Interface class for Northern Digital's tracking devices. More...

#include <src/PlusDataCollection/NDICAPITracking/vtkPlusNDITracker.h>

Inheritance diagram for vtkPlusNDITracker:

Collaboration diagram for vtkPlusNDITracker:

[legend]

Public Types
enum	LedState { TR_LED_OFF = 0, TR_LED_ON = 1, TR_LED_FLASH = 2 }

typedef vtkPlusDevice	Superclass

Public Types inherited from vtkPlusDevice
typedef vtkImageAlgorithm	Superclass

Public Member Functions
std::string	Command (const char *format,...)

virtual int	GetBaudRate ()

virtual bool	GetCheckDSR ()

virtual const char *	GetClassName ()

virtual int	GetHardwareDataAveragingDepth ()

virtual int	GetMeasurementVolumeNumber ()

virtual int	GetNetworkPort ()

virtual std::string	GetSdkVersion ()

virtual int	GetSerialPort ()

virtual int	GetTrackingFrequencyNumber ()

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 (int)

virtual void	SetCheckDSR (bool)

virtual void	SetHardwareDataAveragingDepth (int)

virtual void	SetMeasurementVolumeNumber (int)

virtual void	SetNetworkPort (int)

virtual void	SetSerialPort (int)

PlusStatus	SetToolLED (const char *portName, int led, LedState state)

virtual void	SetTrackingFrequencyNumber (int)

	vtkGetStdStringMacro (NetworkHostname)

	vtkSetStdStringMacro (NetworkHostname)

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 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 vtkPlusNDITracker *	New ()

static vtkPlusNDITracker *	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	Beep (int n)

PlusStatus	ClearVirtualSromInTracker (NdiToolDescriptor &toolDescriptor)

PlusStatus	CloseDevice (ndicapi *&device)

void	DisableToolPorts ()

PlusStatus	DoBX2Update ()

PlusStatus	DoBXUpdate ()

PlusStatus	EnableToolPorts ()

virtual uint32_t	GetFirmwareMajorRevision ()

virtual uint32_t	GetFirmwareMinorRevision ()

PlusStatus	GetFirmwareRevision ()

PlusStatus	InternalConnect ()

PlusStatus	InternalConnectNetwork ()

PlusStatus	InternalConnectSerial ()

PlusStatus	InternalDisconnect ()

PlusStatus	InternalStartRecording ()

PlusStatus	InternalStopRecording ()

void	LogVolumeList (int selectedVolume, vtkPlusLogger::LogLevelType logLevel)

void	LogVolumeListSFLIST (unsigned int numVolumes, int selectedVolume, vtkPlusLogger::LogLevelType logLevel)

PlusStatus	ReadSromFromFile (NdiToolDescriptor &toolDescriptor, const char *filename)

PlusStatus	SelectDataAveraging ()

PlusStatus	SelectMeasurementVolume ()

PlusStatus	SelectMeasurementVolumeDeprecated ()

PlusStatus	SelectTrackingFrequency ()

PlusStatus	SelectTrackingFrequencyDeprecated ()

PlusStatus	SendSromToTracker (const NdiToolDescriptor &toolDescriptor)

PlusStatus	UpdatePortHandle (NdiToolDescriptor &toolDescriptor)

	vtkPlusNDITracker ()

	~vtkPlusNDITracker ()

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 ()

Static Protected Member Functions
static int	ConvertBaudToNDIEnum (int baudRate)

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

Protected Attributes
int	BaudRate

bool	CheckDSR

vtkIGSIORecursiveCriticalSection *	CommandMutex

char	CommandReply [VTK_NDI_REPLY_LEN]

ndicapi *	Device

uint32_t	FirmwareMajorRevision

uint32_t	FirmwareMinorRevision

int	HardwareDataAveragingDepth

int	IsDeviceTracking

unsigned long	LastFrameNumber

bool	LeaveDeviceOpenAfterProbe

int	MeasurementVolumeNumber

NdiToolDescriptorsType	NdiToolDescriptors

std::string	NetworkHostname

int	NetworkPort

std::string	SerialDevice

int	SerialPort

int	TrackingFrequencyNumber

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

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 Attributes inherited from vtkPlusDevice
static const int	VIRTUAL_DEVICE_FRAME_RATE = 50

Detailed Description

Interface class for Northern Digital's tracking devices.

