IGSTK
Public Member Functions | Public Attributes | Protected Types | Protected Member Functions | Static Protected Member Functions | List of all members
igstk::MicronTracker Class Reference

Provides support for the Claron MicronTracker. More...

#include <igstkMicronTracker.h>

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Public Member Functions

 igstkSetStringMacro (CameraCalibrationFilesDirectory)
 Set the directory path that contains the camera calibration files.
 igstkSetStringMacro (InitializationFile)
 Set the full path to the persistance file.
 igstkSetStringMacro (MarkerTemplatesDirectory)
 Set marker templates directory.
- Public Member Functions inherited from igstk::Tracker
void RequestOpen (void)
 The "RequestOpen" method attempts to open communication with the tracking device.
void RequestClose (void)
 The "RequestClose" method closes communication with the device.
void RequestReset (void)
 
The "RequestReset" tracker method should be used to bring the tracker

to some defined default state.

void RequestStartTracking (void)
 
The "RequestStartTracking" method readies the tracker for tracking the

tools connected to the tracker.

void RequestStopTracking (void)
 The "RequestStopTracking" stops tracker from tracking the tools.
void RequestSetFrequency (double frequencyInHz)
 The "RequestSetFrequency" method defines the frequency at which the Transform information will be queried from the Tracker device.
void RequestSetReferenceTool (TrackerToolType *trackerTool)
 Set a reference tracker tool.
virtual void SetThreadingEnabled (bool _arg)
 SetThreadingEnabled(bool) : set m_ThreadingEnabled value.
virtual bool GetThreadingEnabled ()
 GetThreadingEnabled(bool) : get m_ThreadingEnabled value.
- Public Member Functions inherited from igstk::Object
virtual const char * GetNameOfClass () const
void SetLogger (LoggerType *logger)
 Connect the Logger for this class.
void RemoveObserver (unsigned long tag) const

Public Attributes

 igstkStandardClassTraitsMacro (MicronTracker, Tracker) public
 Macro with standard traits declarations.
- Public Attributes inherited from igstk::Tracker
igstkStandardAbstractClassTraitsMacro(Tracker,
Object) public typedef
TrackerTool 
TrackerToolType
 Macro with standard traits declarations.

Protected Types

typedef Tracker::ResultType ResultType
 Typedef for internal boolean return type.
- Protected Types inherited from igstk::Tracker
enum  ResultType { FAILURE = 0, SUCCESS }
typedef Transform::TimePeriodType TimePeriodType
 typedef for times used by the tracker
typedef Transform TransformType
 typedefs from Transform class
typedef std::map< std::string,
TrackerToolType * > 
TrackerToolsContainerType
 typedefs from TrackerTool class

Protected Member Functions

 MicronTracker (void)
virtual ~MicronTracker (void)
virtual ResultType InternalOpen (void)
 Open communication with the tracking device.
virtual ResultType InternalClose (void)
 Close communication with the tracking device.
virtual ResultType InternalStartTracking (void)
 Put the tracking device into tracking mode.
virtual ResultType InternalStopTracking (void)
 Take the tracking device out of tracking mode.
virtual ResultType InternalUpdateStatus (void)
 Update the status and the transforms for all TrackerTools.
virtual ResultType InternalThreadedUpdateStatus (void)
 Update the status and the transforms.
virtual ResultType InternalReset (void)
 Reset the tracking device to put it back to its original state.
virtual ResultType VerifyTrackerToolInformation (const TrackerToolType *)
 Verify tracker tool information.
virtual ResultType ValidateSpecifiedFrequency (double frequencyInHz)
 The "ValidateSpecifiedFrequency" method checks if the specified frequency is valid for the tracking device that is being used.
virtual void PrintSelf (std::ostream &os, itk::Indent indent) const
 Print object information.
virtual ResultType RemoveTrackerToolFromInternalDataContainers (const TrackerToolType *trackerTool)
 Remove tracker tool entry from internal containers.
virtual ResultType AddTrackerToolToInternalDataContainers (const TrackerToolType *trackerTool)
 Add tracker tool entry from internal containers.
- Protected Member Functions inherited from igstk::Tracker
 Tracker (void)
virtual ~Tracker (void)
virtual TimePeriodType GetValidityTime ()
 Get the validity time.
const TrackerToolsContainerTypeGetTrackerToolContainer () const
 Access method for the tracker tool container.
void ReportTrackingToolNotAvailable (TrackerToolType *trackerTool) const
 Report to tracker tool that it is not available for tracking.
void ReportTrackingToolVisible (TrackerToolType *trackerTool) const
 Report to tracker tool that it is visible.
void SetTrackerToolRawTransform (TrackerToolType *trackerTool, const TransformType transform)
 Set tracker tool raw transform.
void SetTrackerToolTransformUpdate (TrackerToolType *trackerTool, bool flag) const
 Turn on/off update flag of the tracker tool.
void ExitTrackingStateProcessing (void)
 Depending on the tracker type, the tracking thread should be terminated or left untouched when we stop tracking.
void ExitTrackingWithoutTerminatingTrackingThread ()
 Exit tracking without terminating tracking thread.
void ExitTrackingTerminatingTrackingThread ()
 Exit tracking after terminating tracking thread.
- Protected Member Functions inherited from igstk::Object
LoggerTypeGetLogger () const
 Object (void)
 Constructor is protected in order to enforce the use of the New() operator.
virtual ~Object (void)
void RegisterObservedObject (const ::igstk::Object *object, unsigned long tag)
 Register observed objects in an internal array so that they can be disconnected upon destruction.
void RemoveFromObservedObjects ()
 Remove observers that this object may have connected to other objects.

