std::vector<double> mitk::ClaronInterface::GetTipPosition(mitk::claronToolHandle c)
{
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;
}
Xform3D::Xform3D(int h)
{
if (h != 0)
this->m_handle = h;
else
this->m_handle = Xform3D_New();
this->ownedByMe = TRUE;
}
std::vector<double> mitk::ClaronInterface::GetTipQuaternions(claronToolHandle c)
{
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;
}
bool mitk::ClaronInterface::StartTracking()
{
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
MITK_INFO<<markerDir;
//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;
}
Xform3D::Xform3D(mtHandle h)
{
if (h != 0)
{
this->m_handle = h;
}
else
{
this->m_handle = Xform3D_New();
}
this->ownedByMe = TRUE;
}
