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Commit ede9d099bee202963cb8cc9dd6b0cc3ac1ed3f82

Authored by vhosouza
1 parent 8ce535ac
Exists in usp-navegador

ENH: Restructuring the spatial tracker communication.

Showing 5 changed files with 547 additions and 363 deletions   Show diff stats
invesalius/.idea/workspace.xml
  Diff comments   View file @ede9d09
... ... @@ -2,10 +2,10 @@
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... ... @@ -30,13 +30,38 @@
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  913 + <entry file="file://$PROJECT_DIR$/gui/dialogs.py">
  914 + <provider selected="true" editor-type-id="text-editor">
  915 + <state vertical-scroll-proportion="0.0" vertical-offset="10846" max-vertical-offset="45050">
  916 + <caret line="663" column="54" selection-start-line="663" selection-start-column="54" selection-end-line="663" selection-end-column="54" />
  917 + <folding>
  918 + <element signature="e#1053#1062#0" expanded="true" />
  919 + </folding>
  920 + </state>
  921 + </provider>
  922 + </entry>
  923 + <entry file="file://$PROJECT_DIR$/data/trackers.py">
  924 + <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" />
875 927 <folding>
876   - <element signature="e#0#10#0" expanded="true" />
  928 + <element signature="e#0#20#0" expanded="true" />
877 929 </folding>
878 930 </state>
879 931 </provider>
... ...
invesalius/data/coordinates.py
  Diff comments   View file @ede9d09
1   -import sys
2 1  
3   -import serial
4   -import usb.core
5   -import usb.util
6   -import wx
  2 +
7 3 import numpy as np
8 4 from wx.lib.pubsub import pub as Publisher
9 5  
10 6 import gui.dialogs as dlg
11 7  
12   -try:
13   - import ClaronTracker as mct
14   -except ImportError:
15   - print 'The ClaronTracker library is not installed'
16   -
17 8  
18 9 class Tracker:
19 10 def __init__(self, trck_id):
20 11  
21   - self.trck_init = None
22   - print "This is the tracker selected!"
  12 + trck = {0 : self.ClaronTracker,
  13 + 1 : self.PlhFastrak,
  14 + 2 : self.PlhIsotrakII,
  15 + 3 : self.PlhPatriot,
  16 + 4 : self.ZebrisCMS20}
23 17  
24   - if trck_id == 0:
25   - trck_init = self.ClaronTracker()
26   - elif trck_id == 1:
27   - trck_init = self.PlhFastrak()
28   - elif trck_id == 2:
29   - trck_init = self.PlhIsotrakII()
30   - elif trck_id == 3:
31   - trck_init = self.PlhPatriot()
32   - elif trck_id == 4:
33   - trck_init = self.ZebrisCMS20()
34   -
35   - self.trck_init = trck_init
  18 + self.ReturnTracker(trck, trck_id)
36 19  
37 20 def ClaronTracker(self):
38   - print "CLARON"
  21 + try:
  22 + import ClaronTracker as mct
  23 + except ImportError:
  24 + print 'The ClaronTracker library is not installed'
  25 +
  26 + print "CLARON func"
39 27 return 0
40 28  
41 29 def PlhFastrak(self):
42   - print "FASTRAK"
  30 + import serial
  31 + print "FASTRAK func"
43 32 return 1
44 33  
45 34 def PlhIsotrakII(self):
46   - print "ISOTRAKII"
  35 + import serial
  36 + print "ISOTRAKII func"
47 37 return 2
48 38  
49 39 def PlhPatriot(self):
50   - print "PATRIOT"
  40 + import sys
  41 +
  42 + import serial
  43 + import usb.core
  44 + import usb.util
  45 +
  46 + print "PATRIOT func"
51 47 return 3
52 48  
53 49 def ZebrisCMS20(self):
54   - print "ZEBRIS"
  50 + print "ZEBRIS func"
55 51 return 4
56 52  
  53 + def ReturnTracker(self, trck, trck_id):
  54 + print "Returning"
  55 + print "This is the tracker selected!", trck_id
  56 + return trck[trck_id]()
  57 +
57 58  
58 59 class Coordinates:
59 60 def __init__(self, trck_init, trck, ref_mode):
... ... @@ -83,7 +84,7 @@ class Coordinates:
83 84  
84 85  
85 86 def __update_status_MTC(self, pubsub_evt):
86   - self.MTC_status = pubsub_evt.data
  87 + self.MTC_status = pubsub_evt.data
87 88  
88 89 def __update_points_MTC(self, pubsub_evt):
89 90 self.coordTT = pubsub_evt.data
... ...
invesalius/data/trackers.py
  Diff comments   View file @ede9d09
... ... @@ -6,6 +6,128 @@ import sys
6 6 import gui.dialogs as dlg
7 7  
8 8  
  9 +class Tracker:
  10 + def __init__(self, trck_id):
  11 + """Initialize spatial trackers for neuronavigation
  12 +
  13 + :param trck_id: identifier of spatial tracker
  14 + :return: initialization variable
  15 + """
  16 +
  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)
  24 +
  25 + def ClaronTracker(self):
  26 + trck_init = None
  27 +
  28 + try:
  29 + import ClaronTracker
  30 +
  31 + trck_init = ClaronTracker.ClaronTracker()
  32 + trck_init.CalibrationDir = "C:\CalibrationFiles"
  33 + trck_init.MarkerDir = "C:\Markers"
  34 + trck_init.NumberFramesProcessed = 10
  35 + trck_init.FramesExtrapolated = 0
  36 + trck_init.Initialize()
  37 +
  38 + if trck_init.GetIdentifyingCamera():
  39 + print "MicronTracker camera identified."
  40 + trck_init.Run()
  41 + else:
  42 + dlg.TrackerNotConnected(0)
  43 +
  44 + except ImportError:
  45 + dlg.TrackerNotConnected(5)
  46 +
  47 + return trck_init
  48 +
  49 + def PlhFastrak(self):
  50 + trck_init = self.polhemus_serial(1)
  51 +
  52 + return trck_init
  53 +
  54 + def PlhIsotrakII(self):
  55 + trck_init = self.polhemus_serial(2)
  56 +
  57 + return trck_init
  58 +
  59 + def PlhPatriot(self):
  60 + trck_init = None
  61 +
  62 + try:
  63 + import sys
  64 +
  65 + import usb.core as uc
  66 + # import usb.util as uu
  67 +
  68 + trck_init = uc.find(idVendor=0x0F44, idProduct=0xEF12)
  69 +
  70 + if not trck_init:
  71 + print 'Could not find Polhemus PATRIOT USB. Trying Polhemus ' \
  72 + 'serial connection...'
  73 +
  74 + trck_init = self.polhemus_serial(3)
  75 +
  76 + else:
  77 + try:
  78 + cfg = trck_init.get_active_configuration()
  79 + for i in cfg:
  80 + for x in i:
  81 + # TODO: try better code
  82 + x = x
  83 + trck_init.set_configuration()
  84 +
  85 + except uc.USBError as err:
  86 + dlg.TrackerNotConnected(3)
  87 + print 'Could not set configuration %s' % err
  88 +
  89 + except ImportError:
  90 + print 'Import Error for Polhemus PATRIOT USB.'
  91 + trck_init = self.polhemus_serial(3)
  92 +
  93 + return trck_init
  94 +
  95 + def ZebrisCMS20(self):
  96 +
  97 + dlg.TrackerNotConnected(4)
  98 + print 'Zebris device not found.'
  99 +
  100 + return None
  101 +
  102 + def polhemus_serial(self, plh_id):
  103 + trck_init = None
  104 +
  105 + try:
  106 + import serial
  107 +
  108 + try:
  109 + trck_init = serial.Serial(0, baudrate=115200, timeout=0.2)
  110 + trck_init.write('P')
  111 + data = trck_init.readlines()
  112 +
  113 + if not data:
  114 + dlg.TrackerNotConnected(plh_id)
  115 +
  116 + except serial.SerialException:
  117 + dlg.TrackerNotConnected(6)
  118 +
  119 + except ImportError:
  120 + dlg.TrackerNotConnected(5)
  121 +
  122 + return trck_init
  123 +
  124 + def ReturnTracker(self, trck, trck_id):
  125 +
  126 + print "Returning"
  127 + print "This is the tracker selected!", trck_id
  128 +
  129 + return trck[trck_id]()
  130 +
9 131 class Tracker_Init:
10 132 def PolhemusISO_init(self):
11 133 try:
... ... @@ -14,7 +136,7 @@ class Tracker_Init:
14 136  
15 137 except:
16 138 dlg.TrackerNotConnected(1)
17   - raise ValueError('Device not found')
  139 + raise ValueError('Device not found')
18 140  
19 141 def Polhemus_init(self):
20 142 dev = usb.core.find(idVendor=0x0F44, idProduct=0xEF12)
... ...
invesalius/gui/dialogs.py
  Diff comments   View file @ede9d09
... ... @@ -106,7 +106,7 @@ class ResizeImageDialog(wx.Dialog):
106 106 pos=wx.DefaultPosition,
107 107 style=wx.DEFAULT_DIALOG_STYLE)
108 108 self.PostCreate(pre)
109   -
  109 +
110 110 lbl_message = wx.StaticText(self, -1, _("InVesalius is running on a 32-bit operating system or has insufficient memory. \nIf you want to work with 3D surfaces or volume rendering, \nit is recommended to reduce the medical images resolution."))
