mitk::TrackingDeviceSource::Pointer mitk::TrackingDeviceSourceConfigurator::CreateMicronTrackerTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools)
{
mitk::TrackingDeviceSource::Pointer returnValue = mitk::TrackingDeviceSource::New();
mitk::ClaronTrackingDevice::Pointer thisDevice = dynamic_cast<mitk::ClaronTrackingDevice*>(trackingDevice.GetPointer());
m_ToolCorrespondencesInToolStorage = std::vector<int>();
//add the tools to the tracking device
for (int i=0; i<navigationTools->GetToolCount(); i++)
{
mitk::NavigationTool::Pointer thisNavigationTool = m_NavigationTools->GetTool(i);
m_ToolCorrespondencesInToolStorage.push_back(i);
bool toolAddSuccess = thisDevice->AddTool(thisNavigationTool->GetToolName().c_str(),thisNavigationTool->GetCalibrationFile().c_str());
if (!toolAddSuccess)
{
//todo error handling
this->m_ErrorMessage = "Can't add tool, is the toolfile valid?";
return NULL;
}
thisDevice->GetTool(i)->SetToolTip(thisNavigationTool->GetToolTipPosition(),thisNavigationTool->GetToolTipOrientation());
}
returnValue->SetTrackingDevice(thisDevice);
return returnValue;
}
mitk::TrackingDeviceSource::Pointer PolhemusTrackerTypeInformation::CreateTrackingDeviceSource(
mitk::TrackingDevice::Pointer trackingDevice,
mitk::NavigationToolStorage::Pointer navigationTools,
std::string* errorMessage,
std::vector<int>* toolCorrespondencesInToolStorage)
{
mitk::TrackingDeviceSource::Pointer returnValue = mitk::TrackingDeviceSource::New();
mitk::PolhemusTrackingDevice::Pointer thisDevice = dynamic_cast<mitk::PolhemusTrackingDevice*>(trackingDevice.GetPointer());
*toolCorrespondencesInToolStorage = std::vector<int>();
//add the tools to the tracking device
for (unsigned int i = 0; i < navigationTools->GetToolCount(); i++)
{
mitk::NavigationTool::Pointer thisNavigationTool = navigationTools->GetTool(i);
toolCorrespondencesInToolStorage->push_back(i);
bool toolAddSuccess = thisDevice->AddTool(thisNavigationTool->GetToolName().c_str(), std::stoi(thisNavigationTool->GetIdentifier()));
if (!toolAddSuccess)
{
//todo error handling
errorMessage->append("Can't add tool, is the toolfile valid?");
return NULL;
}
thisDevice->GetTool(i)->SetToolTipPosition(thisNavigationTool->GetToolTipPosition(), thisNavigationTool->GetToolAxisOrientation());
}
returnValue->SetTrackingDevice(thisDevice);
return returnValue;
}
mitk::TrackingDeviceSource::Pointer mitk::TrackingDeviceSourceConfigurator::CreateNDIAuroraTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools)
{
mitk::TrackingDeviceSource::Pointer returnValue = mitk::TrackingDeviceSource::New();
mitk::NDITrackingDevice::Pointer thisDevice = dynamic_cast<mitk::NDITrackingDevice*>(trackingDevice.GetPointer());
//connect to aurora to dectect tools automatically
thisDevice->OpenConnection();
//now search for automatically detected tools in the tool storage and save them
mitk::NavigationToolStorage::Pointer newToolStorageInRightOrder = mitk::NavigationToolStorage::New();
std::vector<int> alreadyFoundTools = std::vector<int>();
m_ToolCorrespondencesInToolStorage = std::vector<int>();
for (int i=0; i<thisDevice->GetToolCount(); i++)
{
bool toolFound = false;
for (int j=0; j<navigationTools->GetToolCount(); j++)
{
//check if the serial number is the same to identify the tool
if ((dynamic_cast<mitk::NDIPassiveTool*>(thisDevice->GetTool(i)))->GetSerialNumber() == navigationTools->GetTool(j)->GetSerialNumber())
{
//check if this tool was already added to make sure that every tool is only added once (in case of same serial numbers)
bool toolAlreadyAdded = false;
for(int k=0; k<alreadyFoundTools.size(); k++) if (alreadyFoundTools.at(k) == j) toolAlreadyAdded = true;
if(!toolAlreadyAdded)
{
//add tool in right order
newToolStorageInRightOrder->AddTool(navigationTools->GetTool(j));
m_ToolCorrespondencesInToolStorage.push_back(j);
//adapt name of tool
dynamic_cast<mitk::NDIPassiveTool*>(thisDevice->GetTool(i))->SetToolName(navigationTools->GetTool(j)->GetToolName());
//set tip of tool
dynamic_cast<mitk::NDIPassiveTool*>(thisDevice->GetTool(i))->SetToolTip(navigationTools->GetTool(j)->GetToolTipPosition(),navigationTools->GetTool(j)->GetToolTipOrientation());
//rember that this tool was already found
alreadyFoundTools.push_back(j);
toolFound = true;
break;
}
}
}
if (!toolFound)
{
this->m_ErrorMessage = "Error: did not find every automatically detected tool in the loaded tool storage: aborting initialization.";
return NULL;
}
}
//delete all tools from the tool storage
navigationTools->DeleteAllTools();
//and add only the detected tools in the right order
for (int i=0; i<newToolStorageInRightOrder->GetToolCount(); i++)
{
navigationTools->AddTool(newToolStorageInRightOrder->GetTool(i));
}
returnValue->SetTrackingDevice(thisDevice);
return returnValue;
}
mitk::TrackingDeviceSource::Pointer mitk::TrackingDeviceSourceConfigurator::CreateOpenIGTLinkTrackingDeviceSource(mitk::TrackingDevice::Pointer trackingDevice, mitk::NavigationToolStorage::Pointer navigationTools)
{
mitk::TrackingDeviceSource::Pointer returnValue = mitk::TrackingDeviceSource::New();
mitk::OpenIGTLinkTrackingDevice::Pointer thisDevice = dynamic_cast<mitk::OpenIGTLinkTrackingDevice*>(trackingDevice.GetPointer());
thisDevice->DiscoverTools();
if (thisDevice->GetToolCount() != navigationTools->GetToolCount())
{
this->m_ErrorMessage = "The number of tools in the connected device differs from the tool storage, cannot add tools.";
return NULL;
}
returnValue->SetTrackingDevice(thisDevice);
return returnValue;
}