Improved object and tracker fiducial registration UI

invesalius/constants.py

@@ -186,8 +186,10 @@
 #Colors for errors and positives
 RED_COLOR_FLOAT = (0.99, 0.55, 0.38)
 GREEN_COLOR_FLOAT = (0.40, 0.76, 0.65)
+YELLOW_COLOR_FLOAT = (1.0, 0.77, 0.0)
 RED_COLOR_RGB = (252, 141, 98)
 GREEN_COLOR_RGB = (102, 194, 165)
+YELLOW_COLOR_RGB = (255, 196, 0)
 
 # Volume view angle
 VOL_FRONT = wx.NewIdRef()
@@ -737,6 +739,7 @@
 DEFAULT_REF_MODE = DYNAMIC_REF
 REF_MODE = [_("Static ref."), _("Dynamic ref.")]
 FT_SENSOR_MODE = [_("Sensor 3"), _("Sensor 4")]
+TRACKERS_WITH_SENSOR_OPTIONS = [FASTRAK, ISOTRAKII, PATRIOT, DEBUGTRACKRANDOM, DEBUGTRACKAPPROACH]
 
 DEFAULT_COIL = SELECT
 COIL = [_("Select coil:"), _("Neurosoft Figure-8"),
@@ -751,6 +754,7 @@
 SET = wx.NewIdRef()
 
 FIDUCIAL_LABELS = ["Left Ear: ", "Right Ear: ", "Nose: "]
+FIDUCIAL_REGISTRATION_ORDER = [0, 2, 1]
 IMAGE_FIDUCIALS = [
  {
  'button_id': IR1,
@@ -808,6 +812,9 @@
 OBJA = wx.NewIdRef()
 OBJF = wx.NewIdRef()
 
+OBJECT_FIDUCIAL_ANTERIOR = 2
+OBJECT_FIDUCIAL_FIXED = 3
+
 OBJECT_FIDUCIALS = [
  {
  'fiducial_index': 0,
@@ -822,13 +829,13 @@
  'tip': _("Select right object fiducial"),
  },
  {
- 'fiducial_index': 2,
+ 'fiducial_index': OBJECT_FIDUCIAL_ANTERIOR,
  'button_id': OBJA,
  'label': _('Anterior'),
  'tip': _("Select anterior object fiducial"),
  },
  {
- 'fiducial_index': 3,
+ 'fiducial_index': OBJECT_FIDUCIAL_FIXED,
  'button_id': OBJF,
  'label': _('Fixed'),
  'tip': _("Attach sensor to object"),

invesalius/gui/dialogs.py

@@ -100,6 +100,7 @@
 import invesalius.data.polydata_utils as pu
 from invesalius.gui.widgets.inv_spinctrl import InvSpinCtrl, InvFloatSpinCtrl
 from invesalius.gui.widgets.clut_imagedata import CLUTImageDataWidget, EVT_CLUT_NODE_CHANGED
+from invesalius.gui.widgets.fiducial_buttons import OrderedFiducialButtons
 from invesalius.i18n import tr as _
 import numpy as np
 
@@ -3449,10 +3450,10 @@ def __init__(self, tracker, pedal_connector, neuronavigation_api):
  self.neuronavigation_api = neuronavigation_api
 
  self.tracker_id = tracker.GetTrackerId()
+ self.show_sensor_options: bool = self.tracker_id in const.TRACKERS_WITH_SENSOR_OPTIONS
  self.obj_ref_id = 2
  self.coil_path = None
  self.polydata = None
- self.object_fiducial_being_set = None
 
  self.obj_fiducials = np.full([4, 3], np.nan)
  self.obj_orients = np.full([4, 3], np.nan)
@@ -3461,13 +3462,9 @@ def __init__(self, tracker, pedal_connector, neuronavigation_api):
  style=wx.DEFAULT_DIALOG_STYLE | wx.FRAME_FLOAT_ON_PARENT|wx.STAY_ON_TOP)
 
  self._init_gui()
+ self._init_pedal()
  self.InitializeObject()
 
