cxBronchoscopePositionProjection.h

Go to the documentation of this file.

#ifndef CXBRONCHOSCOPEPOSITIONPROJECTION_H
#define CXBRONCHOSCOPEPOSITIONPROJECTION_H

#include "org_custusx_bronchoscopynavigation_Export.h"
#include "cxMesh.h"
#include <QDomElement>


namespace cx
{

typedef std::vector< Eigen::Matrix4d > M4Vector;
typedef boost::shared_ptr<class BronchoscopePositionProjection> BronchoscopePositionProjectionPtr;
typedef boost::shared_ptr<class BranchList> BranchListPtr;
typedef boost::shared_ptr<class Branch> BranchPtr;


class org_custusx_bronchoscopynavigation_EXPORT BronchoscopePositionProjection
{
public:
        BronchoscopePositionProjection();
    BronchoscopePositionProjection(vtkPolyDataPtr centerline, Transform3D prMd);
                void setRunFromWidget(bool runFromWidget);
        virtual ~BronchoscopePositionProjection();
        void setAdvancedCenterlineOption(bool useAdvancedCenterlineProjection);
        void createMaxDistanceToCenterlineOption(QDomElement root);
        DoublePropertyPtr getMaxDistanceToCenterlineOption();
        double getMaxDistanceToCenterlineValue();
        void createMaxSearchDistanceOption(QDomElement root);
        DoublePropertyPtr getMaxSearchDistanceOption();
        double getMaxSearchDistanceValue();
        void createAlphaOption(QDomElement root);
        DoublePropertyPtr getAlphaOption();
        double getAlphaValue();
        Eigen::MatrixXd getCenterlinePositions(vtkPolyDataPtr centerline, Transform3D rMd);
        void processCenterline(vtkPolyDataPtr centerline, Transform3D rMd, Transform3D rMpr);
        void setBranchList(BranchListPtr branchList, Transform3D rMpr);
        void setMaxDistanceToCenterline(double maxDistance);
        void setMaxSearchDistance(double maxDistance);
        void setAlpha(double alpha);
        Transform3D findClosestPoint(Transform3D prMt, double maxDistance);
        Transform3D findClosestPointInBranches(Transform3D prMt, double maxDistance);
        Transform3D findClosestPointInSearchPositions(Transform3D prMt, double maxDistance);
        void findSearchPositions(double maxSearchDistance);
        void searchBranchUp(BranchPtr searchBranchPtr, int startIndex, double currentSearchDistance, double maxSearchDistance);
        void searchBranchDown(BranchPtr searchBranchPtr, int startIndex, double currentSearchDistance, double maxSearchDistance);
        Transform3D findProjectedPoint(Transform3D prMt, double maxDistance, double maxSearchDistance);
        bool isAdvancedCenterlineProjectionSelected();
        Transform3D updateProjectedCameraOrientation(Transform3D prMt, BranchPtr branch, int index);

private:
        bool isPreviousProjectedPointSet;
        Eigen::MatrixXd mCLpoints;
        DoublePropertyPtr mMaxDistanceToCenterline;
        DoublePropertyPtr mMaxSearchDistance;
        DoublePropertyPtr mAlpha;
        double mMaxDistanceToCenterlineValue;
        double mMaxSearchDistanceValue;
        double mAlphaValue;
        BranchListPtr mBranchListPtr;
        BranchPtr mProjectedBranchPtr;
        int mProjectedIndex;
        std::vector<BranchPtr> mSearchBranchPtrVector;
        std::vector<int> mSearchIndexVector;
        bool mUseAdvancedCenterlineProjection;
        Vector3D mProjectedViewDirection;
        Transform3D m_rMpr;
        bool mRunFromWidget = true;
};
double findDistance(Eigen::MatrixXd p1, Eigen::MatrixXd p2);
double findDistanceWithOrientation(Eigen::VectorXd p1, Eigen::VectorXd p2, Eigen::VectorXd o1, Eigen::VectorXd o2, double alpha);

} /* namespace cx */

#endif // CXBRONCHOSCOPEPOSITIONPROJECTION_H