vtkPlusTrackedFrameProcessor.cxx

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/*=Plus=header=begin======================================================
Program: Plus
Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
See License.txt for details.
=========================================================Plus=header=end*/

#include "PlusConfigure.h"
#include "PlusMath.h"
#include "vtkPlusTrackedFrameProcessor.h"
#include "vtkIGSIOTrackedFrameList.h"
#include "vtkIGSIOTransformRepository.h"
#include "igsioCommon.h"

//----------------------------------------------------------------------------
vtkCxxSetObjectMacro( vtkPlusTrackedFrameProcessor, InputFrames, vtkIGSIOTrackedFrameList );
vtkCxxSetObjectMacro( vtkPlusTrackedFrameProcessor, TransformRepository, vtkIGSIOTransformRepository );
//----------------------------------------------------------------------------

//----------------------------------------------------------------------------
vtkPlusTrackedFrameProcessor::vtkPlusTrackedFrameProcessor()
{
  this->InputFrames = NULL;
  this->TransformRepository = NULL;
  this->OutputFrames = vtkIGSIOTrackedFrameList::New();
}

//----------------------------------------------------------------------------
vtkPlusTrackedFrameProcessor::~vtkPlusTrackedFrameProcessor()
{
  SetInputFrames( NULL );
  SetTransformRepository( NULL );
  this->OutputFrames->Delete();
  this->OutputFrames = NULL;
}

//----------------------------------------------------------------------------
void vtkPlusTrackedFrameProcessor::PrintSelf( ostream& os, vtkIndent indent )
{
  this->Superclass::PrintSelf( os, indent );
}

//-----------------------------------------------------------------------------
PlusStatus vtkPlusTrackedFrameProcessor::ReadConfiguration( vtkXMLDataElement* processingElement )
{
  XML_VERIFY_ELEMENT( processingElement, this->GetTagName() );
  return PLUS_SUCCESS;
}

//-----------------------------------------------------------------------------
PlusStatus vtkPlusTrackedFrameProcessor::WriteConfiguration( vtkXMLDataElement* processingElement )
{
  XML_VERIFY_ELEMENT( processingElement, this->GetTagName() );
  processingElement->SetAttribute( "Type", this->GetProcessorTypeName() );
  return PLUS_SUCCESS;
}

//-----------------------------------------------------------------------------
PlusStatus vtkPlusTrackedFrameProcessor::Update()
{
  this->OutputFrames->Clear();
  if ( this->InputFrames == NULL || this->InputFrames->GetNumberOfTrackedFrames() == 0 )
  {
    // nothing to do
    return PLUS_SUCCESS;
  }
  PlusStatus status = PLUS_SUCCESS;
  for ( unsigned int frameIndex = 0; frameIndex < this->InputFrames->GetNumberOfTrackedFrames(); frameIndex++ )
  {
    igsioTrackedFrame* inputFrame = this->InputFrames->GetTrackedFrame( frameIndex );

    // Update the transform repository with the tracking information in the frame.
    // After this we can query any transform from the repository.
    if ( this->TransformRepository && this->TransformRepository->SetTransforms( *inputFrame ) != PLUS_SUCCESS )
    {
      LOG_ERROR( "Failed to set repository transforms from tracked frame!" );
      status = PLUS_FAIL;
      continue;
    }
 
    // Create a clone of the input frame in the output buffer
    // TODO: not very efficient that we copy the image data as well, we could just instantiate an empty output frame
    this->OutputFrames->AddTrackedFrame( inputFrame );
    igsioTrackedFrame* outputFrame = this->OutputFrames->GetTrackedFrame( this->OutputFrames->GetNumberOfTrackedFrames() - 1 ); // the last frame that just has been added

    // Do the actual processing
    if ( this->ProcessFrame( inputFrame, outputFrame ) != PLUS_SUCCESS )
    {
      status = PLUS_FAIL;
    }
  }

  return status;
}