def setupScene(self): #applet specific
logging.debug('setupScene')
Guidelet.setupScene(self)
logging.debug('Create transforms')
self.cauteryTipToCautery = slicer.util.getNode('CauteryTipToCautery')
if not self.cauteryTipToCautery:
self.cauteryTipToCautery = slicer.vtkMRMLLinearTransformNode()
self.cauteryTipToCautery.SetName("CauteryTipToCautery")
m = self.readTransformFromSettings('CauteryTipToCautery')
if m:
self.cauteryTipToCautery.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(self.cauteryTipToCautery)
self.cauteryModelToCauteryTip = slicer.util.getNode(
'CauteryModelToCauteryTip')
if not self.cauteryModelToCauteryTip:
self.cauteryModelToCauteryTip = slicer.vtkMRMLLinearTransformNode()
self.cauteryModelToCauteryTip.SetName("CauteryModelToCauteryTip")
m = self.readTransformFromSettings('CauteryModelToCauteryTip')
if m:
self.cauteryModelToCauteryTip.SetMatrixTransformToParent(m)
self.cauteryModelToCauteryTip.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(self.cauteryModelToCauteryTip)
self.needleTipToNeedle = slicer.util.getNode('NeedleTipToNeedle')
if not self.needleTipToNeedle:
self.needleTipToNeedle = slicer.vtkMRMLLinearTransformNode()
self.needleTipToNeedle.SetName("NeedleTipToNeedle")
m = self.readTransformFromSettings('NeedleTipToNeedle')
if m:
self.needleTipToNeedle.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(self.needleTipToNeedle)
self.needleModelToNeedleTip = slicer.util.getNode(
'NeedleModelToNeedleTip')
if not self.needleModelToNeedleTip:
self.needleModelToNeedleTip = slicer.vtkMRMLLinearTransformNode()
self.needleModelToNeedleTip.SetName("NeedleModelToNeedleTip")
m = self.readTransformFromSettings('NeedleModelToNeedleTip')
if m:
self.needleModelToNeedleTip.SetMatrixTransformToParent(m)
self.needleModelToNeedleTip.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(self.needleModelToNeedleTip)
self.cauteryCameraToCautery = slicer.util.getNode(
'CauteryCameraToCautery')
if not self.cauteryCameraToCautery:
self.cauteryCameraToCautery = slicer.vtkMRMLLinearTransformNode()
self.cauteryCameraToCautery.SetName("CauteryCameraToCautery")
m = vtk.vtkMatrix4x4()
m.SetElement(0, 0, 0)
m.SetElement(0, 2, -1)
m.SetElement(1, 1, 0)
m.SetElement(1, 0, 1)
m.SetElement(2, 2, 0)
m.SetElement(2, 1, -1)
self.cauteryCameraToCautery.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(self.cauteryCameraToCautery)
self.CauteryToNeedle = slicer.util.getNode('CauteryToNeedle')
if not self.CauteryToNeedle:
self.CauteryToNeedle = slicer.vtkMRMLLinearTransformNode()
self.CauteryToNeedle.SetName("CauteryToNeedle")
slicer.mrmlScene.AddNode(self.CauteryToNeedle)
# Create transforms that will be updated through OpenIGTLink
self.cauteryToReference = slicer.util.getNode('CauteryToReference')
if not self.cauteryToReference:
self.cauteryToReference = slicer.vtkMRMLLinearTransformNode()
self.cauteryToReference.SetName("CauteryToReference")
slicer.mrmlScene.AddNode(self.cauteryToReference)
self.needleToReference = slicer.util.getNode('NeedleToReference')
if not self.needleToReference:
