coregistration.py
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#--------------------------------------------------------------------------
# Software: InVesalius - Software de Reconstrucao 3D de Imagens Medicas
# Copyright: (C) 2001 Centro de Pesquisas Renato Archer
# Homepage: http://www.softwarepublico.gov.br
# Contact: invesalius@cti.gov.br
# License: GNU - GPL 2 (LICENSE.txt/LICENCA.txt)
#--------------------------------------------------------------------------
# Este programa e software livre; voce pode redistribui-lo e/ou
# modifica-lo sob os termos da Licenca Publica Geral GNU, conforme
# publicada pela Free Software Foundation; de acordo com a versao 2
# da Licenca.
#
# Este programa eh distribuido na expectativa de ser util, mas SEM
# QUALQUER GARANTIA; sem mesmo a garantia implicita de
# COMERCIALIZACAO ou de ADEQUACAO A QUALQUER PROPOSITO EM
# PARTICULAR. Consulte a Licenca Publica Geral GNU para obter mais
# detalhes.
#--------------------------------------------------------------------------
import threading
from time import sleep
from numpy import mat
import wx
from wx.lib.pubsub import pub as Publisher
import invesalius.data.coordinates as dco
# TODO: Optimize navigation thread. Remove the infinite loop and optimize sleep.
class Coregistration(threading.Thread):
"""
Thread to update the coordinates with the fiducial points
co-registration method while the Navigation Button is pressed.
Sleep function in run method is used to avoid blocking GUI and
for better real-time navigation
"""
def __init__(self, bases, nav_id, trck_info):
threading.Thread.__init__(self)
self.bases = bases
self.nav_id = nav_id
self.trck_info = trck_info
self._pause_ = False
self.start()
def stop(self):
self._pause_ = True
def run(self):
m_inv = self.bases[0]
n = self.bases[1]
q1 = self.bases[2]
q2 = self.bases[3]
trck_init = self.trck_info[0]
trck_id = self.trck_info[1]
trck_mode = self.trck_info[2]
while self.nav_id:
trck_coord = dco.GetCoordinates(trck_init, trck_id, trck_mode)
trck_xyz = mat([[trck_coord[0]], [trck_coord[1]], [trck_coord[2]]])
img = q1 + (m_inv*n)*(trck_xyz - q2)
coord = (float(img[0]), float(img[1]), float(img[2]), trck_coord[3],
trck_coord[4], trck_coord[5])
# Tried several combinations and different locations to send the messages,
# however only this one does not block the GUI during navigation.
wx.CallAfter(Publisher.sendMessage, 'Co-registered points', coord[0:3])
wx.CallAfter(Publisher.sendMessage, 'Set camera in volume', coord[0:3])
# TODO: Optimize the value of sleep for each tracking device.
# Debug tracker is not working with 0.175 so changed to 0.2
# However, 0.2 is too low update frequency ~5 Hz. Need optimization URGENTLY.
#sleep(.3)
sleep(0.175)
if self._pause_:
return