Commit 2daa07c7ced513275bf9615e003350538bbc9380

Authored by vhosouza
1 parent ede9d099
Exists in usp-navegador

ENH: Updating navigation tools.

invesalius/.idea/dictionaries/Victor.xml
... ... @@ -5,6 +5,7 @@
5 5 <w>corregistration</w>
6 6 <w>fiducial</w>
7 7 <w>neuronavigation</w>
  8 + <w>neuronavigator</w>
8 9 <w>trck</w>
9 10 </words>
10 11 </dictionary>
... ...
invesalius/.idea/workspace.xml
... ... @@ -2,10 +2,11 @@
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... ... @@ -29,120 +30,105 @@
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... ... @@ -152,11 +138,11 @@
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... ... @@ -164,8 +150,10 @@
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... ... @@ -190,7 +178,6 @@
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... ... @@ -225,6 +212,7 @@
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... ... @@ -465,27 +453,27 @@
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919   - </folding>
  928 + <state vertical-scroll-proportion="0.7607573" vertical-offset="2805" max-vertical-offset="9877">
  929 + <caret line="204" column="0" selection-start-line="204" selection-start-column="0" selection-end-line="204" selection-end-column="0" />
  930 + <folding />
920 931 </state>
921 932 </provider>
922 933 </entry>
923   - <entry file="file://$PROJECT_DIR$/data/trackers.py">
  934 + <entry file="file://$PROJECT_DIR$/gui/task_navigator.py">
924 935 <provider selected="true" editor-type-id="text-editor">
925   - <state vertical-scroll-proportion="0.18106312" vertical-offset="894" max-vertical-offset="3128">
926   - <caret line="59" column="24" selection-start-line="59" selection-start-column="24" selection-end-line="59" selection-end-column="24" />
  936 + <state vertical-scroll-proportion="0.6247848" vertical-offset="1524" max-vertical-offset="14892">
  937 + <caret line="111" column="21" selection-start-line="111" selection-start-column="21" selection-end-line="111" selection-end-column="21" />
927 938 <folding>
928   - <element signature="e#0#20#0" expanded="true" />
  939 + <element signature="e#1007#1017#0" expanded="true" />
929 940 </folding>
930 941 </state>
931 942 </provider>
... ...
invesalius/constants.py
... ... @@ -578,14 +578,17 @@ ZEBRIS = 4
578 578 DEFAULT_TRACKER = PATRIOT
579 579 #TRACKER = [_("Polhemus PATRIOT"), _("Polhemus PATRIOT"),
580 580 # _("Polhemus ISOTRAK II"), _("Claron MicronTracker"), _("Zebris CMS20")]
581   -TRACKER = [_("Claron MicronTracker S40"), _("Polhemus FASTRAK"),
  581 +TRACKER = [_("Claron MicronTracker"), _("Polhemus FASTRAK"),
582 582 _("Polhemus ISOTRAK II"), _("Polhemus PATRIOT"), _("Zebris CMS20")]
583 583  
584 584  
585   -SINGLE_REF = 0
586   -DOUBLE_REF = 1
587   -DEFAULT_REF_MODE = SINGLE_REF
588   -REF_MODE = [_("Single Ref Mode"), _("Double Ref Mode")]
  585 +STATIC_REF = 0
  586 +DYNAMIC_REF = 1
  587 +DEFAULT_REF_MODE = DYNAMIC_REF
  588 +REF_MODE = [_("Static Reference"), _("Dynamic Reference")]
589 589  
590   -OBJECTS = [_("Eigth Coil"),_("Simple Coil")]
  590 +BUTTERFLY_COIL = 0
  591 +CIRCULAR_COIL = 1
  592 +DEFAULT_COIL = BUTTERFLY_COIL
  593 +COILS = [_("Butterfly Coil"),_("Circular Coil")]
591 594 # ------
... ...
