An object of this class represents a navigation tool in the view of the software. A few informations like an identifier, a toolname, a surface and a itk spatial object are stored in such an object. The classes NavigationToolReader and are availiable to write/read tools to/from the harddisc. If you need a collection of navigation tools the class NavigationToolStorage could be used. More...

#include <mitkNavigationTool.h>

Inheritance diagram for mitk::NavigationTool:

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Collaboration diagram for mitk::NavigationTool:

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Public Types
enum	NavigationToolType { Instrument, Fiducial, Skinmarker, Unknown }

Public Member Functions
	mitkClassMacroItkParent (NavigationTool, itk::DataObject)

Pointer	Clone () const

virtual NavigationToolType	GetType () const

virtual void	SetType (NavigationToolType _arg)

virtual std::string	GetIdentifier () const

virtual void	SetIdentifier (std::string _arg)

virtual mitk::DataNode::Pointer	GetDataNode () const

virtual void	SetDataNode (mitk::DataNode::Pointer _arg)

virtual itk::SpatialObject< 3 >::Pointer	GetSpatialObject () const

virtual void	SetSpatialObject (itk::SpatialObject< 3 >::Pointer _arg)

virtual mitk::TrackingTool::Pointer	GetTrackingTool () const

virtual void	SetTrackingTool (mitk::TrackingTool::Pointer _arg)

virtual std::string	GetCalibrationFile () const

void	SetCalibrationFile (const std::string filename)

virtual mitk::Point3D	GetToolTipPosition () const

virtual void	SetToolTipPosition (mitk::Point3D _arg)

virtual mitk::Quaternion	GetToolTipOrientation () const

virtual void	SetToolTipOrientation (mitk::Quaternion _arg)

mitk::AffineTransform3D::Pointer	GetToolTipTransform ()

bool	IsToolTipSet ()

virtual mitk::PointSet::Pointer	GetToolRegistrationLandmarks () const

virtual void	SetToolRegistrationLandmarks (mitk::PointSet::Pointer _arg)
	Sets the tool registration landmarks which represent markers / special points on a tool that can be used for registration. The landmarks should be given in tool coordinates. More...

virtual mitk::PointSet::Pointer	GetToolCalibrationLandmarks () const

virtual void	SetToolCalibrationLandmarks (mitk::PointSet::Pointer _arg)
	Sets the tool calibration landmarks for calibration of defined points in the tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool. More...

virtual std::string	GetSerialNumber () const

virtual void	SetSerialNumber (std::string _arg)

virtual mitk::TrackingDeviceType	GetTrackingDeviceType () const

virtual void	SetTrackingDeviceType (mitk::TrackingDeviceType _arg)

std::string	GetToolName ()

mitk::Surface::Pointer	GetToolSurface ()

virtual void	Graft (const DataObject *data) override
	Graft the data and information from one NavigationTool to another. More...

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	NavigationTool ()

	~NavigationTool ()

Protected Attributes
std::string	m_Identifier

NavigationToolType	m_Type

mitk::DataNode::Pointer	m_DataNode
	This DataNode holds a toolname and a tool surface. More...

itk::SpatialObject< 3 >::Pointer	m_SpatialObject
	This member variable holds a mathamatical description of the tool. More...

mitk::TrackingTool::Pointer	m_TrackingTool
	This member variable holds a pointer to the corresponding tracking tool in the hardware. More...

std::string	m_CalibrationFile
	The path to the calibration file of the tool. More...

std::string	m_SerialNumber
	A unique serial number of the tool which is needed to identify the tool correctly. This is very important in case of the NDI Aurora System. More...

mitk::TrackingDeviceType	m_TrackingDeviceType
	This member holds the tracking device type of the tool. More...

mitk::PointSet::Pointer	m_ToolRegistrationLandmarks
	Holds landmarks for tool registration. More...

mitk::PointSet::Pointer	m_ToolCalibrationLandmarks
	Holds landmarks for calibration of the defined points in the tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool. More...

mitk::Point3D	m_ToolTipPosition
	Holds the position of the tool tip. More...

mitk::Quaternion	m_ToolTipOrientation
	Holds the orientation of the tool tip. More...

Detailed Description

An object of this class represents a navigation tool in the view of the software. A few informations like an identifier, a toolname, a surface and a itk spatial object are stored in such an object. The classes NavigationToolReader and are availiable to write/read tools to/from the harddisc. If you need a collection of navigation tools the class NavigationToolStorage could be used.

Documentation

Definition at line 44 of file mitkNavigationTool.h.

