An object of this class represents the Optitrack 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. Remember that it will be necessary to to have a license for using the Optitrack System. See https://www.naturalpoint.com/ for details. More...

#include <mitkOptitrackTrackingDevice.h>

Inheritance diagram for mitk::OptitrackTrackingDevice:

Public Types
typedef mitk::TrackingDeviceType	OptiTrackTrackingDeviceType

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

enum	TrackingDeviceState { Setup , Ready , Tracking }

Public Member Functions
	mitkClassMacro (OptitrackTrackingDevice, mitk::TrackingDevice)

	itkNewMacro (Self)

bool	IsDeviceInstalled () override

bool	OpenConnection () override
	Open the Connection with the Tracker. Calls LoadCalibration function and set the system up with the calibration file. Remember that you have to set a calibration file first to open a correct connection to the Optical Tracking System.

bool	CloseConnection () override
	Close the Connection with the Tracker. Also CleanUp the Optitrack variables using the API: TT_CleanUp and TT_ShutDown. Sometimes API does not work properly and some problems during the Clean Up has been reported.

bool	StartTracking () override
	Start to Track the tools already defined. If no tools are defined for this tracker, it returns an error. Tools can be added using either AddToolByDescriptionFile or AddToolsByConfigurationFiles.

bool	StopTracking () override
	Stop the Tracking Thread and tools will not longer be updated.

TrackingTool *	GetTool (unsigned int toolNumber) const override
	Return the tool pointer of the tool number toolNumber.

OptitrackTrackingTool *	GetOptitrackTool (unsigned int toolNumber) const
	Return the tool pointer of the tool number toolNumber.

unsigned int	GetToolCount () const override
	Returns the number of defined tools.

	itkSetMacro (Exp, int)
	Sets the directory where the calibration file of the MicronTracker can be found.

	itkGetMacro (Exp, int)
	Gets the current calibration directory.

	itkSetMacro (Led, int)
	Sets the directory where the calibration file of the MicronTracker can be found.

	itkGetMacro (Led, int)
	Gets the current calibration directory.

	itkSetMacro (Thr, int)
	Sets the directory where the calibration file of the MicronTracker can be found.

	itkGetMacro (Thr, int)
	Gets the current calibration directory.

void	SetCalibrationPath (std::string calibrationPath)
	Sets the file where the calibration of the OptitrackTracker can be found.

	itkGetMacro (calibrationPath, std::string)
	Gets the current calibration file.

void	ThreadStartTracking ()
	Start the Tracking Thread for the tools.

void	TrackTools ()
	Update each tool location in the list m_AllTools.

bool	LoadCalibration ()
	Load the Calibration file to the Optitrack System and set the cameras in calibrated locations.

bool	SetCameraParams (int exposure, int threshold, int intensity, int videoType=4)
	Set the Cameras Exposure, Threshold and Intensity of IR LEDs. By Default it set the Video type to 4: Precision Mode for tracking //== VideoType: //== 0 = Segment Mode //== 1 = Grayscale Mode //== 2 = Object Mode //== 4 = Precision Mode //== 6 = MJPEG Mode (V100R2 only)

bool	InitializeCameras ()
	Initialize the Optitrack System.

bool	AddToolByDefinitionFile (std::string fileName)
	Add a new tool using a text file which described the tool. The file must to have the next structure 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.

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
	OptitrackTrackingDevice ()

	~OptitrackTrackingDevice () override

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

	TrackingDevice ()

	~TrackingDevice () override

Friends
class	OptitrackTrackingTool

Additional Inherited Members
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

Detailed Description

An object of this class represents the Optitrack 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. Remember that it will be necessary to to have a license for using the Optitrack System. See https://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 52 of file mitkOptitrackTrackingDevice.h.

Member Typedef Documentation

◆ OptiTrackTrackingDeviceType

mitk::TrackingDeviceType mitk::OptitrackTrackingDevice::OptiTrackTrackingDeviceType

Definition at line 67 of file mitkOptitrackTrackingDevice.h.

Constructor & Destructor Documentation

◆ OptitrackTrackingDevice()

mitk::OptitrackTrackingDevice::OptitrackTrackingDevice ( )

protected

Definition at line 596 of file mitkOptitrackTrackingDevice.cpp.

◆ ~OptitrackTrackingDevice()

mitk::OptitrackTrackingDevice::~OptitrackTrackingDevice ( )

overrideprotected

Definition at line 606 of file mitkOptitrackTrackingDevice.cpp.

