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); }
}
}
}
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;
}