SignPivotCalibration.h

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/*
 *
 * Program:   Slicer Image-Guided Navigator (The SIGN)
 * Module:    $RCSfile: SignPivotCalibration.h,v $
 */
#ifndef _SIGNPIVOTCALIBRATION_H_
#define _SIGNPIVOTCALIBRATION_H_

#include <vector>
#include "itkVersorRigid3DTransform.h"

#include <SignDLL.h>

typedef itk::Versor<double> QuaternionType;
typedef itk::Vector<double> TranslationType;

class SIGN_EXPORT SignPivotCalibration
{
public:
        SignPivotCalibration();
        ~SignPivotCalibration();

        unsigned int GetNumberOfSamples() const;

        void AddSample(std::vector<double> quat,std::vector<double> trans);
        void CalculateCalibration();

        void GetPivotPosition(double pos[3]);
        void GetTranslation(double trans[3]);
        double GetRMSE();

private:

        double pivotPosition[3];
        itk::Vector<double> translation;
        double RMSE;
        bool validPivotCalibration;

        std::vector<QuaternionType> quaternionSampleCollection;
        std::vector<TranslationType> translationSampleCollection;
};

#endif

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