Member Enumeration Documentation

enum mitk::NavigationTool::NavigationToolType

Enumerator
Instrument
Fiducial
Skinmarker
Unknown

Definition at line 52 of file mitkNavigationTool.h.

Constructor & Destructor Documentation

mitk::NavigationTool::NavigationTool ( )

protected

Definition at line 23 of file mitkNavigationTool.cpp.

References m_ToolTipPosition.

mitk::NavigationTool::~NavigationTool ( )

protected

Definition at line 37 of file mitkNavigationTool.cpp.

Member Function Documentation

Pointer mitk::NavigationTool::Clone ( ) const

virtual std::string mitk::NavigationTool::GetCalibrationFile ( ) const

virtual

virtual mitk::DataNode::Pointer mitk::NavigationTool::GetDataNode ( ) const

virtual

virtual std::string mitk::NavigationTool::GetIdentifier ( ) const

virtual

virtual std::string mitk::NavigationTool::GetSerialNumber ( ) const

virtual

virtual itk::SpatialObject<3>::Pointer mitk::NavigationTool::GetSpatialObject ( ) const

virtual

virtual mitk::PointSet::Pointer mitk::NavigationTool::GetToolCalibrationLandmarks ( ) const

virtual

Returns: Returns the tool calibration landmarks for calibration of the defined points in the tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool.

std::string mitk::NavigationTool::GetToolName ( )

Returns: Returns the name of this navigation tool. Returns an empty string if there is no name (for example because the data node has not been set yet).

Note: There is no setter for the name, because the name of the corresponding data node is used as tool name. So if you want to modify the name of this navigation tool only get the data node and modify its name.

Definition at line 118 of file mitkNavigationTool.cpp.

virtual mitk::PointSet::Pointer mitk::NavigationTool::GetToolRegistrationLandmarks ( ) const

virtual

For overview, here are descriptons of the two types of tool landmarks:

tool calibration landmarks: These landmarks may be used clearly define the tools pose only by using landmarks in the tool coordinate system. E.g., two landmarks for a 5DoF tool and three landmarks for a 6DoF tool. These landmarks may be used, e.g., for a point based registration of a tool from image space to tracking space.

tool registration landmarks: These landmarks are designed for representing defined landmarks on a tools surface. The number of these landmarks might exeed the number of tool calibration landmarks for reasons of redundancy and averaging. They are used for, e.g., manually registering the pose of a tool by visual markers in a CT scan. If you would use these landmarks to do a point based registration from image space to tracking space later, you might overweight the tool because of two many landmarks compared to other markers.

Returns: Returns the tool registration landmarks which represent markers / special points on a tool that can be used for registration. The landmarks should be given in tool coordinates. If there are no landmarks defined for this tool the method returns an empty point set.

mitk::Surface::Pointer mitk::NavigationTool::GetToolSurface ( )

Returns: Returns the surface of this navigation tool. Returns NULL if there is no surface (for example because the data node has not been set yet).

Note: There is no setter for the surface, because the surface is the data of the corresponding data node. So if you want to set a new surface only get the data node and modify its data.

Definition at line 124 of file mitkNavigationTool.cpp.

virtual mitk::Quaternion mitk::NavigationTool::GetToolTipOrientation ( ) const

virtual

virtual mitk::Point3D mitk::NavigationTool::GetToolTipPosition ( ) const

virtual

mitk::AffineTransform3D::Pointer mitk::NavigationTool::GetToolTipTransform ( )

Returns: Returns the tooltip as transform object.

Definition at line 42 of file mitkNavigationTool.cpp.

References mitk::NavigationData::New().

virtual mitk::TrackingDeviceType mitk::NavigationTool::GetTrackingDeviceType ( ) const

virtual

virtual mitk::TrackingTool::Pointer mitk::NavigationTool::GetTrackingTool ( ) const

virtual

virtual NavigationToolType mitk::NavigationTool::GetType ( ) const

virtual

void mitk::NavigationTool::Graft ( const DataObject * data )

overridevirtual

Graft the data and information from one NavigationTool to another.

Copies the content of data into this object. This is a convenience method to setup a second NavigationTool object with all the meta information of another NavigationTool object. Note that this method is different than just using two SmartPointers to the same NavigationTool object since separate DataObjects are still maintained.

Definition at line 50 of file mitkNavigationTool.cpp.

References mitkThrowException.

bool mitk::NavigationTool::IsToolTipSet ( )

Returns: Returns true if a tooltip is set, false if not.