The vtkPlusNDITracker class provides an interface to the AURORA and POLARIS (Northern Digital Inc., Waterloo, Canada) using the new "combined API" and should also support all newer NDI tracking devices. Any POLARIS systems purchased before 2002 will not support the combined API.

For active (wired) tools specify PortName attribute. For example, PortName="0" is the first port, PortName="1" is the second, etc.

If multi-channel tools are used then the PortName is <ChannelNumber><PortNumber>, for example for two 5-DOF sensors plugged into the first connector: PortName="0" and PortName="100", for two 5-DOF sensors plugged into the second connector: PortName="1" and PortName="101".

For passive (wireless) tools specify RomFile attribute. For example, RomFile="NdiToolDefinitions/8700339.rom".

Important notes on the data collection rate of the Polaris:

The camera frame rate is 60Hz, and therefore the maximum data collection rate is also 60Hz. The maximum data transfer rate to the computer is also 60Hz.

Depending on the number of enabled tools, the data collection rate might be reduced. Each of the active tools requires one camera frame, and all the passive tools (if any are enabled) collectively require one camera frame.

Therefore if there are two enabled active tools, the data rate is reduced to 30Hz. Ditto for an active tool and a passive tool. If all tools are passive, the data rate is 60Hz. With 3 active tools and one or more passive tools, the data rate is 15Hz. With 3 active tools, or 2 active and one or more passive tools, the data rate is 20Hz.

The data transfer rate to the computer is independent of the data collection rate, and there might be duplicated records. The data transfer rate is limited by the speed of the serial port and by the number of characters sent per data record. If tools are marked as 'missing' then the number of characters that are sent will be reduced.

Definition at line 102 of file vtkPlusNDITracker.h.

Member Typedef Documentation

◆ Superclass

typedef vtkPlusDevice vtkPlusNDITracker::Superclass

Definition at line 117 of file vtkPlusNDITracker.h.

Member Enumeration Documentation

◆ LedState

enum vtkPlusNDITracker::LedState

Flags for tool LEDs

Enumerator
TR_LED_OFF
TR_LED_ON
TR_LED_FLASH

Definition at line 121 of file vtkPlusNDITracker.h.

Constructor & Destructor Documentation

◆ vtkPlusNDITracker()

vtkPlusNDITracker::vtkPlusNDITracker ( )

protected

Definition at line 85 of file vtkPlusNDITracker.cxx.

◆ ~vtkPlusNDITracker()

vtkPlusNDITracker::~vtkPlusNDITracker ( )

protected

Definition at line 113 of file vtkPlusNDITracker.cxx.

Member Function Documentation

◆ Beep()

PlusStatus vtkPlusNDITracker::Beep ( int n )

protected

Cause the device to beep the specified number of times

Definition at line 834 of file vtkPlusNDITracker.cxx.

◆ ClearVirtualSromInTracker()

PlusStatus vtkPlusNDITracker::ClearVirtualSromInTracker ( NdiToolDescriptor & toolDescriptor )

protected

This is a low-level method for loading a virtual SROM. You must halt the tracking thread and take the device out of tracking mode before you use it.

Definition at line 983 of file vtkPlusNDITracker.cxx.

◆ CloseDevice()

PlusStatus vtkPlusNDITracker::CloseDevice ( ndicapi *& device )

protected

Intelligently detect which connection is used and close it

Definition at line 1286 of file vtkPlusNDITracker.cxx.

◆ Command()

std::string vtkPlusNDITracker::Command	(	const char *	format,
			...
	)

Send a command to the NDI in the format INIT: or VER:0 (the command should include a colon). Commands can only be done after either Probe() or StartTracking() has been called. The text reply from the NDI is returned, without the CRC or final carriage return.

Definition at line 246 of file vtkPlusNDITracker.cxx.

◆ ConvertBaudToNDIEnum()

int vtkPlusNDITracker::ConvertBaudToNDIEnum ( int baudRate )

staticprotected

Lookup table function to convert from baudrate to enum

Definition at line 1522 of file vtkPlusNDITracker.cxx.

