cxVBcameraPath.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 CXVBCAMERAPATH_H
#define CXVBCAMERAPATH_H

#include <QObject>
#include <QElapsedTimer>

#include "cxForwardDeclarations.h"
#include "cxVector3D.h"
#include "cxTransform3D.h"
#include "org_custusx_virtualbronchoscopy_Export.h"

typedef vtkSmartPointer<class vtkCardinalSpline> vtkCardinalSplinePtr;
typedef vtkSmartPointer<class vtkParametricSpline> vtkParametricSplinePtr;

namespace cx {

class CXVBcameraPath : public QObject
{
        Q_OBJECT

private:
        vtkParametricSplinePtr mSpline;
        TrackingServicePtr mTrackingService;
        PatientModelServicePtr mPatientModelService;
        ViewServicePtr mViewService;
        ToolPtr mManualTool;

        int mNumberOfInputPoints;
        int mNumberOfControlPoints;
        Vector3D mLastCameraPos_r;
        Vector3D mLastCameraFocus_r;
        Vector3D mLastStoredViewVector;
        double mLastCameraViewAngle;
        double mLastCameraRotAngle;
        double mPositionPercentage;
        bool mAutomaticRotation;
        bool mWritePositionsToFile;
        QString mPositionsFilePath;
        QElapsedTimer mTimeSinceStartRecording;

        std::vector< Eigen::Vector3d > mRoutePositions;
        std::vector< double > mCameraRotations;
        std::vector< double > mCameraRotationsSmoothed;
        std::vector< int > mBranchingIndex;

        void updateManualToolPosition();
        void generateSplineCurve(MeshPtr mesh);
        void generateSplineCurve(std::vector< Eigen::Vector3d > routePositions);
        std::vector< double > smoothCameraRotations(std::vector< double > cameraRotations);
        void writePositionToFile(Transform3D prMt);

public:
        CXVBcameraPath(TrackingServicePtr tracker, PatientModelServicePtr patientModel, ViewServicePtr visualization);

        void setRoutePositions(std::vector< Eigen::Vector3d > routePositions);
        void setCameraRotations(std::vector< double > cameraRotations);
        void setBranchingIndexAlongRoute(std::vector< int > branchingIndex);
        void setAutomaticRotation(bool automaticRotation);
        void setWritePositionsToFile(bool write);
        void setWritePositionsFilePath(QString path);

signals:
        void rotationChanged(int value);

public slots:
        void cameraRawPointsSlot(MeshPtr mesh);
        void cameraPathPositionSlot(int positionPermillage);
        void cameraViewAngleSlot(int angle);
        void cameraRotateAngleSlot(int angle);

};

        double org_custusx_virtualbronchoscopy_EXPORT positionPercentageAdjusted(double positionPercentage);

} /* namespace cx */

#endif // CXVBCAMERAPATH_H