developer_doc/22.09/cx_bronchoscope_position_projection_8h_source.html

#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