Interface for the CH Robotics CHR-UM6 tracker. More...

#include <src/PlusDataCollection/ChRobotics/vtkPlusChRoboticsTracker.h>

Inheritance diagram for vtkPlusChRoboticsTracker:

Collaboration diagram for vtkPlusChRoboticsTracker:

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Public Types
typedef vtkPlusDevice	Superclass

Public Types inherited from vtkPlusDevice
typedef vtkImageAlgorithm	Superclass

Public Member Functions
virtual const char *	GetClassName ()

PlusStatus	InternalConnect ()

virtual PlusStatus	InternalDisconnect ()

PlusStatus	InternalUpdate ()

virtual int	IsA (const char *type)

virtual bool	IsTracker () const

void	PrintSelf (ostream &os, vtkIndent indent)

PlusStatus	Probe ()

virtual PlusStatus	ReadConfiguration (vtkXMLDataElement *config)

virtual void	SetBaudRate (unsigned long)

virtual void	SetFirmwareDirectory (std::string)

virtual void	SetSerialPort (unsigned long)

virtual PlusStatus	WriteConfiguration (vtkXMLDataElement *config)

Public Member Functions inherited from vtkPlusDevice
PlusStatus	AddFieldDataSource (vtkPlusDataSource *aSource)

PlusStatus	AddInputChannel (vtkPlusChannel *aChannel)

PlusStatus	AddOutputChannel (vtkPlusChannel *aChannel)

PlusStatus	AddTool (vtkPlusDataSource *tool, bool requireUniquePortName=true)

PlusStatus	AddVideoSource (vtkPlusDataSource *anImage)

void	ClearAllBuffers ()

virtual PlusStatus	Connect ()

virtual PlusStatus	CreateDefaultOutputChannel (const char *channelId=NULL, bool addSource=true)

void	DeepCopy (const vtkPlusDevice &device)

virtual PlusStatus	Disconnect ()

virtual PlusStatus	ForceUpdate ()

virtual double	GetAcquisitionRate () const

virtual PlusStatus	GetBufferSize (vtkPlusChannel &aChannel, int &outVal, const std::string &aSourceId=std::string(""))

virtual int	GetConnected () const

virtual bool	GetCorrectlyConfigured () const

PlusStatus	GetDataSource (const char aSourceId, vtkPlusDataSource &aSource)

PlusStatus	GetDataSource (const std::string &aSourceId, vtkPlusDataSource *&aSource)

virtual double	GetDesiredTimestamp ()

virtual std::string	GetDeviceId () const

PlusStatus	GetFieldDataSource (const char aSourceId, vtkPlusDataSource &aSource) const

PlusStatus	GetFieldDataSource (const std::string &aSourceId, vtkPlusDataSource *&aSource) const

DataSourceContainerConstIterator	GetFieldDataSourcessIteratorBegin () const

DataSourceContainerConstIterator	GetFieldDataSourcessIteratorEnd () const

PlusStatus	GetFirstActiveOutputVideoSource (vtkPlusDataSource *&aVideoSource)

PlusStatus	GetFirstActiveTool (vtkPlusDataSource *&aTool) const

PlusStatus	GetFirstOutputChannel (vtkPlusChannel *&aChannel)

PlusStatus	GetFirstVideoSource (vtkPlusDataSource *&anImage)

virtual unsigned long	GetFrameNumber () const

virtual double	GetFrameTimeStamp () const

virtual PlusStatus	GetImage (const std::string &requestedImageId, std::string &assignedImageId, const std::string &imageReferencFrameName, vtkImageData imageData, vtkMatrix4x4 ijkToReferenceTransform)

virtual PlusStatus	GetImageMetaData (igsioCommon::ImageMetaDataList &imageMetaDataItems)

virtual US_IMAGE_TYPE	GetImageType (vtkPlusChannel &aChannel)

