Atracsys Tracking Plugin
========================

.. _atracsys-tracking-plugin:

Overview
--------

The Atracsys Tracking module enables connectivity with Atracsys optical tracking devices, allowing users to control the device
and stream tracking data as a "Tracking Stream" into the ImFusion framework.

Supported devices:

- **fusionTrack 250/500**: Optical tracking system with connection via network.
- **spryTrack 180**: Optical tracking system with connection via USB.
- **spryTrack 300**: Optical tracking system and structured light projector with connection via USB.

.. figure:: spryTk300.png
    :alt: Atracsys Tracking Systems
    :align: center

    Atracsys tracking plugin supports Atracsys optical tracking systems (fusionTrack and spryTrack).

Key Functionalities
-------------------

- **Acquisition Control**: Connect to an Atracsys tracking device via USB or network.
- **INI File Handling**: Load predefined INI files into the tracking system or create INI files from unknown geometries.
- **Tracking Streaming**: Stream tracking poses and tracking quality metrics into the ImFusion framework for further processing.
- **Single Fiducial Readout**: Retrieve positions of invidual reflective markers or IR-laser reflections.
- **Structured Light Reconstruction**: Query structured light images and reconstruct surfaces (spryTrack 300 only).

Tool definition (INI-files)
---------------------------

A tool definition file (formatted as .ini) describes a tool to the tracking sensor. The information
stored in the tool definition file includes the geometry. For each tool used, the user can provide the system
with a tool definition file "Load from file...".

Alternatively, the a geometry can be created from scratch and saved to an INI-file using the "Create" action,
which creates the geometry with a given marker name.

.. note::
	Make sure that only one geometry is visible and centrally placed in the detection volume.

"Fiducial Mode" allows to choose if coordinates of the individual stray markers are attached as meta-data to the stream. 

.. note::
	If the user is only interested in 3D positions (single/stray markers), no tool definition file is required.


Usage
-----

- Select the system type (spryTrack or fusionTrack) and firware version
- Load INI-files from disc "Load from file..."
- "Open" and "Start"