Medical Imaging Interaction Toolkit  2018.4.99-b20efe7f
Medical Imaging Interaction Toolkit
mitk::ClaronInterface Class Reference

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:
Collaboration diagram for mitk::ClaronInterface:

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< claronToolHandleGetAllActiveTools ()
 
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< claronToolHandleGetAllActiveTools ()
 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
cThe 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
calibrationDirThe directory where the device can find the camera calibration file.
toolFilesDirThe directory for the tool files.

◆ Initialize() [2/2]

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

Initialization of claroninterface.

Parameters
calibrationDirThe directory where the device can find the camera calibration file.
toolFilesDirThe 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]

◆ 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

◆ 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

◆ 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

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