def UpdateFiducialRegistrationError(self, tracker):
tracker_fiducials, tracker_fiducials_raw = tracker.GetTrackerFiducials(
)
self.all_fiducials = np.vstack(
[self.image_fiducials, tracker_fiducials])
self.fre = db.calculate_fre(tracker_fiducials_raw, self.all_fiducials,
self.ref_mode_id, self.m_change)
def OnNavigate(self, evt, btn):
btn_nav = btn[0]
choice_trck = btn[1]
choice_ref = btn[2]
txtctrl_fre = btn[3]
nav_id = btn_nav.GetValue()
if nav_id:
if np.isnan(self.fiducials).any():
dlg.InvalidFiducials()
btn_nav.SetValue(False)
else:
tooltip = wx.ToolTip(_("Stop neuronavigation"))
btn_nav.SetToolTip(tooltip)
# Disable all navigation buttons
choice_ref.Enable(False)
choice_trck.Enable(False)
for btn_c in self.btns_coord:
btn_c.Enable(False)
m, q1, minv = db.base_creation(self.fiducials[0:3, :])
n, q2, ninv = db.base_creation(self.fiducials[3::, :])
tracker_mode = self.trk_init, self.tracker_id, self.ref_mode_id
# FIXME: FRE is taking long to calculate so it updates on GUI delayed to navigation - I think its fixed
# TODO: Exhibit FRE in a warning dialog and only starts navigation after user clicks ok
fre = db.calculate_fre(self.fiducials, minv, n, q1, q2)
txtctrl_fre.SetValue(str(round(fre, 2)))
if fre <= 3:
txtctrl_fre.SetBackgroundColour('GREEN')
else:
txtctrl_fre.SetBackgroundColour('RED')
if self.trigger_state:
self.trigger = trig.Trigger(nav_id)
self.correg = dcr.Coregistration((minv, n, q1, q2), nav_id,
tracker_mode)
else:
tooltip = wx.ToolTip(_("Start neuronavigation"))
btn_nav.SetToolTip(tooltip)
# Enable all navigation buttons
choice_ref.Enable(True)
choice_trck.Enable(True)
for btn_c in self.btns_coord:
btn_c.Enable(True)
if self.trigger_state:
self.trigger.stop()
self.correg.stop()
def StartICP(self, navigation, tracker):
ref_mode_id = navigation.GetReferenceMode()
if not self.use_icp:
if dlg.ICPcorregistration(navigation.fre):
use_icp, self.m_icp = self.OnICP(navigation, tracker, navigation.m_change)
if use_icp:
self.icp_fre = db.calculate_fre(tracker.tracker_fiducials_raw, navigation.all_fiducials,
ref_mode_id, navigation.m_change, self.m_icp)
self.SetICP(navigation, use_icp)
else:
print("ICP canceled")