Class that reads NavigationData from input and transfers the information to the geometry of the associated BaseData. More...

#include <mitkNavigationDataObjectVisualizationFilter.h>

Inheritance diagram for mitk::NavigationDataObjectVisualizationFilter:

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Collaboration diagram for mitk::NavigationDataObjectVisualizationFilter:

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List of all members.

Public Types
typedef NavigationDataObjectVisualizationFilter	Self
typedef NavigationDataToNavigationDataFilter	Superclass
typedef itk::SmartPointer< Self >	Pointer
typedef itk::SmartPointer < const Self >	ConstPointer
typedef BaseData::ConstPointer	RepresentationPointer
	Smart Pointer type to a BaseData.
typedef std::map< unsigned int, RepresentationPointer >	RepresentationPointerMap
	STL map of index to BaseData . Using map to be able to set non continuous indices.
typedef RepresentationPointerMap::size_type	RepresentationPointerMapSizeType
	Size type of an std::vector.
Public Member Functions
virtual const char *	GetClassName () const
void	SetRepresentationObject (unsigned int index, BaseData *data)
	Set the representation object of the input.
const BaseData *	GetRepresentationObject (unsigned int idx)
	Get the representation object associated with the index idx.
virtual void	SetTransformPosition (unsigned int index, bool applyTransform)
	if set to true, the filter will use the position part of the input navigation data at the given index to transform the representation object. If set to false, it will not. If no value is set, it defaults to true.
virtual bool	GetTransformPosition (unsigned int index) const
	returns whether position part of the input navigation data at the given index is used for the transformation of the representation object.
virtual void	TransformPositionOn (unsigned int index)
	sets the TransformPosition flag to true for the given index
virtual void	TransformPositionOff (unsigned int index)
	sets the TransformPosition flag to false for the given index
virtual void	SetTransformOrientation (unsigned int index, bool applyTransform)
	if set to true, the filter will use the orientation part of the input navigation data at the given index to transform the representation object. If set to false, it will not. If no value is set, it defaults to true.
virtual bool	GetTransformOrientation (unsigned int index) const
	returns whether orientation part of the input navigation data at the given index is used for the transformation of the representation object.
virtual void	TransformOrientationOn (unsigned int index)
	sets the TransformOrientation flag to true for the given index
virtual void	TransformOrientationOff (unsigned int index)
	sets the TransformOrientation flag to false for the given index
RepresentationPointerMapSizeType	GetNumberOfToolRepresentations () const
	Get the number of added BaseData associated to NavigationData.
virtual void	GenerateData ()
Static Public Member Functions
static Pointer	New ()
Protected Types
typedef std::map < itk::ProcessObject::DataObjectPointerArraySizeType, bool >	BooleanInputMap
Protected Member Functions
	NavigationDataObjectVisualizationFilter ()
	Constructor.
	~NavigationDataObjectVisualizationFilter ()
	Destructor.
Protected Attributes
RepresentationPointerMap	m_RepresentationList
	An array of the BaseData which represent the tools.
BooleanInputMap	m_TransformPosition
	if set to true, the filter will use the position part of the input navigation data at the given index for the calculation of the transform. If no entry for the index exists, it defaults to true.
BooleanInputMap	m_TransformOrientation
	if set to true, the filter will use the orientation part of the input navigation data at the given index for the calculation of the transform. If no entry for the index exists, it defaults to true.

Detailed Description

Class that reads NavigationData from input and transfers the information to the geometry of the associated BaseData.

Derived from NavigationDataToNavigationDataFilter

Definition at line 35 of file mitkNavigationDataObjectVisualizationFilter.h.

Member Typedef Documentation

typedef std::map<itk::ProcessObject::DataObjectPointerArraySizeType, bool> mitk::NavigationDataObjectVisualizationFilter::BooleanInputMap [protected]

Definition at line 100 of file mitkNavigationDataObjectVisualizationFilter.h.

typedef itk::SmartPointer<const Self> mitk::NavigationDataObjectVisualizationFilter::ConstPointer

Reimplemented from mitk::NavigationDataToNavigationDataFilter.

Definition at line 38 of file mitkNavigationDataObjectVisualizationFilter.h.

typedef itk::SmartPointer<Self> mitk::NavigationDataObjectVisualizationFilter::Pointer

Reimplemented from mitk::NavigationDataToNavigationDataFilter.

Definition at line 38 of file mitkNavigationDataObjectVisualizationFilter.h.

typedef BaseData::ConstPointer mitk::NavigationDataObjectVisualizationFilter::RepresentationPointer

Smart Pointer type to a BaseData.

