NDI Tracking Plugin

The NDI Tracking Plugin enables connectivity with an NDI tracking device, allowing users to control the device and stream tracking data as a TrackingStream into the ImFusion framework. More...

Collaboration diagram for NDI Tracking Plugin:

Detailed Description

The NDI Tracking Plugin enables connectivity with an NDI tracking device, allowing users to control the device and stream tracking data as a TrackingStream into the ImFusion framework.

Introduction

The NDI Tracking Plugin provides an integration with specialized features for NDI systems, extending the general functionality of tracking streams in the ImFusion framework:

• Acquisition Control: Connect to an NDI tracking device via USB or network.
• ROM File Handling: Load predefined or custom ROM files into the tracking system.
• Tracking Streaming: Stream tracking poses and tracking quality metrics into the ImFusion framework for further processing.
• Single Fiducial Readout: Retrieve positions of individual reflective markers or IR-laser reflections (optical tracking only).

Usage

The NDI tracking functionality is available in both the ImFusion Suite and the C++ SDK.

ImFusion Suite

The NDI Tracking Plugin is integrated into the ImFusion Suite, allowing users to configure the tracking system, visualize tracking instruments, and record tracking data. See the User Documentation for further details.

C++ SDK

With the C++ SDK, the NDI Tracking Plugin can be used to integrate EM or optical tracking into custom applications for navigation, recording, and visualization. Additionally, the hardware can be integrated and used in a custom plugin via the ImFusion plugin system. For an example, refer to the Stream Example Plugin: Stream Example Plugin

Example

Example usage of the tracking stream:

// configure the input stream
// using an alias to select the system type: PolarisAuroraTrackingStream<NDISystemType::PolarisVega>
NDIPolarisTrackingStream ndiTrackingStream;
ndiTrackingStream.setHardwareDevice("192.168.1.42");
ndiTrackingStream.setHardwareIPPort(8765);
ndiTrackingStream.setBinaryQueryMode(true);
ndiTrackingStream.registerTool({ "My Tool", "<path to rom file>"}); // port only relevant for aurora systems
 
ndiTrackingStream.start();
 
// add the stream to a view
ImageView3D* view3D = ... // e.g., m_disp->view3D() in a controller
view3D->setVisibleData({&ndiTrackingStream});
 
// record the stream
StreamRecorderAlgorithm recorder({&ndiTrackingStream});
recorder.start();
std::this_thread::sleep_for(std::chrono::seconds(3));
recorder.stop();
ndiTrackingStream.stop();
 
// access the recorded data
auto recordedTrackings = recorder.takeOutput().extractAll<TrackingSequence>();
// ...

Classes
class	NDITrackingController
	Stream algorithm controller to configure NDITrackingStreams. More...
class	NDITrackingStream
	Base class for NDI tracking streams (Polaris/Aurora and Ascension), which share the same controller. More...
class	PolarisAuroraTrackingStream< NDIType >
	TrackingStream wrapping the NDI Polaris/Aurora Tracking API. More...

Typedefs
using	NDIAuroraTrackingStream = PolarisAuroraTrackingStream<NDISystemType::Aurora>
	Tracking stream for a NDI Aurora EM tracking system connected via USB.
using	NDIPolarisSerialTrackingStream = PolarisAuroraTrackingStream<NDISystemType::PolarisSerial>
	Tracking stream for a NDI Polaris Vicra and Polaris Spectra optical tracking system connected via USB.
using	NDIPolarisTrackingStream = PolarisAuroraTrackingStream<NDISystemType::PolarisVega>
	Tracking stream for a NDI Polaris Vega or Polaris Lyra optical tracking system connected via an ethernet network connection.

Typedef Documentation

NDIAuroraTrackingStream

using NDIAuroraTrackingStream = PolarisAuroraTrackingStream<NDISystemType::Aurora>

#include <ImFusion/NDI/NDIAuroraTrackingStream.h>

Tracking stream for a NDI Aurora EM tracking system connected via USB.

NDIAuroraTrackingStream auroraStream;
auroraStream.setHardwareDevice("auto");  // specify COM port like 'COM5' or auto-detect system with keyword 'auto'
auto transferRates = auroraStream.measurementRateOptions();
for (int i = 0; i < transferRates.size(); i++)  // select a rate of 115200 for the serial communication
{
  if (transferRates == "115200")
  {
    auroraStream.setMeasurementRate(i);
    break;
  }
}
 
// tools are auto-detected upon open
auroraStream.open();
auroraStream.start();

NDIPolarisTrackingStream

using NDIPolarisTrackingStream = PolarisAuroraTrackingStream<NDISystemType::PolarisVega>

#include <ImFusion/NDI/NDIPolarisTrackingStream.h>

Tracking stream for a NDI Polaris Vega or Polaris Lyra optical tracking system connected via an ethernet network connection.

NDIPolarisTrackingStream polarisStream;
polarisStream.setHardwareDevice("192.168.1.12");  // IP address of the camera
polarisStream.setHardwareIPPort(8765);            // this is the default value
 
polarisStream.registerTool({"Pointer", "C:/Resources/pointer.rom"});
polarisStream.registerTool({"Reference", "C:/Resources/reference.rom"});
 
polarisStream.open();
polarisStream.start();