Class representing a tracking device which generates random positions / orientations. No hardware is needed for tracking device. More...

#include <mitkVirtualTrackingDevice.h>

Inheritance diagram for mitk::VirtualTrackingDevice:

Public Member Functions
	mitkClassMacro (VirtualTrackingDevice, TrackingDevice)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

	itkSetMacro (RefreshRate, unsigned int)
	Sets the refresh rate of the virtual tracking device in ms.

	itkGetConstMacro (RefreshRate, unsigned int)
	Returns the refresh rate in ms.

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

TrackingTool *	AddTool (const char *toolName)
	Adds a tool to the tracking device.

	itkSetVectorMacro (Bounds, mitk::ScalarType, 6)
	Set the tracking volume bounds.

const mitk::ScalarType *	GetBounds () const
	return the tracking volume bounds

mitk::ScalarType	GetSplineChordLength (unsigned int idx)
	return the approximate length of the spline for tool with index idx in millimeter

void	SetToolSpeed (unsigned int idx, mitk::ScalarType roundsPerSecond)
	sets the speed of the tool idx in rounds per second

void	EnableGaussianNoise ()
	enable addition of Gaussian Noise to tracking coordinates

void	DisableGaussianNoise ()
	disable addition of Gaussian Noise to Trackin coordinates

void	SetParamsForGaussianNoise (double meanDistribution, double deviationDistribution)
	sets the mean distribution and the standard deviation for the Gaussian Noise

double	GetMeanDistribution ()
	returns the mean distribution for the Gaussian Noise

double	GetDeviationDistribution ()
	returns the deviation distribution for the Gaussian Noise

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	IsDeviceInstalled ()

virtual bool	AutoDetectToolsAvailable ()

virtual bool	AddSingleToolIsAvailable ()

virtual mitk::NavigationToolStorage::Pointer	AutoDetectTools ()

Protected Types
typedef mitk::VirtualTrackingTool::SplineType::ControlPointType	ControlPointType

typedef std::vector< VirtualTrackingTool::Pointer >	ToolContainer
	container type for tracking tools

Protected Member Functions
	VirtualTrackingDevice ()

	~VirtualTrackingDevice () override

void	TrackTools ()
	This method tracks tools as long as the variable m_Mode is set to "Tracking". Tracking tools means generating random numbers for the tool position and orientation.

void	InitializeSpline (mitk::VirtualTrackingTool *t)
	initializes the spline path of the tool t with random control points inside the current tracking volume

void	ThreadStartTracking ()
	static start method for tracking thread

ControlPointType	GetRandomPoint ()
	returns a random position inside the tracking volume (defined by m_Bounds)

mitk::VirtualTrackingTool *	GetInternalTool (unsigned int idx)

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

	TrackingDevice ()

	~TrackingDevice () override

Protected Attributes
ToolContainer	m_AllTools
	container for all tracking tools

std::mutex	m_ToolsMutex
	mutex for coordinated access of tool container

std::thread	m_Thread

unsigned int	m_RefreshRate
	refresh rate of the internal tracking thread in milliseconds (NOT refreshs per second!)

unsigned int	m_NumberOfControlPoints
	number of control points for the random path generation

mitk::ScalarType	m_Bounds [6]
	bounding box of the tracking volume stored as {xMin, xMax, yMin, yMax, zMin, zMax}

bool	m_GaussianNoiseEnabled
	adding Gaussian Noise to tracking coordinates or not, false by default

double	m_MeanDistributionParam

double	m_DeviationDistributionParam
	mean distribution for Gaussion Noise, 0.0 by default

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

Class representing a tracking device which generates random positions / orientations. No hardware is needed for tracking device.

Documentation

This TrackingDevice class does not interface with a physical tracking device. It simulates a tracking device by moving the tools on a randomly generated spline path.

Definition at line 35 of file mitkVirtualTrackingDevice.h.

Member Typedef Documentation

◆ ControlPointType

mitk::VirtualTrackingTool::SplineType::ControlPointType mitk::VirtualTrackingDevice::ControlPointType

protected

Definition at line 193 of file mitkVirtualTrackingDevice.h.

