An object of this class represents the MicronTracker device. You can add tools to this device, then open the connection and start tracking. The tracking device will then continuously update the tool coordinates. More...

#include <mitkClaronTrackingDevice.h>

Inheritance diagram for mitk::ClaronTrackingDevice:

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Collaboration diagram for mitk::ClaronTrackingDevice:

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Public Member Functions
	mitkClassMacro (ClaronTrackingDevice, TrackingDevice)

Pointer	Clone () const

virtual bool	IsDeviceInstalled () override

virtual bool	StartTracking () override
	Starts the tracking. More...

virtual bool	StopTracking () override
	Stops the tracking. More...

virtual bool	OpenConnection () override
	Opens the connection to the device. This have to be done before the tracking is started. More...

virtual bool	CloseConnection () override
	Closes the connection and clears all resources. More...

virtual unsigned int	GetToolCount () const override

TrackingTool *	GetTool (unsigned int toolNumber) const override

mitk::TrackingTool *	AddTool (const char toolName, const char fileName)
	Create a new Claron tool with toolName and fileName and add it to the list of tools. More...

bool	IsMicronTrackerInstalled ()

virtual void	SetCalibrationDir (std::string _arg)
	Sets the directory where the calibration file of the MicronTracker can be found. More...

virtual std::string	GetCalibrationDir ()
	Gets the current calibration directory. More...

Public Member Functions inherited from mitk::TrackingDevice
	mitkClassMacroItkParent (TrackingDevice, itk::Object)

virtual mitk::TrackingTool *	GetToolByName (std::string name) const
	Returns the tool with the given tool name. More...

virtual void	SetRotationMode (RotationMode r)

virtual RotationMode	GetRotationMode () const

TrackingDeviceState	GetState () const
	return current object state (Setup, Ready or Tracking) More...

TrackingDeviceType	GetType () const
	Deprecated! Use the more specific getDeviceData instead. return device type identifier. More...

void	SetType (TrackingDeviceType type)
	Deprecated! Use the more specific setDeviceData instead. set device type. More...

TrackingDeviceData	GetData () const
	return device data More...

void	SetData (TrackingDeviceData data)
	set device type More...

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	ClaronTrackingDevice ()

	~ClaronTrackingDevice ()

bool	InternalAddTool (ClaronTool::Pointer tool)
	Adds a tool to the tracking device. More...

void	TrackTools ()
	This method tracks tools as long as the variable m_Mode is set to "Tracking". Tracking tools means grabbing frames from the camera an updating the tools. More...

std::vector< ClaronTool::Pointer >	DetectTools ()
	Automatically detects tools in field of measurement of the tracking device. Tools can only be detected if their calibration file is availiable in the directory for calibration files. More...

std::vector< ClaronTool::Pointer >	GetAllTools ()

ClaronInterface *	GetDevice ()

Protected Member Functions inherited from mitk::TrackingDevice
void	SetState (TrackingDeviceState state)
	change object state More...

	TrackingDevice ()

virtual	~TrackingDevice ()

Static Protected Member Functions
static ITK_THREAD_RETURN_TYPE	ThreadStartTracking (void *data)

Protected Attributes
std::vector< ClaronTool::Pointer >	m_AllTools
	vector holding all tools More...

ClaronInterface::Pointer	m_Device
	represents the interface to the tracking hardware More...

itk::MultiThreader::Pointer	m_MultiThreader

int	m_ThreadID

std::string	m_CalibrationDir
	The directory where the camera calibration files can be found. More...

std::string	m_ToolfilesDir
	The directory where the tool calibration files can be found. More...

Protected Attributes inherited from mitk::TrackingDevice
TrackingDeviceData	m_Data
	current device Data More...

bool	m_StopTracking
	signal stop to tracking thread More...

itk::FastMutexLock::Pointer	m_StopTrackingMutex
	mutex to control access to m_StopTracking More...

itk::FastMutexLock::Pointer	m_TrackingFinishedMutex
	mutex to manage control flow of StopTracking() More...

itk::FastMutexLock::Pointer	m_StateMutex
	mutex to control access to m_State More...

RotationMode	m_RotationMode
	defines the rotation mode Standard or Transposed, Standard is default More...

Additional Inherited Members
Public Types inherited from mitk::TrackingDevice
enum	RotationMode { RotationStandard, RotationTransposed }

enum	TrackingDeviceState { Setup, Ready, Tracking }

Detailed Description

An object of this class represents the MicronTracker device. You can add tools to this device, then open the connection and start tracking. The tracking device will then continuously update the tool coordinates.

Documentation:

Definition at line 42 of file mitkClaronTrackingDevice.h.

Constructor & Destructor Documentation

mitk::ClaronTrackingDevice::ClaronTrackingDevice ( )

protected

Definition at line 30 of file mitkClaronTrackingDevice.cpp.

References mitk::MicronTrackerTypeInformation::GetDeviceDataMicronTrackerH40(), m_CalibrationDir, mitk::TrackingDevice::m_Data, m_Device, m_MultiThreader, m_ThreadID, m_ToolfilesDir, mitk::New(), and mitk::ClaronInterface::New().

mitk::ClaronTrackingDevice::~ClaronTrackingDevice ( )

protected

Definition at line 66 of file mitkClaronTrackingDevice.cpp.

Member Function Documentation

mitk::TrackingTool * mitk::ClaronTrackingDevice::AddTool	(	const char *	toolName,
		const char *	fileName
	)

Create a new Claron tool with toolName and fileName and add it to the list of tools.

This method will create a new ClaronTool object, load the tool definition file fileName, set the tool name toolName and then add it to the list of tools. It returns a pointer of type mitk::TrackingTool to the tool that can be used to read tracking data from it. This is the only way to add tools to ClaronTrackingDevice.

