def onSendButtonClicked(self):
"""Send the data to the Extral Devices which support the OpenIGTLink protocal"""
# Get the number of the 'vtkMRMLIGTLConnectorNode'
n = slicer.mrmlScene.GetNumberOfNodesByClass('vtkMRMLIGTLConnectorNode')
# Set the 'vtkMRMLIGTLConnectorNode' node
if n > 0:
for i in range(n):
if slicer.mrmlScene.GetNthNodeByClass(i, 'vtkMRMLIGTLConnectorNode').GetName() == 'Send-Data':
connectorNode = slicer.mrmlScene.GetNthNodeByClass(i, 'vtkMRMLIGTLConnectorNode')
else:
connectorNode = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(connectorNode)
connectorNode.SetName('Send-Data')
else:
connectorNode = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(connectorNode)
connectorNode.SetName('Send-Data')
hostname = self.hostnameLineEdit.text
port = int(self.portLineEdit.text)
connectorNode.SetTypeClient(hostname, port)
checker = connectorNode.Start()
#Get the number of the 'vtkMRMLLinearTransformNode'
n = slicer.mrmlScene.GetNumberOfNodesByClass('vtkMRMLLinearTransformNode')
#Set the 'vtkMRMLLinearTransformNode' node
nodes = []
for i in range(n):
nodes.append(slicer.mrmlScene.GetNthNodeByClass(i, 'vtkMRMLLinearTransformNode'))
for i in range(n):
if nodes[i].GetName() == 'Result-Data':
slicer.mrmlScene.RemoveNode(nodes[i])
transformNode = slicer.vtkMRMLLinearTransformNode()
slicer.mrmlScene.AddNode(transformNode)
transformNode.SetName('Result-Data')
connectorNode.RegisterOutgoingMRMLNode(transformNode)
matrix = transformNode.GetMatrixTransformToParent()
theta = self.result.angleRed
omega = self.result.angleGreen
phi = self.result.angleBlue
e1 = numpy.cos(phi)*numpy.cos(omega)
e2 = numpy.sin(phi)*numpy.cos(theta) + numpy.cos(phi)*numpy.sin(omega)*numpy.sin(theta)
e3 = numpy.sin(phi)*numpy.sin(theta) - numpy.cos(phi)*numpy.sin(omega)*numpy.cos(theta)
e4 = self.result.distance
e5 = numpy.sin(phi)*numpy.cos(omega)*(-1)
e6 = numpy.cos(phi)*numpy.cos(theta) - numpy.sin(phi)*numpy.sin(omega)*numpy.sin(theta)
e7 = numpy.cos(phi)*numpy.sin(theta) + numpy.sin(phi)*numpy.sin(omega)*numpy.cos(theta)
e8 = 0
e9 = numpy.sin(omega)
e10 = numpy.cos(omega)*numpy.sin(theta)*(-1)
e11 = numpy.cos(omega)*numpy.cos(theta)
e12 = 0
time.sleep(1)
matrix.DeepCopy((e1,e2,e3,e4,e5,e6,e7,e8,e9,e10,e11,e12,0,0,0,1))
time.sleep(1)
connectorNode.Stop()
def onButtonConnectClicked(self):
if self.connectTag: # check already has a connect node
print "Olalalalala!!!"
else: # first time to create the connect node
self.connectNode = slicer.vtkMRMLIGTLConnectorNode()
self.connectNode.SetName('testConnectNode')
slicer.mrmlScene.AddNode(self.connectNode)
lenHost = len(self.lineEditHostname.text)
lenPort = len(self.lineEditPort.text)
# check the input
if lenHost == 0 or lenPort == 0:
qt.QMessageBox.information(
slicer.util.mainWindow(),
"Slicer Python", "Hostname/Port invalid!")
