Improvements Microntracker support (#154)

* Improvements Microntracker support -Removed unused markers files * Minor bug fix: disconnect tracker

Improvements Microntracker support (#154)
* Improvements Microntracker support -Removed unused markers files * Minor bug fix: disconnect tracker
Renan · Thiago Franco de Moraes
1 parent 0ea23c28
Showing 21 changed files with 97 additions and 596 deletions Show diff stats
invesalius/constants.py
invesalius/data/coordinates.py
invesalius/data/trackers.py
invesalius/gui/dialogs.py
invesalius/gui/task_navigator.py
navigation/mtc_files/Markers/1b
navigation/mtc_files/Markers/2Coil
navigation/mtc_files/Markers/2Ref
navigation/mtc_files/Markers/2b
navigation/mtc_files/Markers/3Coil
navigation/mtc_files/Markers/4Coil
navigation/mtc_files/Markers/5Ref
navigation/mtc_files/Markers/COOLCARD
navigation/mtc_files/Markers/Pointer Template
navigation/mtc_files/Markers/Ref
navigation/mtc_files/Markers/TTblock
navigation/mtc_files/Markers/a
navigation/mtc_files/Markers/coil
navigation/mtc_files/Markers/probe
navigation/mtc_files/Markers/sptr
@@ -739,6 +739,9 @@ TIPS_OBJ = [_(&quot;Select left object fiducial&quot;),
  
 CAL_DIR = os.path.abspath(os.path.join(FILE_PATH, '..', 'navigation', 'mtc_files', 'CalibrationFiles'))
 MAR_DIR = os.path.abspath(os.path.join(FILE_PATH, '..', 'navigation', 'mtc_files', 'Markers'))
+PROBE_NAME = "1Probe"
+REF_NAME = "2Ref"
+OBJ_NAME = "3Coil"
  
 #OBJECT TRACKING
 OBJ_DIR = os.path.abspath(os.path.join(FILE_PATH, '..', 'navigation', 'objects'))
@@ -54,37 +54,22 @@ def GetCoordinates(trck_init, trck_id, ref_mode):
  
 def ClaronCoord(trck_init, trck_id, ref_mode):
     trck = trck_init[0]
-    scale = np.array([1.0, 1.0, -1.0])
-    coord = None
-    k = 0
-    # TODO: try to replace 'while' and use some Claron internal computation
+    trck.Run()
+    scale = np.array([1.0, 1.0, 1.0])
  
-    if ref_mode:
-        while k < 20:
-            try:
-                trck.Run()
-                probe = np.array([trck.PositionTooltipX1, trck.PositionTooltipY1,
-                                  trck.PositionTooltipZ1, trck.AngleX1, trck.AngleY1, trck.AngleZ1])
-                reference = np.array([trck.PositionTooltipX2, trck.PositionTooltipY2,
-                                      trck.PositionTooltipZ2, trck.AngleZ2,  trck.AngleY2, trck.AngleX2])
-                k = 30
-            except AttributeError:
-                k += 1
-                print("wait, collecting coordinates ...")
-        if k == 30:
-            coord = dynamic_reference(probe, reference)
-            coord = (coord[0] * scale[0], coord[1] * scale[1], coord[2] * scale[2], coord[3], coord[4], coord[5])
-    else:
-        while k < 20:
-            try:
-                trck.Run()
-                coord = np.array([trck.PositionTooltipX1 * scale[0], trck.PositionTooltipY1 * scale[1],
-                                  trck.PositionTooltipZ1 * scale[2], trck.AngleX1, trck.AngleY1, trck.AngleZ1])
-
-                k = 30
-            except AttributeError:
-                k += 1
-                print("wait, collecting coordinates ...")
+    coord1 = np.array([float(trck.PositionTooltipX1)*scale[0], float(trck.PositionTooltipY1)*scale[1],
+                      float(trck.PositionTooltipZ1)*scale[2],
+                      float(trck.AngleZ1), float(trck.AngleY1), float(trck.AngleX1)])
+
+    coord2 = np.array([float(trck.PositionTooltipX2)*scale[0], float(trck.PositionTooltipY2)*scale[1],
+                       float(trck.PositionTooltipZ2)*scale[2],
+                       float(trck.AngleZ2), float(trck.AngleY2), float(trck.AngleX2)])
+
+    coord3 = np.array([float(trck.PositionTooltipX3) * scale[0], float(trck.PositionTooltipY3) * scale[1],
+                       float(trck.PositionTooltipZ3) * scale[2],
+                       float(trck.AngleZ3), float(trck.AngleY3), float(trck.AngleX3)])
+
+    coord = np.vstack([coord1, coord2, coord3])
  
     Publisher.sendMessage('Sensors ID', probe_id=trck.probeID, ref_id=trck.refID)
  
@@ -70,10 +70,11 @@ def ClaronTracker(tracker_id):
         trck_init = pyclaron.pyclaron()
         trck_init.CalibrationDir = const.CAL_DIR.encode(const.FS_ENCODE)
         trck_init.MarkerDir = const.MAR_DIR.encode(const.FS_ENCODE)
-        trck_init.NumberFramesProcessed = 10
+        trck_init.NumberFramesProcessed = 1
         trck_init.FramesExtrapolated = 0
-        trck_init.PROBE_NAME = "1Probe"
-        trck_init.REF_NAME = "5Ref"
+        trck_init.PROBE_NAME = const.PROBE_NAME.encode(const.FS_ENCODE)
+        trck_init.REF_NAME = const.REF_NAME.encode(const.FS_ENCODE)
+        trck_init.OBJ_NAME = const.OBJ_NAME.encode(const.FS_ENCODE)
         trck_init.Initialize()
  
         if trck_init.GetIdentifyingCamera():
@@ -215,10 +216,16 @@ def DisconnectTracker(tracker_id, trck_init):
         print('Debug tracker disconnected.')
