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Code at the end of the year #7

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Code at the end of the year #7

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af948f9
Added HandGenerator module for Slicer
Jan 14, 2020
df3c51f
Adding HandGenerator and removed unnecessary files
Jan 14, 2020
85dbb75
Update HandGenerator.py
adamrankin Jan 14, 2020
5a3701a
Added real hand models
Jan 30, 2020
b6733d4
Added real hand models
Jan 30, 2020
af7f72c
Reduced file size and added transformations for VR
Feb 20, 2020
1cacda9
Reduced file size and added transformations for VR
Feb 20, 2020
cf275cd
Merge branch 'master' into master
adamrankin Feb 20, 2020
067475f
Most up to date code, should work with March nightly builds
Apr 14, 2020
0f2e386
Updated for the nightly build as of March 03
Apr 14, 2020
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123 changes: 122 additions & 1 deletion HandGenerator/HandGenerator.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ def __init__(self, parent=None):

self.connectorNode = None
self.generated = False

slicer.mymod = self
def setup(self):
ScriptedLoadableModuleWidget.setup(self)

Expand All @@ -53,8 +53,14 @@ def setup(self):
self.generateButton.text = "Generate Hands"
self.parametersFormLayout.addWidget(self.generateButton)

self.generateModelButton = qt.QPushButton()
self.generateModelButton.setDefault(False)
self.generateModelButton.text = "Generate Hand Models"
self.parametersFormLayout.addWidget(self.generateModelButton)

self.connectButton.connect('clicked(bool)', self.onConnectButtonClicked)
self.generateButton.connect('clicked(bool)', self.generateCylinders)
self.generateModelButton.connect('clicked(bool)', self.generateModels)
self.layout.addStretch(1)

def onConnectButtonClicked(self):
Expand Down Expand Up @@ -115,3 +121,118 @@ def generateCylinders(self):
slicer.mrmlScene.RemoveNode(nodes[i])
self.generated = False
self.generateCylinders()


def generateModels(self):
self.resourcePath = os.path.dirname(os.path.abspath(__file__))
if self.generated == False:
self.nodes = slicer.util.getNodesByClass('vtkMRMLLinearTransformNode')
self.n = len(self.nodes)
l = slicer.modules.createmodels.logic()

mat = vtk.vtkMatrix4x4()
mat_axis_conv = vtk.vtkMatrix4x4()
mat_table_to_mounted = vtk.vtkMatrix4x4()
# Old transforms
mat.SetElement(0,0,-1)
mat.SetElement(2,2,-1)

# Transform Matrix for HTC VIVE
#mat.SetElement(0,0,-0.99)
#mat.SetElement(0,1,-0.02)
#mat.SetElement(0,2,0.08)
#mat.SetElement(0,3,-2.75)
#mat.SetElement(1,0,-0.06)
#mat.SetElement(1,1,-.23)
#mat.SetElement(1,2,-0.97)
#mat.SetElement(1,3,29.11)
#mat.SetElement(2,0,0.04)
#mat.SetElement(2,1,-0.98)
#mat.SetElement(2,2,0.23)
#mat.SetElement(2,3,-133.75)

# Transform Matrix for HTC VIVE PRO
mat.SetElement(0,0,-0.99)
mat.SetElement(0,1,-0.02)
mat.SetElement(0,2,0.08)
mat.SetElement(0,3,7.25)
mat.SetElement(1,0,-0.06)
mat.SetElement(1,1,-0.23)
mat.SetElement(1,2,-0.97)
mat.SetElement(1,3,-100.89)
mat.SetElement(2,0,0.04)
mat.SetElement(2,1,-0.98)
mat.SetElement(2,2,0.23)
mat.SetElement(2,3,-111.75)

# Transforms from https://developer.leapmotion.com/documentation/v4/vrar.html
# Must attach to HMD transforms (ie, make HMD transform the parent of this matrix
# Setting the axis_conversion
#mat_axis_conv.SetElement(2,2,-1) #Identity with position 2,2 (starting from 0) set to -1

