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;
}
int Cameras::AttachAvailableCameras()
{
// char calibrationDir[512];
int result = 0;
char * calibrationDir = const_cast< char * >(this->CalibrationDir.c_str());
// This is commented out, using SetCameraCalibrationFilesDirectory() to set calibration file directory
/* if ( getMTHome (calibrationDir, sizeof(calibrationDir)) < 0 ) {
// No Environment
return result;
} else {
sprintf(calibrationDir,"%s/CalibrationFiles",calibrationDir);
}
#if 0
// Clear all previously connected camera
vector<MCamera *>::iterator camsIterator;
for (camsIterator = m_vCameras.begin(); camsIterator != m_vCameras.end();
camsIterator++)
{
free (*camsIterator);
}
if (mCurrCam != NULL) free(mCurrCam);
if (mFailedCam != NULL) free(mFailedCam);
#endif */
result = Cameras_AttachAvailableCameras( calibrationDir);
if ( result != mtOK) return result;
// Number of the attached cameras
this->m_attachedCamNums = Cameras_Count();
if (this->m_attachedCamNums <=0) return -1;
mtHandle camHandle = 0;
// Populate the array of camera that are already attached
for (int c=0; c < this->m_attachedCamNums; c++)
{
if ( c > MaxCameras) break;
Cameras_ItemGet( c , &camHandle);
m_vCameras.push_back( new MCamera(camHandle));
}
return result;
}
