def connectToMotive(self, host, port):
# QLineEdit has input validation methods that can be implemented here for more robustness
try:
connectorNode = slicer.vtkMRMLIGTLConnectorNode()
connectorNode.SetTypeClient(host, int(port))
slicer.mrmlScene.AddNode(connectorNode)
connectorNode.Start()
except:
slicer.util.errorDisplay("Unexpected hostname or port number")
self.connection = slicer.mrmlScene.GetNodeByID(
'vtkMRMLIGTLConnectorNode1')
status = self.connection.GetState()
if status == 0:
slicer.util.errorDisplay(
"Connection to Motive Optical Tracker is off.")
elif status == 1:
slicer.util.errorDisplay("run the PlusServer.")
elif status == 2:
print("Successfully connected to Motive Optical Tracker")
else:
slicer.util.errorDisplay(
"unexpected error connecting to Motive Optical Tracker")
def onConnectButtonClicked(self):
if self.connectorNode is not None:
self.connectorNode = None
else:
self.connectorNode = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(self.connectorNode)
self.connectorNode.SetTypeClient('localhost', 18944)
self.connectorNode.Start()
self.connectCheck = 0
def onConnectButtonClicked(self):
if self.connectorNode is None:
if self.connectCheck == 1:
if self.imageNode or self.imageNode2 or self.transformNode is None:
if self.imageNode is None:
print('Please select an US volume')
if self.transformNode is None:
print('Please select the tip to probe transform')
if self.imageNode2 is None:
print('Please select the right volume')
if self.imageNode and self.imageNode2 and self.transformNode is not None:
if self.fiducialNode is not None:
self.fiducialNode.RemoveAllMarkups()
self.numFid = self.numFid +1
self.numFidLabel.setText(str(self.numFid))
slicer.modules.markups.logic().StartPlaceMode(0)
self.redWidget.setCursor(qt.QCursor(2))
self.yellowWidget.setCursor(qt.QCursor(2))
else:
self.connectorNode = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(self.connectorNode)
self.connectorNode.SetTypeClient('localhost', 18944)
self.connectorNode2 = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(self.connectorNode2)
self.connectorNode2.SetTypeClient('localhost',18945)
self.connectorNode.Start()
self.connectorNode2.Start()
else:
if self.connectorNode.GetState() == 2:
self.connectorNode.Stop()
self.connectorNode2.Stop()
self.connectButton.text = "Connect"
self.freezeButton.text = "Unfreeze"
self.numFid = self.numFid + 1
self.numFidLabel.setText(str(self.numFid))
slicer.modules.markups.logic().StartPlaceMode(0)
self.redWidget.setCursor(qt.QCursor(2))
self.yellowWidget.setCursor(qt.QCursor(2))
else:
self.connectorNode.Start()
self.connectButton.text = "Disconnect"
self.freezeButton.text = "Freeze"
if self.fiducialNode is not None:
self.fiducialNode.RemoveAllMarkups()
def createWebcamPlusConnector(self):
try:
webcamConnectorNode = slicer.util.getNode('WebcamPlusConnector')
except slicer.util.MRMLNodeNotFoundException:
webcamConnectorNode = slicer.vtkMRMLIGTLConnectorNode()
webcamConnectorNode.SetName('WebcamPlusConnector')
slicer.mrmlScene.AddNode(webcamConnectorNode)
hostNamePort = "localhost:18944"
[hostName, port] = hostNamePort.split(':')
webcamConnectorNode.SetTypeClient(hostName, int(port))
logging.debug('Webcam PlusConnector Created')
return webcamConnectorNode
def make_igtl_node(ip, port, name):
""" Creates an IGT_link node in Slicer that can be used to communicate with e.g. ROS
INPUT: ip [str] - IP address, (accepts 'localhost')
port [int] - Port number
name [str] - Connector name
OUPUT: igtl_connector [vtkMRMLIGTLConnectorNode] """
igtl_connector = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(igtl_connector)
igtl_connector.SetName(name)
igtl_connector.SetTypeClient(ip, port)