111 111 icon = wx.ArtProvider.GetBitmap(wx.ART_WARNING, wx.ART_MESSAGE_BOX, (32,32))
112 112 bmp = wx.StaticBitmap(self, -1, icon)
... ... @@ -145,7 +145,7 @@ class ResizeImageDialog(wx.Dialog):
145 145 sizer_general.Fit(self)
146 146 self.Layout()
147 147 self.Centre()
148   -
  148 +
149 149 def SetValue(self, value):
150 150 self.num_ctrl_porcent.SetValue(value)
151 151  
... ... @@ -406,7 +406,7 @@ def ShowLoadMarkersDialog():
406 406  
407 407 dlg = wx.FileDialog(None, message=_("Load markers"),
408 408 defaultDir="",
409   - defaultFile="",
  409 + defaultFile="",
410 410 style=wx.OPEN|wx.CHANGE_DIR)
411 411  
412 412 # inv3 filter is default
... ... @@ -632,7 +632,7 @@ def SurfaceSelectionRequiredForDuplication():
632 632 wx.ICON_INFORMATION | wx.OK)
633 633 dlg.ShowModal()
634 634 dlg.Destroy()
635   -
  635 +
636 636 #=========aji======================================================================
637 637 def InvalidReferences():
638 638 msg = _("The references are not set.")
... ... @@ -644,28 +644,35 @@ def InvalidReferences():
644 644 wx.ICON_INFORMATION | wx.OK)
645 645 dlg.ShowModal()
646 646 dlg.Destroy()
647   -
648   -#Dialog for advertising if the tracker is not connetcted
649   -def TrackerNotConnected(tracker):
650   - msg = None
651   - if tracker == 0:
652   - msg = _("The PolhemusISO selected is not connected.")
653   - elif tracker == 1:
654   - msg = _("The Polhemus selected is not connected.")
655   - elif tracker == 2:
656   - msg = _("The Claron MTC is not connected.")
657   - elif tracker == 3:
658   - msg = _("The Zebris is not connected.")
659   -
  647 +
  648 +
  649 +def TrackerNotConnected(trck_id):
  650 + """Spatial Tracker connection error
  651 +
  652 + """
  653 + trck = {0 : 'Claron MicronTracker',
  654 + 1 : 'Polhemus FASTRAK',
  655 + 2 : 'Polhemus ISOTRAK II',
  656 + 3 : 'Polhemus PATRIOT',
  657 + 4 : 'Zebris CMS20'}
  658 +
  659 + if trck_id < 5:
  660 + msg = trck[trck_id] + ' is not connected.'
  661 + elif trck_id == 5:
  662 + msg = 'The library for specified tracker is not installed.'
  663 + elif trck_id == 6:
  664 + msg = 'The tracker connection is already set.'
  665 +
660 666 if sys.platform == 'darwin':
661 667 dlg = wx.MessageDialog(None, "", msg,
662 668 wx.ICON_INFORMATION | wx.OK)
663 669 else:
664 670 dlg = wx.MessageDialog(None, msg, "InVesalius 3 - Neuronavigator",
665 671 wx.ICON_INFORMATION | wx.OK)
  672 +
666 673 dlg.ShowModal()
667 674 dlg.Destroy()
668   -
  675 +
669 676 def InvalidTxt():
670 677 msg = _("The TXT file is invalid.")
671 678 if sys.platform == 'darwin':
... ... @@ -676,7 +683,7 @@ def InvalidTxt():
676 683 wx.ICON_INFORMATION | wx.OK)
677 684 dlg.ShowModal()
678 685 dlg.Destroy()
679   -
  686 +
680 687 def error_correg_fine():
681 688 msg = _("There aren't any created surface.")
682 689 if sys.platform == 'darwin':
... ... @@ -686,9 +693,9 @@ def error_correg_fine():
686 693 dlg = wx.MessageDialog(None, msg, "InVesalius 3",
687 694 wx.ICON_INFORMATION | wx.OK)
688 695 dlg.ShowModal()
689   - dlg.Destroy()
  696 + dlg.Destroy()
690 697 #===============================================================================
691   -
  698 +
692 699 class NewMask(wx.Dialog):
693 700 def __init__(self,
694 701 parent=None,
... ... @@ -758,7 +765,7 @@ class NewMask(wx.Dialog):
758 765 thresh_min, thresh_max = project.threshold_modes[_("Bone")]
759 766 original_colour = random.choice(const.MASK_COLOUR)
760 767 self.colour = original_colour
761   - colour = [255*i for i in original_colour]
  768 + colour = [255*i for i in original_colour]
762 769 colour.append(100)
763 770 gradient = grad.GradientSlider(self, -1, int(bound_min),
764 771 int(bound_max),
... ... @@ -820,7 +827,7 @@ class NewMask(wx.Dialog):
820 827 proj = prj.Project()
821 828 if thresh in proj.threshold_modes.values():
822 829 preset_name = proj.threshold_modes.get_key(thresh)[0]
823   - index = self.thresh_list.index(preset_name)
  830 + index = self.thresh_list.index(preset_name)
824 831 self.combo_thresh.SetSelection(index)
825 832 else:
826 833 index = self.thresh_list.index(_("Custom"))
... ... @@ -1134,14 +1141,14 @@ def ExportPicture(type_=&quot;&quot;):
1134 1141 return filename, filetype
1135 1142 else:
1136 1143 return ()
1137   -
  1144 +
1138 1145 #=======aji========================================================================
1139 1146 #===============================================================================
1140 1147 class FineCalibration(wx.Window):
1141 1148 def __init__(self, parent=None, ID=-1, title="Fine Calibration", size=wx.DefaultSize,
1142 1149 pos=wx.DefaultPosition,
1143 1150 useMetal=False):
1144   -
  1151 +
1145 1152 self.correg = None
1146 1153 self.staticballs = []
1147 1154 self.ball_id = 0
... ... @@ -1153,7 +1160,7 @@ class FineCalibration(wx.Window):
1153 1160 # initial parameters
1154 1161 self.actor_head_init = None
1155 1162 self.actor_cloud = None
1156   -
  1163 +
1157 1164 # actors parameters
1158 1165 self.color_head_init = 1.0, 0.0, 0.0
1159 1166 self.color_cloud = 0.0, 1.0, 0.0
... ... @@ -1162,7 +1169,7 @@ class FineCalibration(wx.Window):
1162 1169 self.opacity_cloud = 0.7
1163 1170 self.opacity_head_icp = 1.0
1164 1171 ################
1165   -
  1172 +
1166 1173 # Instead of calling wx.Dialog.__init__ we precreate the dialog
1167 1174 # so we can set an extra style that must be set before
1168 1175 # creation, and then we create the GUI object using the Create
... ... @@ -1173,46 +1180,46 @@ class FineCalibration(wx.Window):
1173 1180 self.pre.SetBackgroundColour('LIGHT GRAY')
1174 1181 self.pre.CenterOnScreen()
1175 1182 self.pre.Show()
1176   -
1177   -
  1183 +
  1184 +
1178 1185 #pre.Create(parent, ID, title, pos, (500,300))
1179   -
  1186 +
1180 1187 # This next step is the most important, it turns this Python
1181 1188 # object into the real wrapper of the dialog (instead of pre)
1182 1189 # as far as the wxPython extension is concerned.
1183 1190 self.PostCreate(self.pre)
1184   -
1185   -
1186   -
  1191 +
  1192 +
  1193 +
1187 1194 # This extra style can be set after the UI object has been created.
1188 1195 if 'wxMac' in wx.PlatformInfo and useMetal:
1189 1196 self.SetExtraStyle(wx.DIALOG_EX_METAL)
1190   -
  1197 +
1191 1198 self.Center()
1192 1199 self.__bind_events()
1193 1200 self.draw_gui()
1194   -
1195   -
  1201 +
  1202 +
1196 1203 # try:
1197 1204 Publisher.sendMessage('Load surface into DLG')
1198 1205 # except:
1199 1206 # try:
1200 1207 # Publisher.sendMessage('Load volume DLG')
1201 1208 # except:
1202   -# error_correg_fine()
1203   -
  1209 +# error_correg_fine()
  1210 +
1204 1211 #self.LoadData()
1205 1212 def ShowLoadSurfaceDialog(self):
1206 1213 current_dir = os.path.abspath(".")
