void QmitkIGTTrackingLabView::DestroyInstrumentVisualization(mitk::DataStorage* ds, mitk::TrackingDevice::Pointer tracker) { if(ds == NULL || tracker.IsNull()) return; for(int i=0; i < tracker->GetToolCount(); ++i) { mitk::DataNode::Pointer dn = ds->GetNamedNode(tracker->GetTool(i)->GetToolName()); if(dn.IsNotNull()) ds->Remove(dn); } }
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 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 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; }
void mitk::TrackingVolumeGenerator::SetTrackingDevice (mitk::TrackingDevice::Pointer tracker) { this->m_Data = mitk::GetFirstCompatibleDeviceDataForLine(tracker->GetType()); }
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; }