IGSTK
|
Provides support for the Claron MicronTracker. More...
#include <igstkMicronTracker.h>
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. | |
![]() | |
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 | |
void | RequestStartTracking (void) |
The "RequestStartTracking" method readies the tracker for tracking the | |
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. | |
![]() | |
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. | |
![]() | |
igstkStandardAbstractClassTraitsMacro(Tracker, Object) public typedef TrackerTool | TrackerToolType |
Macro with standard traits declarations. |
Protected Types | |
typedef Tracker::ResultType | ResultType |
Typedef for internal boolean return type. | |
![]() | |
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. | |
![]() | |
Tracker (void) | |
virtual | ~Tracker (void) |
virtual TimePeriodType | GetValidityTime () |
Get the validity time. | |
const TrackerToolsContainerType & | GetTrackerToolContainer () 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. | |
![]() | |
LoggerType * | GetLogger () 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 | |
![]() | |
typedef Object | Self |
General Typedefs. | |
typedef ::itk::Object | Superclass |
typedef ::itk::SmartPointer< Self > | Pointer |
typedef ::itk::SmartPointer < const Self > | ConstPointer |
typedef igstk::Logger | LoggerType |
![]() | |
static Pointer | New (void) |
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.
Definition at line 60 of file igstkMicronTracker.h.
|
protected |
Typedef for internal boolean return type.
Definition at line 92 of file igstkMicronTracker.h.
|
protected |
|
protectedvirtual |
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.
|
protectedvirtual |
Open communication with the tracking device.
Implements igstk::Tracker.
|
protectedvirtual |
Close communication with the tracking device.
Implements igstk::Tracker.
|
protectedvirtual |
Put the tracking device into tracking mode.
Implements igstk::Tracker.
|
protectedvirtual |
Take the tracking device out of tracking mode.
Implements igstk::Tracker.
|
protectedvirtual |
Update the status and the transforms for all TrackerTools.
Implements igstk::Tracker.
|
protectedvirtual |
Update the status and the transforms.
This function is called by a separate thread.
Implements igstk::Tracker.
|
protectedvirtual |
Reset the tracking device to put it back to its original state.
Implements igstk::Tracker.
|
protectedvirtual |
Verify tracker tool information.
Implements igstk::Tracker.
|
protectedvirtual |
The "ValidateSpecifiedFrequency" method checks if the specified frequency is valid for the tracking device that is being used.
Reimplemented from igstk::Tracker.
|
protectedvirtual |
Print object information.
Reimplemented from igstk::Tracker.
|
staticprotected |
Create an associative container that maps error code to error descritpion.
|
staticprotected |
Get Error description given the error code.
|
protectedvirtual |
Remove tracker tool entry from internal containers.
Implements igstk::Tracker.
|
protectedvirtual |
Add tracker tool entry from internal containers.
Implements igstk::Tracker.
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.