mitkOptitrackTrackingDevice.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 mitkOptitrackTrackingDevice_h
#define mitkOptitrackTrackingDevice_h
 
#include <MitkIGTExports.h>
#include <mitkTrackingDevice.h>
#include <mitkTrackingTypes.h>
#include <mitkIGTTimeStamp.h>
#include <itksys/SystemTools.hxx>
#include <string>
#include <cstdlib>
#include <cstdio>
#include <ctime>
#include <thread>
#include <mutex>
 
#include "mitkIGTIOException.h"
#include "mitkIGTTimeStamp.h"
#include "mitkIGTException.h"
 
#include "mitkOptitrackTrackingTool.h"
 
 
namespace mitk
{
  class MITKIGT_EXPORT OptitrackTrackingDevice : public mitk::TrackingDevice
  {
 
  friend class OptitrackTrackingTool;
 
  public:
    mitkClassMacro(OptitrackTrackingDevice, mitk::TrackingDevice);
    itkNewMacro(Self);
 
    bool IsDeviceInstalled() override;
 
    // Define the Type of Tracker as DefinitionOfTool (MITK)
    typedef mitk::TrackingDeviceType OptiTrackTrackingDeviceType;
 
    bool OpenConnection() override;
 
    bool CloseConnection() override;
 
    bool StartTracking() override;
 
    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);
 
    void ThreadStartTracking();
 
    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
 
  protected:
    OptitrackTrackingDevice();
    ~OptitrackTrackingDevice() override;
 
 
  private:
    std::string m_calibrationPath;
 
    int m_Exp;
 
    int m_Led;
 
    int m_Thr;
 
    bool m_initialized;
 
    std::vector<mitk::OptitrackTrackingTool::Pointer> m_AllTools;
 
    mutable std::mutex m_ToolsMutex;
 
    std::thread m_Thread;
 
 
/* 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