ImFusion::OpticalTrackingInterface Class Reference

#include <ImFusion/Navigation/OpticalTrackingInterface.h>

Interface for optical tracking systems that support marker management. More...

Inheritance diagram for ImFusion::OpticalTrackingInterface:

Detailed Description

Interface for optical tracking systems that support marker management.

This interface provides a generic abstraction for optical tracking systems that work with fiducial-based markers. It allows adding, retrieving, and optionally removing tracking markers from the tracking system.

Implementations should advertise their supported optional capabilities through the capabilities() method using the Capabilities flags.

Example usage:

if (auto* opticalStream = dynamic_cast<OpticalTrackingInterface*>(trackingStream))
{
    auto marker = std::make_unique<OpticalTrackingMarker>("Pointer", 123);
    marker->addFiducial(vec3(0, 0, 0));
    marker->addFiducial(vec3(40, 0, 0));
    marker->addFiducial(vec3(0, 60, 0));
 
    std::string trackerId = opticalStream->addTrackingMarker(std::move(marker));
    if (!trackerId.empty())
    {
        // Marker was successfully registered
        auto retrievedMarker = opticalStream->trackingMarker(trackerId);
    }
}

Public Types
enum	Capabilities { None = 0 , RemoveMarker = 1 << 0 , IndividualFiducials = 1 << 1 }
	Hardware capabilities that an optical tracking system may support. More...

Public Member Functions
virtual Flags< Capabilities >	capabilities () const =0
	Returns the hardware capabilities supported by this tracking system.
virtual std::string	addTrackingMarker (std::unique_ptr< OpticalTrackingMarker > marker)=0
	Adds a tracking marker to the tracking system.
virtual std::string	addTrackingMarker (const std::string &filepath, const std::string &name="")
	Loads a tracking marker from file and adds it to the tracking system.
virtual std::unique_ptr< OpticalTrackingMarker >	trackingMarker (const std::string &trackerId) const =0
	Returns a copy of the OpticalTrackingMarker for a given tracker ID.
virtual bool	removeTrackingMarker (const std::string &trackerId)
	Removes a tracking marker from the tracking system.

Member Enumeration Documentation

Capabilities

enum ImFusion::OpticalTrackingInterface::Capabilities

Hardware capabilities that an optical tracking system may support.

Use with Flags<Capabilities> to query or indicate supported capabilities.

Enumerator
None	No optional capabilities.
RemoveMarker	Supports removing markers after registration.
IndividualFiducials	Provides individual fiducial positions via the TrackingInstrumentFiducialsData data component.

Member Function Documentation

capabilities()

virtual Flags< Capabilities > ImFusion::OpticalTrackingInterface::capabilities ( ) const

pure virtualthreadsafe

Returns the hardware capabilities supported by this tracking system.

Can be called concurrently from any thread.

Implemented in ImFusion::AtracsysTrackingStreamBase, and ImFusion::NDIPolarisTrackingStream.

addTrackingMarker() [1/2]

virtual std::string ImFusion::OpticalTrackingInterface::addTrackingMarker ( std::unique_ptr< OpticalTrackingMarker > marker )

pure virtual

Adds a tracking marker to the tracking system.

The marker geometry is registered with the tracking hardware, enabling the system to track objects that match this fiducial pattern.

Parameters

marker

The marker to add. Ownership is transferred.

Returns

The tracker ID assigned to this marker, or an empty string if registration failed. This ID corresponds to the TrackerID::m_id used in TrackingInstrument.

Implemented in ImFusion::AtracsysTrackingStreamBase, and ImFusion::NDIPolarisTrackingStream.

addTrackingMarker() [2/2]

virtual std::string ImFusion::OpticalTrackingInterface::addTrackingMarker ( const std::string & filepath, const std::string & name = "" )

virtual

Loads a tracking marker from file and adds it to the tracking system.

Convenience method using the OpticalTrackingMarkerIO functionality to load the marker. Equivalent to

auto marker = OpticalTrackingMarkerIO::loadFromFile(filepath);
if (!name.empty())
    marker->setName(name);
addTrackingMarker(std::move(marker));

Parameters

filepath	The filepath to load the marker from. Format is inferred from the file extension.
name	Optional name to be set to the optical tracking marker (empty name keeps the default one).

Returns

The tracker ID assigned to this marker, or an empty string if registration failed. This ID corresponds to the TrackerID::m_id used in TrackingInstrument.

trackingMarker()

virtual std::unique_ptr< OpticalTrackingMarker > ImFusion::OpticalTrackingInterface::trackingMarker ( const std::string & trackerId ) const

pure virtual

Returns a copy of the OpticalTrackingMarker for a given tracker ID.

Parameters

trackerId

The tracker ID as returned by addTrackingMarker().

Returns

A copy of the marker geometry, or nullptr if the tracker ID is not found.

Implemented in ImFusion::AtracsysTrackingStreamBase, and ImFusion::NDIPolarisTrackingStream.

removeTrackingMarker()

virtual bool ImFusion::OpticalTrackingInterface::removeTrackingMarker ( const std::string & trackerId )

virtual

Removes a tracking marker from the tracking system.

An implementation of OpticalTrackingInterface must override this method if the tracking system supports marker removal (capabilities() contains flag Capabilities::RemoveMarker). The default implementation returns false without performing any action.

Parameters

trackerId

The tracker ID of the marker to remove.

Returns

True if the marker was successfully removed, false on error or if removal is not supported.

Reimplemented in ImFusion::AtracsysTrackingStreamBase, and ImFusion::NDIPolarisTrackingStream.

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

• ImFusion/Navigation/OpticalTrackingInterface.h