Commit 7c3fe647 authored by Jakob Weiss's avatar Jakob Weiss
Browse files

matrixprocessor now listens for dataAdded signals of the data container. also,...

matrixprocessor now listens for dataAdded signals of the data container. also, documentation of the MatrixProcessor class.
parent a81e3b18
......@@ -42,8 +42,8 @@ namespace campvis {
, p_matrixAModifiers("MatrixAModifiers", "Matrix A Modifiers")
, p_matrixBModifiers("MatrixBModifiers", "Matrix B Modifiers")
, p_targetMatrixID("TargetMatrixID", "Target Matrix ID", "result.matrix", DataNameProperty::WRITE)
, lastdc_(nullptr)
addProperty(p_matrixA, VALID);
addProperty(p_matrixAModifiers, VALID);
addProperty(p_matrixB, VALID);
......@@ -53,7 +53,8 @@ namespace campvis {
MatrixProcessor::~MatrixProcessor() {
if (lastdc_)
void MatrixProcessor::init() {
......@@ -65,6 +66,15 @@ namespace campvis {
void MatrixProcessor::updateResult(DataContainer& data) {
if (&data != lastdc_) {
if (lastdc_) {
data.s_dataAdded.connect(this, &MatrixProcessor::DataContainerDataAdded);
lastdc_ = &data;
tgt::mat4 matA = processMatrixString(p_matrixA.getValue(), data);
tgt::mat4 matB = processMatrixString(p_matrixB.getValue(), data);
......@@ -88,6 +98,12 @@ namespace campvis {
void MatrixProcessor::updateProperties(DataContainer& dataContainer)
// we invalidate just in case a hardcoded matrix or its modifiers have changed
tgt::mat4 MatrixProcessor::processMatrixString(std::string matrixString, DataContainer& data)
std::vector<std::string> tokens = StringUtils::split(matrixString, " ");
......@@ -194,4 +210,10 @@ namespace campvis {
return result;
void MatrixProcessor::DataContainerDataAdded(const std::string &name, const DataHandle &data)
if (name == p_matrixA.getValue() || name == p_matrixB.getValue())
\ No newline at end of file
......@@ -38,19 +38,23 @@
namespace campvis {
* Experimental demo implementation how to receive MHD files via CAMPCom, convert it to
* CAMPVis ImageData and store it into the DataContainer.
* Matrix processor to perform some basic matrix arithmatic like combining two matrices.
* Takes two matrices as an input either from a string or from the data container
* (see \a processMatrixString()), preprocesses them according to the specified modifiers (see \a processModiferString())
* and puts the result of multiplying A*B into the data container as a \a TransformData entry.
* Example use case: OpenIGTLink client outputs matrices TrackerToReference and TrackerToProbe. Configure
* matrixA as "TrackerToProbe" with modifier "I" and matrixB as "TrackerToReference" with empty modifier
* to compute the "ProbeToReference" matrix. If an additional calibration matrix is needed, this can be achieved by
* adding a new MatrixProcessor that multiplies a hardcoded calibration matrix to the result or the inputs.
class MatrixProcessor : public AbstractProcessor {
* Constructs a new CampcomMhdReceiver Processor
/// Constructor
* Destructor
/// Destructor
virtual ~MatrixProcessor();
/// \see AbstractProcessor::init()
......@@ -70,20 +74,63 @@ namespace campvis {
StringProperty p_matrixA; ///< first Matrix input for the computation. \see MatrixProcessor::processMatrixString()
StringProperty p_matrixB; ///< second Matrix input for the computation. \see MatrixProcessor::processMatrixString()
StringProperty p_matrixAModifiers; ///< modifier string to be applied to matrix A. \see MatrixProcessor::processModifiers()
StringProperty p_matrixBModifiers; ///< modifier string to be applied to matrix B. \see MatrixProcessor::processModifiers()
StringProperty p_matrixAModifiers; ///< modifier string to be applied to matrix A. \see MatrixProcessor::processModifierString()
StringProperty p_matrixBModifiers; ///< modifier string to be applied to matrix B. \see MatrixProcessor::processModifierString()
DataNameProperty p_targetMatrixID; ///< image ID for read image
void DataContainerDataAdded(const std::string& name, const DataHandle& data);
/// \see AbstractProcessor::updateResult()
virtual void updateResult(DataContainer& dataContainer);
/// \see AbstractProcessor::updateProperties()
virtual void updateProperties(DataContainer& dataContainer);
* Processes a modifier string and returns the modified matrix.
* \param matrix the input matrix to be modified
* \param modifiers a string containing modifiers that will be applied to the matrix from left to right.
* Possible Modifiers are:
* - _I_: invert matrix
* - _T_: transpose matrix
* - _r_: extract rotational part \see tgt::mat4::getRotationalPart()
* - _s_: extract scaling part \see tgt::mat4::getScalingPart()
* - _-_: negate componentwise
* i.e. a call with a modifier string "IT" will calculate the transpose of the inverse.
tgt::mat4 processModifierString(tgt::mat4 matrix, std::string modifiers);
* Processes a matrix string and returns the resulting matrix.
* \param matrixString the matrix string to be parsed
* \param data the data container that is used to read data from
* The matrix string can either be a name to a data handle or a string specifying a matrix directly.
* The string is split into tokens with space as a delimiter and is parsed according to the following rules:
* - an empty string or "identity" creates an identity matrix
* - if the string contains exactly 16 tokens, a direct matrix input is assumed: all
* tokens are converted to floats and are used as coefficients. The parsing is done row-major: a
* string "1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 creates a matrix with first row 1,2,3,4, second row
* 5,6,7,8 and so on
* - "rot <angle> <ax> <ay> <az>" creates a rotation matrix around axis (ax,ay,az) with specified angle in radians.
* \see tgt::mat4::createRotation()
* - "trans <tx> <ty> <tz>" creates a translation matrix with translation (tx,ty,tz)
* - "scale <sx> [<sy> <sz>]" creates a scaling matrix. if only one coefficient is specified, a uniform scaling
* is created, otherwise all three scaling factors are used.
* - if any of the above fails, a warning is emitted and identity is returned
* - if none of the above cases apply, the name is assumed to be a name of a data handle in the supplied data container,
* containing an entry of type \a TransformData
tgt::mat4 processMatrixString(std::string matrixString, DataContainer& data);
DataContainer * lastdc_;
static const std::string loggerCat_;
......@@ -124,13 +124,13 @@ namespace campvis {
virtual void run();
/// Receive a TRANSFORM message from the OpenIGTLink socket and put the data into the local buffers
int ReceiveTransform(igtl::Socket * socket, igtl::MessageHeader::Pointer& header);
int ReceiveTransform(igtl::Socket* socket, igtl::MessageHeader::Pointer& header);
/// Receive a POSITION message from the OpenIGTLink socket and put the data into the local buffers
int ReceivePosition(igtl::Socket * socket, igtl::MessageHeader::Pointer& header);
int ReceivePosition(igtl::Socket* socket, igtl::MessageHeader::Pointer& header);
/// Receive a IMAGE message from the OpenIGTLink socket and put into the local buffers
int ReceiveImage(igtl::Socket * socket, igtl::MessageHeader::Pointer& header);
int ReceiveImage(igtl::Socket* socket, igtl::MessageHeader::Pointer& header);
igtl::ClientSocket::Pointer _socket;
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