Entry Deviation Perk Tutor Metric

EntryDeviation.py

import math
import vtk
from datetime import datetime
from PythonMetricsCalculator import PerkEvaluatorMetric

class EntryDeviation( PerkEvaluatorMetric ):

  # Static methods
  @staticmethod
  def GetMetricName():
    return "Entry Deviation"
  
  @staticmethod  
  def GetMetricUnit():
    return "mm"
  
  @staticmethod
  def GetTransformRoles():
    return [ "Needle" ]
  
  @staticmethod
  def GetAnatomyRoles():
    return { "Targets": "vtkMRMLMarkupsFiducialNode" }
    
    
  # Instance methods    
  def __init__( self ):
    PerkEvaluatorMetric.__init__( self )
    self.R_deviation = []
    self.A_deviation = []
    self.S_deviation = []
    self.needleTipTargetDistance = []
    self.allErrors = []
    self.timeStamps = []
    self.timestr = datetime.now().strftime("%Y%m%d-%H%M%S")
    self.fname = "C:/Users/P/Documents/tool-Trajectory-Entry-"+self.timestr+".csv"
    
    
  def SetAnatomy( self, role, node ):   
    if ( role == "Targets" ):
      self.targets = node  
      return True
      
    return False
     
         
  def AddTimestamp( self, time, matrix, point, role ):  
    currTargetPosition = [ 0, 0, 0 ]
    self.targets.GetNthFiducialPosition(0, currTargetPosition ) #Assume first fid point is the entry point
    currTargetPosition_RAS = [ currTargetPosition[ 0 ], currTargetPosition[ 1 ], currTargetPosition[ 2 ] ]
    
    # Find the needle tip in RAS
    needleTip_RAS = point[0:3]
    
    self.R_deviation.append(needleTip_RAS[0] - currTargetPosition[0])
    self.A_deviation.append(needleTip_RAS[1] - currTargetPosition[1])
    self.S_deviation.append(needleTip_RAS[2] - currTargetPosition[2])

    self.needleTipTargetDistance.append(math.sqrt( vtk.vtkMath.Distance2BetweenPoints( currTargetPosition_RAS, needleTip_RAS ) ))
    
    self.timeStamps.append(time)

    self.allErrors.append([self.timeStamps[-1], self.R_deviation[-1], self.A_deviation[-1], self.S_deviation[-1], self.needleTipTargetDistance[-1]])

    with open(self.fname, "a+") as myfile:
      myfile.write(self.GetMetric()+"\n")

  def GetMetric( self ):
    separator = ','
    return separator.join(map(str,self.allErrors[-1]))