1207   -
  1214 +
1208 1215 dlg = wx.FileDialog(None, message=_("Load surface"),
1209 1216 defaultDir="",
1210   - defaultFile="",
  1217 + defaultFile="",
1211 1218 style=wx.OPEN|wx.CHANGE_DIR)
1212   -
  1219 +
1213 1220 # inv3 filter is default
1214 1221 dlg.SetFilterIndex(0)
1215   -
  1222 +
1216 1223 # Show the dialog and retrieve the user response. If it is the OK response,
1217 1224 # process the data.
1218 1225 filepath = None
... ... @@ -1222,21 +1229,21 @@ class FineCalibration(wx.Window):
1222 1229 filepath = dlg.GetPath()
1223 1230 except(wx._core.PyAssertionError): #FIX: win64
1224 1231 filepath = dlg.GetPath()
1225   -
  1232 +
1226 1233 # Destroy the dialog. Don't do this until you are done with it!
1227 1234 # BAD things can happen otherwise!
1228 1235 dlg.Destroy()
1229 1236 os.chdir(current_dir)
1230 1237 return filepath
1231   -
  1238 +
1232 1239 def __bind_events(self):
1233 1240 Publisher.subscribe(self.LoadVolumeDLG,
1234 1241 'Load Raycasting into DLG')
1235 1242 Publisher.subscribe(self.LoadActorDLG,
1236 1243 'Load surface actor into DLG')
1237 1244 # LINE 1: Janela
1238   -
1239   - def draw_gui(self):
  1245 +
  1246 + def draw_gui(self):
1240 1247 #style = vtk.vtkInteractorStyleTrackballActor()
1241 1248 self.panel=wx.Panel(self)
1242 1249 self.interactor = wxVTKRenderWindowInteractor(self, -1, size=self.GetSize())
... ... @@ -1244,140 +1251,140 @@ class FineCalibration(wx.Window):
1244 1251 self.interactor.Enable(1)
1245 1252 self.ren = vtk.vtkRenderer()
1246 1253 self.interactor.GetRenderWindow().AddRenderer(self.ren)
1247   -
  1254 +
1248 1255 # LINE 2: Botoes
1249   -
  1256 +
1250 1257 marker = wx.Button(self.panel, -1, "Create Marker",size = wx.Size(85,23))
1251 1258 marker.Bind(wx.EVT_BUTTON, self.OnCalibrationMarkers)
1252   -
  1259 +
1253 1260 marker_load = wx.Button(self.panel, -1, "Load Marker",size = wx.Size(85,23))
1254 1261 marker_load.Bind(wx.EVT_BUTTON, self.OnLoadMarkers)
1255   -
  1262 +
1256 1263 apply_ICP = wx.Button(self.panel, -1, "Apply ICP",size = wx.Size(85,23))
1257 1264 apply_ICP.Bind(wx.EVT_BUTTON, self.OnApplyICP)
1258   -
  1265 +
1259 1266 self.showObjICP = wx.CheckBox(self.panel, -1, 'Show ICP Surface', (100, 10))
1260 1267 self.showObjICP.SetValue(False)
1261   - wx.EVT_CHECKBOX(self, self.showObjICP.GetId(), self.ShowObjectICP)
1262   -
  1268 + wx.EVT_CHECKBOX(self, self.showObjICP.GetId(), self.ShowObjectICP)
  1269 +
1263 1270 self.showObjCloud = wx.CheckBox(self.panel, -1, 'Show Cloud of Points', (100, 10))
1264 1271 self.showObjCloud.SetValue(True)
1265   - wx.EVT_CHECKBOX(self, self.showObjCloud.GetId(), self.ShowObjectCloud)
1266   -
  1272 + wx.EVT_CHECKBOX(self, self.showObjCloud.GetId(), self.ShowObjectCloud)
  1273 +
1267 1274 self.showObjHead = wx.CheckBox(self.panel, -1, 'Show Head Surface', (100, 10))
1268 1275 self.showObjHead.SetValue(True)
1269   - wx.EVT_CHECKBOX(self, self.showObjHead.GetId(), self.ShowObjectHead)
1270   -
1271   - text_X = wx.StaticText(self.panel, -1, _("X:"))
  1276 + wx.EVT_CHECKBOX(self, self.showObjHead.GetId(), self.ShowObjectHead)
  1277 +
  1278 + text_X = wx.StaticText(self.panel, -1, _("X:"))
1272 1279 spin_X = wx.SpinCtrl(self.panel, -1, "X", size = wx.Size(67,23))
1273 1280 spin_X .SetValue(0)
1274 1281 spin_X.Bind(wx.EVT_SPINCTRL, self.translate_rotate)
1275 1282 spin_X.Bind(wx.EVT_TEXT, self.translate_rotate)
1276 1283 spin_X .SetRange(-500,500)
1277   -
1278   - self.spin_X = spin_X
1279   -
1280   - text_Y = wx.StaticText(self.panel, -1, _("Y:"))
  1284 +
  1285 + self.spin_X = spin_X
  1286 +
  1287 + text_Y = wx.StaticText(self.panel, -1, _("Y:"))
1281 1288 spin_Y = wx.SpinCtrl(self.panel, -1, "Y", size = wx.Size(67,23))
1282 1289 spin_Y .SetValue(0)
1283 1290 spin_Y.Bind(wx.EVT_SPINCTRL, self.translate_rotate)
1284 1291 spin_Y.Bind(wx.EVT_TEXT, self.translate_rotate)
1285 1292 spin_Y .SetRange(-500,500)
1286   -
1287   - self.spin_Y = spin_Y
1288   -
1289   - text_Z = wx.StaticText(self.panel, -1, _("Z:"))
  1293 +
  1294 + self.spin_Y = spin_Y
  1295 +
  1296 + text_Z = wx.StaticText(self.panel, -1, _("Z:"))
1290 1297 spin_Z = wx.SpinCtrl(self.panel, -1, "Z", size = wx.Size(67,23))
1291 1298 spin_Z .SetValue(0)
1292 1299 spin_Z.Bind(wx.EVT_SPINCTRL, self.translate_rotate)
1293 1300 spin_Z.Bind(wx.EVT_TEXT, self.translate_rotate)
1294 1301 spin_Z .SetRange(-500,500)
1295   -
1296   - self.spin_Z = spin_Z
1297   -
1298   - text_A = wx.StaticText(self.panel,-1, _("Alfa:"))
  1302 +
  1303 + self.spin_Z = spin_Z
  1304 +
  1305 + text_A = wx.StaticText(self.panel,-1, _("Alfa:"))
1299 1306 spin_A = wx.SpinCtrl(self.panel, -1, "Alfa", size = wx.Size(67,23))
1300 1307 spin_A .SetValue(0)
1301 1308 spin_A .SetRange(-500,500)
1302 1309 spin_A.Bind(wx.EVT_SPINCTRL, self.translate_rotate)
1303 1310 spin_A.Bind(wx.EVT_TEXT, self.translate_rotate)
1304   -
1305   - self.spin_A = spin_A
1306   -
1307   - text_B = wx.StaticText(self.panel, -1, _("Beta:"))
  1311 +
  1312 + self.spin_A = spin_A
  1313 +
  1314 + text_B = wx.StaticText(self.panel, -1, _("Beta:"))
1308 1315 spin_B = wx.SpinCtrl(self.panel, -1, "Beta", size = wx.Size(67,23))
1309 1316 spin_B .SetValue(0)
1310 1317 spin_B .SetRange(-500,500)
1311 1318 spin_B.Bind(wx.EVT_SPINCTRL, self.translate_rotate)
1312 1319 spin_B.Bind(wx.EVT_TEXT, self.translate_rotate)
1313   -
1314   - self.spin_B = spin_B
1315   -
1316   - text_G = wx.StaticText(self.panel, -1, _("Gama:"))
  1320 +
  1321 + self.spin_B = spin_B
  1322 +
  1323 + text_G = wx.StaticText(self.panel, -1, _("Gama:"))
1317 1324 spin_G = wx.SpinCtrl(self.panel, -1, "Gama", size = wx.Size(67,23))
1318 1325 spin_G .SetValue(0)
1319 1326 spin_G .SetRange(-500,500)
1320 1327 spin_G.Bind(wx.EVT_SPINCTRL, self.translate_rotate)
1321 1328 spin_G.Bind(wx.EVT_TEXT, self.translate_rotate)
1322   -
  1329 +
1323 1330 self.spin_G = spin_G
1324   -
1325   - text_inter = wx.StaticText(self.panel, -1, _("Number of Iterations:"))
