PlusLib  2.9.0
Software library for tracked ultrasound image acquisition, calibration, and processing.
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AtracsysTracker Class Reference

#include <src/PlusDataCollection/Atracsys/AtracsysTracker.h>

Classes

class  Fiducial
 
class  Marker
 

Public Types

enum  ATRACSYS_RESULT {
  SUCCESS = 0, ERROR_UNABLE_TO_GET_FTK_HANDLE, ERROR_NO_DEVICE_CONNECTED, WARNING_CONNECTED_IN_USB2,
  ERROR_UNABLE_TO_LOAD_MARKER, ERROR_FAILURE_TO_LOAD_INI, ERROR_OPTION_AVAILABLE_ONLY_ON_FTK, ERROR_OPTION_AVAILABLE_ONLY_ON_STK,
  ERROR_FAILED_TO_CLOSE_SDK, ERROR_FAILED_TO_EXPORT_CALIB, ERROR_FAILED_TO_EXTRACT_FRAME_INFO, ERROR_CANNOT_CREATE_FRAME_INSTANCE,
  ERROR_CANNOT_INITIALIZE_FRAME, ERROR_NO_FRAME_AVAILABLE, ERROR_INVALID_FRAME, ERROR_TOO_MANY_MARKERS,
  ERROR_TOO_MANY_FIDUCIALS, ERROR_ENABLE_LASER, ERROR_SET_USER_LED, ERROR_ENABLE_USER_LED,
  ERROR_ENABLE_ONBOARD_PROCESSING, ERROR_ENABLE_IMAGE_STREAMING, ERROR_ENABLE_WIRELESS_MARKER_PAIRING, ERROR_ENABLE_WIRELESS_MARKER_STATUS_STREAMING,
  ERROR_ENABLE_WIRELESS_MARKER_BATTERY_STREAMING, ERROR_DISCONNECT_ATTEMPT_WHEN_NOT_CONNECTED, ERROR_CANNOT_GET_MARKER_INFO, ERROR_FAILED_TO_SET_STK_PROCESSING_TYPE,
  ERROR_OPTION_NOT_FOUND, ERROR_SET_OPTION
}
 
enum  DEVICE_TYPE {
  UNKNOWN_DEVICE = 0, SPRYTRACK_180, SPRYTRACK_300, FUSIONTRACK_500,
  FUSIONTRACK_250
}
 
typedef std::vector< Fiducial > Fiducials
 
enum  SPRYTRACK_IMAGE_PROCESSING_TYPE { PROCESSING_ONBOARD, PROCESSING_ON_PC }
 

Public Member Functions

 AtracsysTracker ()
 
ATRACSYS_RESULT Connect ()
 
ATRACSYS_RESULT Disconnect ()
 
ATRACSYS_RESULT EnableImageStreaming (bool enabled)
 
ATRACSYS_RESULT EnableOnboardProcessing (bool enabled)
 
ATRACSYS_RESULT EnableUserLED (bool enabled)
 
ATRACSYS_RESULT EnableWirelessMarkerBatteryStreaming (bool enabled)
 
ATRACSYS_RESULT EnableWirelessMarkerPairing (bool enabled)
 
ATRACSYS_RESULT EnableWirelessMarkerStatusStreaming (bool enabled)
 
ATRACSYS_RESULT GetCalibrationDate (std::string &date)
 
ATRACSYS_RESULT GetCamerasCalibration (std::array< float, 10 > &leftIntrinsic, std::array< float, 10 > &rightIntrinsic, std::array< float, 3 > &rightPosition, std::array< float, 3 > &rightOrientation)
 
ATRACSYS_RESULT GetDeviceId (uint64_t &id)
 
ATRACSYS_RESULT GetDeviceType (DEVICE_TYPE &deviceType)
 
ATRACSYS_RESULT GetDroppedFrameCount (int &droppedFrameCount)
 
ATRACSYS_RESULT GetLoadedGeometries (std::map< int, std::vector< std::array< float, 3 >>> &geometries)
 
ATRACSYS_RESULT GetMarkerInfo (std::string &markerInfo)
 