◆ ToolContainer

std::vector<VirtualTrackingTool::Pointer> mitk::VirtualTrackingDevice::ToolContainer

protected

container type for tracking tools

Definition at line 198 of file mitkVirtualTrackingDevice.h.

Constructor & Destructor Documentation

◆ VirtualTrackingDevice()

mitk::VirtualTrackingDevice::VirtualTrackingDevice ( )

protected

Definition at line 25 of file mitkVirtualTrackingDevice.cpp.

◆ ~VirtualTrackingDevice()

mitk::VirtualTrackingDevice::~VirtualTrackingDevice ( )

overrideprotected

Definition at line 34 of file mitkVirtualTrackingDevice.cpp.

Member Function Documentation

◆ AddTool()

mitk::TrackingTool * mitk::VirtualTrackingDevice::AddTool ( const char * toolName )

Adds a tool to the tracking device.

The tool will have a random path on which it will move around. The path is created with a spline function and random control points inside the tracking volume.

Parameters

toolName The tool which will be added.

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

Definition at line 51 of file mitkVirtualTrackingDevice.cpp.

◆ CloseConnection()

bool mitk::VirtualTrackingDevice::CloseConnection ( )

overridevirtual

Closes the connection and clears all resources.

Implements mitk::TrackingDevice.

Definition at line 163 of file mitkVirtualTrackingDevice.cpp.

◆ DisableGaussianNoise()

void mitk::VirtualTrackingDevice::DisableGaussianNoise ( )

disable addition of Gaussian Noise to Trackin coordinates

Definition at line 288 of file mitkVirtualTrackingDevice.cpp.

◆ EnableGaussianNoise()

void mitk::VirtualTrackingDevice::EnableGaussianNoise ( )

enable addition of Gaussian Noise to tracking coordinates

Definition at line 283 of file mitkVirtualTrackingDevice.cpp.

◆ GetBounds()

const mitk::ScalarType * mitk::VirtualTrackingDevice::GetBounds ( ) const

inline

return the tracking volume bounds

This will return the tracking volume as an axis aligned bounding box defined by the six bounds values xMin, xMax, yMin, yMax, zMin, zMax

Definition at line 125 of file mitkVirtualTrackingDevice.h.

◆ GetDeviationDistribution()

double mitk::VirtualTrackingDevice::GetDeviationDistribution ( )

returns the deviation distribution for the Gaussian Noise

Definition at line 299 of file mitkVirtualTrackingDevice.cpp.

◆ GetInternalTool()

mitk::VirtualTrackingTool * mitk::VirtualTrackingDevice::GetInternalTool ( unsigned int idx )

protected

Definition at line 194 of file mitkVirtualTrackingDevice.cpp.

◆ GetMeanDistribution()

double mitk::VirtualTrackingDevice::GetMeanDistribution ( )

returns the mean distribution for the Gaussian Noise

Definition at line 304 of file mitkVirtualTrackingDevice.cpp.

◆ GetRandomPoint()

mitk::VirtualTrackingDevice::ControlPointType mitk::VirtualTrackingDevice::GetRandomPoint ( )

protected

returns a random position inside the tracking volume (defined by m_Bounds)

Definition at line 273 of file mitkVirtualTrackingDevice.cpp.

◆ GetSplineChordLength()

mitk::ScalarType mitk::VirtualTrackingDevice::GetSplineChordLength ( unsigned int idx )

return the approximate length of the spline for tool with index idx in millimeter

if the index idx is not a valid tool index, a std::invalid_argument exception is thrown. GetSplineChordLength() returns the distance between all control points of the spline in millimeter. This can be used as an approximation for the length of the spline path.

Definition at line 173 of file mitkVirtualTrackingDevice.cpp.

◆ GetTool()

mitk::TrackingTool * mitk::VirtualTrackingDevice::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 109 of file mitkVirtualTrackingDevice.cpp.

◆ GetToolCount()

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

overridevirtual

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

Implements mitk::TrackingDevice.