PlusStatus	GetInputDevices (std::vector< vtkPlusDevice * > &outDeviceList) const

PlusStatus	GetInputDevicesRecursive (std::vector< vtkPlusDevice * > &outDeviceList) const

virtual PlusStatus	GetInputFrameSize (vtkPlusChannel &aChannel, unsigned int &x, unsigned int &y, unsigned int &z) const

virtual PlusStatus	GetInputFrameSize (vtkPlusChannel &aChannel, FrameSizeType &dim) const

double	GetInternalUpdateRate () const

virtual double	GetLocalTimeOffsetSec () const

double	GetMissingInputGracePeriodSec () const

virtual int	GetNumberOfFieldDataSources () const

virtual int	GetNumberOfTools () const

virtual int	GetNumberOfVideoSources () const

PlusStatus	GetOutputChannelByName (vtkPlusChannel &aChannel, const char aChannelId)

PlusStatus	GetOutputChannelByName (vtkPlusChannel *&aChannel, const std::string &aChannelId)

ChannelContainerConstIterator	GetOutputChannelsEnd () const

ChannelContainerIterator	GetOutputChannelsEnd ()

ChannelContainerConstIterator	GetOutputChannelsStart () const

ChannelContainerIterator	GetOutputChannelsStart ()

virtual PlusStatus	GetOutputFrameSize (vtkPlusChannel &aChannel, unsigned int &x, unsigned int &y, unsigned int &z) const

virtual PlusStatus	GetOutputFrameSize (vtkPlusChannel &aChannel, FrameSizeType &dim) const

virtual std::string	GetParameter (const std::string &key) const

virtual PlusStatus	GetParameter (const std::string &key, std::string &outValue) const

virtual igsioCommon::VTKScalarPixelType	GetPixelType (vtkPlusChannel &aChannel)

virtual std::string	GetSdkVersion ()

virtual double	GetStartTime ()

virtual double	GetTimestampClosestToDesired ()

PlusStatus	GetTool (const char aToolSourceId, vtkPlusDataSource &aTool) const

PlusStatus	GetTool (const std::string &aToolSourceId, vtkPlusDataSource *&aTool) const

PlusStatus	GetToolByPortName (const char aPortName, vtkPlusDataSource &aSource)

PlusStatus	GetToolByPortName (const std::string &aPortName, vtkPlusDataSource *&aSource)

DataSourceContainerConstIterator	GetToolIteratorBegin () const

DataSourceContainerConstIterator	GetToolIteratorEnd () const

std::string	GetToolReferenceFrameName () const

virtual int	GetUpdateWithDesiredTimestamp ()

PlusStatus	GetVideoSource (const char aSourceId, vtkPlusDataSource &aVideoSource)

PlusStatus	GetVideoSourceByIndex (const unsigned int index, vtkPlusDataSource *&aVideoSource)

DataSourceContainerConstIterator	GetVideoSourceIteratorBegin () const

DataSourceContainerConstIterator	GetVideoSourceIteratorEnd () const

std::vector< vtkPlusDataSource * >	GetVideoSources () const

PlusStatus	GetVideoSourcesByPortName (const char aPortName, std::vector< vtkPlusDataSource > &sources)

PlusStatus	GetVideoSourcesByPortName (const std::string &aPortName, std::vector< vtkPlusDataSource * > &sources)

virtual bool	IsConnected () const

virtual bool	IsRecording () const

virtual bool	IsResettable ()

virtual bool	IsVirtual () const

virtual PlusStatus	NotifyConfigured ()

virtual int	OutputChannelCount () const

virtual int	RequestData (vtkInformation , vtkInformationVector , vtkInformationVector )

virtual int	RequestInformation (vtkInformation , vtkInformationVector , vtkInformationVector )

virtual PlusStatus	Reset ()

virtual PlusStatus	SendText (const std::string &textToSend, std::string *textReceived=NULL)

PlusStatus	SetAcquisitionRate (double aRate)

virtual PlusStatus	SetBufferSize (vtkPlusChannel &aChannel, int FrameBufferSize, const std::string &aSourceId=std::string(""))

virtual void	SetDataCollector (vtkPlusDataCollector *_arg)

virtual void	SetDesiredTimestamp (double)

void	SetDeviceId (const std::string &id)

void	SetFieldDataSourcesBufferSize (int aBufferSize)

virtual PlusStatus	SetImageType (vtkPlusChannel &aChannel, US_IMAGE_TYPE imageType)

