Navigator updates (#170)

* Remove set button from navigation tab * Reduce panel size and cleaning * More cleaning * Updates to code standards * Support to the fourth FTsensor

Navigator updates (#170)
* Remove set button from navigation tab * Reduce panel size and cleaning * More cleaning * Updates to code standards * Support to the fourth FTsensor
Renan · Thiago Franco de Moraes
1 parent 811f7ad5
Showing 4 changed files with 49 additions and 52 deletions Show diff stats
invesalius/constants.py
invesalius/data/coordinates.py
invesalius/gui/dialogs.py
invesalius/gui/task_navigator.py
@@ -708,6 +708,7 @@ STATIC_REF = 0
 DYNAMIC_REF = 1
 DEFAULT_REF_MODE = DYNAMIC_REF
 REF_MODE = [_("Static ref."), _("Dynamic ref.")]
+FT_SENSOR_MODE = [_("Sensor 3"), _("Sensor 4")]
 DEFAULT_COIL = SELECT
 COIL = [_("Select coil:"), _("Neurosoft Figure-8"),
@@ -735,13 +736,11 @@ TIPS_IMG = [_(&quot;Select left ear in image&quot;),
 BTNS_TRK = {TR1: {3: _('LET')},
             TR2: {4: _('RET')},
-            TR3: {5: _('NAT')},
-            SET: {6: _('SET')}}
+            TR3: {5: _('NAT')}}
 TIPS_TRK = [_("Select left ear with spatial tracker"),
             _("Select right ear with spatial tracker"),
-            _("Select nasion with spatial tracker"),
-            _("Show set coordinates in image")]
+            _("Select nasion with spatial tracker")]
 OBJL = wx.NewId()
 OBJR = wx.NewId()
@@ -109,7 +109,10 @@ def PolhemusWrapperCoord(trck, trck_id, ref_mode):
         coord3 = np.array([float(trck.PositionTooltipX3) * scale[0], float(trck.PositionTooltipY3) * scale[1],
                            float(trck.PositionTooltipZ3) * scale[2],
                            float(trck.AngleX3), float(trck.AngleY3), float(trck.AngleZ3)])
-        coord = np.vstack([coord, coord3])
+        coord4 = np.array([float(trck.PositionTooltipX4) * scale[0], float(trck.PositionTooltipY4) * scale[1],
+                           float(trck.PositionTooltipZ4) * scale[2],
+                           float(trck.AngleX4), float(trck.AngleY4), float(trck.AngleZ4)])
+        coord = np.vstack([coord, coord3, coord4])
     if trck.StylusButton:
         Publisher.sendMessage('PLH Stylus Button On')
@@ -208,9 +211,12 @@ def DebugCoord(trk_init, trck_id, ref_mode):
     coord3 = np.array([uniform(1, 200), uniform(1, 200), uniform(1, 200),
                        uniform(-180.0, 180.0), uniform(-180.0, 180.0), uniform(-180.0, 180.0)])
+    coord4 = np.array([uniform(1, 200), uniform(1, 200), uniform(1, 200),
+                       uniform(-180.0, 180.0), uniform(-180.0, 180.0), uniform(-180.0, 180.0)])
+
     Publisher.sendMessage('Sensors ID', probe_id=int(uniform(0, 5)), ref_id=int(uniform(0, 5)))
-    return np.vstack([coord1, coord2, coord3])
+    return np.vstack([coord1, coord2, coord3, coord4])
 def dynamic_reference(probe, reference):
@@ -3487,8 +3487,19 @@ class ObjectCalibrationDialog(wx.Dialog):
         choice_ref.SetSelection(self.obj_ref_id)
         choice_ref.SetToolTip(tooltip)
         choice_ref.Bind(wx.EVT_COMBOBOX, self.OnChoiceRefMode)
-        if self.tracker_id != const.MTC:
-            choice_ref.Enable(0)
+        choice_ref.Enable(0)
+        if self.tracker_id == const.MTC or self.tracker_id == const.FASTRAK or self.tracker_id == const.DEBUGTRACK:
+            choice_ref.Enable(1)
+
+        # ComboBox for sensor selection for FASTRAK
+        tooltip = wx.ToolTip(_(u"Choose the FASTRAK sensor port"))
+        choice_sensor = wx.ComboBox(self, -1, "", size=wx.Size(90, 23),
+                                 choices=const.FT_SENSOR_MODE, style=wx.CB_DROPDOWN | wx.CB_READONLY)
+        choice_sensor.SetSelection(0)
+        choice_sensor.SetToolTip(tooltip)
+        choice_sensor.Bind(wx.EVT_COMBOBOX, self.OnChoiceFTSensor)
