An object of this class represents the MicronTracker device. You can add tools to this device, then open the connection and start tracking. The tracking device will then continuously update the tool coordinates. More...

#include <mitkClaronTrackingDevice.h>

Inheritance diagram for mitk::ClaronTrackingDevice:

Public Member Functions
	mitkClassMacro (ClaronTrackingDevice, TrackingDevice)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

bool	IsDeviceInstalled () override

bool	StartTracking () override
	Starts the tracking.

bool	StopTracking () override
	Stops the tracking.

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

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

unsigned int	GetToolCount () const override

TrackingTool *	GetTool (unsigned int toolNumber) const override

mitk::TrackingTool *	AddTool (const char toolName, const char fileName)
	Create a new Claron tool with toolName and fileName and add it to the list of tools.

	DEPRECATED (bool IsMicronTrackerInstalled())

	itkSetMacro (CalibrationDir, std::string)
	Sets the directory where the calibration file of the MicronTracker can be found.

	itkGetMacro (CalibrationDir, std::string)
	Gets the current calibration directory.

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.

virtual void	SetRotationMode (RotationMode r)

	itkGetConstMacro (RotationMode, RotationMode)

TrackingDeviceState	GetState () const
	return current object state (Setup, Ready or Tracking)

TrackingDeviceType	GetType () const
	Deprecated! Use the more specific getData or GetTrackingDeviceName instead. return device type identifier.

void	SetType (TrackingDeviceType type)
	Deprecated! Use the more specific setDeviceData instead. set device type.

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.

TrackingDeviceData	GetData () const
	return device data

void	SetData (TrackingDeviceData data)
	set device type

virtual bool	AutoDetectToolsAvailable ()

virtual bool	AddSingleToolIsAvailable ()

virtual mitk::NavigationToolStorage::Pointer	AutoDetectTools ()

Protected Member Functions
	ClaronTrackingDevice ()

	~ClaronTrackingDevice () override

bool	InternalAddTool (ClaronTool::Pointer tool)
	Adds a tool to the tracking device.

void	TrackTools ()
	This method tracks tools as long as the variable m_Mode is set to "Tracking". Tracking tools means grabbing frames from the camera an updating the tools.

std::vector< ClaronTool::Pointer >	DetectTools ()
	Automatically detects tools in field of measurement of the tracking device. Tools can only be detected if their calibration file is availiable in the directory for calibration files.

std::vector< ClaronTool::Pointer >	GetAllTools ()

ClaronInterface *	GetDevice ()

void	ThreadStartTracking ()

Protected Member Functions inherited from mitk::TrackingDevice
void	SetState (TrackingDeviceState state)
	change object state

	TrackingDevice ()

	~TrackingDevice () override

Protected Attributes
std::vector< ClaronTool::Pointer >	m_AllTools
	vector holding all tools

ClaronInterface::Pointer	m_Device
	represents the interface to the tracking hardware

std::thread	m_Thread

std::string	m_CalibrationDir
	The directory where the camera calibration files can be found.

std::string	m_ToolfilesDir
	The directory where the tool calibration files can be found.

Protected Attributes inherited from mitk::TrackingDevice
TrackingDeviceData	m_Data
	current device Data

bool	m_StopTracking
	signal stop to tracking thread

std::mutex	m_StopTrackingMutex
	mutex to control access to m_StopTracking

std::mutex	m_TrackingFinishedMutex
	mutex to manage control flow of StopTracking()

std::mutex	m_StateMutex
	mutex to control access to m_State

RotationMode	m_RotationMode
	defines the rotation mode Standard or Transposed, Standard is default

Additional Inherited Members
Public Types inherited from mitk::TrackingDevice
enum	RotationMode { RotationStandard , RotationTransposed }

enum	TrackingDeviceState { Setup , Ready , Tracking }

Detailed Description

An object of this class represents the MicronTracker device. You can add tools to this device, then open the connection and start tracking. The tracking device will then continuously update the tool coordinates.

Documentation:

Definition at line 38 of file mitkClaronTrackingDevice.h.

