An object of this class represents the a Tool tracked by Optitrack System. You can define the tool by the a definition file like in the example in ****. Remember that it will be necessary to to have a license for using the Optitrack System. See http://www.naturalpoint.com/ for details. More...

#include <mitkOptitrackTrackingTool.h>

Inheritance diagram for mitk::OptitrackTrackingTool:

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Collaboration diagram for mitk::OptitrackTrackingTool:

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Public Member Functions
	mitkClassMacro (mitk::OptitrackTrackingTool, mitk::InternalTrackingTool)

bool	SetToolByFileName (std::string nameFile)
	Define the tool by a calibration File. The file must to have the next structure. Makers locations must to have "%fe %fe %fe\n" format and in (mm). See http://www.cplusplus.com/reference/cstdio/fscanf/ ToolName #NumberOfMarkers X Y Z - for the first marker X Y Z - for the second marker ... X Y Z - for the last marker, the number #NumberOfMarkers X Y Z - for the PIVOT point. More...

int	get_IDnext ()
	Ask API the next number of defined tool. More...

bool	DeleteTrackable ()
	Delete the tool from the list of tools inside API Optitrack. More...

void	SetPosition (mitk::Point3D position, ScalarType eps=0.0)
	Set the position to a given one. More...

void	SetOrientation (mitk::Quaternion orientation, ScalarType eps=0.0)
	Set the orientation to a given one using a quaternion nomenclature. More...

void	GetPosition (mitk::Point3D &position) const override
	Get the position of the tool. More...

void	GetOrientation (mitk::Quaternion &orientation) const override
	Get the orientation of the tool using quaternion nomenclature. More...

bool	Enable () override
	Set the tool enabled for tracking. More...

bool	Disable () override
	Set the tool disabled for tracking. More...

bool	IsEnabled () const override
	Check if the tool is enabled (true) or not. More...

bool	IsDataValid () const override
	Check if the data of the tool is valid. More...

float	GetTrackingError () const override
	Get the expectated error in the tracked tool. More...

void	SetTrackingError (float FLEerror) override
	Set the FLE (Fiducial Localization Error) for the tool. More...

void	SetDataValid (bool _arg) override
	Set the valid flag for tracking data to true. More...

void	updateTool ()
	Update location and orientation of the tool. More...

	OptitrackTrackingTool ()
	Constructor of the class. More...

	~OptitrackTrackingTool ()
	Destructor of the class. More...

Public Member Functions inherited from mitk::InternalTrackingTool
	mitkClassMacro (InternalTrackingTool, TrackingTool)

virtual void	PrintSelf (std::ostream &os, itk::Indent indent) const override

virtual bool	IsTooltipSet () const
	returns true if a tooltip is set, false if not More...

virtual void	SetToolName (const std::string _arg)
	Sets the name of the tool. More...

virtual void	SetToolName (const char *_arg)
	Sets the name of the tool. More...

virtual void	SetPosition (Point3D position)
	sets the position More...

virtual void	SetOrientation (Quaternion orientation)
	sets the orientation as a quaternion More...

virtual void	SetErrorMessage (const char *_arg)
	sets the error message More...

virtual void	SetToolTip (Point3D toolTipPosition, Quaternion orientation=Quaternion(0, 0, 0, 1), ScalarType eps=0.0) override
	defines a tool tip for this tool in tool coordinates. GetPosition() and GetOrientation() return the data of the tool tip if it is defined. By default no tooltip is defined. More...

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

virtual const char *	GetToolName () const
	every tool has a name that can be used to identify it. More...

virtual const char *	GetErrorMessage () const
	if the data is not valid, ErrorMessage should contain a string explaining why it is invalid (the Set-method should be implemented in subclasses, it should not be accessible by the user) More...

virtual void	SetIGTTimeStamp (double _arg)

virtual double	GetIGTTimeStamp () const
	Sets the IGT timestamp of the tracking tool object (time in milliseconds) More...

Static Public Member Functions
static Pointer	New ()

Public Attributes
std::string	m_fileConfiguration
	File of the configuration for the tool. More...

int	m_ID
	ID number from Optitrack API. More...

float *	m_calibrationPoints
	List of Markers locations in calibration position and orientation. More...

float *	m_pivotPoint
	location of the pivot point during calibration More...

int	m_numMarkers
	Number of Markers that blong to the tool. More...

float	m_FLE
	Expected value of the fiducial localization error (rms) More...

Additional Inherited Members
Protected Member Functions inherited from mitk::InternalTrackingTool
Pointer	Clone () const

	InternalTrackingTool ()

virtual	~InternalTrackingTool ()

Protected Member Functions inherited from mitk::TrackingTool
	TrackingTool ()
	Gets the IGT timestamp of the tracking tool object (time in milliseconds). Returns 0 if the timestamp was not set. More...

virtual	~TrackingTool ()

Static Protected Member Functions inherited from mitk::InternalTrackingTool
static Pointer	New ()

Protected Attributes inherited from mitk::InternalTrackingTool
Point3D	m_Position
	holds the position of the tool More...

Quaternion	m_Orientation
	holds the orientation of the tool More...

float	m_TrackingError
	holds the tracking error of the tool More...

bool	m_Enabled
	if true, tool is enabled and should receive tracking updates from the tracking device More...

bool	m_DataValid
	if true, data in m_Position and m_Orientation is valid, e.g. true tracking data More...