  1331 +
  1332 + text_inter = wx.StaticText(self.panel, -1, _("Number of Iterations:"))
1326 1333 spin_inter = wx.SpinCtrl(self.panel, -1, "Numb Inter", size = wx.Size(95,23))
1327 1334 spin_inter.SetValue(1000)
1328 1335 spin_inter.SetRange(0,5000)
1329 1336 # spin_X .SetValue()
1330 1337 self.spin_inter = spin_inter
1331   -
1332   - text_land = wx.StaticText(self.panel, -1, _("Number of Landmarks:"))
  1338 +
  1339 + text_land = wx.StaticText(self.panel, -1, _("Number of Landmarks:"))
1333 1340 spin_land = wx.SpinCtrl(self.panel, -1, "Landmarks", size = wx.Size(95,23))
1334 1341 spin_land.SetValue(1000)
1335 1342 spin_land .SetRange(0,5000)
1336   -
  1343 +
1337 1344 # spin_Y .SetValue()
1338   - self.spin_land = spin_land
1339   -
1340   - text_mean = wx.StaticText(self.panel, -1, _("Max Mean Distance:"))
  1345 + self.spin_land = spin_land
  1346 +
  1347 + text_mean = wx.StaticText(self.panel, -1, _("Max Mean Distance:"))
1341 1348 #spin_mean= wx.SpinCtrl(self.panel, 1, "mean", size = wx.Size(107,23))
1342 1349 spin_mean = floatspin.FloatSpin(self.panel,-1,value=0.01, min_val=0.0,max_val=10.0, increment=0.01, digits=2)
1343   -
  1350 +
1344 1351 #spin_mean.SetValue(0.01)
1345 1352 #spin_mean .SetRange(0,10)
1346   -# spin_Z .SetValue()
1347   - self.spin_mean = spin_mean
1348   -
  1353 +# spin_Z .SetValue()
  1354 + self.spin_mean = spin_mean
  1355 +
1349 1356 spinicp = wx.FlexGridSizer(rows=3, cols=2, hgap=1, vgap=1)
1350 1357 spinicp.AddMany([(text_inter,0,wx.ALIGN_TOP|wx.EXPAND | wx.TOP|wx.BOTTOM,5),(spin_inter, 1),
1351 1358 (text_land,0,wx.ALIGN_CENTER_VERTICAL|wx.EXPAND | wx.TOP|wx.BOTTOM,5),(spin_land, 1),
1352   - (text_mean,0, wx.ALIGN_BOTTOM|wx.EXPAND | wx.TOP|wx.BOTTOM,5),(spin_mean, 1)])
1353   -
  1359 + (text_mean,0, wx.ALIGN_BOTTOM|wx.EXPAND | wx.TOP|wx.BOTTOM,5),(spin_mean, 1)])
  1360 +
1354 1361 spin = wx.FlexGridSizer(rows=3, cols=4, hgap=1, vgap=1)
1355 1362 spin.AddMany([(text_X, 0,wx.ALIGN_TOP|wx.EXPAND | wx.TOP|wx.BOTTOM,5),(spin_X, 1),(text_A, 0,wx.ALIGN_TOP|wx.EXPAND|wx.LEFT| wx.TOP|wx.BOTTOM,5),(spin_A, 1),
1356 1363 (text_Y, 0,wx.ALIGN_CENTER_VERTICAL|wx.EXPAND | wx.TOP|wx.BOTTOM,5),(spin_Y, 1),(text_B, 0,wx.ALIGN_CENTER_VERTICAL|wx.EXPAND|wx.LEFT| wx.TOP|wx.BOTTOM,5),(spin_B, 1),
1357   - (text_Z, 0,wx.ALIGN_BOTTOM|wx.EXPAND | wx.TOP|wx.BOTTOM,5),(spin_Z, 1),(text_G, 0,wx.ALIGN_BOTTOM|wx.EXPAND|wx.LEFT| wx.TOP|wx.BOTTOM,5),(spin_G, 1)])
1358   -
  1364 + (text_Z, 0,wx.ALIGN_BOTTOM|wx.EXPAND | wx.TOP|wx.BOTTOM,5),(spin_Z, 1),(text_G, 0,wx.ALIGN_BOTTOM|wx.EXPAND|wx.LEFT| wx.TOP|wx.BOTTOM,5),(spin_G, 1)])
  1365 +
1359 1366 ok = wx.Button(self.panel, wx.ID_OK)
1360 1367 ok.Bind(wx.EVT_BUTTON, self.OK)
1361 1368 cancel = wx.Button(self.panel,wx.ID_CANCEL)
1362 1369 cancel.Bind(wx.EVT_BUTTON, self.CANCEL)
1363   -
  1370 +
1364 1371 checkb = wx.FlexGridSizer(rows=3, cols=1, hgap=1, vgap=1)
1365 1372 checkb.AddMany([(self.showObjICP , 0,wx.ALIGN_TOP|wx.EXPAND | wx.TOP|wx.BOTTOM,5),
1366 1373 (self.showObjHead , 0,wx.ALIGN_CENTER_VERTICAL|wx.EXPAND | wx.TOP|wx.BOTTOM,5),
1367 1374 (self.showObjCloud , 0,wx.ALIGN_BOTTOM|wx.EXPAND | wx.TOP|wx.BOTTOM,5)])
1368   -
  1375 +
1369 1376 col1 = wx.FlexGridSizer(rows=3, cols=1, hgap=1, vgap=1)
1370 1377 col1.AddMany([(marker, 1),
1371 1378 (marker_load, 1),
1372 1379 (apply_ICP, 1)])
1373   -
  1380 +
1374 1381 # col2 = wx.FlexGridSizer(rows=1, cols=1, hgap=1, vgap=1)
1375 1382 # col2.AddMany([(param_ICP, 1)])
1376   -#
  1383 +#
1377 1384 col4 = wx.FlexGridSizer(rows=2, cols=1, hgap=1, vgap=1)
1378 1385 col4.AddMany([(ok, 1),
1379 1386 (cancel, 1)])
1380   -
  1387 +
1381 1388 button_sizer = wx.BoxSizer(wx.HORIZONTAL)
1382 1389 button_sizer.Add(col1,0,wx.EXPAND | wx.ALL,10)
1383 1390 button_sizer.Add(checkb,0,wx.EXPAND | wx.ALL,10)
... ... @@ -1390,83 +1397,83 @@ class FineCalibration(wx.Window):
1390 1397 sizer = wx.BoxSizer(wx.VERTICAL)
1391 1398 sizer.Add(self.interactor, 5, wx.EXPAND,10)
1392 1399 sizer.Add(self.panel, 1,wx.ALIGN_CENTER,1)
1393   -
  1400 +
1394 1401 self.SetSizerAndFit(sizer)
1395 1402 self.Show()
1396 1403 sizer.Fit(self)
1397   -
1398   - def GetValue(self):
  1404 +
  1405 + def GetValue(self):
1399 1406 return self.actor_icp,self.icp_matrix
1400   - def OK(self,evt):
1401   - self.Close()
1402   - def CANCEL(self,evt):
1403   - self.Destroy()
  1407 + def OK(self,evt):
  1408 + self.Close()
  1409 + def CANCEL(self,evt):
  1410 + self.Destroy()
1404 1411 def ShowObjectICP(self, evt):
1405 1412 objectbin = self.showObjICP.GetValue()
1406 1413 if objectbin == True:
1407 1414 self.actor_icp.SetVisibility(1)
1408   - self.interactor.Render()
  1415 + self.interactor.Render()
1409 1416 if objectbin == False:
1410 1417 self.actor_icp.SetVisibility(0)
1411   - self.interactor.Render()
1412   -
  1418 + self.interactor.Render()
  1419 +
1413 1420 def ShowObjectCloud(self, evt):
1414 1421 objectbin = self.showObjCloud.GetValue()
1415 1422 if objectbin == True:
1416 1423 self.actor_cloud.SetVisibility(1)
1417   - self.interactor.Render()
  1424 + self.interactor.Render()
1418 1425 if objectbin == False:
1419 1426 self.actor_cloud.SetVisibility(0)
1420   - self.interactor.Render()
1421   -
  1427 + self.interactor.Render()
  1428 +
1422 1429 def ShowObjectHead(self, evt):
1423 1430 objectbin = self.showObjHead.GetValue()
1424 1431 if objectbin == True:
1425 1432 self.actor.SetVisibility(1)
1426   - self.interactor.Render()
  1433 + self.interactor.Render()
1427 1434 if objectbin == False:
1428 1435 self.actor.SetVisibility(0)
1429   - self.interactor.Render()
1430   -
  1436 + self.interactor.Render()
  1437 +
1431 1438 def translate_rotate(self,evt):
1432 1439 self.transform = vtk.vtkTransform()
1433 1440 self.transform.Identity()
1434 1441 self.transform.PostMultiply()
1435   -
  1442 +
1436 1443 # try2=vtk.vtkImageChangeInformation.SetInput(self.cloud)
1437 1444 # self.cloud.vtk.vtkImageData.SetOrigin(self.actor_cloud.GetCenter())