self.needleToReference = slicer.vtkMRMLLinearTransformNode()
self.needleToReference.SetName("NeedleToReference")
slicer.mrmlScene.AddNode(self.needleToReference)
# Cameras
logging.debug('Create cameras')
self.LeftCamera = slicer.util.getNode('Left Camera')
if not self.LeftCamera:
self.LeftCamera = slicer.vtkMRMLCameraNode()
self.LeftCamera.SetName("Left Camera")
slicer.mrmlScene.AddNode(self.LeftCamera)
self.RightCamera = slicer.util.getNode('Right Camera')
if not self.RightCamera:
self.RightCamera = slicer.vtkMRMLCameraNode()
self.RightCamera.SetName("Right Camera")
slicer.mrmlScene.AddNode(self.RightCamera)
# Models
logging.debug('Create models')
self.cauteryModel_CauteryTip = slicer.util.getNode('CauteryModel')
if not self.cauteryModel_CauteryTip:
if (self.parameterNode.GetParameter('TestMode') == 'True'):
moduleDirectoryPath = slicer.modules.lumpnav.path.replace(
'LumpNav.py', '')
slicer.util.loadModel(
qt.QDir.toNativeSeparators(
moduleDirectoryPath +
'../../../models/temporary/cautery.stl'))
self.cauteryModel_CauteryTip = slicer.util.getNode(
pattern="cautery")
else:
slicer.modules.createmodels.logic().CreateNeedle(
100, 1.0, 2.5, 0)
self.cauteryModel_CauteryTip = slicer.util.getNode(
pattern="NeedleModel")
self.cauteryModel_CauteryTip.GetDisplayNode().SetColor(
1.0, 1.0, 0)
self.cauteryModel_CauteryTip.SetName("CauteryModel")
self.needleModel_NeedleTip = slicer.util.getNode('NeedleModel')
if not self.needleModel_NeedleTip:
slicer.modules.createmodels.logic().CreateNeedle(80, 1.0, 2.5, 0)
self.needleModel_NeedleTip = slicer.util.getNode(
pattern="NeedleModel")
self.needleModel_NeedleTip.GetDisplayNode().SetColor(
0.333333, 1.0, 1.0)
self.needleModel_NeedleTip.SetName("NeedleModel")
self.needleModel_NeedleTip.GetDisplayNode(
).SliceIntersectionVisibilityOn()
# Create surface from point set
logging.debug('Create surface from point set')
self.tumorModel_Needle = slicer.util.getNode('TumorModel')
if not self.tumorModel_Needle:
self.tumorModel_Needle = slicer.vtkMRMLModelNode()
self.tumorModel_Needle.SetName("TumorModel")
sphereSource = vtk.vtkSphereSource()
sphereSource.SetRadius(0.001)
self.tumorModel_Needle.SetPolyDataConnection(
sphereSource.GetOutputPort())
slicer.mrmlScene.AddNode(self.tumorModel_Needle)
# Add display node
modelDisplayNode = slicer.vtkMRMLModelDisplayNode()
modelDisplayNode.SetColor(0, 1, 0) # Green
modelDisplayNode.BackfaceCullingOff()
modelDisplayNode.SliceIntersectionVisibilityOn()
modelDisplayNode.SetSliceIntersectionThickness(4)
modelDisplayNode.SetOpacity(0.3) # Between 0-1, 1 being opaque
slicer.mrmlScene.AddNode(modelDisplayNode)
self.tumorModel_Needle.SetAndObserveDisplayNodeID(
modelDisplayNode.GetID())
tumorMarkups_Needle = slicer.util.getNode('T')
if not tumorMarkups_Needle:
tumorMarkups_Needle = slicer.vtkMRMLMarkupsFiducialNode()
tumorMarkups_Needle.SetName("T")
slicer.mrmlScene.AddNode(tumorMarkups_Needle)
tumorMarkups_Needle.CreateDefaultDisplayNodes()
tumorMarkups_Needle.GetDisplayNode().SetTextScale(0)
self.setAndObserveTumorMarkupsNode(tumorMarkups_Needle)
# Set up breach warning node
logging.debug('Set up breach warning')
self.breachWarningNode = slicer.util.getNode('LumpNavBreachWarning')
if not self.breachWarningNode:
self.breachWarningNode = slicer.mrmlScene.CreateNodeByClass(
'vtkMRMLBreachWarningNode')
self.breachWarningNode.SetName("LumpNavBreachWarning")
slicer.mrmlScene.AddNode(self.breachWarningNode)
self.breachWarningNode.SetPlayWarningSound(True)
self.breachWarningNode.SetWarningColor(1, 0, 0)
self.breachWarningNode.SetOriginalColor(
self.tumorModel_Needle.GetDisplayNode().GetColor())
self.breachWarningNode.SetAndObserveToolTransformNodeId(
self.cauteryTipToCautery.GetID())
self.breachWarningNode.SetAndObserveWatchedModelNodeID(
self.tumorModel_Needle.GetID())
# Set up breach warning light
import BreachWarningLight
logging.debug('Set up breach warning light')
self.breachWarningLightLogic = BreachWarningLight.BreachWarningLightLogic(
)
self.breachWarningLightLogic.setMarginSizeMm(
float(
self.parameterNode.GetParameter(
'BreachWarningLightMarginSizeMm')))
if (self.parameterNode.GetParameter('EnableBreachWarningLight') ==
'True'):
logging.debug("BreachWarningLight: active")
self.breachWarningLightLogic.startLightFeedback(
self.breachWarningNode, self.connectorNode)
else:
logging.debug("BreachWarningLight: shutdown")
self.breachWarningLightLogic.shutdownLight(self.connectorNode)
# Build transform tree
logging.debug('Set up transform tree')
self.cauteryToReference.SetAndObserveTransformNodeID(
self.ReferenceToRas.GetID())
self.cauteryCameraToCautery.SetAndObserveTransformNodeID(
self.cauteryToReference.GetID())
self.cauteryTipToCautery.SetAndObserveTransformNodeID(
self.cauteryToReference.GetID())
self.cauteryModelToCauteryTip.SetAndObserveTransformNodeID(
self.cauteryTipToCautery.GetID())
self.needleToReference.SetAndObserveTransformNodeID(
self.ReferenceToRas.GetID())
self.needleTipToNeedle.SetAndObserveTransformNodeID(
self.needleToReference.GetID())
self.needleModelToNeedleTip.SetAndObserveTransformNodeID(
self.needleTipToNeedle.GetID())
self.cauteryModel_CauteryTip.SetAndObserveTransformNodeID(
self.cauteryModelToCauteryTip.GetID())
self.needleModel_NeedleTip.SetAndObserveTransformNodeID(
self.needleModelToNeedleTip.GetID())
self.tumorModel_Needle.SetAndObserveTransformNodeID(
self.needleToReference.GetID())
self.tumorMarkups_Needle.SetAndObserveTransformNodeID(
self.needleToReference.GetID())
# self.liveUltrasoundNode_Reference.SetAndObserveTransformNodeID(self.ReferenceToRas.GetID())
# Hide slice view annotations (patient name, scale, color bar, etc.) as they
# decrease reslicing performance by 20%-100%
logging.debug('Hide slice view annotations')
import DataProbe
dataProbeUtil = DataProbe.DataProbeLib.DataProbeUtil()
dataProbeParameterNode = dataProbeUtil.getParameterNode()
dataProbeParameterNode.SetParameter('showSliceViewAnnotations', '0')
def initViewpoint(self):
if self.rigidBodyToTrackerTransformNode:
# ConoProbeModelToMeasurement
conoProbeModelToMeasurement = slicer.util.getNode('ConoProbeModelToMeasurement')
if not conoProbeModelToMeasurement:
conoProbeModelToMeasurement=slicer.vtkMRMLLinearTransformNode()
