mitkClaronTrackingDevice.h

Go to the documentation of this file.

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

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 MITKCLARONTRACKINGDEVICE_H_HEADER_INCLUDED_
#define MITKCLARONTRACKINGDEVICE_H_HEADER_INCLUDED_


#include <vector>
#include <mitkIGTConfig.h>
#include <mitkTrackingDevice.h>
#include <mitkClaronTool.h>
#include <itkMultiThreader.h>

//only include MicronTracker if cmake Variable is on else the ClaronInterfaceStub is included
#ifdef MITK_USE_MICRON_TRACKER
#include <mitkClaronInterface.h>
#else
#include <mitkClaronInterfaceStub.h>
#endif

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

    mitkClassMacro(ClaronTrackingDevice, TrackingDevice);
    itkFactorylessNewMacro(Self);
    itkCloneMacro(Self);

    bool IsDeviceInstalled() override;

    bool StartTracking() override;

    bool StopTracking() override;

    bool OpenConnection() override;

    bool CloseConnection() override;

    unsigned int GetToolCount() const override;

    TrackingTool* GetTool(unsigned int toolNumber)  const override;


    mitk::TrackingTool* AddTool(const char* toolName, const char* fileName);


    DEPRECATED(bool IsMicronTrackerInstalled());

    itkSetMacro(CalibrationDir,std::string);

    itkGetMacro(CalibrationDir,std::string);

  protected:
    ClaronTrackingDevice();
    ~ClaronTrackingDevice() override;

    bool InternalAddTool(ClaronTool::Pointer tool);

    void TrackTools();

    std::vector<ClaronTool::Pointer> DetectTools();

    std::vector<ClaronTool::Pointer> GetAllTools();

    ClaronInterface* GetDevice();

    static ITK_THREAD_RETURN_TYPE ThreadStartTracking(void* data);

    std::vector<ClaronTool::Pointer> m_AllTools; 
    ClaronInterface::Pointer m_Device; 
    itk::MultiThreader::Pointer m_MultiThreader;
    int m_ThreadID;

    std::string m_CalibrationDir;
    std::string m_ToolfilesDir;
  };
}//mitk
#endif /* MITKCLARONTRACKINGDEVICE_H_HEADER_INCLUDED_ */