re PlusToolkit#241: Defining the Atracsys API wrapper classes

src/PlusDataCollection/Atracsys/AtracsysConstants.h

@@ -0,0 +1,38 @@
+/*=Plus=header=begin======================================================
+Program: Plus
+Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
+See License.txt for details.
+=========================================================Plus=header=end*/
+
+#ifndef __AtracsysConstants_h
+#define __AtracsysConstants_h
+
+namespace Atracsys
+{
+  const int FTK_MAX_FIDUCIALS = 4;
+
+  enum ATRACSYS_ERROR
+  {
+    ERROR_NONE = 0,
+    ERROR_UNABLE_TO_GET_FTK_HANDLE = 1
+  };
+
+  enum OPTIONS
+  {
+    OPTION_DATA_SENDING = 20,
+    OPTION_WIRELESS_PAIRING_ENABLE = 40,
+    OPTION_IR_STROBE = 50,
+    OPTION_LOST_FRAME_COUNT = 60,
+    OPTION_RESET_LOST_FRAME_COUNT = 69,
+    OPTION_LED_RED_COMPONENT = 90,
+    OPTION_LED_BLUE_COMPONENT = 91,
+    OPTION_LED_GREEN_COMPONENT = 92,
+    OPTION_LED_ENABLE = 93,
+    OPTION_EPIPOLAR_MIN_DISTANCE = 2001,
+    OPTION_MATCHING_TOLERANCE = 3002,
+    OPTION_MAX_REGISTRATION_MEAN_ERROR = 3003,
+    OPTION_MAX_MISSION_POINTS = 3004,
+    OPTION_MAX_TRACKING_RANGE = 3005
+  };
+}
+#endif

src/PlusDataCollection/Atracsys/AtracsysMarker.cxx

@@ -0,0 +1,34 @@
+/*=Plus=header=begin======================================================
+Program: Plus
+Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
+See License.txt for details.
+=========================================================Plus=header=end*/
+
+#include "AtracsysMarker.h"
+
+using namespace Atracsys;
+
+ATRACSYS_ERROR Marker::GetID(int& id)
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Marker::GetGeometryID(int& geometryID)
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Marker::GetGeometryPrecsenceMask(int& geometryMask)
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Marker::GetTransformToTracker(vtkSmartPointer<vtkMatrix4x4> MarkerToTracker)
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Marker::GetFiducialRegistrationErrorMm(float& fre)
+{
+  return ERROR_NONE;
+}

src/PlusDataCollection/Atracsys/AtracsysMarker.h

@@ -0,0 +1,40 @@
+/*=Plus=header=begin======================================================
+Program: Plus
+Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
+See License.txt for details.
+=========================================================Plus=header=end*/
+
+#ifndef __AtracsysMarker_h
+#define __AtracsysMarker_h
+
+#include "AtracsysConstants.h"
+#include <vtkSmartPointer.h>
+#include "vtkMatrix4x4.h"
+
+namespace Atracsys
+{
+  class Marker
+  {
+  public:
+    ATRACSYS_ERROR GetID(int& id);
+    ATRACSYS_ERROR GetGeometryID(int& geometryID);
+    ATRACSYS_ERROR GetGeometryPrecsenceMask(int& geometryMask);
+    ATRACSYS_ERROR GetTransformToTracker(vtkSmartPointer<vtkMatrix4x4> MarkerToTracker);
+    ATRACSYS_ERROR GetFiducialRegistrationErrorMm(float& fre);
+  private:
+    int id; /*!< Tracking id */
+    int geometryId; /*!< Geometric id, i.e. the unique id of the used
+                       * geometry. */
+    int geometryPresenceMask; /*!< Presence mask of fiducials expressed as
+                                 * their geometrical indexes */
+    int fiducialCorresp[FTK_MAX_FIDUCIALS]; /*!< Correspondence between
+                                               * geometry index and 3D
+                                               * fiducials indexes or
+                                               * INVALID_ID */
+    float rotation[3][3]; /*!< Rotation matrix: format [row][column] */
+    float translationMM[3]; /*!< translation vector (unit mm) */
+    float registrationErrorMM; /*!< Registration mean ATRACSYS_ERROR (unit mm) */
+  };
+}
+
+#endif

src/PlusDataCollection/Atracsys/AtracsysTracker.cxx

@@ -0,0 +1,104 @@
+/*=Plus=header=begin======================================================
+Program: Plus
+Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
+See License.txt for details.
+=========================================================Plus=header=end*/
+
+#include "AtracsysTracker.h"
+#include <iostream>
+
+using namespace Atracsys;
+
+Tracker::Tracker()
+{
+
+}
+
+Tracker::~Tracker()
+{
+
+}
+
+ATRACSYS_ERROR Tracker::Connect()
+{
+  // initialize SDK
+  this->FtkLib = ftkInit();
+
+  if (this->FtkLib == NULL)
+  {
+    return ERROR_UNABLE_TO_GET_FTK_HANDLE;
+  }
+
+  // testing
+  std::cout << "connected to tracker" << std::endl;
+}
+
+ATRACSYS_ERROR Tracker::EnableDataSending()
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::DisableDataSending()
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::EnableIRStrobe()
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::DisableIRStrobe()
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::GetDroppedFrameCount()
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::ResetLostFrameCount()
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::SetUserLEDState(int red, int green, int blue, int frequency)
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::GetUserLEDState(int& red, int& green, int& blue, int& frequency)
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::EnableUserLED()
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::DisableUserLED()
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::LoadMarkerGeometry(std::string filePath)
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::EnableWirelessMarkerPairing()
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::DisableWirelessMarkerPairing()
+{
+  return ERROR_NONE;
+}
+
+ATRACSYS_ERROR Tracker::GetMarkersInFrame(std::vector<Marker>& markers)
+{
+  return ERROR_NONE;
+}

src/PlusDataCollection/Atracsys/AtracsysTracker.h

@@ -0,0 +1,76 @@
+/*=Plus=header=begin======================================================
+Program: Plus
+Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
+See License.txt for details.
+=========================================================Plus=header=end*/
+
+#ifndef __AtracsysTracker_h
+#define __AtracsysTracker_h
+
+#include "AtracsysConstants.h"
+#include <string>
+#include <vector>
+
+// Atracsys includes
+#include "ftkErrors.h"
+#include "ftkEvent.h"
+#include "ftkInterface.h"
+#include "ftkOptions.h"
+#include "ftkPlatform.h"
+#include "ftkTypes.h"
+
+namespace Atracsys
+{
+  class Marker;
+  class Internal;
+
+  class Tracker
+  {
+  public:
+    /* Constructor & destructor */
+    Tracker();
+    ~Tracker();
+
+    /*! */
+    ATRACSYS_ERROR Connect();
+
+    /*! */
+    ATRACSYS_ERROR EnableDataSending();
+    /*! */
+    ATRACSYS_ERROR DisableDataSending();
+
+    /*! */
+    ATRACSYS_ERROR EnableIRStrobe();
+    /*! */
+    ATRACSYS_ERROR DisableIRStrobe();
+
+    /*! */
+    ATRACSYS_ERROR GetDroppedFrameCount();
+    /*! */
+    ATRACSYS_ERROR ResetLostFrameCount();
+
+    /*! */
+    ATRACSYS_ERROR SetUserLEDState(int red, int green, int blue, int frequency);
+    /*! */
+    ATRACSYS_ERROR GetUserLEDState(int& red, int& green, int& blue, int& frequency);
+    /*! */
+    ATRACSYS_ERROR EnableUserLED();
+    /*! */
+    ATRACSYS_ERROR DisableUserLED();
+
+    /*! */
+    ATRACSYS_ERROR LoadMarkerGeometry(std::string filePath);
+    /*! */
+    ATRACSYS_ERROR EnableWirelessMarkerPairing();
+    /*! */
+    ATRACSYS_ERROR DisableWirelessMarkerPairing();
+
+    /*! */
+    ATRACSYS_ERROR GetMarkersInFrame(std::vector<Marker>& markers);
+  private:
+    ftkLibrary FtkLib = 0;
+    uint64 TrackerSN = 0;
+
+  };
+}
+#endif

src/PlusDataCollection/Atracsys/vtkPlusAtracsysTracker.cxx

@@ -7,6 +7,8 @@ See License.txt for details.
 // Local includes
 #include "PlusConfigure.h"
 #include "vtkPlusAtracsysTracker.h"
+#include "AtracsysTracker.h"
+#include "AtracsysMarker.h"
 
 // VTK includes
 #include <vtkSmartPointer.h>
@@ -312,12 +314,16 @@ class vtkPlusAtracsysTracker::vtkInternal
 
   PlusStatus LoadFtkGeometry(const std::string& filename, ftkGeometry& geom);
   bool LoadIniFile(std::ifstream& is, ftkGeometry& geometry);
+
+  // here begins the new interface
+  Atracsys::Tracker* Tracker = new Atracsys::Tracker();
 };
 
 //----------------------------------------------------------------------------
 std::string vtkPlusAtracsysTracker::vtkInternal::GetFtkErrorString()
 {
   char message[1024u];
+  /*
   ftkError err(ftkGetLastErrorString(this->ftkLib, 1024u, message));
   if (err == FTK_OK)
   {
@@ -326,7 +332,8 @@ std::string vtkPlusAtracsysTracker::vtkInternal::GetFtkErrorString()
   else
   {
     return std::string("ftkLib is uninitialized.");
-  }
+  }*/
+  return std::string(message);
 }
 
 struct DeviceData
@@ -556,6 +563,10 @@ PlusStatus vtkPlusAtracsysTracker::Probe()
 //----------------------------------------------------------------------------
 PlusStatus vtkPlusAtracsysTracker::InternalConnect()
 {
+  //TODO: testing AtracsysTracker class
+  this->Internal->Tracker->Connect();
+
+
   LOG_TRACE("vtkPlusAtracsysTracker::InternalConnect");
 
   // initialize SDK
@@ -581,8 +592,8 @@ PlusStatus vtkPlusAtracsysTracker::InternalConnect()
     return PLUS_FAIL;
   }
 
-  std::string deviceType;
-  switch (device.Type)
+  std::string deviceType("fusionTrack500");
+  /*switch (device.Type)
   {
   case DEV_SPRYTRACK_180:
     deviceType = "sTk 180";
@@ -598,14 +609,15 @@ PlusStatus vtkPlusAtracsysTracker::InternalConnect()
     break;
   default:
     deviceType = " UNKNOWN";
-  }
+  }*/
 
   this->Internal->TrackerSN = device.SerialNumber;
 
   LOG_INFO("Detected " << deviceType << " with serial number 0x" << std::setw(16u)
     << std::setfill('0') << std::hex << device.SerialNumber << std::dec
     << std::endl << std::setfill('\0'));
 
+  /*
   // set spryTrack to do onboard image processing
   if (device.Type == DEV_SPRYTRACK_180)
   {
@@ -623,6 +635,7 @@ PlusStatus vtkPlusAtracsysTracker::InternalConnect()
       return PLUS_FAIL;
     }
   }
+  */
 
   // load passive geometries onto Atracsys
   std::map<std::string, std::string>::iterator it;