Static Protected Member Functions

static void CreateErrorCodeList ()
 Create an associative container that maps error code to error descritpion.
static std::string GetErrorDescription (unsigned int)
 Get Error description given the error code.

Additional Inherited Members

- Public Types inherited from igstk::Object
typedef Object Self
 General Typedefs.
typedef ::itk::Object Superclass
typedef ::itk::SmartPointer< SelfPointer
typedef ::itk::SmartPointer
< const Self
ConstPointer
typedef igstk::Logger LoggerType
- Static Public Member Functions inherited from igstk::Object
static Pointer New (void)

Detailed Description

Provides support for the Claron MicronTracker.

The MicronTracker is a small firewire-based optical tracker from Claron Technologies in Toronto, Canada. This class uses the MTC library that comes with the Tracker to communicate with the tracker camera and gather pose information of surgical tools.

See Also
http://www.clarontech.com/

Definition at line 60 of file igstkMicronTracker.h.

Member Typedef Documentation

Typedef for internal boolean return type.

Definition at line 92 of file igstkMicronTracker.h.

Constructor & Destructor Documentation

igstk::MicronTracker::MicronTracker ( void  )
protected
virtual igstk::MicronTracker::~MicronTracker ( void  )
protectedvirtual

Member Function Documentation

igstk::MicronTracker::igstkSetStringMacro ( CameraCalibrationFilesDirectory  )

Set the directory path that contains the camera calibration files.

igstk::MicronTracker::igstkSetStringMacro ( InitializationFile  )

Set the full path to the persistance file.

The persistance file contains camera and marker detection algorithm parameters

igstk::MicronTracker::igstkSetStringMacro ( MarkerTemplatesDirectory  )

Set marker templates directory.

virtual ResultType igstk::MicronTracker::InternalOpen ( void  )
protectedvirtual

Open communication with the tracking device.

Implements igstk::Tracker.

virtual ResultType igstk::MicronTracker::InternalClose ( void  )
protectedvirtual

Close communication with the tracking device.

Implements igstk::Tracker.

virtual ResultType igstk::MicronTracker::InternalStartTracking ( void  )
protectedvirtual

Put the tracking device into tracking mode.

Implements igstk::Tracker.

virtual ResultType igstk::MicronTracker::InternalStopTracking ( void  )
protectedvirtual

Take the tracking device out of tracking mode.

Implements igstk::Tracker.

virtual ResultType igstk::MicronTracker::InternalUpdateStatus ( void  )
protectedvirtual

Update the status and the transforms for all TrackerTools.

Implements igstk::Tracker.

virtual ResultType igstk::MicronTracker::InternalThreadedUpdateStatus ( void  )
protectedvirtual

Update the status and the transforms.

This function is called by a separate thread.

Implements igstk::Tracker.

virtual ResultType igstk::MicronTracker::InternalReset ( void  )
protectedvirtual

Reset the tracking device to put it back to its original state.

Implements igstk::Tracker.

virtual ResultType igstk::MicronTracker::VerifyTrackerToolInformation ( const TrackerToolType )
protectedvirtual

Verify tracker tool information.

Implements igstk::Tracker.

virtual ResultType igstk::MicronTracker::ValidateSpecifiedFrequency ( double  frequencyInHz)
protectedvirtual

The "ValidateSpecifiedFrequency" method checks if the specified frequency is valid for the tracking device that is being used.

Reimplemented from igstk::Tracker.

virtual void igstk::MicronTracker::PrintSelf ( std::ostream &  os,
itk::Indent  indent 
) const
protectedvirtual

Print object information.

Reimplemented from igstk::Tracker.

static void igstk::MicronTracker::CreateErrorCodeList ( )
staticprotected

Create an associative container that maps error code to error descritpion.

static std::string igstk::MicronTracker::GetErrorDescription ( unsigned  int)
staticprotected

Get Error description given the error code.

virtual ResultType igstk::MicronTracker::RemoveTrackerToolFromInternalDataContainers ( const TrackerToolType trackerTool)
protectedvirtual

Remove tracker tool entry from internal containers.

Implements igstk::Tracker.

virtual ResultType igstk::MicronTracker::AddTrackerToolToInternalDataContainers ( const TrackerToolType trackerTool)
protectedvirtual

Add tracker tool entry from internal containers.

Implements igstk::Tracker.

Member Data Documentation

igstk::MicronTracker::igstkStandardClassTraitsMacro(MicronTracker, Tracker) public

Macro with standard traits declarations.

Get the number of tools that have been detected.

Definition at line 64 of file igstkMicronTracker.h.


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