Definition at line 40 of file mitkNavigationDataObjectVisualizationFilter.h.

typedef std::map<unsigned int, RepresentationPointer> mitk::NavigationDataObjectVisualizationFilter::RepresentationPointerMap

STL map of index to BaseData . Using map to be able to set non continuous indices.

Definition at line 50 of file mitkNavigationDataObjectVisualizationFilter.h.

typedef RepresentationPointerMap::size_type mitk::NavigationDataObjectVisualizationFilter::RepresentationPointerMapSizeType

Size type of an std::vector.

Definition at line 55 of file mitkNavigationDataObjectVisualizationFilter.h.

typedef NavigationDataObjectVisualizationFilter mitk::NavigationDataObjectVisualizationFilter::Self

Reimplemented from mitk::NavigationDataToNavigationDataFilter.

Definition at line 38 of file mitkNavigationDataObjectVisualizationFilter.h.

typedef NavigationDataToNavigationDataFilter mitk::NavigationDataObjectVisualizationFilter::Superclass

Reimplemented from mitk::NavigationDataToNavigationDataFilter.

Definition at line 38 of file mitkNavigationDataObjectVisualizationFilter.h.

Constructor & Destructor Documentation

mitk::NavigationDataObjectVisualizationFilter::NavigationDataObjectVisualizationFilter ( ) [protected]

Constructor.

Definition at line 22 of file mitkNavigationDataObjectVisualizationFilter.cpp.

: NavigationDataToNavigationDataFilter(), 
m_RepresentationList(), m_TransformPosition(), m_TransformOrientation()
{
}

mitk::NavigationDataObjectVisualizationFilter::~NavigationDataObjectVisualizationFilter ( ) [protected]

Destructor.

Definition at line 29 of file mitkNavigationDataObjectVisualizationFilter.cpp.

{
  m_RepresentationList.clear();
}

Member Function Documentation

void mitk::NavigationDataObjectVisualizationFilter::GenerateData ( ) [virtual]

*set the offset by convert from itkPoint to itkVector and setting offset of transform*/

Definition at line 69 of file mitkNavigationDataObjectVisualizationFilter.cpp.

References mitk::BaseData::GetGeometry(), mitk::Geometry3D::GetIndexToWorldTransform(), mitk::NavigationData::GetOrientation(), mitk::NavigationData::GetPosition(), mitk::Geometry3D::GetSpacing(), mitk::NavigationData::Graft(), mitk::NavigationData::IsDataValid(), mitk::NavigationData::SetDataValid(), mitk::Geometry3D::SetIndexToWorldTransform(), mitk::Geometry3D::SetSpacing(), and mitk::Geometry3D::TransferItkToVtkTransform().

{
  /*get each input, lookup the associated BaseData and transfer the data*/
  DataObjectPointerArray inputs = this->GetInputs(); //get all inputs
  for (unsigned int index=0; index < inputs.size(); index++)
  {
    //get the needed variables
    const mitk::NavigationData* nd = this->GetInput(index);
    assert(nd);

    mitk::NavigationData* output = this->GetOutput(index);
    assert(output);
        
    //check if the data is valid
    if (!nd->IsDataValid())
    {
      output->SetDataValid(false);
      continue;
    }
    output->Graft(nd); // copy all information from input to output
    const mitk::BaseData* data = this->GetRepresentationObject(index);
    if (data == NULL)
    {
      itkWarningMacro("NavigationDataObjectVisualizationFilter: Wrong/No BaseData associated with input.");
      return;
    }
    
    //get the transform from data
    mitk::AffineTransform3D::Pointer affineTransform = data->GetGeometry()->GetIndexToWorldTransform();
    if (affineTransform.IsNull())
    {
      //replace with mitk standard output
      itkWarningMacro("NavigationDataObjectVisualizationFilter: AffineTransform IndexToWorldTransform not initialized!");
      return;
    }

    //store the current scaling to set it after transformation
    mitk::Vector3D spacing = data->GetGeometry()->GetSpacing();
    //clear spacing of data to be able to set it again afterwards
    float scale[] = {1.0, 1.0, 1.0};
    data->GetGeometry()->SetSpacing(scale);