conoProbeModelToMeasurement.SetName("ConoProbeModelToMeasurement")
m = vtk.vtkMatrix4x4()
# Large lens
# m.SetElement( 0, 0, -0.92 ) # Row 1
# m.SetElement( 0, 1, -0.16 )
# m.SetElement( 0, 2, 0.37 )
# m.SetElement( 0, 3, 63.53 )
# m.SetElement( 1, 0, -0.38 ) # Row 2
# m.SetElement( 1, 1, 0.06 )
# m.SetElement( 1, 2, -0.92 )
# m.SetElement( 1, 3, 81.99 )
# m.SetElement( 2, 0, 0.13 ) # Row 3
# m.SetElement( 2, 1, -0.98 )
# m.SetElement( 2, 2, -0.12 )
# m.SetElement( 2, 3, -40.15 )
# Small lens
m.SetElement( 0, 0, -0.92 ) # Row 1
m.SetElement( 0, 1, -0.16 )
m.SetElement( 0, 2, 0.37 )
m.SetElement( 0, 3, 63.53 )
m.SetElement( 1, 0, -0.38 ) # Row 2
m.SetElement( 1, 1, 0.06 )
m.SetElement( 1, 2, -0.92 )
m.SetElement( 1, 3, 81.99 )
m.SetElement( 2, 0, 0.13 ) # Row 3
m.SetElement( 2, 1, -0.98 )
m.SetElement( 2, 2, -0.12 )
m.SetElement( 2, 3, 129.85 )
conoProbeModelToMeasurement.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(conoProbeModelToMeasurement)
conoProbeModelToMeasurement.SetAndObserveTransformNodeID(self.rigidBodyToTrackerTransformNode.GetID())
# ViewPointToMeasurement
viewPointToMeasurement = slicer.util.getNode('ViewPointToMeasurement')
if not viewPointToMeasurement:
viewPointToMeasurement=slicer.vtkMRMLLinearTransformNode()
viewPointToMeasurement.SetName("ViewPointToMeasurement")
m = vtk.vtkMatrix4x4()
# Large lens
# m.SetElement( 0, 0, -1 ) # Row 1
# m.SetElement( 0, 1, 0 )
# m.SetElement( 0, 2, 0 )
# m.SetElement( 0, 3, 53.00 )
# m.SetElement( 1, 0, 0 ) # Row 2
# m.SetElement( 1, 1, -1 )
# m.SetElement( 1, 2, 0 )
# m.SetElement( 1, 3, 88.00 )
# m.SetElement( 2, 0, 0 ) # Row 3
# m.SetElement( 2, 1, 0 )
# m.SetElement( 2, 2, 1 )
# m.SetElement( 2, 3, -106 )
# Small lens
m.SetElement( 0, 0, -1 ) # Row 1
m.SetElement( 0, 1, 0 )
m.SetElement( 0, 2, 0 )
m.SetElement( 0, 3, 53.00 )
m.SetElement( 1, 0, 0 ) # Row 2
m.SetElement( 1, 1, -1 )
m.SetElement( 1, 2, 0 )
m.SetElement( 1, 3, 88.00 )
m.SetElement( 2, 0, 0 ) # Row 3
m.SetElement( 2, 1, 0 )
m.SetElement( 2, 2, 1 )
m.SetElement( 2, 3, 54 )
viewPointToMeasurement.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(viewPointToMeasurement)
viewPointToMeasurement.SetAndObserveTransformNodeID(self.rigidBodyToTrackerTransformNode.GetID())
# ConoProbeModel
conoProbeModel = slicer.util.getNode('ConoProbeModel')
if not conoProbeModel:
moduleDirectoryPath = slicer.modules.conoprobeconnector.path.replace('ConoProbeConnector.py', '')
slicer.util.loadModel(qt.QDir.toNativeSeparators(moduleDirectoryPath + '../../Data/Models/ConoProbeModel.stl'))
conoProbeModel=slicer.util.getNode(pattern="ConoProbeModel")
conoProbeModel.SetName("ConoProbeModel")
conoProbeModel.GetDisplayNode().SetOpacity(0.7)
conoProbeModel.SetAndObserveTransformNodeID(conoProbeModelToMeasurement.GetID())
# Camera
camera = slicer.util.getNode('Camera')
if not camera:
camera=slicer.vtkMRMLCameraNode()
camera.SetName("Camera")
slicer.mrmlScene.AddNode(camera)
threeDView = slicer.util.getNode("view1")
camera.SetActiveTag(threeDView.GetID())
# Viewpoint
self.viewpointLogic.setCameraNode(camera)