     else:
         try:
-            trck_init.Close()
-            trck_init = False
-            lib_mode = 'wrapper'
-            print('Tracker disconnected.')
+            if tracker_id == 3:
+                trck_init.close()
+                trck_init = False
+                lib_mode = 'serial'
+                print('Tracker disconnected.')
+            else:
+                trck_init.Close()
+                trck_init = False
+                lib_mode = 'wrapper'
+                print('Tracker disconnected.')
         except:
             trck_init = True
             lib_mode = 'error'
@@ -3327,7 +3327,8 @@ class ObjectCalibrationDialog(wx.Dialog):
         choice_ref.SetSelection(self.obj_ref_id)
         choice_ref.SetToolTip(tooltip)
         choice_ref.Bind(wx.EVT_COMBOBOX, self.OnChoiceRefMode)
-        choice_ref.Enable(0)
+        if self.tracker_id != const.MTC:
+            choice_ref.Enable(0)
  
         # Buttons to finish or cancel object registration
         tooltip = wx.ToolTip(_(u"Registration done"))
@@ -497,6 +497,7 @@ class NeuronavigationPanel(wx.Panel):
                     print("Tracker connected!")
         elif choice == 6:
             if trck:
+                self.ResetTrackerFiducials()
                 Publisher.sendMessage('Update status text in GUI',
                                       label=_("Disconnecting tracker ..."))
                 Publisher.sendMessage('Remove sensors ID')
@@ -1,38 +0,0 @@
-
-[Marker]
-FacetsCount=1
-Name=1b
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-13.977391161539257
-EndPos(0,1)=1.2440742880315269e-015
-EndPos(0,2)=-9.6300745155986073e-015
-EndPos(1,0)=13.977391161539257
-EndPos(1,1)=1.2515682934477468e-015
-EndPos(1,2)=-9.6789243286821155e-015
-
-[Facet1V2]
-EndPos(0,0)=13.977391161539257
-EndPos(0,1)=1.2515682934477468e-015
-EndPos(0,2)=-9.6789243286821155e-015
-EndPos(1,0)=14.019670530273789
-EndPos(1,1)=15.245637552880362
-EndPos(1,2)=-9.7055696812731187e-015
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=0.
-R0,0=1.
-R1,0=0.
-R2,0=0.
-S1=0.
-R0,1=0.
-R1,1=1.
-R2,1=0.
-S2=0.
-R0,2=0.
-R1,2=0.
-R2,2=1.
@@ -1,39 +0,0 @@
-
-[Marker]
-FacetsCount=1
-SliderControlledXpointsCount=0
-Name=2Coil
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-8.9266116684264851
-EndPos(0,1)=-7.9898502660127542e-016
-EndPos(0,2)=1.0214990704373533e-015
-EndPos(1,0)=8.9266116684264833
-EndPos(1,1)=-6.360897244681129e-016
-EndPos(1,2)=2.6438799470143262e-015
-
-[Facet1V2]
-EndPos(0,0)=8.9266116684264833
-EndPos(0,1)=-6.360897244681129e-016
-EndPos(0,2)=2.6438799470143262e-015
-EndPos(1,0)=9.0134937152069554
-EndPos(1,1)=-12.059011297429047
-EndPos(1,2)=3.6653790174516793e-015
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=0.20000000000000079
-R0,0=0.96592582628906842
-R1,0=-1.457167719820518e-016
-R2,0=-0.25881904510252007
-S1=-14.79999999999999
-R0,1=7.9979483404574392e-002
-R1,1=0.95105651629515409
-R2,1=0.29848749562898386
-S2=99.400000000000091
-R0,2=0.24615153938604106
-R1,2=-0.30901699437494573
-R2,2=0.91865005134999966
@@ -0,0 +1,38 @@
+[Marker]
+FacetsCount=1
+SliderControlledXpointsCount=0
+Name=2Ref
+
+[Facet1]
+VectorsCount=2
+
+[Facet1V1]
+EndPos(0,0)=-8.9120676333490003
+EndPos(0,1)=2.3980817331903383e-016
+EndPos(0,2)=-1.2505552149377763e-015
+EndPos(1,0)=8.9120676333490003
+EndPos(1,1)=2.6645352591003756e-017
+EndPos(1,2)=0.
+
+[Facet1V2]
+EndPos(0,0)=-8.9951734202602971
+EndPos(0,1)=-12.045839883319603
+EndPos(0,2)=-4.5474735088646413e-016
+EndPos(1,0)=-8.9120676333490003
+EndPos(1,1)=2.3980817331903383e-016
+EndPos(1,2)=-1.2505552149377763e-015
+
+[Tooltip2MarkerXf]
+Scale=1.
