API Reference

This page provides an overview of the main PlusLib APIs and classes.

Core Classes

Configuration Management

vtkPlusConfig

Global configuration management for Plus applications.

Key Methods:

static vtkPlusConfig* GetInstance();
PlusStatus ReadConfiguration(vtkXMLDataElement* configRootElement);
PlusStatus SaveConfiguration(const std::string& filename);

Usage:

vtkPlusConfig* config = vtkPlusConfig::GetInstance();
config->ReadConfiguration(configElement);

PlusXmlUtils

XML reading and writing utilities.

Key Macros:

XML_FIND_DEVICE_ELEMENT_REQUIRED_FOR_READING()
XML_READ_STRING_ATTRIBUTE_REQUIRED()
XML_READ_SCALAR_ATTRIBUTE_OPTIONAL()
XML_READ_BOOL_ATTRIBUTE_OPTIONAL()

Data Collection

vtkPlusDataCollector

Main class for managing devices and data acquisition.

Key Methods:

PlusStatus ReadConfiguration(vtkXMLDataElement* config);
PlusStatus Connect();
PlusStatus Start();
PlusStatus Stop();
PlusStatus Disconnect();
PlusStatus GetDevice(vtkPlusDevice*& device, const std::string& deviceId);

Example:

vtkSmartPointer<vtkPlusDataCollector> collector = 
  vtkSmartPointer<vtkPlusDataCollector>::New();
collector->ReadConfiguration(configElement);
collector->Connect();
collector->Start();

// Get device
vtkPlusDevice* device = NULL;
collector->GetDevice(device, "VideoDevice");

vtkPlusDevice

Base class for all devices.

Key Methods:

virtual PlusStatus ReadConfiguration(vtkXMLDataElement* config);
virtual PlusStatus Connect();
virtual PlusStatus Disconnect();
virtual PlusStatus StartRecording();
virtual PlusStatus StopRecording();
PlusStatus GetFirstActiveOutputVideoSource(vtkPlusDataSource*& videoSource);

vtkPlusDataSource

Represents a data stream (video, tracking, field data).

Key Methods:

vtkPlusBuffer* GetBuffer();
PlusStatus GetLatestTrackedFrame(PlusTrackedFrame* frame);
const char* GetId();

vtkPlusBuffer

Circular buffer for storing tracked frames.

Key Methods:

ItemStatus GetLatestTrackedFrame(PlusTrackedFrame* trackedFrame);
ItemStatus GetTrackedFrame(double timestamp, PlusTrackedFrame* trackedFrame);
ItemStatus AddItem(PlusTrackedFrame* frame);
int GetNumberOfItems();

Calibration Algorithms

vtkPlusProbeCalibrationAlgo

Probe (stylus) calibration using phantom-based methods.

Key Methods:

PlusStatus ReadConfiguration(vtkXMLDataElement* config);
PlusStatus Calibrate();
vtkMatrix4x4* GetImageToProbeTransformMatrix();

Configuration:

<ProbeCalibration>
  <Segmentation
    ClipRectangleOrigin="0 0"
    ClipRectangleSize="640 480" />
  <Optimization
    MaximumIterations="500"
    OptimizationMethod="2" />
</ProbeCalibration>

vtkPlusPhantomLandmarkRegistrationAlgo

Landmark-based phantom registration.

Key Methods:

PlusStatus ReadConfiguration(vtkXMLDataElement* config);
PlusStatus SetPhantomCoordinates(vtkPoints* points);
PlusStatus SetRecordedPoints(vtkPoints* points);
PlusStatus LandmarkRegister();
vtkMatrix4x4* GetPhantomToReferenceTransformMatrix();

vtkPlusPhantomLinearObjectRegistrationAlgo

Linear object (e.g., wire) based phantom registration.

Key Methods:

PlusStatus ReadConfiguration(vtkXMLDataElement* config);
PlusStatus Register();

vtkPlusTemporalCalibrationAlgo

Temporal calibration between video and tracking streams.

Key Methods:

PlusStatus ReadConfiguration(vtkXMLDataElement* config);
PlusStatus Update();
double GetVideoOffset();

Configuration:

<TemporalCalibration>
  <SamplingResolutionSec>0.001</SamplingResolutionSec>
  <MaximumMovingLagSec>0.08</MaximumMovingLagSec>
  <FixedLagSec>0.05</FixedLagSec>
</TemporalCalibration>

vtkPlusPivotCalibrationAlgo

Pivot calibration for tracked stylus tools.

Key Methods:

PlusStatus ReadConfiguration(vtkXMLDataElement* config);
PlusStatus AddToolToReferenceTransform(vtkMatrix4x4* matrix);
PlusStatus DoPivotCalibration();
void GetToolTipToToolTransform(vtkMatrix4x4* matrix);

vtkPlusSpacingCalibAlgo

Ultrasound image spacing calibration.

Key Methods:

PlusStatus ReadConfiguration(vtkXMLDataElement* config);
PlusStatus Calibrate();
PlusStatus GetSpacing(double spacing[3]);

Transform Management

igsioTransformRepository

Manages coordinate system transforms.

Key Methods:

PlusStatus ReadConfiguration(vtkXMLDataElement* config);
PlusStatus GetTransform(const igsioTransformName& name, vtkMatrix4x4* matrix);
PlusStatus SetTransform(const igsioTransformName& name, vtkMatrix4x4* matrix);
PlusStatus IsExistingTransform(const igsioTransformName& name);

Usage:

vtkSmartPointer<vtkIGSIOTransformRepository> repo = 
  vtkSmartPointer<vtkIGSIOTransformRepository>::New();
repo->ReadConfiguration(configElement);

vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New();
repo->GetTransform(igsioTransformName("Probe", "Tracker"), matrix);

Logging

vtkPlusLogger

Singleton logger for Plus applications.

Key Methods:

static vtkPlusLogger* Instance();
void SetLogLevel(int level);
int GetLogLevel();

Log Levels:

vtkPlusLogger::LOG_LEVEL_ERROR    // 1
vtkPlusLogger::LOG_LEVEL_WARNING  // 2
vtkPlusLogger::LOG_LEVEL_INFO     // 3
vtkPlusLogger::LOG_LEVEL_DEBUG    // 4
vtkPlusLogger::LOG_LEVEL_TRACE    // 5

Macros:

LOG_ERROR("Error message");
LOG_WARNING("Warning message");
LOG_INFO("Info message");
LOG_DEBUG("Debug message");
LOG_TRACE("Trace message");

Image Processing

PlusVideoFrame

Utilities for video frame I/O and manipulation.

Key Methods:

static PlusStatus ReadImageFromFile(const std::string& filename, vtkImageData* image);
static PlusStatus SaveImageToFile(const std::string& filename, vtkImageData* image);
static PlusStatus FlipImage(vtkImageData* image, FlipInfoType flipInfo);

Common Patterns

Reading Configuration

PlusStatus MyClass::ReadConfiguration(vtkXMLDataElement* rootConfigElement)
{
  XML_FIND_DEVICE_ELEMENT_REQUIRED_FOR_READING(deviceConfig, rootConfigElement);
  
  XML_READ_STRING_ATTRIBUTE_REQUIRED(MyParameter, deviceConfig);
  XML_READ_SCALAR_ATTRIBUTE_OPTIONAL(int, OptionalParam, deviceConfig);
  
  return PLUS_SUCCESS;
}

Device Initialization Pattern

// Create and configure device
vtkSmartPointer<vtkPlusMyDevice> device = 
  vtkSmartPointer<vtkPlusMyDevice>::New();
device->ReadConfiguration(configElement);

// Connect and start recording
device->Connect();
device->StartRecording();

// Use device...

// Cleanup
device->StopRecording();
device->Disconnect();

Error Handling Pattern

PlusStatus MyFunction()
{
  if (CheckCondition() != PLUS_SUCCESS)
  {
    LOG_ERROR("Condition check failed");
    return PLUS_FAIL;
  }
  
  if (!DoSomething())
  {
    LOG_ERROR("DoSomething failed");
    return PLUS_FAIL;
  }
  
  return PLUS_SUCCESS;
}

Full API Documentation

For complete API documentation with all classes and methods, see the generated Doxygen documentation.

Module-Specific Documentation

PlusCommon: Core utilities and base classes
PlusDataCollection: Device interfaces and data acquisition
PlusCalibration: Calibration algorithms
PlusImageProcessing: Image processing utilities
PlusOpenIGTLink: OpenIGTLink communication
PlusVolumeReconstruction: Volume reconstruction
PlusRendering: Visualization components
PlusWidgets: Qt-based UI components