vtkPlusProbeCalibrationOptimizerAlgo.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 __vtkPlusProbeCalibrationOptimizerAlgo_h
#define __vtkPlusProbeCalibrationOptimizerAlgo_h

#include "PlusConfigure.h"

#include "vtkObject.h"

#include "PlusFidPatternRecognitionCommon.h"

#include <set>

class vtkXMLDataElement;
class vtkPlusProbeCalibrationAlgo;

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

class vtkPlusProbeCalibrationOptimizerAlgo : public vtkObject
{

public:
  
  /* Choose one of the posible metrics*/
  enum OptimizationMethodType 
  {
    MINIMIZE_NONE,
    MINIMIZE_DISTANCE_OF_MIDDLE_WIRES_IN_3D,
    MINIMIZE_DISTANCE_OF_ALL_WIRES_IN_2D
  };  

  vtkTypeMacro(vtkPlusProbeCalibrationOptimizerAlgo,vtkObject);
  static vtkPlusProbeCalibrationOptimizerAlgo *New();

  PlusStatus ReadConfiguration( vtkXMLDataElement* aConfig );

  bool Enabled();

  PlusStatus Update();

  PlusStatus SetInputDataForMiddlePointMethod(std::vector< vnl_vector<double> > *calibrationMiddleWireIntersectionPointsPos_Image, std::vector< vnl_vector<double> > *calibrationMiddleWireIntersectionPointsPos_Probe, vnl_matrix_fixed<double,4,4> *imageToProbeTransformMatrix, std::set<int>* outliers);

  PlusStatus SetOptimizerDataUsingNWires(std::vector< vnl_vector<double> > *calibrationAllWiresIntersectionPointsPos_Image, std::vector<PlusNWire> *nWires, std::vector< vnl_matrix_fixed<double,4,4> > *probeToPhantomTransforms, vnl_matrix_fixed<double,4,4> *imageToProbeTransformMatrix, std::set<int>* outliers);

  vnl_matrix_fixed<double,4,4> GetOptimizedImageToProbeTransformMatrix();

  void ComputeError(const vnl_matrix_fixed<double,4,4> &imageToProbeTransformationMatrix, double &errorMean, double &errorStDev, double &errorRms);

  bool GetIsotropicPixelSpacing() { return this->IsotropicPixelSpacing; }
  void SetIsotropicPixelSpacing(bool isotropicPixelSpacing) { this->IsotropicPixelSpacing=isotropicPixelSpacing; }

  OptimizationMethodType GetOptimizationMethod() { return this->OptimizationMethod; }
  void SetOptimizationMethod(OptimizationMethodType optimizationMethod) { this->OptimizationMethod=optimizationMethod; }
  static const char* GetOptimizationMethodAsString(OptimizationMethodType type);

  void SetImageToProbeSeedTransform(const vnl_matrix_fixed<double,4,4> &imageToProbeTransformMatrix);

  void SetProbeCalibrationAlgo(vtkPlusProbeCalibrationAlgo* probeCalibrationAlgo);

protected:

  PlusStatus ShowTransformation(const vnl_matrix_fixed<double,4,4> &transformationMatrix);
  
  vtkPlusProbeCalibrationOptimizerAlgo();
  virtual  ~vtkPlusProbeCalibrationOptimizerAlgo();

protected:
  bool IsotropicPixelSpacing;

  OptimizationMethodType OptimizationMethod;

  vnl_matrix_fixed<double,4,4> ImageToProbeSeedTransformMatrix;

  vnl_matrix_fixed<double,4,4> ImageToProbeTransformMatrix;
   
  vtkPlusProbeCalibrationAlgo* ProbeCalibrationAlgo;

};

#endif