This class records NavigationData objects. More...

#include <mitkNavigationDataRecorder.h>

Public Types
enum	RecordingMode { Console, NormalFile, ZipFile }
	Determines where the output is directed to. More...
typedef NavigationDataRecorder	Self
typedef itk::ProcessObject	Superclass
typedef itk::SmartPointer< Self >	Pointer
typedef itk::SmartPointer < const Self >	ConstPointer
Public Member Functions
virtual const char *	GetClassName () const
virtual void	SetFileName (const char *_arg)
	sets the file name for the OutputMode NormalFile and ZipFile
virtual const char *	GetFileName () const
	Returns the file name of the recording file (in OutputMode NormalFile and ZipFile)
virtual bool	GetRecording ()
	Returns whether the NavigationDataRecorder is recording or not.
virtual void	AddNavigationData (const NavigationData *nd)
	Adds the input NavigationDatas.
void	StartRecording ()
	Starts the recording with the presetted OutputMode this method calls StartRecording(std::ostream*)
void	StartRecording (std::ostream *stream)
	Starts the recording with an own preinitialized stream.
void	StopRecording ()
	Stops the recording and closes the stream.
virtual void	Update ()
	Every call of update causes one line for each added NavigationData in the output if the recording was started.
void	SetRecordingMode (RecordingMode mode)
	Sets the recording mode which causes different types of output streams see enum RecordingMode.
Static Public Member Functions
static Pointer	New ()
Protected Member Functions
virtual void	GenerateData ()
	filter execute method here it is not used
	NavigationDataRecorder ()
virtual	~NavigationDataRecorder ()
Protected Attributes
std::string	m_FileName
	stores the file name and path
unsigned int	m_NumberOfInputs
	counts the numbers of added input NavigationDatas
std::ostream *	m_Stream
	the output stream
RecordingMode	m_RecordingMode
	stores the mode see enum RecordingMode
bool	m_Recording
	indicates whether the recording is started or not
unsigned int	m_NumberOfRecordedFiles
	necessary for the naming of the file if there is more than one start-stop cycle

Detailed Description

This class records NavigationData objects.

Documentation The output of this class is formated as a XML document.

Internal this class uses streams for recording NavigationData objects. Therefore different types of output are possible and can be set with the SetOutputMode() method. The default output is directed to the console. If you want to save into a file you have to set a file name and the path. The recording is started with the call of the method StartRecording(). Now every Update() stores the current state of the added NavigationDatas. With StopRecording() the stream is stopped. With another call of StartRecording() the output is written to a new file with incremented filename counter.

Warning:: At the moment there is no check if the file is already existing and this class will override existing files.

Definition at line 45 of file mitkNavigationDataRecorder.h.

Member Typedef Documentation

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

Definition at line 48 of file mitkNavigationDataRecorder.h.

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

Definition at line 48 of file mitkNavigationDataRecorder.h.

typedef NavigationDataRecorder mitk::NavigationDataRecorder::Self

Definition at line 48 of file mitkNavigationDataRecorder.h.

typedef itk::ProcessObject mitk::NavigationDataRecorder::Superclass

Definition at line 48 of file mitkNavigationDataRecorder.h.

Member Enumeration Documentation

enum mitk::NavigationDataRecorder::RecordingMode

Determines where the output is directed to.

Documentation Console: std::cout NormalFile: std::ofstream ZipFile: Not supported yet -> std::cout

Enumerator:

Console
NormalFile
ZipFile

Definition at line 105 of file mitkNavigationDataRecorder.h.

    {
      Console,
      NormalFile,
      ZipFile
    };

Constructor & Destructor Documentation

mitk::NavigationDataRecorder::NavigationDataRecorder ( ) [protected]

Definition at line 26 of file mitkNavigationDataRecorder.cpp.

References mitk::TimeStamp::GetInstance(), m_FileName, m_NumberOfInputs, m_NumberOfRecordedFiles, m_Recording, m_RecordingMode, m_Stream, NormalFile, and mitk::TimeStamp::Start().

{
  m_NumberOfInputs = 0;
  m_RecordingMode = NormalFile;
  m_Recording = false;
  m_NumberOfRecordedFiles = 0;
  m_Stream = NULL;
  m_FileName = "";

  //To get a start time
  mitk::TimeStamp::GetInstance()->Start(this);

}

mitk::NavigationDataRecorder::~NavigationDataRecorder ( ) [protected, virtual]

Definition at line 40 of file mitkNavigationDataRecorder.cpp.

