PlusLib  2.9.0
Software library for tracked ultrasound image acquisition, calibration, and processing.
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes
vtkPlusOpenIGTLinkTracker Class Reference

OpenIGTLink tracker client. More...

#include <src/PlusDataCollection/OpenIGTLink/vtkPlusOpenIGTLinkTracker.h>

Inheritance diagram for vtkPlusOpenIGTLinkTracker:
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Collaboration diagram for vtkPlusOpenIGTLinkTracker:
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Public Types

typedef vtkPlusOpenIGTLinkDevice Superclass
 
- Public Types inherited from vtkPlusOpenIGTLinkDevice
typedef vtkPlusDevice Superclass
 
- Public Types inherited from vtkPlusDevice
typedef vtkImageAlgorithm Superclass
 

Public Member Functions

virtual const char * GetClassName ()
 
virtual PlusStatus InternalDisconnect ()
 
PlusStatus InternalUpdate ()
 
virtual int IsA (const char *type)
 
virtual bool IsTracker () const
 
virtual void PrintSelf (ostream &os, vtkIndent indent)
 
virtual PlusStatus ReadConfiguration (vtkXMLDataElement *config)
 
virtual PlusStatus WriteConfiguration (vtkXMLDataElement *config)
 
- Public Member Functions inherited from vtkPlusOpenIGTLinkDevice
virtual int GetIgtlMessageCrcCheckEnabled ()
 
virtual igsioTransformName GetImageMessageEmbeddedTransformName ()
 
virtual double GetReceiveTimeoutSec ()
 
virtual bool GetReconnectOnReceiveTimeout ()
 
virtual std::string GetSdkVersion ()
 
virtual double GetSendTimeoutSec ()
 
virtual int GetServerPort ()
 
virtual PlusStatus InternalConnect ()
 
virtual PlusStatus Probe ()
 
bool SendMessage (igtl::MessageBase::Pointer packedMessage)
 
virtual void SetIgtlMessageCrcCheckEnabled (int)
 
virtual void SetImageMessageEmbeddedTransformName (igsioTransformName)
 
virtual void SetImageMessageEmbeddedTransformName (std::string)
 
virtual void SetReceiveTimeoutSec (double)
 
virtual void SetSendTimeoutSec (double)
 
virtual void SetServerPort (int)
 
 vtkGetStdStringMacro (MessageType)
 
 vtkGetStdStringMacro (ServerAddress)
 
 vtkSetStdStringMacro (MessageType)
 
 vtkSetStdStringMacro (ServerAddress)
 
- 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 vtkPlusOpenIGTLinkTrackerNew ()
 
static vtkPlusOpenIGTLinkTrackerSafeDownCast (vtkObject *o)
 
- Static Public Member Functions inherited from vtkPlusOpenIGTLinkDevice
static int IsTypeOf (const char *type)
 
static vtkPlusOpenIGTLinkDeviceSafeDownCast (vtkObject *o)
 
- Static Public Member Functions inherited from vtkPlusDevice
static PlusStatus GetToolReferenceFrameFromTrackedFrame (igsioTrackedFrame &aFrame, std::string &aToolReferenceFrameName)
 
static int IsTypeOf (const char *type)
 
static vtkPlusDeviceNew ()
 
static vtkPlusDeviceSafeDownCast (vtkObject *o)
 

Protected Member Functions

PlusStatus InternalUpdateGeneral ()
 
PlusStatus InternalUpdateTData ()
 
virtual bool IsTDataMessageType ()
 
PlusStatus ProcessTransformMessageGeneral (bool &moreMessagesPossible)
 
virtual PlusStatus SendRequestedMessageTypes ()
 
virtual void SetUseLastTransformsOnReceiveTimeout (bool)
 
PlusStatus StoreInvalidTransforms (double unfilteredTimestamp)
 
PlusStatus StoreMostRecentTransformValues (double unfilteredTimestamp)
 
 vtkPlusOpenIGTLinkTracker ()
 
virtual ~vtkPlusOpenIGTLinkTracker ()
 
