Simplify how r_stylus is saved to file: move r_stylus to 'navigation'…

… object and remove bogus 'navigation-stylus' object
invesalius · Jul 22, 2024 · 7b212f7 · 7b212f7
1 parent 76defe0
commit 7b212f7
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Showing 2 changed files with 35 additions and 36 deletions.
diff --git a/invesalius/gui/task_navigator.py b/invesalius/gui/task_navigator.py
@@ -1075,27 +1075,23 @@ def onRecord(self, evt):
         marker_visibilities, __, coord_raw = self.tracker.GetTrackerCoordinates(
             ref_mode_id=0, n_samples=1
         )
+
         if marker_visibilities[0] and marker_visibilities[1]:  # if probe and head are visible
-            if self.navigation.SetStylusOrientation(coord_raw):  # if successfully created r_stylus
-                # Save to config.json file
-                ses.Session().SetConfig(
-                    "navigation-stylus", {"r_stylus": self.navigation.r_stylus.tolist()}
+            if self.navigation.SetStylusOrientation(coord_raw) and not self.done:
+                # if successfully created r_stylus in navigation for the first time: make the illustration green to show success
+                self.done = True
+                self.help.Destroy()  # show a colored (green) bitmap as opposed to grayscale
+                self.help = wx.GenericStaticBitmap(
+                    self,
+                    -1,
+                    self.help_img.ConvertToBitmap(),
+                    (10, 5),
+                    (self.help_img.GetWidth(), self.help_img.GetHeight()),
                 )
-
-                if not self.done:  # only show green on first record
-                    self.done = True
-                    self.help.Destroy()  # show a colored (green) bitmap as opposed to grayscale
-                    self.help = wx.GenericStaticBitmap(
-                        self,
-                        -1,
-                        self.help_img.ConvertToBitmap(),
-                        (10, 5),
-                        (self.help_img.GetWidth(), self.help_img.GetHeight()),
-                    )
-                    self.border.Insert(
-                        2, self.help, 0, wx.EXPAND | wx.ALL | wx.ALIGN_CENTER_VERTICAL, 1
-                    )
-                    self.Layout()
+                self.border.Insert(
+                    2, self.help, 0, wx.EXPAND | wx.ALL | wx.ALIGN_CENTER_VERTICAL, 1
+                )
+                self.Layout()
         else:
             wx.MessageBox(_("Probe or head not visible to tracker!"), _("InVesalius 3"))
 

diff --git a/invesalius/navigation/navigation.py b/invesalius/navigation/navigation.py
@@ -344,24 +344,21 @@ def LoadConfig(self):
         session = ses.Session()
         state = session.GetConfig("navigation")
 
-        if state is None:
-            return
-
-        object_fiducials = np.array(state["object_fiducials"])
-        object_orientations = np.array(state["object_orientations"])
-        object_reference_mode = state["object_reference_mode"]
-        object_name = state["object_name"].encode(const.FS_ENCODE)
-        self.object_registration = (
-            object_fiducials,
-            object_orientations,
-            object_reference_mode,
-            object_name,
-        )
+        if state is not None:
+            object_fiducials = np.array(state["object_fiducials"])
+            object_orientations = np.array(state["object_orientations"])
+            object_reference_mode = state["object_reference_mode"]
+            object_name = state["object_name"].encode(const.FS_ENCODE)
+            self.object_registration = (
+                object_fiducials,
+                object_orientations,
+                object_reference_mode,
+                object_name,
+            )
 
-        # Try to load stylus orientation data
-        stylus_data = session.GetConfig("navigation-stylus")
-        if stylus_data is not None:
-            self.r_stylus = np.array(stylus_data["r_stylus"])
+            # Try to load stylus orientation data
+            if "r_stylus" in state:
+                self.r_stylus = np.array(state["r_stylus"])
 
     def CoilAtTarget(self, state):
         self.coil_at_target = state
@@ -446,6 +443,12 @@ def SetStylusOrientation(self, coord_raw):
 
             # Rotation from tracker to VTK coordinate system
             self.r_stylus = up_vtk @ np.linalg.inv(up_trk)
+
+            # Save r_stylus to config file
+            session = ses.Session()
+            if (nav_config := session.GetConfig("navigation")) is not None:
+                nav_config["r_stylus"] = self.r_stylus.tolist()
+                session.SetConfig("navigation", nav_config)
             return True
         else:
             return False