sksurgerycore.baseclasses.tracker module¶

An abstract base class for trackers used in sksurgery

class sksurgerycore.baseclasses.tracker.SKSBaseTracker(configuration=None, tracked_objects=None)[source]¶

Bases: object

Abstract base class for trackers using in sksurgery. Defines methods that all trackers should implement.

add_frame_to_buffer(port_handles, time_stamps, frame_numbers, tracking_rot, tracking_trans, quality, rot_is_quaternion=False)[source]¶

Called by derived classes to add data to the smoothing buffers

Parameters:

port_handles – a list of port handles
time_stamps – list of timestamps (cpu clock), one per tool
frame_numbers – list of framenumbers (tracker clock) one per tool
tracking_rot – list of tracking rotations
tracking_trans – list of tracking translations
quality – list the tracking quality, one per tool.
rot_is_quaternion – True if rotation is a quaternion.

close()[source]¶: Closes the connection to the tracker

get_frame()[source]¶

Returns:

port_numbers : list of port handles, one per tool

time_stamps : list of timestamps (cpu clock), one per tool

frame_numbers : list of framenumbers (tracker clock) one per tool

tracking : list of 4x4 tracking matrices, rotation and position, or if use_quaternions is true, a list of tracking quaternions, column 0-2 is x,y,z column 3-6 is the rotation as a quaternion.

tracking_quality : list the tracking quality, one per tool.

get_smooth_frame(port_handles)[source]¶

Called by derived classes to return smoothed data

Parameters: port_handles – a list of port handles to get data for