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Commit c5fe4f20a54045b4110d1fe5ec334ceb4137d5b1

Authored by okahilak
Committed by GitHub
1 parent 9ed8efe8
Exists in master

CLP: Move Tracker class to its own file (tracker.py) (#354)

Showing 2 changed files with 144 additions and 116 deletions   Show diff stats
invesalius/gui/task_navigator.py
  Diff comments   View file @c5fe4f2
... ... @@ -66,6 +66,7 @@ import invesalius.project as prj
66 66 from invesalius import utils
67 67 from invesalius.gui import utils as gui_utils
68 68 from invesalius.navigation.navigation import Navigation
  69 +from invesalius.navigation.tracker import Tracker
69 70  
70 71 HAS_PEDAL_CONNECTION = True
71 72 try:
... ... @@ -315,122 +316,6 @@ class InnerFoldPanel(wx.Panel):
315 316 Publisher.sendMessage('Update volume camera state', camera_state=self.checkcamera.GetValue())
316 317  
317 318  
318   -class Tracker():
319   - def __init__(self):
320   - self.trk_init = None
321   - self.tracker_id = const.DEFAULT_TRACKER
322   -
323   - self.tracker_fiducials = np.full([3, 3], np.nan)
324   - self.tracker_fiducials_raw = np.zeros((6, 6))
325   -
326   - self.tracker_connected = False
327   -
328   - def SetTracker(self, new_tracker):
329   - if new_tracker:
330   - self.DisconnectTracker()
331   -
332   - self.trk_init = dt.TrackerConnection(new_tracker, None, 'connect')
333   - if not self.trk_init[0]:
334   - dlg.ShowNavigationTrackerWarning(self.tracker_id, self.trk_init[1])
335   -
336   - self.tracker_id = 0
337   - self.tracker_connected = False
338   - else:
339   - self.tracker_id = new_tracker
340   - self.tracker_connected = True
341   -
342   - def DisconnectTracker(self):
343   - if self.tracker_connected:
344   - self.ResetTrackerFiducials()
345   - Publisher.sendMessage('Update status text in GUI',
346   - label=_("Disconnecting tracker ..."))
347   - Publisher.sendMessage('Remove sensors ID')
348   - Publisher.sendMessage('Remove object data')
349   - self.trk_init = dt.TrackerConnection(self.tracker_id, self.trk_init[0], 'disconnect')
350   - if not self.trk_init[0]:
351   - self.tracker_connected = False
352   - self.tracker_id = 0
353   -
354   - Publisher.sendMessage('Update status text in GUI',
355   - label=_("Tracker disconnected"))
356   - print("Tracker disconnected!")
357   - else:
358   - Publisher.sendMessage('Update status text in GUI',
359   - label=_("Tracker still connected"))
360   - print("Tracker still connected!")
361   -
362   - def IsTrackerInitialized(self):
363   - return self.trk_init and self.tracker_id and self.tracker_connected
364   -
365   - def AreTrackerFiducialsSet(self):
366   - return not np.isnan(self.tracker_fiducials).any()
367   -
368   - def GetTrackerCoordinates(self, ref_mode_id, n_samples=1):
369   - coord_raw_samples = {}
370   - coord_samples = {}
371   -
372   - for i in range(n_samples):
373   - coord_raw = dco.GetCoordinates(self.trk_init, self.tracker_id, ref_mode_id)
374   -
375   - if ref_mode_id == const.DYNAMIC_REF:
376   - coord = dco.dynamic_reference_m(coord_raw[0, :], coord_raw[1, :])
377   - else:
378   - coord = coord_raw[0, :]
379   - coord[2] = -coord[2]
380   -
381   - coord_raw_samples[i] = coord_raw
382   - coord_samples[i] = coord
383   -
384   - coord_raw_avg = np.median(list(coord_raw_samples.values()), axis=0)
385   - coord_avg = np.median(list(coord_samples.values()), axis=0)
386   -
387   - return coord_avg, coord_raw_avg
388   -
389   - def SetTrackerFiducial(self, ref_mode_id, fiducial_index):
390   - coord, coord_raw = self.GetTrackerCoordinates(
391   - ref_mode_id=ref_mode_id,
392   - n_samples=const.CALIBRATION_TRACKER_SAMPLES,
393   - )
394   -
395   - # Update tracker fiducial with tracker coordinates
396   - self.tracker_fiducials[fiducial_index, :] = coord[0:3]
397   -
398   - assert 0 <= fiducial_index <= 2, "Fiducial index out of range (0-2): {}".format(fiducial_index)
399   -
400   - self.tracker_fiducials_raw[2 * fiducial_index, :] = coord_raw[0, :]
401   - self.tracker_fiducials_raw[2 * fiducial_index + 1, :] = coord_raw[1, :]
402   -
403   - print("Set tracker fiducial {} to coordinates {}.".format(fiducial_index, coord[0:3]))
404   -
405   - def ResetTrackerFiducials(self):
406   - for m in range(3):
407   - self.tracker_fiducials[m, :] = [np.nan, np.nan, np.nan]
408   -
409   - def GetTrackerFiducials(self):
410   - return self.tracker_fiducials, self.tracker_fiducials_raw
411   -
412   - def GetTrackerInfo(self):
413   - return self.trk_init, self.tracker_id
414   -
415   - def UpdateUI(self, selection_ctrl, numctrls_fiducial, txtctrl_fre):
416   - if self.tracker_connected:
417   - selection_ctrl.SetSelection(self.tracker_id)
418   - else:
419   - selection_ctrl.SetSelection(0)
420   -
421   - # Update tracker location in the UI.
