【MITK】深入理解导航（IGT）插件

「爱情、让人受尽委屈。」 2024-04-17 18:32 66阅读 0赞

来源： [http://docs.mitk.org/nightly/IGTTutorialStepAdvanced.html][http_docs.mitk.org_nightly_IGTTutorialStepAdvanced.html]

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# 1 IGT组件 #

QmitkNavigationToolCreationWidget等等：  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NmYW45Mjc_size_16_color_FFFFFF_t_70]

# 2 数据获取 #

如何获得跟踪工具及跟踪数据？最简单的方法是使用The MITK-IGT Navigation Tool Manager加载、创建或编辑工具并通过NavigationToolStorage访问它。它由microservice提供，可以通过如下方法访问它（确保你的模块依赖于IGT）：

us::ModuleContext* context = us::GetModuleContext();
    std::vector<us::ServiceReference <mitk::NavigationToolStorage> > refs = context->GetServiceReferences<mitk::NavigationToolStorage>();
    m_ToolStorage = context->GetService<mitk::NavigationToolStorage>(refs.front());

然后，通过下面的方法获取工具：

m_ToolStorage->GetTool();

它还有很多不同的功能，例如提供可用工具的数量或当前跟踪设备的名称。详细参见mitk :: NavigationToolStorage的文档。

# 3 自动加载上次会话中的所有参数 #

为增加应用程序可用性，跟踪工具箱将恢复上次会话的所有参数。因此我们将使用下面的代码来保存所有参数，它也可以用于特定的跟踪设备小部件。

## 3.1 存储当前设置 ##

void QmitkMITKIGTTrackingToolboxView::StoreUISettings()
    { 
    	// persistence service does not directly work in plugins for now
    	// -> using QSettings
    	QSettings settings;
    	settings.beginGroup(QString::fromStdString(VIEW_ID));
    	MITK_DEBUG << "Store UI settings";
    	// set the values of some widgets and attrbutes to the QSettings
    	settings.setValue("ShowTrackingVolume", QVariant(m_Controls->m_ShowTrackingVolume->isChecked()));
    	settings.setValue("toolStorageFilename", QVariant(m_ToolStorageFilename));
    	settings.setValue("VolumeSelectionBox", QVariant(m_Controls->m_VolumeSelectionBox->currentIndex()));
    	settings.setValue("SimpleModeEnabled", QVariant(m_SimpleModeEnabled));
    	settings.setValue("OpenIGTLinkDataFormat", QVariant(m_Controls->m_OpenIGTLinkDataFormat->currentIndex()));
    	settings.setValue("EnableOpenIGTLinkMicroService", QVariant(m_Controls->m_EnableOpenIGTLinkMicroService->isChecked()));
    	settings.endGroup();
    }

## 3.2 重新加载（存储的）设置 ##

void QmitkMITKIGTTrackingToolboxView::LoadUISettings()
    { 
    	// persistence service does not directly work in plugins for now -> using QSettings
    	QSettings settings;
    	settings.beginGroup(QString::fromStdString(VIEW_ID));
    	// set some widgets and attributes by the values from the QSettings
    	m_Controls->m_ShowTrackingVolume->setChecked(settings.value("ShowTrackingVolume", false).toBool());
    	m_Controls->m_EnableOpenIGTLinkMicroService->setChecked(settings.value("EnableOpenIGTLinkMicroService", true).toBool());
    	m_Controls->m_VolumeSelectionBox->setCurrentIndex(settings.value("VolumeSelectionBox", 0).toInt());
    	m_Controls->m_OpenIGTLinkDataFormat->setCurrentIndex(settings.value("OpenIGTLinkDataFormat", 0).toInt());
    	m_ToolStorageFilename = settings.value("toolStorageFilename", QVariant("")).toString();
    	if (settings.value("SimpleModeEnabled", false).toBool()) 
    	{  
    		this->OnToggleAdvancedSimpleMode(); 
    	}
    	settings.endGroup();
    }

# 4 加载工具集（Tool Storage） #

该代码用于加载以前存储或自动保存的tool storage：

// try to deserialize the tool storage from the given tool storage file name
    if (!m_ToolStorageFilename.isEmpty())
    { 
    	// try-catch block for exceptions
    	try
    	{ 
    		mitk::NavigationToolStorageDeserializer::Pointer myDeserializer = mitk::NavigationToolStorageDeserializer::New(GetDataStorage());
    		m_toolStorage->UnRegisterMicroservice();
    		m_toolStorage = myDeserializer->Deserialize(m_ToolStorageFilename.toStdString());
    		m_toolStorage->RegisterAsMicroservice();
    		//update label
    		UpdateToolStorageLabel(m_ToolStorageFilename);
    		//update tool preview
    		m_Controls->m_TrackingToolsStatusWidget->RemoveStatusLabels();
    		m_Controls->m_TrackingToolsStatusWidget->PreShowTools(m_toolStorage);
    	}
    	catch (mitk::IGTException e)
    	{ 
    		MITK_WARN("QmitkMITKIGTTrackingToolBoxView") << "Error during restoring tools. Problems with file (" << m_ToolStorageFilename.toStdString() << "), please check the file? Error message: "<<e.GetDescription();
    		this->OnResetTools(); //if there where errors reset the tool storage to avoid problems later on
    	}
    }

