ZTrackerTransform.h

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/*=auto========================================================================

  (c) Copyright 2006 Brigham and Women's Hospital (BWH) All Rights Reserved.

  Project:    ZTrackerTransform
  Author:     Simon DiMaio, simond@bwh.harvard.edu
  Version:    $Id: ZTrackerTransform.h,v 1.8 2007/01/17 12:44:08 simond Exp $

=========================================================================auto=*/
// .NAME ZTrackerTransform
// .SECTION Description
// OpenTracker transformation node for computing the position and orientation
// of a fiducial frame relative to a stream of incoming images.


/*= INCLUDE ==================================================================*/

#ifndef _ZTRACKERTRANSFORM_H
#define _ZTRACKERTRANSFORM_H

#include <OpenTracker/OpenTracker.h>
#include <OpenTracker/dllinclude.h>
#include <OpenTracker/input/ZLinAlg.h>
//#include <OpenTracker/input/ZLogger.h>
#include <newmat/newmat.h>


/*= DEFINE ===================================================================*/

#define FORCE_SIZEX     256
#define FORCE_SIZEY     256
#define FORCE_FOV       160.0
#define MEPSILON        (1e-10)


/*= NAME SPACE ===============================================================*/

namespace ot {


/*= CLASSES ==================================================================*/

  class OPENTRACKER_API ZTrackerTransform : public Node
  {
    public: 
      // Constructor Method.
      ZTrackerTransform(int xsize, int ysize);

    public:
      virtual int isEventGenerator()
      {
          return 1;
      }

      // Method called by an SPL-OpenTracker child node.
      virtual void onEventGenerated( Event& event, Node & generator);

      friend class CommonNodeFactory;

    private:
      short  *InputImage;
      int    imgxsize;
      int    imgysize;

      Matrix SourceImage, MaskImage;
      Matrix IFreal, IFimag, MFreal, MFimag, zeroimag;
      Matrix PFreal, PFimag;
      Matrix PIreal, PIimag;

      // Methods related to finding the fiducial artifacts in the MR images.
      void LocateFiducials(Matrix &image, int xsize, int ysize, 
                           int Zcoordinates[7][2]);
      void FindFidCentre(int points[7][2], int &rmid, int &cmid);
      void FindFidCorners(int points[7][2], int *pmid);
      void OrderFidPoints(int points[7][2], int rmid, int cmid);

      // Methods related to solving for the frame pose w.r.t. the imaging plane.
      void LocalizeFrame(float Zcoordinates[7][2], Column3Vector &Zposition,
                         Quaternion &Zorientation);
      void SolveZ(Column3Vector P1, Column3Vector P2, Column3Vector P3,
                  Column3Vector Oz, Column3Vector Vz, Column3Vector &P2f);

      // Method for computing the imaging plane update.
      void Update_Scan_Plane(Column3Vector &pcurrent, Quaternion &ocurrent,
                             Column3Vector Zposition, Quaternion Zorientation);

      // Methods for finding matrix maxima.
      Real ComplexMax(Matrix &realmat, Matrix &imagmat);
      Real RealMax(Matrix &realmat);
      Real FindMax(Matrix &inmatrix, int &row, int &col);

      float CoordDistance(int *p1, int *p2);
  };

} // namespace ot

#endif

/*= END ZTrackerTransform.h ==================================================*/

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