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

Interface for acquiring data from a Microchip MM7150 motion module. More...

#include <src/PlusDataCollection/WitMotionTracker/vtkPlusWitMotionTracker.h>

Inheritance diagram for vtkPlusWitMotionTracker:
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Collaboration diagram for vtkPlusWitMotionTracker:
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Public Types

typedef vtkPlusGenericSerialDevice Superclass
 
- Public Types inherited from vtkPlusGenericSerialDevice
enum  ReplyTermination { REQUIRE_LINE_ENDING = 0, REQUIRE_NOT_EMPTY = 1, ANY = 2 }
 
typedef vtkPlusDevice Superclass
 
- Public Types inherited from vtkPlusDevice
typedef vtkImageAlgorithm Superclass
 

Public Member Functions

virtual const char * GetClassName ()
 
virtual PlusStatus InternalUpdate ()
 
virtual int IsA (const char *type)
 
virtual bool IsTracker () const
 
- Public Member Functions inherited from vtkPlusGenericSerialDevice
PlusStatus GetCTS (bool &onOff)
 
PlusStatus GetDSR (bool &onOff)
 
virtual bool GetDTR ()
 
virtual std::string GetLineEnding ()
 
virtual bool GetRTS ()
 
PlusStatus InternalConnect ()
 
virtual PlusStatus InternalDisconnect ()
 
void PrintSelf (ostream &os, vtkIndent indent)
 
virtual PlusStatus ReadConfiguration (vtkXMLDataElement *config)
 
virtual PlusStatus ReceiveResponse (std::string &textReceived, ReplyTermination acceptReply=REQUIRE_LINE_ENDING)
 
virtual PlusStatus SendText (const std::string &textToSend, std::string *textReceived=NULL) VTK_OVERRIDE
 
virtual PlusStatus SendText (const std::string &textToSend, std::string *textReceived, ReplyTermination acceptReply)
 
virtual void SetBaudRate (unsigned long)
 
PlusStatus SetDTR (bool onOff)
 
void SetLineEnding (const char *lineEndingHex)
 
virtual void SetMaximumReplyDelaySec (double)
 
virtual void SetMaximumReplyDurationSec (double)
 
PlusStatus SetRTS (bool onOff)
 
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 int OutputChannelCount () const
 
virtual PlusStatus Probe ()
 
virtual int RequestData (vtkInformation *, vtkInformationVector **, vtkInformationVector *)
 
virtual int RequestInformation (vtkInformation *, vtkInformationVector **, vtkInformationVector *)
 
virtual PlusStatus Reset ()
 
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 vtkPlusWitMotionTrackerNew ()
 
static vtkPlusWitMotionTrackerSafeDownCast (vtkObject *o)
 
- Static Public Member Functions inherited from vtkPlusGenericSerialDevice
static int IsTypeOf (const char *type)
 
static vtkPlusGenericSerialDeviceNew ()
 
static vtkPlusGenericSerialDeviceSafeDownCast (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 Types

typedef std::array< unsigned char, vtkPlusWitMotionTracker::MAX_DATA_LENGTHStreamBufferType
 

Protected Member Functions

PlusStatus DecodeData ()
 
virtual PlusStatus NotifyConfigured ()
 
PlusStatus ReceiveData ()
 
 vtkPlusWitMotionTracker ()
 
 ~vtkPlusWitMotionTracker ()
 
- Protected Member Functions inherited from vtkPlusGenericSerialDevice
 vtkPlusGenericSerialDevice ()
 
virtual bool WaitForResponse ()
 
 ~vtkPlusGenericSerialDevice ()
 
- 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

std::array< double, 4 > Acceleration
 
vtkPlusDataSourceAccelerometer
 
std::array< double, 4 > Orientation
 
StreamBufferType StreamData
 
double Temperature
 
std::array< double, 4 > Velocity
 
- Protected Attributes inherited from vtkPlusGenericSerialDevice
unsigned long BaudRate
 
bool DTR
 
vtkPlusDataSourceFieldDataSource
 
long FrameNumber
 
std::string LineEnding
 
std::string LineEndingBin
 
double MaximumReplyDelaySec
 
double MaximumReplyDurationSec
 
vtkSmartPointer< vtkIGSIORecursiveCriticalSection > Mutex
 
bool RTS
 
SerialLineSerial
 
unsigned long SerialPort
 
- 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
 

Static Protected Attributes

static const int MAX_DATA_LENGTH = 11
 
- Static Protected Attributes inherited from vtkPlusDevice
static const int VIRTUAL_DEVICE_FRAME_RATE = 50
 

