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/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI.cxx,v $
Language: C++
Date: $Date: 2009-06-12 15:23:31 $
Version: $Revision: 1.1 $
Copyright (c) ISC Insight Software Consortium. All rights reserved.
See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#include <QtGui>
#include "OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI.moc"
#include "OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI.h"
#include "igstkCoordinateSystemTransformToResult.h"
OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI::
OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI()
{
m_GUI.setupUi(this);
this->CreateActions();
m_Tracker = TrackerType::New();
m_Logger = LoggerType::New();
m_LogOutput = LogOutputType::New();
m_LogFile.open("logOneViewAndTrackingUsingFLTKWidget.txt");
if( !m_LogFile.fail() )
{
m_LogOutput->SetStream( m_LogFile );
}
else
{
std::cerr << "Problem opening Log file, using cerr instead "
<< std::endl;
m_LogOutput->SetStream( std::cerr );
}
m_Logger->AddLogOutput( m_LogOutput );
// add stdout for debug purposes
LogOutputType::Pointer coutLogOutput = LogOutputType::New();
coutLogOutput->SetStream( std::cout );
m_Logger->AddLogOutput( coutLogOutput );
m_Logger->SetPriorityLevel( LoggerType::DEBUG );
m_Tracker->SetLogger( m_Logger );
m_Tracker->RequestOpen();
m_Tracking = false;
m_GUIQuit = false;
m_GUI.Display3D->SetLogger( m_Logger );
//By default turn on interaction
m_GUI.InteractionCheckBox->setCheckState( Qt::Checked );
//Set up an observer for the transform modified event
m_ViewPickerObserver = ObserverType::New();
m_ViewPickerObserver->SetCallbackFunction( this,
&OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI::ParsePickedPoint );
}
OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI::
~OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI()
{
m_Tracker->RequestReset();
m_Tracker->RequestStopTracking();
m_Tracker->RequestClose();
}
void OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI
::AttachObjectToTrackerTool( int trackerToolNumber,
igstk::SpatialObject * objectToTrack )
{
TransformType identityTransform;
identityTransform.SetToIdentity(
igstk::TimeStamp::GetLongestPossibleTime() );
// Attach a spatial object to the tracker tool
if ( trackerToolNumber == 1 )
{
objectToTrack->RequestSetTransformAndParent( identityTransform,
m_TrackerTool );
}
else if (trackerToolNumber == 2 )
{
objectToTrack->RequestSetTransformAndParent( identityTransform,
m_TrackerTool2 );
}
else
{
std::cerr << "Unavailable tracker tool number is specified" << std::endl;
}
}
void OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI::CreateActions()
{
connect(m_GUI.QuitPushButton, SIGNAL(clicked()), this, SLOT(OnQuitAction()));
connect(m_GUI.TrackingCheckBox, SIGNAL(stateChanged(int )), this,
SLOT(OnTrackingAction(int)));
connect(m_GUI.InteractionCheckBox, SIGNAL(stateChanged(int )), this,
SLOT(OnInteractionAction(int)));
}
void OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI::OnQuitAction()
{
QMessageBox::StandardButton value =
QMessageBox::information(this,
"Tracking application", "Are you sure you want to quit ?",
QMessageBox::Yes | QMessageBox::No );
if( value == QMessageBox::Yes )
{
this->close();
m_GUIQuit = true;
}
}
void
OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI
::SetView( igstk::View * view )
{
m_GUI.Display3D->RequestSetView (view);
view->AddObserver( igstk::CoordinateSystemTransformToEvent(),
m_ViewPickerObserver );
}
void
OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI
::OnTrackingAction( int state )
{
if ( state )
{
m_Tracking = true;
m_Tracker->RequestStartTracking();
}
else
{
m_Tracker->RequestReset();
m_Tracker->RequestStopTracking();
m_Tracking = false;
}
}
void
OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI
::OnInteractionAction( int state )
{
if ( state )
{
m_GUI.Display3D->RequestEnableInteractions();
}
else
{
m_GUI.Display3D->RequestDisableInteractions();
}
}
void OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI
::InitializeTracker( std::string InitializationFile,
std::string CameraCalibrationFileDirectory,
std::string markerTemplateDirectory )
{
m_Tracker->SetCameraCalibrationFilesDirectory(
CameraCalibrationFileDirectory );
m_Tracker->SetInitializationFile( InitializationFile );
m_Tracker->SetMarkerTemplatesDirectory( markerTemplateDirectory );
m_Tracker->RequestOpen();
}
void OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI
::ConfigureTrackerToolsAndAttachToTheTracker()
{
// Create two tracker tools and attach them to the tracker
std::cout << " Attaching tracker tool with TTblock marker" << std::endl;
m_TrackerTool = TrackerToolType::New();
//m_TrackerTool->SetLogger( m_Logger );
std::string markerNameTT = "TTblock";
m_TrackerTool->RequestSetMarkerName( markerNameTT );
m_TrackerTool->RequestConfigure();
m_TrackerTool->RequestAttachToTracker( m_Tracker );
std::cout << " Attaching tracker tool with sPointer marker" << std::endl;
m_TrackerTool2 = TrackerToolType::New();
//m_TrackerTool2->SetLogger( m_Logger );
std::string markerNamesPointer = "sPointer";
m_TrackerTool2->RequestSetMarkerName( markerNamesPointer );
m_TrackerTool2->RequestConfigure();
m_TrackerTool2->RequestAttachToTracker( m_Tracker );
}
bool OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI::HasQuitted( )
{
return m_GUIQuit;
}
void OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI
::AttachTrackerToView( igstk::View * view )
{
TransformType identityTransform;
identityTransform.SetToIdentity(
igstk::TimeStamp::GetLongestPossibleTime() );
// Attach a viewer to the tracker
m_Tracker->RequestSetTransformAndParent( identityTransform, view );
}
void
OneViewAndTrackingUsingQTWidgetAndMicronTrackerGUI
::ParsePickedPoint( const itk::EventObject & event)
{
if ( igstk::CoordinateSystemTransformToEvent().CheckEvent( &event ) )
{
const igstk::CoordinateSystemTransformToEvent * tmevent =
dynamic_cast< const igstk::CoordinateSystemTransformToEvent *>( & event );
igstk::CoordinateSystemTransformToResult transformCarrier = tmevent->Get();
const igstk::Transform transform = transformCarrier.GetTransform();
std::cout << "Translation transform: " << transform.GetTranslation()[0]
<< transform.GetTranslation()[1]
<< transform.GetTranslation()[2]
<< std::endl;
}
}
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