RigidObject3DMotionFromPolaris.h

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//
//
/*
    Copyright (C) 2003- 2010, Hammersmith Imanet Ltd
    For internal GE use only
*/
#ifndef __stir_motion_RigidObject3DMotionFromPolaris__H__
#define __stir_motion_RigidObject3DMotionFromPolaris__H__

#include "stir_experimental/motion/RigidObject3DMotion.h"
#include "stir_experimental/motion/Polaris_MT_File.h"
#include "stir/listmode/CListModeData.h"
#include "stir/RegisteredParsingObject.h"

START_NAMESPACE_STIR
class RigidObject3DMotionFromPolaris
    : public RegisteredParsingObject<RigidObject3DMotionFromPolaris, RigidObject3DMotion, RigidObject3DMotion>

{
public:
  static const char* const registered_name;

  /* see more info in .cxx file */
  static RigidObject3DTransformation make_transformation_from_polaris_data(Polaris_MT_File::Record const& record);

  // only need this to enable LmToProjDataWithMC(const char * const par_filename) function
  RigidObject3DMotionFromPolaris();

  RigidObject3DTransformation compute_average_motion_in_tracker_coords_rel_time(const double start_time,
                                                                                const double end_time) const override;

  RigidObject3DTransformation get_motion_in_tracker_coords_rel_time(const double time) const override;

  std::vector<double> get_rel_time_of_samples(const double start_time, const double end_time) const override;

  void set_mask_for_tags(const unsigned int mask_for_tags);

  Succeeded synchronise() override;
  double secs_since_1970_to_rel_time(std::time_t) const override;

  const RigidObject3DTransformation& get_transformation_to_scanner_coords() const override;
  const RigidObject3DTransformation& get_transformation_from_scanner_coords() const override;
  void set_transformation_from_scanner_coords(const RigidObject3DTransformation&) override;
  Succeeded set_mt_file(const std::string& mt_filename);
  Succeeded set_list_mode_data_file(const std::string& lm_filename);

  void set_defaults() override;
  void initialise_keymap() override;
  bool post_processing() override;

  //*! Currently, the time offset is compared to the start of the listmode scan.*/
  double get_max_time_offset_deviation() const { return max_time_offset_deviation; }
  void set_max_time_offset_deviation(const double v) { max_time_offset_deviation = v; }

  double get_max_time_drift_deviation() const { return max_time_drift_deviation; }
  void set_max_time_drift_deviation(const double v) { max_time_drift_deviation = v; }

private:
  void do_synchronisation(CListModeData& listmode_data);
  bool is_synchronised() const override;

  double rel_time_to_polaris_time(const double time) const;
  double polaris_time_to_rel_time(const double time) const;

  RigidObject3DTransformation compute_average_motion_polaris_time(const double start_time, const double end_time) const;

  shared_ptr<Polaris_MT_File> mt_file_ptr;
  std::string mt_filename;
  std::string list_mode_filename;

private:
  unsigned int _mask_for_tags;

  // TODO this should probably be moved to RigidObject3DMotion
  std::string transformation_from_scanner_coordinates_filename;
  RigidObject3DTransformation move_to_scanner_coords;
  RigidObject3DTransformation move_from_scanner_coords;

  double time_offset;
  double time_drift;

  //*! Currently, the time offset is compared to the start of the listmode scan.*/
  double max_time_offset_deviation;

  double max_time_drift_deviation;

  std::time_t listmode_data_start_time_in_secs;
};

END_NAMESPACE_STIR
#endif