An object of this class represents Polhemus tracking 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. The tools which are used by Polhemus need to be connected to the correct port. The port of the tool is stored as m_ToolPort in PolhemusTool AND as identifier in the NavigationTool (ToolStorage). More...

#include <mitkPolhemusTrackingDevice.h>

Inheritance diagram for mitk::PolhemusTrackingDevice:

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Collaboration diagram for mitk::PolhemusTrackingDevice:

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Public Member Functions
	mitkClassMacro (PolhemusTrackingDevice, TrackingDevice)

Pointer	Clone () const

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, int toolPort)
	Create a new Polhemus tool with toolName and add it to the list of tools. More...

bool	IsDeviceInstalled ()

virtual bool	AutoDetectToolsAvailable ()

virtual mitk::NavigationToolStorage::Pointer	AutoDetectTools ()

void	SetHemisphereTrackingEnabled (bool _HemisphereTrackingEnabled)

bool	GetHemisphereTrackingEnabled (int _tool)

void	ToggleHemisphere (int _tool=-1)

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

mitk::Vector3D	GetHemisphere (int _tool)

void	AdjustHemisphere (int _tool)

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 getData or GetTrackingDeviceName instead. return device type identifier. More...

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

std::string	GetTrackingDeviceName ()
	Convenient Method to get the Name of the Tracking Device. This is identical with GetData().Line and can be used to compare with TrackingDeviceTypeInformation::GetTrackingDeviceName() to check if you have a specific device. More...

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

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

virtual bool	AddSingleToolIsAvailable ()

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	PolhemusTrackingDevice ()

	~PolhemusTrackingDevice ()

bool	InternalAddTool (PolhemusTool::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< PolhemusTool::Pointer >	GetAllTools ()

PolhemusInterface *	GetDevice ()

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

	TrackingDevice ()

	~TrackingDevice () override

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

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

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

itk::MultiThreader::Pointer	m_MultiThreader

int	m_ThreadID

bool	m_HemisphereTrackingEnabled

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 Polhemus tracking 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. The tools which are used by Polhemus need to be connected to the correct port. The port of the tool is stored as m_ToolPort in PolhemusTool AND as identifier in the NavigationTool (ToolStorage).

Documentation:

Definition at line 33 of file mitkPolhemusTrackingDevice.h.

Constructor & Destructor Documentation

◆ PolhemusTrackingDevice()

mitk::PolhemusTrackingDevice::PolhemusTrackingDevice ( )

protected

Definition at line 25 of file mitkPolhemusTrackingDevice.cpp.

References mitk::PolhemusTrackerTypeInformation::GetDeviceDataPolhemusTrackerLiberty(), mitk::TrackingDevice::m_Data, m_Device, m_MultiThreader, m_ThreadID, and mitk::PolhemusInterface::New().

◆ ~PolhemusTrackingDevice()

mitk::PolhemusTrackingDevice::~PolhemusTrackingDevice ( )

protected

Definition at line 36 of file mitkPolhemusTrackingDevice.cpp.

Member Function Documentation

◆ AddTool()

mitk::TrackingTool * mitk::PolhemusTrackingDevice::AddTool	(	const char *	toolName,
		int	toolPort
	)

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

This method will create a new PolhemusTool object, 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 PolhemusTrackingDevice.

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

Definition at line 45 of file mitkPolhemusTrackingDevice.cpp.

References InternalAddTool(), m_AllTools, MITK_DEBUG, and mitk::PolhemusTool::New().

◆ AdjustHemisphere()

void mitk::PolhemusTrackingDevice::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 322 of file mitkPolhemusTrackingDevice.cpp.

References m_Device.

◆ AutoDetectTools()

mitk::NavigationToolStorage::Pointer mitk::PolhemusTrackingDevice::AutoDetectTools ( )

virtual

Autodetects tools from this device and returns them as a navigation tool storage.

Returns: Returns the detected tools. Returns an empty storage if no tools are present or if detection is not possible

Reimplemented from mitk::TrackingDevice.

Definition at line 262 of file mitkPolhemusTrackingDevice.cpp.

References mitk::PolhemusTrackerTypeInformation::GetDeviceDataPolhemusTrackerLiberty(), mitk::PolhemusInterface::trackingData::id, m_Device, MITK_INFO, mitk::NavigationTool::New(), and mitk::NavigationToolStorage::New().

◆ AutoDetectToolsAvailable()

bool mitk::PolhemusTrackingDevice::AutoDetectToolsAvailable ( )

virtual

Returns: Returns true if this device can autodetects its tools.

Reimplemented from mitk::TrackingDevice.

Definition at line 257 of file mitkPolhemusTrackingDevice.cpp.

◆ Clone()

Pointer mitk::PolhemusTrackingDevice::Clone ( ) const

◆ CloseConnection()

bool mitk::PolhemusTrackingDevice::CloseConnection ( )

overridevirtual

Closes the connection and clears all resources.

Implements mitk::TrackingDevice.

Definition at line 157 of file mitkPolhemusTrackingDevice.cpp.

References mitk::TrackingDevice::GetState(), m_Device, mitk::TrackingDevice::SetState(), and mitk::TrackingDevice::Setup.

Referenced by OpenConnection().

◆ GetAllTools()

std::vector< mitk::PolhemusTool::Pointer > mitk::PolhemusTrackingDevice::GetAllTools ( )

protected

Returns: Returns all tools of the tracking device.

Definition at line 174 of file mitkPolhemusTrackingDevice.cpp.

References m_AllTools.