1438 1445 # try1=vtk.vtkImageData(self.reader_cloud)
1439 1446 # try1.SetOrigin(self.actor_cloud.GetCenter())
1440   -
  1447 +
1441 1448 self.transform.Translate(self.spin_X.GetValue(), 0, 0)
1442 1449 self.transform.Translate(0,self.spin_Y.GetValue(), 0)
1443 1450 self.transform.Translate(0, 0, self.spin_Z.GetValue())
1444   -
  1451 +
1445 1452 #self.actor_cloud.SetOrientation(self.spin_A.GetValue(),xyz[1],xyz[2])
1446 1453 #transform.RotateWXYZ(self.spin_A.GetValue(),1,0,0)
1447   -
  1454 +
1448 1455 # transform.RotateX(self.spin_A.GetValue())
1449 1456 # transform.RotateY(self.spin_B.GetValue())
1450 1457 # transform.RotateZ(self.spin_G.GetValue())
1451 1458 # transform.RotateWXYZ(self.spin_B.GetValue(),xyz[0],1,xyz[2])
1452 1459 # transform.RotateWXYZ(self.spin_G.GetValue(),xyz[0],xyz[1],1)
1453 1460 self.actor_cloud.SetOrigin(self.actor_cloud.GetCenter())
1454   - self.actor_cloud.SetOrientation(0,0,0)
  1461 + self.actor_cloud.SetOrientation(0,0,0)
1455 1462 #self.transform.SetInput(self.actor_cloud)
1456 1463 self.transform.RotateX(self.spin_A.GetValue())
1457 1464 self.transform.RotateY(self.spin_B.GetValue())
1458 1465 self.transform.RotateZ(self.spin_G.GetValue())
1459   -
  1466 +
1460 1467 # self.transform.RotateX(self.spin_A.GetValue())
1461 1468 # self.transform.RotateY(self.spin_B.GetValue())
1462 1469 # self.transform.RotateZ(self.spin_G.GetValue())
1463 1470 self.transform.Update()
1464   -
  1471 +
1465 1472 self.transf = vtk.vtkTransformPolyDataFilter()
1466   -
  1473 +
1467 1474 self.transf.SetInput(self.cloud)
1468 1475 self.transf.SetTransform(self.transform)
1469   - self.transf.Update()
  1476 + self.transf.Update()
1470 1477 self.ren.RemoveActor(self.actor_cloud)
1471 1478 self.mapper_cloud = vtk.vtkPolyDataMapper()
1472 1479 self.mapper_cloud.SetInput(self.transf.GetOutput())
... ... @@ -1477,17 +1484,17 @@ class FineCalibration(wx.Window):
1477 1484 self.actor_cloud.GetProperty().SetColor(self.color_cloud)
1478 1485 self.actor_cloud.GetProperty().SetOpacity(self.opacity_cloud)
1479 1486 self.ren.AddActor(self.actor_cloud)
1480   -
  1487 +
1481 1488 #self.actor_cloud.SetOrigin(self.actor_cloud.GetCenter())
1482   - #self.actor_cloud.SetOrientation(0,0,0)
  1489 + #self.actor_cloud.SetOrientation(0,0,0)
1483 1490 #self.actor_cloud.RotateX(self.spin_A.GetValue())
1484 1491 #self.actor_cloud.RotateY(self.spin_B.GetValue())
1485 1492 #self.actor_cloud.RotateZ(self.spin_G.GetValue())
1486   - self.interactor.Render()
1487   -
  1493 + self.interactor.Render()
  1494 +
1488 1495 def OnLoadMarkers(self, evt):
1489 1496 print "Reading the points!"
1490   -
  1497 +
1491 1498 filepath = ShowLoadMarkersDialog()
1492 1499 text_file = open(filepath, "r")
1493 1500 #reading all lines and splitting into a float vector
... ... @@ -1497,12 +1504,12 @@ class FineCalibration(wx.Window):
1497 1504 break
1498 1505 try:
1499 1506 line1 = [float(s) for s in line.split()]
1500   - coord = float(line1[1] - 1.0), float(line1[0] - 1.0), float(line1[2] - 1.0)
  1507 + coord = float(line1[1] - 1.0), float(line1[0] - 1.0), float(line1[2] - 1.0)
1501 1508 colour = line1[3], line1[4], line1[5]
1502 1509 size = line1[6]
1503   -
  1510 +
1504 1511 CreateSphereMarkers(self,size,colour,coord)
1505   -
  1512 +
1506 1513 #sum 1 for each coordinate to matlab comprehension
1507 1514 #coord = coord[0] + 1.0, coord[1] + 1.0, coord[2] + 1.0
1508 1515 #line with coordinates and properties of a marker
... ... @@ -1516,57 +1523,57 @@ class FineCalibration(wx.Window):
1516 1523 except:
1517 1524 InvalidTxt()
1518 1525 raise ValueError('Invalid Txt')
1519   -
  1526 +
1520 1527 def OnCalibrationMarkers(self, evt):
1521 1528 None
1522   -
  1529 +
1523 1530 def OnParamICP(self, evt):
1524   - None
1525   -
  1531 + None
  1532 +
1526 1533 def OnApplyICP(self, evt):
1527 1534 self.showObjICP.SetValue(True)
1528   - self.icp_number_iterations= self.spin_inter.GetValue()
1529   - self.icp_number_landmarks= self.spin_land.GetValue()
  1535 + self.icp_number_iterations= self.spin_inter.GetValue()
  1536 + self.icp_number_landmarks= self.spin_land.GetValue()
1530 1537 self.icp_max_mean_distance = self.spin_mean.GetValue()
1531 1538 self.Transformation()
1532   - self.interactor.Render()
1533   - self.Show()
1534   -
  1539 + self.interactor.Render()
  1540 + self.Show()
  1541 +
1535 1542 def CreateCloudPointsSurface(self, filename_cloud):
1536 1543 # Reconstruct the surface from the cloud of points
1537 1544 self.reader_cloud = vtk.vtkPLYReader()
1538   -
  1545 +
1539 1546 self.reader_cloud.SetFileName(filename_cloud)
1540 1547 self.reader_cloud.Update()
1541   -
  1548 +
1542 1549 print "Creating cloud surface..."
1543   -
  1550 +
1544 1551 self.mapper_cloud = vtk.vtkPolyDataMapper()
1545 1552 self.mapper_cloud.SetInput(self.reader_cloud.GetOutput())
1546 1553 self.mapper_cloud.ScalarVisibilityOff()
1547 1554 self.mapper_cloud.ImmediateModeRenderingOn()
1548   -
  1555 +
1549 1556 self.actor_cloud = vtk.vtkActor()
1550 1557 self.actor_cloud.SetMapper(self.mapper_cloud)
1551 1558 self.actor_cloud.GetProperty().SetColor(self.color_cloud)
1552 1559 self.actor_cloud.GetProperty().SetOpacity(self.opacity_cloud)
1553   -
  1560 +
1554 1561 return self.reader_cloud.GetOutput()
1555   -
1556   - def Transformation(self):
  1562 +
  1563 + def Transformation(self):
1557 1564 # Apply IterativeClosestPoint Method
1558   -
  1565 +
1559 1566 #self.filename_cloud=self.ShowLoadSurfaceDialog()
1560 1567 try:
1561 1568 self.ren.RemoveActor(self.actor_icp)
1562   - self.interactor.Render()
  1569 + self.interactor.Render()
1563 1570 except:
1564 1571 None
1565 1572 filename_head = self.head
1566 1573 #filename_cloud = sys.argv[2]
1567 1574 #head_init = self.CreateHeadSurface(filename_head)
1568 1575 #cloud = self.CreateCloudPointsSurface(self.filename_cloud)
1569   -
  1576 +
1570 1577 print "Applying ICP method..."
