C++ (Cpp) Pointer::GetPosition Examples

Example #1

File: QmitkUSNavigationZoneDistancesWidget.cpp Project: 151706061/MITK

void QmitkUSNavigationZoneDistancesWidget::UpdateDistancesToNeedlePosition(mitk::NavigationData::Pointer needle)
{
  if ( needle.IsNull() )
  {
    MITK_ERROR("QmitkUSAbstractNavigationStep")("QmitkUSNavigationStepMarkerIntervention")
      << "Current Navigation Data for needle must not be null.";
    mitkThrow() << "Current Navigation Data for needle must not be null.";
  }

  // get needle position
  if (needle->IsDataValid())
  {
    mitk::Point3D needlePosition = needle->GetPosition();

    for (int n = 0; n < m_ZoneNodes.size(); ++n)
    {
      mitk::Point3D zoneOrigin = m_ZoneNodes.at(n)->GetData()->GetGeometry()->GetOrigin();

      // calculate absolute distance
      mitk::ScalarType distance = sqrt( pow(zoneOrigin[0] - needlePosition[0], 2) + pow(zoneOrigin[1] - needlePosition[1], 2) + pow(zoneOrigin[2] - needlePosition[2], 2) );

      // subtract zone size
      float zoneSize;
      m_ZoneNodes.at(n)->GetFloatProperty(m_SizePropertyKey.c_str(), zoneSize);
      distance = distance - zoneSize;

      m_ZoneProgressBars.at(n)->setValue(distance);

      if ( distance < 0 ) { SignalZoneViolated(m_ZoneNodes.at(n), needlePosition); }
    }
  }
}

Example #2

File: QmitkIGTTrackingLabView.cpp Project: beneon/MITK

mitk::PointSet::Pointer QmitkIGTTrackingLabView::GetVirtualPointSetFromPosition(mitk::NavigationData::Pointer navigationData)
{
  typedef itk::QuaternionRigidTransform<double> QuaternionTransformType;

  mitk::NavigationData::PositionType pointA;
  mitk::NavigationData::PositionType pointB;
  mitk::NavigationData::PositionType pointC;

  //initializing three points with position(0|0|0)
  pointA.Fill(0);
  pointB.Fill(0);
  pointC.Fill(0);

  // changing position off all points in order to make them orthogonal
  pointA[0] = 1;
  pointB[1] = 1;
  pointC[2] = 1;

  QuaternionTransformType::Pointer quatTransform = QuaternionTransformType::New();

  // orientation of NavigationData from parameter
  mitk::NavigationData::OrientationType quatIn = navigationData->GetOrientation();

  // set orientation to quaternion transform
  vnl_quaternion<double> const vnlQuatIn(quatIn.x(), quatIn.y(), quatIn.z(), quatIn.r());
  quatTransform->SetRotation(vnlQuatIn);

  // transform each point
  pointA = quatTransform->TransformPoint(pointA);
  pointB = quatTransform->TransformPoint(pointB);
  pointC = quatTransform->TransformPoint(pointC);

  // add position data from NavigationData parameter to each point
  pointA[0] += navigationData->GetPosition()[0];
  pointA[1] += navigationData->GetPosition()[1];
  pointA[2] += navigationData->GetPosition()[2];

  pointB[0] += navigationData->GetPosition()[0];
  pointB[1] += navigationData->GetPosition()[1];
  pointB[2] += navigationData->GetPosition()[2];

  pointC[0] += navigationData->GetPosition()[0];
  pointC[1] += navigationData->GetPosition()[1];
  pointC[2] += navigationData->GetPosition()[2];

  // insert points in source points pointset for the permanent registration landmark transform
  m_PermanentRegistrationSourcePoints->InsertPoint(0,pointA);
  m_PermanentRegistrationSourcePoints->InsertPoint(1,pointB);
  m_PermanentRegistrationSourcePoints->InsertPoint(2,pointC);


  return m_PermanentRegistrationSourcePoints;
}