Connects a mitk::TrackingDevice to a MITK-IGT NavigationData-Filterpipeline. More...

#include <mitkTrackingDeviceSource.h>

Inheritance diagram for mitk::TrackingDeviceSource:

Collaboration diagram for mitk::TrackingDeviceSource:

Public Member Functions
	mitkClassMacro (TrackingDeviceSource, NavigationDataSource)

Pointer	Clone () const

virtual void	SetTrackingDevice (mitk::TrackingDevice *td)
	sets the tracking device that will be used as a source for tracking data More...

virtual const mitk::TrackingDevice *	GetTrackingDevice ()
	returns the tracking device that is used by this filter More...

void	Connect ()
	Establishes a connection to the tracking device. If there is already a connection the method does nothing. More...

void	Disconnect ()
	Closes the connection to the tracking device. More...

void	StartTracking ()
	starts tracking. This needs to be called before Update() or GetOutput()->Update(). If the device is already tracking the method does nothing. More...

void	StopTracking ()
	stops tracking. More...

virtual bool	IsConnected ()
	returns true if a connection to the tracking device is established More...

virtual bool	IsTracking ()
	returns true if tracking is in progress More...

void	UpdateOutputInformation () override
	Used for pipeline update. More...

Public Member Functions inherited from mitk::NavigationDataSource
	mitkClassMacroItkParent (NavigationDataSource, itk::ProcessObject)

virtual std::string	GetName ()

virtual void	SetName (std::string _arg)
	Sets the human readable name of this source. There is also a default name, but you can use this method if you need to define it on your own. More...

NavigationData *	GetOutput (void)
	return the output (output with id 0) of the filter More...

NavigationData *	GetOutput (DataObjectPointerArraySizeType idx)
	return the output with id idx of the filter More...

NavigationData *	GetOutput (const std::string &navDataName)
	return the output with name navDataName of the filter More...

NavigationTool::Pointer	GetToolMetaData (DataObjectPointerArraySizeType idx)

NavigationTool::Pointer	GetToolMetaData (const std::string &navDataName)

virtual mitk::NavigationToolStorage::Pointer	GetToolMetaDataCollection ()

virtual void	SetToolMetaDataCollection (mitk::NavigationToolStorage::Pointer _arg)

DataObjectPointerArraySizeType	GetOutputIndex (std::string navDataName)
	return the index of the output with name navDataName, -1 if no output with that name was found More...

virtual void	RegisterAsMicroservice ()
	Registers this object as a Microservice, making it available to every module and/or plugin. To unregister, call UnregisterMicroservice(). More...

virtual void	UnRegisterMicroservice ()
	Registers this object as a Microservice, making it available to every module and/or plugin. More...

std::string	GetMicroserviceID ()
	Returns the id that this device is registered with. The id will only be valid, if the NavigationDataSource has been registered using RegisterAsMicroservice(). More...

virtual void	GraftNthOutput (unsigned int idx, itk::DataObject *graft)
	Graft the specified DataObject onto this ProcessObject's output. More...

virtual void	GraftOutput (itk::DataObject *graft)
	Graft the specified DataObject onto this ProcessObject's output. More...

itk::DataObject::Pointer	MakeOutput (DataObjectPointerArraySizeType idx) override

itk::DataObject::Pointer	MakeOutput (const DataObjectIdentifierType &name) override

virtual void	SetParameters (const mitk::PropertyList *)
	Set all filter parameters as the PropertyList p. More...

virtual mitk::PropertyList::ConstPointer	GetParameters () const
	Get all filter parameters as a PropertyList. More...

virtual void	Freeze ()

virtual void	UnFreeze ()

virtual bool	GetIsFrozen ()

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	TrackingDeviceSource ()

	~TrackingDeviceSource () override

void	GenerateData () override
	filter execute method More...

void	CreateOutputs ()
	Create the necessary outputs for the TrackingTool objects in m_TrackingDevice. More...

Protected Member Functions inherited from mitk::NavigationDataSource
	NavigationDataSource ()

	~NavigationDataSource () override

Protected Attributes
mitk::TrackingDevice::Pointer	m_TrackingDevice
	the tracking device that is used as a source for this filter object More...

