An object of this class represents the interface to the MicronTracker. The methods of this class are calling the c-functions which are provided by the MTC-library. If the MicronTracker is not in use, which means the CMake-variable "MITK_USE_MICRON_TRACKER" is set to OFF, this class is replaced by a stub class called "ClaronInterfaceStub". More...

#include <mitkClaronInterface.h>

Inheritance diagram for mitk::ClaronInterface:

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Collaboration diagram for mitk::ClaronInterface:

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Public Member Functions
	mitkClassMacroItkParent (ClaronInterface, itk::Object)

Pointer	Clone () const

void	Initialize (std::string calibrationDir, std::string toolFilesDir)
	Initialization of claroninterface. More...

bool	StartTracking ()
	Opens the connection to the device and makes it ready to track tools. More...

bool	StopTracking ()
	Clears all resources. After this method have been called the system isn't ready to track any longer. More...

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 ()
	Grabs a frame from the camera. More...

bool	IsTracking ()

bool	IsMicronTrackerInstalled ()

	mitkClassMacroItkParent (ClaronInterface, itk::Object)

Pointer	Clone () const

void	Initialize (std::string calibrationDir, std::string toolFilesDir)
	Initialization of claroninterface. More...

bool	StartTracking ()
	This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker. More...

bool	StopTracking ()
	This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker. More...

std::vector< claronToolHandle >	GetAllActiveTools ()
	This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker. More...

std::vector< double >	GetTipPosition (claronToolHandle c)
	This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker. More...

std::vector< double >	GetTipQuaternions (claronToolHandle c)
	This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker. More...

std::vector< double >	GetPosition (claronToolHandle c)
	This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker. More...

std::vector< double >	GetQuaternions (claronToolHandle c)
	This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker. More...

const char *	GetName (claronToolHandle c)
	This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker. More...

void	GrabFrame ()
	This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker. More...

bool	IsMicronTrackerInstalled ()

Static Public Member Functions
static Pointer	New ()

static Pointer	New ()

Protected Member Functions
	ClaronInterface ()
	standard constructor More...

	~ClaronInterface () override
	standard destructor More...

	ClaronInterface ()
	standard constructor More...

	~ClaronInterface () override
	standard destructor More...

Protected Attributes
bool	isTracking
	Variable is true if the device is tracking at the moment, false if not. More...

char	calibrationDir [512]
	Variable which holds the directory which should contain the file BumbleBee_6400420.calib. This directory is needed by the MTC library. More...

char	markerDir [512]
	Variable which holds a directory with some tool files in it. All this tools are trackable when the path is given to the MTC library. More...

mtHandle	IdentifiedMarkers

mtHandle	PoseXf

mtHandle	CurrCamera

mtHandle	IdentifyingCamera

Detailed Description

An object of this class represents the interface to the MicronTracker. The methods of this class are calling the c-functions which are provided by the MTC-library. If the MicronTracker is not in use, which means the CMake-variable "MITK_USE_MICRON_TRACKER" is set to OFF, this class is replaced by a stub class called "ClaronInterfaceStub".

An object of this class represents the interface to the MicronTracker. Normally the methods of this class are calling the c-functions which are provided by the MTC-library. But in this case the MicronTracker is not installed and so we only have stubs here. These stubs send error messages when you try to call the methods.

Documentation:

Definition at line 43 of file mitkClaronInterface.h.

Constructor & Destructor Documentation

◆ ClaronInterface() [1/2]

mitk::ClaronInterface::ClaronInterface ( )

protected

standard constructor

Definition at line 19 of file mitkClaronInterface.cpp.

References calibrationDir, isTracking, and markerDir.

◆ ~ClaronInterface() [1/2]

mitk::ClaronInterface::~ClaronInterface ( )

overrideprotected

standard destructor

Definition at line 26 of file mitkClaronInterface.cpp.

◆ ClaronInterface() [2/2]

mitk::ClaronInterface::ClaronInterface ( )

protected

standard constructor

◆ ~ClaronInterface() [2/2]

mitk::ClaronInterface::~ClaronInterface ( )

overrideprotected

standard destructor

Member Function Documentation

◆ Clone() [1/2]

Pointer mitk::ClaronInterface::Clone ( ) const

◆ Clone() [2/2]

Pointer mitk::ClaronInterface::Clone ( ) const

◆ GetAllActiveTools() [1/2]

std::vector<claronToolHandle> mitk::ClaronInterface::GetAllActiveTools ( )

This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.

◆ GetAllActiveTools() [2/2]

std::vector< mitk::claronToolHandle > mitk::ClaronInterface::GetAllActiveTools ( )

Returns: Returns all tools which have been detected at the last frame grab.

Definition at line 116 of file mitkClaronInterface.cpp.

References IdentifiedMarkers, and MTC.

◆ GetName() [1/2]

const char* mitk::ClaronInterface::GetName ( claronToolHandle c )

This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.

