mitkNavigationDataHandEyeCalibrationFilter.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 MITKNavigationDataHandEyeCalibrationFilter_H_HEADER_INCLUDED_
#define MITKNavigationDataHandEyeCalibrationFilter_H_HEADER_INCLUDED_

#include "mitkNavigationDataToNavigationDataFilter.h"
#include "mitkNavigationData.h"
#include "mitkBaseData.h"
#include "mitkTransform.h"
#include "itkQuaternionRigidTransform.h"

namespace mitk {

  class MITKCAMERACALIBRATION_EXPORT NavigationDataHandEyeCalibrationFilter : public NavigationDataToNavigationDataFilter
  {
  public:
    mitkClassMacro(NavigationDataHandEyeCalibrationFilter, NavigationDataToNavigationDataFilter);

    itkFactorylessNewMacro(Self);

    itkCloneMacro(Self);

    typedef itk::QuaternionRigidTransform<ScalarType> QuaternionRigidTransformType;
    void SetObjectToTransform(unsigned int index, BaseData* data);

    void SetHandEyeTransformation(unsigned int index, Transform::Pointer handEyeTransform);
    /*
    * \brief Transfer the information from the input to the associated BaseData
    */
    void GenerateData() override;


  protected:
    NavigationDataHandEyeCalibrationFilter();

    ~NavigationDataHandEyeCalibrationFilter() override;

    std::map<int,BaseData::Pointer> m_ObjectsToTransform;
    std::map<int,Transform::Pointer> m_HandEyeTransformations;
  };
} // namespace mitk
#endif /* MITKNavigationDataHandEyeCalibrationFilter_H_HEADER_INCLUDED_ */