    /*now bring quaternion to affineTransform by using vnl_Quaternion*/
    affineTransform->SetIdentity();


    if (this->GetTransformOrientation(index) == true)
    {
      //calculate the transform from the quaternions
      static itk::QuaternionRigidTransform<double>::Pointer quatTransform = itk::QuaternionRigidTransform<double>::New();

      mitk::NavigationData::OrientationType orientation = nd->GetOrientation();
      // convert mitk::ScalarType quaternion to double quaternion because of itk bug
      vnl_quaternion<double> doubleQuaternion(orientation.x(), orientation.y(), orientation.z(), orientation.r());
      quatTransform->SetIdentity();
      quatTransform->SetRotation(doubleQuaternion);
      quatTransform->Modified();

      /* because of an itk bug, the transform can not be calculated with float data type. 
      To use it in the mitk geometry classes, it has to be transfered to mitk::ScalarType which is float */
      static AffineTransform3D::MatrixType m;
      mitk::TransferMatrix(quatTransform->GetMatrix(), m);
      affineTransform->SetMatrix(m);
    }
    if (this->GetTransformPosition(index) == true)
    {
      mitk::Vector3D pos;
      pos.Set_vnl_vector(nd->GetPosition().Get_vnl_vector());
      affineTransform->SetOffset(pos);    
    }
    affineTransform->Modified();
    //set the transform to data
    data->GetGeometry()->SetIndexToWorldTransform(affineTransform);    
    //set the original spacing to keep scaling of the geometrical object
    data->GetGeometry()->SetSpacing(spacing);
    data->GetGeometry()->TransferItkToVtkTransform(); // update VTK Transform for rendering too
    data->GetGeometry()->Modified();
    data->Modified();
    output->SetDataValid(true); // operation was successful, therefore data of output is valid.
  }
}

virtual const char* mitk::NavigationDataObjectVisualizationFilter::GetClassName ( ) const [virtual]

Reimplemented from mitk::NavigationDataToNavigationDataFilter.

RepresentationPointerMapSizeType mitk::NavigationDataObjectVisualizationFilter::GetNumberOfToolRepresentations ( ) const [inline]

Get the number of added BaseData associated to NavigationData.

Returns:: Returns the size of the internal map

Definition at line 88 of file mitkNavigationDataObjectVisualizationFilter.h.

    {
      return m_RepresentationList.size();
    }

const mitk::BaseData * mitk::NavigationDataObjectVisualizationFilter::GetRepresentationObject ( unsigned int idx )

Get the representation object associated with the index idx.

Parameters:

idx	the corresponding input number with which the BaseData is associated

Returns:: Returns the desired BaseData if it exists for the given input; Returns NULL if no BaseData was found.

Definition at line 35 of file mitkNavigationDataObjectVisualizationFilter.cpp.

{
  //if (idx >= this->GetNumberOfInputs())
  //  return NULL;
  
  //const NavigationData* nd = this->GetInput(idx);  
  //if (nd == NULL)
  //  return NULL;

  RepresentationPointerMap::const_iterator iter = m_RepresentationList.find(idx);
  if (iter != m_RepresentationList.end())
    return iter->second;

  return NULL;
}

bool mitk::NavigationDataObjectVisualizationFilter::GetTransformOrientation ( unsigned int index ) const [virtual]

returns whether orientation part of the input navigation data at the given index is used for the transformation of the representation object.

Definition at line 200 of file mitkNavigationDataObjectVisualizationFilter.cpp.

{
  itkDebugMacro("returning TransformOrientation for index " << index);
  BooleanInputMap::const_iterator it = this->m_TransformOrientation.find(index);
  if (it != this->m_TransformOrientation.end())
    return it->second;
  else
    return true; // default to true
}

bool mitk::NavigationDataObjectVisualizationFilter::GetTransformPosition ( unsigned int index ) const [virtual]

returns whether position part of the input navigation data at the given index is used for the transformation of the representation object.

Definition at line 165 of file mitkNavigationDataObjectVisualizationFilter.cpp.

{
  itkDebugMacro("returning TransformPosition for index " << index);
  BooleanInputMap::const_iterator it = this->m_TransformPosition.find(index);
  if (it != this->m_TransformPosition.end())
    return it->second;
  else
    return true; // default to true
}

static Pointer mitk::NavigationDataObjectVisualizationFilter::New ( ) [static]

Referenced by mitkNavigationDataObjectVisualizationFilterTest(), QmitkImageGuidedTherapyTutorialView::OnStartIGT(), QmitkIGTExampleView::OnTestNavigation(), QmitkToolPairNavigationView::SetupIGTPipeline(), and QmitkIGTRecorderView::SetupIGTPipeline().

void mitk::NavigationDataObjectVisualizationFilter::SetRepresentationObject	(	unsigned int	index,
		BaseData *	data
	)

Set the representation object of the input.

