Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes

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>

List of all members.

Public Types

typedef ClaronInterface Self
typedef itk::Object Superclass
typedef itk::SmartPointer< Self > Pointer
typedef itk::SmartPointer
< const Self > 		ConstPointer
typedef ClaronInterface Self
typedef itk::Object Superclass
typedef itk::SmartPointer< Self > Pointer
typedef itk::SmartPointer
< const Self > 		ConstPointer

Public Member Functions

virtual const char * GetClassName () const
void Initialize (std::string calibrationDir, std::string toolFilesDir)
 Initialization of claroninterface.
bool StartTracking ()
 Opens the connection to the device and makes it ready to track tools.
bool StopTracking ()
 Clears all resources. After this method have been called the system isn't ready to track any longer.
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.
bool IsTracking ()
bool IsMicronTrackerInstalled ()
virtual const char * GetClassName () const
void Initialize (std::string calibrationDir, std::string toolFilesDir)
 Initialization of claroninterface.
bool StartTracking ()
 This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.
bool StopTracking ()
 This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.
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.
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.
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.
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.
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.
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.
void GrabFrame ()
 This is only a stub, please switch the cmake variable USE_MICRON_TRACKER to on if you want to use the Microntracker.
bool IsMicronTrackerInstalled ()

Static Public Member Functions

static Pointer New ()
static Pointer New ()

Protected Member Functions

 ClaronInterface ()
 standard constructor
 ~ClaronInterface ()
 standard destructor
 ClaronInterface ()
 standard constructor
 ~ClaronInterface ()
 standard destructor

Protected Attributes

bool isTracking
 Variable is true if the device is tracking at the moment, false if not.
char calibrationDir [512]
 Variable which holds the directory which should contain the file BumbleBee_6400420.calib. This directory is needed by the MTC library.
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.
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 44 of file mitkClaronInterface.h.

Member Typedef Documentation

typedef itk::SmartPointer<const Self> mitk::ClaronInterface::ConstPointer

Definition at line 48 of file mitkClaronInterface.h.

typedef itk::SmartPointer<const Self> mitk::ClaronInterface::ConstPointer

Definition at line 47 of file mitkClaronInterfaceStub.h.

typedef itk::SmartPointer<Self> mitk::ClaronInterface::Pointer

Definition at line 48 of file mitkClaronInterface.h.

typedef itk::SmartPointer<Self> mitk::ClaronInterface::Pointer

Definition at line 47 of file mitkClaronInterfaceStub.h.

typedef ClaronInterface mitk::ClaronInterface::Self

Definition at line 47 of file mitkClaronInterfaceStub.h.

typedef ClaronInterface mitk::ClaronInterface::Self

Definition at line 48 of file mitkClaronInterface.h.

typedef itk::Object mitk::ClaronInterface::Superclass

Definition at line 47 of file mitkClaronInterfaceStub.h.

typedef itk::Object mitk::ClaronInterface::Superclass

Definition at line 48 of file mitkClaronInterface.h.

Constructor & Destructor Documentation

mitk::ClaronInterface::ClaronInterface (  ) [protected]

standard constructor

Definition at line 24 of file mitkClaronInterface.cpp.

References calibrationDir, isTracking, and markerDir.

{
  isTracking = false;
  sprintf(calibrationDir,"No calibration dir set yet");
  sprintf(markerDir,"No marker dir set yet");
}
mitk::ClaronInterface::~ClaronInterface (  ) [protected]

standard destructor

Definition at line 31 of file mitkClaronInterface.cpp.

{

}
mitk::ClaronInterface::ClaronInterface (  ) [protected]

standard constructor

mitk::ClaronInterface::~ClaronInterface (  ) [protected]

standard destructor

Member Function Documentation

std::vector< mitk::claronToolHandle > mitk::ClaronInterface::GetAllActiveTools (  )
Returns:
Returns all tools which have been detected at the last frame grab.

Definition at line 120 of file mitkClaronInterface.cpp.

References MTC.

{
  //Set returnvalue
  std::vector<claronToolHandle> returnValue;

  //Here, MTC internally maintains the measurement results.
  //Those results can be accessed until the next call to Markers_ProcessFrame, when they
  //are updated to reflect the next frame's content.
  //First, we will obtain the collection of the markers that were identified.
  MTC( Markers_IdentifiedMarkersGet(NULL, IdentifiedMarkers) );
  
  //Now we iterate on the identified markers and add them to the returnvalue
  for (int j=1; j<=Collection_Count(IdentifiedMarkers); j++)
  {
    // Obtain the marker's handle, and use it to obtain the pose in the current camera's space
    // using our Xform3D object, PoseXf.
    mtHandle Marker = Collection_Int(IdentifiedMarkers, j);
    returnValue.push_back(Marker);
  }
  return returnValue;
}
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.

virtual const char* mitk::ClaronInterface::GetClassName (  ) const [virtual]
virtual const char* mitk::ClaronInterface::GetClassName (  ) const [virtual]
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 275 of file mitkClaronInterface.cpp.

