This filter creates mitk::PointSet objects from mitk::NavigaitionData objects. More...

#include <mitkNavigationDataToPointSetFilter.h>

Inheritance diagram for mitk::NavigationDataToPointSetFilter:

Collaboration diagram for mitk::NavigationDataToPointSetFilter:

Public Types
enum	OperationMode { Mode3D, Mode3DMean, Mode4D }
	There are two different operation modes. More...
typedef NavigationDataToPointSetFilter	Self
typedef PointSetSource	Superclass
typedef itk::SmartPointer< Self >	Pointer
typedef itk::SmartPointer < const Self >	ConstPointer
Public Member Functions
virtual const char *	GetClassName () const
virtual void	SetRingBufferSize (unsigned int _arg)
	Sets the size for the ring buffer.
virtual void	GenerateData ()
	filter execute method
virtual void	SetInput (const mitk::NavigationData *NavigationData)
	Sets one input NavigationData.
virtual void	SetInput (unsigned int idx, const NavigationData *nd)
	Sets the input NavigationData at a specific index.
const mitk::NavigationData *	GetInput ()
	Returns the input of this filter.
const mitk::NavigationData *	GetInput (unsigned int idx)
	Returns the input number idx of this filter.
virtual void	SetOperationMode (OperationMode mode)
	Sets the mode of this filter.
virtual OperationMode	GetOperationMode () const
	returns the mode of this filter.
void	GenerateOutputInformation ()
Static Public Member Functions
static Pointer	New ()
Protected Member Functions
	NavigationDataToPointSetFilter ()
	empty implementation to prevent calling of the superclass method that would try to copy information from the input NavigationData to the output PointSet, which makes no sense!
virtual	~NavigationDataToPointSetFilter ()
virtual void	GenerateDataMode3D ()
	Generates the output for Mode3D.
virtual void	GenerateDataMode3DMean ()
	Generates the output for Mode3DMean.
virtual void	GenerateDataMode4D ()
	Generates the output for Mode4D.
virtual void	CreateOutputsForAllInputs ()
	create output objects according to OperationMode for all inputs
Protected Attributes
OperationMode	m_OperationMode
	Stores the mode. See enum OperationMode.
unsigned int	m_RingBufferSize
	Stores the ringbuffer size.
unsigned int	m_CurrentTimeStep
	Indicates the current timestamp.

Detailed Description

This filter creates mitk::PointSet objects from mitk::NavigaitionData objects.

Documentation

This filter has two modes that can be set with SetOperationMode().

Mode3D: every input NavigationData is processed into one output pointset. For each call to Update() a point with the ND position will be added to the PointSet
Mode4D: one output pointset is generated that contains one point for each input NavigationData. Each call to Update() adds a new timestep to the PointSet that contains new positions for the points.

Definition at line 39 of file mitkNavigationDataToPointSetFilter.h.

Member Typedef Documentation

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

Definition at line 42 of file mitkNavigationDataToPointSetFilter.h.

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

Definition at line 42 of file mitkNavigationDataToPointSetFilter.h.

typedef NavigationDataToPointSetFilter mitk::NavigationDataToPointSetFilter::Self

Definition at line 42 of file mitkNavigationDataToPointSetFilter.h.

typedef PointSetSource mitk::NavigationDataToPointSetFilter::Superclass

Definition at line 42 of file mitkNavigationDataToPointSetFilter.h.

Member Enumeration Documentation

enum mitk::NavigationDataToPointSetFilter::OperationMode

There are two different operation modes.

Documentation

Mode3D: every input NavigationData is processed into one output pointset that contains a point with the ND position for each Update()
Mode3DMean: a defined number of input NavigationData is used to generate a mean position and processed into one output pointset that contains a point with the ND position for each Update()
Mode4D: one output pointset is generated that contains one point for each input NavigationData. Each call to Update() adds a new timestep to the PointSet that contains new positions for the points. The RingBufferSize limits the number of timesteps in the 4D mode. It currently does _not_ limit the number of points in the 3D mode.

Enumerator:

Mode3D
Mode3DMean
Mode4D

Definition at line 53 of file mitkNavigationDataToPointSetFilter.h.

    {
      Mode3D,
      Mode3DMean,
      Mode4D
    };

Constructor & Destructor Documentation

mitk::NavigationDataToPointSetFilter::NavigationDataToPointSetFilter ( ) [protected]

empty implementation to prevent calling of the superclass method that would try to copy information from the input NavigationData to the output PointSet, which makes no sense!

Definition at line 24 of file mitkNavigationDataToPointSetFilter.cpp.

References m_CurrentTimeStep, m_OperationMode, m_RingBufferSize, and Mode3D.

{

  this->SetNumberOfRequiredInputs(1);

  m_OperationMode = Mode3D;
  m_CurrentTimeStep = 0;
  m_RingBufferSize = 50; //the default ring buffer size
}

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

Definition at line 34 of file mitkNavigationDataToPointSetFilter.cpp.

