseRecording, Ui_QmitkIGTRecorderControls::m_StartRecording, and Ui_QmitkIGTRecorderControls::m_StopRecording.

Referenced by CreateConnections().

{
  m_Controls->m_StartRecording->setEnabled(true);
  m_Controls->m_StopRecording->setEnabled(true);
  m_Controls->m_PauseRecording->setEnabled(true);
  //m_Controls->m_StartReplay->setEnabled(true);
  //m_Controls->m_StopReplay->setEnabled(true);

}

void QmitkIGTRecorderView::OnDisconnect ( ) [protected, slot]

Definition at line 360 of file QmitkIGTRecorderView.cpp.

References m_Controls, Ui_QmitkIGTRecorderControls::m_PauseRecording, Ui_QmitkIGTRecorderControls::m_StartRecording, Ui_QmitkIGTRecorderControls::m_StopRecording, and OnStopRecording().

Referenced by CreateConnections().

{
  this->OnStopRecording();
  m_Controls->m_StartRecording->setEnabled(false);
  m_Controls->m_StopRecording->setEnabled(false);
  m_Controls->m_PauseRecording->setEnabled(false);
}

void QmitkIGTRecorderView::OnPauseRecording ( bool pause ) [protected, slot]

Definition at line 196 of file QmitkIGTRecorderView.cpp.

References m_RecordingTimer.

Referenced by CreateConnections().

{
  if (pause == true)
    m_RecordingTimer->stop();
  else
    m_RecordingTimer->start(50);
}

void QmitkIGTRecorderView::OnStartRecording ( ) [protected, slot]

Definition at line 134 of file QmitkIGTRecorderView.cpp.

References QmitkFunctionality::GetActiveStdMultiWidget(), QmitkFunctionality::GetDefaultDataStorage(), mitk::StatusBar::GetInstance(), mitk::RenderingManager::GetInstance(), QmitkNDIConfigurationWidget::GetTracker(), m_ConfigWidget, m_RecordingTimer, m_Source, mitk::DataNode::New(), mitk::TrackingVolume::New(), SetupIGTPipeline(), and QmitkStdMultiWidget::SetWidgetPlanesVisibility().

Referenced by CreateConnections().

{
  if (m_Source.IsNotNull())
    if (m_Source->IsTracking())
      return;

  if ((m_ConfigWidget == NULL))
    return; 
  mitk::TrackingDevice::Pointer tracker = m_ConfigWidget->GetTracker();

  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)"));
  if (fileName.isEmpty())
    return;
// recorder!

  if (this->GetDefaultDataStorage()->GetNamedNode("Tracking Volume") == NULL) // add tracking volume node
  {
    mitk::TrackingVolume::Pointer tv = mitk::TrackingVolume::New();
    tv->SetTrackingDeviceType(tracker->GetType());
    mitk::DataNode::Pointer n = mitk::DataNode::New();
    n->SetData(tv);
    n->SetName("Tracking Volume");
    n->SetOpacity(0.1);
    n->SetColor(0.4, 0.4, 1.0);
    this->GetDefaultDataStorage()->Add(n);
    this->GetActiveStdMultiWidget()->SetWidgetPlanesVisibility(false);
    mitk::RenderingManager::GetInstance()->InitializeViews(this->GetDefaultDataStorage()->ComputeBoundingGeometry3D(this->GetDefaultDataStorage()->GetAll()));  // reset render window geometry to include all objects
  }
  try
  {
    this->SetupIGTPipeline(tracker, fileName);
    //m_Source->Connect();
    m_Source->StartTracking();
    m_RecordingTimer->start(50);
  }
  catch (std::exception& e)
  {
    mitk::StatusBar::GetInstance()->DisplayText(QString("Error during navigation pipeline setup: %1").arg(e.what()).toLatin1(), 4000);
    m_RecordingTimer->stop();
  }
}

void QmitkIGTRecorderView::OnStartReplaying ( ) [protected, slot]

Definition at line 231 of file QmitkIGTRecorderView.cpp.

Referenced by CreateConnections().

{

}

void QmitkIGTRecorderView::OnStopRecording ( ) [protected, slot]

Definition at line 177 of file QmitkIGTRecorderView.cpp.

References m_MessageFilter, m_PointSetFilter, m_Recorder, m_RecordingTimer, m_Source, and m_Visualizer.

Referenced by CreateConnections(), OnDisconnect(), and ~QmitkIGTRecorderView().

{
  if (m_RecordingTimer != NULL)
    m_RecordingTimer->stop();
  if (m_Recorder.IsNotNull())
    m_Recorder->StopRecording();
  if (m_Source.IsNotNull())
  {
    m_Source->StopTracking();
    //m_Source->Disconnect();
  }  
  m_MessageFilter = NULL;
  m_PointSetFilter = NULL;
  m_Recorder = NULL;
  m_Visualizer = NULL;
  //m_Source = NULL;
}

void QmitkIGTRecorderView::OnStopReplaying ( ) [protected, slot]

Definition at line 237 of file QmitkIGTRecorderView.cpp.

Referenced by CreateConnections().

{

}

void QmitkIGTRecorderView::RecordFrame ( ) [protected, slot]

Definition at line 205 of file QmitkIGTRecorderView.cpp.

References QmitkFunctionality::GetActiveStdMultiWidget(), mitk::StatusBar::GetInstance(), mitk::RenderingManager::GetInstance(), m_Controls, m_PointSetFilter, m_Recorder, Ui_QmitkIGTRecorderControls::m_UpdateRecorder, Ui_QmitkIGTRecorderControls::m_UpdateTrajectory, and m_Visualizer.