invesalius/data/trackers.py
... ... @@ -8,19 +8,14 @@ import gui.dialogs as dlg
8 8  
9 9 class Tracker:
10 10 def __init__(self, trck_id):
11   - """Initialize spatial trackers for neuronavigation
  11 + """
  12 + Initialize spatial trackers for neuronavigation
12 13  
13 14 :param trck_id: identifier of spatial tracker
14   - :return: initialization variable
  15 + :return: spatial tracker initialization variable
15 16 """
16 17  
17   - trck = {0 : self.ClaronTracker,
18   - 1 : self.PlhFastrak,
19   - 2 : self.PlhIsotrakII,
20   - 3 : self.PlhPatriot,
21   - 4 : self.ZebrisCMS20}
22   -
23   - self.ReturnTracker(trck, trck_id)
  18 + self.ReturnTracker(trck_id)
24 19  
25 20 def ClaronTracker(self):
26 21 trck_init = None
... ... @@ -29,8 +24,8 @@ class Tracker:
29 24 import ClaronTracker
30 25  
31 26 trck_init = ClaronTracker.ClaronTracker()
32   - trck_init.CalibrationDir = "C:\CalibrationFiles"
33   - trck_init.MarkerDir = "C:\Markers"
  27 + trck_init.CalibrationDir = "../objects/mtc_files/CalibrationFiles"
  28 + trck_init.MarkerDir = "../objects/mtc_files/Markers"
34 29 trck_init.NumberFramesProcessed = 10
35 30 trck_init.FramesExtrapolated = 0
36 31 trck_init.Initialize()
... ... @@ -93,11 +88,24 @@ class Tracker:
93 88 return trck_init
94 89  
95 90 def ZebrisCMS20(self):
  91 + trck_init = None
96 92  
97 93 dlg.TrackerNotConnected(4)
98 94 print 'Zebris device not found.'
99 95  
100   - return None
  96 + return trck_init
  97 +
  98 + def DefaultTracker(self):
  99 + trck_init = None
  100 +
  101 + try:
  102 + # import spatial tracker library
  103 + print 'Trying to connect with spatial tracker.'
  104 +
  105 + except ImportError:
  106 + dlg.TrackerNotConnected(5)
  107 +
  108 + return trck_init # spatial tracker initialization variable
101 109  
102 110 def polhemus_serial(self, plh_id):
103 111 trck_init = None
... ... @@ -121,59 +129,66 @@ class Tracker:
121 129  
122 130 return trck_init
123 131  
124   - def ReturnTracker(self, trck, trck_id):
  132 + def ReturnTracker(self, trck_id):
125 133  
126 134 print "Returning"
127 135 print "This is the tracker selected!", trck_id
128 136  
  137 + trck = {0 : self.ClaronTracker,
  138 + 1 : self.PlhFastrak,
  139 + 2 : self.PlhIsotrakII,
  140 + 3 : self.PlhPatriot,
  141 + 4 : self.ZebrisCMS20}
  142 +
129 143 return trck[trck_id]()
130 144  
131   -class Tracker_Init:
132   - def PolhemusISO_init(self):
133   - try:
134   - plh = serial.Serial(0, baudrate = 115200, timeout=0.2)
135   - return plh
136   -
137   - except:
138   - dlg.TrackerNotConnected(1)
139   - raise ValueError('Device not found')
140   -
141   - def Polhemus_init(self):
142   - dev = usb.core.find(idVendor=0x0F44, idProduct=0xEF12)
143   - if dev is None:
144   - dlg.TrackerNotConnected(1)
145   - raise ValueError('Device not found')
146   - try:
147   - cfg = dev.get_active_configuration()
148   - for i in cfg:
149   - for x in i:
150   - x = x
151   - dev.set_configuration()
152   - except usb.core.USBError as e:
153   - sys.exit("Could not set configuration: %s" % str(e))
154   - return dev
155   -
156   - def Claron_init(self):
157   - try:
158   - mtc = ClaronTracker.ClaronTracker()
159   - mtc.CalibrationDir = "C:\CalibrationFiles"
160   - mtc.MarkerDir = "C:\Markers"
161   - mtc.NumberFramesProcessed = 10
162   - mtc.FramesExtrapolated = 0
163   - mtc.Initialize()
164   - if mtc.GetIdentifyingCamera():
165   - print "Camera Identified."