◆ GetName() [2/2]

const char * mitk::ClaronInterface::GetName ( claronToolHandle c )

Returns: Returns the name of the tool. This name is given by the calibration file.

Parameters

c	The handle of the tool, which name should be given back.

Definition at line 271 of file mitkClaronInterface.cpp.

References MTC.

◆ GetPosition() [1/2]

std::vector<double> mitk::ClaronInterface::GetPosition ( claronToolHandle c )

This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.

◆ GetPosition() [2/2]

std::vector< double > mitk::ClaronInterface::GetPosition ( claronToolHandle c )

Returns: Returns the position of the tool

Definition at line 171 of file mitkClaronInterface.cpp.

References CurrCamera, IdentifyingCamera, MTC, and PoseXf.

◆ GetQuaternions() [1/2]

std::vector<double> mitk::ClaronInterface::GetQuaternions ( claronToolHandle c )

This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.

◆ GetQuaternions() [2/2]

std::vector< double > mitk::ClaronInterface::GetQuaternions ( claronToolHandle c )

Returns: Returns the quaternion of the tool.

Definition at line 233 of file mitkClaronInterface.cpp.

References CurrCamera, IdentifyingCamera, MTC, and PoseXf.

◆ GetTipPosition() [1/2]

std::vector<double> mitk::ClaronInterface::GetTipPosition ( claronToolHandle c )

This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.

◆ GetTipPosition() [2/2]

std::vector< double > mitk::ClaronInterface::GetTipPosition ( mitk::claronToolHandle c )

Returns: Returns the position of the tooltip. If no tooltip is defined the Method returns the position of the tool.

Definition at line 144 of file mitkClaronInterface.cpp.

References CurrCamera, IdentifyingCamera, and MTC.

Referenced by mitk::ClaronTrackingDevice::TrackTools().

◆ GetTipQuaternions() [1/2]

std::vector<double> mitk::ClaronInterface::GetTipQuaternions ( claronToolHandle c )

This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.

◆ GetTipQuaternions() [2/2]

std::vector< double > mitk::ClaronInterface::GetTipQuaternions ( claronToolHandle c )

Returns: Returns the quarternions of the tooltip. If no tooltip is defined the Method returns the quarternions of the tool.

Definition at line 188 of file mitkClaronInterface.cpp.

References CurrCamera, IdentifyingCamera, and MTC.

Referenced by mitk::ClaronTrackingDevice::TrackTools().

◆ GrabFrame() [1/2]

void mitk::ClaronInterface::GrabFrame ( )

This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.

◆ GrabFrame() [2/2]

void mitk::ClaronInterface::GrabFrame ( )

Grabs a frame from the camera.

Definition at line 138 of file mitkClaronInterface.cpp.

References MTC.

Referenced by mitk::ClaronTrackingDevice::TrackTools().

◆ Initialize() [1/2]

void mitk::ClaronInterface::Initialize	(	std::string	calibrationDir,
		std::string	toolFilesDir
	)

Initialization of claroninterface.

Parameters

calibrationDir	The directory where the device can find the camera calibration file.
toolFilesDir	The directory for the tool files.

◆ Initialize() [2/2]

void mitk::ClaronInterface::Initialize	(	std::string	calibrationDir,
		std::string	toolFilesDir
	)

Initialization of claroninterface.

Parameters

calibrationDir	The directory where the device can find the camera calibration file.
toolFilesDir	The directory for the tool files.

Definition at line 31 of file mitkClaronInterface.cpp.

References CurrCamera, IdentifiedMarkers, IdentifyingCamera, markerDir, and PoseXf.

◆ IsMicronTrackerInstalled() [1/2]

bool mitk::ClaronInterface::IsMicronTrackerInstalled ( )

Returns: Returns wether the MicronTracker is installed (means wether the C-Make-Variable "MITK_USE_MICRON_TRACKER" is set), so returns false in this case.

◆ IsMicronTrackerInstalled() [2/2]

bool mitk::ClaronInterface::IsMicronTrackerInstalled ( )

Returns: Returns wether the MicronTracker is installed (means wether the C-Make-Variable "MITK_USE_MICRON_TRACKER" is set ON), so returns true in this case. This is because the class mitkClaronInterfaceStub, in which the same Method returns false is used otherways.

Definition at line 284 of file mitkClaronInterface.cpp.

◆ IsTracking()

bool mitk::ClaronInterface::IsTracking ( )

Returns: Returns wether the tracking device is tracking or not.

Definition at line 279 of file mitkClaronInterface.cpp.

References isTracking.

◆ mitkClassMacroItkParent() [1/2]

mitk::ClaronInterface::mitkClassMacroItkParent	(	ClaronInterface	,
		itk::Object
	)

◆ mitkClassMacroItkParent() [2/2]

mitk::ClaronInterface::mitkClassMacroItkParent	(	ClaronInterface	,
		itk::Object
	)

◆ New() [1/2]

static Pointer mitk::ClaronInterface::New ( )

static

◆ New() [2/2]

static Pointer mitk::ClaronInterface::New ( )

static

Referenced by mitk::ClaronTrackingDevice::ClaronTrackingDevice(), mitk::ClaronTrackingDevice::IsDeviceInstalled(), and mitk::ClaronTrackingDevice::OpenConnection().