Point3D	m_ToolTip

Quaternion	m_ToolTipRotation

bool	m_ToolTipSet

Protected Attributes inherited from mitk::TrackingTool
std::string	m_ToolName
	every tool has a name that can be used to identify it. More...

std::string	m_ErrorMessage
	if a tool is invalid, this member should contain a human readable explanation of why it is invalid More...

double	m_IGTTimeStamp
	contains the time at which the tracking data was recorded More...

itk::FastMutexLock::Pointer	m_MyMutex
	mutex to control concurrent access to the tool More...

Detailed Description

An object of this class represents the a Tool tracked by Optitrack System. You can define the tool by the a definition file like in the example in ****. Remember that it will be necessary to to have a license for using the Optitrack System. See http://www.naturalpoint.com/ for details.

Documentation:

Author: E. Marinetto (emari.nosp@m.nett.nosp@m.o@hgg.nosp@m.m.es) Instituto de Investigaci�n Sanitaria Gregorio Mara��n, Madrid, Spain. & M. Noll (matth.nosp@m.ias..nosp@m.noll@.nosp@m.igd..nosp@m.fraun.nosp@m.hofe.nosp@m.r.de) Cognitive Computing & Medical Imaging | Fraunhofer IGD

Definition at line 58 of file mitkOptitrackTrackingTool.h.

Constructor & Destructor Documentation

mitk::OptitrackTrackingTool::OptitrackTrackingTool ( )

Constructor of the class.

Definition at line 498 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

mitk::OptitrackTrackingTool::~OptitrackTrackingTool ( )

Destructor of the class.

Definition at line 508 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

Member Function Documentation

bool mitk::OptitrackTrackingTool::DeleteTrackable ( )

Delete the tool from the list of tools inside API Optitrack.

Returns: Returns true if the deletion was correct

Exceptions

mitk::IGTException Throws an exception if

Definition at line 534 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

bool mitk::OptitrackTrackingTool::Disable ( )

overridevirtual

Set the tool disabled for tracking.

Returns: Return true if the disabling was successfull

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::InternalTrackingTool.

Definition at line 584 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

bool mitk::OptitrackTrackingTool::Enable ( )

overridevirtual

Set the tool enabled for tracking.

Returns: Return true if the enabling was successfull

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::InternalTrackingTool.

Definition at line 575 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

int mitk::OptitrackTrackingTool::get_IDnext ( )

Ask API the next number of defined tool.

Returns: Returns the next ID (int) for a new tool in the device list for API

Exceptions

mitk::IGTException Throws an exception if get_IDnext failed

Definition at line 525 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

void mitk::OptitrackTrackingTool::GetOrientation ( mitk::Quaternion & orientation ) const

overridevirtual

Get the orientation of the tool using quaternion nomenclature.

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::InternalTrackingTool.

Definition at line 567 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

void mitk::OptitrackTrackingTool::GetPosition ( mitk::Point3D & position ) const

overridevirtual

Get the position of the tool.

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::InternalTrackingTool.

Definition at line 559 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

float mitk::OptitrackTrackingTool::GetTrackingError ( ) const

overridevirtual

Get the expectated error in the tracked tool.

Returns: Return the error location

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::InternalTrackingTool.

Definition at line 611 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

bool mitk::OptitrackTrackingTool::IsDataValid ( ) const

overridevirtual

Check if the data of the tool is valid.

Returns: Return true if location data is valid

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::InternalTrackingTool.

Definition at line 602 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

bool mitk::OptitrackTrackingTool::IsEnabled ( ) const

overridevirtual

Check if the tool is enabled (true) or not.

Returns: Return true if the tool is enabled for tracking

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::InternalTrackingTool.

Definition at line 593 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

mitk::OptitrackTrackingTool::mitkClassMacro	(	mitk::OptitrackTrackingTool	,
		mitk::InternalTrackingTool
	)

static Pointer mitk::OptitrackTrackingTool::New ( )

static

void mitk::OptitrackTrackingTool::SetDataValid ( bool _arg )

overridevirtual

Set the valid flag for tracking data to true.

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::InternalTrackingTool.

Definition at line 628 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

void mitk::OptitrackTrackingTool::SetOrientation	(	mitk::Quaternion	orientation,
		ScalarType	eps = `0.0`
	)

Set the orientation to a given one using a quaternion nomenclature.

Exceptions

mitk::IGTException Throws an exception if

Definition at line 551 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

void mitk::OptitrackTrackingTool::SetPosition	(	mitk::Point3D	position,
		ScalarType	eps = `0.0`
	)

Set the position to a given one.

Exceptions

mitk::IGTException Throws an exception if

Definition at line 543 of file mitkOptitrackTrackingTool.cpp.

References mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(), and MITK_WARN.

bool mitk::OptitrackTrackingTool::SetToolByFileName ( std::string nameFile )

Define the tool by a calibration File. The file must to have the next structure. Makers locations must to have "%fe %fe %fe\n" format and in (mm). See http://www.cplusplus.com/reference/cstdio/fscanf/ ToolName #NumberOfMarkers X Y Z - for the first marker X Y Z - for the second marker ... X Y Z - for the last marker, the number #NumberOfMarkers X Y Z - for the PIVOT point.