mitkOptitrackTrackingDevice.h

Go to the documentation of this file.

/*===================================================================

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.

This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.

See LICENSE.txt or http://www.mitk.org for details.

===================================================================*/

#ifndef OptitrackTrackingDevice_H_HEADER_INCLUDED
#define OptitrackTrackingDevice_H_HEADER_INCLUDED

#include <MitkIGTExports.h>
#include <mitkTrackingDevice.h>
#include <itkMultiThreader.h>
#include <mitkTrackingTypes.h>
#include <mitkIGTTimeStamp.h>
#include <itkFastMutexLock.h>
#include <itksys/SystemTools.hxx>
#include <itkMutexLockHolder.h>
#include <string>
#include <stdlib.h>
#include <stdio.h>
#include <time.h>

#include "mitkIGTIOException.h"
#include "mitkIGTTimeStamp.h"
#include "mitkIGTException.h"

#include "mitkOptitrackTrackingTool.h"



typedef itk::MutexLockHolder<itk::FastMutexLock> MutexLockHolder;




namespace mitk
{
  class MITKIGT_EXPORT OptitrackTrackingDevice : public mitk::TrackingDevice
  {

  friend class OptitrackTrackingTool;

  public:
    mitkClassMacro(OptitrackTrackingDevice, mitk::TrackingDevice);
    itkNewMacro(Self);

    virtual bool IsDeviceInstalled() override;

    // Define the Type of Tracker as DefinitionOfTool (MITK)
    typedef mitk::TrackingDeviceType OptiTrackTrackingDeviceType;

    virtual bool OpenConnection() override;

    virtual bool CloseConnection() override;

    virtual bool StartTracking() override;

    virtual bool StopTracking() override;

    TrackingTool* GetTool(unsigned int toolNumber) const override;

    OptitrackTrackingTool* GetOptitrackTool(unsigned int toolNumber) const;

    unsigned int GetToolCount() const override;

    itkSetMacro(Exp,int);

    itkGetMacro(Exp,int);

    itkSetMacro(Led,int);

    itkGetMacro(Led,int);

    itkSetMacro(Thr,int);

    itkGetMacro(Thr,int);

   void SetCalibrationPath(std::string calibrationPath);

    itkGetMacro(calibrationPath,std::string);

    static ITK_THREAD_RETURN_TYPE ThreadStartTracking(void* data);

    void TrackTools();

    bool LoadCalibration();

    bool SetCameraParams(int exposure, int threshold, int intensity, int videoType = 4);

    bool InitializeCameras();

    bool AddToolByDefinitionFile(std::string fileName); // ^????? We should give an example of defined tool

//    bool AddToolByConfigurationFil(std::string fileName); // For next release....

  protected:
    OptitrackTrackingDevice();
    ~OptitrackTrackingDevice();


  private:
    std::string m_calibrationPath;

    int m_Exp;

    int m_Led;

    int m_Thr;

    bool m_initialized;

    std::vector<mitk::OptitrackTrackingTool::Pointer> m_AllTools;

    itk::FastMutexLock::Pointer m_ToolsMutex;

    itk::MultiThreader::Pointer m_MultiThreader;

    int m_ThreadID;


/* TODO:

// For Tracking
-bool AddToolByConfigurationFil(std::string fileName);
TTAPI   NPRESULT TT_LoadTrackables (const char *filename); //== Load Trackables ======----
TTAPI   NPRESULT TT_SaveTrackables (const char *filename); //== Save Trackables ======----
TTAPI   NPRESULT TT_AddTrackables  (const char *filename); //== Add  Trackables ======----
TTAPI   void     TT_ClearTrackableList();             //== Clear all trackables   =====---
TTAPI   NPRESULT TT_RemoveTrackable(int Index);       //== Remove single trackable ====---
TTAPI   void     TT_SetTrackableEnabled(int index, bool enabled);    //== Set Tracking   ====---
TTAPI   bool     TT_TrackableEnabled(int index);                     //== Get Tracking   ====---
TTAPI   int      TT_TrackableMarkerCount(int index);             //== Get marker count   ====---
TTAPI   void     TT_TrackableMarker(int RigidIndex,              //== Get Trackable mrkr ====---
                        int MarkerIndex, float *x, float *y, float *z);

//For projects
TTAPI   NPRESULT TT_LoadProject(const char *filename); //== Load Project File ==========--
TTAPI   NPRESULT TT_SaveProject(const char *filename); //== Save Project File ==========--

// For VRPN connection
TTAPI   NPRESULT TT_StreamVRPN(bool enabled, int port);//== Start/stop VRPN Stream ===----

// For frame testing
TTAPI   int      TT_FrameMarkerCount();               //== Returns Frame Markers Count ---
TTAPI   float    TT_FrameMarkerX(int index);          //== Returns X Coord of Marker -----
TTAPI   float    TT_FrameMarkerY(int index);          //== Returns Y Coord of Marker -----
TTAPI   float    TT_FrameMarkerZ(int index);          //== Returns Z Coord of Marker -----
TTAPI   int      TT_FrameMarkerLabel(int index);      //== Returns Label of Marker -------
TTAPI   double   TT_FrameTimeStamp();                 //== Time Stamp of Frame (seconds) -

// For cameras handling
TTAPI   int      TT_CameraCount();                    //== Returns Camera Count =====-----
TTAPI   float    TT_CameraXLocation(int index);       //== Returns Camera's X Coord =-----
TTAPI   float    TT_CameraYLocation(int index);       //== Returns Camera's Y Coord =-----
TTAPI   float    TT_CameraZLocation(int index);       //== Returns Camera's Z Coord =-----
TTAPI   float    TT_CameraOrientationMatrix(int camera, int index); //== Orientation -----


*/


};


}
#endif