Skip to content

ENH Added network configuration for Atracsys and other improvements #1269

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
Sunderlandkyl merged 1 commit into from
Mar 18, 2026
Merged

ENH Added network configuration for Atracsys and other improvements #1269

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
28 changes: 24 additions & 4 deletions src/PlusDataCollection/Atracsys/AtracsysMarkerCreator.cxx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -479,12 +479,13 @@ void TransformMarkerCoordinateSystem(Fiducials& fids)
// Look for the largest *unique* distance from the centroid, the corresponding fiducial will
// define the x-axis.
vec3 x;
int xfidId{ -1 };
for (auto prev = dists.begin(), curr = ++dists.begin(); curr != dists.end(); ++prev, ++curr)
{
if (std::abs(prev->first - curr->first) > 0.1)
{
auto fidId = (prev == dists.begin()) ? prev->second : curr->second;
x = vec3(fids[fidId]);
xfidId = (prev == dists.begin()) ? prev->second : curr->second;
x = vec3(fids[xfidId]);
break;
}
}
Expand All @@ -497,12 +498,13 @@ void TransformMarkerCoordinateSystem(Fiducials& fids)
}
// Look for the largest *unique* distance from x-axis, it will define the plane of the y-axis.
vec3 p;
int yfidId{ -1 };
for (auto prev = dists2.begin(), curr = ++dists2.begin(); curr != dists2.end(); ++prev, ++curr)
{
if (std::abs(prev->first - curr->first) > 0.1)
{
auto fidId = (prev == dists2.begin()) ? prev->second : curr->second;
p = vec3(fids[fidId]);
yfidId = (prev == dists2.begin()) ? prev->second : curr->second;
p = vec3(fids[yfidId]);
break;
}
}
Expand All @@ -511,6 +513,24 @@ void TransformMarkerCoordinateSystem(Fiducials& fids)
vec3 vz = (vx.cross(p - c)).normalize();
vec3 vy = vz.cross(vx);

// Create new fiducial order:
// {fiducial defining x-axis, fiducial defining y-axis, remaining fiducials in descending order
// of distance to x-axis}
std::vector<int> newFidOrder{ xfidId, yfidId };
for (auto d = dists2.begin(); d != dists2.end(); ++d)
{
if (d->second != xfidId && d->second != yfidId)
newFidOrder.push_back(d->second);
}
// Apply new order to fiducials
for (int i = 0; i < newFidOrder.size(); ++i) {
size_t j = newFidOrder[i];
while (j != i) {
std::swap(fids[i], fids[j]);
std::swap(newFidOrder[i], newFidOrder[j]);
j = newFidOrder[i];
}
}
// Store the coordinates of each fiducial in the new coordinate system.
for (auto& fid : fids)
{
Expand Down
51 changes: 46 additions & 5 deletions src/PlusDataCollection/Atracsys/AtracsysTracker.cxx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -374,6 +374,9 @@ class Tracker::Internal
// library version
std::string LibVersion;

// firmware soft version
std::string FirmwareSoftwareVersion;

// calibration date
std::string CalibrationDate;

Expand Down Expand Up @@ -682,7 +685,7 @@ bool Tracker::IsVirtual()
}

//----------------------------------------------------------------------------
Tracker::RESULT Tracker::Connect()
Tracker::RESULT Tracker::Connect(const std::string& networkConfigFile)
{
if (this->InternalObj->FtkLib != nullptr && this->InternalObj->TrackerSN != 0)
{
Expand All @@ -691,11 +694,24 @@ Tracker::RESULT Tracker::Connect()
}

// initialize SDK
this->InternalObj->FtkLib = ftkInit();

if (this->InternalObj->FtkLib == NULL)
if (networkConfigFile.empty())
{
return ERROR_UNABLE_TO_GET_FTK_HANDLE;
this->InternalObj->FtkLib = ftkInit();
if (this->InternalObj->FtkLib == NULL)
{
return ERROR_UNABLE_TO_GET_FTK_HANDLE;
}
}
else
{
ftkBuffer buffer;
this->InternalObj->FtkLib = ftkInitExt(networkConfigFile.c_str(), &buffer);
if (this->InternalObj->FtkLib == NULL)
{
LOG_ERROR(buffer.data);
LOG_ERROR("Cannot initialize library with the provided network configuration.");
return ERROR_UNABLE_TO_GET_FTK_HANDLE;
}
}

DeviceData device;
Expand Down Expand Up @@ -779,6 +795,14 @@ Tracker::RESULT Tracker::Connect()
ftkGetData(this->InternalObj->FtkLib, this->InternalObj->TrackerSN, info->id, &buff);
this->InternalObj->CalibrationDate = std::string(buff.data);

if (!this->GetOptionInfo("Device software version", info))
{
LOG_ERROR("Option unknown: \"Device software version\"");
return ERROR_OPTION_NOT_FOUND;
}
ftkGetData(this->InternalObj->FtkLib, this->InternalObj->TrackerSN, info->id, &buff);
this->InternalObj->FirmwareSoftwareVersion = std::string(buff.data);

// Check whether onboard processing is off or on (spryTrack only)
if (this->DeviceType == SPRYTRACK_180 || this->DeviceType == SPRYTRACK_300)
{
Expand Down Expand Up @@ -831,6 +855,13 @@ Tracker::RESULT Tracker::GetSDKversion(std::string& version)
return SUCCESS;
}

//----------------------------------------------------------------------------
Tracker::RESULT Tracker::GetFirmwareSoftwareVersion(std::string& version)
{
version = this->InternalObj->FirmwareSoftwareVersion;
return SUCCESS;
}

//----------------------------------------------------------------------------
Tracker::RESULT Tracker::GetCalibrationDate(std::string& date)
{
Expand Down Expand Up @@ -954,6 +985,16 @@ Tracker::RESULT Tracker::GetLoadedGeometries(std::map<int, std::vector<std::arra
return SUCCESS;
}

//----------------------------------------------------------------------------
Tracker::RESULT Tracker::GetFiducialCoordinates(int geomId, std::vector<std::array<float, 3>>& fidCoords)
{
if (this->InternalObj->Geometries.find(geomId) == this->InternalObj->Geometries.cend())
return ERROR_REQUESTED_GEOMETRY_NOT_FOUND;

fidCoords = this->InternalObj->Geometries.at(geomId);
return SUCCESS;
}

//----------------------------------------------------------------------------
std::string Tracker::ResultToString(Tracker::RESULT result)
{
Expand Down
11 changes: 9 additions & 2 deletions src/PlusDataCollection/Atracsys/AtracsysTracker.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,8 @@ namespace Atracsys
ERROR_CANNOT_GET_MARKER_INFO,
ERROR_FAILED_TO_SET_STK_PROCESSING_TYPE,
ERROR_OPTION_NOT_FOUND,
ERROR_SET_OPTION
ERROR_SET_OPTION,
ERROR_REQUESTED_GEOMETRY_NOT_FOUND
};

enum DEVICE_TYPE
Expand Down Expand Up @@ -153,14 +154,17 @@ namespace Atracsys
void Pause(bool tof);

/*! Connect to Atracsys tracker, must be called before any other function in this wrapper API. */
RESULT Connect();
RESULT Connect(const std::string& networkConfigFile = "");

/*! Closes connections to Atracsys tracker, must be called at end of application. */
RESULT Disconnect();

/*! */
RESULT GetSDKversion(std::string& version);

/*! */
RESULT GetFirmwareSoftwareVersion(std::string& version);

/*! */
RESULT GetCalibrationDate(std::string& date);

Expand Down Expand Up @@ -191,6 +195,9 @@ namespace Atracsys
/*! */
RESULT GetLoadedGeometries(std::map<int, std::vector<std::array<float,3>>>& geometries);

