CustusX  16.5
An IGT application
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cxPlusProtocol.h
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
5 All rights reserved.
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7 Redistribution and use in source and binary forms, with or without
8 modification, are permitted provided that the following conditions are met:
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10 1. Redistributions of source code must retain the above copyright notice,
11  this list of conditions and the following disclaimer.
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31 =========================================================================*/
32 
33 #ifndef CXPLUSPROTOCOL_H
34 #define CXPLUSPROTOCOL_H
35 
36 #include "org_custusx_core_openigtlink_Export.h"
37 
38 #include "cxOpenIGTLinkProtocol.h"
39 
40 namespace cx {
41 
162 class org_custusx_core_openigtlink_EXPORT PlusProtocol : public OpenIGTLinkProtocol
163 {
164 public:
165  PlusProtocol();
166 
167  virtual QString getName() const;
168 
169  virtual void translate(const igtl::TransformMessage::Pointer body);
170  virtual void translate(const igtl::ImageMessage::Pointer body);
171  virtual void translate(const igtl::StringMessage::Pointer body);
172 
173 private:
174  double getCurrentTimestamp() const;
175  double getSyncedTimestampForTransformsAndImages(double current_original_timestamp);
176  void registerTransformDeviceName(QString deviceName);
177  bool isCalibration(QString deviceName) const;
178  QString findDeviceForCalibration(QString calibrationDeviceName) const;
179  QString extractDeviceNameFromCalibrationDeviceName(QString calibrationDeviceName) const;
180  QString findRegisteredTransformDeviceNameThatContains(QString deviceName) const;
181 
182  Transform3D igtltool_M_custustool; //custus defines its tool coordinate system differently than igtl
183  QStringList mKnownTransformDeviceNames;
184  QString mCalibrationKeyword;
185  QString mProbeToTrackerName; //name of the device that contains the transform between probe and tracker
186 
187  double mLastKnownOriginalTimestamp;
188  double mLastKnownLocalTimestamp;
189 };
190 
191 }
192 #endif // CXPLUSPROTOCOL_H
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
The PlusDialect class contains the knowhow on the packages sent from a PlusServer. For this class to function correctly, the Plus configuration file used by the PlusServer needs to set up correctly.