igtl_connector.Start()
return igtl_connector
def onConnectButtonClicked(self):
# Creates a connector Node
if self.connectorNode is None:
if self.connectCheck == 1:
if self.imageNode or self.transformNode is None:
if self.imageNode is None:
print('Please select an US volume')
if self.trandformNode is None:
print('Please select the tip to probe transform')
if self.imageNode is not None and self.transformNode is not None:
if self.fiducialNode is not None:
self.fiducialNode.RemoveAllMarkups()
self.numFid = self.numFid+1
self.numFidLabel.setText(str(self.numFid))
self.manualOutputRegistrationTransformNode = slicer.vtkMRMLLinearTransformNode()
slicer.mrmlScene.AddNode(self.manualOutputRegistrationTransformNode)
self.manualOutputRegistrationTransformNode.SetName('ImageToProbeMan')
slicer.modules.markups.logic().StartPlaceMode(0)
slicer.app.layoutManager().sliceWidget('Red').setCursor(qt.QCursor(2))
else:
self.connectorNode = slicer.vtkMRMLIGTLConnectorNode()
# Adds this node to the scene, not there is no need for self here as it is its own node
slicer.mrmlScene.AddNode(self.connectorNode)
# Configures the connector
self.connectorNode.SetTypeClient(self.inputIPLineEdit.text, int(self.inputPortLineEdit.text))
self.connectorNode.Start()
else:
if self.connectorNode.GetState() == 2:
# Connected
self.connectorNode.Stop()
self.connectButton.text = "Connect"
self.freezeButton.text = "Unfreeze"
if self.imageSelector.currentNode() or self.TransformSelector.currentNode() is None:
if self.imageNode is None:
print('Please select an US volume')
if self.transformNode is None:
print('Please select the tip to probe transform')
if self.imageNode is not None and self.transformNode is not None:
self.numFid = self.numFid + 1
self.numFidLabel.setText(str(self.numFid))
self.manualOutputRegistrationTransformNode = slicer.vtkMRMLLinearTransformNode()
slicer.mrmlScene.AddNode(self.manualOutputRegistrationTransformNode)
self.manualOutputRegistrationTransformNode.SetName('ImageToProbeMan')
slicer.modules.markups.logic().StartPlaceMode(0)
slicer.app.layoutManager().sliceWidget('Red').setCursor(qt.QCursor(2))
else:
# This starts the connection
self.connectorNode.Start()
self.connectButton.text = "Disconnect"
self.freezeButton.text = "Freeze"
if self.fiducialNode is not None:
self.fiducialNode.RemoveAllMarkups()
def createWebcamPlusConnector(self):
webcamConnectorNode = slicer.util.getNode('WebcamPlusConnector')
if not webcamConnectorNode:
webcamConnectorNode = slicer.vtkMRMLIGTLConnectorNode()
webcamConnectorNode.SetLogErrorIfServerConnectionFailed(False)
webcamConnectorNode.SetName('WebcamPlusConnector')
slicer.mrmlScene.AddNode(webcamConnectorNode)
# hostNamePort = self.parameterNode.GetParameter('PlusWebcamServerHostNamePort')
hostNamePort = "localhost:18944"
[hostName, port] = hostNamePort.split(':')
webcamConnectorNode.SetTypeClient(hostName, int(port))
logging.debug('Webcam PlusConnector Created')
return webcamConnectorNode
def setupOpenIGTLinkConnectors(self, rgbPort, depthPort):
try:
self.rgbConnectorNode = slicer.util.getNode('RGBConnector')
self.rgbConnectorNode.SetTypeClient('localhost', int(rgbPort))
except slicer.util.MRMLNodeNotFoundException:
self.rgbConnectorNode = slicer.vtkMRMLIGTLConnectorNode()
self.rgbConnectorNode.SetName('RGBConnector')
slicer.mrmlScene.AddNode(self.rgbConnectorNode)
self.rgbConnectorNode.SetTypeClient('localhost', int(rgbPort))
logging.debug('RGB Connector Created')
self.rgbConnectorNode.Start()
try:
self.depthConnectorNode = slicer.util.getNode('DepthConnector')
self.depthConnectorNode.SetTypeClient('localhost', int(depthPort))
except slicer.util.MRMLNodeNotFoundException:
self.depthConnectorNode = slicer.vtkMRMLIGTLConnectorNode()