ATRACSYS_RESULT GetMarkersInFrame (std::vector< Marker > &markers, std::map< std::string, std::string > &events, uint64_t &sdkTimestamp)
 
int GetMax2dFiducialsNumber ()
 
int GetMax3dFiducialsNumber ()
 
int GetMaxAdditionalEventsNumber ()
 
int GetMaxMarkersNumber ()
 
ATRACSYS_RESULT GetSDKversion (std::string &version)
 
bool IsOnboardProcessing ()
 
bool IsVirtual ()
 
ATRACSYS_RESULT LoadMarkerGeometryFromFile (std::string filePath, int &geometryId)
 
ATRACSYS_RESULT LoadMarkerGeometryFromString (std::string filePath, int &geometryId)
 
void Pause (bool tof)
 
ATRACSYS_RESULT ResetLostFrameCount ()
 
std::string ResultToString (ATRACSYS_RESULT result)
 
ATRACSYS_RESULT SetLaserEnabled (bool enabled)
 
ATRACSYS_RESULT SetMax2dFiducialsNumber (int n)
 
ATRACSYS_RESULT SetMax3dFiducialsNumber (int n)
 
ATRACSYS_RESULT SetMaxAdditionalEventsNumber (int n)
 
ATRACSYS_RESULT SetMaxMarkersNumber (int n)
 
ATRACSYS_RESULT SetOption (const std::string &, const std::string &)
 
ATRACSYS_RESULT SetSpryTrackProcessingType (SPRYTRACK_IMAGE_PROCESSING_TYPE processingType)
 
ATRACSYS_RESULT SetUserLEDState (int red, int green, int blue, int frequency, bool enabled=true)
 
virtual ~AtracsysTracker ()
 

Protected Member Functions

bool GetOptionInfo (const std::string &, const ftkOptionsInfo *&)
 

Detailed Description

Definition at line 22 of file AtracsysTracker.h.

Member Typedef Documentation

◆ Fiducials

typedef std::vector<Fiducial> AtracsysTracker::Fiducials

Definition at line 112 of file AtracsysTracker.h.

Member Enumeration Documentation

◆ ATRACSYS_RESULT

enum AtracsysTracker::ATRACSYS_RESULT
Enumerator
SUCCESS 
ERROR_UNABLE_TO_GET_FTK_HANDLE 
ERROR_NO_DEVICE_CONNECTED 
WARNING_CONNECTED_IN_USB2 
ERROR_UNABLE_TO_LOAD_MARKER 
ERROR_FAILURE_TO_LOAD_INI 
ERROR_OPTION_AVAILABLE_ONLY_ON_FTK 
ERROR_OPTION_AVAILABLE_ONLY_ON_STK 
ERROR_FAILED_TO_CLOSE_SDK 
ERROR_FAILED_TO_EXPORT_CALIB 
ERROR_FAILED_TO_EXTRACT_FRAME_INFO 
ERROR_CANNOT_CREATE_FRAME_INSTANCE 
ERROR_CANNOT_INITIALIZE_FRAME 
ERROR_NO_FRAME_AVAILABLE 
ERROR_INVALID_FRAME 
ERROR_TOO_MANY_MARKERS 
ERROR_TOO_MANY_FIDUCIALS 
ERROR_ENABLE_LASER 
ERROR_SET_USER_LED 
ERROR_ENABLE_USER_LED 
ERROR_ENABLE_ONBOARD_PROCESSING 
ERROR_ENABLE_IMAGE_STREAMING 
ERROR_ENABLE_WIRELESS_MARKER_PAIRING 
ERROR_ENABLE_WIRELESS_MARKER_STATUS_STREAMING 
ERROR_ENABLE_WIRELESS_MARKER_BATTERY_STREAMING 
ERROR_DISCONNECT_ATTEMPT_WHEN_NOT_CONNECTED 
ERROR_CANNOT_GET_MARKER_INFO 
ERROR_FAILED_TO_SET_STK_PROCESSING_TYPE 
ERROR_OPTION_NOT_FOUND 
ERROR_SET_OPTION 

Definition at line 29 of file AtracsysTracker.h.

◆ DEVICE_TYPE

enum AtracsysTracker::DEVICE_TYPE
Enumerator
UNKNOWN_DEVICE 
SPRYTRACK_180 
SPRYTRACK_300 
FUSIONTRACK_500 
FUSIONTRACK_250 

Definition at line 63 of file AtracsysTracker.h.