virtual PlusStatus	SetInputFrameSize (vtkPlusDataSource &aSource, unsigned int x, unsigned int y, unsigned int z)

virtual void	SetLocalTimeOffsetSec (double aTimeOffsetSec)

virtual void	SetMissingInputGracePeriodSec (double)

virtual PlusStatus	SetParameter (const std::string &key, const std::string &value)

virtual PlusStatus	SetPixelType (vtkPlusChannel &aChannel, igsioCommon::VTKScalarPixelType pixelType)

virtual void	SetStartTime (double startTime)

void	SetToolReferenceFrameName (const std::string &frameName)

void	SetToolsBufferSize (int aBufferSize)

virtual void	SetUpdateWithDesiredTimestamp (int)

virtual PlusStatus	StartRecording ()

virtual PlusStatus	StopRecording ()

virtual void	UpdateWithDesiredTimestampOff ()

virtual void	UpdateWithDesiredTimestampOn ()

virtual PlusStatus	WriteToolsToSequenceFile (const std::string &filename, bool useCompression=false)

Static Public Member Functions
static int	IsTypeOf (const char *type)

static vtkPlusChRoboticsTracker *	New ()

static vtkPlusChRoboticsTracker *	SafeDownCast (vtkObject *o)

Static Public Member Functions inherited from vtkPlusDevice
static PlusStatus	GetToolReferenceFrameFromTrackedFrame (igsioTrackedFrame &aFrame, std::string &aToolReferenceFrameName)

static int	IsTypeOf (const char *type)

static vtkPlusDevice *	New ()

static vtkPlusDevice *	SafeDownCast (vtkObject *o)

Protected Member Functions
PlusStatus	FindDataItemDescriptor (const std::string itemName, ChrDataItem &foundItem)

PlusStatus	FindFirmwareDefinition (const std::string &id, vtkXMLDataElement *foundDefinition)

void	GetFileNamesFromDirectory (std::vector< std::string > &fileNames, const std::string &dir)

PlusStatus	InternalStartRecording ()

PlusStatus	InternalStopRecording ()

PlusStatus	LoadFirmwareDescriptionForConnectedDevice ()

PlusStatus	ProcessPacket (ChrSerialPacket &packet)

PlusStatus	ReceivePacket (ChrSerialPacket &packet)

PlusStatus	SendCommand (ChrSerialPacket &requestPacket, ChrSerialPacket &replyPacket)

PlusStatus	SendPacket (ChrSerialPacket &packet)

PlusStatus	UpdateDataItemDescriptors ()

void	UpdateDataItemValues (ChrSerialPacket &packet)

	vtkPlusChRoboticsTracker ()

	~vtkPlusChRoboticsTracker ()

Protected Member Functions inherited from vtkPlusDevice
virtual PlusStatus	AddVideoItemToVideoSources (const std::vector< vtkPlusDataSource * > &videoSources, const igsioVideoFrame &frame, long frameNumber, double unfilteredTimestamp=UNDEFINED_TIMESTAMP, double filteredTimestamp=UNDEFINED_TIMESTAMP, const igsioFieldMapType *customFields=NULL)

virtual PlusStatus	AddVideoItemToVideoSources (const std::vector< vtkPlusDataSource * > &videoSources, void imageDataPtr, US_IMAGE_ORIENTATION usImageOrientation, const FrameSizeType &frameSizeInPx, igsioCommon::VTKScalarPixelType pixelType, unsigned int numberOfScalarComponents, US_IMAGE_TYPE imageType, int numberOfBytesToSkip, long frameNumber, double unfilteredTimestamp=UNDEFINED_TIMESTAMP, double filteredTimestamp=UNDEFINED_TIMESTAMP, const igsioFieldMapType customFields=NULL)

