An object of this class represents the interface to Polhemus trackers. All variables with the name "tool" start with index 1, which is the station number of Polhemus. Make sure to call functions in this class with parameter "1" if you want to loop over all tools. If you need to access an array (e.g. m_Hemisphere), you need to use "_tool -1" and adapt your index for loops... More...

#include <mitkPolhemusInterface.h>

Inheritance diagram for mitk::PolhemusInterface:

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Collaboration diagram for mitk::PolhemusInterface:

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Classes
struct	trackingData

Public Member Functions
	mitkClassMacroItkParent (PolhemusInterface, itk::Object)

Pointer	Clone () const

bool	StartTracking ()
	Opens the connection to the device and makes it ready to track tools. More...

bool	StopTracking ()
	Clears all resources. After this method have been called the system isn't ready to track any longer. More...

bool	Connect ()

bool	Disconnect ()

unsigned int	GetNumberOfTools ()

void	SetHemisphereTrackingEnabled (bool _HemisphereTrackingEnabled, int _tool=-1)

void	ToggleHemisphere (int _tool=-1)

void	PrintStatus ()

void	SetHemisphere (int _tool, mitk::Vector3D _hemisphere)

mitk::Vector3D	GetHemisphere (int _tool)

std::vector< int >	GetToolPorts ()

bool	GetHemisphereTrackingEnabled (int _tool)

void	AdjustHemisphere (int _tool)

std::vector< trackingData >	GetSingleFrame ()

std::vector< trackingData >	AutoDetectTools ()

std::vector< trackingData >	GetLastFrame ()

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	PolhemusInterface ()
	standard constructor More...

	~PolhemusInterface ()
	standard destructor More...

std::vector< mitk::PolhemusInterface::trackingData >	ParsePolhemusRawData (PBYTE pBuf, DWORD dwSize)

bool	InitializeDevice ()

bool	SetupDevice ()

int	GetToolIndex (int _tool)

std::vector< trackingData >	GetFrame ()
	Convenient method to get a frame from the tracking device. More...

Protected Attributes
CPDIdev *	m_pdiDev

Detailed Description

An object of this class represents the interface to Polhemus trackers. All variables with the name "tool" start with index 1, which is the station number of Polhemus. Make sure to call functions in this class with parameter "1" if you want to loop over all tools. If you need to access an array (e.g. m_Hemisphere), you need to use "_tool -1" and adapt your index for loops...

Documentation:

Definition at line 42 of file mitkPolhemusInterface.h.

Constructor & Destructor Documentation

◆ PolhemusInterface()

mitk::PolhemusInterface::PolhemusInterface ( )

protected

standard constructor

Definition at line 18 of file mitkPolhemusInterface.cpp.

References m_pdiDev.

◆ ~PolhemusInterface()

mitk::PolhemusInterface::~PolhemusInterface ( )

protected

standard destructor

Definition at line 24 of file mitkPolhemusInterface.cpp.

References m_pdiDev.

Member Function Documentation

◆ AdjustHemisphere()

void mitk::PolhemusInterface::AdjustHemisphere ( int _tool )

Adjust the Hemisphere for this tool. User needs to make sure, that the tool is located in hemisphere (1|0|0) when calling this function. In contrast to SetHemisphere(1,0,0), this method restores the original HemisphereTracking settings at the end.

Definition at line 363 of file mitkPolhemusInterface.cpp.

References mitk::FillVector3D(), m_pdiDev, SetHemisphere(), and SetHemisphereTrackingEnabled().

◆ AutoDetectTools()

std::vector< mitk::PolhemusInterface::trackingData > mitk::PolhemusInterface::AutoDetectTools ( )

Returns: Returns a single frame with all tools, which could be auto detected.

Definition at line 192 of file mitkPolhemusInterface.cpp.

References GetSingleFrame(), and m_pdiDev.

◆ Clone()

Pointer mitk::PolhemusInterface::Clone ( ) const

◆ Connect()

bool mitk::PolhemusInterface::Connect ( )

Definition at line 120 of file mitkPolhemusInterface.cpp.

References mitk::FillVector3D(), GetFrame(), and GetNumberOfTools().

◆ Disconnect()

bool mitk::PolhemusInterface::Disconnect ( )

Definition at line 178 of file mitkPolhemusInterface.cpp.

References m_pdiDev, MITK_INFO, and StopTracking().