166   - mtc.Run()
167   - else:
168   - dlg.TrackerNotConnected(2)
169   - print "The Claron MicronTracker is not connected!"
170   - return mtc
171   -
172   - except:
173   - dlg.TrackerNotConnected(2)
174   - raise ValueError('Device not found')
175   -
176   -
177   - def Zebris_init(self):
178   - dlg.TrackerNotConnected(3)
179   - return
180 145 \ No newline at end of file
  146 +
  147 +# class Tracker_Init:
  148 +# def PolhemusISO_init(self):
  149 +# try:
  150 +# plh = serial.Serial(0, baudrate = 115200, timeout=0.2)
  151 +# return plh
  152 +#
  153 +# except:
  154 +# dlg.TrackerNotConnected(1)
  155 +# raise ValueError('Device not found')
  156 +#
  157 +# def Polhemus_init(self):
  158 +# dev = usb.core.find(idVendor=0x0F44, idProduct=0xEF12)
  159 +# if dev is None:
  160 +# dlg.TrackerNotConnected(1)
  161 +# raise ValueError('Device not found')
  162 +# try:
  163 +# cfg = dev.get_active_configuration()
  164 +# for i in cfg:
  165 +# for x in i:
  166 +# x = x
  167 +# dev.set_configuration()
  168 +# except usb.core.USBError as e:
  169 +# sys.exit("Could not set configuration: %s" % str(e))
  170 +# return dev
  171 +#
  172 +# def Claron_init(self):
  173 +# try:
  174 +# mtc = ClaronTracker.ClaronTracker()
  175 +# mtc.CalibrationDir = "C:\CalibrationFiles"
  176 +# mtc.MarkerDir = "C:\Markers"
  177 +# mtc.NumberFramesProcessed = 10
  178 +# mtc.FramesExtrapolated = 0
  179 +# mtc.Initialize()
  180 +# if mtc.GetIdentifyingCamera():
  181 +# print "Camera Identified."
  182 +# mtc.Run()
  183 +# else:
  184 +# dlg.TrackerNotConnected(2)
  185 +# print "The Claron MicronTracker is not connected!"
  186 +# return mtc
  187 +#
  188 +# except:
  189 +# dlg.TrackerNotConnected(2)
  190 +# raise ValueError('Device not found')
  191 +#
  192 +#
  193 +# def Zebris_init(self):
  194 +# dlg.TrackerNotConnected(3)
  195 +# return
181 196 \ No newline at end of file
... ...