else:
self.strHostname = str(self.lineEditHostname.text)
self.intPort = int(self.lineEditPort.text)
self.connectNode.SetTypeClient(self.strHostname, self.intPort)
self.connectNode.Start() # connect
self.activeEvent() # active the monitor
self.buttonDisconnect.setEnabled(True)
self.connectTag = True
def setOpenIGTConnections(self):
self.cnode_1 = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(self.cnode_1)
self.cnode_1.SetName('Connector1')
self.cnode_1.SetTypeClient('localhost', 18944)
self.cnode_2 = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(self.cnode_2)
self.cnode_2.SetName('Connector2')
self.cnode_2.SetTypeClient('localhost', 18945)
events = [[slicer.vtkMRMLIGTLConnectorNode.ConnectedEvent, self.onConnectorNodeConnected], [slicer.vtkMRMLIGTLConnectorNode.DisconnectedEvent, self.onConnectorNodeDisconnected]]
for tagEventHandler in events:
connectorNodeObserverTag_2 = self.cnode_2.AddObserver(tagEventHandler[0], tagEventHandler[1])
connectorNodeObserverTag_1 = self.cnode_1.AddObserver(tagEventHandler[0], tagEventHandler[1])
self.connectorNodeObserverTagList.append(connectorNodeObserverTag_1)
self.connectorNodeObserverTagList.append(connectorNodeObserverTag_2)
def createAndAssociateConectorNodeWithScene(self):
cn=slicer.util.getNode('Plus Server Connection')
if cn == None:
cn=slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(cn)
cn.SetName('Plus Server Connection')
print("IGTL Connector node was created!")
self.connectorNode = cn
def createAndAssociateConectorNodeWithScene(self):
cn = slicer.util.getNode('Plus Server Connection')
if cn == None:
cn = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(cn)
cn.SetName('Plus Server Connection')
print("IGTL Connector node was created!")
self.connectorNode = cn
def setupConnectorNode(self):
self.connectorNode = slicer.util.getNode('PlusConnector')
if not self.connectorNode:
self.connectorNode = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(self.connectorNode)
self.connectorNode.SetName('PlusConnector')
hostNamePort = self.parameterNode.GetParameter('PlusServerHostNamePort') # example: "localhost:18944"
[hostName, port] = hostNamePort.split(':')
self.connectorNode.SetTypeClient(hostName, int(port))
logging.debug("PlusConnector created")
self.connectorNode.Start()
def createPlusConnector(self):
connectorNode = slicer.util.getNode('PlusConnector')
if not connectorNode:
connectorNode = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(connectorNode)
connectorNode.SetName('PlusConnector')
hostNamePort = "localhost:18944"
[hostName, port] = hostNamePort.split(':')
connectorNode.SetTypeClient(hostName, int(port))
logging.debug("PlusConnector created")
return connectorNode
def createPlusConnector(self):
connectorNode = slicer.util.getNode('PlusConnector')
if not connectorNode:
connectorNode = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(connectorNode)
connectorNode.SetName('PlusConnector')
hostNamePort = self.guideletParent.parameterNode.GetParameter('PlusServerHostNamePort') # example: "localhost:18944"
[hostName, port] = hostNamePort.split(':')
connectorNode.SetTypeClient(hostName, int(port))
logging.debug("PlusConnector created")
return connectorNode
def createPlusConnector(self):
connectorNode = slicer.mrmlScene.GetFirstNodeByName('PlusConnector')
if not connectorNode:
connectorNode = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(connectorNode)
connectorNode.SetName('PlusConnector')
hostNamePort = self.guideletParent.parameterNode.GetParameter(
'PlusServerHostNamePort') # example: "localhost:18944"
[hostName, port] = hostNamePort.split(':')
connectorNode.SetTypeClient(hostName, int(port))
logging.debug("PlusConnector created")
return connectorNode
def createPlusConnector(self):
connectorNode = slicer.util.getNode("PlusConnector")
if not connectorNode:
connectorNode = slicer.vtkMRMLIGTLConnectorNode()
connectorNode.SetLogErrorIfServerConnectionFailed(False)
slicer.mrmlScene.AddNode(connectorNode)
connectorNode.SetName("PlusConnector")
hostNamePort = self.guideletParent.parameterNode.GetParameter(
"PlusServerHostNamePort"
) # example: "localhost:18944"
[hostName, port] = hostNamePort.split(":")
connectorNode.SetTypeClient(hostName, int(port))