Warning: adding tools is not possible in tracking mode, only in setup and ready.

Definition at line 71 of file mitkClaronTrackingDevice.cpp.

References mitk::ClaronTool::New().

Pointer mitk::ClaronTrackingDevice::Clone ( ) const

bool mitk::ClaronTrackingDevice::CloseConnection ( )

overridevirtual

Closes the connection and clears all resources.

Implements mitk::TrackingDevice.

Definition at line 198 of file mitkClaronTrackingDevice.cpp.

References Setup().

std::vector< mitk::ClaronTool::Pointer > mitk::ClaronTrackingDevice::DetectTools ( )

protected

Automatically detects tools in field of measurement of the tracking device. Tools can only be detected if their calibration file is availiable in the directory for calibration files.

Returns: Returns all detected Tools.

Definition at line 92 of file mitkClaronTrackingDevice.cpp.

References mitk::ClaronTool::New().

std::vector< mitk::ClaronTool::Pointer > mitk::ClaronTrackingDevice::GetAllTools ( )

protected

Returns: Returns all tools of the tracking device.

Definition at line 220 of file mitkClaronTrackingDevice.cpp.

virtual std::string mitk::ClaronTrackingDevice::GetCalibrationDir ( )

virtual

Gets the current calibration directory.

mitk::ClaronInterface * mitk::ClaronTrackingDevice::GetDevice ( )

protected

Returns: Gives back the device which is represented by an object of the class ClaronInterface.

Definition at line 214 of file mitkClaronTrackingDevice.cpp.

mitk::TrackingTool * mitk::ClaronTrackingDevice::GetTool ( unsigned int toolNumber ) const

overridevirtual

Parameters

toolNumber The number of the tool which should be given back.

Returns: Returns the tool which the number "toolNumber". Returns NULL, if there is no tool with this number.

Implements mitk::TrackingDevice.

Definition at line 160 of file mitkClaronTrackingDevice.cpp.

unsigned int mitk::ClaronTrackingDevice::GetToolCount ( ) const

overridevirtual

Returns: Returns the number of tools which have been added to the device.

Implements mitk::TrackingDevice.

Definition at line 154 of file mitkClaronTrackingDevice.cpp.

bool mitk::ClaronTrackingDevice::InternalAddTool ( ClaronTool::Pointer tool )

protected

Adds a tool to the tracking device.

Parameters

tool	The tool which will be added.

Returns: Returns true if the tool has been added, false otherwise.

Definition at line 85 of file mitkClaronTrackingDevice.cpp.

bool mitk::ClaronTrackingDevice::IsDeviceInstalled ( )

overridevirtual

Returns: Returns true if the MicronTracker is installed on this build (means activated in CMAKE). False if not.

Reimplemented from mitk::TrackingDevice.

Definition at line 59 of file mitkClaronTrackingDevice.cpp.

References mitk::ClaronInterface::New().

bool mitk::ClaronTrackingDevice::IsMicronTrackerInstalled ( )

Returns: Returns whether the MicronTracker is installed (means whether the C-Make-Variable "MITK_USE_MICRON_TRACKER" is set), so returns false in this case.

Deprecated:: (as of 2014_03) This method is deprecated, please use the static method IsDeviceInstalled() instead.

Definition at line 309 of file mitkClaronTrackingDevice.cpp.

mitk::ClaronTrackingDevice::mitkClassMacro	(	ClaronTrackingDevice	,
		TrackingDevice
	)

static Pointer mitk::ClaronTrackingDevice::New ( )

static

Referenced by QmitkMicronTrackerWidget::ConstructTrackingDevice(), and QmitkMicronTrackerWidget::IsDeviceInstalled().

bool mitk::ClaronTrackingDevice::OpenConnection ( )

overridevirtual

Opens the connection to the device. This have to be done before the tracking is started.

Exceptions

mitk::IGTHardwareException Throws an exception if there is an error during open connection.

Implements mitk::TrackingDevice.

Definition at line 169 of file mitkClaronTrackingDevice.cpp.

References mitkThrowException, mitk::ClaronInterface::New(), and Setup().

virtual void mitk::ClaronTrackingDevice::SetCalibrationDir ( std::string _arg )

virtual

Sets the directory where the calibration file of the MicronTracker can be found.

bool mitk::ClaronTrackingDevice::StartTracking ( )

overridevirtual

Starts the tracking.

Returns: Returns true if the tracking is started. Throws an exception if an error occures.

Exceptions

mitk::IGTHardwareException Throws an exception if there is an error during start tracking.

Implements mitk::TrackingDevice.

Definition at line 108 of file mitkClaronTrackingDevice.cpp.

References mitk::IGTTimeStamp::GetInstance(), mitkThrowException, and mitk::IGTTimeStamp::Start().

bool mitk::ClaronTrackingDevice::StopTracking ( )

overridevirtual

Stops the tracking.

Returns: Returns true if the tracking is stopped.

Reimplemented from mitk::TrackingDevice.

Definition at line 145 of file mitkClaronTrackingDevice.cpp.

ITK_THREAD_RETURN_TYPE mitk::ClaronTrackingDevice::ThreadStartTracking ( void * data )

staticprotected

Definition at line 315 of file mitkClaronTrackingDevice.cpp.

References TrackTools().

void mitk::ClaronTrackingDevice::TrackTools ( )

protected

This method tracks tools as long as the variable m_Mode is set to "Tracking". Tracking tools means grabbing frames from the camera an updating the tools.

Exceptions

mitk::IGTHardwareException Throws an exception if there is an error during tracking of tools.

Definition at line 226 of file mitkClaronTrackingDevice.cpp.

References mitk::IGTTimeStamp::GetInstance(), and mitkThrowException.

Referenced by ThreadStartTracking().