cxLapFrameToolCalibrationWidget.h

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

Copyright (c) 2008-2014, SINTEF Department of Medical Technology
All rights reserved.

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   this list of conditions and the following disclaimer.

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   may be used to endorse or promote products derived from this software 
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#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_ */