vtkPlusFakeTracker.cxx

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/*=Plus=header=begin======================================================
Program: Plus
Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
See License.txt for details.
=========================================================Plus=header=end*/

#include "PlusConfigure.h"

#include "vtkPlusFakeTracker.h"
#include "vtkMatrix4x4.h"
#include "vtkMinimalStandardRandomSequence.h"
#include "vtkObjectFactory.h"
#include "vtkPlusDataSource.h"
#include "vtkTransform.h"

vtkStandardNewMacro(vtkPlusFakeTracker);

//----------------------------------------------------------------------------
vtkPlusFakeTracker::vtkPlusFakeTracker()
  : Frame(0)
  , InternalTransform(vtkTransform::New())
  , Mode(FakeTrackerMode_Undefined)
  , TransformRepository(NULL)
  , RandomSeed(0)
  , Counter(-1)
  , PhantomLandmarks(NULL)
{
  vtkSmartPointer<vtkPoints> phantomLandmarks = vtkSmartPointer<vtkPoints>::New();
  this->SetPhantomLandmarks(phantomLandmarks);

  this->RequirePortNameInDeviceSetConfiguration = true;

  // No callback function provided by the device, so the data capture thread will be used to poll the hardware and add new items to the buffer
  this->StartThreadForInternalUpdates = true;
  this->AcquisitionRate = 30;
}

//----------------------------------------------------------------------------
vtkPlusFakeTracker::~vtkPlusFakeTracker()
{
  this->InternalTransform->Delete();

  // Remove reference from the transform repository
  this->SetTransformRepository(NULL);

  this->SetPhantomLandmarks(NULL);
}

//----------------------------------------------------------------------------
void vtkPlusFakeTracker::SetMode(FakeTrackerMode mode)
{
  LOG_TRACE("vtkPlusFakeTracker::SetMode(" << mode << ")");

  this->Mode = mode;
}

//----------------------------------------------------------------------------
PlusStatus vtkPlusFakeTracker::InternalConnect()
{
  LOG_TRACE("vtkPlusFakeTracker::InternalConnect");

  vtkPlusDataSource* tool = NULL;
  switch (this->Mode)
  {
  case (FakeTrackerMode_Default):

  {
    //*************************************************************
    // Check Reference
    igsioTransformName sourceId("Reference", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: Reference in FakeTracker Default mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }
    tool->SetCustomProperty("PartNumber", "Stationary");
  }
  {
    //*************************************************************
    // Check Stylus
    igsioTransformName sourceId("Stylus", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: Stylus in FakeTracker Default mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }
    tool->SetCustomProperty("PartNumber", "Rotate");
  }
  {
    //*************************************************************
    // Check Stlyus-2
    igsioTransformName sourceId("Stylus-2", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: Stylus-2 in FakeTracker Default mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }
    tool->SetCustomProperty("PartNumber", "Rotate");
  }
  {
    //*************************************************************
    // Check Stlyus-3
    igsioTransformName sourceId("Stylus-3", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: Stylus-3 in FakeTracker Default mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }
    tool->SetCustomProperty("PartNumber", "Spin");
  }
  break;

  case (FakeTrackerMode_SmoothMove):
  {
    //*************************************************************
    // Check Probe
    igsioTransformName sourceId("Probe", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: Probe in FakeTracker SmoothMove mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }
  }
  {
    //*************************************************************
    // Check Reference
    igsioTransformName sourceId("Reference", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: Reference in FakeTracker SmoothMove mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }
  }
  {
    //*************************************************************
    // Check MissingTool
    igsioTransformName sourceId("MissingTool", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: MissingTool in FakeTracker SmoothMove mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }
    break;
  }
  case (FakeTrackerMode_PivotCalibration):
  {
    //*************************************************************
    // Check Reference
    igsioTransformName sourceId("Reference", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: Reference in FakeTracker PivotCalibration mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }

    tool->SetCustomProperty("PartNumber", "Stationary");
  }
  {
    //*************************************************************
    // Check Stylus
    igsioTransformName sourceId("Stylus", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: Stylus in FakeTracker PivotCalibration mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }

    tool->SetCustomProperty("PartNumber", "Stylus");
  }
  break;

  case (FakeTrackerMode_RecordPhantomLandmarks):
  {
    //*************************************************************
    // Check Reference
    igsioTransformName sourceId("Reference", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: Reference in FakeTracker RecordPhantomLandmarks mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }

    tool->SetCustomProperty("PartNumber", "Stationary");
  }
  {
    //*************************************************************
    // Check Stylus
    igsioTransformName sourceId("Stylus", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: Stylus in FakeTracker RecordPhantomLandmarks mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }

    tool->SetCustomProperty("PartNumber", "Stylus");
  }

  this->Counter = -1;

  break;
  case (FakeTrackerMode_ToolState):
  {
    //*************************************************************
    // Check Test
    igsioTransformName sourceId("Test", this->GetToolReferenceFrameName());
    if (this->GetTool(sourceId.GetTransformName(), tool) != PLUS_SUCCESS)
    {
      LOG_ERROR("Failed to get tool: Test in FakeTracker ToolState mode, please add to config file: " << vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
      return PLUS_FAIL;
    }

    tool->SetCustomProperty("PartNumber", "Stationary");
  }

  this->Counter = 0;

  break;
  default:
    break;
  }


  return PLUS_SUCCESS;
}

//----------------------------------------------------------------------------
PlusStatus vtkPlusFakeTracker::InternalDisconnect()
{
  LOG_TRACE("vtkPlusFakeTracker::InternalDisconnect");

  return this->StopRecording();
}

//----------------------------------------------------------------------------
PlusStatus vtkPlusFakeTracker::Probe()
{
  LOG_TRACE("vtkPlusFakeTracker::Probe");

  return PLUS_SUCCESS;
}

//----------------------------------------------------------------------------
PlusStatus vtkPlusFakeTracker::InternalStartRecording()
{
  LOG_TRACE("vtkPlusFakeTracker::InternalStartRecording");

  this->RandomSeed = 0;

  return PLUS_SUCCESS;
}

//----------------------------------------------------------------------------
PlusStatus vtkPlusFakeTracker::InternalStopRecording()
{
  LOG_TRACE("vtkPlusFakeTracker::InternalStopRecording");

  return PLUS_SUCCESS;
}

//----------------------------------------------------------------------------
PlusStatus vtkPlusFakeTracker::InternalUpdate()
{
  //LOG_TRACE("vtkPlusFakeTracker::InternalUpdate");

  if (!this->IsRecording())
  {
    LOG_TRACE("vtkPlusFakeTracker::InternalUpdate is called while not tracking any more");
    return PLUS_SUCCESS;
  }

  if (this->Frame++ > 355559)
  {
    this->Frame = 0;
  }

  switch (this->Mode)
  {
  case (FakeTrackerMode_Default): // Spins the tools around different axis to fake movement
  {
    const double unfilteredTimestamp = vtkIGSIOAccurateTimer::GetSystemTime();
    for (DataSourceContainerConstIterator it = this->GetToolIteratorBegin(); it != this->GetToolIteratorEnd(); ++it)
    {
      ToolStatus toolStatus = TOOL_OK;

      int rotation = this->Frame / 1000;

      if (it->second->GetPortName() == "0")
      {
        // This tool is stationary
        this->InternalTransform->Identity();
        this->InternalTransform->Translate(0, 150, 200);
      }
      else if (it->second->GetPortName() == "1")
      {
        // This tool rotates about a path on the Y axis
        this->InternalTransform->Identity();
        this->InternalTransform->RotateY(rotation);
        this->InternalTransform->Translate(0, 300, 0);
      }
      else if (it->second->GetPortName() == "2")
      {
        // This tool rotates about a path on the X axis
        this->InternalTransform->Identity();
        this->InternalTransform->RotateX(rotation);
        this->InternalTransform->Translate(0, 300, 200);
      }
      else if (it->second->GetPortName() == "3")
      {
        // This tool spins on the X axis
        this->InternalTransform->Identity();
        this->InternalTransform->Translate(100, 300, 0);
        this->InternalTransform->RotateX(rotation);
      }

      this->ToolTimeStampedUpdate(it->second->GetId(), this->InternalTransform->GetMatrix(), toolStatus, this->Frame, unfilteredTimestamp);
    }
  }
  break;

  case (FakeTrackerMode_SmoothMove):
  {
    ToolStatus toolStatus = TOOL_OK;
    if (this->Frame % 10 == 0)
    {
      toolStatus = TOOL_MISSING;
    }

    const double unfilteredTimestamp = vtkIGSIOAccurateTimer::GetSystemTime();
    double tx = (this->Frame % 100);  // 0 - 99
    double ty = (this->Frame % 100) + 100;  // 100 - 199
    double tz = (this->Frame % 100) + 200;  // 200 - 299

    double ry = (this->Frame % 100) / 2.0;  // 0 - 50

    this->InternalTransform->Identity();
    this->InternalTransform->Translate(tx, ty, tz);
    this->InternalTransform->RotateY(ry);
    // Probe transform
    {
      igsioTransformName name("Probe", this->GetToolReferenceFrameName());
      this->ToolTimeStampedUpdate(name.GetTransformName().c_str(), this->InternalTransform->GetMatrix(), toolStatus, this->Frame, unfilteredTimestamp);
    }

    this->InternalTransform->Identity();
    this->InternalTransform->Translate(0, 0, 50);
    // Reference transform
    {
      igsioTransformName name("Reference", this->GetToolReferenceFrameName());
      this->ToolTimeStampedUpdate(name.GetTransformName().c_str(), this->InternalTransform->GetMatrix(), toolStatus, this->Frame, unfilteredTimestamp);
    }
    {
      igsioTransformName name("MissingTool", this->GetToolReferenceFrameName());
      this->ToolTimeStampedUpdate(name.GetTransformName().c_str(), this->InternalTransform->GetMatrix(), TOOL_MISSING, this->Frame, unfilteredTimestamp);
    }

  }
  break;

  case (FakeTrackerMode_SmoothTranslation):
  {
    ToolStatus toolStatus = TOOL_OK;
    if (this->Frame % 50 == 0)
    {
      toolStatus = TOOL_MISSING;
    }

    const double unfilteredTimestamp = vtkIGSIOAccurateTimer::GetSystemTime();
    double tx = sin(this->Frame / 100.0) * 20; // -20 - +20
    double ty = cos(this->Frame / 50.0) * 10 + 50; // 40 - 60
    double tz = abs(this->Frame % 100 - 50.0) + 100;  // 100 - 150

    this->InternalTransform->Identity();
    this->InternalTransform->Translate(tx, ty, tz);
    // Probe transform
    {
      igsioTransformName name("Probe", this->GetToolReferenceFrameName());
      this->ToolTimeStampedUpdate(name.GetTransformName().c_str(), this->InternalTransform->GetMatrix(), toolStatus, this->Frame, unfilteredTimestamp);
    }

    this->InternalTransform->Identity();
    this->InternalTransform->Translate(5, -10, 1.5);
    // Reference transform
    {
      igsioTransformName name("Reference", this->GetToolReferenceFrameName());
      this->ToolTimeStampedUpdate(name.GetTransformName().c_str(), this->InternalTransform->GetMatrix(), toolStatus, this->Frame, unfilteredTimestamp);
    }
    {
      igsioTransformName name("MissingTool", this->GetToolReferenceFrameName());
      this->ToolTimeStampedUpdate(name.GetTransformName().c_str(), this->InternalTransform->GetMatrix(), TOOL_MISSING, this->Frame, unfilteredTimestamp);
    }

  }
  break;

  case (FakeTrackerMode_PivotCalibration): // Moves around a stylus with the tip fixed to a position
  {
    vtkMinimalStandardRandomSequence* random = vtkMinimalStandardRandomSequence::New();
    random->SetSeed(RandomSeed++); // To get completely random numbers, timestamp should use instead of constant seed

    // Set flags
    ToolStatus toolStatus = TOOL_OK;

    // Once in every 50 request, the tracker provides 'out of view' flag - FOR TEST PURPOSES
    /*
    random->Next();
    double outOfView = random->GetValue();
    if (outOfView < 0.02) {
    toolStatus = TOOL_OUT_OF_VIEW;
    }
    */

    const double unfilteredTimestamp = vtkIGSIOAccurateTimer::GetSystemTime();

    // create stationary position for reference (tool 0)
    vtkSmartPointer<vtkTransform> referenceToTrackerTransform = vtkSmartPointer<vtkTransform>::New();
    referenceToTrackerTransform->Identity();
    referenceToTrackerTransform->Translate(300, 400, 700);
    referenceToTrackerTransform->RotateZ(90);

    {
      igsioTransformName name("Reference", this->GetToolReferenceFrameName());
      this->ToolTimeStampedUpdate(name.GetTransformName().c_str(), referenceToTrackerTransform->GetMatrix(), toolStatus, this->Frame, unfilteredTimestamp);
    }
    // create random positions along a sphere (with built-in error)
    double exactRadius = 210.0;
    double deltaTheta = 60.0;
    double deltaPhi = 60.0;
    double variance = 1.0;

    random->Next();
    double theta = random->GetRangeValue(-deltaTheta, deltaTheta);

    random->Next();
    double phi = random->GetRangeValue(-deltaPhi, deltaPhi);

    random->Next();
    double radius = random->GetRangeValue(exactRadius - variance, exactRadius + variance);

    vtkSmartPointer<vtkTransform> stylusToReferenceTransform = vtkSmartPointer<vtkTransform>::New();
    stylusToReferenceTransform->Identity();
    stylusToReferenceTransform->Translate(205.0, 305.0, 55.0); // Some distance from the reference
    stylusToReferenceTransform->RotateY(phi);
    stylusToReferenceTransform->RotateZ(theta);
    stylusToReferenceTransform->Translate(-radius, 0.0, 0.0);

    vtkSmartPointer<vtkTransform> stylusToTrackerTransform = vtkSmartPointer<vtkTransform>::New();
    stylusToTrackerTransform->Identity();
    stylusToTrackerTransform->Concatenate(referenceToTrackerTransform);
    stylusToTrackerTransform->Concatenate(stylusToReferenceTransform);

    random->Delete();
    {
      igsioTransformName name("Stylus", this->GetToolReferenceFrameName());
      this->ToolTimeStampedUpdate(name.GetTransformName().c_str(), stylusToTrackerTransform->GetMatrix(), toolStatus, this->Frame, unfilteredTimestamp);
    }
    break;
  }
  case (FakeTrackerMode_RecordPhantomLandmarks): // Touches some positions with 1 sec difference
  {
    ToolStatus toolStatus = TOOL_OK;
    const double unfilteredTimestamp = vtkIGSIOAccurateTimer::GetSystemTime();

    // create stationary position for phantom reference (tool 0)
    vtkSmartPointer<vtkTransform> referenceToTrackerTransform = vtkSmartPointer<vtkTransform>::New();
    referenceToTrackerTransform->Identity();

    referenceToTrackerTransform->Translate(300, 400, 700);
    referenceToTrackerTransform->RotateZ(90);

    {
      igsioTransformName name("Reference", this->GetToolReferenceFrameName());
      this->ToolTimeStampedUpdate(name.GetTransformName().c_str(), referenceToTrackerTransform->GetMatrix(), toolStatus, this->Frame, unfilteredTimestamp);
    }
    // touch landmark points
    vtkSmartPointer<vtkTransform> landmarkToPhantomTransform = vtkSmartPointer<vtkTransform>::New();
    landmarkToPhantomTransform->Identity();

    // Translate to actual landmark point
    if (this->Counter >= 0 && this->Counter < this->PhantomLandmarks->GetNumberOfPoints())
    {
      double currentLandmarkPosition[3];
      this->PhantomLandmarks->GetPoint(this->Counter, currentLandmarkPosition);
      landmarkToPhantomTransform->Translate(currentLandmarkPosition[0], currentLandmarkPosition[1], currentLandmarkPosition[2]);
    }

    // Get stylus calibration inverse transform
    vtkSmartPointer<vtkTransform> stylusToStylusTipTransform = vtkSmartPointer<vtkTransform>::New();
    stylusToStylusTipTransform->Identity();
    if (this->TransformRepository)
    {
      vtkSmartPointer<vtkMatrix4x4> stylusToStylusTipTransformMatrix = vtkSmartPointer<vtkMatrix4x4>::New();
      igsioTransformName stylusToStylusTipTransformName("Stylus", "StylusTip");
      if (this->TransformRepository->GetTransform(stylusToStylusTipTransformName, stylusToStylusTipTransformMatrix) == PLUS_SUCCESS)
      {
        stylusToStylusTipTransform->Concatenate(stylusToStylusTipTransformMatrix);
      }
    }

    // Rotate to make motion visible even if the camera is reset every time
    if (this->Counter < 7)
    {
      landmarkToPhantomTransform->RotateY(this->Counter * 5.0);
    }
    else
    {
      landmarkToPhantomTransform->RotateY(180.0);
    }
    landmarkToPhantomTransform->RotateZ(this->Counter * 5.0);
    vtkSmartPointer<vtkTransform> phantomToReferenceTransform = vtkSmartPointer<vtkTransform>::New();
    phantomToReferenceTransform->Identity();
    phantomToReferenceTransform->Translate(-75, -50, -150);

    vtkSmartPointer<vtkTransform> stylusToTrackerTransform = vtkSmartPointer<vtkTransform>::New();
    stylusToTrackerTransform->Concatenate(referenceToTrackerTransform);
    stylusToTrackerTransform->Concatenate(phantomToReferenceTransform);
    stylusToTrackerTransform->Concatenate(landmarkToPhantomTransform);
    stylusToTrackerTransform->Concatenate(stylusToStylusTipTransform); // Un-calibrate it

    {
      igsioTransformName name("Stylus", this->GetToolReferenceFrameName());
      this->ToolTimeStampedUpdate(name.GetTransformName().c_str(), stylusToTrackerTransform->GetMatrix(), toolStatus, this->Frame, unfilteredTimestamp);
    }
  }
  break;

  case (FakeTrackerMode_ToolState): // Changes the state of the tool from time to time
  {
    // Set flags
    ToolStatus toolStatus = TOOL_OK;

    const int state = (this->Counter / 100) % 3;
    switch (state)
    {
    case 1:
      toolStatus = TOOL_OUT_OF_VIEW;
      break;
    case 2:
      toolStatus = TOOL_MISSING;
      break;
    default:
      break;
    }
    const double unfilteredTimestamp = vtkIGSIOAccurateTimer::GetSystemTime();

    // create stationary position for phantom reference (tool 0)
    vtkSmartPointer<vtkTransform> identityTransform = vtkSmartPointer<vtkTransform>::New();
    identityTransform->Identity();

    this->ToolTimeStampedUpdate("Test", identityTransform->GetMatrix(), toolStatus, this->Frame, unfilteredTimestamp);

    this->Counter++;
  }
  break;
  default:
    break;
  }

  return PLUS_SUCCESS;
}

//----------------------------------------------------------------------------
PlusStatus vtkPlusFakeTracker::ReadConfiguration(vtkXMLDataElement* rootConfigElement)
{
  LOG_TRACE("vtkPlusFakeTracker::ReadConfiguration");

  XML_FIND_DEVICE_ELEMENT_REQUIRED_FOR_READING(deviceConfig, rootConfigElement);

  if (!this->Recording)
  {
    // Read mode

    const char* mode = deviceConfig->GetAttribute("Mode");
    if (mode != NULL)
    {
      if (STRCASECMP(mode, "Default") == 0)
      {
        this->SetMode(FakeTrackerMode_Default);
      }
      else if (STRCASECMP(mode, "SmoothMove") == 0)
      {
        this->SetMode(FakeTrackerMode_SmoothMove);
      }
      else if (STRCASECMP(mode, "SmoothTranslation") == 0)
      {
        this->SetMode(FakeTrackerMode_SmoothTranslation);
      }
      else if (STRCASECMP(mode, "PivotCalibration") == 0)
      {
        this->SetMode(FakeTrackerMode_PivotCalibration);
      }
      else if (STRCASECMP(mode, "RecordPhantomLandmarks") == 0)
      {
        this->SetMode(FakeTrackerMode_RecordPhantomLandmarks);
      }
      else if (STRCASECMP(mode, "ToolState") == 0)
      {
        this->SetMode(FakeTrackerMode_ToolState);
      }
      else
      {
        this->SetMode(FakeTrackerMode_Undefined);
      }
    }

    // Read landmarks for RecordPhantomLandmarks mode
    bool phantomLandmarksFound = true;
    vtkXMLDataElement* landmarks = NULL;
    vtkXMLDataElement* phantomDefinition = rootConfigElement->FindNestedElementWithName("PhantomDefinition");
    if (phantomDefinition == NULL)
    {
      phantomLandmarksFound = false;
    }
    else
    {
      vtkXMLDataElement* geometry = phantomDefinition->FindNestedElementWithName("Geometry");
      if (geometry == NULL)
      {
        phantomLandmarksFound = false;
      }
      else
      {
        landmarks = geometry->FindNestedElementWithName("Landmarks");
        if (landmarks == NULL)
        {
          phantomLandmarksFound = false;
        }
      }
    }

    if (!phantomLandmarksFound)
    {
      if (this->Mode == FakeTrackerMode_RecordPhantomLandmarks)
      {
        LOG_ERROR("Phantom landmarks cannot be found in the configuration XML tree - FakeTracker in RecordPhantomLandmarks mode cannot be started!");
        return PLUS_FAIL;
      }
      else
      {
        LOG_DEBUG("Phantom landmarks cannot be found in the configuration XML tree - FakeTracker in RecordPhantomLandmarks mode cannot be started.");
      }
    }
    else
    {
      this->PhantomLandmarks->Reset();
      int numberOfLandmarks = landmarks->GetNumberOfNestedElements();
      for (int i = 0; i < numberOfLandmarks; ++i)
      {
        vtkXMLDataElement* landmark = landmarks->GetNestedElement(i);

        if ((landmark == NULL) || (STRCASECMP("Landmark", landmark->GetName())))
        {
          LOG_WARNING("Invalid landmark definition found!");
          continue;
        }

        double landmarkPosition[3];
        if (! landmark->GetVectorAttribute("Position", 3, landmarkPosition))
        {
          LOG_WARNING("Invalid landmark position!");
          continue;
        }

        this->PhantomLandmarks->InsertPoint(i, landmarkPosition);
      }
    }
  }

  return PLUS_SUCCESS;
}