+S0=0.
+R0,0=1.
+R1,0=0.
+R2,0=0.
+S1=0.
+R0,1=0.
+R1,1=1.
+R2,1=0.
+S2=0.
+R0,2=0.
+R1,2=0.
+R2,2=1.
@@ -1,38 +0,0 @@
-
-[Marker]
-FacetsCount=1
-Name=2b
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-13.9690559296461
-EndPos(0,1)=-9.08090028293946e-017
-EndPos(0,2)=3.7518297647387081e-015
-EndPos(1,0)=13.969055929646105
-EndPos(1,1)=-1.1456717217429434e-016
-EndPos(1,2)=3.7783785761971358e-015
-
-[Facet1V2]
-EndPos(0,0)=-13.924452046559736
-EndPos(0,1)=-15.196209648340083
-EndPos(0,2)=3.7349350665378906e-015
-EndPos(1,0)=-13.9690559296461
-EndPos(1,1)=-9.08090028293946e-017
-EndPos(1,2)=3.7518297647387081e-015
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=0.
-R0,0=1.
-R1,0=0.
-R2,0=0.
-S1=0.
-R0,1=0.
-R1,1=1.
-R2,1=0.
-S2=0.
-R0,2=0.
-R1,2=0.
-R2,2=1.
@@ -8,32 +8,32 @@ Name=3Coil
 VectorsCount=2
  
 [Facet1V1]
-EndPos(0,0)=-8.9434442564413246
-EndPos(0,1)=-6.1153268241647966e-016
-EndPos(0,2)=3.4944724709513123e-016
-EndPos(1,0)=8.9434442564413299
-EndPos(1,1)=-8.8089826871897666e-016
-EndPos(1,2)=-4.6592966279350834e-016
+EndPos(0,0)=-8.9198865356554879
+EndPos(0,1)=-3.2134269776695802e-005
+EndPos(0,2)=2.5837917664003644e-015
+EndPos(1,0)=8.9199450751944145
+EndPos(1,1)=-3.9241103842582014e-005
+EndPos(1,2)=2.4152836077220795e-015
  
 [Facet1V2]
-EndPos(0,0)=-8.9439343674574907
-EndPos(0,1)=11.937904678416533
-EndPos(0,2)=-5.2417087064269685e-016
-EndPos(1,0)=-8.9434442564413246
-EndPos(1,1)=-6.1153268241647966e-016
-EndPos(1,2)=3.4944724709513123e-016
+EndPos(0,0)=-8.9091438029221042
+EndPos(0,1)=11.945533367263891
+EndPos(0,2)=1.2918958832001822e-015
+EndPos(1,0)=-8.9198865356554879
+EndPos(1,1)=-3.2134269776695802e-005
+EndPos(1,2)=2.5837917664003644e-015
  
 [Tooltip2MarkerXf]
 Scale=1.
-S0=0.80000000000000182
-R0,0=0.9563047559630351
-R1,0=1.8041124150158794e-016
-R2,0=-0.29237170472273794
-S1=47.299999999999962
-R0,1=9.0347825433700193e-002
-R1,1=0.95105651629515331
-R2,1=0.29551442139416562
-S2=42.399999999999991
-R0,2=0.27806201495688238
-R1,2=-0.30901699437494834
-R2,2=0.90949986972269081
+S0=0.
+R0,0=1.
+R1,0=0.
+R2,0=0.
+S1=0.
+R0,1=0.
+R1,1=1.
+R2,1=0.
+S2=0.
+R0,2=0.
+R1,2=0.
+R2,2=1.
@@ -1,39 +0,0 @@
-
-[Marker]
-FacetsCount=1
-SliderControlledXpointsCount=0
-Name=4Coil
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-8.9585812958876883
-EndPos(0,1)=-4.8569430893988515e-016
-EndPos(0,2)=2.3154142102162125e-015
-EndPos(1,0)=8.95858129588769
-EndPos(1,1)=-1.2210192124187057e-016
-EndPos(1,2)=4.6308284204324244e-016
-
-[Facet1V2]
-EndPos(0,0)=8.95858129588769
-EndPos(0,1)=-1.2210192124187057e-016
-EndPos(0,2)=4.6308284204324244e-016
-EndPos(1,0)=8.8914854228233384
-EndPos(1,1)=11.981845264775341
-EndPos(1,2)=3.4731213153243185e-016
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=-0.40000000000000141
-R0,0=1.
-R1,0=0.
-R2,0=0.
-S1=10.700000000000001
-R0,1=0.
-R1,1=1.
-R2,1=0.
-S2=110.09999999999999
-R0,2=0.
-R1,2=0.
-R2,2=1.
@@ -1,38 +0,0 @@
-[Marker]
-FacetsCount=1
-SliderControlledXpointsCount=0
-Name=5Ref
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-8.9120676333490003
-EndPos(0,1)=2.3980817331903383e-016
-EndPos(0,2)=-1.2505552149377763e-015
-EndPos(1,0)=8.9120676333490003
-EndPos(1,1)=2.6645352591003756e-017
-EndPos(1,2)=0.
