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

#include <mitkOptitrackTrackingTool.h>

Inheritance diagram for mitk::OptitrackTrackingTool:

Public Member Functions
	mitkClassMacro (mitk::OptitrackTrackingTool, mitk::TrackingTool)

	itkNewMacro (Self)

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.

int	get_IDnext ()
	Ask API the next number of defined tool.

bool	DeleteTrackable ()
	Delete the tool from the list of tools inside API Optitrack.

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.

void	GetOrientation (mitk::Quaternion &orientation) const override
	Get the orientation of the tool using quaternion nomenclature.

bool	Enable () override
	Set the tool enabled for tracking.

bool	Disable () override
	Set the tool disabled for tracking.

bool	IsEnabled () const override
	Check if the tool is enabled (true) or not.

bool	IsDataValid () const override
	Check if the data of the tool is valid.

float	GetTrackingError () const override
	Get the expectated error in the tracked tool.

void	SetTrackingError (float FLEerror) override
	Set the FLE (Fiducial Localization Error) for the tool.

void	SetDataValid (bool _arg) override
	Set the valid flag for tracking data to true.

void	updateTool ()
	Update location and orientation of the tool.

	OptitrackTrackingTool ()
	Constructor of the class.

	~OptitrackTrackingTool () override
	Destructor of the class.

Public Member Functions inherited from mitk::TrackingTool
	mitkClassMacroItkParent (TrackingTool, itk::Object)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

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.

virtual void	SetToolName (const std::string _arg)
	Sets the name of the tool.

virtual void	SetToolName (const char *_arg)
	Sets the name of the tool.

Point3D	GetToolTipPosition () const
	returns the tool tip in tool coordinates, which where set by SetToolTip

Quaternion	GetToolAxisOrientation () const
	returns the transformation of the tool axis with respect to the MITK-IGT main tool axis (0,0,-1)

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.

virtual bool	IsToolTipSet () const
	returns true if a tool tip is set, false if not

virtual void	GetPosition (Point3D &position) const
	returns the current position of the tool as an array of three floats (in the tracking device coordinate system)

virtual void	SetPosition (Point3D position)
	sets the position

virtual void	GetOrientation (Quaternion &orientation) const
	returns the current orientation of the tool as a quaternion in a mitk::Point4D (in the tracking device coordinate system)

virtual void	SetOrientation (Quaternion orientation)
	sets the orientation as a quaternion

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)

virtual void	SetErrorMessage (const char *_arg)
	sets the error message

	itkSetMacro (IGTTimeStamp, double) itkGetConstMacro(IGTTimeStamp

Public Attributes
std::string	m_fileConfiguration
	File of the configuration for the tool.

int	m_ID
	ID number from Optitrack API.

float *	m_calibrationPoints
	List of Markers locations in calibration position and orientation.

float *	m_pivotPoint
	location of the pivot point during calibration

int	m_numMarkers
	Number of Markers that blong to the tool.

float	m_FLE
	Expected value of the fiducial localization error (rms)

Friends
class	OptitrackTrackingDevice

Additional Inherited Members
Protected Member Functions inherited from mitk::TrackingTool
	TrackingTool ()
	< Gets the IGT timestamp of the tracking tool object (time in milliseconds). Returns 0 if the timestamp was not set.

	~TrackingTool () override

Protected Attributes inherited from mitk::TrackingTool
std::string	m_ToolName
	every tool has a name that can be used to identify it.

std::string	m_ErrorMessage
	if a tool is invalid, this member should contain a human readable explanation of why it is invalid

double	m_IGTTimeStamp
	contains the time at which the tracking data was recorded

std::mutex	m_MyMutex
	mutex to control concurrent access to the tool

Point3D	m_Position
	holds the position of the tool in global tracking coordinates

Quaternion	m_Orientation
	holds the orientation of the tool´in global tracking coordinates

float	m_TrackingError
	holds the tracking error of the tool

bool	m_Enabled
	if true, tool is enabled and should receive tracking updates from the tracking device

bool	m_DataValid
	if true, data in m_Position and m_Orientation is valid, e.g. true tracking data

Point3D	m_ToolTipPosition
	holds the position of the tool tip in the coordinate system of the tracking sensor

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

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 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 50 of file mitkOptitrackTrackingTool.h.

Constructor & Destructor Documentation

◆ OptitrackTrackingTool()

mitk::OptitrackTrackingTool::OptitrackTrackingTool ( )

Constructor of the class.

Definition at line 494 of file mitkOptitrackTrackingTool.cpp.

◆ ~OptitrackTrackingTool()

mitk::OptitrackTrackingTool::~OptitrackTrackingTool ( )

override

Destructor of the class.

Definition at line 504 of file mitkOptitrackTrackingTool.cpp.

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::IGTException Throws an exception if

Definition at line 530 of file mitkOptitrackTrackingTool.cpp.

◆ Disable()

bool mitk::OptitrackTrackingTool::Disable ( )

overridevirtual

Set the tool disabled for tracking.

Returns: Return true if the disabling was successfull

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::TrackingTool.

Definition at line 580 of file mitkOptitrackTrackingTool.cpp.

◆ Enable()

bool mitk::OptitrackTrackingTool::Enable ( )

overridevirtual

Set the tool enabled for tracking.

Returns: Return true if the enabling was successfull

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::TrackingTool.

Definition at line 571 of file mitkOptitrackTrackingTool.cpp.

◆ 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::IGTException Throws an exception if get_IDnext failed

Definition at line 521 of file mitkOptitrackTrackingTool.cpp.

