mitkClaronInterface.h

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

Program:   Medical Imaging & Interaction Toolkit
Language:  C++
Date:      $Date$
Version:   $Revision$

Copyright (c) German Cancer Research Center, Division of Medical and
Biological Informatics. All rights reserved.
See MITKCopyright.txt or https://www.mitk.org/copyright.html for details.

This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE.  See the above copyright notices for more information.

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

#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>

typedef int mtHandle;

namespace mitk
{
  typedef int claronToolHandle;

  class MitkIGT_EXPORT ClaronInterface : public itk::Object
  {
  public:
    
    mitkClassMacro(ClaronInterface,itk::Object);
    itkNewMacro(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();


    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