/*! */
RESULT GetFiducialCoordinates(int geomId, std::vector<std::array<float, 3>>& fidCoords);

/*! */
std::string ResultToString(RESULT result);

Expand Down
83 changes: 64 additions & 19 deletions src/PlusDataCollection/Atracsys/vtkPlusAtracsysTracker.cxx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -84,10 +84,12 @@ class vtkPlusAtracsysTracker::vtkInternal
int MaxMissingFiducials = 0; // maximum number of missing fiducials

// matches plus tool id to .ini geometry file names/paths
std::map<std::string, std::string> PlusIdMappedToGeometryFilename;
std::map<std::string, std::string> ToolIdMappedToGeometryFilename;

// matches fusionTrack internal tool geometry ID to Plus tool ID for updating tools
std::map<int, std::string> FtkGeometryIdMappedToToolId;
// matches Atracsys internal tool geometry ID to Plus tool ID for updating tools
std::map<int, std::string> AtracGeomIdMappedToToolId;
// reverse lookup, Plus tool ID to Atracsys internal tool geometry ID
std::map<std::string, int> ToolIdMappedToAtracGeomId;

// Atracsys API wrapper class handle
Atracsys::Tracker Tracker;
Expand Down Expand Up @@ -130,6 +132,14 @@ std::string vtkPlusAtracsysTracker::GetSdkVersion()
return v;
}

//----------------------------------------------------------------------------
std::string vtkPlusAtracsysTracker::GetFirmwareSoftwareVersion()
{
std::string d;
this->InternalObj->Tracker.GetFirmwareSoftwareVersion(d);
return d;
}

//----------------------------------------------------------------------------
std::string vtkPlusAtracsysTracker::GetCalibrationDate()
{
Expand Down Expand Up @@ -187,6 +197,32 @@ PlusStatus vtkPlusAtracsysTracker::GetLoadedGeometries(std::map<int, std::vector
return PLUS_SUCCESS;
}

//----------------------------------------------------------------------------
PlusStatus vtkPlusAtracsysTracker::GetMarkerGeometry(std::string toolId, std::string& relPath,
int& geomId, std::vector<std::array<float, 3>>& fidCoords)
{
if (this->InternalObj->ToolIdMappedToGeometryFilename.find(toolId) == this->InternalObj->ToolIdMappedToGeometryFilename.cend())
{
LOG_ERROR("Could not get geometry filename for tool " << toolId);
return PLUS_FAIL;
}
relPath = this->InternalObj->ToolIdMappedToGeometryFilename.at(toolId);

if (this->InternalObj->ToolIdMappedToAtracGeomId.find(toolId) == this->InternalObj->ToolIdMappedToAtracGeomId.cend())
{
LOG_ERROR("Could not get marker geometry for tool " << toolId);
return PLUS_FAIL;
}
geomId = this->InternalObj->ToolIdMappedToAtracGeomId.at(toolId);

if (this->InternalObj->Tracker.GetFiducialCoordinates(geomId, fidCoords) != ATR_SUCCESS)
{
LOG_ERROR("Could not get fiducial coordinates for geometry id " << geomId);
return PLUS_FAIL;
}
return PLUS_SUCCESS;
}

//----------------------------------------------------------------------------
bool vtkPlusAtracsysTracker::IsVirtual() const
{
Expand Down Expand Up @@ -238,13 +274,13 @@ PlusStatus vtkPlusAtracsysTracker::ReadConfiguration(vtkXMLDataElement* rootConf
XML_READ_ENUM2_ATTRIBUTE_NONMEMBER_OPTIONAL(TrackingType, toolTrackingType, toolDataElement, "ACTIVE", ACTIVE, "PASSIVE", PASSIVE);
if (toolTrackingType == ACTIVE)
{
// active tool, can be loaded directly into FtkGeometryIdMappedToToolId
// active tool, can be loaded directly into AtracGeomIdMappedToToolId
int ftkGeometryId = -1;
XML_READ_SCALAR_ATTRIBUTE_NONMEMBER_OPTIONAL(int, GeometryId, ftkGeometryId, toolDataElement);
if (ftkGeometryId != -1)
{
std::pair<int, std::string> thisTool(ftkGeometryId, toolId);
this->InternalObj->FtkGeometryIdMappedToToolId.insert(thisTool);
this->InternalObj->AtracGeomIdMappedToToolId.insert(std::make_pair(ftkGeometryId, toolId));
this->InternalObj->ToolIdMappedToAtracGeomId.insert(std::make_pair(toolId, ftkGeometryId));
}
else
{
Expand All @@ -254,12 +290,11 @@ PlusStatus vtkPlusAtracsysTracker::ReadConfiguration(vtkXMLDataElement* rootConf
}
else if (toolTrackingType == PASSIVE)
{
// passive tool, load into PlusIdMappedToGeometryFilename to have geometry loaded in InternalConnect
// passive tool, load into ToolIdMappedToGeometryFilename to have geometry loaded in InternalConnect
const char* geometryFile;
if ((geometryFile = toolDataElement->GetAttribute("GeometryFile")) != NULL)
{
std::pair<std::string, std::string> thisTool(toolId, geometryFile);
this->InternalObj->PlusIdMappedToGeometryFilename.insert(thisTool);
this->InternalObj->ToolIdMappedToGeometryFilename.insert(std::make_pair(toolId, geometryFile));
}
else
{
Expand Down Expand Up @@ -326,8 +361,17 @@ PlusStatus vtkPlusAtracsysTracker::InternalConnect()
{
LOG_TRACE("vtkPlusAtracsysTracker::InternalConnect");

// Check if network configuration file is provided
std::string networkConfigPath;
if (this->InternalObj->DeviceOptions.find("NetworkConfigFile") != this->InternalObj->DeviceOptions.end())
{
networkConfigPath = vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationPath(
this->InternalObj->DeviceOptions["NetworkConfigFile"]);
}

// Connect to device
ATR_RESULT result = this->InternalObj->Tracker.Connect();
ATR_RESULT result = this->InternalObj->Tracker.Connect(networkConfigPath.empty() ? "" : networkConfigPath.c_str());

if (result != ATR_SUCCESS && result != ATR_RESULT::WARNING_CONNECTED_IN_USB2)
{
LOG_ERROR(this->InternalObj->Tracker.ResultToString(result));
Expand Down Expand Up @@ -540,7 +584,8 @@ PlusStatus vtkPlusAtracsysTracker::InternalConnect()
}
}
else if (itr->first != "AcquisitionRate" && itr->first != "Id" && itr->first != "Type"
&& itr->first != "ToolReferenceFrame" && itr->first != "Enable_embedded_processing")
&& itr->first != "ToolReferenceFrame" && itr->first != "Enable_embedded_processing"
&& itr->first != "NetworkConfigFile")
{
LOG_WARNING("Unknown option \"" << itr->first << "\".");
itr = this->InternalObj->DeviceOptions.erase(itr);
Expand All @@ -564,7 +609,7 @@ PlusStatus vtkPlusAtracsysTracker::InternalConnect()

// load passive geometries onto Atracsys
std::map<std::string, std::string>::iterator it;
for (it = begin(this->InternalObj->PlusIdMappedToGeometryFilename); it != end(this->InternalObj->PlusIdMappedToGeometryFilename); it++)
for (it = begin(this->InternalObj->ToolIdMappedToGeometryFilename); it != end(this->InternalObj->ToolIdMappedToGeometryFilename); it++)
{
// load user defined geometry file
// TODO: add check for conflicting marker IDs
Expand All @@ -575,8 +620,8 @@ PlusStatus vtkPlusAtracsysTracker::InternalConnect()
LOG_ERROR(this->InternalObj->Tracker.ResultToString(result) << " This error occurred when trying to load geometry file at path: " << geomFilePath);
return PLUS_FAIL;
}
std::pair<int, std::string> newTool(geometryId, it->first);
this->InternalObj->FtkGeometryIdMappedToToolId.insert(newTool);
this->InternalObj->AtracGeomIdMappedToToolId.insert(std::make_pair(geometryId, it->first));
this->InternalObj->ToolIdMappedToAtracGeomId.insert(std::make_pair(it->first, geometryId));
}

// if active marker pairing is desired, then its time > 0 second
Expand Down Expand Up @@ -702,7 +747,7 @@ PlusStatus vtkPlusAtracsysTracker::InternalUpdate()
}

std::map<int, std::string>::iterator it;
for (it = this->InternalObj->FtkGeometryIdMappedToToolId.begin(); it != this->InternalObj->FtkGeometryIdMappedToToolId.end(); it++)
for (it = this->InternalObj->AtracGeomIdMappedToToolId.begin(); it != this->InternalObj->AtracGeomIdMappedToToolId.end(); it++)
{
if (std::find(this->DisabledToolIds.begin(), this->DisabledToolIds.end(), it->second) != this->DisabledToolIds.end())
{
Expand Down Expand Up @@ -834,7 +879,7 @@ PlusStatus vtkPlusAtracsysTracker::SetToolEnabled(std::string toolId, bool enabl
// tool should be disabled, if it exists add to disabled list
bool toolExists = false;
std::map<int, std::string>::iterator it;
for (it = this->InternalObj->FtkGeometryIdMappedToToolId.begin(); it != this->InternalObj->FtkGeometryIdMappedToToolId.end(); it++)
for (it = this->InternalObj->AtracGeomIdMappedToToolId.begin(); it != this->InternalObj->AtracGeomIdMappedToToolId.end(); it++)
{
if (igsioCommon::IsEqualInsensitive(it->second, toolId))
{
Expand All @@ -859,7 +904,7 @@ PlusStatus vtkPlusAtracsysTracker::AddToolGeometry(std::string toolId, std::stri
// make sure geometry with toolId doesn't already exist
bool toolExists = false;
std::map<int, std::string>::iterator it;
for (it = this->InternalObj->FtkGeometryIdMappedToToolId.begin(); it != this->InternalObj->FtkGeometryIdMappedToToolId.end(); it++)
for (it = this->InternalObj->AtracGeomIdMappedToToolId.begin(); it != this->InternalObj->AtracGeomIdMappedToToolId.end(); it++)
{
if (igsioCommon::IsEqualInsensitive(it->second, toolId))
{
Expand Down Expand Up @@ -889,7 +934,7 @@ PlusStatus vtkPlusAtracsysTracker::AddToolGeometry(std::string toolId, std::stri
aToolSource->SetId(toolId);
this->AddTool(aToolSource);

// TO DO: add fiducial data as separate sources ?
// TODO: add fiducial data as separate sources ?
//vtkSmartPointer<vtkPlusDataSource> aFids3dSource = vtkSmartPointer<vtkPlusDataSource>::New();
//aFids3dSource->SetReferenceCoordinateFrameName(this->ToolReferenceFrameName);
//aFids3dSource->SetType(DATA_SOURCE_TYPE_FIELDDATA);
Expand Down Expand Up @@ -925,7 +970,7 @@ PlusStatus vtkPlusAtracsysTracker::AddToolGeometry(std::string toolId, std::stri

// register this tool internally
std::pair<int, std::string> newTool(geometryId, toolId);
this->InternalObj->FtkGeometryIdMappedToToolId.insert(newTool);
this->InternalObj->AtracGeomIdMappedToToolId.insert(newTool);

return PLUS_SUCCESS;
}
Expand Down
Loading
Loading