int main()
{
TT_Initialize(); //setup TT cameras
printf("Opening Calibration: %s\n",
TT_LoadCalibration("CalibrationResult 2010-11-02 5.03pm.cal") == NPRESULT_SUCCESS ?
"PASS" : "ERROR");
int cameraCount = TT_CameraCount();
CameraData_t cameras[MAX_NUM_CAMERAS];
pthread_t threads[MAX_NUM_CAMERAS];
assert(MAX_NUM_CAMERAS == cameraCount);
TT_SetCameraSettings(0, NPVIDEOTYPE_PRECISION,300, 150, 15);
TT_SetCameraSettings(1, NPVIDEOTYPE_PRECISION,300, 150, 15);
TT_SetCameraSettings(2, NPVIDEOTYPE_PRECISION,300, 150, 15);
/* 1. Change camera settings ^
2. Allocate space for the displays
*/
for(int i = 0; i < cameraCount; i++){
cameras[i].i = i;
cameras[i].displayImage = cvCreateImage(cvSize(W,H), IPL_DEPTH_8U, 1);
}
/* call the threads for display of camera data */
pthread_mutex_init(&keyMutex, NULL);
for(int i = 0; i < cameraCount; i++){
if(pthread_create(&threads[i], NULL, showCameraWindow, (void*)&cameras[i])){
printf("\aThread couldn't be created!");
TT_Shutdown();
TT_FinalCleanup();
exit(0);
}
}
printf("Press any Key to Exit!\n");
while(!_kbhit()){
int result = TT_Update();
if(result != NPRESULT_SUCCESS)
Sleep(70UL); //wait for updated frame 1/sleeptime[ms] = frame-rate
}
for(int i = 0; i < cameraCount; i++)
pthread_join(threads[i], NULL);
pthread_mutex_destroy(&keyMutex);
cvDestroyAllWindows();
TT_Shutdown();
TT_FinalCleanup();
return 0;
}
//=======================================================
// LoadCalibration
//=======================================================
bool mitk::OptitrackTrackingDevice::LoadCalibration()
{
MITK_DEBUG << "Loading System Calibration";
int resultLoadCalibration;
// Check the file path
if(this->m_calibrationPath.empty()){
MITK_INFO << "Calibration Path is empty";
mitkThrowException(mitk::IGTException) << "Calibration Path is empty";
return false;
}
// Once the system is ready and Initialized , a calibration file is loaded.
if(this->m_initialized)
{
for( int i=OPTITRACK_ATTEMPTS; i>0; i--)
{
resultLoadCalibration = TT_LoadCalibration(this->m_calibrationPath.c_str());
if(resultLoadCalibration != NPRESULT_SUCCESS)
{
MITK_DEBUG << mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(resultLoadCalibration);
MITK_DEBUG << "Trying again...";
}
else
{
MITK_DEBUG << "Calibration file has been loaded successfully";
return true;
}
}
MITK_INFO << "System cannot load a calibration file";
mitkThrowException(mitk::IGTException) << "System cannot load a calibration file";
}
else
{
MITK_INFO << "System is not ready for load a calibration file because it has not been initialized yet";
mitkThrowException(mitk::IGTException) << "System is not ready for load a calibration file because it has not been initialized yet";
return false;
}
// Never reach this point
return false;
}