bool mitk::WiiMoteInteractor::FixedRotationAndTranslation(const mitk::WiiMoteAllDataEvent* wiiMoteEvent)
{
Geometry3D* geometry = this->TransformCurrentDataInGeometry3D();
m_OrientationX = wiiMoteEvent->GetOrientationX();
m_OrientationY = wiiMoteEvent->GetOrientationY();
m_OrientationZ = wiiMoteEvent->GetOrientationZ();
ScalarType pitchSpeed = wiiMoteEvent->GetPitchSpeed();
ScalarType rollSpeed = wiiMoteEvent->GetRollSpeed();
ScalarType yawSpeed = wiiMoteEvent->GetYawSpeed();
// angle x
if(std::abs(pitchSpeed) < 200)
pitchSpeed = 0;
m_xAngle += (pitchSpeed / 1500);
// angle y
if(std::abs(rollSpeed) < 200)
rollSpeed = 0;
m_yAngle += (rollSpeed / 1500);
// angle z
if(std::abs(yawSpeed) < 200)
yawSpeed = 0;
m_zAngle += (yawSpeed / 1500);
if( std::abs(pitchSpeed) > 200
|| std::abs(rollSpeed) > 200
|| std::abs(yawSpeed) > 200)
{
m_InRotation = true;
//// depending on a combination of the
//// orientation the angleX wil be altered
//// because the range from roll is limited
//// range: -90° to 90° by the wiimote
//if(wiiMoteEvent->GetOrientationZ() < 0)
//{
// // value is positive
// if(wiiMoteEvent->GetOrientationX() > 0)
// {
// // the degree measured decreases after it reaches
// // in the "real" world the 90 degree angle
// // (rotation to the right side)
// // therefore it needs to artificially increased
// // measured value drops -> computated angle increases
// angleX = 90 - angleX;
// // now add the "new" angle to 90 degree threshold
// angleX += 90;
// }
// // value is negative
// else if(wiiMoteEvent->GetOrientationX() < 0)
// {
// // the degree measured increases after it reaches
// // in the "real" world -90 degree
// // (rotation to the left side)
// // therefore it needs to be artificially decreased
// // (example -90 -> -70, but -110 is needed)
// // measured value increases -> computated angle decreases
// angleX = 90 + angleX;
// // invert the algebraic sign, because it is the "negative"
// // side of the rotation
// angleX = -angleX;
// // now add the negative value to the -90 degree threshold
// // to decrease the value further
// angleX -= 90;
// }
// else if(wiiMoteEvent->GetOrientationX() == 0)
// {
// // i.e. wiimote is flipped upside down
// angleX = 180;
// }
//}
//rotation
vtkTransform *vtkTransform = vtkTransform::New();
//copy m_vtkMatrix to m_VtkIndexToWorldTransform
geometry->TransferItkToVtkTransform();
//////m_VtkIndexToWorldTransform as vtkLinearTransform*
vtkTransform->SetMatrix(geometry->GetVtkTransform()->GetMatrix());
// rotation from center is different
// from rotation while translated
// hence one needs the center of the object
Point3D center = geometry->GetOrigin();
vtkTransform->PostMultiply();
vtkTransform->Translate(-center[0], -center[1], -center[2]);
//vtkTransform->RotateWXYZ(angle, rotationVector[0], rotationVector[1], rotationVector[2]);
vtkTransform->RotateX(m_xAngle);
vtkTransform->RotateY(m_zAngle);
vtkTransform->RotateZ(m_yAngle);
vtkTransform->Translate(center[0], center[1], center[2]);
vtkTransform->PreMultiply();
geometry->SetIndexToWorldTransformByVtkMatrix(vtkTransform->GetMatrix());
geometry->Modified();
// indicate modification of data tree node
m_DataNode->Modified();
vtkTransform->Delete();
//update rendering
mitk::RenderingManager::GetInstance()->RequestUpdateAll();
return true;
}
else if(!m_InRotation)
{
float xValue = wiiMoteEvent->GetXAcceleration();
float yValue = wiiMoteEvent->GetYAcceleration();
float zValue = wiiMoteEvent->GetZAcceleration();
float pitch = wiiMoteEvent->GetPitch();
float roll = wiiMoteEvent->GetRoll();
// substracts the proportionate force
// applied by gravity depending on the
// orientation
float sinP = sin(pitch/180.0 * M_PI);
float cosP = cos(pitch/180.0 * M_PI);
float sinR = sin(roll/180.0 * M_PI);
float cosR = cos(roll/180.0 * M_PI);
// x acceleration
if(m_OrientationZ >= 0)
xValue = xValue - sinR * cosP;
else
xValue = xValue + sinR * cosP;
// against drift
if(std::abs(xValue) < 0.2)
xValue = 0;
// y acceleration
yValue = yValue + sinP;
// against drift
if(std::abs(yValue) < 0.2)
yValue = 0;
// z acceleration
zValue = zValue - cosP * cosR;
// against drift