self.depthConnectorNode.SetName('DepthConnector')
slicer.mrmlScene.AddNode(self.depthConnectorNode)
self.depthConnectorNode.SetTypeClient('localhost', int(depthPort))
logging.debug('Depth Connector Created')
self.depthConnectorNode.Start()
def setupIGTLinkConnectors(self, incomingHostname, incomingPort,
outgoingPort):
try:
self.outgoingConnectorNode = slicer.util.getNode(
'OutgoingPlusConnector')
self.outgoingConnectorNode.SetTypeServer(int(outgoingPort))
except slicer.util.MRMLNodeNotFoundException:
self.outgoingConnectorNode = slicer.vtkMRMLIGTLConnectorNode()
self.outgoingConnectorNode.SetName('OutgoingPlusConnector')
slicer.mrmlScene.AddNode(self.outgoingConnectorNode)
self.outgoingConnectorNode.SetTypeServer(int(outgoingPort))
logging.debug('Outgoing Connector Created')
try:
self.incomingConnectorNode = slicer.util.getNode(
'IncomingPlusConnector')
self.incomingConnectorNode.SetTypeClient(incomingHostname,
int(incomingPort))
except slicer.util.MRMLNodeNotFoundException:
self.incomingConnectorNode = slicer.vtkMRMLIGTLConnectorNode()
self.incomingConnectorNode.SetName('IncomingPlusConnector')
slicer.mrmlScene.AddNode(self.incomingConnectorNode)
self.incomingConnectorNode.SetTypeClient(incomingHostname,
int(incomingPort))
logging.debug('Incoming Connector Created')
def createLabelConnector(self):
try:
labelConnectorNode = slicer.util.getNode('LabelClassifierPlusConnector')
except slicer.util.MRMLNodeNotFoundException:
# if not webcamConnectorNode:
labelConnectorNode = slicer.vtkMRMLIGTLConnectorNode()
# webcamConnectorNode.SetLogErrorIfServerConnectionFailed(False)
labelConnectorNode.SetName('LabelClassifierPlusConnector')
slicer.mrmlScene.AddNode(labelConnectorNode)
# hostNamePort = self.parameterNode.GetParameter('PlusWebcamServerHostNamePort')
hostNamePort = "localhost:18947"
[hostName, port] = hostNamePort.split(':')
labelConnectorNode.SetTypeClient(hostName, int(port))
logging.debug('Label Classifier Connector Created')
return labelConnectorNode
def onConnectButtonClicked(self):
if self.connectorNode is None:
self.connectorNode = slicer.vtkMRMLIGTLConnectorNode()
# Adds new MRML node, note there is no need for self here as it is its own node
slicer.mrmlScene.AddNode(self.connectorNode)
# Configures the connector
self.connectorNode.SetTypeClient(self.inputIPLineEdit.text, int(self.inputPortLineEdit.text))
if self.connectorNode.GetState() == slicer.vtkMRMLIGTLConnectorNode.STATE_CONNECTED:
# Connected
self.connectorNode.Stop()
self.connectButton.text = "Connect"
self.freezeButton.text = "Unfreeze"
else:
# This starts the connection
self.connectorNode.Start()
self.connectButton.text = "Disconnect"
self.freezeButton.text = "Freeze"
def onConnectButtonClicked(self):
#creates a connector Node
if self.connectorNode is None:
self.connectorNode = slicer.vtkMRMLIGTLConnectorNode()
#Adds this node to the scene, not there is no need for self here as it is its own node
slicer.mrmlScene.AddNode(self.connectorNode)
# Configures the connector
self.connectorNode.SetTypeClient(self.inputIPLineEdit.text,
int(self.inputPortLineEdit.text))
if self.imageSelector.currentNode() is not None:
slicer.app.layoutManager().sliceWidget('Red').sliceLogic(
).GetSliceCompositeNode().SetBackgroundVolumeID(
self.imageSelector.currentNode().GetID())
# Configure volume reslice driver, transverse
self.resliceLogic.SetDriverForSlice(
self.imageSelector.currentNode().GetID(),
slicer.mrmlScene.GetNodeByID('vtkMRMLSliceNodeRed'))
self.resliceLogic.SetModeForSlice(
self.resliceLogic.MODE_TRANSVERSE,
slicer.mrmlScene.GetNodeByID('vtkMRMLSliceNodeRed'))
slicer.app.layoutManager().sliceWidget(