◆ SPRYTRACK_IMAGE_PROCESSING_TYPE

enum AtracsysTracker::SPRYTRACK_IMAGE_PROCESSING_TYPE
Enumerator
PROCESSING_ONBOARD 
PROCESSING_ON_PC 

Definition at line 72 of file AtracsysTracker.h.

Constructor & Destructor Documentation

◆ AtracsysTracker()

AtracsysTracker::AtracsysTracker ( )

Definition at line 663 of file AtracsysTracker.cxx.

◆ ~AtracsysTracker()

AtracsysTracker::~AtracsysTracker ( )
virtual

Definition at line 666 of file AtracsysTracker.cxx.

Member Function Documentation

◆ Connect()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::Connect ( )

Connect to Atracsys tracker, must be called before any other function in this wrapper API.

Definition at line 691 of file AtracsysTracker.cxx.

◆ Disconnect()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::Disconnect ( )

Closes connections to Atracsys tracker, must be called at end of application.

Definition at line 809 of file AtracsysTracker.cxx.

◆ EnableImageStreaming()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::EnableImageStreaming ( bool  enabled)

Definition at line 1324 of file AtracsysTracker.cxx.

◆ EnableOnboardProcessing()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::EnableOnboardProcessing ( bool  enabled)

Definition at line 1301 of file AtracsysTracker.cxx.

◆ EnableUserLED()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::EnableUserLED ( bool  enabled)

Definition at line 1143 of file AtracsysTracker.cxx.

◆ EnableWirelessMarkerBatteryStreaming()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::EnableWirelessMarkerBatteryStreaming ( bool  enabled)

Definition at line 1232 of file AtracsysTracker.cxx.

◆ EnableWirelessMarkerPairing()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::EnableWirelessMarkerPairing ( bool  enabled)

Definition at line 1188 of file AtracsysTracker.cxx.

◆ EnableWirelessMarkerStatusStreaming()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::EnableWirelessMarkerStatusStreaming ( bool  enabled)

Definition at line 1210 of file AtracsysTracker.cxx.

◆ GetCalibrationDate()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::GetCalibrationDate ( std::string &  date)

Definition at line 841 of file AtracsysTracker.cxx.

◆ GetCamerasCalibration()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::GetCamerasCalibration ( std::array< float, 10 > &  leftIntrinsic,
std::array< float, 10 > &  rightIntrinsic,
std::array< float, 3 > &  rightPosition,
std::array< float, 3 > &  rightOrientation 
)

Retrieves the cameras parameters : leftIntrinsic = left camera focal length [0-1], optical center [2-3], lens distorsion [4-8] and skew [9] rightIntrinsic = left camera focal length [0-1], optical center [2-3], lens distorsion [4-8] and skew [9] rightPosition = position of the right camera in the coordinate system of the left camera rightOrientation = orientation of the right camera in the coordinate system of the left camera

Definition at line 855 of file AtracsysTracker.cxx.

◆ GetDeviceId()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::GetDeviceId ( uint64_t &  id)

Definition at line 898 of file AtracsysTracker.cxx.

◆ GetDeviceType()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::GetDeviceType ( DEVICE_TYPE &  deviceType)

Definition at line 848 of file AtracsysTracker.cxx.

◆ GetDroppedFrameCount()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::GetDroppedFrameCount ( int &  droppedFrameCount)

Sum of lost and corrupted frames

Definition at line 1379 of file AtracsysTracker.cxx.

◆ GetLoadedGeometries()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::GetLoadedGeometries ( std::map< int, std::vector< std::array< float, 3 >>> &  geometries)

Definition at line 957 of file AtracsysTracker.cxx.

◆ GetMarkerInfo()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::GetMarkerInfo ( std::string &  markerInfo)

Definition at line 933 of file AtracsysTracker.cxx.

◆ GetMarkersInFrame()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::GetMarkersInFrame ( std::vector< Marker > &  markers,
std::map< std::string, std::string > &  events,
uint64_t &  sdkTimestamp 
)

Definition at line 976 of file AtracsysTracker.cxx.