- self.__bind_events()
-
- def __bind_events(self):
- pass
-
  def _init_gui(self):
  self.interactor = wxVTKRenderWindowInteractor(self, -1, size=self.GetSize())
  self.interactor.Enable(1)
@@ -3500,48 +3497,59 @@ def _init_gui(self):
  choice_sensor.SetSelection(0)
  choice_sensor.SetToolTip(tooltip)
  choice_sensor.Bind(wx.EVT_COMBOBOX, self.OnChoiceFTSensor)
- if self.tracker_id in [const.FASTRAK, const.DEBUGTRACKRANDOM, const.DEBUGTRACKAPPROACH]:
+ self.choice_sensor = choice_sensor
+
+ # Show tracker reference mode and sensor selection for certain trackers only
+ if self.show_sensor_options:
+ choice_ref.Show(True)
  choice_sensor.Show(True)
  else:
+ choice_ref.Show(False)
  choice_sensor.Show(False)
- self.choice_sensor = choice_sensor
+
+ tooltip = _("Reset all fiducials")
+ btn_reset = wx.Button(self, -1, _("Reset"), size=wx.Size(90, 30))
+ btn_reset.SetToolTip(tooltip)
+ btn_reset.Bind(wx.EVT_BUTTON, self.OnReset)
 
  # Buttons to finish or cancel object registration
  tooltip = _(u"Registration done")
- # btn_ok = wx.Button(self, -1, _(u"Done"), size=wx.Size(90, 30))
  btn_ok = wx.Button(self, wx.ID_OK, _(u"Done"), size=wx.Size(90, 30))
  btn_ok.SetToolTip(tooltip)
 
- extra_sizer = wx.FlexGridSizer(rows=3, cols=1, hgap=5, vgap=30)
+ extra_sizer = wx.FlexGridSizer(cols=1, hgap=5, vgap=10)
  extra_sizer.AddMany([choice_ref,
+ btn_reset,
  btn_ok,
  choice_sensor])
 
- # Push buttons for object fiducials
- for object_fiducial in const.OBJECT_FIDUCIALS:
- index = object_fiducial['fiducial_index']
- label = object_fiducial['label']
- button_id = object_fiducial['button_id']
- tip = object_fiducial['tip']
+ # Buttons for object fiducials
+ self.buttons = OrderedFiducialButtons(self, const.OBJECT_FIDUCIALS, self.IsObjectFiducialSet)
 
- ctrl = wx.ToggleButton(self, button_id, label=label, size=wx.Size(60, 23))
- ctrl.SetToolTip(tip)
- ctrl.Bind(wx.EVT_TOGGLEBUTTON, partial(self.OnObjectFiducialButton, index, ctrl=ctrl))
+ for index, btn in enumerate(self.buttons):
+ btn.Bind(wx.EVT_BUTTON, partial(self.OnObjectFiducialButton, index))
 
-  self.btns_coord[index] = ctrl
+ self.buttons.FocusNext()
 
+ # Display fiducial coordinates
  for m in range(0, 4):
  for n in range(0, 3):
  self.txt_coord[m].append(wx.StaticText(self, -1, label='-',
  style=wx.ALIGN_RIGHT, size=wx.Size(40, 23)))
 
  coord_sizer = wx.GridBagSizer(hgap=20, vgap=5)
 
- for m in range(0, 4):
- coord_sizer.Add(self.btns_coord[m], pos=wx.GBPosition(m, 0))
+ for m, button in enumerate(self.buttons):
+ coord_sizer.Add(button, pos=wx.GBPosition(m, 0))
  for n in range(0, 3):
  coord_sizer.Add(self.txt_coord[m][n], pos=wx.GBPosition(m, n + 1), flag=wx.TOP, border=5)
 
+ # Hide "Fixed fiducial" for trackers other than Polhemus
+ if not self.show_sensor_options:
+ self.buttons[const.OBJECT_FIDUCIAL_FIXED].Hide()
+ for coord in self.txt_coord[const.OBJECT_FIDUCIAL_FIXED]:
+ coord.Hide()
+
  group_sizer = wx.FlexGridSizer(rows=1, cols=2, hgap=50, vgap=5)
  group_sizer.AddMany([(coord_sizer, 0, wx.LEFT, 20),
  (extra_sizer, 0, wx.LEFT, 10)])
@@ -3554,6 +3562,15 @@ def _init_gui(self):
  self.SetSizer(main_sizer)
  main_sizer.Fit(self)
 
+ def _init_pedal(self):
+ def set_fiducial_callback(state):
+ index = self.buttons.focused_index
+ if state and index is not None:
+ self.SetObjectFiducial(index)
+
+ self.pedal_connector.add_callback('fiducial', set_fiducial_callback, remove_when_released=False, panel=self)
+ self.Bind(wx.EVT_BUTTON, self.OnOk)
+
  def ObjectImportDialog(self):
  msg = _("Would like to use InVesalius default object?")
  if sys.platform == 'darwin':
@@ -3601,6 +3618,16 @@ def ShowObject(self, polydata):
  self.ball_actors[1], self.text_actors[1] = self.OnCreateObjectText('Right', (0,-55,0))
  self.ball_actors[2], self.text_actors[2] = self.OnCreateObjectText('Anterior', (23,0,0))
 