"Red").sliceController().fitSliceToBackground()
if self.connectorNode.GetState() == 2:
# Connected, disconnect
self.connectorNode.Stop()
self.connectButton.text = "Connect"
# self.freezeButton.text = "Unfreeze"
slicer.modules.markups.logic().StartPlaceMode(0)
slicer.app.layoutManager().sliceWidget('Red').setCursor(
qt.QCursor(2))
else:
# This starts the connection
self.connectorNode.Start()
self.connectButton.text = "Disconnect"
self.freezeButton.text = "Freeze"
if self.fiducialNode is not None:
self.fiducialNode.RemoveAllMarkups()
def __init__(self, parent=None):
ScriptedLoadableModuleLogic.__init__(self, parent)
self.resliceLogic = slicer.modulelogic.vtkSlicerVolumeResliceDriverLogic(
)
# Find or create the 5DOFCalculatedTo6DOF transform
self.FiveCalculatedToSixTransform = slicer.util.getNode(
"FiveCalculatedToSixTransform")
if self.FiveCalculatedToSixTransform == None:
# Create the node
self.FiveCalculatedToSixTransform = slicer.vtkMRMLLinearTransformNode(
)
self.FiveCalculatedToSixTransform.SetName(
"FiveCalculatedToSixTransform")
self.FiveCalculatedToSixTransform.SetHideFromEditors(True)
slicer.mrmlScene.AddNode(self.FiveCalculatedToSixTransform)
self.base5DOFTo6DOFZOffset = 0.0
self.imageObserverTag = None
self.sixDOFObserverTag = None
self.iceVolumeNode = None
self.maskedICEVolumeNode = None
self.maskVolumeNode = None
self.sixDOFTransformNode = None
self.fiveDOFTransformNode = None
self.sixDOFModelTo6DOFTransformNode = None
self.fiveDOFModelTo5DOFCalculatedTransformNode = None
self.jawModelNode = None
self.noseModelNode = None
self.guidanceOn = False
self.imageToStencil = vtk.vtkImageToImageStencil()
self.imageToStencil.ThresholdByUpper(254)
self.imageStencil = vtk.vtkImageStencil()
self.imageStencil.SetStencilConnection(
self.imageToStencil.GetOutputPort())
self.imageStencil.SetBackgroundValue(0)
self.teeConnectorNode = slicer.util.getNode(self.moduleName +
'TEEServerConnector')
if self.teeConnectorNode == None:
self.teeConnectorNode = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(self.teeConnectorNode)
self.teeConnectorNode.SetName(self.moduleName +
'TEEServerConnector')
self.teeConnectorNode.SetTypeClient("localhost", 18945)
self.teeConnectorNode.Start()
self.iceConnectorNode = slicer.util.getNode(self.moduleName +
'ICEServerConnector')
if self.iceConnectorNode == None:
self.iceConnectorNode = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(self.iceConnectorNode)
self.iceConnectorNode.SetName(self.moduleName +
'ICEServerConnector')
self.iceConnectorNode.SetTypeClient("localhost", 18944)
self.iceConnectorNode.Start()
slicer.mrmlScene.AddNode(camera_transform)
# Get Right camera handle
camera_right = slicer.modules.cameras.logic().GetViewActiveCameraNode(
view_node_right)
# camera_right.GetCamera().Azimuth(1.5)
camera_right.SetName('CameraRight')
camera_right.SetAndObserveTransformNodeID(
camera_transform.GetID()) # Assign Transform for the Camera
camera_right.GetCamera().SetPosition((43, 498, 0))
camera_right.GetCamera().SetRoll(-90)
# Get Left camera handle
camera_left = slicer.modules.cameras.logic().GetViewActiveCameraNode(
view_node_left)
# camera_left.GetCamera().Azimuth(-1.5)
camera_left.SetName('CameraLeft')
camera_left.SetAndObserveTransformNodeID(
camera_transform.GetID()) # Assign Transform for the Camera
camera_left.GetCamera().SetPosition((-43, 498, 0))
camera_left.GetCamera().SetRoll(90)
print 'Creating OpenIGTLinkIF connector'
igtl_connector = slicer.vtkMRMLIGTLConnectorNode()
slicer.mrmlScene.AddNode(igtl_connector)
igtl_connector.SetName('DVRK_IGTL_CONNECTOR')
igtl_connector.SetTypeClient('localhost', 11344)
igtl_connector.Start()
igtl_connector.RegisterOutgoingMRMLNode(camera_transform)