Protected Attributes inherited from mitk::NavigationDataSource
std::string	m_Name

bool	m_IsFrozen

NavigationToolStorage::Pointer	m_ToolMetaDataCollection

Additional Inherited Members
Static Public Attributes inherited from mitk::NavigationDataSource
static const std::string	US_INTERFACE_NAME
	These Constants are used in conjunction with Microservices. More...

static const std::string	US_PROPKEY_DEVICENAME

static const std::string	US_PROPKEY_ID

static const std::string	US_PROPKEY_ISACTIVE

Detailed Description

Connects a mitk::TrackingDevice to a MITK-IGT NavigationData-Filterpipeline.

Documentation This class is the source of most navigation pipelines. It encapsulates a mitk::TrackingDevice and provides the position and orientation of the connected mitk::TrackingTool objects as NavigationData objects. Note, that the number of outputs of TrackingDeviceSource is equal to the number of tools connected to the TrackingDevice at the time SetTrackingDevice() is called. If tools are added to the TrackingDevice later, there will not be additional outputs in TrackingDeviceSource. You have to call SetTrackingDevice() again to add the new tools as additional outputs of the filter. Otherwise TrackingDeviceSource will raise an std::out_of_range exception when the filter pipeline is executed. the tool number corresponds with the output number, e.g. trackingDevice-GetTool(0) is the tool that will produce trackingDeviceSourceFilter->GetOutput().

Warning: If a tool is removed from the tracking device, there will be a mismatch between the outputs and the tool number!

Definition at line 38 of file mitkTrackingDeviceSource.h.

Constructor & Destructor Documentation

◆ TrackingDeviceSource()

mitk::TrackingDeviceSource::TrackingDeviceSource ( )

protected

Definition at line 22 of file mitkTrackingDeviceSource.cpp.

◆ ~TrackingDeviceSource()

mitk::TrackingDeviceSource::~TrackingDeviceSource ( )

overrideprotected

Definition at line 27 of file mitkTrackingDeviceSource.cpp.

References Disconnect(), m_TrackingDevice, mitk::TrackingDevice::Ready, StopTracking(), and mitk::TrackingDevice::Tracking.

Member Function Documentation

◆ Clone()

Pointer mitk::TrackingDeviceSource::Clone ( ) const

◆ Connect()

void mitk::TrackingDeviceSource::Connect ( )

Establishes a connection to the tracking device. If there is already a connection the method does nothing.

Warning: . Will throw a std::invalid_argument exception if no tracking device was set with SetTrackingDevice(). Will throw a std::runtime_error if the tracking device returns an error.

Definition at line 136 of file mitkTrackingDeviceSource.cpp.

References IsConnected(), m_TrackingDevice, and mitkThrowException.

◆ CreateOutputs()

void mitk::TrackingDeviceSource::CreateOutputs ( )

protected

Create the necessary outputs for the TrackingTool objects in m_TrackingDevice.

This Method is called internally whenever outputs need to be reset. Old Outputs are deleted when called.

Definition at line 107 of file mitkTrackingDeviceSource.cpp.

References mitk::NavigationDataSource::GetOutput(), m_TrackingDevice, mitk::NavigationDataSource::MakeOutput(), MITK_DEBUG, and mitk::NavigationDataSource::SetName().

Referenced by SetTrackingDevice(), and UpdateOutputInformation().

◆ Disconnect()

void mitk::TrackingDeviceSource::Disconnect ( )

Closes the connection to the tracking device.

Warning: . Will throw a std::invalid_argument exception if no tracking device was set with SetTrackingDevice(). Will throw a std::runtime_error if the tracking device returns an error.

Definition at line 166 of file mitkTrackingDeviceSource.cpp.

References m_TrackingDevice.

Referenced by ~TrackingDeviceSource().

◆ GenerateData()

void mitk::TrackingDeviceSource::GenerateData ( )

overrideprotected

filter execute method

queries the tracking device for new position and orientation data for all tools and updates its output NavigationData objects with it.

Warning: Will raise a std::out_of_range exception, if tools were added to the tracking device after it was set as input for this filter

Definition at line 43 of file mitkTrackingDeviceSource.cpp.

References mitk::IGTTimeStamp::GetElapsed(), mitk::TrackingTool::GetIGTTimeStamp(), mitk::NavigationData::GetIGTTimeStamp(), mitk::IGTTimeStamp::GetInstance(), mitk::TrackingTool::GetOrientation(), mitk::NavigationDataSource::GetOutput(), mitk::TrackingTool::GetPosition(), mitk::TrackingTool::GetTrackingError(), mitk::TrackingTool::IsDataValid(), mitk::TrackingTool::IsEnabled(), mitk::NavigationDataSource::m_IsFrozen, m_TrackingDevice, mitk::NavigationData::SetDataValid(), mitk::NavigationData::SetIGTTimeStamp(), mitk::NavigationData::SetOrientation(), mitk::NavigationData::SetOrientationAccuracy(), mitk::NavigationData::SetPosition(), and mitk::NavigationData::SetPositionAccuracy().

◆ GetTrackingDevice()

virtual const mitk::TrackingDevice* mitk::TrackingDeviceSource::GetTrackingDevice ( )

virtual

returns the tracking device that is used by this filter

Referenced by UpdateOutputInformation().

◆ IsConnected()

bool mitk::TrackingDeviceSource::IsConnected ( )

virtual

returns true if a connection to the tracking device is established

Definition at line 198 of file mitkTrackingDeviceSource.cpp.

References m_TrackingDevice, mitk::TrackingDevice::Ready, and mitk::TrackingDevice::Tracking.

Referenced by Connect().

◆ IsTracking()

bool mitk::TrackingDeviceSource::IsTracking ( )

virtual

returns true if tracking is in progress

Definition at line 206 of file mitkTrackingDeviceSource.cpp.

References m_TrackingDevice, and mitk::TrackingDevice::Tracking.

◆ mitkClassMacro()

mitk::TrackingDeviceSource::mitkClassMacro	(	TrackingDeviceSource	,
		NavigationDataSource
	)

◆ New()

static Pointer mitk::TrackingDeviceSource::New ( )

static

Referenced by mitk::MicronTrackerTypeInformation::CreateTrackingDeviceSource(), mitk::VirtualTrackerTypeInformation::CreateTrackingDeviceSource(), mitk::NDIAuroraTypeInformation::CreateTrackingDeviceSource(), mitk::PolhemusTrackerTypeInformation::CreateTrackingDeviceSource(), mitk::NDIPolarisTypeInformation::CreateTrackingDeviceSource(), mitk::OpenIGTLinkTypeInformation::CreateTrackingDeviceSource(), mitk::NPOptitrackTrackingTypeInformation::CreateTrackingDeviceSource(), main(), and mitkTrackingDeviceSourceTest().

◆ SetTrackingDevice()

void mitk::TrackingDeviceSource::SetTrackingDevice ( mitk::TrackingDevice * td )

virtual

sets the tracking device that will be used as a source for tracking data

Definition at line 94 of file mitkTrackingDeviceSource.cpp.

References CreateOutputs(), m_TrackingDevice, MITK_DEBUG, and mitk::NavigationDataSource::SetName().

◆ StartTracking()

void mitk::TrackingDeviceSource::StartTracking ( )

starts tracking. This needs to be called before Update() or GetOutput()->Update(). If the device is already tracking the method does nothing.

Warning: . Will throw a std::invalid_argument exception if no tracking device was set with SetTrackingDevice(). Will throw a std::runtime_error if the tracking device returns an error.

Definition at line 156 of file mitkTrackingDeviceSource.cpp.

References m_TrackingDevice, and mitk::TrackingDevice::Tracking.

◆ StopTracking()

void mitk::TrackingDeviceSource::StopTracking ( )

stops tracking.

Warning: . Will throw a std::invalid_argument exception if no tracking device was set with SetTrackingDevice(). Will throw a std::runtime_error if the tracking device returns an error.

Definition at line 174 of file mitkTrackingDeviceSource.cpp.

References m_TrackingDevice.

Referenced by ~TrackingDeviceSource().