mitkVideoTrackerMatching.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 mitkVideoTrackerMatching_h
#define mitkVideoTrackerMatching_h

#include "niftkOpenCVExports.h"
#include <mitkOpenCVPointTypes.h>
#include <cv.h>
#include <itkObject.h>
#include <itkObjectFactory.h>
#include <mitkCommon.h>
#include "mitkTimeStampsContainer.h"
#include "mitkTrackingAndTimeStampsContainer.h"

namespace mitk
{

class NIFTKOPENCV_EXPORT VideoTrackerMatching : public itk::Object
{
public: 
  mitkClassMacroItkParent ( VideoTrackerMatching, itk::Object)
  itkNewMacro (VideoTrackerMatching)

  
  void Initialise (std::string directory);

  cv::Mat GetTrackerMatrix ( unsigned int FrameNumber, long long * TimingError = NULL, unsigned int TrackerIndex = 0, 
      int ReferenceIndex = -1);

  cv::Mat GetCameraTrackingMatrix ( unsigned int FrameNumber, long long * TimingError = NULL, unsigned int TrackerIndex = 0 , std::vector <double> * Perturbation = NULL , int ReferenceIndex = -1 );

  cv::Mat GetVideoFrame ( unsigned int FrameNumber, unsigned long long * TimingStamp = NULL );

  unsigned long long GetVideoFrameTimeStamp ( unsigned int FrameNumber );

  bool IsReady () 
  { 
    return m_Ready;
  } 
  
  itkSetMacro (FlipMatrices, bool);

  itkSetMacro (WriteTimingErrors, bool);

  itkSetMacro (HaltOnFrameSkip, bool);
  
  itkSetMacro (InterpolateMatrices, bool);

  itkGetMacro (FrameMap, std::string);

  int GetNumberOfFrames () 
  {
    return m_FrameNumbers.size();
  }

  void SetVideoLagMilliseconds(unsigned long long VideoLag, bool VideoLeadsTracking =false, int trackerIndex = -1);

  void SetCameraToTracker( cv::Mat, int trackerIndex = -1 );

  /*
   * \brief Convienient way to set the camera to tracker matrices where multiple tracking 
   * directories are present. File contains camera to tracker matrices in same order as 
   * tracker indices
   */
  void SetCameraToTrackers ( std::string filename );

  /*
   * \brief Return the size of the TrackingMatrices vector (how many tracker indeces are available)
   */
  unsigned int GetTrackingMatricesSize ();


protected:
  VideoTrackerMatching();
  virtual ~VideoTrackerMatching();

  VideoTrackerMatching(const VideoTrackerMatching&); // Purposefully not implemented.
  VideoTrackerMatching& operator=(const VideoTrackerMatching&); // Purposefully not implemented.
  
  std::vector<unsigned int>             m_FrameNumbers;
  TimeStampsContainer                   m_VideoTimeStamps;
  bool                                  m_Ready;
  bool                                  m_FlipMatrices;
  bool                                  m_WriteTimingErrors;
  bool                                  m_InterpolateMatrices;
  std::string                           m_Directory;

  std::vector < mitk::WorldPointsWithTimingError >  ReadPointsInLensCSFile (std::string filename, 
      int PointsPerFrame = 1 ,
      std::vector < mitk::ProjectedPointPairsWithTimingError >* onScreenPoints = NULL);
  
private:
  
  std::vector<mitk::TrackingAndTimeStampsContainer>     m_TrackingMatricesAndTimeStamps;
  std::vector< std::vector<long long> >                 m_TimingErrors; //for each frame a set of timing errors
  std::vector<std::string>                              m_TrackingMatrixDirectories;
  std::string                                           m_FrameMap;

  void                                                  ProcessFrameMapFile();
  bool                                                  CheckTimingErrorStats();
  bool                                                  m_HaltOnFrameSkip;
  std::vector<cv::Mat>                                  m_CameraToTracker;

  std::vector <unsigned long long>                      m_VideoLag; //the delay between the tracking and video data
  std::vector <bool>                                    m_VideoLeadsTracking; //if the video lag is negative, set this to true

};


} // namespace


#endif // niftkVideoTrackerMatching_h