Constructor & Destructor Documentation

◆ ClaronTrackingDevice()

mitk::ClaronTrackingDevice::ClaronTrackingDevice ( )

protected

Definition at line 24 of file mitkClaronTrackingDevice.cpp.

◆ ~ClaronTrackingDevice()

mitk::ClaronTrackingDevice::~ClaronTrackingDevice ( )

overrideprotected

Definition at line 54 of file mitkClaronTrackingDevice.cpp.

Member Function Documentation

◆ AddTool()

mitk::TrackingTool * mitk::ClaronTrackingDevice::AddTool	(	const char *	toolName,
		const char *	fileName )

Create a new Claron tool with toolName and fileName and add it to the list of tools.

This method will create a new ClaronTool object, load the tool definition file fileName, set the tool name toolName and then add it to the list of tools. It returns a pointer of type mitk::TrackingTool to the tool that can be used to read tracking data from it. This is the only way to add tools to ClaronTrackingDevice.

Warning: adding tools is not possible in tracking mode, only in setup and ready.

Definition at line 59 of file mitkClaronTrackingDevice.cpp.

◆ CloseConnection()

bool mitk::ClaronTrackingDevice::CloseConnection ( )

overridevirtual

Closes the connection and clears all resources.

Implements mitk::TrackingDevice.

Definition at line 186 of file mitkClaronTrackingDevice.cpp.

◆ DEPRECATED()

mitk::ClaronTrackingDevice::DEPRECATED ( bool IsMicronTrackerInstalled() )

Returns: Returns whether the MicronTracker is installed (means whether the C-Make-Variable "MITK_USE_MICRON_TRACKER" is set), so returns false in this case.

Deprecated: (as of 2014_03) This method is deprecated, please use the static method IsDeviceInstalled() instead.

◆ DetectTools()

std::vector< mitk::ClaronTool::Pointer > mitk::ClaronTrackingDevice::DetectTools ( )

protected

Automatically detects tools in field of measurement of the tracking device. Tools can only be detected if their calibration file is availiable in the directory for calibration files.

Returns: Returns all detected Tools.

Definition at line 80 of file mitkClaronTrackingDevice.cpp.

◆ GetAllTools()

std::vector< mitk::ClaronTool::Pointer > mitk::ClaronTrackingDevice::GetAllTools ( )

protected

Returns: Returns all tools of the tracking device.

Definition at line 208 of file mitkClaronTrackingDevice.cpp.

◆ GetDevice()

mitk::ClaronInterface * mitk::ClaronTrackingDevice::GetDevice ( )

protected

Returns: Gives back the device which is represented by an object of the class ClaronInterface.

Definition at line 202 of file mitkClaronTrackingDevice.cpp.

◆ GetTool()

mitk::TrackingTool * mitk::ClaronTrackingDevice::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 148 of file mitkClaronTrackingDevice.cpp.

◆ GetToolCount()

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

overridevirtual

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

Implements mitk::TrackingDevice.

Definition at line 142 of file mitkClaronTrackingDevice.cpp.

◆ InternalAddTool()

bool mitk::ClaronTrackingDevice::InternalAddTool ( ClaronTool::Pointer tool )

protected

Adds a tool to the tracking device.

Parameters

tool	The tool which will be added.

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

Definition at line 73 of file mitkClaronTrackingDevice.cpp.

◆ IsDeviceInstalled()

bool mitk::ClaronTrackingDevice::IsDeviceInstalled ( )

overridevirtual

Returns: Returns true if the MicronTracker is installed on this build (means activated in CMAKE). False if not.

Reimplemented from mitk::TrackingDevice.

Definition at line 47 of file mitkClaronTrackingDevice.cpp.

◆ itkCloneMacro()

mitk::ClaronTrackingDevice::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::ClaronTrackingDevice::itkFactorylessNewMacro ( Self )

◆ itkGetMacro()

mitk::ClaronTrackingDevice::itkGetMacro	(	CalibrationDir	,
		std::string	)

Gets the current calibration directory.