+ # Match actor colors with fiducial buttons
+ def set_actor_colors(n, color_float):
+ if n != const.OBJECT_FIDUCIAL_FIXED:
+ self.ball_actors[n].GetProperty().SetColor(color_float)
+ self.text_actors[n].GetProperty().SetColor(color_float)
+ self.Refresh()
+
+ self.buttons.set_actor_colors = set_actor_colors
+ self.buttons.Update()
+
  self.ren.AddActor(obj_actor)
  self.ren.ResetCamera()
 
@@ -3654,7 +3681,7 @@ def OnCreateObjectText(self, name, coord):
  ball_actor = vtkActor()
  ball_actor.SetMapper(mapper)
  ball_actor.SetPosition(coord)
- ball_actor.GetProperty().SetColor(1, 0, 0)
+ ball_actor.GetProperty().SetColor(const.RED_COLOR_FLOAT)
 
  textSource = vtkVectorText()
  textSource.SetText(name)
@@ -3663,7 +3690,7 @@ def OnCreateObjectText(self, name, coord):
  mapper.SetInputConnection(textSource.GetOutputPort())
  tactor = vtkFollower()
  tactor.SetMapper(mapper)
- tactor.GetProperty().SetColor(1.0, 0.0, 0.0)
+ tactor.GetProperty().SetColor(const.RED_COLOR_FLOAT)
  tactor.SetScale(5)
  ball_position = ball_actor.GetPosition()
  tactor.SetPosition(ball_position[0]+5, ball_position[1]+5, ball_position[2]+10)
@@ -3672,42 +3699,25 @@ def OnCreateObjectText(self, name, coord):
  self.ren.AddActor(ball_actor)
  return ball_actor, tactor
 
- def OnObjectFiducialButton(self, index, evt, ctrl):
- if not self.tracker.IsTrackerInitialized():
- ShowNavigationTrackerWarning(0, 'choose')
- return
-
- # TODO: The code below until the end of the function is essentially copy-paste from
- # OnTrackerFiducials function in NeuronavigationPanel class. Probably the easiest
- # way to deduplicate this would be to create a Fiducial class, which would contain
- # this code just once.
- #
-
- # Do not allow several object fiducials to be set at the same time.
- if self.object_fiducial_being_set is not None and self.object_fiducial_being_set != index:
- ctrl.SetValue(False)
- return
-
- # Called when the button for setting the object fiducial is enabled and either pedal is pressed
- # or the button is pressed again.
- #
- def set_fiducial_callback(state):
- if state:
- self.SetObjectFiducial(index)
- Publisher.sendMessage('Set object fiducial', fiducial_index=index)
-
- ctrl.SetValue(False)
- self.object_fiducial_being_set = None
+ def IsObjectFiducialSet(self, fiducial_index):
+ fiducial = self.obj_fiducials[fiducial_index]
+ return not np.isnan(fiducial).any()
 
- if ctrl.GetValue():
- self.object_fiducial_being_set = index
- self.pedal_connector.add_callback('fiducial', set_fiducial_callback, remove_when_released=True, panel=self)
+ def OnObjectFiducialButton(self, index, evt):
+ button = self.buttons[index]
 
+ if button is self.buttons.focused:
+ self.SetObjectFiducial(index)
+ elif self.IsObjectFiducialSet(index):
+ self.ResetObjectFiducial(index)
  else:
- set_fiducial_callback(True)
- self.pedal_connector.remove_callback('fiducial', panel=self)
+ self.buttons.Focus(index)
 
  def SetObjectFiducial(self, fiducial_index):
+ if not self.tracker.IsTrackerInitialized():
+ ShowNavigationTrackerWarning(0, 'choose')
+ return
+
  marker_visibilities, coord, coord_raw = self.tracker.GetTrackerCoordinates(
  # XXX: Always use static reference mode when getting the coordinates. This is what the
  # code did previously, as well. At some point, it should probably be thought through
@@ -3736,24 +3746,43 @@ def SetObjectFiducial(self, fiducial_index):
  # mode" principle above, but it's hard to come up with a simple change to increase the consistency
  # and not change the function to the point of potentially breaking it.)
  #
- if self.obj_ref_id and fiducial_index == 3:
+ if self.obj_ref_id and fiducial_index == const.OBJECT_FIDUCIAL_FIXED:
  coord = coord_raw[self.obj_ref_id, :]
  else:
  coord = coord_raw[0, :]
 
