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/*=========================================================================
Program: OpenIGTLink -- Example for Tracker Client Program
Language: C++
Copyright (c) Insight Software Consortium. All rights reserved.
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.
=========================================================================*/
#include <iostream>
#include <math.h>
#include <cstdlib>
#include "igtlOSUtil.h"
#include "igtlTransformMessage.h"
#include "igtlClientSocket.h"
#define MAX_DEVICE 4
void GetRandomTestMatrix(igtl::Matrix4x4& matrix, float phi, float theta);
int main(int argc, char* argv[])
{
//------------------------------------------------------------
// Parse Arguments
if (argc < 4 || argc > 4 + MAX_DEVICE) // check number of arguments
{
// If not correct, print usage
std::cerr << "Usage: " << argv[0] << " <hostname> <port> <fps> [<devname 1> .. <devname N>]" << std::endl;
std::cerr << " <hostname> : IP or host name" << std::endl;
std::cerr << " <port> : Port # (18944 in Slicer default)" << std::endl;
std::cerr << " <fps> : Frequency (fps) to send coordinate" << std::endl;
std::cerr << " <devname 1> .. <devname N>: Device names (N < " << MAX_DEVICE << ")" << std::endl;
exit(0);
}
char* hostname = argv[1];
int port = atoi(argv[2]);
double fps = atof(argv[3]);
int interval = (int) (1000.0 / fps);
int numdev = argc - 4;
const char* devicename[4];
if (numdev == 0)
{
numdev = 1;
devicename[0] = "Tracker";
}
else
{
for (int i = 0; i < numdev; i ++)
{
devicename[i] = argv[i+4];
}
}
//------------------------------------------------------------
// Establish Connection
igtl::ClientSocket::Pointer socket;
socket = igtl::ClientSocket::New();
int r = socket->ConnectToServer(hostname, port);
if (r != 0)
{
std::cerr << "Cannot connect to the server." << std::endl;
exit(0);
}
//------------------------------------------------------------
// Allocate Transform Message Class
igtl::TransformMessage::Pointer transMsg;
transMsg = igtl::TransformMessage::New();
float phi[MAX_DEVICE];
float theta[MAX_DEVICE];
float incr[MAX_DEVICE];
for (int i = 0; i < numdev; i ++)
{
phi[i] = 0.3*(float)i;
theta[i] = 0.2*(float)i;
incr[i] = 0.5*(float)(i+1);
}
//------------------------------------------------------------
// loop
igtl::TimeStamp::Pointer ts = igtl::TimeStamp::New();
while (1)
{
for (int i = 0; i < numdev; i ++)
{
transMsg->SetDeviceName(devicename[i]);
igtl::Matrix4x4 matrix;
GetRandomTestMatrix(matrix, phi[i], theta[i]);
transMsg->SetMatrix(matrix);
ts->GetTime();
transMsg->SetTimeStamp(ts);
transMsg->Pack();
igtlUint32 sec;
igtlUint32 nsec;
ts->GetTimeStamp(&sec, &nsec);
std::cerr << "Time Stamp: sec = " << sec << ", nsec = " << nsec << std::endl;
socket->Send(transMsg->GetPackPointer(), transMsg->GetPackSize());
phi[i] = phi[i] + 0.2*incr[i];
theta[i] = theta[i] + 0.1*incr[i];
}
igtl::Sleep(interval); // wait
}
//------------------------------------------------------------
// Close connection
socket->CloseSocket();
}
//------------------------------------------------------------
// Function to generate random matrix.
void GetRandomTestMatrix(igtl::Matrix4x4& matrix, float phi, float theta)
{
float position[3];
float orientation[4];
// random position
position[0] = 50.0 * cos(phi);
position[1] = 50.0 * sin(phi);
position[2] = 50.0 * cos(phi);
// random orientation
orientation[0]=0.0;
orientation[1]=0.6666666666*cos(theta);
orientation[2]=0.577350269189626;
orientation[3]=0.6666666666*sin(theta);
//igtl::Matrix4x4 matrix;
igtl::QuaternionToMatrix(orientation, matrix);
matrix[0][3] = position[0];
matrix[1][3] = position[1];
matrix[2][3] = position[2];
igtl::PrintMatrix(matrix);
}
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