{
}

Member Function Documentation

void mitk::NavigationDataToPointSetFilter::CreateOutputsForAllInputs ( ) [protected, virtual]

create output objects according to OperationMode for all inputs

Definition at line 89 of file mitkNavigationDataToPointSetFilter.cpp.

{
  switch (m_OperationMode)
  {
  case Mode3D:
    this->SetNumberOfOutputs(this->GetNumberOfInputs());  // create one pointset output for each navigation data input
    break;
  case Mode3DMean:
    this->SetNumberOfOutputs(this->GetNumberOfInputs());  // create one pointset output for each navigation data input
    break;
  case Mode4D:
    this->SetNumberOfOutputs(1); // create just one output pointset that will contain all input navigation data objects
    break;
  default:
    break;
  }

  for (unsigned int idx = 0; idx < this->GetNumberOfOutputs(); ++idx)
    if (this->GetOutput(idx) == NULL)
    {
      DataObjectPointer newOutput = this->MakeOutput(idx);
      this->SetNthOutput(idx, newOutput);
    }
    this->Modified();
}

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

filter execute method

Definition at line 38 of file mitkNavigationDataToPointSetFilter.cpp.

{
  switch (m_OperationMode)
  {
  case Mode3D:
    GenerateDataMode3D();
    break;
  case Mode3DMean:
    GenerateDataMode3DMean();
    break;
  case Mode4D:
    GenerateDataMode4D();
    break;
  default:
    break;
  }
}

void mitk::NavigationDataToPointSetFilter::GenerateDataMode3D ( ) [protected, virtual]

Generates the output for Mode3D.

Definition at line 116 of file mitkNavigationDataToPointSetFilter.cpp.

References mitk::NavigationData::GetPosition(), mitk::PointSet::GetSize(), mitk::PointSet::InsertPoint(), and mitk::NavigationData::IsDataValid().

{
  for (unsigned int i = 0; i < this->GetNumberOfOutputs() ; ++i)  // for each output PointSet
  {
    mitk::PointSet* output = this->GetOutput(i);
    assert(output);
    const mitk::NavigationData* input = this->GetInput(i);
    assert(input);
    if (input->IsDataValid() == false)  // don't add point if input is invalid
      continue;
    mitk::PointSet::PointType pos = input->GetPosition();  // NavigationData::PositionType must be compatible with PointSet::PointType!
    output->InsertPoint(output->GetSize(), pos);  // add point with current position of input NavigationData to the output PointSet
    // \TODO: regard ringbuffersize
  }
}

void mitk::NavigationDataToPointSetFilter::GenerateDataMode3DMean ( ) [protected, virtual]

Generates the output for Mode3DMean.

read n times all connected inputs and sum them into outputs. Finish with dividing each output by n.

Definition at line 135 of file mitkNavigationDataToPointSetFilter.cpp.

References mitk::PointSet::GetPoint(), mitk::NavigationData::GetPosition(), mitk::PointSet::InsertPoint(), mitk::NavigationData::IsDataValid(), MBI_INFO, and mitk::PointSet::SetPoint().

{
  //make it editable through a Set method if needed
  const unsigned int numberforMean = 100; 

  //check for outputs and inputs
  for (unsigned int i = 0; i < this->GetNumberOfOutputs() ; ++i)  // for each output PointSet; change through pointsets to collect all navigation data in order
  {
    assert(this->GetOutput(i));
    assert(this->GetInput(i));
  }

  //vector of counters for each output
  std::vector<unsigned int> counterVec(this->GetNumberOfOutputs());

  //use first Output to get the size of the pointsets. All output pointssets have to have the same size!
  mitk::PointSet::PointIdentifier newPointId = this->GetOutput(0)->GetSize(); 

  for (unsigned int counter = 0; counter < numberforMean; counter++)
  {
    for (unsigned int i = 0; i < this->GetNumberOfOutputs() ; ++i)  // for each output PointSet; change through pointsets to collect all navigation data in order
    {
      mitk::PointSet* output = this->GetOutput(i);
      const mitk::NavigationData* input = this->GetInput(i);
      if (input->IsDataValid() == false)  // don't add point if input is invalid
        continue;//do not store
      mitk::PointSet::PointType pos;
      if (counter == 0) //first Element must be inserted
      {
        //no need to call an update
        pos = input->GetPosition();  // NavigationData::PositionType must be compatible with PointSet::PointType!
        output->InsertPoint(newPointId, pos);  // add point with current position of input NavigationData to the output PointSet
        counterVec[i]++;
      }
      else
      {
        //manually call an update to track new positions
        this->ProcessObject::GetInput(i)->Update();
        pos = input->GetPosition();  // NavigationData::PositionType must be compatible with PointSet::PointType!

