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/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: OneViewAndTrackingUsingMicronTracker.cxx,v $
Language: C++
Date: $Date: 2009-06-12 15:23:31 $
Version: $Revision: 1.1 $
Copyright (c) ISC Insight Software Consortium. All rights reserved.
See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#if defined(_MSC_VER)
// Warning about: identifier was truncated to '255' characters
// in the debug information (MVC6.0 Debug)
#pragma warning( disable : 4284 )
#endif
#include "OneViewAndTrackingUsingMicronTrackerImplementation.h"
#include "igstkView3D.h"
#include "igstkEllipsoidObject.h"
#include "igstkCylinderObject.h"
#include "igstkEllipsoidObjectRepresentation.h"
#include "igstkCylinderObjectRepresentation.h"
int main(int argc, char** argv )
{
igstk::RealTimeClock::Initialize();
if( argc < 4 )
{
std::cerr << " Usage: " << argv[0] << "\t"
<< "MicronTracker_Camera_Calibration_file" << "\t"
<< "MicronTracker_initialization_file" << "\t"
<< "Marker_template_directory " << std::endl;
return EXIT_FAILURE;
}
OneViewAndTrackingUsingMicronTrackerImplementation application;
// Create the ellipsoid
igstk::EllipsoidObject::Pointer ellipsoid = igstk::EllipsoidObject::New();
ellipsoid->SetRadius(200,200,300); // about a human skull
double validityTimeInMilliseconds = 1e20; // in seconds
igstk::Transform transform;
igstk::Transform::VectorType translation;
translation[0] = 0.0;
translation[1] = 0.0;
translation[2] = 0.0;
igstk::Transform::VersorType rotation;
rotation.Set( 0.0, 0.0, 0.0, 1.0 );
igstk::Transform::ErrorType errorValue = 0.01; // 10 microns
transform.SetTranslationAndRotation(
translation, rotation, errorValue, validityTimeInMilliseconds );
std::cout << "Transform to static ellipsoid = " << transform << std::endl;
// Create the ellipsoid representation
igstk::EllipsoidObjectRepresentation::Pointer
ellipsoidRepresentation = igstk::EllipsoidObjectRepresentation::New();
ellipsoidRepresentation->RequestSetEllipsoidObject( ellipsoid );
ellipsoidRepresentation->SetColor(0.0,1.0,0.0);
ellipsoidRepresentation->SetOpacity(1.0);
// Create the cylinder
igstk::CylinderObject::Pointer cylinder = igstk::CylinderObject::New();
cylinder->SetRadius(1.0);
cylinder->SetHeight(300.0);
// Create the cylinder representation
igstk::CylinderObjectRepresentation::Pointer
cylinderRepresentation = igstk::CylinderObjectRepresentation::New();
cylinderRepresentation->RequestSetCylinderObject( cylinder );
cylinderRepresentation->SetColor(1.0,0.0,0.0);
cylinderRepresentation->SetOpacity(1.0);
// instantiate a 3D view
typedef igstk::View3D View3DType;
View3DType::Pointer view3D = View3DType::New();
// set a logger
view3D->SetLogger( application.GetLogger() );
// Make the view the parent of the tracker
application.AttachTrackerToView( view3D );
view3D->RequestAddObject( ellipsoidRepresentation );
view3D->RequestAddObject( cylinderRepresentation );
application.Display3D->RequestSetView( view3D );
application.Show();
std::string CameraCalibrationFileDirectory = argv[1];
std::string InitializationFile = argv[2];
std::string markerTemplateDirectory = argv[3];
application.InitializeTracker(
InitializationFile,
CameraCalibrationFileDirectory,
markerTemplateDirectory );
application.ConfigureTrackerToolsAndAttachToTheTracker();
// Associate the cylinder spatial object to the first tracker tool
application.AttachObjectToTrackerTool ( 1, cylinder );
// Associate the ellispsoid spatial object to the second tracker tool
application.AttachObjectToTrackerTool ( 2, ellipsoid );
igstk::Transform toolTransform;
igstk::Transform::VectorType position;
// Set the refresh rate and start
// the pulse generators of the views.
view3D->SetRefreshRate( 30 );
view3D->RequestResetCamera();
view3D->RequestStart();
while( !application.HasQuitted() )
{
Fl::wait(0.001);
igstk::PulseGenerator::CheckTimeouts();
if( application.IsTrackingTurnedOn())
{
application.GetTrackerToolTransform( 1, toolTransform );
position = toolTransform.GetTranslation();
std::cout << "Trackertool1:"
<< " Position = (" << position[0]
<< "," << position[1] << "," << position[2]
<< ")" << std::endl;
application.GetTrackerToolTransform( 2, toolTransform );
position = toolTransform.GetTranslation();
std::cout << "Trackertool2:"
<< " Position = (" << position[0]
<< "," << position[1] << "," << position[2]
<< ")" << std::endl;
}
}
return EXIT_SUCCESS;
}
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