Member Function Documentation

◆ AddToolByDefinitionFile()

bool mitk::OptitrackTrackingDevice::AddToolByDefinitionFile ( std::string fileName )

Add a new tool using a text file which described the tool. The file must to have the next structure 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 system was initialized correctly

Exceptions

mitk::IGTException Throws an exception if Tool could not be added or System is not Initialized

Definition at line 728 of file mitkOptitrackTrackingDevice.cpp.

◆ CloseConnection()

bool mitk::OptitrackTrackingDevice::CloseConnection ( )

overridevirtual

Close the Connection with the Tracker. Also CleanUp the Optitrack variables using the API: TT_CleanUp and TT_ShutDown. Sometimes API does not work properly and some problems during the Clean Up has been reported.

Returns: Returns true if the cleaning up and shutdown worked correctly. Throws an exception if an error occures related to the Optitrack API messages.

Exceptions

mitk::IGTException Throws an exception if the System cannot ShutDown now or was not initialized.

Implements mitk::TrackingDevice.

Definition at line 649 of file mitkOptitrackTrackingDevice.cpp.

◆ GetOptitrackTool()

mitk::OptitrackTrackingTool * mitk::OptitrackTrackingDevice::GetOptitrackTool ( unsigned int toolNumber ) const

Return the tool pointer of the tool number toolNumber.

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.

Exceptions

mitk::IGTException Throws an exception if there is the required tool does not exist.

Definition at line 684 of file mitkOptitrackTrackingDevice.cpp.

◆ GetTool()

mitk::TrackingTool * mitk::OptitrackTrackingDevice::GetTool ( unsigned int toolNumber ) const

overridevirtual

Return the tool pointer of the tool number toolNumber.

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 719 of file mitkOptitrackTrackingDevice.cpp.

◆ GetToolCount()

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

overridevirtual

Returns the number of defined tools.

Returns: Returns the number of defined tools in the Optitrack device.

Implements mitk::TrackingDevice.

Definition at line 693 of file mitkOptitrackTrackingDevice.cpp.

◆ InitializeCameras()

bool mitk::OptitrackTrackingDevice::InitializeCameras ( )

Initialize the Optitrack System.

Returns: Returns true if system was initialized correctly

Exceptions

mitk::IGTException Throws an exception if the Optitrack Tracking System cannot be initialized

Definition at line 623 of file mitkOptitrackTrackingDevice.cpp.

◆ IsDeviceInstalled()

bool mitk::OptitrackTrackingDevice::IsDeviceInstalled ( )

overridevirtual

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

Reimplemented from mitk::TrackingDevice.

Definition at line 588 of file mitkOptitrackTrackingDevice.cpp.

◆ itkGetMacro() [1/4]

mitk::OptitrackTrackingDevice::itkGetMacro	(	calibrationPath	,
		std::string	)

Gets the current calibration file.

◆ itkGetMacro() [2/4]

mitk::OptitrackTrackingDevice::itkGetMacro	(	Exp	,
		int	)

Gets the current calibration directory.

◆ itkGetMacro() [3/4]

mitk::OptitrackTrackingDevice::itkGetMacro	(	Led	,
		int	)

Gets the current calibration directory.

◆ itkGetMacro() [4/4]

mitk::OptitrackTrackingDevice::itkGetMacro	(	Thr	,
		int	)

Gets the current calibration directory.

◆ itkNewMacro()

mitk::OptitrackTrackingDevice::itkNewMacro ( Self )

◆ itkSetMacro() [1/3]

mitk::OptitrackTrackingDevice::itkSetMacro	(	Exp	,
		int	)

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

◆ itkSetMacro() [2/3]

mitk::OptitrackTrackingDevice::itkSetMacro	(	Led	,
		int	)

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

◆ itkSetMacro() [3/3]

mitk::OptitrackTrackingDevice::itkSetMacro	(	Thr	,
		int	)

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

◆ LoadCalibration()

bool mitk::OptitrackTrackingDevice::LoadCalibration ( )

Load the Calibration file to the Optitrack System and set the cameras in calibrated locations.

Returns: Returns true if the calibration was uploaded correctly

Exceptions

mitk::IGTException Throws an exception if Calibration Path is empty, the System cannot load a calibration file or System is not ready for load a calibration file because it has not been initialized yet

Definition at line 632 of file mitkOptitrackTrackingDevice.cpp.

◆ mitkClassMacro()

mitk::OptitrackTrackingDevice::mitkClassMacro	(	OptitrackTrackingDevice	,
		mitk::TrackingDevice	)

◆ OpenConnection()

bool mitk::OptitrackTrackingDevice::OpenConnection ( )

overridevirtual

Open the Connection with the Tracker. Calls LoadCalibration function and set the system up with the calibration file. Remember that you have to set a calibration file first to open a correct connection to the Optical Tracking System.

