Pivot Calibration

From IGSTK

Current Situation

• The class igstk::PivotCalibration only performs the computation.
• No checking for degenerate configurations.
• Does not follow the igstk guidelines for using the state machine and object passing via loaded events.

Proposed solution

Replace the current class with the following three classes:

• igstkPivotCalibrationAlgorithm - Replaces the current algorithm implementation with one that conforms with the igstk guidelines and ensures validity of computed transformation. This class is now in the sandbox with an appropriate test.
• igstkPivotCalibration - A class that actually does pivot calibration for a specific tool and tracker. The class receives a tracker, the number of desired samples, and a tool. The transformations are acquired for the specific tool and pivot calibration is performed using the PivotCalibrationAlgorithm.
• igstkPivotCalibrationFLTKUI - A FLTK UI for the pivot calibration class (decorator pattern). Interacts with the end user. UI feedback with regard to transformation acquisition progress and the results of calibration.