re #1010 changing behavior to more closely match that of image message embedded transform extraction

Author: Adam Rankin

PlusLib/src/PlusDataCollection/OpenIGTLink/vtkPlusOpenIGTLinkVideoSource.cxx

@@ -62,7 +62,6 @@ PlusStatus vtkPlusOpenIGTLinkVideoSource::InternalUpdate()
   double unfilteredTimestamp = vtkPlusAccurateTimer::GetSystemTime();
 
   PlusTrackedFrame trackedFrame;
-  vtkSmartPointer<vtkMatrix4x4> embeddedImageTransform;
   igtl::MessageBase::Pointer bodyMsg = IgtlMessageFactory->CreateReceiveMessage( headerMsg );
 
   if ( typeid( *bodyMsg ) == typeid( igtl::ImageMessage ) )
@@ -75,7 +74,7 @@ PlusStatus vtkPlusOpenIGTLinkVideoSource::InternalUpdate()
   }
   else if ( typeid( *bodyMsg ) == typeid( igtl::PlusTrackedFrameMessage ) )
   {
-    if ( vtkPlusIgtlMessageCommon::UnpackTrackedFrameMessage( bodyMsg, this->ClientSocket, trackedFrame, embeddedImageTransform, this->IgtlMessageCrcCheckEnabled ) != PLUS_SUCCESS )
+    if ( vtkPlusIgtlMessageCommon::UnpackTrackedFrameMessage( bodyMsg, this->ClientSocket, trackedFrame, this->ImageMessageEmbeddedTransformName, this->IgtlMessageCrcCheckEnabled ) != PLUS_SUCCESS )
     {
       LOG_ERROR( "Couldn't get tracked frame from OpenIGTLink server!" );
       return PLUS_FAIL;

PlusLib/src/PlusOpenIGTLink/vtkPlusIgtlMessageCommon.cxx

@@ -103,7 +103,7 @@ PlusStatus vtkPlusIgtlMessageCommon::PackTrackedFrameMessage( igtl::PlusTrackedF
 
 //----------------------------------------------------------------------------
 // static
-PlusStatus vtkPlusIgtlMessageCommon::UnpackTrackedFrameMessage( igtl::MessageHeader::Pointer headerMsg, igtl::Socket* socket, PlusTrackedFrame& trackedFrame, vtkSmartPointer<vtkMatrix4x4>& embeddedImageTransform, int crccheck )
+PlusStatus vtkPlusIgtlMessageCommon::UnpackTrackedFrameMessage( igtl::MessageHeader::Pointer headerMsg, igtl::Socket* socket, PlusTrackedFrame& trackedFrame, const PlusTransformName& embeddedTransformName, int crccheck )
 {
   if ( headerMsg.IsNull() )
   {
@@ -136,7 +136,12 @@ PlusStatus vtkPlusIgtlMessageCommon::UnpackTrackedFrameMessage( igtl::MessageHea
 
   // if CRC check is OK. get tracked frame data.
   trackedFrame = trackedFrameMsg->GetTrackedFrame();
-  embeddedImageTransform = trackedFrameMsg->GetEmbeddedImageTransform();
+
+  if ( embeddedTransformName.IsValid() )
+  {
+    // Save the transform that is embedded in the TRACKEDFRAME message into the tracked frame
+    trackedFrame.SetCustomFrameTransform( embeddedTransformName, trackedFrameMsg->GetEmbeddedImageTransform() );
+  }
 
   return PLUS_SUCCESS;
 }

PlusLib/src/PlusOpenIGTLink/vtkPlusIgtlMessageCommon.h

@@ -47,7 +47,7 @@ class vtkPlusOpenIGTLinkExport vtkPlusIgtlMessageCommon: public vtkObject
   static PlusStatus PackTrackedFrameMessage( igtl::PlusTrackedFrameMessage::Pointer trackedFrameMessage, PlusTrackedFrame& trackedFrame, vtkSmartPointer<vtkMatrix4x4> embeddedImageTransform );
 
   /*! Unpack tracked frame message to tracked frame */
-  static PlusStatus UnpackTrackedFrameMessage( igtl::MessageHeader::Pointer headerMsg, igtl::Socket* socket, PlusTrackedFrame& trackedFrame, vtkSmartPointer<vtkMatrix4x4>& embeddedImageTransform, int crccheck );
+  static PlusStatus UnpackTrackedFrameMessage( igtl::MessageHeader::Pointer headerMsg, igtl::Socket* socket, PlusTrackedFrame& trackedFrame, const PlusTransformName& embeddedTransformName, int crccheck );
 
   /*! Pack US message from tracked frame */
   static PlusStatus PackUsMessage( igtl::PlusUsMessage::Pointer usMessage, PlusTrackedFrame& trackedFrame );

PlusLib/src/PlusServer/Tools/PlusServer.cxx

@@ -155,7 +155,6 @@ int main( int argc, char** argv )
 
     // This is a PlusServer tag, let's create it
     vtkSmartPointer<vtkPlusOpenIGTLinkServer> server = vtkSmartPointer<vtkPlusOpenIGTLinkServer>::New();
-    // Create Plus OpenIGTLink server.
     LOG_DEBUG( "Initializing Plus OpenIGTLink server... " );
     if ( server->Start( dataCollector, transformRepository, serverElement, configFilePath ) != PLUS_SUCCESS )
     {
@@ -176,7 +175,7 @@ int main( int argc, char** argv )
   std::vector< vtkSmartPointer<vtkPlusOpenIGTLinkVideoSource> > testClientList;
   if ( !testingConfigFileName.empty() )
   {
-    // During testing, there is only one instance of PlusServer, so we can acess serverList[0] directly
+    // During testing, there is only one instance of PlusServer, so we can access serverList[0] directly
 
     vtkSmartPointer<vtkXMLDataElement> configRootElement = vtkSmartPointer<vtkXMLDataElement>::New();
     if ( PlusXmlUtils::ReadDeviceSetConfigurationFromFile( configRootElement, testingConfigFileName.c_str() ) == PLUS_FAIL )