Returns: Returns true if the connection is well done. Throws an exception if an error occures related to the Optitrack API messages.

Exceptions

mitk::IGTException Throws an exception if InitializeCameras or LoadCalibration failed.

Implements mitk::TrackingDevice.

Definition at line 614 of file mitkOptitrackTrackingDevice.cpp.

◆ SetCalibrationPath()

void mitk::OptitrackTrackingDevice::SetCalibrationPath ( std::string calibrationPath )

Sets the file where the calibration of the OptitrackTracker can be found.

Definition at line 641 of file mitkOptitrackTrackingDevice.cpp.

◆ SetCameraParams()

bool mitk::OptitrackTrackingDevice::SetCameraParams	(	int	exposure,
		int	threshold,
		int	intensity,
		int	videoType = 4 )

Set the Cameras Exposure, Threshold and Intensity of IR LEDs. By Default it set the Video type to 4: Precision Mode for tracking //== VideoType: //== 0 = Segment Mode //== 1 = Grayscale Mode //== 2 = Object Mode //== 4 = Precision Mode //== 6 = MJPEG Mode (V100R2 only)

Returns: Returns true if all cameras were set up correctly

Exceptions

mitk::IGTException Throws an exception if System is not Initialized

Definition at line 710 of file mitkOptitrackTrackingDevice.cpp.

◆ StartTracking()

bool mitk::OptitrackTrackingDevice::StartTracking ( )

overridevirtual

Start to Track the tools already defined. If no tools are defined for this tracker, it returns an error. Tools can be added using either AddToolByDescriptionFile or AddToolsByConfigurationFiles.

Returns: Returns true at least one tool was defined and the tracking is correct

Exceptions

mitk::IGTException Throws an exception if the System is not in State Ready .

Implements mitk::TrackingDevice.

Definition at line 658 of file mitkOptitrackTrackingDevice.cpp.

◆ StopTracking()

bool mitk::OptitrackTrackingDevice::StopTracking ( )

overridevirtual

Stop the Tracking Thread and tools will not longer be updated.

Returns: Returns true if Tracking thread could be stopped.

Exceptions

mitk::IGTException Throws an exception if System is not in State Tracking.

Reimplemented from mitk::TrackingDevice.

Definition at line 667 of file mitkOptitrackTrackingDevice.cpp.

◆ ThreadStartTracking()

void mitk::OptitrackTrackingDevice::ThreadStartTracking ( )

Start the Tracking Thread for the tools.

Definition at line 676 of file mitkOptitrackTrackingDevice.cpp.

◆ TrackTools()

void mitk::OptitrackTrackingDevice::TrackTools ( )

Update each tool location in the list m_AllTools.

Exceptions

mitk::IGTException Throws an exception if the getting data operation failed for a defined tool

Definition at line 702 of file mitkOptitrackTrackingDevice.cpp.

Friends And Related Symbol Documentation

◆ OptitrackTrackingTool

friend class OptitrackTrackingTool

friend

Definition at line 55 of file mitkOptitrackTrackingDevice.h.

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

Modules/IGT/TrackingDevices/mitkOptitrackTrackingDevice.h
Modules/IGT/TrackingDevices/mitkOptitrackTrackingDevice.cpp

Public Types

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ OptiTrackTrackingDeviceType

Constructor & Destructor Documentation

◆ OptitrackTrackingDevice()

◆ ~OptitrackTrackingDevice()

Member Function Documentation

◆ AddToolByDefinitionFile()

◆ CloseConnection()

◆ GetOptitrackTool()

◆ GetTool()

◆ GetToolCount()

◆ InitializeCameras()

◆ IsDeviceInstalled()

◆ itkGetMacro() [1/4]

◆ itkGetMacro() [2/4]

◆ itkGetMacro() [3/4]

◆ itkGetMacro() [4/4]

◆ itkNewMacro()

◆ itkSetMacro() [1/3]

◆ itkSetMacro() [2/3]

◆ itkSetMacro() [3/3]

◆ LoadCalibration()

◆ mitkClassMacro()

◆ OpenConnection()

◆ SetCalibrationPath()

◆ SetCameraParams()

◆ StartTracking()

◆ StopTracking()

◆ ThreadStartTracking()

◆ TrackTools()

Friends And Related Symbol Documentation

◆ OptitrackTrackingTool