Improvements Microntracker support (invesalius#154)

* Improvements Microntracker support

-Removed unused markers files

* Minor bug fix: disconnect tracker

invesalius/constants.py

@@ -739,6 +739,9 @@
 
 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'))

invesalius/data/coordinates.py

@@ -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)
 

invesalius/data/trackers.py

@@ -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'

invesalius/gui/dialogs.py

@@ -3327,7 +3327,8 @@ def _init_gui(self):
         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"))

invesalius/gui/task_navigator.py

@@ -497,6 +497,7 @@ def OnChoiceTracker(self, evt, ctrl):
                     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')

navigation/mtc_files/Markers/5Ref → navigation/mtc_files/Markers/2Ref

@@ -1,7 +1,7 @@
 [Marker]
 FacetsCount=1
 SliderControlledXpointsCount=0
-Name=5Ref
+Name=2Ref
 
 [Facet1]
 VectorsCount=2

navigation/mtc_files/Markers/3Coil

@@ -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.