Referenced by TrackTools().

◆ GetDevice()

mitk::PolhemusInterface * mitk::PolhemusTrackingDevice::GetDevice ( )

protected

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

Definition at line 169 of file mitkPolhemusTrackingDevice.cpp.

References m_Device.

Referenced by TrackTools().

◆ GetHemisphere()

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

Get the Hemisphere for _tool as mitk vector

Definition at line 312 of file mitkPolhemusTrackingDevice.cpp.

References m_Device.

◆ GetHemisphereTrackingEnabled()

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

Is Hemisphere Tracking Enabled for this tool?

Definition at line 317 of file mitkPolhemusTrackingDevice.cpp.

References m_Device.

◆ GetTool()

mitk::TrackingTool * mitk::PolhemusTrackingDevice::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 103 of file mitkPolhemusTrackingDevice.cpp.

References GetToolCount(), and m_AllTools.

◆ GetToolCount()

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

overridevirtual

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

Implements mitk::TrackingDevice.

Definition at line 98 of file mitkPolhemusTrackingDevice.cpp.

References m_AllTools.

Referenced by GetTool(), and OpenConnection().

◆ InternalAddTool()

bool mitk::PolhemusTrackingDevice::InternalAddTool ( PolhemusTool::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 65 of file mitkPolhemusTrackingDevice.cpp.

References m_AllTools.

Referenced by AddTool().

◆ IsDeviceInstalled()

bool mitk::PolhemusTrackingDevice::IsDeviceInstalled ( )

virtual

Returns: Returns true if the device is installed on this system an can be used. Installed means activated in MITK, in some cases this means the MITK installation / build has to know the installation path of the device libraries on this system. This path is usually given as cmake variable during the build configuration in devellopers mode. If the device should be available for end users with an installer the libraries can be included into the installer or the installer has to be adapted such that it asks for the path. Returns fals if the device is not installed. It cannot be used on this build in this case.

Note that some tracking systems communicate via a standard interface (e.g., serial port) and don't need any library or installation. These devices are always "installed".

Reimplemented from mitk::TrackingDevice.

Definition at line 40 of file mitkPolhemusTrackingDevice.cpp.

◆ mitkClassMacro()

mitk::PolhemusTrackingDevice::mitkClassMacro	(	PolhemusTrackingDevice	,
		TrackingDevice
	)

◆ New()

static Pointer mitk::PolhemusTrackingDevice::New ( )

static

Referenced by QmitkPolhemusTrackerWidget::GetTrackingDevice().

◆ OpenConnection()

bool mitk::PolhemusTrackingDevice::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 111 of file mitkPolhemusTrackingDevice.cpp.

References CloseConnection(), GetToolCount(), m_AllTools, m_Device, m_HemisphereTrackingEnabled, MITK_ERROR, mitk::PolhemusInterface::New(), mitk::TrackingDevice::Ready, and mitk::TrackingDevice::SetState().

◆ SetHemisphere()

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

Sets the Hemisphere of tool _tool to the vector _hemisphere

Definition at line 302 of file mitkPolhemusTrackingDevice.cpp.

References m_Device, and m_HemisphereTrackingEnabled.

◆ SetHemisphereTrackingEnabled()

void mitk::PolhemusTrackingDevice::SetHemisphereTrackingEnabled ( bool _HemisphereTrackingEnabled )

Enables/disables hemisphere tracking for all sensors.

Definition at line 286 of file mitkPolhemusTrackingDevice.cpp.

References m_Device, and m_HemisphereTrackingEnabled.

◆ StartTracking()

bool mitk::PolhemusTrackingDevice::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 71 of file mitkPolhemusTrackingDevice.cpp.

References mitk::IGTTimeStamp::GetInstance(), m_Device, m_MultiThreader, mitk::TrackingDevice::m_StopTracking, mitk::TrackingDevice::m_StopTrackingMutex, m_ThreadID, mitkThrowException, mitk::TrackingDevice::Ready, mitk::TrackingDevice::SetState(), mitk::IGTTimeStamp::Start(), ThreadStartTracking(), and mitk::TrackingDevice::Tracking.

◆ StopTracking()

bool mitk::PolhemusTrackingDevice::StopTracking ( )

overridevirtual

Stops the tracking.

Returns: Returns true if the tracking is stopped.

Reimplemented from mitk::TrackingDevice.

Definition at line 92 of file mitkPolhemusTrackingDevice.cpp.

References m_Device.

Referenced by TrackTools().

◆ ThreadStartTracking()

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

staticprotected

Definition at line 237 of file mitkPolhemusTrackingDevice.cpp.

References TrackTools().

Referenced by StartTracking().

◆ ToggleHemisphere()

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

Toggles the current hemisphere. Parameter _tool describes, for which tool the hemisphere should change. Default -1 toggles all tools.

Definition at line 297 of file mitkPolhemusTrackingDevice.cpp.

References m_Device.

◆ TrackTools()

void mitk::PolhemusTrackingDevice::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 179 of file mitkPolhemusTrackingDevice.cpp.

References GetAllTools(), GetDevice(), mitk::IGTTimeStamp::GetInstance(), mitk::PolhemusInterface::GetLastFrame(), mitk::TrackingDevice::GetState(), m_AllTools, mitk::TrackingDevice::m_StopTracking, mitk::TrackingDevice::m_StopTrackingMutex, mitk::TrackingDevice::m_TrackingFinishedMutex, MITK_WARN, mitkThrowException, StopTracking(), and mitk::TrackingDevice::Tracking.