        //calculate the summ of the old position and the current coordinate
        mitk::Vector3D vec;
        vec.SetVnlVector(pos.GetVnlVector());
        mitk::PointSet::PointType oPoint = output->GetPoint(newPointId);
        oPoint += vec;//summ up 
        output->SetPoint(newPointId, oPoint); 

        //store in counterVec to know how many have been added (and not skipped because of invalid data)
        counterVec[i]++;
      }
      // \TODO: regard ringbuffersize
    }

    //wait some time to be sure, that we receive new coordinates
    itksys::SystemTools::Delay(25);
  }

  //divide with counterVec
  for (unsigned int i = 0; i < this->GetNumberOfOutputs() ; ++i)  // for each output PointSet; change through pointsets to collect all navigation data in order
  {
    mitk::PointSet* output = this->GetOutput(i);
    mitk::PointSet::PointType oPoint = output->GetPoint(newPointId);
    for (unsigned int index = 0; index < oPoint.Size(); index++)
      oPoint[index] = oPoint[index] / counterVec[i];
    output->SetPoint(newPointId, oPoint); 
    MBI_INFO << "For output # " << i << " " << counterVec[i] << " tracked positions used for averaging";
  }


}

void mitk::NavigationDataToPointSetFilter::GenerateDataMode4D ( ) [protected, virtual]

Generates the output for Mode4D.

Definition at line 206 of file mitkNavigationDataToPointSetFilter.cpp.

References mitk::NavigationData::GetPosition(), and mitk::PointSet::SetPoint().

{
  mitk::PointSet* output = GetOutput();
  assert(output);
  for (unsigned int index = 0; index < this->GetNumberOfInputs(); index++)
  {
    const mitk::NavigationData* nd = GetInput(index);
    assert(nd);
    mitk::NavigationData::PositionType point = nd->GetPosition();  //get the position
    output->SetPoint( index, point, m_CurrentTimeStep); //store it in the pointset always at the current time step
  }   
  if (m_CurrentTimeStep == m_RingBufferSize - 1) // update ring buffer index
    m_CurrentTimeStep = 0;
  else
    m_CurrentTimeStep++;
}

void mitk::NavigationDataToPointSetFilter::GenerateOutputInformation ( void ) [inline]

Definition at line 110 of file mitkNavigationDataToPointSetFilter.h.

{};

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

const mitk::NavigationData * mitk::NavigationDataToPointSetFilter::GetInput ( unsigned int idx )

Returns the input number idx of this filter.

Definition at line 81 of file mitkNavigationDataToPointSetFilter.cpp.

{
  if (this->GetNumberOfInputs() < 1)
    return NULL;
  return static_cast<const NavigationData*>(this->ProcessObject::GetInput(idx));
}

const mitk::NavigationData * mitk::NavigationDataToPointSetFilter::GetInput ( void )

Returns the input of this filter.

Definition at line 73 of file mitkNavigationDataToPointSetFilter.cpp.

{
  if (this->GetNumberOfInputs() < 1)
    return NULL;
  return static_cast<const NavigationData*>(this->ProcessObject::GetInput(0));
}

virtual OperationMode mitk::NavigationDataToPointSetFilter::GetOperationMode ( ) const [virtual]

returns the mode of this filter.

See OperationMode for the behavior in the different modes

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

Reimplemented from mitk::PointSetSource.

Referenced by mitkNavigationDataToPointSetFilterTest(), QmitkIGTExampleView::OnPlayingToggle(), QmitkIGTExampleView::OnTestNavigation(), and QmitkIGTRecorderView::SetupIGTPipeline().

void mitk::NavigationDataToPointSetFilter::SetInput	(	unsigned int	idx,
		const NavigationData *	nd
	)		`[virtual]`

Sets the input NavigationData at a specific index.

Definition at line 65 of file mitkNavigationDataToPointSetFilter.cpp.

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

void mitk::NavigationDataToPointSetFilter::SetInput ( const mitk::NavigationData * NavigationData ) [virtual]

Sets one input NavigationData.

Definition at line 57 of file mitkNavigationDataToPointSetFilter.cpp.

{
  // Process object is not const-correct so the const_cast is required here
  this->ProcessObject::SetNthInput(0, const_cast<NavigationData*>(nd));
  this->CreateOutputsForAllInputs();
}

void mitk::NavigationDataToPointSetFilter::SetOperationMode ( OperationMode mode ) [virtual]

Sets the mode of this filter.

See OperationMode for the behavior in the different modes A call to this method will change the number of outputs of the filter. After calling this method, all previously acquired pointers to outputs are invalid Always set the operation mode first, then get the outputs with GetOutput()

Definition at line 224 of file mitkNavigationDataToPointSetFilter.cpp.

{
  m_OperationMode = mode;
  //Initialize 4D Mode
  if (m_OperationMode == Mode4D)
    m_CurrentTimeStep = 0;
  this->Modified();
  this->CreateOutputsForAllInputs();
}

virtual void mitk::NavigationDataToPointSetFilter::SetRingBufferSize ( unsigned int _arg ) [virtual]

Sets the size for the ring buffer.

Documentation The size determines the maximum number of timesteps in 4D mode and the number of points in 3D mode of the output PointSet