◆ DisableToolPorts()

void vtkPlusNDITracker::DisableToolPorts ( )

protected

Methods for detecting which ports have tools in them, and auto-enabling those tools.

Definition at line 788 of file vtkPlusNDITracker.cxx.

◆ DoBX2Update()

PlusStatus vtkPlusNDITracker::DoBX2Update ( )

protected

Perform a frame parse from a BX2 request

Definition at line 1654 of file vtkPlusNDITracker.cxx.

◆ DoBXUpdate()

PlusStatus vtkPlusNDITracker::DoBXUpdate ( )

protected

Perform a frame parse from a BX request

Definition at line 1550 of file vtkPlusNDITracker.cxx.

◆ EnableToolPorts()

PlusStatus vtkPlusNDITracker::EnableToolPorts ( )

protected

Methods for detecting which ports have tools in them, and auto-enabling those tools.

Definition at line 585 of file vtkPlusNDITracker.cxx.

◆ GetBaudRate()

virtual int vtkPlusNDITracker::GetBaudRate ( )

virtual

◆ GetCheckDSR()

virtual bool vtkPlusNDITracker::GetCheckDSR ( )

virtual

◆ GetClassName()

virtual const char* vtkPlusNDITracker::GetClassName ( )

virtual

Reimplemented from vtkPlusDevice.

◆ GetFirmwareMajorRevision()

virtual uint32_t vtkPlusNDITracker::GetFirmwareMajorRevision ( )

protectedvirtual

◆ GetFirmwareMinorRevision()

virtual uint32_t vtkPlusNDITracker::GetFirmwareMinorRevision ( )

protectedvirtual

◆ GetFirmwareRevision()

PlusStatus vtkPlusNDITracker::GetFirmwareRevision ( )

protected

Determine the firmware version of the device

Definition at line 347 of file vtkPlusNDITracker.cxx.

◆ GetHardwareDataAveragingDepth()

virtual int vtkPlusNDITracker::GetHardwareDataAveragingDepth ( )

virtual

◆ GetMeasurementVolumeNumber()

virtual int vtkPlusNDITracker::GetMeasurementVolumeNumber ( )

virtual

◆ GetNetworkPort()

virtual int vtkPlusNDITracker::GetNetworkPort ( )

virtual

◆ GetSdkVersion()

std::string vtkPlusNDITracker::GetSdkVersion ( )

virtual

Hardware device SDK version.

Reimplemented from vtkPlusDevice.

Definition at line 160 of file vtkPlusNDITracker.cxx.

◆ GetSerialPort()

virtual int vtkPlusNDITracker::GetSerialPort ( )

virtual

◆ GetTrackingFrequencyNumber()

virtual int vtkPlusNDITracker::GetTrackingFrequencyNumber ( )

virtual

◆ InternalConnect()

PlusStatus vtkPlusNDITracker::InternalConnect ( )

protectedvirtual

Connect to the tracker hardware

Reimplemented from vtkPlusDevice.

Definition at line 312 of file vtkPlusNDITracker.cxx.

◆ InternalConnectNetwork()

PlusStatus vtkPlusNDITracker::InternalConnectNetwork ( )

protected

Definition at line 457 of file vtkPlusNDITracker.cxx.

◆ InternalConnectSerial()

PlusStatus vtkPlusNDITracker::InternalConnectSerial ( )

protected

Definition at line 391 of file vtkPlusNDITracker.cxx.

◆ InternalDisconnect()

PlusStatus vtkPlusNDITracker::InternalDisconnect ( )

protectedvirtual

Disconnect from the tracker hardware

Reimplemented from vtkPlusDevice.

Definition at line 479 of file vtkPlusNDITracker.cxx.

◆ InternalStartRecording()

PlusStatus vtkPlusNDITracker::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 502 of file vtkPlusNDITracker.cxx.

◆ InternalStopRecording()

PlusStatus vtkPlusNDITracker::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 524 of file vtkPlusNDITracker.cxx.

◆ InternalUpdate()

PlusStatus vtkPlusNDITracker::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.