# 5 多线程跟踪 #

//initialize worker thread
    m_WorkerThread = new QThread();
    m_Worker = new QmitkMITKIGTTrackingToolboxViewWorker();

连接槽函数：

//connect worker thread
    connect(m_Worker, SIGNAL(AutoDetectToolsFinished(bool, QString)), this, SLOT(OnAutoDetectToolsFinished(bool, QString)));
    connect(m_Worker, SIGNAL(ConnectDeviceFinished(bool, QString)), this, SLOT(OnConnectFinished(bool, QString)));
    connect(m_Worker, SIGNAL(StartTrackingFinished(bool, QString)), this, SLOT(OnStartTrackingFinished(bool, QString)));
    connect(m_Worker, SIGNAL(StopTrackingFinished(bool, QString)), this, SLOT(OnStopTrackingFinished(bool, QString)));
    connect(m_Worker, SIGNAL(DisconnectDeviceFinished(bool, QString)), this, SLOT(OnDisconnectFinished(bool, QString)));
    connect(m_WorkerThread, SIGNAL(started()), m_Worker, SLOT(ThreadFunc()));
    connect(m_Worker, SIGNAL(ConnectDeviceFinished(bool, QString)), m_Controls->m_ConfigurationWidget, SLOT(OnConnected(bool)));
    connect(m_Worker, SIGNAL(DisconnectDeviceFinished(bool, QString)), m_Controls->m_ConfigurationWidget, SLOT(OnDisconnected(bool)));
    connect(m_Worker, SIGNAL(StartTrackingFinished(bool, QString)), m_Controls->m_ConfigurationWidget, SLOT(OnStartTracking(bool)));
    connect(m_Worker, SIGNAL(StopTrackingFinished(bool, QString)), m_Controls->m_ConfigurationWidget, SLOT(OnStopTracking(bool)));
    //Add Listener, so that we know when the toolStorage changed.
    std::string m_Filter = "(" + us::ServiceConstants::OBJECTCLASS() + "=" + "org.mitk.services.NavigationToolStorage" + ")";
    mitk::PluginActivator::GetContext()->connectServiceListener(this, "OnToolStorageChanged", QString(m_Filter.c_str()));
    //move the worker to the thread
    m_Worker->moveToThread(m_WorkerThread);

点击按钮后开启线程：

//initialize worker thread
    m_Worker->SetWorkerMethod(QmitkMITKIGTTrackingToolboxViewWorker::eConnectDevice);
    m_Worker->SetTrackingDevice(this->m_Controls->m_ConfigurationWidget->GetTrackingDevice());
    m_Worker->SetInverseMode(m_Controls->m_InverseMode->isChecked());
    m_Worker->SetNavigationToolStorage(this->m_toolStorage);
    m_Worker->SetTrackingDeviceData(data);
    //start worker thread
    m_WorkerThread->start();

完成之后：

m_WorkerThread->quit();
    m_WorkerThread->wait();

可以从线程中获取数据：

//get data from worker thread
    m_TrackingDeviceData = m_Worker->GetTrackingDeviceData();
    m_ToolVisualizationFilter = m_Worker->GetToolVisualizationFilter();
    if( m_ToolVisualizationFilter.IsNotNull() )
    { 
    	//Connect the NeedleProjectionFilter to the ToolVisualizationFilter as third filter of the IGT pipeline
    	m_NeedleProjectionFilter->ConnectTo(m_ToolVisualizationFilter);
    	if (m_Controls->showHideToolProjectionCheckBox->isChecked())
    	{ 
    		ShowToolProjection(m_Controls->m_toolselector->currentIndex());
    	}
    }

这些函数通过ThreadFunc函数的选择来执行：

void QmitkMITKIGTTrackingToolboxViewWorker::ThreadFunc()
    { 
    	switch (m_WorkerMethod)
    	{ 
    		case eAutoDetectTools:
    			this->AutoDetectTools();
    			break;
    		case eConnectDevice:
    			this->ConnectDevice();
    			break;
    		case eStartTracking:
    			this->StartTracking();
    			break;
    		case eStopTracking:
    			this->StopTracking();
    			break;
    		case eDisconnectDevice:
    			this->DisconnectDevice();
    			break;
    		default:
    			MITK_WARN << "Undefined worker method was set ... something went wrong!";
    			break;
    	}
    }

终止并删除线程：

// wait for thread to finish
    m_WorkerThread->terminate();
    m_WorkerThread->wait();
    //clean up worker thread
    if (m_WorkerThread) 
    {  
    	delete m_WorkerThread; 
    	}
    if (m_Worker) 
    {  
    	delete m_Worker; 
    }

[http_docs.mitk.org_nightly_IGTTutorialStepAdvanced.html]: http://docs.mitk.org/nightly/IGTTutorialStepAdvanced.html
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2NmYW45Mjc_size_16_color_FFFFFF_t_70]: https://image.dandelioncloud.cn/pgy_files/images/2024/04/17/7e963af63b464f9abe82e4436d6d1d53.png