Definition at line 88 of file mitkNavigationTool.cpp.

mitk::NavigationTool::mitkClassMacroItkParent	(	NavigationTool	,
		itk::DataObject
	)

static Pointer mitk::NavigationTool::New ( )

static

Referenced by mitk::NavigationToolReader::ConvertDataNodeToNavigationTool(), mitk::NavigationToolStorageTestHelper::CreateTestData_ComplexStorage(), mitk::NavigationToolStorageTestHelper::CreateTestData_SimpleStorage(), mitk::NavigationToolStorageTestHelper::CreateTestData_StorageWithOneTool(), QmitkNDIConfigurationWidget::GenerateNavigationTool(), QmitkNavigationToolCreationWidget::OnFinished(), and QmitkNDIConfigurationWidget::OnSaveTool().

void mitk::NavigationTool::SetCalibrationFile ( const std::string filename )

Definition at line 101 of file mitkNavigationTool.cpp.

References File.

virtual void mitk::NavigationTool::SetDataNode ( mitk::DataNode::Pointer _arg )

virtual

virtual void mitk::NavigationTool::SetIdentifier ( std::string _arg )

virtual

virtual void mitk::NavigationTool::SetSerialNumber ( std::string _arg )

virtual

virtual void mitk::NavigationTool::SetSpatialObject ( itk::SpatialObject< 3 >::Pointer _arg )

virtual

virtual void mitk::NavigationTool::SetToolCalibrationLandmarks ( mitk::PointSet::Pointer _arg )

virtual

Sets the tool calibration landmarks for calibration of defined points in the tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool.

virtual void mitk::NavigationTool::SetToolRegistrationLandmarks ( mitk::PointSet::Pointer _arg )

virtual

Sets the tool registration landmarks which represent markers / special points on a tool that can be used for registration. The landmarks should be given in tool coordinates.

virtual void mitk::NavigationTool::SetToolTipOrientation ( mitk::Quaternion _arg )

virtual

virtual void mitk::NavigationTool::SetToolTipPosition ( mitk::Point3D _arg )

virtual

virtual void mitk::NavigationTool::SetTrackingDeviceType ( mitk::TrackingDeviceType _arg )

virtual

virtual void mitk::NavigationTool::SetTrackingTool ( mitk::TrackingTool::Pointer _arg )

virtual

virtual void mitk::NavigationTool::SetType ( NavigationToolType _arg )

virtual

Member Data Documentation

std::string mitk::NavigationTool::m_CalibrationFile

protected

The path to the calibration file of the tool.

Definition at line 177 of file mitkNavigationTool.h.

mitk::DataNode::Pointer mitk::NavigationTool::m_DataNode

protected

This DataNode holds a toolname and a tool surface.

Definition at line 171 of file mitkNavigationTool.h.

std::string mitk::NavigationTool::m_Identifier

protected

Definition at line 168 of file mitkNavigationTool.h.

std::string mitk::NavigationTool::m_SerialNumber

protected

A unique serial number of the tool which is needed to identify the tool correctly. This is very important in case of the NDI Aurora System.

Definition at line 180 of file mitkNavigationTool.h.

itk::SpatialObject<3>::Pointer mitk::NavigationTool::m_SpatialObject

protected

This member variable holds a mathamatical description of the tool.

Definition at line 173 of file mitkNavigationTool.h.

mitk::PointSet::Pointer mitk::NavigationTool::m_ToolCalibrationLandmarks

protected

Holds landmarks for calibration of the defined points in the tool coordinate system, e.g. 2 landmarks for a 5DoF tool and 3 landmarks for a 6DoF tool.

Definition at line 188 of file mitkNavigationTool.h.

mitk::PointSet::Pointer mitk::NavigationTool::m_ToolRegistrationLandmarks

protected

Holds landmarks for tool registration.

Definition at line 184 of file mitkNavigationTool.h.

mitk::Quaternion mitk::NavigationTool::m_ToolTipOrientation

protected

Holds the orientation of the tool tip.

Definition at line 192 of file mitkNavigationTool.h.

mitk::Point3D mitk::NavigationTool::m_ToolTipPosition

protected

Holds the position of the tool tip.

Definition at line 190 of file mitkNavigationTool.h.

Referenced by NavigationTool().

mitk::TrackingDeviceType mitk::NavigationTool::m_TrackingDeviceType

protected

This member holds the tracking device type of the tool.

Definition at line 182 of file mitkNavigationTool.h.

mitk::TrackingTool::Pointer mitk::NavigationTool::m_TrackingTool

protected

This member variable holds a pointer to the corresponding tracking tool in the hardware.

Definition at line 175 of file mitkNavigationTool.h.

NavigationToolType mitk::NavigationTool::m_Type

protected

Definition at line 169 of file mitkNavigationTool.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation