Medical Imaging Interaction Toolkit  2021.02.99-e55a5d2f
Medical Imaging Interaction Toolkit
mitk::OptitrackTrackingTool Class Reference

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 http://www.naturalpoint.com/ for details. More...

#include <mitkOptitrackTrackingTool.h>

Inheritance diagram for mitk::OptitrackTrackingTool:
Collaboration diagram for mitk::OptitrackTrackingTool:

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...
 
itk::FastMutexLock::Pointer 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 http://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 54 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::IGTExceptionThrows 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::IGTExceptionThrows 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::IGTExceptionThrows 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::IGTExceptionThrows 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::IGTExceptionThrows 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::IGTExceptionThrows 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::IGTExceptionThrows 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::IGTExceptionThrows 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::IGTExceptionThrows 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::IGTExceptionThrows 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::IGTExceptionThrows 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::IGTExceptionThrows an exception if

Reimplemented from mitk::TrackingTool.

◆ updateTool()

void mitk::OptitrackTrackingTool::updateTool ( )

Update location and orientation of the tool.

Exceptions
mitk::IGTExceptionThrows 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 194 of file mitkOptitrackTrackingTool.h.

◆ m_fileConfiguration

std::string mitk::OptitrackTrackingTool::m_fileConfiguration

File of the configuration for the tool.

Definition at line 184 of file mitkOptitrackTrackingTool.h.

◆ m_FLE

float mitk::OptitrackTrackingTool::m_FLE

Expected value of the fiducial localization error (rms)

Definition at line 209 of file mitkOptitrackTrackingTool.h.

◆ m_ID

int mitk::OptitrackTrackingTool::m_ID

ID number from Optitrack API.

Definition at line 189 of file mitkOptitrackTrackingTool.h.

◆ m_numMarkers

int mitk::OptitrackTrackingTool::m_numMarkers

Number of Markers that blong to the tool.

Definition at line 204 of file mitkOptitrackTrackingTool.h.

◆ m_pivotPoint

float* mitk::OptitrackTrackingTool::m_pivotPoint

location of the pivot point during calibration

Definition at line 199 of file mitkOptitrackTrackingTool.h.


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