1571 1578 icp = vtk.vtkIterativeClosestPointTransform()
1572 1579 icp.SetSource(filename_head)
... ... @@ -1574,7 +1581,7 @@ class FineCalibration(wx.Window):
1574 1581 icp.SetTarget(self.transf.GetOutput())
1575 1582 except:
1576 1583 icp.SetTarget(self.cloud)
1577   -
  1584 +
1578 1585 icp.StartByMatchingCentroidsOn()
1579 1586 icp.SetMaximumNumberOfIterations(self.icp_number_iterations)
1580 1587 icp.SetMaximumNumberOfLandmarks(self.icp_number_landmarks)
... ... @@ -1582,26 +1589,26 @@ class FineCalibration(wx.Window):
1582 1589 icp.GetLandmarkTransform().SetModeToRigidBody()
1583 1590 icp.SetMeanDistanceModeToRMS()
1584 1591 icp.Update()
1585   -
  1592 +
1586 1593 icp_transf = vtk.vtkTransformPolyDataFilter()
1587 1594 icp_transf.SetInput(filename_head)
1588 1595 icp_transf.SetTransform(icp)
1589   - icp_transf.Update()
1590   -
  1596 + icp_transf.Update()
  1597 +
1591 1598 mapper_head_icp = vtk.vtkPolyDataMapper()
1592 1599 mapper_head_icp.SetInput(icp_transf.GetOutput())
1593 1600 mapper_head_icp.ScalarVisibilityOff()
1594 1601 mapper_head_icp.ImmediateModeRenderingOn()
1595   -
  1602 +
1596 1603 self.actor_icp = vtk.vtkActor()
1597 1604 self.actor_icp.SetMapper(mapper_head_icp)
1598 1605 self.actor_icp.GetProperty().SetColor(self.color_head_icp)
1599 1606 self.actor_icp.GetProperty().SetOpacity(self.opacity_head_icp)
1600   -
  1607 +
1601 1608 self.icp_matrix = vtk.vtkMatrix4x4()
1602 1609 self.icp_matrix = icp.GetMatrix()
1603 1610 print self.icp_matrix
1604   -
  1611 +
1605 1612 #Eixos para facilitar visualizacao -----------------
1606 1613 # axes = vtk.vtkAxesActor()
1607 1614 # axes.SetShaftTypeToCylinder()
... ... @@ -1610,57 +1617,57 @@ class FineCalibration(wx.Window):
1610 1617 # axes.SetZAxisLabelText("z")
1611 1618 # axes.SetTotalLength(25, 25, 25)
1612 1619 #---------------------------------------------------
1613   -
1614   -
  1620 +
  1621 +
1615 1622 #renderer.AddActor(axes)
1616   -
  1623 +
1617 1624 self.ren.AddActor(self.actor_icp)
1618 1625 #self.outlineF(icp_transf.GetOutput())
1619   - #self.ren.AddActor(self.outline)
  1626 + #self.ren.AddActor(self.outline)
1620 1627 self.ren.SetBackground(0, 0, 0)
1621 1628 self.ren.ResetCamera()
1622   -
  1629 +
1623 1630 def LoadData(self):
1624 1631 coil_reference = vtk.vtkOBJReader()
1625 1632 #coil_reference.SetFileName(os.path.realpath(os.path.join('..',
1626 1633 # 'models',
1627 1634 # 'coil_cti_2_scale10.obj')))
1628   -
  1635 +
1629 1636 coil_reference.SetFileName('C:\Users\Administrator\Dropbox\Biomag\Renan\coil\coil_cti_2_scale10.obj')
1630 1637 coilMapper = vtk.vtkPolyDataMapper()
1631 1638 coilMapper.SetInputConnection(coil_reference.GetOutputPort())
1632 1639 self.coilActor = vtk.vtkActor()
1633 1640 #self.coilActor.Scale(10.0, 10.0, 10.0)
1634 1641 self.coilActor.SetMapper(coilMapper)
1635   -
  1642 +
1636 1643 axes = vtk.vtkAxesActor()
1637 1644 axes.SetShaftTypeToCylinder()
1638 1645 axes.SetXAxisLabelText("x")
1639 1646 axes.SetYAxisLabelText("y")
1640 1647 axes.SetZAxisLabelText("z")
1641 1648 axes.SetTotalLength(50.0, 50.0, 50.0)
1642   -
  1649 +
1643 1650 self.ren.AddActor(self.coilActor)
1644 1651 self.ren.AddActor(axes)
1645   -
  1652 +
1646 1653 def LoadActorDLG(self, pubsub_evt):
1647 1654 self.actor = pubsub_evt.data[0]
1648 1655 #self.head=actor
1649 1656 self.head=pubsub_evt.data[1]
1650   -
  1657 +
1651 1658 self.outlineF(self.head)
1652   - self.ren.AddActor(self.outline)
1653   -
  1659 + self.ren.AddActor(self.outline)
  1660 +
1654 1661 self.filename_cloud=self.ShowLoadSurfaceDialog()
1655 1662 self.cloud = self.CreateCloudPointsSurface(self.filename_cloud)
1656 1663 print self.cloud
1657   -
  1664 +
1658 1665 self.outlineF(self.cloud)
1659   - self.ren.AddActor(self.outline)
1660   -
1661   - self.ren.AddActor(self.actor)
1662   - self.ren.AddActor(self.actor_cloud)
1663   -
  1666 + self.ren.AddActor(self.outline)
  1667 +
  1668 + self.ren.AddActor(self.actor)
  1669 + self.ren.AddActor(self.actor_cloud)
  1670 +
1664 1671 axes = vtk.vtkAxesActor()
1665 1672 axes.SetShaftTypeToCylinder()
1666 1673 axes.SetXAxisLabelText("x")
... ... @@ -1668,67 +1675,67 @@ class FineCalibration(wx.Window):
1668 1675 axes.SetZAxisLabelText("z")
1669 1676 axes.SetTotalLength(25, 25, 25)
1670 1677 self.ren.AddActor(axes)
1671   -
  1678 +
1672 1679 self.ren.ResetCamera()
1673 1680 #self.ren.ResetCameraClippingRange()
1674   -
  1681 +
1675 1682 #self.ShowOrientationCube()
1676   - self.interactor.Render()
1677   -
  1683 + self.interactor.Render()
  1684 +
1678 1685 def LoadVolumeDLG(self, pubsub_evt):
1679 1686 self.raycasting_volume = True
1680 1687 #self._to_show_ball += 1
1681 1688 #print "to show ball", self._to_show_ball
1682   -
  1689 +
1683 1690 volume = pubsub_evt.data[0]
1684 1691 colour = pubsub_evt.data[1]
1685 1692 self.light = self.ren.GetLights().GetNextItem()
1686   -
  1693 +
1687 1694 self.ren.AddVolume(volume)
1688   -
  1695 +
1689 1696 self.ren.SetBackground(colour)
1690   -
  1697 +
1691 1698 self.interactor.Render()
1692   -
  1699 +
1693 1700 def outlineF(self,Actor):
1694 1701 #filtro outline
1695 1702 self.outline = vtk.vtkActor()
1696 1703 outlineData = vtk.vtkOutlineFilter()
1697 1704 outlineData.SetInput(Actor)
1698 1705 outlineData.Update()
1699   -
  1706 +
1700 1707 mapoutline = vtk.vtkPolyDataMapper()
1701 1708 mapoutline.SetInputConnection(outlineData.GetOutputPort())
1702   -
  1709 +
1703 1710 self.outline.SetMapper(mapoutline)
1704 1711 self.outline.GetProperty().SetColor(0.0, 0.0, 1.0)
1705   -
  1712 +
1706 1713 def CreateSphereMarkers(self,ballsize,ballcolour,coord):
1707   -
  1714 +
1708 1715 x, y, z = bases.flip_x(coord)
1709   -
  1716 +
1710 1717 ball_ref = vtk.vtkSphereSource()
1711 1718 ball_ref.SetRadius(ballsize)
1712 1719 ball_ref.SetCenter(x, y, z)
1713   -
  1720 +
1714 1721 mapper = vtk.vtkPolyDataMapper()
1715 1722 mapper.SetInput(ball_ref.GetOutput())
1716   -
  1723 +
1717 1724 prop = vtk.vtkProperty()
1718 1725 prop.SetColor(ballcolour)
1719   -
  1726 +
1720 1727 #adding a new actor for the present ball
1721 1728 self.staticballs.append(vtk.vtkActor())
1722   -
  1729 +
1723 1730 self.staticballs[self.ball_id].SetMapper(mapper)
1724 1731 self.staticballs[self.ball_id].SetProperty(prop)
1725   -
1726   - self.ren.AddActor(self.staticballs[self.ball_id])
  1732 +
  1733 + self.ren.AddActor(self.staticballs[self.ball_id])
1727 1734 self.ball_id = self.ball_id + 1
1728 1735 self.interactor.Render()
1729   -
1730   -
1731   -
  1736 +
  1737 +
  1738 +
1732 1739 self.PostCreate(self.pre)
1733 1740 # # # class ObjectCalibration(wx.Window):
