Class representing a tracking device which generates random positions / orientations. No hardware is needed for tracking device. More...

#include <mitkVirtualTrackingDevice.h>

Inheritance diagram for mitk::VirtualTrackingDevice:

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Collaboration diagram for mitk::VirtualTrackingDevice:

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Public Member Functions
	mitkClassMacro (VirtualTrackingDevice, TrackingDevice)

Pointer	Clone () const

virtual void	SetRefreshRate (unsigned int _arg)
	Sets the refresh rate of the virtual tracking device in ms. More...

virtual unsigned int	GetRefreshRate () const
	Returns the refresh rate in ms. More...

bool	StartTracking () override
	Starts the tracking. More...

bool	StopTracking () override
	Stops the tracking. More...

bool	OpenConnection () override
	Opens the connection to the device. This have to be done before the tracking is started. More...

bool	CloseConnection () override
	Closes the connection and clears all resources. More...

unsigned int	GetToolCount () const override

TrackingTool *	GetTool (unsigned int toolNumber) const override

TrackingTool *	AddTool (const char *toolName)
	Adds a tool to the tracking device. More...

virtual void	SetBounds (mitk::ScalarType data[])
	Set the tracking volume bounds. More...

const mitk::ScalarType *	GetBounds () const
	return the tracking volume bounds More...

mitk::ScalarType	GetSplineChordLength (unsigned int idx)
	return the approximate length of the spline for tool with index idx in millimeter More...

void	SetToolSpeed (unsigned int idx, mitk::ScalarType roundsPerSecond)
	sets the speed of the tool idx in rounds per second More...

void	EnableGaussianNoise ()
	enable addition of Gaussian Noise to tracking coordinates More...

void	DisableGaussianNoise ()
	disable addition of Gaussian Noise to Trackin coordinates More...

void	SetParamsForGaussianNoise (double meanDistribution, double deviationDistribution)
	sets the mean distribution and the standard deviation for the Gaussian Noise More...

double	GetMeanDistribution ()
	returns the mean distribution for the Gaussian Noise More...

double	GetDeviationDistribution ()
	returns the deviation distribution for the Gaussian Noise More...

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	IsDeviceInstalled ()

virtual bool	AutoDetectToolsAvailable ()

virtual bool	AddSingleToolIsAvailable ()

virtual mitk::NavigationToolStorage::Pointer	AutoDetectTools ()

Static Public Member Functions
static Pointer	New ()

Protected Types
typedef mitk::VirtualTrackingTool::SplineType::ControlPointType	ControlPointType

typedef std::vector< VirtualTrackingTool::Pointer >	ToolContainer
	container type for tracking tools More...

Protected Member Functions
	VirtualTrackingDevice ()

	~VirtualTrackingDevice () override

void	TrackTools ()
	This method tracks tools as long as the variable m_Mode is set to "Tracking". Tracking tools means generating random numbers for the tool position and orientation. More...

void	InitializeSpline (mitk::VirtualTrackingTool *t)
	initializes the spline path of the tool t with random control points inside the current tracking volume More...

ControlPointType	GetRandomPoint ()
	returns a random position inside the tracking volume (defined by m_Bounds) More...

mitk::VirtualTrackingTool *	GetInternalTool (unsigned int idx)

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)
	static start method for tracking thread More...

Protected Attributes
ToolContainer	m_AllTools
	container for all tracking tools More...

itk::FastMutexLock::Pointer	m_ToolsMutex
	mutex for coordinated access of tool container More...

itk::MultiThreader::Pointer	m_MultiThreader
	MultiThreader that starts continuous tracking update. More...

int	m_ThreadID

unsigned int	m_RefreshRate
	refresh rate of the internal tracking thread in milliseconds (NOT refreshs per second!) More...

unsigned int	m_NumberOfControlPoints
	number of control points for the random path generation More...

mitk::ScalarType	m_Bounds [6]
	bounding box of the tracking volume stored as {xMin, xMax, yMin, yMax, zMin, zMax} More...

bool	m_GaussianNoiseEnabled
	adding Gaussian Noise to tracking coordinates or not, false by default More...

double	m_MeanDistributionParam

double	m_DeviationDistributionParam
	mean distribution for Gaussion Noise, 0.0 by default More...

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

Class representing a tracking device which generates random positions / orientations. No hardware is needed for tracking device.

Documentation This TrackingDevice class does not interface with a physical tracking device. It simulates a tracking device by moving the tools on a randomly generated spline path.

Definition at line 35 of file mitkVirtualTrackingDevice.h.

Member Typedef Documentation

◆ ControlPointType

typedef mitk::VirtualTrackingTool::SplineType::ControlPointType mitk::VirtualTrackingDevice::ControlPointType

protected

Definition at line 194 of file mitkVirtualTrackingDevice.h.

◆ ToolContainer

typedef std::vector<VirtualTrackingTool::Pointer> mitk::VirtualTrackingDevice::ToolContainer

protected

container type for tracking tools

Definition at line 199 of file mitkVirtualTrackingDevice.h.

Constructor & Destructor Documentation

◆ VirtualTrackingDevice()

mitk::VirtualTrackingDevice::VirtualTrackingDevice ( )

protected

Definition at line 28 of file mitkVirtualTrackingDevice.cpp.

References mitk::VirtualTrackerTypeInformation::GetDeviceDataVirtualTracker(), m_Bounds, mitk::TrackingDevice::m_Data, and m_ToolsMutex.

◆ ~VirtualTrackingDevice()

mitk::VirtualTrackingDevice::~VirtualTrackingDevice ( )

overrideprotected

Definition at line 38 of file mitkVirtualTrackingDevice.cpp.

References CloseConnection(), mitk::TrackingDevice::GetState(), m_AllTools, m_MultiThreader, m_ThreadID, mitk::TrackingDevice::Ready, StopTracking(), and mitk::TrackingDevice::Tracking.

Member Function Documentation

◆ AddTool()

mitk::TrackingTool * mitk::VirtualTrackingDevice::AddTool ( const char * toolName )

Adds a tool to the tracking device.

The tool will have a random path on which it will move around. The path is created with a spline function and random control points inside the tracking volume.

Parameters

toolName The tool which will be added.

Returns: Returns true if the tool has been added, false otherwise.

Definition at line 57 of file mitkVirtualTrackingDevice.cpp.

References InitializeSpline(), m_AllTools, m_ToolsMutex, and mitk::VirtualTrackingTool::New().

◆ Clone()

Pointer mitk::VirtualTrackingDevice::Clone ( ) const

◆ CloseConnection()

bool mitk::VirtualTrackingDevice::CloseConnection ( )

overridevirtual

Closes the connection and clears all resources.

Implements mitk::TrackingDevice.

Definition at line 171 of file mitkVirtualTrackingDevice.cpp.

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

Referenced by ~VirtualTrackingDevice().

◆ DisableGaussianNoise()

void mitk::VirtualTrackingDevice::DisableGaussianNoise ( )

disable addition of Gaussian Noise to Trackin coordinates

Definition at line 312 of file mitkVirtualTrackingDevice.cpp.

References m_GaussianNoiseEnabled.

◆ EnableGaussianNoise()

void mitk::VirtualTrackingDevice::EnableGaussianNoise ( )

enable addition of Gaussian Noise to tracking coordinates

Definition at line 307 of file mitkVirtualTrackingDevice.cpp.

References m_GaussianNoiseEnabled.

◆ GetBounds()

const mitk::ScalarType* mitk::VirtualTrackingDevice::GetBounds ( ) const

inline

return the tracking volume bounds

This will return the tracking volume as an axis aligned bounding box defined by the six bounds values xMin, xMax, yMin, yMax, zMin, zMax

Definition at line 126 of file mitkVirtualTrackingDevice.h.

◆ GetDeviationDistribution()

double mitk::VirtualTrackingDevice::GetDeviationDistribution ( )

returns the deviation distribution for the Gaussian Noise

Definition at line 323 of file mitkVirtualTrackingDevice.cpp.

References m_DeviationDistributionParam.

◆ GetInternalTool()

mitk::VirtualTrackingTool * mitk::VirtualTrackingDevice::GetInternalTool ( unsigned int idx )

protected

Definition at line 202 of file mitkVirtualTrackingDevice.cpp.

References m_AllTools, and m_ToolsMutex.

Referenced by GetSplineChordLength(), SetToolSpeed(), and TrackTools().

◆ GetMeanDistribution()

double mitk::VirtualTrackingDevice::GetMeanDistribution ( )

returns the mean distribution for the Gaussian Noise

Definition at line 328 of file mitkVirtualTrackingDevice.cpp.

References m_MeanDistributionParam.

◆ GetRandomPoint()

mitk::VirtualTrackingDevice::ControlPointType mitk::VirtualTrackingDevice::GetRandomPoint ( )

protected

returns a random position inside the tracking volume (defined by m_Bounds)

Definition at line 297 of file mitkVirtualTrackingDevice.cpp.

References m_Bounds.

Referenced by InitializeSpline().

◆ GetRefreshRate()

virtual unsigned int mitk::VirtualTrackingDevice::GetRefreshRate ( ) const

virtual

Returns the refresh rate in ms.

Returns: Returns the refresh rate in ms.

◆ GetSplineChordLength()

mitk::ScalarType mitk::VirtualTrackingDevice::GetSplineChordLength ( unsigned int idx )

return the approximate length of the spline for tool with index idx in millimeter

if the index idx is not a valid tool index, a std::invalid_argument exception is thrown. GetSplineChordLength() returns the distance between all control points of the spline in millimeter. This can be used as an approximation for the length of the spline path.

Definition at line 181 of file mitkVirtualTrackingDevice.cpp.

References GetInternalTool(), and mitk::VirtualTrackingTool::GetSplineLength().

◆ GetTool()

mitk::TrackingTool * mitk::VirtualTrackingDevice::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 nullptr, if there is no tool with this number.

Implements mitk::TrackingDevice.

Definition at line 117 of file mitkVirtualTrackingDevice.cpp.

References m_AllTools, and m_ToolsMutex.

◆ GetToolCount()

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

overridevirtual

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

Implements mitk::TrackingDevice.

Definition at line 111 of file mitkVirtualTrackingDevice.cpp.

References m_AllTools, and m_ToolsMutex.

Referenced by TrackTools().

◆ InitializeSpline()

void mitk::VirtualTrackingDevice::InitializeSpline ( mitk::VirtualTrackingTool * t )

protected

initializes the spline path of the tool t with random control points inside the current tracking volume

Definition at line 137 of file mitkVirtualTrackingDevice.cpp.

References GetRandomPoint(), mitk::VirtualTrackingTool::GetSpline(), itk::NonUniformBSpline< TDimension >::GetSplineOrder(), m_NumberOfControlPoints, itk::NonUniformBSpline< TDimension >::SetControlPoints(), itk::NonUniformBSpline< TDimension >::SetKnots(), and mitk::VirtualTrackingTool::SetSplineLength().

Referenced by AddTool().

◆ mitkClassMacro()

mitk::VirtualTrackingDevice::mitkClassMacro	(	VirtualTrackingDevice	,
		TrackingDevice
	)

◆ New()

static Pointer mitk::VirtualTrackingDevice::New ( )

static

Referenced by QmitkVirtualTrackerWidget::GetTrackingDevice(), main(), and mitkTrackingDeviceSourceTest().

◆ OpenConnection()

bool mitk::VirtualTrackingDevice::OpenConnection ( )

overridevirtual

Opens the connection to the device. This have to be done before the tracking is started.

Exceptions

mitk::IGTException Throws an exception if there are two less control points to start the the virtual device.

Implements mitk::TrackingDevice.

Definition at line 125 of file mitkVirtualTrackingDevice.cpp.

References m_NumberOfControlPoints, mitkThrowException, mitk::TrackingDevice::Ready, and mitk::TrackingDevice::SetState().

◆ SetBounds()

virtual void mitk::VirtualTrackingDevice::SetBounds ( mitk::ScalarType data[] )

virtual

Set the tracking volume bounds.

This will set the tracking volume as an axis aligned bounding box defined by the six bounds values xMin, xMax, yMin, yMax, zMin, zMax. Note that the random path of existing tools will not be updated with the new tracking volume. Tools that are created after calling SetBounds() will use the new tracking volume

◆ SetParamsForGaussianNoise()

void mitk::VirtualTrackingDevice::SetParamsForGaussianNoise	(	double	meanDistribution,
		double	deviationDistribution
	)

sets the mean distribution and the standard deviation for the Gaussian Noise

Definition at line 317 of file mitkVirtualTrackingDevice.cpp.

References m_DeviationDistributionParam, and m_MeanDistributionParam.

◆ SetRefreshRate()

virtual void mitk::VirtualTrackingDevice::SetRefreshRate ( unsigned int _arg )

virtual

Sets the refresh rate of the virtual tracking device in ms.

Warning: This refresh rate is not guaranteed. A thread is used to refresh the positions of the virtual tools. However, this thread may not run at all during this refresh time period.

Returns: Sets the refresh rate of the virtual tracking device in ms

◆ SetToolSpeed()

void mitk::VirtualTrackingDevice::SetToolSpeed	(	unsigned int	idx,
		mitk::ScalarType	roundsPerSecond
	)

sets the speed of the tool idx in rounds per second

The virtual tools will travel along a closed spline path. This method sets the speed of a tool as a factor of how many rounds per second the tool should move. A setting of 1.0 will indicate one complete round per second. Together with GetSplineChordLength(), the speed in millimeter per second can be estimated. roundsPerSecond must be positive and larger than 0.0001.

Warning: Tool speed is currently not used. : use tool speed

Definition at line 190 of file mitkVirtualTrackingDevice.cpp.

References GetInternalTool(), and mitk::VirtualTrackingTool::SetVelocity().

◆ StartTracking()

bool mitk::VirtualTrackingDevice::StartTracking ( )

overridevirtual

Starts the tracking.

After StartTracking() is called, the tools will move on their spline paths with a constant velocity that can be set with SetToolSpeed(). The standard velocity is 10 seconds for one complete cycle along the spline path.

Warning: tool speed is not yet used in the current version

Returns: Returns true if the tracking is started. Returns false if there was an error.

Implements mitk::TrackingDevice.

Definition at line 73 of file mitkVirtualTrackingDevice.cpp.

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

◆ StopTracking()

bool mitk::VirtualTrackingDevice::StopTracking ( )

overridevirtual

Stops the tracking.

Returns: Returns true if the tracking is stopped. Returns false if there was an error.

Reimplemented from mitk::TrackingDevice.

Definition at line 93 of file mitkVirtualTrackingDevice.cpp.

References mitk::IGTTimeStamp::GetInstance(), mitk::TrackingDevice::GetState(), mitk::TrackingDevice::m_StopTracking, mitk::TrackingDevice::m_StopTrackingMutex, mitk::TrackingDevice::m_TrackingFinishedMutex, mitk::TrackingDevice::Ready, mitk::TrackingDevice::SetState(), mitk::IGTTimeStamp::Stop(), and mitk::TrackingDevice::Tracking.

Referenced by ~VirtualTrackingDevice().

◆ ThreadStartTracking()

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

staticprotected

static start method for tracking thread

Definition at line 276 of file mitkVirtualTrackingDevice.cpp.

References m_ThreadID, and TrackTools().

Referenced by StartTracking().

◆ TrackTools()

void mitk::VirtualTrackingDevice::TrackTools ( )

protected

This method tracks tools as long as the variable m_Mode is set to "Tracking". Tracking tools means generating random numbers for the tool position and orientation.

Exceptions

mitk::IGTException Throws an mitk::IGTException if there is an error during virtual tool tracking.

Definition at line 211 of file mitkVirtualTrackingDevice.cpp.

References GetInternalTool(), mitk::TrackingDevice::GetState(), GetToolCount(), mitk::itk2vtk(), m_DeviationDistributionParam, m_GaussianNoiseEnabled, m_MeanDistributionParam, m_RefreshRate, mitk::TrackingDevice::m_StopTracking, mitk::TrackingDevice::m_StopTrackingMutex, mitk::TrackingDevice::m_TrackingFinishedMutex, and mitk::TrackingDevice::Tracking.