+        choice_sensor.Show(False)
+        self.choice_sensor = choice_sensor
         # Buttons to finish or cancel object registration
         tooltip = wx.ToolTip(_(u"Registration done"))
@@ -3496,9 +3507,10 @@ class ObjectCalibrationDialog(wx.Dialog):
         btn_ok = wx.Button(self, wx.ID_OK, _(u"Done"), size=wx.Size(90, 30))
         btn_ok.SetToolTip(tooltip)
-        extra_sizer = wx.FlexGridSizer(rows=2, cols=1, hgap=5, vgap=30)
+        extra_sizer = wx.FlexGridSizer(rows=3, cols=1, hgap=5, vgap=30)
         extra_sizer.AddMany([choice_ref,
-                             btn_ok])
+                             btn_ok,
+                             choice_sensor])
         # Push buttons for object fiducials
         btns_obj = const.BTNS_OBJ
@@ -3651,7 +3663,7 @@ class ObjectCalibrationDialog(wx.Dialog):
         if self.trk_init and self.tracker_id:
             coord_raw = dco.GetCoordinates(self.trk_init, self.tracker_id, self.obj_ref_id)
             if self.obj_ref_id and btn_id == 4:
-                coord = coord_raw[2, :]
+                coord = coord_raw[self.obj_ref_id, :]
             else:
                 coord = coord_raw[0, :]
         else:
@@ -3680,6 +3692,9 @@ class ObjectCalibrationDialog(wx.Dialog):
         if evt.GetSelection():
             self.obj_ref_id = 2
+            if self.tracker_id == const.FASTRAK or self.tracker_id == const.DEBUGTRACK:
+                self.choice_sensor.Show(True)
+                self.Layout()
         else:
             self.obj_ref_id = 0
         for m in range(0, 5):
@@ -3688,6 +3703,12 @@ class ObjectCalibrationDialog(wx.Dialog):
             for n in range(0, 3):
                 self.txt_coord[m][n].SetLabel('-')
+    def OnChoiceFTSensor(self, evt):
+        if evt.GetSelection():
+            self.obj_ref_id = 3
+        else:
+            self.obj_ref_id = 0
+
     def GetValue(self):
         return self.obj_fiducials, self.obj_orients, self.obj_ref_id, self.obj_name
@@ -134,13 +134,9 @@ class InnerFoldPanel(wx.Panel):
         # is not working properly in this panel. It might be on some child or
         # parent panel. Perhaps we need to insert the item into the sizer also...
         # Study this.
-        displaySize = wx.DisplaySize()
-        if displaySize[1] > 768:
-            fold_panel = fpb.FoldPanelBar(self, -1, wx.DefaultPosition,
-                                          (10, 350), 0, fpb.FPB_SINGLE_FOLD)
-        else:
-            fold_panel = fpb.FoldPanelBar(self, -1, wx.DefaultPosition,
-                                          (10, 320), 0, fpb.FPB_SINGLE_FOLD)
+
+        fold_panel = fpb.FoldPanelBar(self, -1, wx.DefaultPosition,
+                                          (10, 290), 0, fpb.FPB_SINGLE_FOLD)
         # Fold panel style
         style = fpb.CaptionBarStyle()
         style.SetCaptionStyle(fpb.CAPTIONBAR_GRADIENT_V)
@@ -305,8 +301,8 @@ class NeuronavigationPanel(wx.Panel):
         self.ref_mode_id = const.DEFAULT_REF_MODE
         # Initialize list of buttons and numctrls for wx objects
-        self.btns_coord = [None] * 7
-        self.numctrls_coord = [list(), list(), list(), list(), list(), list(), list()]
+        self.btns_coord = [None, None, None, None, None, None]
+        self.numctrls_coord = [[], [], [], [], [], []]
         # ComboBox for spatial tracker device selection
         tooltip = wx.ToolTip(_("Choose the tracking device"))
@@ -345,11 +341,7 @@ class NeuronavigationPanel(wx.Panel):
             lab = list(btns_trk[k].values())[0]
             self.btns_coord[n] = wx.Button(self, k, label=lab, size=wx.Size(45, 23))
             self.btns_coord[n].SetToolTip(wx.ToolTip(tips_trk[n-3]))
-            # Exception for event of button that set image coordinates