1734 1741 # # # def __init__(self, parent=None, ID=-1, title="Object Calibration", size=wx.DefaultSize,
... ... @@ -1967,7 +1974,7 @@ class ObjectCalibration(wx.Dialog):
1967 1974 def __init__(self, parent=None, ID=-1, title="Calibration Dialog", size=wx.DefaultSize,
1968 1975 pos=wx.DefaultPosition, style=wx.DEFAULT_DIALOG_STYLE,
1969 1976 useMetal=False, nav_prop=None):
1970   -
  1977 +
1971 1978 self.nav_prop = nav_prop
1972 1979 self.correg = None
1973 1980 self.staticballs = []
... ... @@ -1975,7 +1982,7 @@ class ObjectCalibration(wx.Dialog):
1975 1982 self.ball_centers = []
1976 1983 self.to_translate = 0
1977 1984 self.init_angle_plh = None
1978   -
  1985 +
1979 1986 # Instead of calling wx.Dialog.__init__ we precreate the dialog
1980 1987 # so we can set an extra style that must be set before
1981 1988 # creation, and then we create the GUI object using the Create
... ... @@ -2000,40 +2007,40 @@ class ObjectCalibration(wx.Dialog):
2000 2007 self.LoadData()
2001 2008  
2002 2009 # LINE 1: Janela
2003   -
2004   - def draw_gui(self):
  2010 +
  2011 + def draw_gui(self):
2005 2012 #style = vtk.vtkInteractorStyleTrackballActor()
2006   -
  2013 +
2007 2014 self.interactor = wxVTKRenderWindowInteractor(self, -1, size=self.GetSize())
2008 2015 #self.interactor.SetInteractorStyle(style)
2009 2016 self.interactor.Enable(1)
2010 2017 self.ren = vtk.vtkRenderer()
2011 2018 self.interactor.GetRenderWindow().AddRenderer(self.ren)
2012   -
  2019 +
2013 2020 # LINE 2: Botoes
2014   -
  2021 +
2015 2022 marker = wx.Button(self, -1, "Create Marker")
2016 2023 marker.Bind(wx.EVT_BUTTON, self.OnCalibrationMarkers)
2017 2024  
2018 2025 dc_vtkMatrix = wx.Button(self, -1, "Matrix")
2019 2026 dc_vtkMatrix.Bind(wx.EVT_BUTTON, self.DirectionCosinesTest_vtkmatrix)
2020   -
  2027 +
2021 2028 dc_eulerangles = wx.Button(self, -1, "Euler")
2022 2029 dc_eulerangles.Bind(wx.EVT_BUTTON, self.DirectionCosinesTest_eulerangles)
2023 2030  
2024 2031 rotate_button = wx.Button(self, -1, "Rotate")
2025 2032 rotate_button.Bind(wx.EVT_BUTTON, self.rotate)
2026   -
  2033 +
2027 2034 reset = wx.Button(self, -1, "Reset")
2028 2035 reset.Bind(wx.EVT_BUTTON, self.Reset)
2029   -
  2036 +
2030 2037 button_neuronavigate = wx.Button(self, -1, "Neuronavigate")
2031 2038 button_neuronavigate.Bind(wx.EVT_BUTTON, self.Neuronavigate_ToggleButton)
2032   -
  2039 +
2033 2040 ok = wx.Button(self, wx.ID_OK)
2034   -
  2041 +
2035 2042 cancel = wx.Button(self, wx.ID_CANCEL)
2036   -
  2043 +
2037 2044 button_sizer = wx.BoxSizer(wx.HORIZONTAL)
2038 2045 button_sizer.Add(marker)
2039 2046 button_sizer.Add(dc_vtkMatrix)
... ... @@ -2052,27 +2059,27 @@ class ObjectCalibration(wx.Dialog):
2052 2059  
2053 2060 self.SetSizer(sizer)
2054 2061 sizer.Fit(self)
2055   -
  2062 +
2056 2063 def LoadData(self):
2057 2064 coil_reference = vtk.vtkOBJReader()
2058 2065 #coil_reference.SetFileName(os.path.realpath(os.path.join('..',
2059 2066 # 'models',
2060 2067 # 'coil_cti_2_scale10.obj')))
2061   -
  2068 +
2062 2069 coil_reference.SetFileName('C:\Users\Administrator\Dropbox\Biomag\Renan\coil\coil_cti_2_scale10.obj')
2063 2070 coilMapper = vtk.vtkPolyDataMapper()
2064 2071 coilMapper.SetInputConnection(coil_reference.GetOutputPort())
2065 2072 self.coilActor = vtk.vtkActor()
2066 2073 #self.coilActor.Scale(10.0, 10.0, 10.0)
2067 2074 self.coilActor.SetMapper(coilMapper)
2068   -
  2075 +
2069 2076 axes = vtk.vtkAxesActor()
2070 2077 axes.SetShaftTypeToCylinder()
2071 2078 axes.SetXAxisLabelText("x")
2072 2079 axes.SetYAxisLabelText("y")
2073 2080 axes.SetZAxisLabelText("z")
2074 2081 axes.SetTotalLength(50.0, 50.0, 50.0)
2075   -
  2082 +
2076 2083 self.ren.AddActor(self.coilActor)
2077 2084 self.ren.AddActor(axes)
2078 2085  
... ... @@ -2080,8 +2087,8 @@ class ObjectCalibration(wx.Dialog):
2080 2087 self.coilActor.RotateX(90)
2081 2088 self.interactor.Render()
2082 2089 print 'Coil orientation', self.coilActor.GetOrientation()
2083   -
2084   - def OnCalibrationMarkers(self, evt):
  2090 +
  2091 + def OnCalibrationMarkers(self, evt):
2085 2092 import data.coordinates as co
2086 2093 from numpy import matrix
2087 2094 Minv = self.nav_prop[0][0]
... ... @@ -2092,14 +2099,14 @@ class ObjectCalibration(wx.Dialog):
2092 2099 tracker_init = self.nav_prop[1][0]
2093 2100 tracker = self.nav_prop[1][1]
2094 2101 tracker_mode = self.nav_prop[1][2]
2095   -
  2102 +
2096 2103 trck = co.Coordinates(tracker_init, tracker, tracker_mode).Returns()
2097 2104 tracker = matrix([[trck[0]], [trck[1]], [trck[2]]])
2098 2105 self.init_angle_plh = trck[3], trck[4], trck[5]
2099 2106 img = q1 + (Minv*N)*(tracker - q2)
2100   - coord = float(img[0]), float(img[1]), float(img[2])
  2107 + coord = float(img[0]), float(img[1]), float(img[2])
2101 2108 x, y, z = bases.flip_x(coord)
2102   -
  2109 +
2103 2110 if not self.ball_centers:
2104 2111 self.to_translate = -x, -y, -z
2105 2112  
... ... @@ -2118,46 +2125,46 @@ class ObjectCalibration(wx.Dialog):
2118 2125  
2119 2126 prop = vtk.vtkProperty()
2120 2127 prop.SetColor(0,1, 1)
2121   -
  2128 +
2122 2129 #adding a new actor for the present ball
2123 2130 self.staticballs.append(vtk.vtkActor())
2124   -
  2131 +
2125 2132 self.staticballs[self.ball_id].SetMapper(mapper)
2126 2133 self.staticballs[self.ball_id].SetProperty(prop)
2127   -
2128   - self.ren.AddActor(self.staticballs[self.ball_id])
  2134 +
  2135 + self.ren.AddActor(self.staticballs[self.ball_id])
2129 2136 self.ball_id += 1
2130   -
  2137 +
2131 2138 self.interactor.Render()
2132 2139  
2133 2140 def DirectionCosinesTest_vtkmatrix(self, evt):
2134 2141 p1, p2, p3 = self.ball_centers[:3]
2135 2142 dcm = self.base_creation(p1, p2, p3)
2136   -
  2143 +
2137 2144 mat4x4 = vtk.vtkMatrix4x4()
2138 2145 mat4x4.DeepCopy(dcm[0][0], dcm[0][1], dcm[0][2], 0.0,
2139 2146 dcm[1][0], dcm[1][1], dcm[1][2], 0.0,
2140 2147 dcm[2][0], dcm[2][1], dcm[2][2], 0.0,
2141 2148 0.0, 0.0, 0.0, 1.0)
2142   -
  2149 +
2143 2150 self.coilActor.SetUserMatrix(mat4x4)
2144 2151 print "\n===================================="
2145 2152 print "orientation: ", self.coilActor.GetOrientation()
2146 2153 print "====================================\n"
2147 2154  
2148   -
  2155 +
2149 2156 def DirectionCosinesTest_eulerangles(self, evt):
2150 2157 #p1, p2, p3 = self.ball_centers[:3]
2151 2158 #dcm = self.base_creation(p1, p2, p3)
2152 2159  
2153 2160 dcm = self.nav_prop[0][1]
2154   -
  2161 +
2155 2162 # site http://met.fzu.edu.cn/cai/Matlab6.5/help/toolbox/aeroblks/directioncosinematrixtoeulerangles.html
2156 2163 theta = np.rad2deg(-np.arcsin(dcm[0][2]))
