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

#include <src/PlusDataCollection/Atracsys/AtracsysTracker.h>

Public Types

enum  DEVICE_TYPE {
  UNKNOWN_DEVICE = 0, SPRYTRACK_180, SPRYTRACK_300, FUSIONTRACK_500,
  FUSIONTRACK_250
}
 
enum  RESULT {
  SUCCESS = 0, ERROR_UNABLE_TO_GET_FTK_HANDLE, ERROR_NO_DEVICE_CONNECTED, WARNING_CONNECTED_IN_USB2,
  ERROR_UNABLE_TO_LOAD_MARKER, ERROR_FAILURE_TO_LOAD_INI, ERROR_OPTION_AVAILABLE_ONLY_ON_FTK, ERROR_OPTION_AVAILABLE_ONLY_ON_STK,
  ERROR_FAILED_TO_CLOSE_SDK, ERROR_FAILED_TO_EXPORT_CALIB, ERROR_FAILED_TO_EXTRACT_FRAME_INFO, ERROR_CANNOT_CREATE_FRAME_INSTANCE,
  ERROR_CANNOT_INITIALIZE_FRAME, ERROR_NO_FRAME_AVAILABLE, ERROR_INVALID_FRAME, ERROR_TOO_MANY_MARKERS,
  ERROR_TOO_MANY_FIDUCIALS, ERROR_ENABLE_LASER, ERROR_SET_USER_LED, ERROR_ENABLE_USER_LED,
  ERROR_ENABLE_ONBOARD_PROCESSING, ERROR_ENABLE_IMAGE_STREAMING, ERROR_ENABLE_WIRELESS_MARKER_PAIRING, ERROR_ENABLE_WIRELESS_MARKER_STATUS_STREAMING,
  ERROR_ENABLE_WIRELESS_MARKER_BATTERY_STREAMING, ERROR_DISCONNECT_ATTEMPT_WHEN_NOT_CONNECTED, ERROR_CANNOT_GET_MARKER_INFO, ERROR_FAILED_TO_SET_STK_PROCESSING_TYPE,
  ERROR_OPTION_NOT_FOUND, ERROR_SET_OPTION
}
 
enum  SPRYTRACK_IMAGE_PROCESSING_TYPE { PROCESSING_ONBOARD, PROCESSING_ON_PC }
 

Public Member Functions

RESULT Connect ()
 
RESULT Disconnect ()
 
RESULT EnableImageStreaming (bool enabled)
 
RESULT EnableOnboardProcessing (bool enabled)
 
RESULT EnableUserLED (bool enabled)
 
RESULT EnableWirelessMarkerBatteryStreaming (bool enabled)
 
RESULT EnableWirelessMarkerPairing (bool enabled)
 
RESULT EnableWirelessMarkerStatusStreaming (bool enabled)
 
RESULT GetCalibrationDate (std::string &date)
 
RESULT GetCamerasCalibration (std::array< float, 10 > &leftIntrinsic, std::array< float, 10 > &rightIntrinsic, std::array< float, 3 > &rightPosition, std::array< float, 3 > &rightOrientation)
 
RESULT GetDeviceId (uint64_t &id)
 
RESULT GetDeviceType (DEVICE_TYPE &deviceType)
 
RESULT GetDroppedFrameCount (int &droppedFrameCount)
 
RESULT GetFiducialsInFrame (std::vector< Fiducial > &fiducials, std::map< std::string, std::string > &events, uint64_t &sdkTimestamp)
 
RESULT GetLoadedGeometries (std::map< int, std::vector< std::array< float, 3 >>> &geometries)
 
RESULT GetMarkerInfo (std::string &markerInfo)
 
RESULT GetMarkersInFrame (std::vector< Marker > &markers, std::map< std::string, std::string > &events, uint64_t &sdkTimestamp)
 
int GetMax2dFiducialsNumber ()
 
int GetMax3dFiducialsNumber ()
 
int GetMaxAdditionalEventsNumber ()
 
int GetMaxMarkersNumber ()
 
RESULT GetSDKversion (std::string &version)
 
bool IsOnboardProcessing ()
 
bool IsVirtual ()
 
RESULT LoadMarkerGeometryFromFile (std::string filePath, int &geometryId)
 
