vtkPolyDataPtr polydataFromTransforms(TimedTransformMap transformMap_prMt, Transform3D rMpr)
{
vtkPolyDataPtr retval = vtkPolyDataPtr::New();
vtkPointsPtr points = vtkPointsPtr::New();
vtkCellArrayPtr lines = vtkCellArrayPtr::New();
points->Allocate(transformMap_prMt.size());
TimedTransformMap::iterator mapIter = transformMap_prMt.begin();
while(mapIter != transformMap_prMt.end())
{
Vector3D point_t = Vector3D(0,0,0);
Transform3D prMt = mapIter->second;
Transform3D rMt = rMpr * prMt;
Vector3D p = rMt.coord(point_t);
points->InsertNextPoint(p.begin());
++mapIter;
}
lines->Initialize();
std::vector<vtkIdType> ids(points->GetNumberOfPoints());
for (unsigned i=0; i<ids.size(); ++i)
ids[i] = i;
lines->InsertNextCell(ids.size(), &(*ids.begin()));
retval->SetPoints(points);
retval->SetLines(lines);
return retval;
}
/**Create and return the structure that would have been read by UsReconstructFileReader,
* if written from this object.
*
*/
USReconstructInputData UsReconstructionFileMaker::getReconstructData(ImageDataContainerPtr imageData,
std::vector<TimeInfo> imageTimestamps,
TimedTransformMap trackerRecordedData,
std::map<double, ToolPositionMetadata> trackerRecordedMetadata,
std::map<double, ToolPositionMetadata> referenceRecordedMetadata,
ToolPtr tool, QString streamUid,
bool writeColor, Transform3D rMpr)
{
if(trackerRecordedData.empty())
reportWarning("No tracking data for writing to reconstruction file.");
USReconstructInputData retval;
retval.mFilename = mSessionDescription; // not saved yet - no filename
retval.mUsRaw = USFrameData::create(mSessionDescription, imageData);
retval.rMpr = rMpr;
retval.mTrackerRecordedMetadata = trackerRecordedMetadata;
retval.mReferenceRecordedMetadata = referenceRecordedMetadata;
for (TimedTransformMap::iterator it = trackerRecordedData.begin(); it != trackerRecordedData.end(); ++it)
{
TimedPosition current;
current.mTime = it->first;
current.mTimeInfo.setAcquisitionTime(it->first);
current.mPos = it->second;
retval.mPositions.push_back(current);
}
std::vector<TimeInfo> fts = imageTimestamps;
for (unsigned i=0; i<fts.size(); ++i)
{
TimedPosition current;
current.mTimeInfo = fts[i];
current.mTime = current.mTimeInfo.getAcquisitionTime();
current.mPos = Transform3D::Identity();
// current.mPos = not written - will be found from track positions during reconstruction.
retval.mFrames.push_back(current);
}
if (tool && tool->getProbe())
{
retval.mProbeDefinition.setData(tool->getProbe()->getProbeDefinition(streamUid));
}
if (tool)
retval.mProbeUid = tool->getUid();
this->fillFramePositions(&retval);
return retval;
}