invesalius/gui/task_navigator.py
... ... @@ -18,24 +18,19 @@
18 18 #--------------------------------------------------------------------------
19 19 import sys
20 20  
21   -from numpy import *
22   -import serial
  21 +import numpy as np
23 22 import wx
24 23 import wx.lib.masked.numctrl
25   -import wx.lib.platebtn as pbtn
26 24 from wx.lib.pubsub import pub as Publisher
27 25  
28 26 import constants as const
29 27 import data.bases as db
30 28 import data.corregistration as dcr
31   -import data.trackers as dtrk
  29 +import data.trackers as dt
32 30 import data.coordinates as dco
33 31 import gui.dialogs as dlg
34 32 import gui.widgets.foldpanelbar as fpb
35 33 import gui.widgets.colourselect as csel
36   -import gui.widgets.platebtn as pbtn
37   -import project as prj
38   -import utils as utl
39 34  
40 35  
41 36 class TaskPanel(wx.Panel):
... ... @@ -45,7 +40,7 @@ class TaskPanel(wx.Panel):
45 40 inner_panel = InnerTaskPanel(self)
46 41  
47 42 sizer = wx.BoxSizer(wx.HORIZONTAL)
48   - sizer.Add(inner_panel, 1, wx.EXPAND | wx.GROW | wx.BOTTOM | wx.RIGHT |
  43 + sizer.Add(inner_panel, 1, wx.EXPAND|wx.GROW|wx.BOTTOM|wx.RIGHT |
49 44 wx.LEFT, 7)
50 45 sizer.Fit(self)
51 46  
... ... @@ -53,35 +48,31 @@ class TaskPanel(wx.Panel):
53 48 self.Update()
54 49 self.SetAutoLayout(1)
55 50  
  51 +
56 52 class InnerTaskPanel(wx.Panel):
57 53 def __init__(self, parent):
58 54 wx.Panel.__init__(self, parent)
59   - default_colour = self.GetBackgroundColour()
60   - self.SetBackgroundColour(wx.Colour(255,255,255))
  55 + default_color = self.GetBackgroundColour()
  56 + self.SetBackgroundColour(wx.Colour(255, 255, 255))
61 57 self.SetAutoLayout(1)
62 58  
63   - # Neuronavigator Title
64   - text = wx.StaticText(self, -1, 'Choose the tracker, ref mode, select the reference points, coregistrate and neuronavigate',
65   - size = wx.Size(90, 30))
  59 + text_nav = wx.StaticText(self, -1, 'Configure spatial tracker and '
  60 + 'coregistrate for neuronavigation.',
  61 + size=wx.Size(90, 30))
66 62  
67   - # Create horizontal sizers to represent lines in the panel
  63 + # Create horizontal sizer to represent lines in the panel
68 64 line_new = wx.BoxSizer(wx.HORIZONTAL)
69   - line_new.Add(text, 1, wx.EXPAND|wx.GROW| wx.TOP|wx.CENTER, 0)
70   - #line_new.SetDimension(1, 1, width = 25, height = 25)
71   - #line_new.Add(button_new_surface, 0, wx.ALL|wx.EXPAND|wx.GROW, 0)
  65 + line_new.Add(text_nav, 1, wx.EXPAND|wx.GROW|wx.TOP|wx.RIGHT, 4)
72 66  
73   - # Folde panel which contains surface properties and quality
  67 + # Fold panel which contains navigation configurations
74 68 fold_panel = FoldPanel(self)
75   - fold_panel.SetBackgroundColour(default_colour)
76   -
77   - # Button to fold to select region task
78   - line_inutil = wx.StaticText(self, -1, 'Linha sem sentido')
  69 + fold_panel.SetBackgroundColour(default_color)
79 70  
80   - # Add line sizers into main sizer
  71 + # Add line sizer into main sizer
81 72 main_sizer = wx.BoxSizer(wx.VERTICAL)
82   - main_sizer.Add(line_new, 0,wx.GROW|wx.EXPAND|wx.ALIGN_CENTER|wx.TOP, 5)
  73 + main_sizer.Add(line_new, 0,
  74 + wx.GROW|wx.EXPAND|wx.LEFT|wx.RIGHT|wx.TOP, 5)
83 75 main_sizer.Add(fold_panel, 1, wx.GROW|wx.EXPAND|wx.ALL, 5)
84   - main_sizer.Add(line_inutil, 0, wx.ALIGN_RIGHT|wx.RIGHT|wx.BOTTOM, 5)
85 76 main_sizer.Fit(self)
86 77  
87 78 self.SetSizer(main_sizer)
... ... @@ -106,6 +97,7 @@ class FoldPanel(wx.Panel):
106 97 self.Update()
107 98 self.SetAutoLayout(1)
108 99  
  100 +
109 101 class InnerFoldPanel(wx.Panel):
110 102 def __init__(self, parent):
111 103 wx.Panel.__init__(self, parent)
... ... @@ -119,7 +111,7 @@ class InnerFoldPanel(wx.Panel):
119 111 # parent panel. Perhaps we need to insert the item into the sizer also...