self.viewpointLogic.setTransformNode(viewPointToMeasurement)
self.viewpointLogic.setModelPOVOnNode(conoProbeModel)
self.viewpointLogic.SetCameraXPosMm(53)
self.viewpointLogic.SetCameraYPosMm(72)
self.viewpointLogic.SetCameraZPosMm(119)
self.viewpointLogic.startViewpoint()
def setupScene(self): # applet specific
logging.debug("setupScene")
Guidelet.setupScene(self)
logging.debug("Create transforms")
self.cauteryTipToCautery = slicer.util.getNode("CauteryTipToCautery")
if not self.cauteryTipToCautery:
self.cauteryTipToCautery = slicer.vtkMRMLLinearTransformNode()
self.cauteryTipToCautery.SetName("CauteryTipToCautery")
m = self.readTransformFromSettings("CauteryTipToCautery")
if m:
self.cauteryTipToCautery.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(self.cauteryTipToCautery)
self.cauteryModelToCauteryTip = slicer.util.getNode("CauteryModelToCauteryTip")
if not self.cauteryModelToCauteryTip:
self.cauteryModelToCauteryTip = slicer.vtkMRMLLinearTransformNode()
self.cauteryModelToCauteryTip.SetName("CauteryModelToCauteryTip")
m = self.readTransformFromSettings("CauteryModelToCauteryTip")
if m:
self.cauteryModelToCauteryTip.SetMatrixTransformToParent(m)
self.cauteryModelToCauteryTip.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(self.cauteryModelToCauteryTip)
self.needleTipToNeedle = slicer.util.getNode("NeedleTipToNeedle")
if not self.needleTipToNeedle:
self.needleTipToNeedle = slicer.vtkMRMLLinearTransformNode()
self.needleTipToNeedle.SetName("NeedleTipToNeedle")
m = self.readTransformFromSettings("NeedleTipToNeedle")
if m:
self.needleTipToNeedle.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(self.needleTipToNeedle)
self.needleModelToNeedleTip = slicer.util.getNode("NeedleModelToNeedleTip")
if not self.needleModelToNeedleTip:
self.needleModelToNeedleTip = slicer.vtkMRMLLinearTransformNode()
self.needleModelToNeedleTip.SetName("NeedleModelToNeedleTip")
m = self.readTransformFromSettings("NeedleModelToNeedleTip")
if m:
self.needleModelToNeedleTip.SetMatrixTransformToParent(m)
self.needleModelToNeedleTip.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(self.needleModelToNeedleTip)
self.cauteryCameraToCautery = slicer.util.getNode("CauteryCameraToCautery")
if not self.cauteryCameraToCautery:
self.cauteryCameraToCautery = slicer.vtkMRMLLinearTransformNode()
self.cauteryCameraToCautery.SetName("CauteryCameraToCautery")
m = vtk.vtkMatrix4x4()
m.SetElement(0, 0, 0)
m.SetElement(0, 2, -1)
m.SetElement(1, 1, 0)
m.SetElement(1, 0, 1)
m.SetElement(2, 2, 0)
m.SetElement(2, 1, -1)
self.cauteryCameraToCautery.SetMatrixTransformToParent(m)
slicer.mrmlScene.AddNode(self.cauteryCameraToCautery)
self.CauteryToNeedle = slicer.util.getNode("CauteryToNeedle")
if not self.CauteryToNeedle:
self.CauteryToNeedle = slicer.vtkMRMLLinearTransformNode()
self.CauteryToNeedle.SetName("CauteryToNeedle")
slicer.mrmlScene.AddNode(self.CauteryToNeedle)
# Create transforms that will be updated through OpenIGTLink
self.cauteryToReference = slicer.util.getNode("CauteryToReference")
if not self.cauteryToReference:
self.cauteryToReference = slicer.vtkMRMLLinearTransformNode()
self.cauteryToReference.SetName("CauteryToReference")
slicer.mrmlScene.AddNode(self.cauteryToReference)
self.needleToReference = slicer.util.getNode("NeedleToReference")
if not self.needleToReference:
self.needleToReference = slicer.vtkMRMLLinearTransformNode()
self.needleToReference.SetName("NeedleToReference")
slicer.mrmlScene.AddNode(self.needleToReference)
# Cameras
logging.debug("Create cameras")
self.LeftCamera = slicer.util.getNode("Left Camera")
if not self.LeftCamera:
self.LeftCamera = slicer.vtkMRMLCameraNode()
self.LeftCamera.SetName("Left Camera")
slicer.mrmlScene.AddNode(self.LeftCamera)
self.RightCamera = slicer.util.getNode("Right Camera")
if not self.RightCamera:
self.RightCamera = slicer.vtkMRMLCameraNode()
self.RightCamera.SetName("Right Camera")
slicer.mrmlScene.AddNode(self.RightCamera)
# Models
logging.debug("Create models")
self.cauteryModel_CauteryTip = slicer.util.getNode("CauteryModel")
if not self.cauteryModel_CauteryTip:
if self.parameterNode.GetParameter("TestMode") == "True":
moduleDirectoryPath = slicer.modules.lumpnav.path.replace("LumpNav.py", "")
slicer.util.loadModel(
qt.QDir.toNativeSeparators(moduleDirectoryPath + "../../../models/temporary/cautery.stl")
)
self.cauteryModel_CauteryTip = slicer.util.getNode(pattern="cautery")
else:
slicer.modules.createmodels.logic().CreateNeedle(100, 1.0, 2.5, 0)
self.cauteryModel_CauteryTip = slicer.util.getNode(pattern="NeedleModel")
self.cauteryModel_CauteryTip.GetDisplayNode().SetColor(1.0, 1.0, 0)
self.cauteryModel_CauteryTip.SetName("CauteryModel")
self.needleModel_NeedleTip = slicer.util.getNode("NeedleModel")
if not self.needleModel_NeedleTip:
slicer.modules.createmodels.logic().CreateNeedle(80, 1.0, 2.5, 0)
self.needleModel_NeedleTip = slicer.util.getNode(pattern="NeedleModel")
self.needleModel_NeedleTip.GetDisplayNode().SetColor(0.333333, 1.0, 1.0)
self.needleModel_NeedleTip.SetName("NeedleModel")
self.needleModel_NeedleTip.GetDisplayNode().SliceIntersectionVisibilityOn()
# Create surface from point set
logging.debug("Create surface from point set")
self.tumorModel_Needle = slicer.util.getNode("TumorModel")
if not self.tumorModel_Needle:
self.tumorModel_Needle = slicer.vtkMRMLModelNode()
self.tumorModel_Needle.SetName("TumorModel")
sphereSource = vtk.vtkSphereSource()
sphereSource.SetRadius(0.001)
self.tumorModel_Needle.SetPolyDataConnection(sphereSource.GetOutputPort())
slicer.mrmlScene.AddNode(self.tumorModel_Needle)
# Add display node
modelDisplayNode = slicer.vtkMRMLModelDisplayNode()
modelDisplayNode.SetColor(0, 1, 0) # Green
modelDisplayNode.BackfaceCullingOff()
modelDisplayNode.SliceIntersectionVisibilityOn()
modelDisplayNode.SetSliceIntersectionThickness(4)
modelDisplayNode.SetOpacity(0.3) # Between 0-1, 1 being opaque
slicer.mrmlScene.AddNode(modelDisplayNode)
self.tumorModel_Needle.SetAndObserveDisplayNodeID(modelDisplayNode.GetID())
tumorMarkups_Needle = slicer.util.getNode("T")
if not tumorMarkups_Needle:
tumorMarkups_Needle = slicer.vtkMRMLMarkupsFiducialNode()