Referenced by CreateConnections().

{
 
  try
  {
    bool updated = false;
    if ((m_Controls->m_UpdateTrajectory->checkState() == Qt::Checked) && (m_PointSetFilter.IsNotNull()))
      m_PointSetFilter->Update(); // update pipeline
    else
      updated |= false;
    if ((m_Controls->m_UpdateRecorder->checkState() == Qt::Checked) && (m_Recorder.IsNotNull()))
      m_Recorder->Update(); // record data to file
    else
      updated |= false;
    if ((updated == false) && (m_Recorder.IsNotNull()))
      m_Visualizer->Update();

    mitk::RenderingManager::GetInstance()->RequestUpdate(this->GetActiveStdMultiWidget()->GetRenderWindow4()->GetRenderWindow()); // render 3D scene
  }
  catch (...)
  {
    mitk::StatusBar::GetInstance()->DisplayText("Error during navigation pipeline update", 1000);
  }
}

void QmitkIGTRecorderView::SetupIGTPipeline	(	mitk::TrackingDevice::Pointer	tracker,
		QString	fileName
	)		`[protected]`

Definition at line 243 of file QmitkIGTRecorderView.cpp.

References mitk::DataStorage::Add(), CreateInstrumentVisualization(), QmitkFunctionality::GetDefaultDataStorage(), QmitkNDIConfigurationWidget::GetToolsByToolType(), m_ConfigWidget, m_MessageFilter, m_PointSetFilter, m_Recorder, m_Source, m_Visualizer, mitk::NavigationDataToPointSetFilter::Mode3D, mitk::FloatProperty::New(), mitk::ColorProperty::New(), mitk::DataNode::New(), mitk::NavigationDataRecorder::New(), mitk::NavigationDataToPointSetFilter::New(), mitk::NavigationDataToMessageFilter::New(), mitk::NavigationDataObjectVisualizationFilter::New(), and mitk::TrackingDeviceSource::New().

Referenced by OnStartRecording().

{
  mitk::DataStorage* ds = this->GetDefaultDataStorage();
  if (ds == NULL)
    throw std::invalid_argument("DataStorage not available");
  if (tracker.IsNull())
    throw std::invalid_argument("invalid tracking device provided.");

  
  if (m_ConfigWidget->GetToolsByToolType("Instrument").isEmpty())
    throw std::invalid_argument("insufficient tool assignments for instrument");

  /* build pipeline filters */
  if (m_Source.IsNull())
  {
    m_Source = mitk::TrackingDeviceSource::New();
    m_Source->SetTrackingDevice(tracker);
  }
  m_Visualizer = mitk::NavigationDataObjectVisualizationFilter::New();
  m_MessageFilter = mitk::NavigationDataToMessageFilter::New();
  m_PointSetFilter = mitk::NavigationDataToPointSetFilter::New();
  m_PointSetFilter->SetOperationMode(mitk::NavigationDataToPointSetFilter::Mode3D);
  m_Recorder = mitk::NavigationDataRecorder::New();
  m_Recorder->SetFileName(fileName.toLatin1());

  /* connect inputs and outputs of filters */
  for (unsigned int i = 0; i < m_Source->GetNumberOfOutputs(); ++i)   // source --> visualizer --> messager --> pointset
  {
    /* visualization filter */
    m_Visualizer->SetInput(i, m_Source->GetOutput(i));
    /* message filter */
    m_MessageFilter->SetInput(i, m_Visualizer->GetOutput(i));  
    /* landmark transform filter */
    m_PointSetFilter->SetInput(i, m_MessageFilter->GetOutput(i));
    m_Recorder->AddNavigationData(m_MessageFilter->GetOutput(i));
  }
  m_Recorder->StartRecording();
  /* set filter parameters */
  /* instrument visualization */
  const QList<unsigned int> instruments = m_ConfigWidget->GetToolsByToolType("Instrument");
  foreach (const unsigned int& index, instruments)
  {
    mitk::DataNode::Pointer node = this->CreateInstrumentVisualization(m_Source->GetOutput(index)->GetName());
    ds->Add(node);      
    m_Visualizer->SetRepresentationObject(index, node->GetData());
  }
  for (unsigned int i = 0; i < m_PointSetFilter->GetNumberOfOutputs(); i++)
  {

    mitk::PointSet* p = m_PointSetFilter->GetOutput(i);
    assert(p);

    mitk::DataNode::Pointer pointSetNode = mitk::DataNode::New();
    pointSetNode->SetData(p);
    pointSetNode->SetName(QString("Trajectory of Tool #%1 (%2)").arg(i).arg(QTime::currentTime().toString()).toLatin1());
    mitk::Color color;
    color.Set(0.2, 0.3 * i ,0.9 - 0.2 * i);
    pointSetNode->SetColor(color); //change color of points
    pointSetNode->SetProperty("contourcolor", mitk::ColorProperty::New(color)); // change color of trajectory line
    pointSetNode->SetProperty("pointsize", mitk::FloatProperty::New(1.0)); // enlarge visualization of points
    pointSetNode->SetProperty("contoursize", mitk::FloatProperty::New(0.5)); // enlarge visualization of trajectory line
    pointSetNode->SetBoolProperty("show contour", true);
    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)
    this->GetDefaultDataStorage()->Add(pointSetNode); //add it to the DataStorage
  }
}