/** Return the handle to a collection of identified xpoints by the most recent processed frame. ?? */
mtHandle XPoints::detectedXPoints(MCamera *cam)
{
mtHandle identifiedHandle = Collection_New();
mtHandle camHandle = NULL;
if (cam != NULL)
{
camHandle = cam->Handle();
}
XPoints_DetectedXPointsGet(camHandle, identifiedHandle );
return identifiedHandle;
}
/** Return a handle to the collection of the identified facets */
int Marker::identifiedFacets(MCamera *cam)
{
int camHandle;
if (cam == NULL) {
camHandle = NULL;
} else {
camHandle = cam->Handle();
}
int identifiedHandle = Collection_New();
Marker_IdentifiedFacetsGet(this->m_handle, camHandle, true, identifiedHandle);
return identifiedHandle;
}
/** Return the handle to a collection of unidentified vestors by the most recent processed frame. */
int Markers::unidentifiedVectors(MCamera *cam)
{
int unidentifiedHandle = Collection_New();
int camHandle;
if (cam == NULL) {
camHandle = NULL;
} else {
camHandle = cam->Handle();
}
Markers_UnidentifiedVectorsGet(camHandle, unidentifiedHandle);
return unidentifiedHandle;
}
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;
}