422   - for m in range(3):
423   - coord = self.tracker_fiducials[m, :]
424   - for n in range(0, 3):
425   - value = 0.0 if np.isnan(coord[n]) else float(coord[n])
426   - numctrls_fiducial[m][n].SetValue(value)
427   -
428   - txtctrl_fre.SetValue('')
429   - txtctrl_fre.SetBackgroundColour('WHITE')
430   -
431   - def get_trackers(self):
432   - return const.TRACKERS
433   -
434 319 class ICP():
435 320 def __init__(self):
436 321 self.use_icp = False
... ...
invesalius/navigation/tracker.py 0 → 100644
  Diff comments   View file @c5fe4f2
... ... @@ -0,0 +1,143 @@
  1 +#--------------------------------------------------------------------------
  2 +# Software: InVesalius - Software de Reconstrucao 3D de Imagens Medicas
  3 +# Copyright: (C) 2001 Centro de Pesquisas Renato Archer
  4 +# Homepage: http://www.softwarepublico.gov.br
  5 +# Contact: invesalius@cti.gov.br
  6 +# License: GNU - GPL 2 (LICENSE.txt/LICENCA.txt)
  7 +#--------------------------------------------------------------------------
  8 +# Este programa e software livre; voce pode redistribui-lo e/ou
  9 +# modifica-lo sob os termos da Licenca Publica Geral GNU, conforme
  10 +# publicada pela Free Software Foundation; de acordo com a versao 2
  11 +# da Licenca.
  12 +#
  13 +# Este programa eh distribuido na expectativa de ser util, mas SEM
  14 +# QUALQUER GARANTIA; sem mesmo a garantia implicita de
  15 +# COMERCIALIZACAO ou de ADEQUACAO A QUALQUER PROPOSITO EM
  16 +# PARTICULAR. Consulte a Licenca Publica Geral GNU para obter mais
  17 +# detalhes.
  18 +#--------------------------------------------------------------------------
  19 +
  20 +import numpy as np
  21 +
  22 +import invesalius.constants as const
  23 +import invesalius.data.coordinates as dco
  24 +import invesalius.data.trackers as dt
  25 +import invesalius.gui.dialogs as dlg
  26 +from invesalius.pubsub import pub as Publisher
  27 +
  28 +
  29 +class Tracker():
  30 + def __init__(self):
  31 + self.trk_init = None
  32 + self.tracker_id = const.DEFAULT_TRACKER
  33 +
  34 + self.tracker_fiducials = np.full([3, 3], np.nan)
  35 + self.tracker_fiducials_raw = np.zeros((6, 6))
  36 +
  37 + self.tracker_connected = False
  38 +
  39 + def SetTracker(self, new_tracker):
  40 + if new_tracker:
  41 + self.DisconnectTracker()
  42 +
  43 + self.trk_init = dt.TrackerConnection(new_tracker, None, 'connect')
  44 + if not self.trk_init[0]:
  45 + dlg.ShowNavigationTrackerWarning(self.tracker_id, self.trk_init[1])
  46 +
  47 + self.tracker_id = 0
  48 + self.tracker_connected = False
  49 + else:
  50 + self.tracker_id = new_tracker
  51 + self.tracker_connected = True
  52 +
  53 + def DisconnectTracker(self):
  54 + if self.tracker_connected:
  55 + self.ResetTrackerFiducials()
  56 + Publisher.sendMessage('Update status text in GUI',
  57 + label=_("Disconnecting tracker ..."))