Reimplemented from vtkPlusDevice.

Definition at line 543 of file vtkPlusNDITracker.cxx.

◆ IsA()

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

virtual

Reimplemented from vtkPlusDevice.

◆ IsTracker()

virtual bool vtkPlusNDITracker::IsTracker ( ) const

inlinevirtual

Is this device a tracker

Reimplemented from vtkPlusDevice.

Definition at line 128 of file vtkPlusNDITracker.h.

◆ IsTypeOf()

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

static

◆ LogVolumeList()

void vtkPlusNDITracker::LogVolumeList	(	int	selectedVolume,
		vtkPlusLogger::LogLevelType	logLevel
	)

protected

Parse and log available volume list response

Definition at line 1129 of file vtkPlusNDITracker.cxx.

◆ LogVolumeListSFLIST()

void vtkPlusNDITracker::LogVolumeListSFLIST	(	unsigned int	numVolumes,
		int	selectedVolume,
		vtkPlusLogger::LogLevelType	logLevel
	)

protected

Definition at line 1195 of file vtkPlusNDITracker.cxx.

◆ New()

static vtkPlusNDITracker* vtkPlusNDITracker::New ( )

static

◆ PrintSelf()

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

virtual

Reimplemented from vtkPlusDevice.

Definition at line 129 of file vtkPlusNDITracker.cxx.

◆ Probe()

PlusStatus vtkPlusNDITracker::Probe ( )

virtual

Probe to see if the tracking system is present on the specified serial port. If the SerialPort is set to -1, then all serial ports will be checked.

Reimplemented from vtkPlusDevice.

Definition at line 168 of file vtkPlusNDITracker.cxx.

◆ ReadConfiguration()

PlusStatus vtkPlusNDITracker::ReadConfiguration ( vtkXMLDataElement * config )

virtual

Read NDI tracker configuration from xml data

Reimplemented from vtkPlusDevice.

Definition at line 999 of file vtkPlusNDITracker.cxx.

◆ ReadSromFromFile()

PlusStatus vtkPlusNDITracker::ReadSromFromFile	(	NdiToolDescriptor &	toolDescriptor,
		const char *	filename
	)

protected

Read a virtual SROM from file and store it in the tool descriptor

Definition at line 564 of file vtkPlusNDITracker.cxx.

◆ SafeDownCast()

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

static

◆ SelectDataAveraging()

PlusStatus vtkPlusNDITracker::SelectDataAveraging ( )

protected

Enable/disable data averaging and calculate the new necessary timeout

Definition at line 1439 of file vtkPlusNDITracker.cxx.

◆ SelectMeasurementVolume()

PlusStatus vtkPlusNDITracker::SelectMeasurementVolume ( )

protected

Select the measurement volume, fallback to deprecated

Definition at line 1302 of file vtkPlusNDITracker.cxx.

◆ SelectMeasurementVolumeDeprecated()

PlusStatus vtkPlusNDITracker::SelectMeasurementVolumeDeprecated ( )

protected

Select the measurement volume using deprecated commands Only used if newer commands are not supported by a device

Definition at line 1344 of file vtkPlusNDITracker.cxx.

◆ SelectTrackingFrequency()

PlusStatus vtkPlusNDITracker::SelectTrackingFrequency ( )

protected

Select the tracking frequency, fallback to deprecated

Definition at line 1359 of file vtkPlusNDITracker.cxx.

◆ SelectTrackingFrequencyDeprecated()

PlusStatus vtkPlusNDITracker::SelectTrackingFrequencyDeprecated ( )

protected

Select the tracking frequency using deprecated commands Only used if newer commands are not supported by a device

Definition at line 1425 of file vtkPlusNDITracker.cxx.

◆ SendSromToTracker()

PlusStatus vtkPlusNDITracker::SendSromToTracker ( const NdiToolDescriptor & toolDescriptor )

protected

This is a low-level method for loading a virtual SROM. You must halt the tracking thread and take the device out of tracking mode before you use it. This call also sets the port handle in the descriptor.

Definition at line 951 of file vtkPlusNDITracker.cxx.