{
}

Member Function Documentation

void mitk::NavigationDataRecorder::AddNavigationData ( const NavigationData * nd ) [virtual]

Adds the input NavigationDatas.

Definition at line 50 of file mitkNavigationDataRecorder.cpp.

{
  // Process object is not const-correct so the const_cast is required here
  this->SetNthInput(m_NumberOfInputs, 
    const_cast< mitk::NavigationData * >( nd ) );

  m_NumberOfInputs++;

  this->Modified();
}

void mitk::NavigationDataRecorder::GenerateData ( ) [protected, virtual]

filter execute method here it is not used

Documentation

Definition at line 45 of file mitkNavigationDataRecorder.cpp.

{

}

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

virtual const char* mitk::NavigationDataRecorder::GetFileName ( ) const [virtual]

Returns the file name of the recording file (in OutputMode NormalFile and ZipFile)

virtual bool mitk::NavigationDataRecorder::GetRecording ( ) [virtual]

Returns whether the NavigationDataRecorder is recording or not.

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

Referenced by main(), mitkNavigationDataRecorderTest(), QmitkIGTExampleView::OnRecordingToggle(), and QmitkIGTRecorderView::SetupIGTPipeline().

virtual void mitk::NavigationDataRecorder::SetFileName ( const char * _arg ) [virtual]

sets the file name for the OutputMode NormalFile and ZipFile

Any extensions will be cut

Warning:: existing files will be overridden; do not use "." in file names at the end

void mitk::NavigationDataRecorder::SetRecordingMode ( RecordingMode mode )

Sets the recording mode which causes different types of output streams see enum RecordingMode.

Documentation

Definition at line 61 of file mitkNavigationDataRecorder.cpp.

{
  m_RecordingMode = mode;
  this->Modified();
}

void mitk::NavigationDataRecorder::StartRecording ( std::ostream * stream )

Starts the recording with an own preinitialized stream.

Documentation

m_Stream << "<Version Ver=\"1" />" << std::endl;

Definition at line 204 of file mitkNavigationDataRecorder.cpp.

{
  if (m_Recording)
  {
    std::cout << "Already recording please stop before start new recording session" << std::endl;
    return;
  }

  m_Stream = stream;
  m_Stream->precision(10);

  //TODO store date and GMT time
  if (m_Stream)
  {
    *m_Stream << "<?xml version=\"1.0\" ?>" << std::endl;
    // should be a generic version, meaning a member variable, which has the actual version
    *m_Stream << "    " << "<Data ToolCount=\"" << (m_NumberOfInputs) << "\" version=\"1.0\">" << std::endl;

    m_Recording = true;
  }
}

void mitk::NavigationDataRecorder::StartRecording ( )

Starts the recording with the presetted OutputMode this method calls StartRecording(std::ostream*)

Documentation

Definition at line 154 of file mitkNavigationDataRecorder.cpp.

{
  if (m_Recording)
  {
    std::cout << "Already recording please stop before start new recording session" << std::endl;
    return;
  }
  if (m_Stream == NULL)
  {
    std::stringstream ss;
    std::ostream* stream;
    
    //An existing extension will be cut and replaced with .xml
    std::string tmpPath = itksys::SystemTools::GetFilenamePath(m_FileName);
    m_FileName = itksys::SystemTools::GetFilenameWithoutExtension(m_FileName);
    ss << tmpPath << "/" <<  m_FileName << "-" << m_NumberOfRecordedFiles << ".xml";
    switch(m_RecordingMode)
    {
      case Console:
        stream = &std::cout;
        break;
      case NormalFile:

        //Check if there is a file name and path
        if (m_FileName == "")
        {
          stream = &std::cout;
          std::cout << "No file name or file path set the output is redirected to the console";
        }
        else
        {
          stream = new std::ofstream(ss.str().c_str());
        }

        break;
      case ZipFile:
        stream = &std::cout;
        std::cout << "Sorry no ZipFile support yet";
        break;
      default:
        stream = &std::cout;
        break;
    }
    StartRecording(stream);
  }




}

void mitk::NavigationDataRecorder::StopRecording ( )

Stops the recording and closes the stream.

Documentation

Definition at line 226 of file mitkNavigationDataRecorder.cpp.

