mitkOptitrackTrackingTool.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 OptiTrackTrackingTool_H_HEADER_INCLUDED_
#define OptiTrackTrackingTool_H_HEADER_INCLUDED_

#include <MitkIGTExports.h>
#include <itkMultiThreader.h>
#include "itkFastMutexLock.h"
#include "mitkTrackingDevice.h"
#include "mitkTrackingTool.h"
#include "mitkIGTTimeStamp.h"
#include <cstdlib>
#include <cstdio>
#include <ctime>
#include <itksys/SystemTools.hxx>
#include <itkMutexLockHolder.h>
#include "mitkCommon.h"
#include <mitkTrackingTool.h>
#include <mitkVector.h>
#include <itkFastMutexLock.h>
#include "mitkIGTException.h"



#include <mitkOptitrackErrorMessages.h>


namespace mitk
{

  //class OptitrackTrackingDevice;

  class MITKIGT_EXPORT OptitrackTrackingTool : public TrackingTool
  {
  public:
    friend class OptitrackTrackingDevice;
    mitkClassMacro(mitk::OptitrackTrackingTool, mitk::TrackingTool);
    itkNewMacro(Self);



    bool SetToolByFileName(std::string nameFile);

    int get_IDnext();

    bool DeleteTrackable();

    using Superclass::SetPosition;
    void SetPosition(mitk::Point3D position, ScalarType eps=0.0);

    using Superclass::SetOrientation;
    void SetOrientation(mitk::Quaternion orientation, ScalarType eps=0.0);

    void GetPosition(mitk::Point3D& position) const override;

    void GetOrientation(mitk::Quaternion& orientation) const override;

    bool Enable() override;

    bool Disable() override;

    bool IsEnabled() const override;

    bool IsDataValid() const override;

    float GetTrackingError() const override;

    void SetTrackingError(float FLEerror) override;

    void SetDataValid(bool _arg) override;

    void updateTool();

    OptitrackTrackingTool();

    ~OptitrackTrackingTool() override;

    std::string m_fileConfiguration;

    int m_ID;

    float* m_calibrationPoints;

    float* m_pivotPoint;

    int m_numMarkers;

  float m_FLE;

  private:
    OptitrackTrackingTool(const OptitrackTrackingTool&);
    const OptitrackTrackingTool& operator=(const OptitrackTrackingTool&);

  };
}
#endif /* OptiTrackTrackingTool_H_HEADER_INCLUDED_ */