◆ GetOrientation()

void mitk::OptitrackTrackingTool::GetOrientation ( mitk::Quaternion & orientation ) const

override

Get the orientation of the tool using quaternion nomenclature.

Exceptions

mitk::IGTException Throws an exception if

Definition at line 563 of file mitkOptitrackTrackingTool.cpp.

◆ GetPosition()

void mitk::OptitrackTrackingTool::GetPosition ( mitk::Point3D & position ) const

override

Get the position of the tool.

Exceptions

mitk::IGTException Throws an exception if

Definition at line 555 of file mitkOptitrackTrackingTool.cpp.

◆ GetTrackingError()

float mitk::OptitrackTrackingTool::GetTrackingError ( ) const

overridevirtual

Get the expectated error in the tracked tool.

Returns: Return the error location

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::TrackingTool.

Definition at line 607 of file mitkOptitrackTrackingTool.cpp.

◆ 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::IGTException Throws an exception if

Reimplemented from mitk::TrackingTool.

Definition at line 598 of file mitkOptitrackTrackingTool.cpp.

◆ 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::IGTException Throws an exception if

Reimplemented from mitk::TrackingTool.

Definition at line 589 of file mitkOptitrackTrackingTool.cpp.

◆ itkNewMacro()

mitk::OptitrackTrackingTool::itkNewMacro ( Self )

◆ mitkClassMacro()

mitk::OptitrackTrackingTool::mitkClassMacro	(	mitk::OptitrackTrackingTool	,
		mitk::TrackingTool	)

◆ SetDataValid()

void mitk::OptitrackTrackingTool::SetDataValid ( bool _arg )

overridevirtual

Set the valid flag for tracking data to true.

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::TrackingTool.

Definition at line 624 of file mitkOptitrackTrackingTool.cpp.

◆ SetOrientation()

void mitk::OptitrackTrackingTool::SetOrientation	(	mitk::Quaternion	orientation,
		ScalarType	eps = 0.0 )

Definition at line 547 of file mitkOptitrackTrackingTool.cpp.

◆ SetPosition()

void mitk::OptitrackTrackingTool::SetPosition	(	mitk::Point3D	position,
		ScalarType	eps = 0.0 )

Definition at line 539 of file mitkOptitrackTrackingTool.cpp.

◆ 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::IGTException Throws an exception if there exist any problem during the configuration file reading.

Definition at line 512 of file mitkOptitrackTrackingTool.cpp.

◆ SetTrackingError()

void mitk::OptitrackTrackingTool::SetTrackingError ( float FLEerror )

overridevirtual

Set the FLE (Fiducial Localization Error) for the tool.

Exceptions

mitk::IGTException Throws an exception if

Reimplemented from mitk::TrackingTool.

Definition at line 616 of file mitkOptitrackTrackingTool.cpp.

◆ updateTool()

void mitk::OptitrackTrackingTool::updateTool ( )

Update location and orientation of the tool.

Exceptions

mitk::IGTException Throws an exception if

Definition at line 632 of file mitkOptitrackTrackingTool.cpp.

Friends And Related Symbol Documentation

◆ OptitrackTrackingDevice

friend class OptitrackTrackingDevice

friend

Definition at line 53 of file mitkOptitrackTrackingTool.h.

Member Data Documentation

◆ m_calibrationPoints

float* mitk::OptitrackTrackingTool::m_calibrationPoints

List of Markers locations in calibration position and orientation.

Definition at line 190 of file mitkOptitrackTrackingTool.h.

◆ m_fileConfiguration

std::string mitk::OptitrackTrackingTool::m_fileConfiguration

File of the configuration for the tool.

Definition at line 180 of file mitkOptitrackTrackingTool.h.

◆ m_FLE

float mitk::OptitrackTrackingTool::m_FLE

Expected value of the fiducial localization error (rms)

Definition at line 205 of file mitkOptitrackTrackingTool.h.

◆ m_ID

int mitk::OptitrackTrackingTool::m_ID

ID number from Optitrack API.

Definition at line 185 of file mitkOptitrackTrackingTool.h.

◆ m_numMarkers

int mitk::OptitrackTrackingTool::m_numMarkers

Number of Markers that blong to the tool.

Definition at line 200 of file mitkOptitrackTrackingTool.h.

◆ m_pivotPoint

float* mitk::OptitrackTrackingTool::m_pivotPoint

location of the pivot point during calibration

Definition at line 195 of file mitkOptitrackTrackingTool.h.

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

Modules/IGT/TrackingDevices/mitkOptitrackTrackingTool.h
Modules/IGT/TrackingDevices/mitkOptitrackTrackingTool.cpp

Public Member Functions

Public Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OptitrackTrackingTool()

◆ ~OptitrackTrackingTool()

Member Function Documentation

◆ DeleteTrackable()

◆ Disable()

◆ Enable()

◆ get_IDnext()

◆ GetOrientation()

◆ GetPosition()

◆ GetTrackingError()

◆ IsDataValid()

◆ IsEnabled()

◆ itkNewMacro()

◆ mitkClassMacro()

◆ SetDataValid()

◆ SetOrientation()

◆ SetPosition()

◆ SetToolByFileName()

◆ SetTrackingError()

◆ updateTool()

Friends And Related Symbol Documentation

◆ OptitrackTrackingDevice

Member Data Documentation

◆ m_calibrationPoints

◆ m_fileConfiguration

◆ m_FLE

◆ m_ID

◆ m_numMarkers

◆ m_pivotPoint