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;
}
//=======================================================
// SetCameraParams
//=======================================================
bool mitk::OptitrackTrackingDevice::SetCameraParams(int exposure, int threshold , int intensity, int videoType )
{
MITK_DEBUG << "SetCameraParams";
if(this->m_initialized)
{
int num_cams = 0;
int resultUpdate;
bool resultSetCameraSettings;
for( int i=OPTITRACK_ATTEMPTS; i>0; i--)
{
resultUpdate = TT_Update(); // Get Update for the Optitrack API
if(resultUpdate == NPRESULT_SUCCESS)
{
MITK_DEBUG << "Update Succeed";
num_cams = TT_CameraCount();
i = 0;
}
else
{
MITK_DEBUG << mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(resultUpdate);
MITK_DEBUG << "Trying again...";
Sleep(30);
}
}
// If no cameras are connected
if(num_cams == 0)
{
MITK_DEBUG << "No cameras are connected to the device";
return false;
mitkThrowException(mitk::IGTException) << "No cameras are connected to the device";
}
for(int cam = 0; cam < num_cams; cam++) // for all connected cameras
{
for( int i=OPTITRACK_ATTEMPTS; i>0; i--)
{
resultUpdate = TT_Update(); // Get Update for the Optitrack API
if(resultUpdate == NPRESULT_SUCCESS)
{
MITK_DEBUG << "Update Succeed for camera number " << cam;
resultSetCameraSettings = TT_SetCameraSettings(cam,videoType,exposure,threshold,intensity);
if(resultSetCameraSettings)
{
MITK_INFO << "Camera # "<<cam<< " params are set";
i = 0; // End attempts for camera #cam
}
else
{
MITK_DEBUG << mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(resultSetCameraSettings);
if(i == 1)
mitkThrowException(mitk::IGTException) << "Camera number " << cam << " failed during setting the params. Error: " << mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(resultSetCameraSettings);
}
}
else
{
MITK_DEBUG << mitk::OptitrackErrorMessages::GetOptitrackErrorMessage(resultUpdate);
MITK_DEBUG << "Update: Trying again...";
}
}
}
}
else
{
MITK_INFO << "System is not Initialized -> System is not ready to perform the Camera Parameters Setting";
mitkThrowException(mitk::IGTException) << "System is not Initialized -> System is not ready to perform the Camera Parameters Setting";
return false;
}
return true;
}
