IGSTK
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Provides support for the InfiniTrack optical tracker. More...
#include <igstkInfiniTrackTracker.h>
Protected Member Functions | |
InfiniTrackTracker (void) | |
Macro with standard traits declarations. More... | |
virtual | ~InfiniTrackTracker (void) |
Destructor. More... | |
virtual ResultType | InternalOpen (void) |
The "InternalOpen" method opens communication with a tracking device. More... | |
virtual ResultType | InternalClose (void) |
The "InternalClose" method closes communication with a tracking device. More... | |
virtual ResultType | InternalReset (void) |
The "InternalReset" method resets tracker to a known configuration. More... | |
virtual ResultType | InternalStartTracking (void) |
The "InternalStartTracking" method starts tracking. More... | |
virtual ResultType | InternalStopTracking (void) |
The "InternalStopTracking" method stops tracking. More... | |
virtual ResultType | InternalUpdateStatus (void) |
The "InternalUpdateStatus" method updates tracker status. More... | |
virtual ResultType | InternalThreadedUpdateStatus (void) |
The "InternalThreadedUpdateStatus" method updates tracker status. More... | |
virtual void | PrintSelf (std::ostream &os, itk::Indent indent) const |
Print the object information in a stream. More... | |
virtual ResultType | VerifyTrackerToolInformation (const TrackerToolType *) |
Verify if a tracker tool information is correct before attaching it to the tracker. More... | |
virtual ResultType | ValidateSpecifiedFrequency (double frequencyInHz) |
The "ValidateSpecifiedFrequency" method checks if the specified frequency is valid for the tracking device that is being used. More... | |
virtual ResultType | RemoveTrackerToolFromInternalDataContainers (const TrackerToolType *trackerTool) |
This method will remove entries of the traceker tool from internal data containers. More... | |
virtual ResultType | AddTrackerToolToInternalDataContainers (const TrackerToolType *trackerTool) |
Add tracker tool entry to internal containers. More... | |
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Tracker (void) | |
virtual | ~Tracker (void) |
virtual TimePeriodType | GetValidityTime () |
Get the validity time. More... | |
const TrackerToolsContainerType & | GetTrackerToolContainer () const |
Access method for the tracker tool container. More... | |
void | ReportTrackingToolNotAvailable (TrackerToolType *trackerTool) const |
Report to tracker tool that it is not available for tracking. More... | |
void | ReportTrackingToolVisible (TrackerToolType *trackerTool) const |
Report to tracker tool that it is visible. More... | |
void | SetTrackerToolRawTransform (TrackerToolType *trackerTool, const TransformType transform) |
Set tracker tool raw transform. More... | |
void | SetTrackerToolTransformUpdate (TrackerToolType *trackerTool, bool flag) const |
Turn on/off update flag of the tracker tool. More... | |
void | ExitTrackingStateProcessing (void) |
Depending on the tracker type, the tracking thread should be terminated or left untouched when we stop tracking. More... | |
void | ExitTrackingWithoutTerminatingTrackingThread () |
Exit tracking without terminating tracking thread. More... | |
void | ExitTrackingTerminatingTrackingThread () |
Exit tracking after terminating tracking thread. More... | |
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LoggerType * | GetLogger () const |
Object (void) | |
Constructor is protected in order to enforce the use of the New() operator. More... | |
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. More... | |
void | RemoveFromObservedObjects () |
Remove observers that this object may have connected to other objects. More... | |
Additional Inherited Members | |
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typedef Object | Self |
General Typedefs. More... | |
typedef ::itk::Object | Superclass |
typedef ::itk::SmartPointer< Self > | Pointer |
typedef ::itk::SmartPointer < const Self > | ConstPointer |
typedef igstk::Logger | LoggerType |
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void | RequestOpen (void) |
The "RequestOpen" method attempts to open communication with the tracking device. More... | |
void | RequestClose (void) |
The "RequestClose" method closes communication with the device. More... | |
void | RequestReset (void) |
The "RequestReset" tracker method should be used to bring the tracker to some defined default state. More... | |
void | RequestStartTracking (void) |
The "RequestStartTracking" method readies the tracker for tracking the tools connected to the tracker. More... | |
void | RequestStopTracking (void) |
The "RequestStopTracking" stops tracker from tracking the tools. More... | |
void | RequestSetFrequency (double frequencyInHz) |
The "RequestSetFrequency" method defines the frequency at which the Transform information will be queried from the Tracker device. More... | |
void | RequestSetReferenceTool (TrackerToolType *trackerTool) |
Set a reference tracker tool. More... | |
virtual void | SetThreadingEnabled (bool _arg) |
SetThreadingEnabled(bool) : set m_ThreadingEnabled value. More... | |
virtual bool | GetThreadingEnabled () |
GetThreadingEnabled(bool) : get m_ThreadingEnabled value. More... | |