◆ StartTracking() [1/2]

bool mitk::ClaronInterface::StartTracking ( )

This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.

◆ StartTracking() [2/2]

bool mitk::ClaronInterface::StartTracking ( )

Opens the connection to the device and makes it ready to track tools.

Returns: Returns true if there is a connection to the device and the device is ready to track tools, false if not.

Definition at line 42 of file mitkClaronInterface.cpp.

References calibrationDir, CurrCamera, IdentifiedMarkers, isTracking, markerDir, MITK_INFO, MTC, and PoseXf.

◆ StopTracking() [1/2]

bool mitk::ClaronInterface::StopTracking ( )

This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.

◆ StopTracking() [2/2]

bool mitk::ClaronInterface::StopTracking ( )

Clears all resources. After this method have been called the system isn't ready to track any longer.

Returns: Returns true if the operation was succesful, false if not.

Definition at line 95 of file mitkClaronInterface.cpp.

References IdentifiedMarkers, isTracking, and PoseXf.

Member Data Documentation

◆ calibrationDir

char mitk::ClaronInterface::calibrationDir[512]

protected

Variable which holds the directory which should contain the file BumbleBee_6400420.calib. This directory is needed by the MTC library.

Definition at line 132 of file mitkClaronInterface.h.

Referenced by ClaronInterface(), and StartTracking().

◆ CurrCamera

mtHandle mitk::ClaronInterface::CurrCamera

protected

Definition at line 139 of file mitkClaronInterface.h.

Referenced by GetPosition(), GetQuaternions(), GetTipPosition(), GetTipQuaternions(), Initialize(), and StartTracking().

◆ IdentifiedMarkers

mtHandle mitk::ClaronInterface::IdentifiedMarkers

protected

Definition at line 137 of file mitkClaronInterface.h.

Referenced by GetAllActiveTools(), Initialize(), StartTracking(), and StopTracking().

◆ IdentifyingCamera

mtHandle mitk::ClaronInterface::IdentifyingCamera

protected

Definition at line 140 of file mitkClaronInterface.h.

Referenced by GetPosition(), GetQuaternions(), GetTipPosition(), GetTipQuaternions(), and Initialize().

◆ isTracking

bool mitk::ClaronInterface::isTracking

protected

Variable is true if the device is tracking at the moment, false if not.

Definition at line 129 of file mitkClaronInterface.h.

Referenced by ClaronInterface(), IsTracking(), StartTracking(), and StopTracking().

◆ markerDir

char mitk::ClaronInterface::markerDir[512]

protected

Variable which holds a directory with some tool files in it. All this tools are trackable when the path is given to the MTC library.

Definition at line 134 of file mitkClaronInterface.h.

Referenced by ClaronInterface(), Initialize(), and StartTracking().

◆ PoseXf

mtHandle mitk::ClaronInterface::PoseXf

protected

Definition at line 138 of file mitkClaronInterface.h.

Referenced by GetPosition(), GetQuaternions(), Initialize(), StartTracking(), and StopTracking().

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ClaronInterface() [1/2]

◆ ~ClaronInterface() [1/2]

◆ ClaronInterface() [2/2]

◆ ~ClaronInterface() [2/2]

Member Function Documentation

◆ Clone() [1/2]

◆ Clone() [2/2]

◆ GetAllActiveTools() [1/2]

◆ GetAllActiveTools() [2/2]

◆ GetName() [1/2]

◆ GetName() [2/2]

◆ GetPosition() [1/2]

◆ GetPosition() [2/2]

◆ GetQuaternions() [1/2]

◆ GetQuaternions() [2/2]

◆ GetTipPosition() [1/2]

◆ GetTipPosition() [2/2]

◆ GetTipQuaternions() [1/2]

◆ GetTipQuaternions() [2/2]

◆ GrabFrame() [1/2]

◆ GrabFrame() [2/2]

◆ Initialize() [1/2]

◆ Initialize() [2/2]

◆ IsMicronTrackerInstalled() [1/2]

◆ IsMicronTrackerInstalled() [2/2]

◆ IsTracking()

◆ mitkClassMacroItkParent() [1/2]

◆ mitkClassMacroItkParent() [2/2]

◆ New() [1/2]

◆ New() [2/2]

◆ StartTracking() [1/2]

◆ StartTracking() [2/2]

◆ StopTracking() [1/2]

◆ StopTracking() [2/2]

Member Data Documentation

◆ calibrationDir

◆ CurrCamera

◆ IdentifiedMarkers

◆ IdentifyingCamera

◆ isTracking

◆ markerDir

◆ PoseXf