PlusStatus	EnsureUniqueDataSourceId (const std::string &aSourceId)

vtkXMLDataElement *	FindInputChannelElement (vtkXMLDataElement rootXMLElement, const char aChannelId)

vtkXMLDataElement *	FindOutputChannelElement (vtkXMLDataElement rootXMLElement, const char aChannelId)

vtkXMLDataElement *	FindThisDeviceElement (vtkXMLDataElement *rootXMLElement)

virtual vtkPlusDataCollector *	GetDataCollector ()

double	GetRecordingStartTime () const

bool	GetStartThreadForInternalUpdates () const

bool	HasGracePeriodExpired ()

virtual void	InternalWriteInputChannels (vtkXMLDataElement *rootXMLElement)

virtual void	InternalWriteOutputChannels (vtkXMLDataElement *rootXMLElement)

virtual void	SetCorrectlyConfigured (bool)

virtual void	SetRecordingStartTime (double)

virtual void	SetStartThreadForInternalUpdates (bool)

virtual PlusStatus	ToolTimeStampedUpdate (const std::string &aToolSourceId, vtkMatrix4x4 matrix, ToolStatus status, unsigned long frameNumber, double unfilteredtimestamp, const igsioFieldMapType customFields=NULL)

virtual PlusStatus	ToolTimeStampedUpdateWithoutFiltering (const std::string &aToolSourceId, vtkMatrix4x4 matrix, ToolStatus status, double unfilteredtimestamp, double filteredtimestamp, const igsioFieldMapType customFields=NULL)

	vtkPlusDevice ()

virtual	~vtkPlusDevice ()

Additional Inherited Members
Public Attributes inherited from vtkPlusDevice
double	InternalUpdateRate

vtkIGSIORecursiveCriticalSection *	UpdateMutex

vtkTimeStamp	UpdateTime

Static Public Attributes inherited from vtkPlusDevice
static const std::string	BMODE_PORT_NAME = "B"

static const std::string	PARAMETER_XML_ELEMENT_TAG = "Parameter"

static const std::string	PARAMETERS_XML_ELEMENT_TAG = "Parameters"

static const std::string	RFMODE_PORT_NAME = "Rf"

Static Protected Member Functions inherited from vtkPlusDevice
static void *	vtkDataCaptureThread (vtkMultiThreader::ThreadInfo *data)

Protected Attributes inherited from vtkPlusDevice
double	AcquisitionRate

int	Connected

bool	CorrectlyConfigured

StreamBufferItem *	CurrentStreamBufferItem

vtkPlusDataCollector *	DataCollector

double	DesiredTimestamp

std::string	DeviceId

DataSourceContainer	Fields

unsigned long	FrameNumber

double	FrameTimeStamp

ChannelContainer	InputChannels

double	LocalTimeOffsetSec

double	MissingInputGracePeriodSec

ChannelContainer	OutputChannels

int	OutputNeedsInitialization

std::map< std::string, std::string >	Parameters

int	Recording

double	RecordingStartTime

std::set< std::string >	ReportedUnknownTools

bool	RequireImageOrientationInConfiguration

bool	RequirePortNameInDeviceSetConfiguration

bool	StartThreadForInternalUpdates

bool	ThreadAlive

vtkMultiThreader *	Threader

int	ThreadId

double	TimestampClosestToDesired

std::string	ToolReferenceFrameName

DataSourceContainer	Tools

int	UpdateWithDesiredTimestamp

DataSourceContainer	VideoSources

Static Protected Attributes inherited from vtkPlusDevice
static const int	VIRTUAL_DEVICE_FRAME_RATE = 50

Detailed Description

Interface for the CH Robotics CHR-UM6 tracker.

This class talks with CH Robotics CHR-UM6 accelerometer/magnetometer/gyroscope device

Definition at line 26 of file vtkPlusChRoboticsTracker.h.

Member Typedef Documentation

◆ Superclass

typedef vtkPlusDevice vtkPlusChRoboticsTracker::Superclass

Definition at line 31 of file vtkPlusChRoboticsTracker.h.

Constructor & Destructor Documentation

◆ vtkPlusChRoboticsTracker()

vtkPlusChRoboticsTracker::vtkPlusChRoboticsTracker ( )

protected

Definition at line 50 of file vtkPlusChRoboticsTracker.cxx.

◆ ~vtkPlusChRoboticsTracker()

vtkPlusChRoboticsTracker::~vtkPlusChRoboticsTracker ( )

protected

Definition at line 68 of file vtkPlusChRoboticsTracker.cxx.