◆ SetBaudRate()

virtual void vtkPlusNDITracker::SetBaudRate ( int )

virtual

Set the desired baud rate. Default: 9600.

◆ SetCheckDSR()

virtual void vtkPlusNDITracker::SetCheckDSR ( bool )

virtual

◆ SetHardwareDataAveragingDepth()

virtual void vtkPlusNDITracker::SetHardwareDataAveragingDepth ( int )

virtual

◆ SetMeasurementVolumeNumber()

virtual void vtkPlusNDITracker::SetMeasurementVolumeNumber ( int )

virtual

Measurement volume number. It can be used for defining volume type (dome, cube) and size. Default is 0, which means that the default volume is used. First valid volume number is 1. If an invalid value is set (for example -1) then a list of available volumes is logged. See VSEL command in the NDI API documentation for details.

◆ SetNetworkPort()

virtual void vtkPlusNDITracker::SetNetworkPort ( int )

virtual

◆ SetSerialPort()

virtual void vtkPlusNDITracker::SetSerialPort ( int )

virtual

Set which serial port to use, 1 through 4

◆ SetToolLED()

PlusStatus vtkPlusNDITracker::SetToolLED	(	const char *	portName,
		int	led,
		LedState	state
	)

Set the specified tool LED to the specified state

Definition at line 856 of file vtkPlusNDITracker.cxx.

◆ SetTrackingFrequencyNumber()

virtual void vtkPlusNDITracker::SetTrackingFrequencyNumber ( int )

virtual

Tracking frequency number. It can be used for changing the frequency at which tools are tracked. Default is 0, i.e. the tracking frequency is 1/3 of the frame frequency. 1 makes the tracking frequency 1/2 of the frame frequency. 2 makes the tracking frequency match the frame frequency. See IRATE command in the NDI API documentation for details.

◆ UpdatePortHandle()

PlusStatus vtkPlusNDITracker::UpdatePortHandle ( NdiToolDescriptor & toolDescriptor )

protected

Sets the port handle in the descriptor. For wired tools it iterates through the existing connections, for wireless tools it requests a new handle.

Definition at line 900 of file vtkPlusNDITracker.cxx.

◆ vtkGetStdStringMacro()

vtkPlusNDITracker::vtkGetStdStringMacro ( NetworkHostname )

◆ vtkSetStdStringMacro()

vtkPlusNDITracker::vtkSetStdStringMacro ( NetworkHostname )

◆ WriteConfiguration()

PlusStatus vtkPlusNDITracker::WriteConfiguration ( vtkXMLDataElement * config )

virtual

Read NDI tracker configuration from xml data

Reimplemented from vtkPlusDevice.

Definition at line 1092 of file vtkPlusNDITracker.cxx.

Member Data Documentation

◆ BaudRate

int vtkPlusNDITracker::BaudRate

protected

Definition at line 334 of file vtkPlusNDITracker.h.

◆ CheckDSR

bool vtkPlusNDITracker::CheckDSR

protected

Definition at line 338 of file vtkPlusNDITracker.h.

◆ CommandMutex

vtkIGSIORecursiveCriticalSection* vtkPlusNDITracker::CommandMutex

protected

Definition at line 340 of file vtkPlusNDITracker.h.

◆ CommandReply

char vtkPlusNDITracker::CommandReply[VTK_NDI_REPLY_LEN]

protected

Definition at line 341 of file vtkPlusNDITracker.h.

◆ Device

ndicapi* vtkPlusNDITracker::Device

protected

Definition at line 331 of file vtkPlusNDITracker.h.

◆ FirmwareMajorRevision

uint32_t vtkPlusNDITracker::FirmwareMajorRevision

protected

Definition at line 342 of file vtkPlusNDITracker.h.

◆ FirmwareMinorRevision

uint32_t vtkPlusNDITracker::FirmwareMinorRevision

protected

Definition at line 343 of file vtkPlusNDITracker.h.

◆ HardwareDataAveragingDepth

int vtkPlusNDITracker::HardwareDataAveragingDepth

protected

Definition at line 344 of file vtkPlusNDITracker.h.

◆ IsDeviceTracking

int vtkPlusNDITracker::IsDeviceTracking

protected

Definition at line 335 of file vtkPlusNDITracker.h.