2157 2164 phi = np.rad2deg(np.arctan(dcm[1][2]/dcm[2][2]))
2158 2165 psi = np.rad2deg(np.arctan(dcm[0][1]/dcm[0][0]))
2159 2166  
2160   - self.coilActor.RotateWXYZ(psi, 0, 0, 1)
  2167 + self.coilActor.RotateWXYZ(psi, 0, 0, 1)
2161 2168 self.coilActor.RotateWXYZ(phi, 1, 0, 0)
2162 2169 self.coilActor.RotateWXYZ(theta, 0, 1, 0)
2163 2170 self.interactor.Render()
... ... @@ -2167,8 +2174,8 @@ class ObjectCalibration(wx.Dialog):
2167 2174 print "orientation: ", self.coilActor.GetOrientation()
2168 2175 print "====================================\n"
2169 2176  
2170   -
2171   -
  2177 +
  2178 +
2172 2179 def Reset(self, evt):
2173 2180 self.ball_centers = []
2174 2181 self.ball_id = 0
... ... @@ -2178,7 +2185,7 @@ class ObjectCalibration(wx.Dialog):
2178 2185 for i in range(0, len(self.staticballs)):
2179 2186 self.ren.RemoveActor(self.staticballs[i])
2180 2187 self.staticballs = []
2181   -
  2188 +
2182 2189 def Neuronavigate_ToggleButton(self, evt):
2183 2190 p0, p1, p2 = self.ball_centers[:3]
2184 2191 m = self.base_creation(p0, p1, p2)
... ... @@ -2192,17 +2199,17 @@ class ObjectCalibration(wx.Dialog):
2192 2199 #vm.SetElement(0, 1, m[0, 1])
2193 2200 #vm.SetElement(0, 2, m[0, 2])
2194 2201 #vm.SetElement(0, 3, 0 )
2195   -
  2202 +
2196 2203 #vm.SetElement(1, 0, m[1, 0])
2197 2204 #vm.SetElement(1, 1, m[1, 1])
2198 2205 #vm.SetElement(1, 2, m[1, 2])
2199 2206 #vm.SetElement(1, 3, 0 )
2200   -
  2207 +
2201 2208 #vm.SetElement(2, 0, m[2, 0])
2202 2209 #vm.SetElement(2, 1, m[2, 1])
2203 2210 #vm.SetElement(2, 2, m[2, 2])
2204 2211 #vm.SetElement(2, 3, 0 )
2205   -
  2212 +
2206 2213 #vm.SetElement(3, 0, 0 )
2207 2214 #vm.SetElement(3, 1, 0 )
2208 2215 #vm.SetElement(3, 2, 0 )
... ... @@ -2219,7 +2226,7 @@ class ObjectCalibration(wx.Dialog):
2219 2226 print "Angulos", gama, beta, alpha
2220 2227  
2221 2228 self.coilActor.RotateWXYZ(alpha, 0, 1, 0)
2222   - self.coilActor.RotateWXYZ(beta, 1, 0, 0)
  2229 + self.coilActor.RotateWXYZ(beta, 1, 0, 0)
2223 2230 self.coilActor.RotateWXYZ(gama, 0, 0, 1)
2224 2231 self.interactor.Render()
2225 2232  
... ... @@ -2230,13 +2237,13 @@ class ObjectCalibration(wx.Dialog):
2230 2237 p1, p2, p3 = self.ball_centers[presize:size]
2231 2238 M, q1, Minv = db.base_creation(p1, p2, p3)
2232 2239 inits_angles = self.coilActor.GetOrientation(), self.init_angle_plh, M
2233   -
  2240 +
2234 2241 coil_top = self.ball_centers[len(self.ball_centers)-1]
2235 2242 coil_bottom = self.ball_centers[len(self.ball_centers)-2]
2236 2243 coil_axis = np.matrix(coil_bottom[0:3]).reshape(3, 1),np.matrix(coil_top[0:3]).reshape(3, 1)
2237   -
  2244 +
2238 2245 return inits_angles, coil_axis
2239   -#===============================================================================
  2246 +#===============================================================================
2240 2247 #===============================================================================
2241 2248  
2242 2249 class SurfaceDialog(wx.Dialog):
... ... @@ -2349,7 +2356,7 @@ class SurfaceCreationOptionsPanel(wx.Panel):
2349 2356 import constants as const
2350 2357 import data.surface as surface
2351 2358 import project as prj
2352   -
  2359 +
2353 2360 wx.Panel.__init__(self, parent, ID)
2354 2361  
2355 2362 # LINE 1: Surface name
... ... @@ -2456,7 +2463,7 @@ class CAOptions(wx.Panel):
2456 2463 def __init__(self, parent):
2457 2464 wx.Panel.__init__(self, parent, -1)
2458 2465 self._build_widgets()
2459   -
  2466 +
2460 2467 def _build_widgets(self):
2461 2468 sb = wx.StaticBox(self, -1, _('Options'))
2462 2469 self.angle = floatspin.FloatSpin(self, -1, value=0.7, min_val=0.0,
... ... @@ -2470,7 +2477,7 @@ class CAOptions(wx.Panel):
2470 2477 self.min_weight = floatspin.FloatSpin(self, -1, value=0.2, min_val=0.0,
2471 2478 max_val=1.0, increment=0.1,
2472 2479 digits=1)
2473   -
  2480 +
2474 2481 self.steps = wx.SpinCtrl(self, -1, value='10', min=1, max=100)
2475 2482  
2476 2483 layout_sizer = wx.FlexGridSizer(rows=4, cols=2, hgap=5, vgap=5)
... ... @@ -2533,7 +2540,7 @@ class SurfaceMethodPanel(wx.Panel):
2533 2540 self.SetSizer(self.main_sizer)
2534 2541 self.Layout()
2535 2542 self.Fit()
2536   -
  2543 +
2537 2544 if self.mask_edited:
2538 2545 self.cb_types.SetValue(_(u'Context aware smoothing'))
2539 2546 self.ca_options.Enable()
... ... @@ -2572,9 +2579,9 @@ class SurfaceMethodPanel(wx.Panel):
2572 2579 algorithm = self.GetAlgorithmSelected()
2573 2580 options = self.GetOptions()
2574 2581  
2575   - return {"algorithm": algorithm,
  2582 + return {"algorithm": algorithm,
2576 2583 "options": options}
2577   -
  2584 +
2578 2585 def ReloadMethodsOptions(self):
2579 2586 self.cb_types.Clear()
2580 2587 self.cb_types.AppendItems([i for i in sorted(self.alg_types)
... ...
invesalius/gui/task_navigator.py
  Diff comments   View file @ede9d09
... ... @@ -492,25 +492,27 @@ class NeuronavigationTools(wx.Panel):
492 492 def OnChoiceTracker(self, evt):
493 493 trck_id = evt.GetSelection()
494 494  
495   - dco.Tracker(trck_id)
496   - if self.tracker_id == 0:
497   - self.trk_init = dtrk.Tracker_Init().PolhemusISO_init()
498   - print self.trk_init
499   -
500   - elif self.tracker_id == 1:
501   - self.trk_init = dtrk.Tracker_Init().Polhemus_init()
502   - print self.trk_init
503   -
504   - elif self.tracker_id == 2:
505   - #review this close command: when for example
506   - #you jump from MTC to Zebris, it will try
507   - #to close the MTC, but it doesnt have a close attribute
508   - #self.trk_init.close()
509   - self.trk_init = dtrk.Tracker_Init().Claron_init()
510   - print self.trk_init
511   - elif self.tracker_id == 3:
512   - self.trk_init = dtrk.Tracker_Init().Zebris_init()
513   - print self.trk_init
  495 + # self.trk_init = dco.Tracker().ReturnTracker(trck_id)
  496 + self.trk_init = dco.Tracker(trck_id)
  497 +
  498 + # if self.tracker_id == 0:
  499 + # self.trk_init = dtrk.Tracker_Init().PolhemusISO_init()
  500 + # print self.trk_init
  501 + #
  502 + # elif self.tracker_id == 1:
  503 + # self.trk_init = dtrk.Tracker_Init().Polhemus_init()
  504 + # print self.trk_init
  505 + #
  506 + # elif self.tracker_id == 2:
  507 + # #review this close command: when for example
  508 + # #you jump from MTC to Zebris, it will try
  509 + # #to close the MTC, but it doesnt have a close attribute
  510 + # #self.trk_init.close()
  511 + # self.trk_init = dtrk.Tracker_Init().Claron_init()
  512 + # print self.trk_init
  513 + # elif self.tracker_id == 3:
  514 + # self.trk_init = dtrk.Tracker_Init().Zebris_init()
  515 + # print self.trk_init
514 516  
515 517 print "Tracker changed!"
516 518  
... ...