logging.debug("PlusConnector created")
return connectorNode
def __init__(self, parent = None):
if not parent:
self.parent = slicer.qMRMLWidget()
self.parent.setLayout(qt.QVBoxLayout())
self.parent.setMRMLScene(slicer.mrmlScene)
else:
self.parent = parent
self.layout = self.parent.layout()
if not parent:
self.setup()
self.parent.show()
#initialize some variables and settings
self.connection_node = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(self.connection_node)
self.next_node = 0
def __init__(self, parent):
ScriptedLoadableModuleLogic.__init__(self, parent)
self.scene = slicer.mrmlScene
self.scene.AddObserver(slicer.vtkMRMLScene.NodeRemovedEvent, self.onNodeRemovedEvent)
self.colorList = ([0.5, 0, 0], [0, 0.5, 0], [0, 0, 0.5],[0.5, 0, 0.5],[0, 0.5, 0.5])
self.colorMap = dict()
self.SelectedRowNum = None
@vtk.calldata_type(vtk.VTK_OBJECT)
def updateLocator(caller, event, callerdata):
node = callerdata
if isinstance(node, slicer.vtkMRMLLinearTransformNode) :
firstSelector = self.widget.transformSelector[0]
tCollection = self.scene.GetNodesByClass("vtkMRMLLinearTransformNode")
channelNum = tCollection.GetReferenceCount()
setNum = self.widget.nLocators
if channelNum < setNum:
setNum = channelNum
for i in range(setNum+1):
selector = self.widget.transformSelector[i]
selector.setCurrentNodeIndex(i)
if self.scene.GetNodeByID(selector.currentNodeID):
self.colorMap[self.scene.GetNodeByID(selector.currentNodeID).GetName()] = self.colorList[i]
pass
self.scene.AddObserver(slicer.vtkMRMLScene.NodeAddedEvent, updateLocator)
self.widget = None
self.cnode = slicer.vtkMRMLIGTLConnectorNode()
self.metaDataQueryNode = vtkSlicerOpenIGTLinkIFModuleMRML.vtkMRMLIGTLQueryNode()
self.scene.AddNode(self.cnode)
self.scene.AddNode(self.metaDataQueryNode)
self.eventTag = {}
# IGTL Conenctor Node ID
self.connectorNodeID = ''
self.count = 0
# This module was tested on 3D Slicer version 4.3.1
# This module was tested on 3D Slicer version 4.3.1
def setupConnection(self):
self.connectNode = slicer.vtkMRMLIGTLConnectorNode()
self.connectNode.SetName('testConnect')
slicer.mrmlScene.AddNode(self.connectNode)
self.connectNode.SetTypeClient('localhost', 10000)
self.connectNode.Start() # connect
def __init__(self, parent, logic, configurationName='Default'):
self.slice3DChartCustomLayoutId = 5000 # Must come before Guidelet.__init__
Guidelet.__init__(self, parent, logic, configurationName)
logging.debug('EpiGuideGuidelet.__init__')
self.logic.addValuesToDefaultConfiguration()
# for debugging purposes only, to be removed
slicer.epi = self
self.navigationCollapsibleButton = None
self.imageData = None
self.imageDimensions = None
self.line = None
self.table = None
self.chart = None
self.view = None
self.signalArray = None
self.distanceArray = None
self.boundsRecalculated = False
self.fitUltrasoundImageToViewOnConnect = True
self.firstPeakToSETTipTransformNode = None
self.secondPeakToSETTipTransformNode = None
self.thirdPeakToSETTipTransformNode = None
self.firstPeakModelNode = None
self.secondPeakModelNode = None
self.thirdPeakModelNode = None
self.needleWithTipModel = None
self.trajectoryModel_needleModel = None
self.trajectoryModel_needleTip = None
self.referenceToRasTransform = None
self.needleTipToNeedleTransform = None
self.needleModelToNeedleTipTransform = None
self.trajModelToNeedleTipTransform = None
self.needleToReferenceTransform = None
self.setTipToReferenceTransformNode = None
self.aModeImageNode = None
self.timer = qt.QTimer()
self.agilentCommandLogic = PlusRemoteLogic()
self.agilentConnectorNode = slicer.mrmlScene.AddNode(
slicer.vtkMRMLIGTLConnectorNode())
self.agilentConnectorNode.SetLogErrorIfServerConnectionFailed(False)
hostNamePort = self.parameterNode.GetParameter(
'AgilentServerHostNamePort') # example: "localhost:18944"
[hostName, port] = hostNamePort.split(':')
self.agilentConnectorNode.SetTypeClient(hostName, int(port))
self.agilentConnectorNode.Start()
self.needleModelTipRadius = 0.0
# Set up main frame
self.sliceletDockWidget.setObjectName('EpiGuidePanel')
self.sliceletDockWidget.setWindowTitle('EpiGuideNav')
self.mainWindow.setWindowTitle('Epidural injection navigation')
self.navigationView = self.VIEW_TRIPLE_3D # should we change to VIEW_ULTRASOUND_3D_3DCHART ???
