mitkTrackingAndTimeStampsContainer.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 mitkTrackingAndTimeStampsContainer_h
#define mitkTrackingAndTimeStampsContainer_h

#include "niftkOpenCVUtilsExports.h"
#include "mitkTimeStampsContainer.h"

namespace mitk
{

class NIFTKOPENCVUTILS_EXPORT TrackingAndTimeStampsContainer
{
public:

  void Clear();

  int LoadFromDirectory(const std::string& dirName, const bool& haltOnMatrixReadFail);

  int SaveToDirectory(const std::string& dirName);

  void Insert(const TimeStampsContainer::TimeStamp& timeStamp, const cv::Matx44d& matrix);

  TimeStampsContainer::TimeStamp GetTimeStamp(std::vector<TimeStampsContainer::TimeStamp>::size_type frameNumber) const;

  cv::Matx44d GetMatrix(std::vector<TimeStampsContainer::TimeStamp>::size_type frameNumber) const;

  std::vector<TimeStampsContainer::TimeStamp>::size_type GetSize() const;

  std::vector<TimeStampsContainer::TimeStamp>::size_type GetFrameNumber(const TimeStampsContainer::TimeStamp& timeStamp) const;

  TimeStampsContainer::TimeStamp GetNearestTimeStamp(const TimeStampsContainer::TimeStamp& timeStamp, long long *delta = NULL ) const;

  cv::Matx44d InterpolateMatrix(const TimeStampsContainer::TimeStamp& timeStamp,
      long long& minError, bool& inBounds);

  cv::Matx44d GetNearestMatrix(const TimeStampsContainer::TimeStamp& timeStamp,
      long long& error, bool& inBounds);

private:

  mitk::TimeStampsContainer  m_TimeStamps;
  std::vector<cv::Matx44d>   m_TrackingMatrices;
  bool                       m_HaltOnMatrixReadError;

};

} // end namespace

#endif