{
  if (!m_Recording)
  {
    std::cout << "You have to start a recording first" << std::endl;
    return;
  }
  if (m_Stream)
  {
    *m_Stream << "</Data>" << std::endl;
  }

  m_NumberOfRecordedFiles++;
  m_Stream = NULL;
  m_Recording = false;
}

void mitk::NavigationDataRecorder::Update ( ) [virtual]

Every call of update causes one line for each added NavigationData in the output if the recording was started.

Documentation

Definition at line 67 of file mitkNavigationDataRecorder.cpp.

References mitk::NavigationData::GetCovErrorMatrix(), mitk::TimeStamp::GetElapsed(), mitk::NavigationData::GetHasOrientation(), mitk::NavigationData::GetHasPosition(), mitk::TimeStamp::GetInstance(), mitk::NavigationData::GetOrientation(), mitk::NavigationData::GetPosition(), mitk::NavigationData::IsDataValid(), matrix(), TiXmlElement::SetAttribute(), and TiXmlElement::SetDoubleAttribute().

{
  if (m_Recording)
  {
    DataObjectPointerArray inputs = this->GetInputs(); //get all inputs
    mitk::NavigationData::TimeStampType timestamp=0.0;
    timestamp = mitk::TimeStamp::GetInstance()->GetElapsed();

    for (unsigned int index = 0; index < inputs.size(); index++)
    {
      mitk::NavigationData* nd = dynamic_cast<mitk::NavigationData*>(inputs[index].GetPointer());
      nd->Update(); // call update to propagate update to previous filters

      mitk::NavigationData::PositionType position;
      mitk::NavigationData::OrientationType orientation(0.0, 0.0, 0.0, 0.0);
      mitk::NavigationData::CovarianceMatrixType matrix;

      bool hasPosition = true;    
      bool hasOrientation = true; 
      bool dataValid = false;

      position.Fill(0.0);
      matrix.SetIdentity();

      position = nd->GetPosition();
      orientation = nd->GetOrientation();
      matrix = nd->GetCovErrorMatrix();
      
      hasPosition = nd->GetHasPosition();
      hasOrientation = nd->GetHasOrientation();
      dataValid = nd->IsDataValid();

      //use this one if you want the timestamps of the source
      //timestamp = nd->GetTimeStamp();

      //a timestamp is never < 0! this case happens only if you are using the timestamp of the nd object instead of getting a new one
      if (timestamp >= 0)
      { 
        TiXmlElement* elem = new TiXmlElement("ND");

        elem->SetDoubleAttribute("Time", timestamp);
        elem->SetDoubleAttribute("Tool", index);
        elem->SetDoubleAttribute("X", position[0]);
        elem->SetDoubleAttribute("Y", position[1]);
        elem->SetDoubleAttribute("Z", position[2]);

        elem->SetDoubleAttribute("QX", orientation[0]);
        elem->SetDoubleAttribute("QY", orientation[1]);
        elem->SetDoubleAttribute("QZ", orientation[2]);
        elem->SetDoubleAttribute("QR", orientation[3]);

        elem->SetDoubleAttribute("C00", matrix[0][0]);
        elem->SetDoubleAttribute("C01", matrix[0][1]);
        elem->SetDoubleAttribute("C02", matrix[0][2]);
        elem->SetDoubleAttribute("C03", matrix[0][3]);
        elem->SetDoubleAttribute("C04", matrix[0][4]);
        elem->SetDoubleAttribute("C05", matrix[0][5]);
        elem->SetDoubleAttribute("C10", matrix[1][0]);
        elem->SetDoubleAttribute("C11", matrix[1][1]);
        elem->SetDoubleAttribute("C12", matrix[1][2]);
        elem->SetDoubleAttribute("C13", matrix[1][3]);
        elem->SetDoubleAttribute("C14", matrix[1][4]);
        elem->SetDoubleAttribute("C15", matrix[1][5]);

        if (dataValid)
          elem->SetAttribute("Valid",1);
        else
          elem->SetAttribute("Valid",0);

        if (hasOrientation)
          elem->SetAttribute("hO",1);
        else
          elem->SetAttribute("hO",0);

        if (hasPosition)
          elem->SetAttribute("hP",1);
        else
          elem->SetAttribute("hP",0);
        
        *m_Stream << "        " << *elem << std::endl;

        delete elem;
      }
    }
  }
}