◆ LastFrameNumber

unsigned long vtkPlusNDITracker::LastFrameNumber

protected

Definition at line 327 of file vtkPlusNDITracker.h.

◆ LeaveDeviceOpenAfterProbe

bool vtkPlusNDITracker::LeaveDeviceOpenAfterProbe

protected

Definition at line 337 of file vtkPlusNDITracker.h.

◆ MeasurementVolumeNumber

int vtkPlusNDITracker::MeasurementVolumeNumber

protected

Definition at line 336 of file vtkPlusNDITracker.h.

◆ NdiToolDescriptors

NdiToolDescriptorsType vtkPlusNDITracker::NdiToolDescriptors

protected

Definition at line 339 of file vtkPlusNDITracker.h.

◆ NetworkHostname

std::string vtkPlusNDITracker::NetworkHostname

protected

Definition at line 346 of file vtkPlusNDITracker.h.

◆ NetworkPort

int vtkPlusNDITracker::NetworkPort

protected

Definition at line 347 of file vtkPlusNDITracker.h.

◆ SerialDevice

std::string vtkPlusNDITracker::SerialDevice

protected

Definition at line 332 of file vtkPlusNDITracker.h.

◆ SerialPort

int vtkPlusNDITracker::SerialPort

protected

Definition at line 333 of file vtkPlusNDITracker.h.

◆ TrackingFrequencyNumber

int vtkPlusNDITracker::TrackingFrequencyNumber

protected

Definition at line 348 of file vtkPlusNDITracker.h.

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

src/PlusDataCollection/NDICAPITracking/vtkPlusNDITracker.h
src/PlusDataCollection/NDICAPITracking/vtkPlusNDITracker.cxx

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Superclass

Member Enumeration Documentation

◆ LedState

Constructor & Destructor Documentation

◆ vtkPlusNDITracker()

◆ ~vtkPlusNDITracker()

Member Function Documentation

◆ Beep()

◆ ClearVirtualSromInTracker()

◆ CloseDevice()

◆ Command()

◆ ConvertBaudToNDIEnum()

◆ DisableToolPorts()

◆ DoBX2Update()

◆ DoBXUpdate()

◆ EnableToolPorts()

◆ GetBaudRate()

◆ GetCheckDSR()

◆ GetClassName()

◆ GetFirmwareMajorRevision()

◆ GetFirmwareMinorRevision()

◆ GetFirmwareRevision()

◆ GetHardwareDataAveragingDepth()

◆ GetMeasurementVolumeNumber()

◆ GetNetworkPort()

◆ GetSdkVersion()

◆ GetSerialPort()

◆ GetTrackingFrequencyNumber()

◆ InternalConnect()

◆ InternalConnectNetwork()

◆ InternalConnectSerial()

◆ InternalDisconnect()

◆ InternalStartRecording()

◆ InternalStopRecording()

◆ InternalUpdate()

◆ IsA()

◆ IsTracker()

◆ IsTypeOf()

◆ LogVolumeList()

◆ LogVolumeListSFLIST()

◆ New()

◆ PrintSelf()

◆ Probe()

◆ ReadConfiguration()

◆ ReadSromFromFile()

◆ SafeDownCast()

◆ SelectDataAveraging()

◆ SelectMeasurementVolume()

◆ SelectMeasurementVolumeDeprecated()

◆ SelectTrackingFrequency()

◆ SelectTrackingFrequencyDeprecated()

◆ SendSromToTracker()

◆ SetBaudRate()

◆ SetCheckDSR()

◆ SetHardwareDataAveragingDepth()

◆ SetMeasurementVolumeNumber()

◆ SetNetworkPort()

◆ SetSerialPort()

◆ SetToolLED()

◆ SetTrackingFrequencyNumber()

◆ UpdatePortHandle()

◆ vtkGetStdStringMacro()

◆ vtkSetStdStringMacro()

◆ WriteConfiguration()

Member Data Documentation

◆ BaudRate

◆ CheckDSR

◆ CommandMutex

◆ CommandReply

◆ Device

◆ FirmwareMajorRevision