# Setting the table_to_mounted matrix
#mat_table_to_mounted.SetElement(0,0,-1)
#mat_table_to_mounted.SetElement(1,1,0)
#mat_table_to_mounted.SetElement(1,2,-1)
#mat_table_to_mounted.SetElement(2,1,-1)
#mat_table_to_mounted.SetElement(2,2,0)
#mat_table_to_mounted.SetElement(2,3,-80)

#Multiply4x4(mat_axis_conv, mat_table_to_mounted, mat)
#vtk.vtkMatrix4x4.Multiply4x4(mat_axis_conv,mat_table_to_mounted, mat)

self.Xflip = slicer.mrmlScene.AddNewNodeByClass('vtkMRMLLinearTransformNode')
self.Xflip.SetName('LHG_TrackerToHMD')
self.Xflip.SetAndObserveMatrixTransformToParent(mat)
#self.Xflip.SetAndObserveTransformNodeID(self.Xflip.GetID()) Set this to observe the VR.HMD transform
#self.HMDAlign = slicer.mrmlScene.AddNewNodeByClass('vtkMRMLLinearTransformNode')
#self.HMDAlign.SetName("LHG_RASToHMD")
self.generated = True

print(self.resourcePath)


for i in range (0, self.n):
if 'Left' in self.nodes[i].GetName() or 'Right' in self.nodes[i].GetName():
if 'Dis' in self.nodes[i].GetName() or 'Int' in self.nodes[i].GetName() or 'Prox' in self.nodes[i].GetName() or 'Meta' in self.nodes[i].GetName() or 'Palm' in self.nodes[i].GetName():


print('Resources\\' + self.nodes[i].GetName() + ".stl")
self.tempModel = slicer.util.loadModel(os.path.join(self.resourcePath, 'Resources\\' + self.nodes[i].GetName() + ".stl"))
if self.tempModel is not False:
self.nodes[i].SetAndObserveTransformNodeID(self.Xflip.GetID())
self.tempModel.SetAndObserveTransformNodeID(self.nodes[i].GetID())
self.tempModel.SetName('LHG_Seg' + self.nodes[i].GetName())

else:
self.nodes = slicer.util.getNodesByClass('vtkMRMLLinearTransformNode')
self.n = len(self.nodes)
self.models = slicer.util.getNodesByClass('vtkMRMLModelNode')
if self.Xflip is None:
mat = vtk.vtkMatrix4x4()
# Old transforms
mat.SetElement(0,0,-1)
mat.SetElement(2,2,-1)

# New transforms
mat.SetElement(0,0,-1)
mat.SetElement(1,1,0.17)
mat.SetElement(1,2,-0.99)
mat.SetElement(1,3,-70)
mat.SetElement(2,1,-0.99)
mat.SetElement(2,2,-0.17)
mat.SetElement(2,3,-80)
self.Xflip = slicer.mrmlScene.AddNewNodeByClass('vtkMRMLLinearTransformNode')
self.Xflip.SetName('LHG_TrackerToHMD')
self.Xflip.SetAndObserveMatrixTransformToParent(mat)
for j in range(0, len(self.models)):
if 'LHG_' in self.models[j].GetName():
slicer.mrmlScene.RemoveNode(self.models[j])
for i in range (0, self.n):
if 'Left' in self.nodes[i].GetName() or 'Right' in self.nodes[i].GetName():
if 'Dis' in self.nodes[i].GetName() or 'Int' in self.nodes[i].GetName() or 'Prox' in self.nodes[i].GetName() or 'Meta' in self.nodes[i].GetName():
print('Resources\\' + self.nodes[i].GetName() + ".stl")
self.tempModel = slicer.util.loadModel(os.path.join(self.resourcePath, 'Resources\\' + self.nodes[i].GetName() + ".stl"))
self.nodes[i].SetAndObserveTransformNodeID(self.Xflip.GetID())
self.tempModel.SetAndObserveTransformNodeID(self.nodes[i].GetID())
self.tempModel.SetName('LHG_Seg' + self.nodes[i].GetName())
33 changes: 19 additions & 14 deletions HandGenerator/PlusDeviceSet_Server_LeapMotionTracker Both.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
AcquisitionRate="1000"
Id="TrackerDevice"
Type="LeapMotion"
LeapHMDPolicy="FALSE"
LeapHMDPolicy="TRUE"
ToolReferenceFrame="Tracker" >
<DataSources>
<DataSource Type="Video" Id="LeftCamera"/>
Expand All @@ -26,13 +26,14 @@
<DataSource Type="Tool" Id="LeftRingIntermediate"/>
<DataSource Type="Tool" Id="LeftPinkyIntermediate"/>