-
-[Facet1V2]
-EndPos(0,0)=-8.9951734202602971
-EndPos(0,1)=-12.045839883319603
-EndPos(0,2)=-4.5474735088646413e-016
-EndPos(1,0)=-8.9120676333490003
-EndPos(1,1)=2.3980817331903383e-016
-EndPos(1,2)=-1.2505552149377763e-015
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=0.
-R0,0=1.
-R1,0=0.
-R2,0=0.
-S1=0.
-R0,1=0.
-R1,1=1.
-R2,1=0.
-S2=0.
-R0,2=0.
-R1,2=0.
-R2,2=1.
@@ -1,37 +0,0 @@
-[Marker]
-FacetsCount=1
-Name=COOLCARD
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-31.763129600371474
-EndPos(0,1)=-6.4066430885648868e-016
-EndPos(0,2)=1.9712913472123418e-015
-EndPos(1,0)=31.763129600371467
-EndPos(1,1)=-6.4440270518456277e-016
-EndPos(1,2)=1.9656972001890368e-015
-
-[Facet1V2]
-EndPos(0,0)=-31.746690593113094
-EndPos(0,1)=25.423398067377672
-EndPos(0,2)=1.9712913472123418e-015
-EndPos(1,0)=-31.763129600371474
-EndPos(1,1)=-6.4066430885648868e-016
-EndPos(1,2)=1.9712913472123418e-015
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=0.
-R0,0=1.
-R1,0=0.
-R2,0=0.
-S1=0.
-R0,1=0.
-R1,1=1.
-R2,1=0.
-S2=0.
-R0,2=0.
-R1,2=0.
-R2,2=1.
@@ -1,39 +0,0 @@
-
-[Marker]
-FacetsCount=1
-SliderControlledXpointsCount=0
-Name=Pointer Template
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-8.9079792482800304
-EndPos(0,1)=4.7658354227811601e-016
-EndPos(0,2)=-3.8126683382249281e-015
-EndPos(1,0)=8.9079792482800322
-EndPos(1,1)=-3.754900636130611e-016
-EndPos(1,2)=4.6214161675453676e-016
-
-[Facet1V2]
-EndPos(0,0)=8.9079792482800322
-EndPos(0,1)=-3.754900636130611e-016
-EndPos(0,2)=4.6214161675453676e-016
-EndPos(1,0)=8.97037014055695
-EndPos(1,1)=-11.854493390526288
-EndPos(1,2)=-5.1990931884885378e-015
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=0.
-R0,0=1.
-R1,0=0.
-R2,0=0.
-S1=0.
-R0,1=0.
-R1,1=1.
-R2,1=0.
-S2=0.
-R0,2=0.
-R1,2=0.
-R2,2=1.
@@ -1,39 +0,0 @@
-
-[Marker]
-FacetsCount=1
-SliderControlledXpointsCount=0
-Name=Ref
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-8.9120676333490003
-EndPos(0,1)=2.3980817331903383e-016
-EndPos(0,2)=-1.2505552149377763e-015
-EndPos(1,0)=8.9120676333490003
-EndPos(1,1)=2.6645352591003756e-017
-EndPos(1,2)=0.
-
-[Facet1V2]
-EndPos(0,0)=-8.9951734202602971
-EndPos(0,1)=-12.045839883319603
-EndPos(0,2)=-4.5474735088646413e-016
-EndPos(1,0)=-8.9120676333490003
-EndPos(1,1)=2.3980817331903383e-016
-EndPos(1,2)=-1.2505552149377763e-015
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=0.
-R0,0=1.
-R1,0=0.
-R2,0=0.
-S1=0.
-R0,1=0.
-R1,1=1.
-R2,1=0.
-S2=0.
-R0,2=0.
-R1,2=0.
-R2,2=1.
@@ -1,37 +0,0 @@
-[Marker]
-FacetsCount=1
-Name=TTblock
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-44.89806848621749
-EndPos(0,1)=1.5829351718288365e-017
-EndPos(0,2)=-2.4650420593630429e-015
-EndPos(1,0)=44.898068486217483
-EndPos(1,1)=8.5012292344588403e-016
-EndPos(1,2)=-2.4138677168217271e-015
-
-[Facet1V2]
-EndPos(0,0)=-0.25683199956524938
-EndPos(0,1)=42.807497943328485
-EndPos(0,2)=-8.1564930877711453e-003
-EndPos(1,0)=0.23846937714486499
-EndPos(1,1)=-42.932871913619174
-EndPos(1,2)=-8.1564930877712043e-003
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=0.
-R0,0=1.
-R1,0=0.
-R2,0=0.
-S1=0.
-R0,1=0.
-R1,1=1.
-R2,1=0.
-S2=0.
-R0,2=0.
-R1,2=0.
-R2,2=1.