if(std::abs(zValue) < 0.3)
zValue = 0;
// simple integration over time
// resulting in velocity
switch(m_TranslationMode)
{
case 1:
m_xVelocity -= xValue;
m_yVelocity -= yValue;
m_zVelocity += zValue;
// 1 = movement to the right
// initially starts with negative acceleration
// 2 = movement to the left
// initially starts with positive acceleration
if( m_xVelocity > 0 && xValue > 0 // 1
|| m_xVelocity < 0 && xValue < 0) // 2
{
m_xVelocity += xValue;
}
else if( m_xVelocity > 0 && xValue < 0 // 1
|| m_xVelocity < 0 && xValue > 0) // 2
{
m_xVelocity -= xValue;
}
break;
case 3:
m_yVelocity -= yValue;
break;
case 4:
// 1 = movement up
// initially starts with positive acceleration
// 2 = movement down
// initially starts with negative acceleration
if( m_zVelocity > 0 && zValue < 0 // 1
|| m_zVelocity < 0 && zValue > 0) // 2
{
m_zVelocity -= zValue;
}
else if(m_zVelocity > 0 && zValue > 0 // 1
|| m_zVelocity < 0 && zValue < 0) // 2
{
m_zVelocity += zValue;
}
break;
}
// sets the mode of the translation
// depending on the initial velocity
if( std::abs(m_xVelocity) > std::abs(m_yVelocity)
&& std::abs(m_xVelocity) > std::abs(m_zVelocity) )
{
m_TranslationMode = 2;
m_yVelocity = 0;
m_zVelocity = 0;
}
else if( std::abs(m_yVelocity) > std::abs(m_xVelocity)
&& std::abs(m_yVelocity) > std::abs(m_zVelocity) )
{
m_TranslationMode = 3;
m_xVelocity = 0;
m_zVelocity = 0;
}
else if(std::abs(m_zVelocity) > std::abs(m_xVelocity)
&& std::abs(m_zVelocity) > std::abs(m_yVelocity) )
{
m_TranslationMode = 4;
m_xVelocity = 0;
m_yVelocity = 0;
}
// translation
mitk::Vector3D movementVector;
movementVector.SetElement(0,m_xVelocity);
movementVector.SetElement(1,m_yVelocity);
movementVector.SetElement(2,m_zVelocity);
geometry->Translate(movementVector);
// indicate modification of data tree node
m_DataNode->Modified();
// update rendering
mitk::RenderingManager::GetInstance()->RequestUpdateAll();
return true;
}
return false;
}
std::string
mitk::TestDICOMLoading::DumpImageInformation( const Image* image )
{
std::stringstream result;
if (image == NULL) return result.str();
SetDefaultLocale();
// basic image data
DumpLine( "Pixeltype", TypeIDToString( (image->GetPixelType().GetTypeId()) ));
DumpLine( "BitsPerPixel", image->GetPixelType().GetBpe() );
DumpLine( "Dimension", image->GetDimension() );
result << "Dimensions: ";
for (unsigned int dim = 0; dim < image->GetDimension(); ++dim)
result << image->GetDimension(dim) << " ";
result << "\n";
// geometry data
result << "Geometry: \n";
Geometry3D* geometry = image->GetGeometry();
if (geometry)
{
AffineTransform3D* transform = geometry->GetIndexToWorldTransform();
if (transform)
{
result << " " << "Matrix: ";
const AffineTransform3D::MatrixType& matrix = transform->GetMatrix();
for (unsigned int i = 0; i < 3; ++i)
for (unsigned int j = 0; j < 3; ++j)
result << matrix[i][j] << " ";
result << "\n";
result << " " << "Offset: ";
const AffineTransform3D::OutputVectorType& offset = transform->GetOffset();
for (unsigned int i = 0; i < 3; ++i)
result << offset[i] << " ";
result << "\n";
result << " " << "Center: ";
const AffineTransform3D::InputPointType& center = transform->GetCenter();
for (unsigned int i = 0; i < 3; ++i)
result << center[i] << " ";
result << "\n";
result << " " << "Translation: ";
const AffineTransform3D::OutputVectorType& translation = transform->GetTranslation();
for (unsigned int i = 0; i < 3; ++i)
result << translation[i] << " ";
result << "\n";
result << " " << "Scale: ";
const double* scale = transform->GetScale();
for (unsigned int i = 0; i < 3; ++i)
result << scale[i] << " ";
result << "\n";
result << " " << "Origin: ";
const Point3D& origin = geometry->GetOrigin();
for (unsigned int i = 0; i < 3; ++i)
result << origin[i] << " ";
result << "\n";
result << " " << "Spacing: ";
const Vector3D& spacing = geometry->GetSpacing();
for (unsigned int i = 0; i < 3; ++i)
result << spacing[i] << " ";
result << "\n";
result << " " << "TimeBounds: ";
const TimeBounds timeBounds = geometry->GetTimeBounds();
for (unsigned int i = 0; i < 2; ++i)
result << timeBounds[i] << " ";
result << "\n";
}
}
ResetUserLocale();
return result.str();
}