<DataSource Type="Tool" Id="LeftThumbProximal"/>
<!--<DataSource Type="Tool" Id="LeftThumbProximal"/>-->
<DataSource Type="Tool" Id="LeftIndexProximal"/>
<DataSource Type="Tool" Id="LeftMiddleProximal"/>
<DataSource Type="Tool" Id="LeftRingProximal"/>
<DataSource Type="Tool" Id="LeftPinkyProximal"/>

<DataSource Type="Tool" Id="LeftPalm"/>
<!--<DataSource Type="Tool" Id="LeftPalm"/>-->
<DataSource Type="Tool" Id="LeftMiddleMetacarpal"/>

<DataSource Type="Tool" Id="RightThumbDistal"/>
<DataSource Type="Tool" Id="RightIndexDistal"/>
Expand All @@ -46,13 +47,14 @@
<DataSource Type="Tool" Id="RightRingIntermediate"/>
<DataSource Type="Tool" Id="RightPinkyIntermediate"/>

<DataSource Type="Tool" Id="RightThumbProximal"/>
<!--<DataSource Type="Tool" Id="RightThumbProximal"/>-->
<DataSource Type="Tool" Id="RightIndexProximal"/>
<DataSource Type="Tool" Id="RightMiddleProximal"/>
<DataSource Type="Tool" Id="RightRingProximal"/>
<DataSource Type="Tool" Id="RightPinkyProximal"/>

<DataSource Type="Tool" Id="RightPalm"/>
<!--<DataSource Type="Tool" Id="RightPalm"/>-->
<DataSource Type="Tool" Id="RightMiddleMetacarpal"/>

</DataSources>
<OutputChannels>
Expand All @@ -72,12 +74,13 @@
<DataSource Id="LeftRingIntermediate"/>
<DataSource Id="LeftPinkyIntermediate"/>

<DataSource Id="LeftThumbProximal"/>
<!--<DataSource Id="LeftThumbProximal"/>-->
<DataSource Id="LeftIndexProximal"/>
<DataSource Id="LeftMiddleProximal"/>
<DataSource Id="LeftRingProximal"/>
<DataSource Id="LeftPinkyProximal"/>
<DataSource Id="LeftPalm"/>
<!--<DataSource Id="LeftPalm"/>-->
<DataSource Id="LeftMiddleMetacarpal"/>

<DataSource Id="RightThumbDistal"/>
<DataSource Id="RightIndexDistal"/>
Expand All @@ -91,12 +94,13 @@
<DataSource Id="RightRingIntermediate"/>
<DataSource Id="RightPinkyIntermediate"/>

<DataSource Id="RightThumbProximal"/>
<!--<DataSource Id="RightThumbProximal"/>-->
<DataSource Id="RightIndexProximal"/>
<DataSource Id="RightMiddleProximal"/>
<DataSource Id="RightRingProximal"/>
<DataSource Id="RightPinkyProximal"/>
<DataSource Id="RightPalm"/>
<!--<DataSource Id="RightPalm"/>-->
<DataSource Id="RightMiddleMetacarpal"/>
</OutputChannel>
</OutputChannels>
</Device>
Expand Down Expand Up @@ -160,12 +164,13 @@
<Transform Name="LeftRingIntermediateToTracker"/>
<Transform Name="LeftPinkyIntermediateToTracker"/>

