cxLapFrameToolCalibrationWidget.h

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.

Copyright (c) SINTEF Department of Medical Technology.
All rights reserved.

CustusX is released under a BSD 3-Clause license.

See Lisence.txt (https://github.com/SINTEFMedtek/CustusX/blob/master/License.txt) for details.
=========================================================================*/

#ifndef CXLAPFRAMETOOLCALIBRATIONWIDGET_H_
#define CXLAPFRAMETOOLCALIBRATIONWIDGET_H_

#include "org_custusx_calibration_Export.h"

#include "cxTransform3D.h"
#include "cxVector3D.h"
#include "cxBaseWidget.h"
#include "cxCoordinateSystemHelpers.h"
#include "cxForwardDeclarations.h"
#include "cxDoubleProperty.h"

class QPushButton;
class QGroupBox;
class QLineEdit;

namespace cx
{
typedef boost::shared_ptr<class VisServices> VisServicesPtr;
typedef boost::shared_ptr<class StringPropertySelectTool> StringPropertySelectToolPtr;

class org_custusx_calibration_EXPORT LapFrameToolCalibrationWidget : public BaseWidget
{
        Q_OBJECT

public:
        LapFrameToolCalibrationWidget(VisServicesPtr services, QWidget* parent);
        virtual ~LapFrameToolCalibrationWidget();

private slots:
        void calibrateSlot();
        void testCalibrationSlot();
        void toolSelectedSlot();
        void trackingStartedSlot();

private:
        VisServicesPtr mServices;
        QPushButton* mCalibrateButton;
        QLabel* mReferencePointLabel;
        QPushButton* mTestButton;
        QLabel* mCalibrationLabel;
        QLabel* mDeltaLabel;
        StringPropertySelectToolPtr mCalibRefTool;
        StringPropertySelectToolPtr mCalibratingTool;
        DoublePropertyPtr mCameraAngleAdapter;
};

class org_custusx_calibration_EXPORT LapFrameToolCalibrationCalculator
{
public:
        LapFrameToolCalibrationCalculator(ToolPtr tool, ToolPtr calRef, double cameraAngle);
        ~LapFrameToolCalibrationCalculator() {}

        Vector3D get_delta_ref(); 
        Transform3D get_calibration_sMt(); 

private:
        void useOnlyRotationalPart(Transform3D* transform);
        ToolPtr mTool; 
        ToolPtr mCalibrationRef; 
        Transform3D m_sMpr; 
        Transform3D m_qMpr; 
        Transform3D m_qMcr; 
        double mCameraAngle; 
};
}

#endif /* CXLAPFRAMETOOLCALIBRATIONWIDGET_H_ */