◆ GetFrame()

std::vector< mitk::PolhemusInterface::trackingData > mitk::PolhemusInterface::GetFrame ( )

protected

Convenient method to get a frame from the tracking device.

Returns: Returns a single OR the last frame depending on m_continuousTracking.

Warning: Don't use this function if you use different threads. You need to make sure, that you are still in the right mode!

Definition at line 206 of file mitkPolhemusInterface.cpp.

References GetLastFrame(), and GetSingleFrame().

Referenced by Connect(), GetNumberOfTools(), and SetHemisphereTrackingEnabled().

◆ GetHemisphere()

mitk::Vector3D mitk::PolhemusInterface::GetHemisphere ( int _tool )

Get the Hemisphere for _tool as mitk vector. -1 ("all tools") returns hemisphere of first tool. Index starts at "1" for the first tool (i.e. station number of Polhemus). Not 0!

Definition at line 410 of file mitkPolhemusInterface.cpp.

References GetToolIndex(), and MITK_WARN.

◆ GetHemisphereTrackingEnabled()

bool mitk::PolhemusInterface::GetHemisphereTrackingEnabled ( int _tool )

Is Hemisphere Tracking Enabled for this tool? if tool is -1, this means "All Tools". We return true if HemiTracking is enabled for all tools, and false if it is off for at least one tool.

Definition at line 420 of file mitkPolhemusInterface.cpp.

References GetToolIndex().

◆ GetLastFrame()

std::vector< mitk::PolhemusInterface::trackingData > mitk::PolhemusInterface::GetLastFrame ( )

Returns: Returns the last frame when the tracking device is in continous tracking mode. Returns an empty vector in case of an error.

Definition at line 214 of file mitkPolhemusInterface.cpp.

References m_pdiDev, MITK_WARN, and ParsePolhemusRawData().

Referenced by GetFrame(), and mitk::PolhemusTrackingDevice::TrackTools().

◆ GetNumberOfTools()

unsigned int mitk::PolhemusInterface::GetNumberOfTools ( )

Returns: Returns the number of tools. Returns 0 if no information is available.

Definition at line 200 of file mitkPolhemusInterface.cpp.

References GetFrame().

Referenced by Connect().

◆ GetSingleFrame()

std::vector< mitk::PolhemusInterface::trackingData > mitk::PolhemusInterface::GetSingleFrame ( )

Returns: Returns a single frame. Only works if the tracking device is not in continuous tracking mode. Returns an empty vector in case of an error.

Definition at line 232 of file mitkPolhemusInterface.cpp.

References m_pdiDev, MITK_WARN, and ParsePolhemusRawData().

Referenced by AutoDetectTools(), and GetFrame().

◆ GetToolIndex()

int mitk::PolhemusInterface::GetToolIndex ( int _tool )

protected

Definition at line 439 of file mitkPolhemusInterface.cpp.

Referenced by GetHemisphere(), GetHemisphereTrackingEnabled(), and SetHemisphereTrackingEnabled().

◆ GetToolPorts()

std::vector< int > mitk::PolhemusInterface::GetToolPorts ( )

Get the ports on which tools are connected. Returns empty vector if device is not connected!

Definition at line 434 of file mitkPolhemusInterface.cpp.

◆ InitializeDevice()

bool mitk::PolhemusInterface::InitializeDevice ( )

protected

Definition at line 29 of file mitkPolhemusInterface.cpp.

References m_pdiDev.

Referenced by StopTracking().

◆ mitkClassMacroItkParent()

mitk::PolhemusInterface::mitkClassMacroItkParent	(	PolhemusInterface	,
		itk::Object
	)

◆ New()

static Pointer mitk::PolhemusInterface::New ( )

static

Referenced by mitk::PolhemusTrackingDevice::OpenConnection(), and mitk::PolhemusTrackingDevice::PolhemusTrackingDevice().

◆ ParsePolhemusRawData()

std::vector< mitk::PolhemusInterface::trackingData > mitk::PolhemusInterface::ParsePolhemusRawData	(	PBYTE	pBuf,
		DWORD	dwSize
	)

protected

Parses polhemus raw data to a collection of tracking data of single tools.

Definition at line 251 of file mitkPolhemusInterface.cpp.

References mitk::PolhemusInterface::trackingData::distortionLevel, mitk::PolhemusInterface::trackingData::id, mitk::PolhemusInterface::trackingData::pos, and mitk::PolhemusInterface::trackingData::rot.