<Transform Name="LeftThumbProximalToTracker"/>
<!--<Transform Name="LeftThumbProximalToTracker"/>-->
<Transform Name="LeftIndexProximalToTracker"/>
<Transform Name="LeftMiddleProximalToTracker"/>
<Transform Name="LeftRingProximalToTracker"/>
<Transform Name="LeftPinkyProximalToTracker"/>
<Transform Name="LeftPalmToTracker"/>
<!--<Transform Name="LeftPalmToTracker"/>-->
<Transform Name="LeftMiddleMetacarpalToTracker"/>

<Transform Name="RightThumbDistalToTracker"/>
<Transform Name="RightIndexDistalToTracker"/>
Expand All @@ -179,13 +184,13 @@
<Transform Name="RightRingIntermediateToTracker"/>
<Transform Name="RightPinkyIntermediateToTracker"/>

<Transform Name="RightThumbProximalToTracker"/>
<!--<Transform Name="RightThumbProximalToTracker"/>-->
<Transform Name="RightIndexProximalToTracker"/>
<Transform Name="RightMiddleProximalToTracker"/>
<Transform Name="RightRingProximalToTracker"/>
<Transform Name="RightPinkyProximalToTracker"/>
<Transform Name="RightPalmToTracker"/>

<!--<Transform Name="RightPalmToTracker"/>-->
<Transform Name="RightMiddleMetacarpalToTracker"/>
</TransformNames>
</DefaultClientInfo>
</PlusOpenIGTLinkServer>
Expand Down
21 changes: 11 additions & 10 deletions HandGenerator/PlusDeviceSet_Server_LeapMotionTracker Left.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
AcquisitionRate="1000"
Id="TrackerDevice"
Type="LeapMotion"
LeapHMDPolicy="FALSE"
LeapHMDPolicy="TRUE"
ToolReferenceFrame="Tracker" >
<DataSources>
<DataSource Type="Video" Id="LeftCamera"/>
Expand All @@ -26,14 +26,14 @@
<DataSource Type="Tool" Id="LeftRingIntermediate"/>
<DataSource Type="Tool" Id="LeftPinkyIntermediate"/>

<DataSource Type="Tool" Id="LeftThumbProximal"/>
<!--<DataSource Type="Tool" Id="LeftThumbProximal"/>-->
<DataSource Type="Tool" Id="LeftIndexProximal"/>
<DataSource Type="Tool" Id="LeftMiddleProximal"/>
<DataSource Type="Tool" Id="LeftRingProximal"/>
<DataSource Type="Tool" Id="LeftPinkyProximal"/>

<DataSource Type="Tool" Id="LeftPalm"/>

<!--<DataSource Type="Tool" Id="LeftPalm"/>-->
<DataSource Type="Tool" Id="LeftMiddleMetacarpal"/>
<!--
<DataSource Type="Tool" Id="RightThumbDistal"/>
<DataSource Type="Tool" Id="RightIndexDistal"/>
Expand Down Expand Up @@ -74,13 +74,14 @@
<DataSource Id="LeftRingIntermediate"/>
<DataSource Id="LeftPinkyIntermediate"/>

<DataSource Id="LeftThumbProximal"/>
<!--<DataSource Id="LeftThumbProximal"/>-->
<DataSource Id="LeftIndexProximal"/>
<DataSource Id="LeftMiddleProximal"/>
<DataSource Id="LeftRingProximal"/>
<DataSource Id="LeftPinkyProximal"/>
<DataSource Id="LeftPalm"/>

