mitkClaronInterface.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 MITKCLARONINTERFACE_H_HEADER_INCLUDED_
#define MITKCLARONINTERFACE_H_HEADER_INCLUDED_
#define MTC(func) {int r = func; if (r!=mtOK) printf("MTC error: %s\n",MTLastErrorString()); };

#include <vector>
#include <string>

#include <MitkIGTExports.h>
#include "mitkCommon.h"

#include <itkObject.h>
#include <itkObjectFactory.h>

#ifdef _WIN64  //Defined for applications for Win64.
typedef long mtHandle;
#else
typedef int mtHandle;
#endif

namespace mitk
{
  typedef int claronToolHandle;

  class MITKIGT_EXPORT ClaronInterface : public itk::Object
  {
  public:

    mitkClassMacroItkParent(ClaronInterface,itk::Object);
    itkFactorylessNewMacro(Self);
    itkCloneMacro(Self)
    void Initialize(std::string calibrationDir, std::string toolFilesDir);

    bool StartTracking();

    bool StopTracking();

    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();

    bool IsTracking();

    bool IsMicronTrackerInstalled();

  protected:
    ClaronInterface();
    ~ClaronInterface() override;


    bool isTracking;

    char calibrationDir[512];
    char markerDir[512];

    //Some handles to communicate with the MTC library.
    mtHandle IdentifiedMarkers;
    mtHandle PoseXf;
    mtHandle CurrCamera;
    mtHandle IdentifyingCamera;
    //------------------------------------------------

  };
}//mitk
#endif