-            if n == 6:
-                self.btns_coord[n].Bind(wx.EVT_BUTTON, self.OnSetImageCoordinates)
-            else:
-                self.btns_coord[n].Bind(wx.EVT_BUTTON, self.OnTrackerFiducials)
+            self.btns_coord[n].Bind(wx.EVT_BUTTON, self.OnTrackerFiducials)
         # TODO: Find a better allignment between FRE, text and navigate button
         txt_fre = wx.StaticText(self, -1, _('FRE:'))
@@ -370,8 +362,8 @@ class NeuronavigationPanel(wx.Panel):
         btn_nav.Bind(wx.EVT_TOGGLEBUTTON, partial(self.OnNavigate, btn=(btn_nav, choice_trck, choice_ref)))
         # Image and tracker coordinates number controls
-        for m in range(0, 7):
-            for n in range(0, 3):
+        for m in range(len(self.btns_coord)):
+            for n in range(3):
                 self.numctrls_coord[m].append(
                     wx.lib.masked.numctrl.NumCtrl(parent=self, integerWidth=4, fractionWidth=1))
@@ -382,9 +374,9 @@ class NeuronavigationPanel(wx.Panel):
         coord_sizer = wx.GridBagSizer(hgap=5, vgap=5)
-        for m in range(0, 7):
+        for m in range(len(self.btns_coord)):
             coord_sizer.Add(self.btns_coord[m], pos=wx.GBPosition(m, 0))
-            for n in range(0, 3):
+            for n in range(3):
                 coord_sizer.Add(self.numctrls_coord[m][n], pos=wx.GBPosition(m, n+1))
                 if m in range(1, 6):
                     self.numctrls_coord[m][n].SetEditable(False)
@@ -432,13 +424,8 @@ class NeuronavigationPanel(wx.Panel):
     def UpdateImageCoordinates(self, position):
         # TODO: Change from world coordinates to matrix coordinates. They are better for multi software communication.
         self.current_coord = position
-        for m in [0, 1, 2, 6]:
-            if m == 6 and self.btns_coord[m].IsEnabled():
-                for n in [0, 1, 2]:
-                    self.numctrls_coord[m][n].SetValue(float(self.current_coord[n]))
-            elif m != 6 and not self.btns_coord[m].GetValue():
-                # btn_state = self.btns_coord[m].GetValue()
-                # if not btn_state:
+        for m in [0, 1, 2]:
+            if not self.btns_coord[m].GetValue():
                 for n in [0, 1, 2]:
                     self.numctrls_coord[m][n].SetValue(float(self.current_coord[n]))
@@ -544,19 +531,6 @@ class NeuronavigationPanel(wx.Panel):
                               nav_prop=(self.tracker_id, self.trk_init, self.ref_mode_id))
         print("Reference mode changed!")
-    def OnSetImageCoordinates(self, evt):
-        # FIXME: Cross does not update in last clicked slice, only on the other two
-        btn_id = list(const.BTNS_TRK[evt.GetId()].keys())[0]
-
-        ux, uy, uz = self.numctrls_coord[btn_id][0].GetValue(),\
-                     self.numctrls_coord[btn_id][1].GetValue(),\
-                     self.numctrls_coord[btn_id][2].GetValue()
-
-        Publisher.sendMessage('Set ball reference position', position=(ux, uy, uz))
-        # Publisher.sendMessage('Set camera in volume', (ux, uy, uz))
-        Publisher.sendMessage('Co-registered points', arg=(ux, uy, uz), position=(0., 0., 0.))
-        Publisher.sendMessage('Update cross position', position=(ux, uy, uz))
-
     def OnImageFiducials(self, evt):
         btn_id = list(const.BTNS_IMG_MKS[evt.GetId()].keys())[0]
         marker_id = list(const.BTNS_IMG_MKS[evt.GetId()].values())[0]
@@ -714,9 +688,6 @@ class NeuronavigationPanel(wx.Panel):
             for n in range(0, 3):
                 self.numctrls_coord[m][n].SetValue(0.0)
-        for n in range(0, 3):
-            self.numctrls_coord[6][n].SetValue(0.0)
-
     def ResetTrackerFiducials(self):
         for m in range(3, 6):
             self.fiducials[m, :] = [np.nan, np.nan, np.nan]