@@ -1,37 +0,0 @@
-[Marker]
-FacetsCount=1
-Name=a
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-32.971498168704073
-EndPos(0,1)=2.5755541490385065e-016
-EndPos(0,2)=1.6979881553090628e-016
-EndPos(1,0)=32.971498168704088
-EndPos(1,1)=3.2816886463184776e-016
-EndPos(1,2)=4.4082384801292978e-017
-
-[Facet1V2]
-EndPos(0,0)=-32.975185360462866
-EndPos(0,1)=46.723702252369826
-EndPos(0,2)=-8.9797450521152372e-018
-EndPos(1,0)=-32.971498168704073
-EndPos(1,1)=2.5755541490385065e-016
-EndPos(1,2)=1.6979881553090628e-016
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=0.
-R0,0=1.
-R1,0=0.
-R2,0=0.
-S1=0.
-R0,1=0.
-R1,1=1.
-R2,1=0.
-S2=0.
-R0,2=0.
-R1,2=0.
-R2,2=1.
@@ -1,38 +0,0 @@
-
-[Marker]
-FacetsCount=1
-Name=coil
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-70.299927206216339
-EndPos(0,1)=1.1368683772161603e-016
-EndPos(0,2)=1.3642420526593924e-015
-EndPos(1,0)=70.299927206216339
-EndPos(1,1)=-1.1368683772161603e-016
-EndPos(1,2)=6.8212102632969619e-016
-
-[Facet1V2]
-EndPos(0,0)=-69.651993385067129
-EndPos(0,1)=-65.744122964094188
-EndPos(0,2)=3.410605131648481e-016
-EndPos(1,0)=-70.299927206216339
-EndPos(1,1)=1.1368683772161603e-016
-EndPos(1,2)=1.3642420526593924e-015
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=0.
-R0,0=1.
-R1,0=0.
-R2,0=0.
-S1=0.
-R0,1=0.
-R1,1=1.
-R2,1=0.
-S2=0.
-R0,2=0.
-R1,2=0.
-R2,2=1.
@@ -1,39 +0,0 @@
-
-[Marker]
-FacetsCount=1
-SliderControlledXpointsCount=0
-Name=probe
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-61.602408326043872
-EndPos(0,1)=4.2184025144074082e-016
-EndPos(0,2)=-4.556586682229099e-016
-EndPos(1,0)=61.602408326043872
-EndPos(1,1)=-9.6115500328270063e-017
-EndPos(1,2)=-1.1391466705572748e-016
-
-[Facet1V2]
-EndPos(0,0)=-61.59657019736504
-EndPos(0,1)=11.949604571287503
-EndPos(0,2)=1.1391466705572748e-016
-EndPos(1,0)=-61.602408326043872
-EndPos(1,1)=4.2184025144074082e-016
-EndPos(1,2)=-4.556586682229099e-016
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=145.66478105979206
-R0,0=-8.4560706371216821e-002
-R1,0=-0.52109081782374
-R2,0=0.84930197604725266
-S1=-13.147426563284974
-R0,1=4.5008904130328986e-002
-R1,1=-0.85348236485506712
-R2,1=-0.5191743940434248
-S2=9.0630880541399712
-R0,2=0.99540126857813949
-R1,2=-5.6756022725552024e-003
-R2,2=9.5624798310161907e-002
@@ -1,38 +0,0 @@
-
-[Marker]
-FacetsCount=1
-Name=sptr
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-52.19791804784397
-EndPos(0,1)=1.2304185897405721e-016
-EndPos(0,2)=6.9721287355505385e-016
-EndPos(1,0)=52.19791804784397
-EndPos(1,1)=-7.4104692177650016e-017
-EndPos(1,2)=5.9481366254593747e-016
-
-[Facet1V2]
-EndPos(0,0)=-52.224959539439432
-EndPos(0,1)=11.532261461857525
-EndPos(0,2)=6.9918899867979109e-016
-EndPos(1,0)=-52.19791804784397
-EndPos(1,1)=1.2304185897405721e-016
-EndPos(1,2)=6.9721287355505385e-016
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=132.5915439593966
-R0,0=-3.3573683844187456e-002
-R1,0=-0.99175827123861893
-R2,0=0.12364602372465228
-S1=-3.8041069565099583
-R0,1=-3.9209531312008813e-002
-R1,1=-0.12231349340138305
-R2,1=-0.9917167045009595
-S2=-0.29142356239092942
-R0,2=0.99866682152128394
-R1,2=-3.8143685738751404e-002
-R2,2=-3.4779862432738673e-002
@@ -1,38 +0,0 @@
-
-[Marker]
-FacetsCount=1
-Name=try4
-
-[Facet1]
-VectorsCount=2
-
-[Facet1V1]
-EndPos(0,0)=-57.030279071976651
-EndPos(0,1)=-1.7053025658242405e-016
-EndPos(0,2)=-3.1832314562052489e-015
-EndPos(1,0)=57.030279071976658
-EndPos(1,1)=1.7053025658242405e-016
-EndPos(1,2)=-1.8189894035458565e-015
-
-[Facet1V2]
-EndPos(0,0)=-56.190229598357341
-EndPos(0,1)=93.77396683857414
-EndPos(0,2)=0.
-EndPos(1,0)=-57.030279071976651
-EndPos(1,1)=-1.7053025658242405e-016
-EndPos(1,2)=-3.1832314562052489e-015
-
-[Tooltip2MarkerXf]
-Scale=1.
-S0=0.
-R0,0=1.
