mitkClaronInterface.h

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/*============================================================================
 
The Medical Imaging Interaction Toolkit (MITK)
 
Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.
 
Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.
 
============================================================================*/
 
#ifndef mitkClaronInterface_h
#define mitkClaronInterface_h
#define MTC(func) {int r = func; if (r!=mtOK) printf("MTC error: %s\n",MTLastErrorString()); };
 
#include <vector>
#include <string>
 
#include <MitkIGTExports.h>
#include "mitkCommon.h"
 
#include <itkObject.h>
#include <itkObjectFactory.h>
 
#ifdef _WIN64  //Defined for applications for Win64.
typedef long long mtHandle;
#else
typedef int mtHandle;
#endif
 
namespace mitk
{
  typedef int claronToolHandle;
 
  class MITKIGT_EXPORT ClaronInterface : public itk::Object
  {
  public:
 
    mitkClassMacroItkParent(ClaronInterface,itk::Object);
    itkFactorylessNewMacro(Self);
    itkCloneMacro(Self)
    void Initialize(std::string calibrationDir, std::string toolFilesDir);
 
    bool StartTracking();
 
    bool StopTracking();
 
    std::vector<claronToolHandle> GetAllActiveTools();
 
    std::vector<double> GetTipPosition(claronToolHandle c);
 
    std::vector<double> GetTipQuaternions(claronToolHandle c);
 
    std::vector<double> GetPosition(claronToolHandle c);
 
    std::vector<double> GetQuaternions(claronToolHandle c);
 
    const char* GetName(claronToolHandle c);
 
    void GrabFrame();
 
    bool IsTracking();
 
    bool IsMicronTrackerInstalled();
 
  protected:
    ClaronInterface();
    ~ClaronInterface() override;
 
 
    bool isTracking;
 
    char calibrationDir[512];
    char markerDir[512];
 
    //Some handles to communicate with the MTC library.
    mtHandle IdentifiedMarkers;
    mtHandle PoseXf;
    mtHandle CurrCamera;
    mtHandle IdentifyingCamera;
    //------------------------------------------------
 
  };
}//mitk
#endif