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virtual const char * | GetNameOfClass () const |
void | SetLogger (LoggerType *logger) |
Connect the Logger for this class. More... | |
void | RemoveObserver (unsigned long tag) const |
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static Pointer | New (void) |
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igstkStandardAbstractClassTraitsMacro(Tracker, Object) public typedef TrackerTool | TrackerToolType |
Macro with standard traits declarations. More... | |
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enum | ResultType { FAILURE =0, SUCCESS } |
typedef Transform::TimePeriodType | TimePeriodType |
typedef for times used by the tracker More... | |
typedef Transform | TransformType |
typedefs from Transform class More... | |
typedef std::map< std::string, TrackerToolType * > | TrackerToolsContainerType |
typedefs from TrackerTool class More... | |
Provides support for the InfiniTrack optical tracker.
The InfiniTrack tracker is a firewire-based optical tracker form Atracsys sàrl in Bottens, Switzerland. This class uses the infiniTrack library that comes with the Tracker to communicate with the tracker camera and gather pose information of surgical tools.
Notice that the infiniTrack library will search in the application directory for the calibration file that match the serial number of attached camera. The calibration file is identified by 0xXXXXXXXX.xml.
Definition at line 57 of file igstkInfiniTrackTracker.h.
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protected |
Macro with standard traits declarations.
Set marker templates directory Constructor
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protectedvirtual |
Destructor.
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protectedvirtual |
The "InternalOpen" method opens communication with a tracking device.
This method is to be implemented by a descendant class and responsible for device-specific processing
Implements igstk::Tracker.
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protectedvirtual |
The "InternalClose" method closes communication with a tracking device.
This method is to be implemented by a descendant class and responsible for device-specific processing
Implements igstk::Tracker.
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protectedvirtual |
The "InternalReset" method resets tracker to a known configuration.
This method is to be implemented by a descendant class and responsible for device-specific processing
Implements igstk::Tracker.
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protectedvirtual |
The "InternalStartTracking" method starts tracking.
This method is to be implemented by a descendant class and responsible for device-specific processing
Implements igstk::Tracker.
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protectedvirtual |
The "InternalStopTracking" method stops tracking.
This method is to be implemented by a descendant class and responsible for device-specific processing
Implements igstk::Tracker.
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protectedvirtual |
The "InternalUpdateStatus" method updates tracker status.
This method is to be implemented by a descendant class and responsible for device-specific processing
Implements igstk::Tracker.
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protectedvirtual |
The "InternalThreadedUpdateStatus" method updates tracker status.
This method is called in a separate thread. This method is to be implemented by a descendant class and responsible for device-specific processing
Implements igstk::Tracker.
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protectedvirtual |
Print the object information in a stream.
Reimplemented from igstk::Tracker.
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protectedvirtual |
Verify if a tracker tool information is correct before attaching it to the tracker.
This method is used to verify the information supplied by the user about the tracker tool. The information depends on the tracker type. For example, during the configuration step of the InfiniTrackTracker, location of the directory containing marker template files is specified. If the user tries to attach a tracker tool with a marker type whose template file is not stored in this directory, this method will return failure. Similarly, for PolarisTracker, the method returns failure, if the tool part number specified by the user during the tracker tool configuration step does not match with the part number read from the SROM file.
Implements igstk::Tracker.
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protectedvirtual |
The "ValidateSpecifiedFrequency" method checks if the specified frequency is valid for the tracking device that is being used.
This method is to be overridden in the derived tracking-device specific classes to take into account the maximum frequency possible in the tracking device
Reimplemented from igstk::Tracker.
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protectedvirtual |
This method will remove entries of the traceker tool from internal data containers.
Implements igstk::Tracker.
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protectedvirtual |
Add tracker tool entry to internal containers.
Implements igstk::Tracker.