120 112 # Study this.
121 113 fold_panel = fpb.FoldPanelBar(self, -1, wx.DefaultPosition,
122   - (10, 300), 0,fpb.FPB_SINGLE_FOLD)
  114 + (10, 320), 0,fpb.FPB_SINGLE_FOLD)
123 115  
124 116 # Fold panel style
125 117 style = fpb.CaptionBarStyle()
... ... @@ -493,7 +485,7 @@ class NeuronavigationTools(wx.Panel):
493 485 trck_id = evt.GetSelection()
494 486  
495 487 # self.trk_init = dco.Tracker().ReturnTracker(trck_id)
496   - self.trk_init = dco.Tracker(trck_id)
  488 + self.trk_init = dt.Tracker(trck_id)
497 489  
498 490 # if self.tracker_id == 0:
499 491 # self.trk_init = dtrk.Tracker_Init().PolhemusISO_init()
... ... @@ -549,7 +541,7 @@ class ObjectWNeuronavigation(wx.Panel):
549 541 self.SetBackgroundColour(default_colour)
550 542  
551 543 self.SetAutoLayout(1)
552   - self.object_id = const.OBJECTS
  544 + self.object_id = const.COILS
553 545 # self.aux_img__INO_ref=0
554 546 self.showObj = None
555 547  
... ... @@ -558,10 +550,12 @@ class ObjectWNeuronavigation(wx.Panel):
558 550 #Line 1
559 551 text_choice = wx.StaticText(self, -1, _("Select the Object:"))
560 552 #Line 2
561   - self.choice_object = wx.ComboBox(self, -1, "Select the Object:", size=(97, 23),
562   - choices = const.OBJECTS, style = wx.CB_DROPDOWN|wx.CB_READONLY|wx.CB_SORT)
563   -# choice_object.SetSelection(0)
564   - self.choice_object.Bind(wx.EVT_COMBOBOX,self.OnChoiseObject)
  553 + choice_object = wx.ComboBox(self, -1, "Select the Object:",
  554 + size=(97, 23),
  555 + choices = const.COILS,
  556 + style = wx.CB_DROPDOWN|wx.CB_READONLY|wx.CB_SORT)
  557 + choice_object.SetSelection(const.DEFAULT_COIL)
  558 + choice_object.Bind(wx.EVT_COMBOBOX, self.OnChoiceObject)
565 559  
566 560 #Line 3
567 561 correg_object= wx.Button(self, -1, label='Corregistrate object', size = wx.Size(125,23))
... ... @@ -582,7 +576,7 @@ class ObjectWNeuronavigation(wx.Panel):
582 576 # name='numCtrl3I', parent=self, integerWidth = 4, fractionWidth = 1)
583 577  
584 578 line2 = wx.FlexGridSizer(rows=1, cols=2, hgap=5, vgap=5)
585   - line2.AddMany([(self.choice_object, 1,wx.EXPAND|wx.LEFT|wx.TOP),
  579 + line2.AddMany([(choice_object, 1,wx.EXPAND|wx.LEFT|wx.TOP),
586 580 (correg_object, 1, wx.GROW|wx.EXPAND|wx.RIGHT|wx.TOP)])
587 581  
588 582 # line3 = wx.FlexGridSizer(rows=1, cols=4, hgap=5, vgap=5)
... ... @@ -626,7 +620,7 @@ class ObjectWNeuronavigation(wx.Panel):
626 620 self.coord3a=pubsub_evt.data[8]
627 621 self.img_inio=pubsub_evt.data[9]
628 622  
629   - def OnChoiseObject(self, evt):
  623 + def OnChoiceObject(self, evt):
630 624 self.object_id = evt.GetSelection()
631 625 self.object_name = self.choice_object.GetValue()
632 626 ## if self.object_name == " Add new object...":
... ...