QmitkIGTNavigationToolCalibration.h

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/*============================================================================
 
The Medical Imaging Interaction Toolkit (MITK)
 
Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.
 
Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.
 
============================================================================*/
 
 
#ifndef QmitkIGTNavigationToolCalibration_h
#define QmitkIGTNavigationToolCalibration_h
 
#include <berryISelectionListener.h>
 
#include <QmitkAbstractView.h>
 
#include <mitkNavigationData.h>
 
#include "QmitkInteractiveTransformationWidget.h"
 
 
#include "ui_QmitkIGTNavigationToolCalibrationControls.h"
 
#include <mitkNavigationDataRecorder.h>
 
//QT headers
#include <QTimer>
 
 
class  QmitkIGTNavigationToolCalibration : public QmitkAbstractView
{
  // this is needed for all Qt objects that should have a Qt meta-object
  // (everything that derives from QObject and wants to have signal/slots)
  Q_OBJECT
 
public:
 
    QmitkIGTNavigationToolCalibration();
 
  ~QmitkIGTNavigationToolCalibration() override;
 
  static const std::string VIEW_ID;
 
  void CreateQtPartControl(QWidget *parent) override;
 
  protected slots:
 
 
  void OnAddPivotPose();
  void OnComputePivot();
  void OnUseComputedPivotPoint();
  void SetToolToCalibrate();
  void SetCalibrationPointer();
  void UpdateTrackingTimer();
  void AddLandmark();
  void SaveCalibratedTool();
  void OnToolCalibrationMethodChanged(int index);
  void OnStartManualToolTipCalibration();
  void OnRunSingleRefToolCalibrationClicked();
  void OnLoginSingleRefToolNavigationDataClicked();
  void OnSetNewToolTipPosButtonClicked();
  void OnGetPositions();
  void OnCalibrateToolAxis();
  void OnToolAxisSpinboxChanged();
  void OnManualEditToolTipFinished(mitk::AffineTransform3D::Pointer toolTip);
 
protected:
 
  void SetFocus() override;
 
  void UpdateOffsetCoordinates();
 
  int m_IndexCurrentCalibrationMethod;
 
  Ui::IGTNavigationToolCalibrationControls m_Controls;
 
  //some general members
  mitk::NavigationTool::Pointer m_ToolToCalibrate; //<<< tool that will be calibrated
  int m_IDToolToCalibrate; //<<< id of tool that will be calibrated (of the navigation data source)
  mitk::NavigationDataSource::Pointer m_NavigationDataSourceOfToolToCalibrate; //<<< navigation data source of the tool that will be calibrated
  mitk::NavigationDataSource::Pointer m_NavigationDataSourceOfCalibrationPointer; //<<< navigation data source of the calibration pointer
  mitk::DataNode::Pointer m_ToolSurfaceInToolCoordinatesDataNode; //<<< holds the tool surface in tool coordinates (for preview purposes)
  int m_IDCalibrationPointer; //<<< id of the calibration pointer (of the corresponding navigation data source)
  QTimer* m_TrackingTimer; //<<< tracking timer that updates the status widgets
  void ApplyToolTipTransform(mitk::NavigationData::Pointer ToolTipTransformInToolCoordinates, std::string message = "Tool was updated with the calibrated tool tip!"); //<<< applies the given tool tip transform to the tool to calibrate
  bool CheckInitialization(bool CalibrationPointerRequired = true); //<<< checks if the tool to calibrate and (if required) the calibration pointer is initialized. Displays a warning and returns false if not.
  mitk::NavigationData::Pointer m_ComputedToolTipTransformation; //<<< holds the new tooltip transformation after it was computed to write it into the tool later
 
  // members and helper methods for pivot tool calibration
  std::vector<mitk::NavigationData::Pointer> m_PivotPoses;
  void AddPivotPose();
  void ClearOldPivot();
  void UpdatePivotCount();
  bool  m_OnAddPivotPoseClicked;
  int PivotCount;
 
  // members and helper methods for manual tool calibration
  void UpdateManualToolTipCalibrationView();
  QmitkInteractiveTransformationWidget* m_ToolTransformationWidget;
 
  // members and helper methods for single reference tool calibration
  void LoginSingleRefToolNavigationData();
  std::vector< mitk::Point3D > m_LoggedNavigationDataOffsets;
  std::vector< mitk::NavigationData::Pointer > m_LoggedNavigationDataDifferences;
  bool m_OnLoginSingleRefToolNavigationDataClicked;
  int m_NumberOfNavigationData;
  int m_NumberOfNavigationDataCounter;
  mitk::Point3D m_ResultOffsetVector;
 
  // members and helper methods for tool tip preview
  mitk::DataNode::Pointer m_ToolTipPointPreview; //<<< Data node of the tool tip preview
  void ShowToolTipPreview(mitk::NavigationData::Pointer ToolTipInTrackingCoordinates); //<<< Adds a preview of the tool tip into the data storage
  void RemoveToolTipPreview(); //<<< Removes the preview
 
  // members for the tool landmark calibration
  mitk::PointSet::Pointer m_CalibrationLandmarks;
  mitk::DataNode::Pointer m_CalibrationLandmarksNode;
  mitk::PointSet::Pointer m_RegistrationLandmarks;
  mitk::DataNode::Pointer m_RegistrationLandmarksNode;
 
  //members and helper methods for tool axis calibration
  mitk::Vector3D m_CalibratedToolAxis;
  mitk::NavigationData::Pointer  m_AxisCalibration_ToolToCalibrate;
  mitk::NavigationData::Pointer  m_AxisCalibration_NavDataCalibratingTool;
 
};
 
#endif