RESULT LoadMarkerGeometryFromString (std::string filePath, int &geometryId)
 
void Pause (bool tof)
 
RESULT ResetLostFrameCount ()
 
std::string ResultToString (RESULT result)
 
RESULT SetLaserEnabled (bool enabled)
 
RESULT SetMax2dFiducialsNumber (int n)
 
RESULT SetMax3dFiducialsNumber (int n)
 
RESULT SetMaxAdditionalEventsNumber (int n)
 
RESULT SetMaxMarkersNumber (int n)
 
RESULT SetOption (const std::string &, const std::string &)
 
RESULT SetSpryTrackProcessingType (SPRYTRACK_IMAGE_PROCESSING_TYPE processingType)
 
RESULT SetUserLEDState (int red, int green, int blue, int frequency, bool enabled=true)
 
 Tracker ()
 
virtual ~Tracker ()
 

Protected Member Functions

bool GetOptionInfo (const std::string &, const ftkOptionsInfo *&)
 

Detailed Description

Definition at line 90 of file AtracsysTracker.h.

Member Enumeration Documentation

◆ DEVICE_TYPE

enum Atracsys::Tracker::DEVICE_TYPE
Enumerator
UNKNOWN_DEVICE 
SPRYTRACK_180 
SPRYTRACK_300 
FUSIONTRACK_500 
FUSIONTRACK_250 

Definition at line 131 of file AtracsysTracker.h.

◆ RESULT

enum Atracsys::Tracker::RESULT
Enumerator
SUCCESS 
ERROR_UNABLE_TO_GET_FTK_HANDLE 
ERROR_NO_DEVICE_CONNECTED 
WARNING_CONNECTED_IN_USB2 
ERROR_UNABLE_TO_LOAD_MARKER 
ERROR_FAILURE_TO_LOAD_INI 
ERROR_OPTION_AVAILABLE_ONLY_ON_FTK 
ERROR_OPTION_AVAILABLE_ONLY_ON_STK 
ERROR_FAILED_TO_CLOSE_SDK 
ERROR_FAILED_TO_EXPORT_CALIB 
ERROR_FAILED_TO_EXTRACT_FRAME_INFO 
ERROR_CANNOT_CREATE_FRAME_INSTANCE 
ERROR_CANNOT_INITIALIZE_FRAME 
ERROR_NO_FRAME_AVAILABLE 
ERROR_INVALID_FRAME 
ERROR_TOO_MANY_MARKERS 
ERROR_TOO_MANY_FIDUCIALS 
ERROR_ENABLE_LASER 
ERROR_SET_USER_LED 
ERROR_ENABLE_USER_LED 
ERROR_ENABLE_ONBOARD_PROCESSING 
ERROR_ENABLE_IMAGE_STREAMING 
ERROR_ENABLE_WIRELESS_MARKER_PAIRING 
ERROR_ENABLE_WIRELESS_MARKER_STATUS_STREAMING 
ERROR_ENABLE_WIRELESS_MARKER_BATTERY_STREAMING 
ERROR_DISCONNECT_ATTEMPT_WHEN_NOT_CONNECTED 
ERROR_CANNOT_GET_MARKER_INFO 
ERROR_FAILED_TO_SET_STK_PROCESSING_TYPE 
ERROR_OPTION_NOT_FOUND 
ERROR_SET_OPTION 

Definition at line 97 of file AtracsysTracker.h.

◆ SPRYTRACK_IMAGE_PROCESSING_TYPE

enum Atracsys::Tracker::SPRYTRACK_IMAGE_PROCESSING_TYPE
Enumerator
PROCESSING_ONBOARD 
PROCESSING_ON_PC 

Definition at line 140 of file AtracsysTracker.h.

Constructor & Destructor Documentation

◆ Tracker()

Tracker::Tracker ( )

Definition at line 657 of file AtracsysTracker.cxx.

◆ ~Tracker()

Tracker::~Tracker ( )
virtual

Definition at line 660 of file AtracsysTracker.cxx.

Member Function Documentation

◆ Connect()

Tracker::RESULT Tracker::Connect ( )

Connect to Atracsys tracker, must be called before any other function in this wrapper API.

Definition at line 685 of file AtracsysTracker.cxx.

◆ Disconnect()

Tracker::RESULT Tracker::Disconnect ( )

Closes connections to Atracsys tracker, must be called at end of application.

Definition at line 803 of file AtracsysTracker.cxx.

◆ EnableImageStreaming()

Tracker::RESULT Tracker::EnableImageStreaming ( bool  enabled)

Definition at line 1407 of file AtracsysTracker.cxx.

◆ EnableOnboardProcessing()

Tracker::RESULT Tracker::EnableOnboardProcessing ( bool  enabled)

Definition at line 1384 of file AtracsysTracker.cxx.

◆ EnableUserLED()

Tracker::RESULT Tracker::EnableUserLED ( bool  enabled)

Definition at line 1226 of file AtracsysTracker.cxx.

◆ EnableWirelessMarkerBatteryStreaming()

Tracker::RESULT Tracker::EnableWirelessMarkerBatteryStreaming ( bool  enabled)

Definition at line 1315 of file AtracsysTracker.cxx.

◆ EnableWirelessMarkerPairing()

Tracker::RESULT Tracker::EnableWirelessMarkerPairing ( bool  enabled)

Definition at line 1271 of file AtracsysTracker.cxx.

◆ EnableWirelessMarkerStatusStreaming()

Tracker::RESULT Tracker::EnableWirelessMarkerStatusStreaming ( bool  enabled)

Definition at line 1293 of file AtracsysTracker.cxx.

◆ GetCalibrationDate()

Tracker::RESULT Tracker::GetCalibrationDate ( std::string &  date)

Definition at line 835 of file AtracsysTracker.cxx.

◆ GetCamerasCalibration()

Tracker::RESULT Tracker::GetCamerasCalibration ( std::array< float, 10 > &  leftIntrinsic,
std::array< float, 10 > &  rightIntrinsic,
std::array< float, 3 > &  rightPosition,
std::array< float, 3 > &  rightOrientation 
)

Retrieves the cameras parameters : leftIntrinsic = left camera focal length [0-1], optical center [2-3], lens distorsion [4-8] and skew [9] rightIntrinsic = left camera focal length [0-1], optical center [2-3], lens distorsion [4-8] and skew [9] rightPosition = position of the right camera in the coordinate system of the left camera rightOrientation = orientation of the right camera in the coordinate system of the left camera

Definition at line 849 of file AtracsysTracker.cxx.

◆ GetDeviceId()

Tracker::RESULT Tracker::GetDeviceId ( uint64_t &  id)

Definition at line 892 of file AtracsysTracker.cxx.

◆ GetDeviceType()

Tracker::RESULT Tracker::GetDeviceType ( DEVICE_TYPE &  deviceType)

Definition at line 842 of file AtracsysTracker.cxx.

◆ GetDroppedFrameCount()

Tracker::RESULT Tracker::GetDroppedFrameCount ( int &  droppedFrameCount)

Sum of lost and corrupted frames

Definition at line 1462 of file AtracsysTracker.cxx.

◆ GetFiducialsInFrame()

Tracker::RESULT Tracker::GetFiducialsInFrame ( std::vector< Fiducial > &  fiducials,
std::map< std::string, std::string > &  events,
uint64_t &  sdkTimestamp 
)

Definition at line 970 of file AtracsysTracker.cxx.

◆ GetLoadedGeometries()

Tracker::RESULT Tracker::GetLoadedGeometries ( std::map< int, std::vector< std::array< float, 3 >>> &  geometries)

Definition at line 951 of file AtracsysTracker.cxx.

◆ GetMarkerInfo()

Tracker::RESULT Tracker::GetMarkerInfo ( std::string &  markerInfo)

Definition at line 927 of file AtracsysTracker.cxx.

◆ GetMarkersInFrame()

Tracker::RESULT Tracker::GetMarkersInFrame ( std::vector< Marker > &  markers,
std::map< std::string, std::string > &  events,
uint64_t &  sdkTimestamp 
)

Definition at line 1059 of file AtracsysTracker.cxx.

◆ GetMax2dFiducialsNumber()

int Atracsys::Tracker::GetMax2dFiducialsNumber ( )
inline

Definition at line 233 of file AtracsysTracker.h.

◆ GetMax3dFiducialsNumber()

int Atracsys::Tracker::GetMax3dFiducialsNumber ( )
inline

Definition at line 237 of file AtracsysTracker.h.

◆ GetMaxAdditionalEventsNumber()

int Atracsys::Tracker::GetMaxAdditionalEventsNumber ( )
inline

Definition at line 229 of file AtracsysTracker.h.

◆ GetMaxMarkersNumber()

int Atracsys::Tracker::GetMaxMarkersNumber ( )
inline

Definition at line 241 of file AtracsysTracker.h.

◆ GetOptionInfo()

bool Tracker::GetOptionInfo ( const std::string &  optionName,
const ftkOptionsInfo *&  info 
)
protected

Definition at line 564 of file AtracsysTracker.cxx.

◆ GetSDKversion()

Tracker::RESULT Tracker::GetSDKversion ( std::string &  version)

Definition at line 828 of file AtracsysTracker.cxx.

◆ IsOnboardProcessing()

bool Tracker::IsOnboardProcessing ( )

Definition at line 673 of file AtracsysTracker.cxx.

◆ IsVirtual()

bool Tracker::IsVirtual ( )

Is virtual ?

Definition at line 679 of file AtracsysTracker.cxx.

◆ LoadMarkerGeometryFromFile()

Tracker::RESULT Tracker::LoadMarkerGeometryFromFile ( std::string  filePath,
int &  geometryId 
)

Definition at line 899 of file AtracsysTracker.cxx.

◆ LoadMarkerGeometryFromString()

Tracker::RESULT Tracker::LoadMarkerGeometryFromString ( std::string  filePath,
int &  geometryId 
)

Definition at line 913 of file AtracsysTracker.cxx.

◆ Pause()

void Tracker::Pause ( bool  tof)

If virtual device, pause/unpause

Definition at line 667 of file AtracsysTracker.cxx.

◆ ResetLostFrameCount()

Tracker::RESULT Tracker::ResetLostFrameCount ( )

Definition at line 1493 of file AtracsysTracker.cxx.

◆ ResultToString()

std::string Tracker::ResultToString ( Tracker::RESULT  result)

Definition at line 958 of file AtracsysTracker.cxx.

◆ SetLaserEnabled()

Tracker::RESULT Tracker::SetLaserEnabled ( bool  enabled)

Definition at line 1247 of file AtracsysTracker.cxx.

◆ SetMax2dFiducialsNumber()

Tracker::RESULT Tracker::SetMax2dFiducialsNumber ( int  n)

Set/get the maximum number of 2D fiducials (in either left or right frame) included in the device's output

Definition at line 1348 of file AtracsysTracker.cxx.

◆ SetMax3dFiducialsNumber()

Tracker::RESULT Tracker::SetMax3dFiducialsNumber ( int  n)

Set/get the maximum number of 3D fiducials (after triangulation) included in the device's output

Definition at line 1359 of file AtracsysTracker.cxx.

◆ SetMaxAdditionalEventsNumber()

Tracker::RESULT Tracker::SetMaxAdditionalEventsNumber ( int  n)

Set/get the maximum number of additional events per frame included in the device's output. This extends the default allocation of 20, for a total of 20 + n events allowed per frame.

Definition at line 1337 of file AtracsysTracker.cxx.

◆ SetMaxMarkersNumber()

Tracker::RESULT Tracker::SetMaxMarkersNumber ( int  n)

Set/get the maximum number of markers included in the device's output

Definition at line 1370 of file AtracsysTracker.cxx.

◆ SetOption()

Tracker::RESULT Tracker::SetOption ( const std::string &  optionName,
const std::string &  attributeValue 
)

Definition at line 580 of file AtracsysTracker.cxx.

◆ SetSpryTrackProcessingType()

Tracker::RESULT Tracker::SetSpryTrackProcessingType ( Tracker::SPRYTRACK_IMAGE_PROCESSING_TYPE  processingType)

Definition at line 1430 of file AtracsysTracker.cxx.

◆ SetUserLEDState()

Tracker::RESULT Tracker::SetUserLEDState ( int  red,
int  green,
int  blue,
int  frequency,
bool  enabled = true 
)

Definition at line 1180 of file AtracsysTracker.cxx.

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