◆ itkSetMacro()

mitk::ClaronTrackingDevice::itkSetMacro	(	CalibrationDir	,
		std::string	)

Sets the directory where the calibration file of the MicronTracker can be found.

◆ mitkClassMacro()

mitk::ClaronTrackingDevice::mitkClassMacro	(	ClaronTrackingDevice	,
		TrackingDevice	)

◆ OpenConnection()

bool mitk::ClaronTrackingDevice::OpenConnection ( )

overridevirtual

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

Exceptions

mitk::IGTHardwareException Throws an exception if there is an error during open connection.

Implements mitk::TrackingDevice.

Definition at line 157 of file mitkClaronTrackingDevice.cpp.

◆ StartTracking()

bool mitk::ClaronTrackingDevice::StartTracking ( )

overridevirtual

Starts the tracking.

Returns: Returns true if the tracking is started. Throws an exception if an error occures.

Exceptions

mitk::IGTHardwareException Throws an exception if there is an error during start tracking.

Implements mitk::TrackingDevice.

Definition at line 96 of file mitkClaronTrackingDevice.cpp.

◆ StopTracking()

bool mitk::ClaronTrackingDevice::StopTracking ( )

overridevirtual

Stops the tracking.

Returns: Returns true if the tracking is stopped.

Reimplemented from mitk::TrackingDevice.

Definition at line 133 of file mitkClaronTrackingDevice.cpp.

◆ ThreadStartTracking()

void mitk::ClaronTrackingDevice::ThreadStartTracking ( )

protected

Definition at line 303 of file mitkClaronTrackingDevice.cpp.

◆ TrackTools()

void mitk::ClaronTrackingDevice::TrackTools ( )

protected

This method tracks tools as long as the variable m_Mode is set to "Tracking". Tracking tools means grabbing frames from the camera an updating the tools.

Exceptions

mitk::IGTHardwareException Throws an exception if there is an error during tracking of tools.

Definition at line 214 of file mitkClaronTrackingDevice.cpp.

Member Data Documentation

◆ m_AllTools

std::vector<ClaronTool::Pointer> mitk::ClaronTrackingDevice::m_AllTools

protected

vector holding all tools

Definition at line 154 of file mitkClaronTrackingDevice.h.

◆ m_CalibrationDir

std::string mitk::ClaronTrackingDevice::m_CalibrationDir

protected

The directory where the camera calibration files can be found.

Definition at line 159 of file mitkClaronTrackingDevice.h.

◆ m_Device

ClaronInterface::Pointer mitk::ClaronTrackingDevice::m_Device

protected

represents the interface to the tracking hardware

Definition at line 155 of file mitkClaronTrackingDevice.h.

◆ m_Thread

std::thread mitk::ClaronTrackingDevice::m_Thread

protected

Definition at line 156 of file mitkClaronTrackingDevice.h.

◆ m_ToolfilesDir

std::string mitk::ClaronTrackingDevice::m_ToolfilesDir

protected

The directory where the tool calibration files can be found.

Definition at line 161 of file mitkClaronTrackingDevice.h.

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

Modules/IGT/TrackingDevices/mitkClaronTrackingDevice.h
Modules/IGT/TrackingDevices/mitkClaronTrackingDevice.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ClaronTrackingDevice()

◆ ~ClaronTrackingDevice()

Member Function Documentation

◆ AddTool()

◆ CloseConnection()

◆ DEPRECATED()

◆ DetectTools()

◆ GetAllTools()

◆ GetDevice()

◆ GetTool()

◆ GetToolCount()

◆ InternalAddTool()

◆ IsDeviceInstalled()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ itkGetMacro()

◆ itkSetMacro()

◆ mitkClassMacro()

◆ OpenConnection()

◆ StartTracking()

◆ StopTracking()

◆ ThreadStartTracking()

◆ TrackTools()

Member Data Documentation

◆ m_AllTools

◆ m_CalibrationDir

◆ m_Device

◆ m_Thread

◆ m_ToolfilesDir