mitkInvariantPointCalibration.h

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/*=============================================================================

  NifTK: A software platform for medical image computing.

  Copyright (c) University College London (UCL). All rights reserved.

  This software is distributed WITHOUT ANY WARRANTY; without even
  the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
  PURPOSE.

  See LICENSE.txt in the top level directory for details.

=============================================================================*/

#ifndef mitkInvariantPointCalibration_h
#define mitkInvariantPointCalibration_h

#include "niftkOpenCVExports.h"
#include <string>
#include <itkObject.h>
#include <itkObjectFactory.h>
#include <mitkCommon.h>
#include <mitkVector.h>
#include <cv.h>
#include <mitkTimeStampsContainer.h>
#include <mitkTrackingAndTimeStampsContainer.h>
#include <itkInvariantPointCalibrationCostFunction.h>

namespace mitk {

class NIFTKOPENCV_EXPORT InvariantPointCalibration : public itk::Object
{

public:

  mitkClassMacroItkParent(InvariantPointCalibration, itk::Object)

  typedef mitk::TimeStampsContainer::TimeStamp TimeStampType;

  void SetInvariantPoint(const mitk::Point3D& point);
  mitk::Point3D GetInvariantPoint() const;

  void SetOptimiseInvariantPoint(const bool&);
  bool GetOptimiseInvariantPoint() const;

  void SetTimingLag(const double& timeStamp);
  void SetAllowableTimingError(const TimeStampsContainer::TimeStamp& maxError);
  double GetTimingLag();

  void SetOptimiseTimingLag(const bool&);
  bool GetOptimiseTimingLag() const;

  void SetRigidTransformation(const cv::Matx44d& rigidBodyTrans);
  cv::Matx44d GetRigidTransformation() const;

  void SetRigidTransformationParameters(const std::vector<double>& rigidBodyTrans);

  void SetOptimiseRigidTransformation(const bool&);
  bool GetOptimiseRigidTransformation() const;

  void SetVerbose(const bool&);
  bool GetVerbose() const;

  void LoadRigidTransformation(const std::string& fileName);

  void SaveRigidTransformation(const std::string& fileName);

  void SetTrackingData(mitk::TrackingAndTimeStampsContainer* trackingData);

  void SetPointData(std::vector< std::pair<unsigned long long, cv::Point3d> >* pointData);

  virtual double Calibrate() = 0;

protected:

  InvariantPointCalibration();
  virtual ~InvariantPointCalibration();

  InvariantPointCalibration(const InvariantPointCalibration&); // Purposefully not implemented.
  InvariantPointCalibration& operator=(const InvariantPointCalibration&); // Purposefully not implemented.

protected:

  itk::InvariantPointCalibrationCostFunction::Pointer        m_CostFunction; // constructor in derived classes MUST create one.
  std::vector< std::pair<unsigned long long, cv::Point3d> > *m_PointData;
  mitk::TrackingAndTimeStampsContainer                      *m_TrackingData;

}; // end class

} // end namespace

#endif