vtkPlusPhantomLandmarkRegistrationAlgo.h

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/*=Plus=header=begin======================================================
Program: Plus
Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
See License.txt for details.
=========================================================Plus=header=end*/ 

#ifndef __vtkPlusPhantomLandmarkRegistrationAlgo_h
#define __vtkPlusPhantomLandmarkRegistrationAlgo_h

#include "PlusConfigure.h"

#include "vtkPlusCalibrationExport.h"

#include "vtkMatrix4x4.h"
#include "vtkObject.h"
#include "vtkPoints.h"

//class vtkIGSIOTransformRepository;
class vtkXMLDataElement;

//-----------------------------------------------------------------------------

class vtkPlusCalibrationExport vtkPlusPhantomLandmarkRegistrationAlgo : public vtkObject
{
public:
  vtkTypeMacro(vtkPlusPhantomLandmarkRegistrationAlgo,vtkObject);
  static vtkPlusPhantomLandmarkRegistrationAlgo *New();

public:
  PlusStatus LandmarkRegister(vtkIGSIOTransformRepository* aTransformRepository = NULL);

  PlusStatus ReadConfiguration(vtkXMLDataElement* aConfig);

  std::string GetDefinedLandmarkName(int aIndex) { return this->DefinedLandmarkNames[aIndex]; };

  static std::string GetConfigurationElementName() { return vtkPlusPhantomLandmarkRegistrationAlgo::ConfigurationElementName; };

  double GetMinimunDistanceBetweenTwoLandmarksMm();

  void GetDefinedLandmarksCentroid_Phantom(double landmarksCentroid_Phantom[4]);

  void GetDefinedLandmarksCentroid_Reference(double landmarksAverage_Reference[4]);

  void GetLandmarkCameraPosition_Reference(int index, double cameraPosition_Reference[4]);

  void GetDefinedLandmark_Reference(int index, double cameraPosition_Reference[4]);

  void PrintRecordedLandmarks_Phantom();

public:

  vtkGetMacro(RegistrationErrorMm, double);

  vtkGetObjectMacro(PhantomToReferenceTransformMatrix, vtkMatrix4x4); 
  vtkSetObjectMacro(PhantomToReferenceTransformMatrix, vtkMatrix4x4);

  vtkGetObjectMacro(DefinedLandmarks_Phantom, vtkPoints);
  vtkGetObjectMacro(RecordedLandmarks_Reference, vtkPoints);

  vtkGetStringMacro(PhantomCoordinateFrame);
  vtkGetStringMacro(ReferenceCoordinateFrame);
  vtkGetStringMacro(StylusTipCoordinateFrame);

protected:
  PlusStatus ComputeError();

protected:
  vtkSetObjectMacro(DefinedLandmarks_Phantom, vtkPoints);

  vtkSetObjectMacro(RecordedLandmarks_Reference, vtkPoints);

  vtkSetStringMacro(PhantomCoordinateFrame);
  vtkSetStringMacro(ReferenceCoordinateFrame);
  vtkSetStringMacro(StylusTipCoordinateFrame);

protected:
  vtkPlusPhantomLandmarkRegistrationAlgo();
  virtual  ~vtkPlusPhantomLandmarkRegistrationAlgo();

protected:
  double minimumDistanceBetweenTwoLandmarksMm;

  vtkPoints* DefinedLandmarks_Phantom;

  std::vector<std::string>  DefinedLandmarkNames;

  vtkPoints* RecordedLandmarks_Reference;

  vtkMatrix4x4* PhantomToReferenceTransformMatrix;

  double RegistrationErrorMm;

  char* PhantomCoordinateFrame;

  char* ReferenceCoordinateFrame;

  char* StylusTipCoordinateFrame;

  static std::string ConfigurationElementName;

};

#endif