Definition at line 103 of file mitkVirtualTrackingDevice.cpp.

◆ InitializeSpline()

void mitk::VirtualTrackingDevice::InitializeSpline ( mitk::VirtualTrackingTool * t )

protected

initializes the spline path of the tool t with random control points inside the current tracking volume

Definition at line 129 of file mitkVirtualTrackingDevice.cpp.

◆ itkCloneMacro()

mitk::VirtualTrackingDevice::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::VirtualTrackingDevice::itkFactorylessNewMacro ( Self )

◆ itkGetConstMacro()

mitk::VirtualTrackingDevice::itkGetConstMacro	(	RefreshRate	,
		unsigned int	)

Returns the refresh rate in ms.

Returns: Returns the refresh rate in ms.

◆ itkSetMacro()

mitk::VirtualTrackingDevice::itkSetMacro	(	RefreshRate	,
		unsigned int	)

Sets the refresh rate of the virtual tracking device in ms.

Warning: This refresh rate is not guaranteed. A thread is used to refresh the positions of the virtual tools. However, this thread may not run at all during this refresh time period.

◆ itkSetVectorMacro()

mitk::VirtualTrackingDevice::itkSetVectorMacro	(	Bounds	,
		mitk::ScalarType	,
		6	)

Set the tracking volume bounds.

This will set the tracking volume as an axis aligned bounding box defined by the six bounds values xMin, xMax, yMin, yMax, zMin, zMax. Note that the random path of existing tools will not be updated with the new tracking volume. Tools that are created after calling SetBounds() will use the new tracking volume

◆ mitkClassMacro()

mitk::VirtualTrackingDevice::mitkClassMacro	(	VirtualTrackingDevice	,
		TrackingDevice	)

◆ OpenConnection()

bool mitk::VirtualTrackingDevice::OpenConnection ( )

overridevirtual

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

Exceptions

mitk::IGTException Throws an exception if there are two less control points to start the the virtual device.

Implements mitk::TrackingDevice.

Definition at line 117 of file mitkVirtualTrackingDevice.cpp.

◆ SetParamsForGaussianNoise()

void mitk::VirtualTrackingDevice::SetParamsForGaussianNoise	(	double	meanDistribution,
		double	deviationDistribution )

sets the mean distribution and the standard deviation for the Gaussian Noise

Definition at line 293 of file mitkVirtualTrackingDevice.cpp.

◆ SetToolSpeed()

void mitk::VirtualTrackingDevice::SetToolSpeed	(	unsigned int	idx,
		mitk::ScalarType	roundsPerSecond )

sets the speed of the tool idx in rounds per second

The virtual tools will travel along a closed spline path. This method sets the speed of a tool as a factor of how many rounds per second the tool should move. A setting of 1.0 will indicate one complete round per second. Together with GetSplineChordLength(), the speed in millimeter per second can be estimated. roundsPerSecond must be positive and larger than 0.0001.

Warning: Tool speed is currently not used.

Todo: use tool speed

Definition at line 182 of file mitkVirtualTrackingDevice.cpp.

◆ StartTracking()

bool mitk::VirtualTrackingDevice::StartTracking ( )

overridevirtual

Starts the tracking.

After StartTracking() is called, the tools will move on their spline paths with a constant velocity that can be set with SetToolSpeed(). The standard velocity is 10 seconds for one complete cycle along the spline path.

Warning: tool speed is not yet used in the current version

Returns: Returns true if the tracking is started. Returns false if there was an error.

Implements mitk::TrackingDevice.

Definition at line 67 of file mitkVirtualTrackingDevice.cpp.

◆ StopTracking()

bool mitk::VirtualTrackingDevice::StopTracking ( )

overridevirtual

Stops the tracking.

Returns: Returns true if the tracking is stopped. Returns false if there was an error.

Reimplemented from mitk::TrackingDevice.

Definition at line 85 of file mitkVirtualTrackingDevice.cpp.

◆ ThreadStartTracking()

void mitk::VirtualTrackingDevice::ThreadStartTracking ( )

protected

static start method for tracking thread

Definition at line 268 of file mitkVirtualTrackingDevice.cpp.