Referenced by GetLastFrame(), and GetSingleFrame().

◆ PrintStatus()

void mitk::PolhemusInterface::PrintStatus ( )

Convenient method to print the status of the tracking device (true/false) if connection is established. For debugging...

Definition at line 462 of file mitkPolhemusInterface.cpp.

References m_pdiDev, and MITK_INFO.

◆ SetHemisphere()

void mitk::PolhemusInterface::SetHemisphere	(	int	_tool,
		mitk::Vector3D	_hemisphere
	)

Sets the Hemisphere of tool _tool to the vector _hemisphere. "-1" sets all tools. Index starts at "1" for the first tool (i.e. station number of Polhemus). Not 0!

Definition at line 387 of file mitkPolhemusInterface.cpp.

References m_pdiDev.

Referenced by AdjustHemisphere(), SetHemisphereTrackingEnabled(), and ToggleHemisphere().

◆ SetHemisphereTrackingEnabled()

void mitk::PolhemusInterface::SetHemisphereTrackingEnabled	(	bool	_HemisphereTrackingEnabled,
		int	_tool = `-1`
	)

Enables/disables hemisphere tracking for all stations/tools.

Definition at line 290 of file mitkPolhemusInterface.cpp.

References GetFrame(), GetToolIndex(), m_pdiDev, MITK_ERROR, and SetHemisphere().

Referenced by AdjustHemisphere(), and ToggleHemisphere().

◆ SetupDevice()

bool mitk::PolhemusInterface::SetupDevice ( )

protected

Definition at line 38 of file mitkPolhemusInterface.cpp.

References m_pdiDev, and MotionBuf.

Referenced by StopTracking().

◆ StartTracking()

bool mitk::PolhemusInterface::StartTracking ( )

Opens the connection to the device and makes it ready to track tools.

Returns: Returns true if there is a connection to the device and the device is ready to track tools, false if not.

Definition at line 61 of file mitkPolhemusInterface.cpp.

References m_pdiDev.

◆ StopTracking()

bool mitk::PolhemusInterface::StopTracking ( )

Clears all resources. After this method have been called the system isn't ready to track any longer.

Returns: Returns true if the operation was succesful, false if not.

Definition at line 67 of file mitkPolhemusInterface.cpp.

References InitializeDevice(), m_pdiDev, MITK_INFO, and SetupDevice().

Referenced by Disconnect().

◆ ToggleHemisphere()

void mitk::PolhemusInterface::ToggleHemisphere ( int _tool = -1 )

Toggles the current hemisphere. Parameter _tool describes, for which tool the hemisphere should change. Default -1 toggles all tools. Index starts at "1" for the first tool (i.e. station number of Polhemus). Not 0!

Definition at line 341 of file mitkPolhemusInterface.cpp.

References m_pdiDev, SetHemisphere(), and SetHemisphereTrackingEnabled().

Member Data Documentation

◆ m_pdiDev

CPDIdev* mitk::PolhemusInterface::m_pdiDev

protected

Polhemus liberty/patriot tracker object

Definition at line 130 of file mitkPolhemusInterface.h.

Referenced by AdjustHemisphere(), AutoDetectTools(), Disconnect(), GetLastFrame(), GetSingleFrame(), InitializeDevice(), PolhemusInterface(), PrintStatus(), SetHemisphere(), SetHemisphereTrackingEnabled(), SetupDevice(), StartTracking(), StopTracking(), ToggleHemisphere(), and ~PolhemusInterface().

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

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PolhemusInterface()

◆ ~PolhemusInterface()

Member Function Documentation

◆ AdjustHemisphere()

◆ AutoDetectTools()

◆ Clone()

◆ Connect()

◆ Disconnect()

◆ GetFrame()

◆ GetHemisphere()

◆ GetHemisphereTrackingEnabled()

◆ GetLastFrame()

◆ GetNumberOfTools()

◆ GetSingleFrame()

◆ GetToolIndex()

◆ GetToolPorts()

◆ InitializeDevice()

◆ mitkClassMacroItkParent()

◆ New()

◆ ParsePolhemusRawData()

◆ PrintStatus()

◆ SetHemisphere()

◆ SetHemisphereTrackingEnabled()

◆ SetupDevice()

◆ StartTracking()

◆ StopTracking()

◆ ToggleHemisphere()

Member Data Documentation

◆ m_pdiDev