  58 + Publisher.sendMessage('Remove sensors ID')
  59 + Publisher.sendMessage('Remove object data')
  60 + self.trk_init = dt.TrackerConnection(self.tracker_id, self.trk_init[0], 'disconnect')
  61 + if not self.trk_init[0]:
  62 + self.tracker_connected = False
  63 + self.tracker_id = 0
  64 +
  65 + Publisher.sendMessage('Update status text in GUI',
  66 + label=_("Tracker disconnected"))
  67 + print("Tracker disconnected!")
  68 + else:
  69 + Publisher.sendMessage('Update status text in GUI',
  70 + label=_("Tracker still connected"))
  71 + print("Tracker still connected!")
  72 +
  73 + def IsTrackerInitialized(self):
  74 + return self.trk_init and self.tracker_id and self.tracker_connected
  75 +
  76 + def AreTrackerFiducialsSet(self):
  77 + return not np.isnan(self.tracker_fiducials).any()
  78 +
  79 + def GetTrackerCoordinates(self, ref_mode_id, n_samples=1):
  80 + coord_raw_samples = {}
  81 + coord_samples = {}
  82 +
  83 + for i in range(n_samples):
  84 + coord_raw = dco.GetCoordinates(self.trk_init, self.tracker_id, ref_mode_id)
  85 +
  86 + if ref_mode_id == const.DYNAMIC_REF:
  87 + coord = dco.dynamic_reference_m(coord_raw[0, :], coord_raw[1, :])
  88 + else:
  89 + coord = coord_raw[0, :]
  90 + coord[2] = -coord[2]
  91 +
  92 + coord_raw_samples[i] = coord_raw
  93 + coord_samples[i] = coord
  94 +
  95 + coord_raw_avg = np.median(list(coord_raw_samples.values()), axis=0)
  96 + coord_avg = np.median(list(coord_samples.values()), axis=0)
  97 +
  98 + return coord_avg, coord_raw_avg
  99 +
  100 + def SetTrackerFiducial(self, ref_mode_id, fiducial_index):
  101 + coord, coord_raw = self.GetTrackerCoordinates(
  102 + ref_mode_id=ref_mode_id,
  103 + n_samples=const.CALIBRATION_TRACKER_SAMPLES,
  104 + )
  105 +
  106 + # Update tracker fiducial with tracker coordinates
  107 + self.tracker_fiducials[fiducial_index, :] = coord[0:3]
  108 +
  109 + assert 0 <= fiducial_index <= 2, "Fiducial index out of range (0-2): {}".format(fiducial_index)
  110 +
  111 + self.tracker_fiducials_raw[2 * fiducial_index, :] = coord_raw[0, :]
  112 + self.tracker_fiducials_raw[2 * fiducial_index + 1, :] = coord_raw[1, :]
  113 +
  114 + print("Set tracker fiducial {} to coordinates {}.".format(fiducial_index, coord[0:3]))
  115 +
  116 + def ResetTrackerFiducials(self):
  117 + for m in range(3):
  118 + self.tracker_fiducials[m, :] = [np.nan, np.nan, np.nan]
  119 +
  120 + def GetTrackerFiducials(self):
  121 + return self.tracker_fiducials, self.tracker_fiducials_raw
  122 +
  123 + def GetTrackerInfo(self):
  124 + return self.trk_init, self.tracker_id
  125 +
  126 + def UpdateUI(self, selection_ctrl, numctrls_fiducial, txtctrl_fre):
  127 + if self.tracker_connected:
  128 + selection_ctrl.SetSelection(self.tracker_id)
  129 + else:
  130 + selection_ctrl.SetSelection(0)
  131 +
  132 + # Update tracker location in the UI.
  133 + for m in range(3):
  134 + coord = self.tracker_fiducials[m, :]
  135 + for n in range(0, 3):
  136 + value = 0.0 if np.isnan(coord[n]) else float(coord[n])
  137 + numctrls_fiducial[m][n].SetValue(value)
  138 +
  139 + txtctrl_fre.SetValue('')
  140 + txtctrl_fre.SetBackgroundColour('WHITE')
  141 +
  142 + def get_trackers(self):
  143 + return const.TRACKERS
... ...