Member Function Documentation

◆ FindDataItemDescriptor()

PlusStatus vtkPlusChRoboticsTracker::FindDataItemDescriptor	(	const std::string	itemName,
		ChrDataItem &	foundItem
	)

protected

Find the description of a data item in the firmware description

Definition at line 326 of file vtkPlusChRoboticsTracker.cxx.

◆ FindFirmwareDefinition()

PlusStatus vtkPlusChRoboticsTracker::FindFirmwareDefinition	(	const std::string &	id,
		vtkXMLDataElement *	foundDefinition
	)

protected

Find the firmware definition with the specified id among the firmware definition the XML files. If the definition is found then fill the foundDefinition object with the description.

Definition at line 217 of file vtkPlusChRoboticsTracker.cxx.

◆ GetClassName()

virtual const char* vtkPlusChRoboticsTracker::GetClassName ( )

virtual

Reimplemented from vtkPlusDevice.

◆ GetFileNamesFromDirectory()

void vtkPlusChRoboticsTracker::GetFileNamesFromDirectory	(	std::vector< std::string > &	fileNames,
		const std::string &	dir
	)

protected

Utility function for finding all the firmware descriptor files

Definition at line 261 of file vtkPlusChRoboticsTracker.cxx.

◆ InternalConnect()

PlusStatus vtkPlusChRoboticsTracker::InternalConnect ( )

virtual

Connect to device

Reimplemented from vtkPlusDevice.

Definition at line 93 of file vtkPlusChRoboticsTracker.cxx.

◆ InternalDisconnect()

PlusStatus vtkPlusChRoboticsTracker::InternalDisconnect ( )

virtual

Disconnect from device

Reimplemented from vtkPlusDevice.

Definition at line 144 of file vtkPlusChRoboticsTracker.cxx.

◆ InternalStartRecording()

PlusStatus vtkPlusChRoboticsTracker::InternalStartRecording ( )

protectedvirtual

Start the tracking system. The tracking system is brought from its ground state into full tracking mode. The device will only be reset if communication cannot be established without a reset.

Reimplemented from vtkPlusDevice.

Definition at line 166 of file vtkPlusChRoboticsTracker.cxx.

◆ InternalStopRecording()

PlusStatus vtkPlusChRoboticsTracker::InternalStopRecording ( )

protectedvirtual

Stop the tracking system and bring it back to its ground state: Initialized, not tracking, at 9600 Baud.

Reimplemented from vtkPlusDevice.

Definition at line 173 of file vtkPlusChRoboticsTracker.cxx.

◆ InternalUpdate()

PlusStatus vtkPlusChRoboticsTracker::InternalUpdate ( )

virtual

Get an update from the tracking system and push the new transforms to the tools. This should only be used within vtkTracker.cxx. This method is called by the tracker thread.

Reimplemented from vtkPlusDevice.

Definition at line 180 of file vtkPlusChRoboticsTracker.cxx.

◆ IsA()

virtual int vtkPlusChRoboticsTracker::IsA ( const char * type )

virtual

Reimplemented from vtkPlusDevice.

◆ IsTracker()

virtual bool vtkPlusChRoboticsTracker::IsTracker ( ) const

inlinevirtual

Is this device a tracker

Reimplemented from vtkPlusDevice.

Definition at line 58 of file vtkPlusChRoboticsTracker.h.

◆ IsTypeOf()

static int vtkPlusChRoboticsTracker::IsTypeOf ( const char * type )

static

◆ LoadFirmwareDescriptionForConnectedDevice()

PlusStatus vtkPlusChRoboticsTracker::LoadFirmwareDescriptionForConnectedDevice ( )

protected

Query the firmware version of the connected device and load its definition from XML file

Definition at line 380 of file vtkPlusChRoboticsTracker.cxx.

◆ New()

static vtkPlusChRoboticsTracker* vtkPlusChRoboticsTracker::New ( )

static

◆ PrintSelf()

void vtkPlusChRoboticsTracker::PrintSelf	(	ostream &	os,
		vtkIndent	indent
	)

virtual

Reimplemented from vtkPlusDevice.

Definition at line 87 of file vtkPlusChRoboticsTracker.cxx.

◆ Probe()

PlusStatus vtkPlusChRoboticsTracker::Probe ( )

virtual

Probe to see if the tracking system is present on the specified serial port.