tumorMarkups_Needle.SetName("T")
slicer.mrmlScene.AddNode(tumorMarkups_Needle)
tumorMarkups_Needle.CreateDefaultDisplayNodes()
tumorMarkups_Needle.GetDisplayNode().SetTextScale(0)
self.setAndObserveTumorMarkupsNode(tumorMarkups_Needle)
# Set up breach warning node
logging.debug("Set up breach warning")
self.breachWarningNode = slicer.util.getNode("LumpNavBreachWarning")
if not self.breachWarningNode:
self.breachWarningNode = slicer.mrmlScene.CreateNodeByClass("vtkMRMLBreachWarningNode")
self.breachWarningNode.SetName("LumpNavBreachWarning")
slicer.mrmlScene.AddNode(self.breachWarningNode)
self.breachWarningNode.SetPlayWarningSound(True)
self.breachWarningNode.SetWarningColor(1, 0, 0)
self.breachWarningNode.SetOriginalColor(self.tumorModel_Needle.GetDisplayNode().GetColor())
self.breachWarningNode.SetAndObserveToolTransformNodeId(self.cauteryTipToCautery.GetID())
self.breachWarningNode.SetAndObserveWatchedModelNodeID(self.tumorModel_Needle.GetID())
# Set up breach warning light
import BreachWarningLight
logging.debug("Set up breach warning light")
self.breachWarningLightLogic = BreachWarningLight.BreachWarningLightLogic()
self.breachWarningLightLogic.setMarginSizeMm(
float(self.parameterNode.GetParameter("BreachWarningLightMarginSizeMm"))
)
if self.parameterNode.GetParameter("EnableBreachWarningLight") == "True":
logging.debug("BreachWarningLight: active")
self.breachWarningLightLogic.startLightFeedback(self.breachWarningNode, self.connectorNode)
else:
logging.debug("BreachWarningLight: shutdown")
self.breachWarningLightLogic.shutdownLight(self.connectorNode)
# Build transform tree
logging.debug("Set up transform tree")
self.cauteryToReference.SetAndObserveTransformNodeID(self.ReferenceToRas.GetID())
self.cauteryCameraToCautery.SetAndObserveTransformNodeID(self.cauteryToReference.GetID())
self.cauteryTipToCautery.SetAndObserveTransformNodeID(self.cauteryToReference.GetID())
self.cauteryModelToCauteryTip.SetAndObserveTransformNodeID(self.cauteryTipToCautery.GetID())
self.needleToReference.SetAndObserveTransformNodeID(self.ReferenceToRas.GetID())
self.needleTipToNeedle.SetAndObserveTransformNodeID(self.needleToReference.GetID())
self.needleModelToNeedleTip.SetAndObserveTransformNodeID(self.needleTipToNeedle.GetID())
self.cauteryModel_CauteryTip.SetAndObserveTransformNodeID(self.cauteryModelToCauteryTip.GetID())
self.needleModel_NeedleTip.SetAndObserveTransformNodeID(self.needleModelToNeedleTip.GetID())
self.tumorModel_Needle.SetAndObserveTransformNodeID(self.needleToReference.GetID())
self.tumorMarkups_Needle.SetAndObserveTransformNodeID(self.needleToReference.GetID())
# self.liveUltrasoundNode_Reference.SetAndObserveTransformNodeID(self.ReferenceToRas.GetID())
# Hide slice view annotations (patient name, scale, color bar, etc.) as they
# decrease reslicing performance by 20%-100%
logging.debug("Hide slice view annotations")
import DataProbe
dataProbeUtil = DataProbe.DataProbeLib.DataProbeUtil()
dataProbeParameterNode = dataProbeUtil.getParameterNode()
dataProbeParameterNode.SetParameter("showSliceViewAnnotations", "0")