Parameters:

data	The BaseData to be associated to the index
index	the index with which data will be associated

Definition at line 52 of file mitkNavigationDataObjectVisualizationFilter.cpp.

{
  //if (idx >= this->GetNumberOfInputs())
  //  return false;

  //const NavigationData* nd = this->GetInput(idx);

  //if (nd == NULL || data == NULL)
  //  return false;

  m_RepresentationList[idx] = RepresentationPointer(data);
  //std::pair<RepresentationPointerMap::iterator, bool> returnEl; //pair for returning the result
  //returnEl = m_RepresentationList.insert( RepresentationPointerMap::value_type(nd, data) ); //insert the given elements  
  //return returnEl.second; // return if insert was successful 
}

void mitk::NavigationDataObjectVisualizationFilter::SetTransformOrientation	(	unsigned int	index,
		bool	applyTransform
	)		`[virtual]`

if set to true, the filter will use the orientation part of the input navigation data at the given index to transform the representation object. If set to false, it will not. If no value is set, it defaults to true.

Definition at line 188 of file mitkNavigationDataObjectVisualizationFilter.cpp.

{
  itkDebugMacro("setting TransformOrientation for index " << index << " to " << applyTransform);
  BooleanInputMap::const_iterator it = this->m_TransformOrientation.find(index);
  if ((it != this->m_TransformOrientation.end()) && (it->second == applyTransform))
    return;

  this->m_TransformOrientation[index] = applyTransform;
  this->Modified(); \
}

void mitk::NavigationDataObjectVisualizationFilter::SetTransformPosition	(	unsigned int	index,
		bool	applyTransform
	)		`[virtual]`

if set to true, the filter will use the position part of the input navigation data at the given index to transform the representation object. If set to false, it will not. If no value is set, it defaults to true.

Definition at line 153 of file mitkNavigationDataObjectVisualizationFilter.cpp.

{
  itkDebugMacro("setting TransformPosition for index " << index << " to " << applyTransform);
  BooleanInputMap::const_iterator it = this->m_TransformPosition.find(index);
  if ((it != this->m_TransformPosition.end()) && (it->second == applyTransform))
    return;

  this->m_TransformPosition[index] = applyTransform;
  this->Modified(); \
}

void mitk::NavigationDataObjectVisualizationFilter::TransformOrientationOff ( unsigned int index ) [virtual]

sets the TransformOrientation flag to false for the given index

Definition at line 217 of file mitkNavigationDataObjectVisualizationFilter.cpp.

{
  this->SetTransformOrientation(index, false);
}

void mitk::NavigationDataObjectVisualizationFilter::TransformOrientationOn ( unsigned int index ) [virtual]

sets the TransformOrientation flag to true for the given index

Definition at line 211 of file mitkNavigationDataObjectVisualizationFilter.cpp.

{
  this->SetTransformOrientation(index, true);
}

void mitk::NavigationDataObjectVisualizationFilter::TransformPositionOff ( unsigned int index ) [virtual]

sets the TransformPosition flag to false for the given index

Definition at line 182 of file mitkNavigationDataObjectVisualizationFilter.cpp.

{
  this->SetTransformPosition(index, false);
}

void mitk::NavigationDataObjectVisualizationFilter::TransformPositionOn ( unsigned int index ) [virtual]

sets the TransformPosition flag to true for the given index

Definition at line 176 of file mitkNavigationDataObjectVisualizationFilter.cpp.

{
  this->SetTransformPosition(index, true);
}

Member Data Documentation

RepresentationPointerMap mitk::NavigationDataObjectVisualizationFilter::m_RepresentationList [protected]

An array of the BaseData which represent the tools.

Definition at line 115 of file mitkNavigationDataObjectVisualizationFilter.h.

BooleanInputMap mitk::NavigationDataObjectVisualizationFilter::m_TransformOrientation [protected]

if set to true, the filter will use the orientation part of the input navigation data at the given index for the calculation of the transform. If no entry for the index exists, it defaults to true.

Definition at line 117 of file mitkNavigationDataObjectVisualizationFilter.h.

BooleanInputMap mitk::NavigationDataObjectVisualizationFilter::m_TransformPosition [protected]

if set to true, the filter will use the position part of the input navigation data at the given index for the calculation of the transform. If no entry for the index exists, it defaults to true.

Definition at line 116 of file mitkNavigationDataObjectVisualizationFilter.h.

The documentation for this class was generated from the following files:

mitk::NavigationDataObjectVisualizationFilter Class Reference

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation