ProstateBiopsySim/PlusDeviceSet_Server_OpticalMarkerTracker_Mmf.xml at master · PerkLab/ProstateBiopsySim · GitHub

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<PlusConfiguration version="2.4">
  <DataCollection StartupDelaySec="1.0" >
    <DeviceSet
      Name="PlusServer: Optical marker tracker using MMF video"
      Description="Tracking of printed ArUco markers using a simple camera. Marker positions and image data are broadcasted through OpenIGTLink (on port 18944 and 18945, respectively). To use a different camera, change CaptureDeviceId attribute (to 0, 1, 2, ...)." />
    <Device
      Id="VideoDevice"
      Type="MmfVideo"
      FrameSize="640 480"
      VideoFormat="YUY2"
      CaptureDeviceId="0" >
      <DataSources>
        <DataSource Type="Video" Id="Video" PortUsImageOrientation="UN" ImageType="RGB_COLOR" />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="VideoStream" VideoDataSourceId="Video" />
      </OutputChannels>
    </Device>
    <Device
      Id="TrackerDevice"
      Type="OpticalMarkerTracker"
      CameraCalibrationFile="OpticalMarkerTracker/realsense_gen2_calibration.yml"
      ToolReferenceFrame="Tracker"
      TrackingMethod="OPTICAL"
      MarkerDictionary="ARUCO_MIP_36h12">
      <DataSources>
        <DataSource Type="Tool" Id="Marker0" MarkerId="0" MarkerSizeMm="50" />
        <DataSource Type="Tool" Id="Marker1" MarkerId="1" MarkerSizeMm="50" />
        <DataSource Type="Tool" Id="Marker2" MarkerId="2" MarkerSizeMm="50" />
        <DataSource Type="Tool" Id="Marker3" MarkerId="3" MarkerSizeMm="50" />
      </DataSources>
      <InputChannels>
        <InputChannel Id="VideoStream"  />
      </InputChannels>
      <OutputChannels>
        <OutputChannel Id="TrackerStream" >
          <DataSource Id="Marker0"/>
          <DataSource Id="Marker1"/>
          <DataSource Id="Marker2"/>
          <DataSource Id="Marker3"/>
        </OutputChannel>
      </OutputChannels>
    </Device>
    <Device
      Id="CaptureDevice"
      Type="VirtualCapture"
      BaseFilename="RecordingTest.mha"
      EnableCapturingOnStart="FALSE" >
      <InputChannels>
        <InputChannel Id="TrackerStream" />
      </InputChannels>
    </Device>
  </DataCollection>


  <PlusOpenIGTLinkServer
    MaxNumberOfIgtlMessagesToSend="1"
    MaxTimeSpentWithProcessingMs="50"
    ListeningPort="18944"
    SendValidTransformsOnly="true"
    OutputChannelId="TrackerStream" >
    <DefaultClientInfo>
      <MessageTypes>
        <Message Type="TRANSFORM" />
      </MessageTypes>
      <TransformNames>
        <Transform Name="Marker0ToTracker" />
      </TransformNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>


  <PlusOpenIGTLinkServer
    MaxNumberOfIgtlMessagesToSend="1"
    MaxTimeSpentWithProcessingMs="50"
    ListeningPort="18945"
    SendValidTransformsOnly="true"
    OutputChannelId="VideoStream" >
    <DefaultClientInfo>
      <MessageTypes>
        <Message Type="IMAGE" />
      </MessageTypes>
      <ImageNames>
        <Image Name="Image" EmbeddedTransformToFrame="Image" />
      </ImageNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>

</PlusConfiguration>