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 https://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::TrackingTool)

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)

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

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 () override
	Destructor of the class. More...

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

Pointer	Clone () const

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

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

Point3D	GetToolTipPosition () const
	returns the tool tip in tool coordinates, which where set by SetToolTip More...

Quaternion	GetToolAxisOrientation () const
	returns the transformation of the tool axis with respect to the MITK-IGT main tool axis (0,0,-1) More...

virtual void	SetToolTipPosition (Point3D toolTipPosition, Quaternion orientation, ScalarType eps=0.0)
	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...

virtual bool	IsToolTipSet () const
	returns true if a tool tip is set, false if not More...

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

virtual void	SetOrientation (Quaternion orientation)
	sets the orientation as a quaternion 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	SetErrorMessage (const char *_arg)
	sets the error message More...

virtual void	SetIGTTimeStamp (double _arg)
	Sets the IGT timestamp of the tracking tool object (time in milliseconds) More...

virtual double	GetIGTTimeStamp () const
	Gets the IGT timestamp of the tracking tool object (time in milliseconds). Returns 0 if the timestamp was not set. More...

Static Public Member Functions
static Pointer	New ()

Static Public Member Functions inherited from mitk::TrackingTool
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::TrackingTool
	TrackingTool ()

	~TrackingTool () override

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...

std::mutex	m_MyMutex
	mutex to control concurrent access to the tool More...

Point3D	m_Position
	holds the position of the tool in global tracking coordinates More...

Quaternion	m_Orientation
	holds the orientation of the tool´in global tracking coordinates 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_ToolTipPosition
	holds the position of the tool tip in the coordinate system of the tracking sensor More...

Quaternion	m_ToolAxisOrientation
	holds the rotation of the sensor coordinate system such that the z-axis coincides with the main tool axis e.g. obtained by a tool calibration More...

bool	m_ToolTipSet

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 https://www.naturalpoint.com/ for details.

Documentation:

Author: E. Marinetto (emari.nosp@m.nett.nosp@m.o@hgg.nosp@m.m.es) Instituto de Investigación Sanitaria Gregorio Marañón, 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 50 of file mitkOptitrackTrackingTool.h.

Constructor & Destructor Documentation

◆ OptitrackTrackingTool()

mitk::OptitrackTrackingTool::OptitrackTrackingTool ( )

Constructor of the class.

◆ ~OptitrackTrackingTool()

mitk::OptitrackTrackingTool::~OptitrackTrackingTool ( )

override

Destructor of the class.

Member Function Documentation

◆ DeleteTrackable()

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

◆ Disable()

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::TrackingTool.

◆ Enable()

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::TrackingTool.

◆ get_IDnext()

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

◆ GetOrientation()

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::TrackingTool.

◆ GetPosition()

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::TrackingTool.

◆ GetTrackingError()

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::TrackingTool.

◆ IsDataValid()

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::TrackingTool.

◆ IsEnabled()

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::TrackingTool.

◆ mitkClassMacro()

mitk::OptitrackTrackingTool::mitkClassMacro	(	mitk::OptitrackTrackingTool	,
		mitk::TrackingTool
	)

◆ New()

static Pointer mitk::OptitrackTrackingTool::New ( )

static

◆ SetDataValid()

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::TrackingTool.

◆ SetOrientation()

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

◆ SetPosition()

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

◆ SetToolByFileName()

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.

Returns: Returns true if the tool was set correctly

Exceptions

mitk::IGTException Throws an exception if there exist any problem during the configuration file reading.

◆ SetTrackingError()

void mitk::OptitrackTrackingTool::SetTrackingError ( float FLEerror )

overridevirtual

Set the FLE (Fiducial Localization Error) for the tool.

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::TrackingTool.

◆ updateTool()

void mitk::OptitrackTrackingTool::updateTool ( )

Update location and orientation of the tool.

Exceptions

mitk::IGTException Throws an exception if

Member Data Documentation

◆ m_calibrationPoints

float* mitk::OptitrackTrackingTool::m_calibrationPoints

List of Markers locations in calibration position and orientation.

Definition at line 190 of file mitkOptitrackTrackingTool.h.

◆ m_fileConfiguration

std::string mitk::OptitrackTrackingTool::m_fileConfiguration

File of the configuration for the tool.

Definition at line 180 of file mitkOptitrackTrackingTool.h.

◆ m_FLE

float mitk::OptitrackTrackingTool::m_FLE

Expected value of the fiducial localization error (rms)

Definition at line 205 of file mitkOptitrackTrackingTool.h.

◆ m_ID

int mitk::OptitrackTrackingTool::m_ID

ID number from Optitrack API.

Definition at line 185 of file mitkOptitrackTrackingTool.h.

◆ m_numMarkers

int mitk::OptitrackTrackingTool::m_numMarkers

Number of Markers that blong to the tool.

Definition at line 200 of file mitkOptitrackTrackingTool.h.

◆ m_pivotPoint

float* mitk::OptitrackTrackingTool::m_pivotPoint

location of the pivot point during calibration

Definition at line 195 of file mitkOptitrackTrackingTool.h.

The documentation for this class was generated from the following file:

mitkOptitrackTrackingTool.h

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OptitrackTrackingTool()

◆ ~OptitrackTrackingTool()

Member Function Documentation

◆ DeleteTrackable()

◆ Disable()

◆ Enable()

◆ get_IDnext()

◆ GetOrientation()

◆ GetPosition()

◆ GetTrackingError()

◆ IsDataValid()

◆ IsEnabled()

◆ mitkClassMacro()

◆ New()

◆ SetDataValid()

◆ SetOrientation()

◆ SetPosition()

◆ SetToolByFileName()

◆ SetTrackingError()

◆ updateTool()

Member Data Documentation

◆ m_calibrationPoints

◆ m_fileConfiguration

◆ m_FLE

◆ m_ID

◆ m_numMarkers

◆ m_pivotPoint