Reimplemented from vtkPlusDevice.

Definition at line 156 of file vtkPlusChRoboticsTracker.cxx.

◆ ProcessPacket()

PlusStatus vtkPlusChRoboticsTracker::ProcessPacket ( ChrSerialPacket & packet )

protected

Definition at line 535 of file vtkPlusChRoboticsTracker.cxx.

◆ ReadConfiguration()

PlusStatus vtkPlusChRoboticsTracker::ReadConfiguration ( vtkXMLDataElement * config )

virtual

Read configuration from xml data

Reimplemented from vtkPlusDevice.

Definition at line 595 of file vtkPlusChRoboticsTracker.cxx.

◆ ReceivePacket()

PlusStatus vtkPlusChRoboticsTracker::ReceivePacket ( ChrSerialPacket & packet )

protected

Definition at line 455 of file vtkPlusChRoboticsTracker.cxx.

◆ SafeDownCast()

static vtkPlusChRoboticsTracker* vtkPlusChRoboticsTracker::SafeDownCast ( vtkObject * o )

static

◆ SendCommand()

PlusStatus vtkPlusChRoboticsTracker::SendCommand	(	ChrSerialPacket &	requestPacket,
		ChrSerialPacket &	replyPacket
	)

protected

Send a packet and wait for and receive a reply packet

Definition at line 418 of file vtkPlusChRoboticsTracker.cxx.

◆ SendPacket()

PlusStatus vtkPlusChRoboticsTracker::SendPacket ( ChrSerialPacket & packet )

protected

Definition at line 438 of file vtkPlusChRoboticsTracker.cxx.

◆ SetBaudRate()

virtual void vtkPlusChRoboticsTracker::SetBaudRate ( unsigned long )

virtual

◆ SetFirmwareDirectory()

virtual void vtkPlusChRoboticsTracker::SetFirmwareDirectory ( std::string )

virtual

◆ SetSerialPort()

virtual void vtkPlusChRoboticsTracker::SetSerialPort ( unsigned long )

virtual

◆ UpdateDataItemDescriptors()

PlusStatus vtkPlusChRoboticsTracker::UpdateDataItemDescriptors ( )

protected

Read all the needed data item descriptors from the firmware description

Definition at line 305 of file vtkPlusChRoboticsTracker.cxx.

◆ UpdateDataItemValues()

void vtkPlusChRoboticsTracker::UpdateDataItemValues ( ChrSerialPacket & packet )

protected

Read all the needed data item values from a packet received from the device

Definition at line 317 of file vtkPlusChRoboticsTracker.cxx.

◆ WriteConfiguration()

PlusStatus vtkPlusChRoboticsTracker::WriteConfiguration ( vtkXMLDataElement * config )

virtual

Write configuration to xml data

Reimplemented from vtkPlusDevice.

Definition at line 605 of file vtkPlusChRoboticsTracker.cxx.

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

src/PlusDataCollection/ChRobotics/vtkPlusChRoboticsTracker.h
src/PlusDataCollection/ChRobotics/vtkPlusChRoboticsTracker.cxx

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Superclass

Constructor & Destructor Documentation

◆ vtkPlusChRoboticsTracker()

◆ ~vtkPlusChRoboticsTracker()

Member Function Documentation

◆ FindDataItemDescriptor()

◆ FindFirmwareDefinition()

◆ GetClassName()

◆ GetFileNamesFromDirectory()

◆ InternalConnect()

◆ InternalDisconnect()

◆ InternalStartRecording()

◆ InternalStopRecording()

◆ InternalUpdate()

◆ IsA()

◆ IsTracker()

◆ IsTypeOf()

◆ LoadFirmwareDescriptionForConnectedDevice()

◆ New()

◆ PrintSelf()

◆ Probe()

◆ ProcessPacket()

◆ ReadConfiguration()

◆ ReceivePacket()

◆ SafeDownCast()

◆ SendCommand()

◆ SendPacket()

◆ SetBaudRate()

◆ SetFirmwareDirectory()

◆ SetSerialPort()

◆ UpdateDataItemDescriptors()

◆ UpdateDataItemValues()

◆ WriteConfiguration()