-R1,0=0.
-R2,0=0.
-S1=0.
-R0,1=0.
-R1,1=1.
-R2,1=0.
-S2=0.
-R0,2=0.
-R1,2=0.
-R2,2=1.
...	...	@@ -739,6 +739,9 @@ TIPS_OBJ = [_("Select left object fiducial"),
739	739
740	740	CAL_DIR = os.path.abspath(os.path.join(FILE_PATH, '..', 'navigation', 'mtc_files', 'CalibrationFiles'))
741	741	MAR_DIR = os.path.abspath(os.path.join(FILE_PATH, '..', 'navigation', 'mtc_files', 'Markers'))
	742	+PROBE_NAME = "1Probe"
	743	+REF_NAME = "2Ref"
	744	+OBJ_NAME = "3Coil"
742	745
743	746	#OBJECT TRACKING
744	747	OBJ_DIR = os.path.abspath(os.path.join(FILE_PATH, '..', 'navigation', 'objects'))
...	...
...	...	@@ -54,37 +54,22 @@ def GetCoordinates(trck_init, trck_id, ref_mode):
54	54
55	55	def ClaronCoord(trck_init, trck_id, ref_mode):
56	56	trck = trck_init[0]
57		- scale = np.array([1.0, 1.0, -1.0])
58		- coord = None
59		- k = 0
60		- # TODO: try to replace 'while' and use some Claron internal computation
	57	+ trck.Run()
	58	+ scale = np.array([1.0, 1.0, 1.0])
61	59
62		- if ref_mode:
63		- while k < 20:
64		- try:
65		- trck.Run()
66		- probe = np.array([trck.PositionTooltipX1, trck.PositionTooltipY1,
67		- trck.PositionTooltipZ1, trck.AngleX1, trck.AngleY1, trck.AngleZ1])
68		- reference = np.array([trck.PositionTooltipX2, trck.PositionTooltipY2,
69		- trck.PositionTooltipZ2, trck.AngleZ2, trck.AngleY2, trck.AngleX2])
70		- k = 30
71		- except AttributeError:
72		- k += 1
73		- print("wait, collecting coordinates ...")
74		- if k == 30:
75		- coord = dynamic_reference(probe, reference)
76		- coord = (coord[0] * scale[0], coord[1] * scale[1], coord[2] * scale[2], coord[3], coord[4], coord[5])
77		- else:
78		- while k < 20:
79		- try:
80		- trck.Run()
81		- coord = np.array([trck.PositionTooltipX1 * scale[0], trck.PositionTooltipY1 * scale[1],
82		- trck.PositionTooltipZ1 * scale[2], trck.AngleX1, trck.AngleY1, trck.AngleZ1])
83		-
84		- k = 30
85		- except AttributeError:
86		- k += 1
87		- print("wait, collecting coordinates ...")
	60	+ coord1 = np.array([float(trck.PositionTooltipX1)scale[0], float(trck.PositionTooltipY1)scale[1],
	61	+ float(trck.PositionTooltipZ1)*scale[2],
	62	+ float(trck.AngleZ1), float(trck.AngleY1), float(trck.AngleX1)])
	63	+
	64	+ coord2 = np.array([float(trck.PositionTooltipX2)scale[0], float(trck.PositionTooltipY2)scale[1],
	65	+ float(trck.PositionTooltipZ2)*scale[2],
	66	+ float(trck.AngleZ2), float(trck.AngleY2), float(trck.AngleX2)])
	67	+
	68	+ coord3 = np.array([float(trck.PositionTooltipX3) * scale[0], float(trck.PositionTooltipY3) * scale[1],
	69	+ float(trck.PositionTooltipZ3) * scale[2],
	70	+ float(trck.AngleZ3), float(trck.AngleY3), float(trck.AngleX3)])
	71	+
	72	+ coord = np.vstack([coord1, coord2, coord3])
88	73
89	74	Publisher.sendMessage('Sensors ID', probe_id=trck.probeID, ref_id=trck.refID)
90	75
...	...
...	...	@@ -70,10 +70,11 @@ def ClaronTracker(tracker_id):
70	70	trck_init = pyclaron.pyclaron()
71	71	trck_init.CalibrationDir = const.CAL_DIR.encode(const.FS_ENCODE)
72	72	trck_init.MarkerDir = const.MAR_DIR.encode(const.FS_ENCODE)
73		- trck_init.NumberFramesProcessed = 10
	73	+ trck_init.NumberFramesProcessed = 1
74	74	trck_init.FramesExtrapolated = 0
75		- trck_init.PROBE_NAME = "1Probe"
76		- trck_init.REF_NAME = "5Ref"
	75	+ trck_init.PROBE_NAME = const.PROBE_NAME.encode(const.FS_ENCODE)
	76	+ trck_init.REF_NAME = const.REF_NAME.encode(const.FS_ENCODE)
	77	+ trck_init.OBJ_NAME = const.OBJ_NAME.encode(const.FS_ENCODE)
77	78	trck_init.Initialize()
78	79
79	80	if trck_init.GetIdentifyingCamera():
...	...	@@ -215,10 +216,16 @@ def DisconnectTracker(tracker_id, trck_init):
215	216	print('Debug tracker disconnected.')