◆ GetMax2dFiducialsNumber()

int AtracsysTracker::GetMax2dFiducialsNumber ( )
inline

Definition at line 225 of file AtracsysTracker.h.

◆ GetMax3dFiducialsNumber()

int AtracsysTracker::GetMax3dFiducialsNumber ( )
inline

Definition at line 229 of file AtracsysTracker.h.

◆ GetMaxAdditionalEventsNumber()

int AtracsysTracker::GetMaxAdditionalEventsNumber ( )
inline

Definition at line 221 of file AtracsysTracker.h.

◆ GetMaxMarkersNumber()

int AtracsysTracker::GetMaxMarkersNumber ( )
inline

Definition at line 233 of file AtracsysTracker.h.

◆ GetOptionInfo()

bool AtracsysTracker::GetOptionInfo ( const std::string &  optionName,
const ftkOptionsInfo *&  info 
)
protected

Definition at line 570 of file AtracsysTracker.cxx.

◆ GetSDKversion()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::GetSDKversion ( std::string &  version)

Definition at line 834 of file AtracsysTracker.cxx.

◆ IsOnboardProcessing()

bool AtracsysTracker::IsOnboardProcessing ( )

Definition at line 679 of file AtracsysTracker.cxx.

◆ IsVirtual()

bool AtracsysTracker::IsVirtual ( )

Is virtual ?

Definition at line 685 of file AtracsysTracker.cxx.

◆ LoadMarkerGeometryFromFile()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::LoadMarkerGeometryFromFile ( std::string  filePath,
int &  geometryId 
)

Definition at line 905 of file AtracsysTracker.cxx.

◆ LoadMarkerGeometryFromString()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::LoadMarkerGeometryFromString ( std::string  filePath,
int &  geometryId 
)

Definition at line 919 of file AtracsysTracker.cxx.

◆ Pause()

void AtracsysTracker::Pause ( bool  tof)

If virtual device, pause/unpause

Definition at line 673 of file AtracsysTracker.cxx.

◆ ResetLostFrameCount()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::ResetLostFrameCount ( )

Definition at line 1410 of file AtracsysTracker.cxx.

◆ ResultToString()

std::string AtracsysTracker::ResultToString ( AtracsysTracker::ATRACSYS_RESULT  result)

Definition at line 964 of file AtracsysTracker.cxx.

◆ SetLaserEnabled()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::SetLaserEnabled ( bool  enabled)

Definition at line 1164 of file AtracsysTracker.cxx.

◆ SetMax2dFiducialsNumber()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::SetMax2dFiducialsNumber ( int  n)

Set/get the maximum number of 2D fiducials (in either left or right frame) included in the device's output

Definition at line 1265 of file AtracsysTracker.cxx.

◆ SetMax3dFiducialsNumber()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::SetMax3dFiducialsNumber ( int  n)

Set/get the maximum number of 3D fiducials (after triangulation) included in the device's output

Definition at line 1276 of file AtracsysTracker.cxx.

◆ SetMaxAdditionalEventsNumber()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::SetMaxAdditionalEventsNumber ( int  n)

Set/get the maximum number of additional events per frame included in the device's output. This extends the default allocation of 20, for a total of 20 + n events allowed per frame.

Definition at line 1254 of file AtracsysTracker.cxx.

◆ SetMaxMarkersNumber()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::SetMaxMarkersNumber ( int  n)

Set/get the maximum number of markers included in the device's output

Definition at line 1287 of file AtracsysTracker.cxx.

◆ SetOption()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::SetOption ( const std::string &  optionName,
const std::string &  attributeValue 
)

Definition at line 586 of file AtracsysTracker.cxx.

◆ SetSpryTrackProcessingType()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::SetSpryTrackProcessingType ( AtracsysTracker::SPRYTRACK_IMAGE_PROCESSING_TYPE  processingType)

Definition at line 1347 of file AtracsysTracker.cxx.

◆ SetUserLEDState()

AtracsysTracker::ATRACSYS_RESULT AtracsysTracker::SetUserLEDState ( int  red,
int  green,
int  blue,
int  frequency,
bool  enabled = true 
)

Definition at line 1097 of file AtracsysTracker.cxx.

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