- Protected Member Functions inherited from vtkPlusOpenIGTLinkDevice
virtual PlusStatus ClientSocketReconnect ()
 
void OnReceiveTimeout ()
 
virtual PlusStatus ReceiveMessageHeader (igtl::MessageHeader::Pointer &headerMsg)
 
void ReceiveMessageHeaderWithErrorHandling (igtl::MessageHeader::Pointer &headerMsg)
 
virtual void SetReconnectOnReceiveTimeout (bool)
 
virtual void SetUseReceivedTimestamps (bool)
 
 vtkPlusOpenIGTLinkDevice ()
 
virtual ~vtkPlusOpenIGTLinkDevice ()
 
- 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 vtkPlusDataCollectorGetDataCollector ()
 
double GetRecordingStartTime () const
 
bool GetStartThreadForInternalUpdates () const
 
bool HasGracePeriodExpired ()
 
virtual PlusStatus InternalStartRecording ()
 
virtual PlusStatus InternalStopRecording ()
 
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 ()
 

Protected Attributes

bool UseLastTransformsOnReceiveTimeout
 
- Protected Attributes inherited from vtkPlusOpenIGTLinkDevice
igtl::ClientSocket::Pointer ClientSocket
 
double DelayBetweenRetryAttemptsSec
 
int IgtlMessageCrcCheckEnabled
 
igsioTransformName ImageMessageEmbeddedTransformName
 
vtkSmartPointer< vtkPlusIgtlMessageFactoryMessageFactory
 
std::string MessageType
 
int NumberOfRetryAttempts
 
double ReceiveTimeoutSec
 
bool ReconnectOnReceiveTimeout
 
double SendTimeoutSec
 
std::string ServerAddress
 
int ServerPort
 
vtkSmartPointer< vtkIGSIORecursiveCriticalSection > SocketMutex
 
bool UseReceivedTimestamps
 
- Protected Attributes inherited from vtkPlusDevice
double AcquisitionRate
 
int Connected
 
bool CorrectlyConfigured
 
StreamBufferItemCurrentStreamBufferItem
 
vtkPlusDataCollectorDataCollector
 
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 Member Functions inherited from vtkPlusDevice
static void * vtkDataCaptureThread (vtkMultiThreader::ThreadInfo *data)
 
- Static Protected Attributes inherited from vtkPlusDevice
static const int VIRTUAL_DEVICE_FRAME_RATE = 50
 

Detailed Description

OpenIGTLink tracker client.

Definition at line 21 of file vtkPlusOpenIGTLinkTracker.h.

Member Typedef Documentation

◆ Superclass

Definition at line 25 of file vtkPlusOpenIGTLinkTracker.h.

Constructor & Destructor Documentation

◆ vtkPlusOpenIGTLinkTracker()

vtkPlusOpenIGTLinkTracker::vtkPlusOpenIGTLinkTracker ( )
protected

Definition at line 23 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ ~vtkPlusOpenIGTLinkTracker()

vtkPlusOpenIGTLinkTracker::~vtkPlusOpenIGTLinkTracker ( )
protectedvirtual

Definition at line 30 of file vtkPlusOpenIGTLinkTracker.cxx.

Member Function Documentation

◆ GetClassName()

virtual const char* vtkPlusOpenIGTLinkTracker::GetClassName ( )
virtual

Reimplemented from vtkPlusOpenIGTLinkDevice.

◆ InternalDisconnect()

PlusStatus vtkPlusOpenIGTLinkTracker::InternalDisconnect ( )
virtual

Disconnect from device

Reimplemented from vtkPlusOpenIGTLinkDevice.

Definition at line 43 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ InternalUpdate()

PlusStatus vtkPlusOpenIGTLinkTracker::InternalUpdate ( )
virtual

Get an update from the tracking system and push the new transforms to the tools. This function is called by the tracker thread.

Reimplemented from vtkPlusDevice.

