IGSTK
/build/buildd/igstk-4.4.0/Source/igstkMicronTracker.h
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00001 /*=========================================================================
00002 
00003   Program:   Image Guided Surgery Software Toolkit
00004   Module:    $RCSfile: igstkMicronTracker.h,v $
00005   Language:  C++
00006   Date:      $Date: 2008-11-17 20:12:25 $
00007   Version:   $Revision: 1.4 $
00008 
00009   Copyright (c) ISC  Insight Software Consortium.  All rights reserved.
00010   See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details.
00011 
00012      This software is distributed WITHOUT ANY WARRANTY; without even
00013      the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00014      PURPOSE.  See the above copyright notices for more information.
00015 
00016 =========================================================================*/
00017 
00018 #ifndef __igstkMicronTracker_h
00019 #define __igstkMicronTracker_h
00020 
00021 #ifdef _MSC_VER
00022 #pragma warning ( disable : 4018 )
00023 //Warning about: identifier was truncated to '255' characters in the debug
00024 //information (MVC6.0 Debug)
00025 #pragma warning( disable : 4284 )
00026 #endif
00027 
00028 #include "igstkTracker.h"
00029 
00030 //
00031 // MicronTracker utilitiy classes declarations.
00032 // These classes are part of the MTC library
00033 // and can be found in the Utilities subdirectory.
00034 //
00035 class Markers;
00036 class Marker;
00037 class Persistence;
00038 class Cameras;
00039 class MCamera;
00040 class Facet;
00041 class Xform3D;
00042 
00043 #include <map>
00044 
00045 namespace igstk {
00046 
00060 class MicronTracker : public Tracker
00061 {
00062 public:
00064   igstkStandardClassTraitsMacro( MicronTracker, Tracker )
00065 
00066 public:
00067 
00069   igstkGetMacro( NumberOfTools, unsigned int );
00070 
00074   igstkSetStringMacro( CameraCalibrationFilesDirectory );
00075 
00080   igstkSetStringMacro( InitializationFile );
00081 
00083   igstkSetStringMacro( MarkerTemplatesDirectory );
00084 
00085 protected:
00086 
00087   MicronTracker(void);
00088 
00089   virtual ~MicronTracker(void);
00090 
00092   typedef Tracker::ResultType   ResultType;
00093 
00095   virtual ResultType InternalOpen( void );
00096 
00098   virtual ResultType InternalClose( void );
00099 
00101   virtual ResultType InternalStartTracking( void );
00102 
00104   virtual ResultType InternalStopTracking( void );
00105 
00107   virtual ResultType InternalUpdateStatus( void );
00108 
00111   virtual ResultType InternalThreadedUpdateStatus( void );
00112 
00114   virtual ResultType InternalReset( void );
00115 
00117   virtual ResultType VerifyTrackerToolInformation( const TrackerToolType * );
00118 
00121   virtual ResultType ValidateSpecifiedFrequency( double frequencyInHz );
00122 
00124   virtual void PrintSelf( std::ostream& os, itk::Indent indent ) const;
00125 
00128   static void CreateErrorCodeList();
00129 
00131   static std::string GetErrorDescription( unsigned int );
00132 
00134   virtual ResultType RemoveTrackerToolFromInternalDataContainers( const
00135                                      TrackerToolType * trackerTool );
00136 
00138   virtual ResultType AddTrackerToolToInternalDataContainers( const
00139                                      TrackerToolType * trackerTool );
00140 
00141 private:
00142 
00143   MicronTracker(const Self&);   //purposely not implemented
00144   void operator=(const Self&);   //purposely not implemented
00145 
00148   bool Initialize();
00149 
00151   bool LoadMarkerTemplates();
00152 
00154   bool SetUpCameras();
00155 
00157   itk::MutexLock::Pointer  m_BufferLock;
00158 
00160   unsigned int   m_NumberOfTools;
00161 
00163   std::string m_CameraCalibrationFilesDirectory;
00164 
00166   std::string m_InitializationFile;
00167 
00169   std::string m_MarkerTemplatesDirectory;
00170 
00171   Persistence * m_Persistence;
00172   Markers     * m_Markers;
00173   Cameras     * m_Cameras;
00174   MCamera     * m_SelectedCamera;
00175 
00177   double        m_CameraLightCoolness;
00178 
00180   typedef std::map< std::string, std::vector < double > >
00181                                 TrackerToolTransformContainerType;
00182 
00183   TrackerToolTransformContainerType     m_ToolTransformBuffer;
00184 
00186   typedef std::map< unsigned int, std::string>  ErrorCodeContainerType;
00187   static ErrorCodeContainerType   m_ErrorCodeContainer;
00188 
00190   static bool m_ErrorCodeListCreated;
00191 
00193   std::map< std::string, int >  m_ToolStatusContainer;
00194 
00195 };
00196 
00197 }
00198 
00199 #endif //__igstk_MicronTracker_h_