mitkPivotCalibration.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 mitkPivotCalibration_h
#define mitkPivotCalibration_h

#include "niftkOpenCVExports.h"
#include <string>
#include <itkObject.h>
#include <itkObjectFactory.h>
#include <mitkCommon.h>
#include <mitkVector.h>
#include <cv.h>
#include <vtkMatrix4x4.h>

namespace mitk {

class NIFTKOPENCV_EXPORT PivotCalibration : public itk::Object
{

public:

  mitkClassMacroItkParent(PivotCalibration, itk::Object)
  itkNewMacro(PivotCalibration)

  itkSetMacro(SingularValueThreshold, double);
  itkGetMacro(SingularValueThreshold, double);

  void CalibrateUsingFilesInDirectories(
      const std::string& matrixDirectory,
      double &residualError,
      vtkMatrix4x4& outputMatrix,
      const int& percentage = 100,
      const int& reruns = 100
      );

  void Calibrate(
      const std::vector< cv::Mat >& matrices,
      cv::Matx44d& outputMatrix,
      double& residualError,
      const int& percentage = 100,
      const int& reruns = 100
      );

protected:

  PivotCalibration();
  virtual ~PivotCalibration();

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

private:

  void DoCalibration(
    const std::vector< cv::Mat >& matrices,
    cv::Matx44d& outputMatrix,
    double& residualError
    );

  double m_SingularValueThreshold;

}; // end class

} // end namespace

#endif