◆ TrackTools()

void mitk::VirtualTrackingDevice::TrackTools ( )

protected

This method tracks tools as long as the variable m_Mode is set to "Tracking". Tracking tools means generating random numbers for the tool position and orientation.

Exceptions

mitk::IGTException Throws an mitk::IGTException if there is an error during virtual tool tracking.

Definition at line 203 of file mitkVirtualTrackingDevice.cpp.

Member Data Documentation

◆ m_AllTools

ToolContainer mitk::VirtualTrackingDevice::m_AllTools

protected

container for all tracking tools

Definition at line 199 of file mitkVirtualTrackingDevice.h.

◆ m_Bounds

mitk::ScalarType mitk::VirtualTrackingDevice::m_Bounds[6]

protected

bounding box of the tracking volume stored as {xMin, xMax, yMin, yMax, zMin, zMax}

Definition at line 207 of file mitkVirtualTrackingDevice.h.

◆ m_DeviationDistributionParam

double mitk::VirtualTrackingDevice::m_DeviationDistributionParam

protected

mean distribution for Gaussion Noise, 0.0 by default

deviation distribution for Gaussian Noise, 1.0 by default

Definition at line 210 of file mitkVirtualTrackingDevice.h.

◆ m_GaussianNoiseEnabled

bool mitk::VirtualTrackingDevice::m_GaussianNoiseEnabled

protected

adding Gaussian Noise to tracking coordinates or not, false by default

Definition at line 208 of file mitkVirtualTrackingDevice.h.

◆ m_MeanDistributionParam

double mitk::VirtualTrackingDevice::m_MeanDistributionParam

protected

Definition at line 209 of file mitkVirtualTrackingDevice.h.

◆ m_NumberOfControlPoints

unsigned int mitk::VirtualTrackingDevice::m_NumberOfControlPoints

protected

number of control points for the random path generation

Definition at line 205 of file mitkVirtualTrackingDevice.h.

◆ m_RefreshRate

unsigned int mitk::VirtualTrackingDevice::m_RefreshRate

protected

refresh rate of the internal tracking thread in milliseconds (NOT refreshs per second!)

Definition at line 204 of file mitkVirtualTrackingDevice.h.

◆ m_Thread

std::thread mitk::VirtualTrackingDevice::m_Thread

protected

Definition at line 202 of file mitkVirtualTrackingDevice.h.

◆ m_ToolsMutex

std::mutex mitk::VirtualTrackingDevice::m_ToolsMutex

mutableprotected

mutex for coordinated access of tool container

Definition at line 200 of file mitkVirtualTrackingDevice.h.

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

Modules/IGT/TrackingDevices/mitkVirtualTrackingDevice.h
Modules/IGT/TrackingDevices/mitkVirtualTrackingDevice.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ControlPointType

◆ ToolContainer

Constructor & Destructor Documentation

◆ VirtualTrackingDevice()

◆ ~VirtualTrackingDevice()

Member Function Documentation

◆ AddTool()

◆ CloseConnection()

◆ DisableGaussianNoise()

◆ EnableGaussianNoise()

◆ GetBounds()

◆ GetDeviationDistribution()

◆ GetInternalTool()

◆ GetMeanDistribution()

◆ GetRandomPoint()

◆ GetSplineChordLength()

◆ GetTool()

◆ GetToolCount()

◆ InitializeSpline()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ itkGetConstMacro()

◆ itkSetMacro()

◆ itkSetVectorMacro()

◆ mitkClassMacro()

◆ OpenConnection()

◆ SetParamsForGaussianNoise()

◆ SetToolSpeed()

◆ StartTracking()

◆ StopTracking()

◆ ThreadStartTracking()

◆ TrackTools()

Member Data Documentation

◆ m_AllTools

◆ m_Bounds

◆ m_DeviationDistributionParam

◆ m_GaussianNoiseEnabled

◆ m_MeanDistributionParam

◆ m_NumberOfControlPoints

◆ m_RefreshRate

◆ m_Thread

◆ m_ToolsMutex