- # Update text controls with tracker coordinates
+ Publisher.sendMessage('Set object fiducial', fiducial_index=fiducial_index)
+
+ # Update buttons and text controls with tracker coordinates
  if coord is not None or np.sum(coord) != 0.0:
  self.obj_fiducials[fiducial_index, :] = coord[:3]
  self.obj_orients[fiducial_index, :] = coord[3:]
+ self.buttons.SetFocused()
  for i in [0, 1, 2]:
  self.txt_coord[fiducial_index][i].SetLabel(str(round(coord[i], 1)))
- if self.text_actors[fiducial_index]:
- self.text_actors[fiducial_index].GetProperty().SetColor(0.0, 1.0, 0.0)
- self.ball_actors[fiducial_index].GetProperty().SetColor(0.0, 1.0, 0.0)
  self.Refresh()
  else:
  ShowNavigationTrackerWarning(0, 'choose')
 
+ # Collect the "fixed fiducial" at the same time as anterior for trackers other than Polhemus
+ if fiducial_index == const.OBJECT_FIDUCIAL_ANTERIOR and not self.show_sensor_options:
+ self.SetObjectFiducial(const.OBJECT_FIDUCIAL_FIXED)
+
+ def ResetObjectFiducials(self):
+ for m in range(0, 4):
+ self.ResetObjectFiducial(m)
+ self.buttons.Update()
+
+ def ResetObjectFiducial(self, index):
+ self.obj_fiducials[index, :] = np.full([1, 3], np.nan)
+ self.obj_orients[index, :] = np.full([1, 3], np.nan)
+ for coord_index in range(0, 3):
+ self.txt_coord[index][coord_index].SetLabel('-')
+ self.buttons.Unset(index)
+
+ def OnReset(self, evt):
+ self.ResetObjectFiducials()
+
  def OnChooseReferenceMode(self, evt):
  # When ref mode is changed the tracker coordinates are set to nan
  # This is for Polhemus FASTRAK wrapper, where the sensor attached to the object can be the stylus (Static
@@ -3764,17 +3793,13 @@ def OnChooseReferenceMode(self, evt):
 
  if evt.GetSelection() == 1:
  self.obj_ref_id = 2
- if self.tracker_id in [const.FASTRAK, const.DEBUGTRACKRANDOM, const.DEBUGTRACKAPPROACH]:
+ if self.tracker_id in const.TRACKERS_WITH_SENSOR_OPTIONS:
  self.choice_sensor.Show(self.obj_ref_id)
  else:
  self.obj_ref_id = 0
  self.choice_sensor.Show(self.obj_ref_id)
 
- for m in range(0, 4):
- self.obj_fiducials[m, :] = np.full([1, 3], np.nan)
- self.obj_orients[m, :] = np.full([1, 3], np.nan)
- for n in range(0, 3):
- self.txt_coord[m][n].SetLabel('-')
+ self.ResetObjectFiducials()
 
  # Used to update choice sensor controls
  self.Layout()
@@ -3788,6 +3813,14 @@ def OnChoiceFTSensor(self, evt):
  def GetValue(self):
  return self.obj_fiducials, self.obj_orients, self.obj_ref_id, self.coil_path, self.polydata
 
+ def OnOk(self, evt):
+ if evt.GetId() == wx.ID_OK:
+ # This should always be called when the dialog is closed. Seems to be working correctly.
+ self.pedal_connector.remove_callback('fiducial', panel=self)
+
+ evt.Skip()
+
+
 class ICPCorregistrationDialog(wx.Dialog):
 
  def __init__(self, navigation, tracker):

invesalius/gui/frame.py

@@ -1966,6 +1966,10 @@ def OnToggle(self, evt=None, id=None):
  else:
  Publisher.sendMessage('Disable style', style=id)
 
+ # const.STATE_REGISTRATION can be disabled with the same button as const.SLICE_STATE_CROSS
+ if id == const.SLICE_STATE_CROSS and not state:
+ Publisher.sendMessage('Stop image registration')
+
  for item in self.enable_items:
  state = self.GetToolToggled(item)
  if state and (item != id):