Additional Inherited Members

- Public Attributes inherited from vtkPlusDevice
double InternalUpdateRate
 
vtkIGSIORecursiveCriticalSection * UpdateMutex
 
vtkTimeStamp UpdateTime
 
- Static Public Attributes inherited from vtkPlusGenericSerialDevice
static const char * SERIAL_COMMAND_GET_CTS = "GetCTS"
 
static const char * SERIAL_COMMAND_GET_RTS = "GetRTS"
 
static const char * SERIAL_COMMAND_SET_RTS = "SetRTS"
 
- 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)
 

Detailed Description

Interface for acquiring data from a Microchip MM7150 motion module.

Definition at line 19 of file vtkPlusWitMotionTracker.h.

Member Typedef Documentation

◆ StreamBufferType

Definition at line 50 of file vtkPlusWitMotionTracker.h.

◆ Superclass

Definition at line 23 of file vtkPlusWitMotionTracker.h.

Constructor & Destructor Documentation

◆ vtkPlusWitMotionTracker()

vtkPlusWitMotionTracker::vtkPlusWitMotionTracker ( )
protected

Definition at line 33 of file vtkPlusWitMotionTracker.cxx.

◆ ~vtkPlusWitMotionTracker()

vtkPlusWitMotionTracker::~vtkPlusWitMotionTracker ( )
protected

Definition at line 39 of file vtkPlusWitMotionTracker.cxx.

Member Function Documentation

◆ DecodeData()

PlusStatus vtkPlusWitMotionTracker::DecodeData ( )
protected

Decode the 11 byte frames provided by the Wit motion device See https://github.com/PlusToolkit/PlusDoc/external/WitMotion/BWT901C.zip for sample code, app, and more.

Definition at line 98 of file vtkPlusWitMotionTracker.cxx.

◆ GetClassName()

virtual const char* vtkPlusWitMotionTracker::GetClassName ( )
virtual

Reimplemented from vtkPlusGenericSerialDevice.

◆ InternalUpdate()

PlusStatus vtkPlusWitMotionTracker::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 vtkPlusGenericSerialDevice.

Definition at line 75 of file vtkPlusWitMotionTracker.cxx.

◆ IsA()

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

Reimplemented from vtkPlusGenericSerialDevice.

◆ IsTracker()

virtual bool vtkPlusWitMotionTracker::IsTracker ( ) const
inlinevirtual

Is this device a tracker

Reimplemented from vtkPlusGenericSerialDevice.

Definition at line 27 of file vtkPlusWitMotionTracker.h.

◆ IsTypeOf()

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

◆ New()

static vtkPlusWitMotionTracker* vtkPlusWitMotionTracker::New ( )
static

◆ NotifyConfigured()

PlusStatus vtkPlusWitMotionTracker::NotifyConfigured ( )
protectedvirtual

Perform any completion tasks once configured

Reimplemented from vtkPlusGenericSerialDevice.

Definition at line 45 of file vtkPlusWitMotionTracker.cxx.

◆ ReceiveData()

PlusStatus vtkPlusWitMotionTracker::ReceiveData ( )
protected

Receive an 11 byte frame over serial

Definition at line 58 of file vtkPlusWitMotionTracker.cxx.

◆ SafeDownCast()

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

Member Data Documentation

◆ Acceleration

std::array<double, 4> vtkPlusWitMotionTracker::Acceleration
protected

Definition at line 54 of file vtkPlusWitMotionTracker.h.

◆ Accelerometer

vtkPlusDataSource* vtkPlusWitMotionTracker::Accelerometer
protected

Definition at line 46 of file vtkPlusWitMotionTracker.h.

◆ MAX_DATA_LENGTH

const int vtkPlusWitMotionTracker::MAX_DATA_LENGTH = 11
staticprotected

Definition at line 49 of file vtkPlusWitMotionTracker.h.

◆ Orientation

std::array<double, 4> vtkPlusWitMotionTracker::Orientation
protected

Definition at line 53 of file vtkPlusWitMotionTracker.h.

◆ StreamData

StreamBufferType vtkPlusWitMotionTracker::StreamData
protected

Definition at line 52 of file vtkPlusWitMotionTracker.h.

◆ Temperature

double vtkPlusWitMotionTracker::Temperature
protected

Definition at line 56 of file vtkPlusWitMotionTracker.h.

◆ Velocity

std::array<double, 4> vtkPlusWitMotionTracker::Velocity
protected

Definition at line 55 of file vtkPlusWitMotionTracker.h.


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