216	217	else:
217	218	try:
218		- trck_init.Close()
219		- trck_init = False
220		- lib_mode = 'wrapper'
221		- print('Tracker disconnected.')
	219	+ if tracker_id == 3:
	220	+ trck_init.close()
	221	+ trck_init = False
	222	+ lib_mode = 'serial'
	223	+ print('Tracker disconnected.')
	224	+ else:
	225	+ trck_init.Close()
	226	+ trck_init = False
	227	+ lib_mode = 'wrapper'
	228	+ print('Tracker disconnected.')
222	229	except:
223	230	trck_init = True
224	231	lib_mode = 'error'
...	...
...	...	@@ -3327,7 +3327,8 @@ class ObjectCalibrationDialog(wx.Dialog):
3327	3327	choice_ref.SetSelection(self.obj_ref_id)
3328	3328	choice_ref.SetToolTip(tooltip)
3329	3329	choice_ref.Bind(wx.EVT_COMBOBOX, self.OnChoiceRefMode)
3330		- choice_ref.Enable(0)
	3330	+ if self.tracker_id != const.MTC:
	3331	+ choice_ref.Enable(0)
3331	3332
3332	3333	# Buttons to finish or cancel object registration
3333	3334	tooltip = wx.ToolTip(_(u"Registration done"))
...	...
...	...	@@ -497,6 +497,7 @@ class NeuronavigationPanel(wx.Panel):
497	497	print("Tracker connected!")
498	498	elif choice == 6:
499	499	if trck:
	500	+ self.ResetTrackerFiducials()
500	501	Publisher.sendMessage('Update status text in GUI',
501	502	label=_("Disconnecting tracker ..."))
502	503	Publisher.sendMessage('Remove sensors ID')
...	...
...	...	@@ -1,38 +0,0 @@
1		-
2		-[Marker]
3		-FacetsCount=1
4		-Name=1b
5		-
6		-[Facet1]
7		-VectorsCount=2
8		-
9		-[Facet1V1]
10		-EndPos(0,0)=-13.977391161539257
11		-EndPos(0,1)=1.2440742880315269e-015
12		-EndPos(0,2)=-9.6300745155986073e-015
13		-EndPos(1,0)=13.977391161539257
14		-EndPos(1,1)=1.2515682934477468e-015
15		-EndPos(1,2)=-9.6789243286821155e-015
16		-
17		-[Facet1V2]
18		-EndPos(0,0)=13.977391161539257
19		-EndPos(0,1)=1.2515682934477468e-015
20		-EndPos(0,2)=-9.6789243286821155e-015
21		-EndPos(1,0)=14.019670530273789
22		-EndPos(1,1)=15.245637552880362
23		-EndPos(1,2)=-9.7055696812731187e-015
24		-
25		-[Tooltip2MarkerXf]
26		-Scale=1.
27		-S0=0.
28		-R0,0=1.
29		-R1,0=0.
30		-R2,0=0.
31		-S1=0.
32		-R0,1=0.
33		-R1,1=1.
34		-R2,1=0.
35		-S2=0.
36		-R0,2=0.
37		-R1,2=0.
38		-R2,2=1.
...	...	@@ -1,39 +0,0 @@
1		-
2		-[Marker]
3		-FacetsCount=1
4		-SliderControlledXpointsCount=0
5		-Name=2Coil
6		-
7		-[Facet1]
8		-VectorsCount=2
9		-
10		-[Facet1V1]
11		-EndPos(0,0)=-8.9266116684264851
12		-EndPos(0,1)=-7.9898502660127542e-016
13		-EndPos(0,2)=1.0214990704373533e-015
14		-EndPos(1,0)=8.9266116684264833
15		-EndPos(1,1)=-6.360897244681129e-016
16		-EndPos(1,2)=2.6438799470143262e-015
17		-
18		-[Facet1V2]
19		-EndPos(0,0)=8.9266116684264833
20		-EndPos(0,1)=-6.360897244681129e-016
21		-EndPos(0,2)=2.6438799470143262e-015
22		-EndPos(1,0)=9.0134937152069554
23		-EndPos(1,1)=-12.059011297429047
24		-EndPos(1,2)=3.6653790174516793e-015
25		-
26		-[Tooltip2MarkerXf]
27		-Scale=1.
28		-S0=0.20000000000000079
29		-R0,0=0.96592582628906842
30		-R1,0=-1.457167719820518e-016
31		-R2,0=-0.25881904510252007
32		-S1=-14.79999999999999
33		-R0,1=7.9979483404574392e-002
34		-R1,1=0.95105651629515409
35		-R2,1=0.29848749562898386
36		-S2=99.400000000000091
37		-R0,2=0.24615153938604106
38		-R1,2=-0.30901699437494573
39		-R2,2=0.91865005134999966
...	...	@@ -0,0 +1,38 @@
	1	+[Marker]
	2	+FacetsCount=1
	3	+SliderControlledXpointsCount=0
	4	+Name=2Ref
	5	+
	6	+[Facet1]
	7	+VectorsCount=2
	8	+
	9	+[Facet1V1]
	10	+EndPos(0,0)=-8.9120676333490003
	11	+EndPos(0,1)=2.3980817331903383e-016
	12	+EndPos(0,2)=-1.2505552149377763e-015
	13	+EndPos(1,0)=8.9120676333490003
	14	+EndPos(1,1)=2.6645352591003756e-017
	15	+EndPos(1,2)=0.