<!--<DataSource Id="LeftPalm"/>-->
<DataSource Id="LeftMiddleMetacarpal"/>

<!--
<DataSource Id="RightThumbDistal"/>
<DataSource Id="RightIndexDistal"/>
Expand Down Expand Up @@ -164,13 +165,13 @@
<Transform Name="LeftRingIntermediateToTracker"/>
<Transform Name="LeftPinkyIntermediateToTracker"/>

<Transform Name="LeftThumbProximalToTracker"/>
<!--<Transform Name="LeftThumbProximalToTracker"/>-->
<Transform Name="LeftIndexProximalToTracker"/>
<Transform Name="LeftMiddleProximalToTracker"/>
<Transform Name="LeftRingProximalToTracker"/>
<Transform Name="LeftPinkyProximalToTracker"/>
<Transform Name="LeftPalmToTracker"/>

<!--<Transform Name="LeftPalmToTracker"/>-->
<Transform Name="LeftMiddleMetacarpalToTracker"/>
<!--
<Transform Name="RightThumbDistalToTracker"/>
<Transform Name="RightIndexDistalToTracker"/>
Expand Down
18 changes: 10 additions & 8 deletions HandGenerator/PlusDeviceSet_Server_LeapMotionTracker Right.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
AcquisitionRate="1000"
Id="TrackerDevice"
Type="LeapMotion"
LeapHMDPolicy="FALSE"
LeapHMDPolicy="TRUE"
ToolReferenceFrame="Tracker" >
<DataSources>
<DataSource Type="Video" Id="LeftCamera"/>
Expand Down Expand Up @@ -48,13 +48,14 @@
<DataSource Type="Tool" Id="RightRingIntermediate"/>
<DataSource Type="Tool" Id="RightPinkyIntermediate"/>

<DataSource Type="Tool" Id="RightThumbProximal"/>
<!--<DataSource Type="Tool" Id="RightThumbProximal"/>-->
<DataSource Type="Tool" Id="RightIndexProximal"/>
<DataSource Type="Tool" Id="RightMiddleProximal"/>
<DataSource Type="Tool" Id="RightRingProximal"/>
<DataSource Type="Tool" Id="RightPinkyProximal"/>

<DataSource Type="Tool" Id="RightPalm"/>
<!--<DataSource Type="Tool" Id="RightPalm"/>-->
<DataSource Type="Tool" Id="RightMiddleMetacarpal"/>

</DataSources>
<OutputChannels>
Expand Down Expand Up @@ -95,12 +96,13 @@
<DataSource Id="RightRingIntermediate"/>
<DataSource Id="RightPinkyIntermediate"/>

<DataSource Id="RightThumbProximal"/>
<!--<DataSource Id="RightThumbProximal"/>-->
<DataSource Id="RightIndexProximal"/>
<DataSource Id="RightMiddleProximal"/>
<DataSource Id="RightRingProximal"/>
<DataSource Id="RightPinkyProximal"/>
<DataSource Id="RightPalm"/>
<!--<DataSource Id="RightPalm"/>-->
<DataSource Id="RightMiddleMetacarpal"/>
</OutputChannel>
</OutputChannels>
</Device>
Expand Down Expand Up @@ -185,13 +187,13 @@
<Transform Name="RightRingIntermediateToTracker"/>
<Transform Name="RightPinkyIntermediateToTracker"/>

<Transform Name="RightThumbProximalToTracker"/>
<!--<Transform Name="RightThumbProximalToTracker"/>-->
<Transform Name="RightIndexProximalToTracker"/>
<Transform Name="RightMiddleProximalToTracker"/>
<Transform Name="RightRingProximalToTracker"/>
<Transform Name="RightPinkyProximalToTracker"/>
<Transform Name="RightPalmToTracker"/>

<!--<Transform Name="RightPalmToTracker"/>-->
<Transform Name="RightMiddleMetacarpalToTracker"/>
</TransformNames>
</DefaultClientInfo>
</PlusOpenIGTLinkServer>
Expand Down
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