void IgstkTool::processReceivedTransformResult(igstk::CoordinateSystemTransformToResult result)
{
if (!this->validReferenceForResult(result))
return;
// emit even if not visible: need error metadata
igstk::NDITracker::TrackingSampleInfo sampleInfo = this->getSampleInfo();
// ignore duplicate positions
if (similar(mLatestEmittedTimestamp, sampleInfo.m_TimeStamp,1.0E-3))
{
return;
}
mLatestEmittedTimestamp = sampleInfo.m_TimeStamp;
QDomDocument doc;
QDomElement root = doc.createElement("info");
doc.appendChild(root);
sampleInfo2xml(sampleInfo, root);
ToolPositionMetadata metadata;
metadata.mData = doc.toString();
igstk::Transform transform = result.GetTransform();
Transform3D prMt = igstk2Transform3D(transform);
double timestamp = transform.GetStartTime();
emit toolTransformAndTimestamp(prMt, timestamp, metadata);
}
void PlaybackTool::timeChangedSlot()
{
QDateTime time = mTime->getTime();
qint64 time_ms = time.toMSecsSinceEpoch();
TimedTransformMapPtr positions = mBase->getPositionHistory();
if (positions->empty())
return;
// find last stored time before current time.
TimedTransformMap::iterator lastSample = positions->lower_bound(time_ms);
if (lastSample!=positions->begin())
--lastSample;
// interpret as hidden if no samples has been received the last time:
qint64 timeout = 200;
bool visible = (lastSample!=positions->end()) && (fabs(time_ms - lastSample->first) < timeout);
// change visibility if applicable
if (mVisible!=visible)
{
mVisible = visible;
emit toolVisible(mVisible);
}
// emit new position if visible
if (this->getVisible())
{
m_rMpr = lastSample->second;
mTimestamp = lastSample->first;
emit toolTransformAndTimestamp(m_rMpr, mTimestamp);
}
}
void SliceProxy::toolTransformAndTimestampSlot(Transform3D prMt, double timestamp)
{
//std::cout << "proxy get transform" << std::endl;
Transform3D rMpr = mDataManager->get_rMpr();
Transform3D rMt = rMpr*prMt;
// if (similar(rMt, mCutplane->getToolPosition()))
// {
// return;
// }
mCutplane->setToolPosition(rMt);
this->changed();
emit toolTransformAndTimestamp(prMt, timestamp);
}
void ToolImpl::set_prMt(const Transform3D& prMt, double timestamp)
{
if (mPositionHistory->count(timestamp))
{
if (similar(mPositionHistory->find(timestamp)->second, prMt))
return;
}
m_prMt = prMt;
// Store positions in history, but only if visible - the history has no concept of visibility
if (this->getVisible())
(*mPositionHistory)[timestamp] = m_prMt;
emit toolTransformAndTimestamp(m_prMt, timestamp);
}
void ToolUsingIGSTK::toolTransformAndTimestampSlot(Transform3D matrix, double timestamp)
{
Transform3D prMt_filtered = matrix;
if (mTrackingPositionFilter)
{
mTrackingPositionFilter->addPosition(matrix, timestamp);
prMt_filtered = mTrackingPositionFilter->getFilteredPosition();
}
mTimestamp = timestamp;
(*mPositionHistory)[timestamp] = matrix; // store original in history
m_prMt = prMt_filtered;
emit toolTransformAndTimestamp(m_prMt, timestamp);
// ToolImpl::set_prMt(matrix, timestamp);
}