	16	+
	17	+[Facet1V2]
	18	+EndPos(0,0)=-8.9951734202602971
	19	+EndPos(0,1)=-12.045839883319603
	20	+EndPos(0,2)=-4.5474735088646413e-016
	21	+EndPos(1,0)=-8.9120676333490003
	22	+EndPos(1,1)=2.3980817331903383e-016
	23	+EndPos(1,2)=-1.2505552149377763e-015
	24	+
	25	+[Tooltip2MarkerXf]
	26	+Scale=1.
	27	+S0=0.
	28	+R0,0=1.
	29	+R1,0=0.
	30	+R2,0=0.
	31	+S1=0.
	32	+R0,1=0.
	33	+R1,1=1.
	34	+R2,1=0.
	35	+S2=0.
	36	+R0,2=0.
	37	+R1,2=0.
	38	+R2,2=1.
...	...
...	...	@@ -8,32 +8,32 @@ Name=3Coil
8	8	VectorsCount=2
9	9
10	10	[Facet1V1]
11		-EndPos(0,0)=-8.9434442564413246
12		-EndPos(0,1)=-6.1153268241647966e-016
13		-EndPos(0,2)=3.4944724709513123e-016
14		-EndPos(1,0)=8.9434442564413299
15		-EndPos(1,1)=-8.8089826871897666e-016
16		-EndPos(1,2)=-4.6592966279350834e-016
	11	+EndPos(0,0)=-8.9198865356554879
	12	+EndPos(0,1)=-3.2134269776695802e-005
	13	+EndPos(0,2)=2.5837917664003644e-015
	14	+EndPos(1,0)=8.9199450751944145
	15	+EndPos(1,1)=-3.9241103842582014e-005
	16	+EndPos(1,2)=2.4152836077220795e-015
17	17
18	18	[Facet1V2]
19		-EndPos(0,0)=-8.9439343674574907
20		-EndPos(0,1)=11.937904678416533
21		-EndPos(0,2)=-5.2417087064269685e-016
22		-EndPos(1,0)=-8.9434442564413246
23		-EndPos(1,1)=-6.1153268241647966e-016
24		-EndPos(1,2)=3.4944724709513123e-016
	19	+EndPos(0,0)=-8.9091438029221042
	20	+EndPos(0,1)=11.945533367263891
	21	+EndPos(0,2)=1.2918958832001822e-015
	22	+EndPos(1,0)=-8.9198865356554879
	23	+EndPos(1,1)=-3.2134269776695802e-005
	24	+EndPos(1,2)=2.5837917664003644e-015
25	25
26	26	[Tooltip2MarkerXf]
27	27	Scale=1.
28		-S0=0.80000000000000182
29		-R0,0=0.9563047559630351
30		-R1,0=1.8041124150158794e-016
31		-R2,0=-0.29237170472273794
32		-S1=47.299999999999962
33		-R0,1=9.0347825433700193e-002
34		-R1,1=0.95105651629515331
35		-R2,1=0.29551442139416562
36		-S2=42.399999999999991
37		-R0,2=0.27806201495688238
38		-R1,2=-0.30901699437494834
39		-R2,2=0.90949986972269081
	28	+S0=0.
	29	+R0,0=1.
	30	+R1,0=0.
	31	+R2,0=0.
	32	+S1=0.
	33	+R0,1=0.
	34	+R1,1=1.
	35	+R2,1=0.
	36	+S2=0.
	37	+R0,2=0.
	38	+R1,2=0.
	39	+R2,2=1.
...	...
...	...	@@ -1,37 +0,0 @@
1		-[Marker]
2		-FacetsCount=1
3		-Name=COOLCARD
4		-
5		-[Facet1]
6		-VectorsCount=2
7		-
8		-[Facet1V1]
9		-EndPos(0,0)=-31.763129600371474
10		-EndPos(0,1)=-6.4066430885648868e-016
11		-EndPos(0,2)=1.9712913472123418e-015
12		-EndPos(1,0)=31.763129600371467
13		-EndPos(1,1)=-6.4440270518456277e-016
14		-EndPos(1,2)=1.9656972001890368e-015
15		-
16		-[Facet1V2]
17		-EndPos(0,0)=-31.746690593113094
18		-EndPos(0,1)=25.423398067377672
19		-EndPos(0,2)=1.9712913472123418e-015
20		-EndPos(1,0)=-31.763129600371474
21		-EndPos(1,1)=-6.4066430885648868e-016
22		-EndPos(1,2)=1.9712913472123418e-015
23		-
24		-[Tooltip2MarkerXf]
25		-Scale=1.
26		-S0=0.
27		-R0,0=1.
28		-R1,0=0.
29		-R2,0=0.
30		-S1=0.
31		-R0,1=0.
32		-R1,1=1.
33		-R2,1=0.
34		-S2=0.
35		-R0,2=0.
36		-R1,2=0.
37		-R2,2=1.