References MTC.

{
  char MarkerName[MT_MAX_STRING_LENGTH];
  MTC( Marker_NameGet(c, MarkerName, MT_MAX_STRING_LENGTH, 0) );
  std::string* returnValue = new std::string(MarkerName);
  return returnValue->c_str();
}
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.

std::vector< double > mitk::ClaronInterface::GetPosition ( claronToolHandle  c )
Returns:
Returns the position of the tool

Definition at line 175 of file mitkClaronInterface.cpp.

References MTC.

{
  std::vector<double> returnValue;
  double  Position[3];
  MTC( Marker_Marker2CameraXfGet (c, CurrCamera, PoseXf, &IdentifyingCamera) );
  MTC( Xform3D_ShiftGet(PoseXf, Position) );

  // Here we have to negate the X- and Y-coordinates because of a bug of the
  // MTC-library.
  returnValue.push_back(-Position[0]);
  returnValue.push_back(-Position[1]);
  returnValue.push_back(Position[2]);

  return returnValue;
}
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.

std::vector< double > mitk::ClaronInterface::GetQuaternions ( claronToolHandle  c )
Returns:
Returns the quaternion of the tool.

Definition at line 237 of file mitkClaronInterface.cpp.

References MTC, and QuadProgPP::sqrt().

{
  std::vector<double> returnValue;

  double  Quarternions[4];
  MTC( Marker_Marker2CameraXfGet (c, CurrCamera, PoseXf, &IdentifyingCamera) );
  MTC( Xform3D_RotQuaternionsGet(PoseXf, Quarternions) );

  //here we have to compensate a bug in the MTC-lib. (difficult to understand)
  mitk::Quaternion claronQuaternion;

  //note: claron quarternion has different order than the mitk quarternion
  claronQuaternion[3] = Quarternions[0];
  claronQuaternion[0] = Quarternions[1];
  claronQuaternion[1] = Quarternions[2];
  claronQuaternion[2] = Quarternions[3];

  // Here we have to make a -90°-turn around the Y-axis because of a bug of the
  // MTC-library.
  mitk::Quaternion minusNinetyDegreeY;
  minusNinetyDegreeY[3] = sqrt(2.0)/2.0;
  minusNinetyDegreeY[0] = 0;
  minusNinetyDegreeY[1] = -1.0/(sqrt(2.0));
  minusNinetyDegreeY[2] = 0;

  //calculate the result...
  mitk::Quaternion erg = (minusNinetyDegreeY*claronQuaternion);

  returnValue.push_back(erg[3]);
  returnValue.push_back(erg[0]);
  returnValue.push_back(erg[1]);
  returnValue.push_back(erg[2]);

  return returnValue;
}
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.

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.

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 148 of file mitkClaronInterface.cpp.

References MTC.

{
  std::vector<double> returnValue;
  double  Position[3];
  mtHandle t2m = Xform3D_New(); // tooltip to marker xform handle
  mtHandle t2c = Xform3D_New(); // tooltip to camera xform handle
  mtHandle m2c = Xform3D_New(); // marker to camera xform handle

  //Get m2c
  MTC( Marker_Marker2CameraXfGet (c, CurrCamera, m2c, &IdentifyingCamera) );
  //Get t2m
  MTC( Marker_Tooltip2MarkerXfGet (c,  t2m ));
  //Transform both to t2c
  MTC(Xform3D_Concatenate(t2m,m2c,t2c));

  //Get position
  MTC( Xform3D_ShiftGet(t2c, Position) );

  // Here we have to negate the X- and Y-coordinates because of a bug of the
  // MTC-library.
  returnValue.push_back(-Position[0]);
  returnValue.push_back(-Position[1]);
  returnValue.push_back(Position[2]);

  return returnValue;
}
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 192 of file mitkClaronInterface.cpp.

References MTC, and QuadProgPP::sqrt().

{
  std::vector<double> returnValue;

  mtHandle t2m = Xform3D_New(); // tooltip to marker xform handle
  mtHandle t2c = Xform3D_New(); // tooltip to camera xform handle
  mtHandle m2c = Xform3D_New(); // marker to camera xform handle

  //Get m2c
  MTC( Marker_Marker2CameraXfGet (c, CurrCamera, m2c, &IdentifyingCamera) );
  //Get t2m
  MTC( Marker_Tooltip2MarkerXfGet (c,  t2m ));
  //Transform both to t2c
  MTC(Xform3D_Concatenate(t2m,m2c,t2c));

  //get the Claron-Quaternion
  double Quarternions[4];
  MTC( Xform3D_RotQuaternionsGet(t2c, Quarternions) );
  mitk::Quaternion claronQuaternion;