Definition at line 72 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ InternalUpdateGeneral()

PlusStatus vtkPlusOpenIGTLinkTracker::InternalUpdateGeneral ( )
protected

Process TRANSFORM or POSITION messages (add the received transform to the buffer)

Definition at line 233 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ InternalUpdateTData()

PlusStatus vtkPlusOpenIGTLinkTracker::InternalUpdateTData ( )
protected

Process a TDATA message (add all the received transforms to the buffers)

Definition at line 93 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ IsA()

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

Reimplemented from vtkPlusOpenIGTLinkDevice.

◆ IsTDataMessageType()

bool vtkPlusOpenIGTLinkTracker::IsTDataMessageType ( )
protectedvirtual

Definition at line 519 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ IsTracker()

virtual bool vtkPlusOpenIGTLinkTracker::IsTracker ( ) const
inlinevirtual

Is this device a tracker

Reimplemented from vtkPlusDevice.

Definition at line 40 of file vtkPlusOpenIGTLinkTracker.h.

◆ IsTypeOf()

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

◆ New()

static vtkPlusOpenIGTLinkTracker* vtkPlusOpenIGTLinkTracker::New ( )
static

◆ PrintSelf()

void vtkPlusOpenIGTLinkTracker::PrintSelf ( ostream &  os,
vtkIndent  indent 
)
virtual

Reimplemented from vtkPlusOpenIGTLinkDevice.

Definition at line 35 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ ProcessTransformMessageGeneral()

PlusStatus vtkPlusOpenIGTLinkTracker::ProcessTransformMessageGeneral ( bool &  moreMessagesPossible)
protected

Process a single TRANSFORM or POSITION message

Definition at line 287 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ ReadConfiguration()

PlusStatus vtkPlusOpenIGTLinkTracker::ReadConfiguration ( vtkXMLDataElement *  config)
virtual

Read configuration from xml data

Reimplemented from vtkPlusOpenIGTLinkDevice.

Definition at line 503 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ SafeDownCast()

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

◆ SendRequestedMessageTypes()

PlusStatus vtkPlusOpenIGTLinkTracker::SendRequestedMessageTypes ( )
protectedvirtual

Sends the requested message types when connection is established

Reimplemented from vtkPlusOpenIGTLinkDevice.

Definition at line 370 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ SetUseLastTransformsOnReceiveTimeout()

virtual void vtkPlusOpenIGTLinkTracker::SetUseLastTransformsOnReceiveTimeout ( bool  )
protectedvirtual

◆ StoreInvalidTransforms()

PlusStatus vtkPlusOpenIGTLinkTracker::StoreInvalidTransforms ( double  unfilteredTimestamp)
protected

Store the latest transforms again in the buffers with the provided timestamp with invalid status. If no transforms are defined then identity transform will be stored. If there is a transform defined already with the same timestamp then it will not be overwritten.

Definition at line 450 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ StoreMostRecentTransformValues()

PlusStatus vtkPlusOpenIGTLinkTracker::StoreMostRecentTransformValues ( double  unfilteredTimestamp)
protected

Store the latest transforms again in the buffers with the provided timestamp. If no transforms are defined then identity transform will be stored. If there is a transform defined already with the same timestamp then it will not be overwritten.

Definition at line 408 of file vtkPlusOpenIGTLinkTracker.cxx.

◆ WriteConfiguration()

PlusStatus vtkPlusOpenIGTLinkTracker::WriteConfiguration ( vtkXMLDataElement *  config)
virtual

Write configuration to xml data

Reimplemented from vtkPlusOpenIGTLinkDevice.

Definition at line 511 of file vtkPlusOpenIGTLinkTracker.cxx.

Member Data Documentation

◆ UseLastTransformsOnReceiveTimeout

bool vtkPlusOpenIGTLinkTracker::UseLastTransformsOnReceiveTimeout
protected

Use the last known transform value if not received a new value. Useful for servers that only notify about changes in the transforms.

Definition at line 76 of file vtkPlusOpenIGTLinkTracker.h.


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