mitkTrackedUltrasound.cpp

Go to the documentation of this file.

/*============================================================================

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.

Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.

============================================================================*/

#include "mitkTrackedUltrasound.h"
#include "mitkImageReadAccessor.h"
#include <mitkNavigationDataSmoothingFilter.h>
#include <mitkNavigationDataDelayFilter.h>
#include "mitkNavigationDataDisplacementFilter.h"
#include "mitkTrackingDeviceSource.h"




mitk::TrackedUltrasound::TrackedUltrasound( USDevice::Pointer usDevice,
                                              NavigationDataSource::Pointer trackingDevice,
                                              bool trackedUltrasoundActive )
  : AbstractUltrasoundTrackerDevice( usDevice, trackingDevice, trackedUltrasoundActive )
{
}

mitk::TrackedUltrasound::~TrackedUltrasound()
{
}

mitk::AffineTransform3D::Pointer mitk::TrackedUltrasound::GetUSPlaneTransform()
{
  return m_UltrasoundDevice->GetOutput(0)->GetGeometry()->GetIndexToWorldTransform();
}

void mitk::TrackedUltrasound::GenerateData()
{
  //Call Update auf US-Device + evtl. auf Tracker (???)

  if (this->GetIsFreezed()) { return; } //if the image is freezed: do nothing

  //get next image from ultrasound image source
  //FOR LATER: Be aware if the for loop behaves correct, if the UltrasoundDevice has more than 1 output.
  int i = 0;
  m_UltrasoundDevice->Update();
  mitk::Image::Pointer image = m_UltrasoundDevice->GetOutput(i);
  if (image.IsNull() || !image->IsInitialized()) //check the image
  {
    MITK_WARN << "Invalid image in TrackedUltrasound, aborting!";
    return;
  }
  //___MITK_INFO << "GetSpacing: " << image->GetGeometry()->GetSpacing();

  //get output and initialize it if it wasn't initialized before
  mitk::Image::Pointer output = this->GetOutput(i);
  if (!output->IsInitialized()) { output->Initialize(image); }

  //now update image data
  mitk::ImageReadAccessor inputReadAccessor(image, image->GetSliceData(0, 0, 0));
  output->SetSlice(inputReadAccessor.GetData()); //copy image data
  output->GetGeometry()->SetSpacing(image->GetGeometry()->GetSpacing()); //copy spacing because this might also change

  //and update calibration (= transformation of the image)
  std::string calibrationKey = this->GetIdentifierForCurrentCalibration();
  if (!calibrationKey.empty())
  {
    std::map<std::string, mitk::AffineTransform3D::Pointer>::iterator calibrationIterator
      = m_Calibrations.find(calibrationKey);
    if (calibrationIterator != m_Calibrations.end())
    {
      // transform image according to callibration if one is set
      // for current configuration of probe and depth
      m_DisplacementFilter->SetTransformation(calibrationIterator->second);
      //Setze Update auf Displacementfilter ????
    }
  }
}

void mitk::TrackedUltrasound::OnFreeze(bool freeze)
{
  mitk::TrackingDeviceSource::Pointer trackingDeviceSource = dynamic_cast<mitk::TrackingDeviceSource*>(m_TrackingDeviceDataSource.GetPointer());
  if (trackingDeviceSource.IsNull())
  {
    MITK_WARN("TrackedUltrasound")("USDevice") << "Cannot freeze tracking.";
  }
  else
  {
    if (freeze) { trackingDeviceSource->Freeze(); }
    else { trackingDeviceSource->UnFreeze(); }
  }

  if (m_UltrasoundDevice.IsNull())
  {
    MITK_ERROR("TrackedUltrasound")("USDevice") << "UltrasoundDevice must not be null.";
    mitkThrow() << "UltrasoundDevice must not be null.";
  }
  m_UltrasoundDevice->SetIsFreezed(freeze);
}