  //note: claron quarternion has different order than the mitk quarternion
  claronQuaternion[3] = Quarternions[0];
  claronQuaternion[0] = Quarternions[1];
  claronQuaternion[1] = Quarternions[2];
  claronQuaternion[2] = Quarternions[3];

  // Here we have to make a -90°-turn around the Y-axis because of a bug of the
  // MTC-library.
  mitk::Quaternion minusNinetyDegreeY;
  minusNinetyDegreeY[3] = sqrt(2.0)/2.0;
  minusNinetyDegreeY[0] = 0;
  minusNinetyDegreeY[1] = -1.0/(sqrt(2.0));
  minusNinetyDegreeY[2] = 0;

  //calculate the result...
  mitk::Quaternion erg = (minusNinetyDegreeY*claronQuaternion);

  returnValue.push_back(erg[3]);
  returnValue.push_back(erg[0]);
  returnValue.push_back(erg[1]);
  returnValue.push_back(erg[2]);

  return returnValue;
}
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.

void mitk::ClaronInterface::GrabFrame (  )

Grabs a frame from the camera.

Definition at line 142 of file mitkClaronInterface.cpp.

References MTC.

{
  MTC( Cameras_GrabFrame(NULL) ); //Grab a frame
  MTC( Markers_ProcessFrame(NULL) ); //Process the frame(s)
}
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.

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.
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 36 of file mitkClaronInterface.cpp.

{
  sprintf(this->calibrationDir, calibrationDir.c_str());
  sprintf(this->markerDir,toolFilesDir.c_str());
  this->IdentifiedMarkers = 0;
  this->PoseXf = 0;
  this->CurrCamera = 0;
  this->IdentifyingCamera = 0;
}
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.
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 288 of file mitkClaronInterface.cpp.

  {
  return true;
  }
bool mitk::ClaronInterface::IsTracking (  )
Returns:
Returns wether the tracking device is tracking or not.

Definition at line 283 of file mitkClaronInterface.cpp.

{
  return this->isTracking;
}
static Pointer mitk::ClaronInterface::New (  ) [static]
static Pointer mitk::ClaronInterface::New (  ) [static]

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

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 47 of file mitkClaronInterface.cpp.

References MTC.

{
  isTracking = false;
  MTC( Cameras_AttachAvailableCameras(calibrationDir) ); //Connect to camera
  if (Cameras_Count() < 1)
  {
    printf("No camera found!\n");
    return false;
  }

  try
  {
    //Step 1: initialize cameras
    MTC(Cameras_HistogramEqualizeImagesSet(true)); //set the histogram equalizing
    MTC( Cameras_ItemGet(0, &CurrCamera) ); //Obtain a handle to the first/only camera in the array

    //Step 2: Load the marker templates
    MTC( Markers_LoadTemplates(markerDir) ); //Path to directory where the marker templates are
    printf("Loaded %d marker templates\n",Markers_TemplatesCount());

    //Step 3: Wait for 20 frames
    for (int i=0; i<20; i++)//the first 20 frames are auto-adjustment frames, we ignore them
    {
      MTC( Cameras_GrabFrame(NULL) ); //Grab a frame (all cameras together)
      MTC( Markers_ProcessFrame(NULL) ); //Proces the frame(s) to obtain measurements
    }

    //Step 4: Initialize IdentifiedMarkers and PoseXf
    IdentifiedMarkers = Collection_New();
    PoseXf = Xform3D_New();
    
    //now we are tracking...

    /* MTHome is not in use. The following code has to be activated if you want to use MTHome!
    //Initialize MTHome
    if ( getMTHome (MTHome, sizeof(MTHome)) < 0 )
    {
    // No Environment
    printf("MTHome environment variable is not set!\n");
    }*/
  }
  catch(...)
  {
    Cameras_Detach();
    printf(" Error while connecting MicronTracker!\n -------------------------------");
    return false;
  }

  isTracking = true;
  return true;
}
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.

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.

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 99 of file mitkClaronInterface.cpp.

{
  if (isTracking)
  {
    //free up the resources
    Collection_Free(IdentifiedMarkers);
    Xform3D_Free(PoseXf);

    //stop the camera
    Cameras_Detach();
    
    //now tracking is stopped
    isTracking = false;
    return true;
  }
  else
  {
    return false;
  }
}

Member Data Documentation

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().

mtHandle mitk::ClaronInterface::CurrCamera [protected]

Definition at line 139 of file mitkClaronInterface.h.

mtHandle mitk::ClaronInterface::IdentifiedMarkers [protected]

Definition at line 137 of file mitkClaronInterface.h.

mtHandle mitk::ClaronInterface::IdentifyingCamera [protected]

Definition at line 140 of file mitkClaronInterface.h.

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().

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().

mtHandle mitk::ClaronInterface::PoseXf [protected]

Definition at line 138 of file mitkClaronInterface.h.

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