niftkHandeyeCalibrateUsingRegistration.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 niftkHandeyeCalibrateUsingRegistration_h
#define niftkHandeyeCalibrateUsingRegistration_h

#include <niftkPointRegExports.h>
#include <string>
#include <itkObject.h>
#include <itkObjectFactory.h>
#include <mitkCommon.h>
#include <mitkPointSet.h>
#include <vtkMatrix4x4.h>
#include <cv.h>

namespace niftk {

class NIFTKPOINTREG_EXPORT HandeyeCalibrateUsingRegistration : public itk::Object
{

public:

  mitkClassMacroItkParent(HandeyeCalibrateUsingRegistration, itk::Object)
  itkNewMacro(HandeyeCalibrateUsingRegistration)
  
  
  void Calibrate (
    const std::string& modelInputFile,
    const std::string& modelTrackingDirectory,
    const std::string& cameraPointsDirectory,
    const std::string& handTrackingDirectory,
    const double& distanceThreshold,
    const double& fiducialRegistrationThreshold,
    const std::string& outputMatrixFile
  );

  void Calibrate (
    const mitk::PointSet& modelPointSet,
    const std::vector<cv::Mat>& modelTrackingMatrices,
    const std::vector<cv::Mat>& handTrackingMatrices,
    const std::vector<mitk::PointSet::Pointer>& pointsInCameraSpace,
    const double& distanceThreshold,
    const double& fiducialRegistrationThreshold,
    vtkMatrix4x4& outputMatrix
  );

protected:

  HandeyeCalibrateUsingRegistration();
  virtual ~HandeyeCalibrateUsingRegistration();

  HandeyeCalibrateUsingRegistration(const HandeyeCalibrateUsingRegistration&);
  HandeyeCalibrateUsingRegistration& operator=(const HandeyeCalibrateUsingRegistration&);

private:

}; // end class

} // end namespace

#endif