Geometric calibration algorithm for X-ray imaging systems.
Calibrates cone-beam geometry from calibration phantom point clouds and projection images. Uses circle fitting, DLT estimation, and bundle adjustment with shared intrinsic parameters. Image points (on the detector) are assumed to be in pixel coordinates.
- Note
- This algorithm assumes square pixels and no skew.
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| ConeBeamCalibration (SharedImageSet *data) |
| | Constructor.
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SharedImageSet * | coneBeamData () const |
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void | reset () |
| | Reset all parameters to their default values.
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| void | setVerbosity (int verbosity) |
| | Set verbosity level.
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int | verbosity () const |
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| void | setImagePoints (int image, const std::vector< PointInfo > &points) |
| | Set image points for an image.
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| void | imagePoints (int image, std::vector< PointInfo > &points) const |
| | Get image points for an image.
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| void | setImagePoints (const std::vector< std::vector< PointInfo > > &x) |
| | Set all image points.
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| void | imagePoints (std::vector< std::vector< PointInfo > > &x) const |
| | Get all image points.
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| bool | loadImagePoints (const std::string &filename) |
| | Load point coordinates from file.
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| bool | saveImagePoints (const std::string &filename) |
| | Save point coordinates to file.
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void | clearImagePoints () |
| | Clear image points.
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| void | setPhantomPoints (const std::vector< vec3 > &X0, bool centerPhantomOnOrigin=false) |
| | Set phantom points.
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std::vector< vec3 > | phantomPoints () const |
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| void | setInitialK (const mat3 &K) |
| | Set initial intrinsic parameter matrix K, instead of estimating it from input data.
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void | clearInitialK () |
| | Clear initial K.
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bool | setInitialPoses (const mat3 &K, const std::vector< mat3 > &R, const std::vector< vec3 > &t) |
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void | clearInitialPoses () |
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void | setOptimizeDeviceParameters (bool optimizeDeviceParameters) |
| | Set whether to optimize the device parameters.
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bool | optimizeDeviceParameters () const |
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void | setOptimizePhantomPoints (bool optimizePoints) |
| | Set whether to optimize the phantom points.
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bool | optimizePhantomPoints () const |
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void | setFixPrincipalPoint (bool fixPrincipalPoint) |
| | Set whether to keep the principal point fixed at the image center.
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bool | fixPrincipalPoint () const |
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void | setFlipImagePoints (bool flipHorizontally, bool flipVertically) |
| | Set whether to flip the image points horizontally and/or vertically before calibration.
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void | setAlignResultWithPhantomPoints (bool alignResult) |
| | Set whether to rigidly align the optimized phantom points with the initial phantom points.
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bool | alignResultWithPhantomPoints () const |
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void | setDetermineScaleFromCylinder (bool determineScaleFromCylinder) |
| | Set whether to determine scale of calibration from phantom cylinder.
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bool | determineScaleFromCylinder () const |
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void | setCylinderDiameter (double diameter) |
| | Set phantom cylinder diameter.
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double | cylinderDiameter () const |
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void | setParameterMask (const std::vector< bool > ¶mMask) |
| | Set parameter mask for device parameter optimization.
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void | clearParamMask () |
| | Clear parameter mask for device parameter optimization.
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void | setComputeCorrespondingDeviceParameters (bool v) |
| | Sets whether to compute device parameters associated with optimization result.
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bool | computeCorrespondingDeviceParameters () const |
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void | setDeviceParametersFixedSourcePatientDistance (double dist) |
| | Set fixed source patient distance to use in device parameter optimization. Set to 0 to disable.
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double | deviceParametersFixedSourcePatientDistance () const |
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void | setAlignMatricesToDeviceParameters (bool v) |
| | Sets whether to align the matrices to device parameters (results in volume parameters being all zero)
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bool | alignMatricesToDeviceParameters () const |
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void | setPixelSize (double pixelSize) |
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double | pixelSize () const |
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void | setOutputFolder (const std::string &folder) |
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std::string | outputFolder () const |
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| bool | run (Progress *progress=0) |
| | Run calibration.
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| void | getResults (mat3 &K, std::vector< mat3 > &R, std::vector< vec3 > &t, std::vector< vec3 > &X, double &mre) const |
| | Get calibration results.
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| Vision::DeviceParameters | getDeviceParameters () const |
| | Get device parameters.
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Phantom | phantom () const |
| | Get current phantom settings.
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bool | setPhantom (const Phantom &phantom) |
| | Set phantom based on phantom settings.
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bool | setPhantom (const std::string &phantomFile) |
| | Load custom phantom from file.
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void | setPointExtractionParams (const PointExtractionParams ¶ms) |
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PointExtractionParams | pointExtractionParams () const |
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std::optional< Statistics > | computeStatistics () const |
| | Compute the statistics of a calibration Returns (wrapped) Statistics option on success.
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bool | extractPoints (int frame=-1) |
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int | trackPoints () |
| | Create tracks from the points found. Returns the number of tracks found.
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bool | savePhantom (const std::string &filename) const |
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bool | saveCalibration (const std::string &folder) const |
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| void | configure (const Properties *p) override |
| | Configurable interface.
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| void | configuration (Properties *p) const override |
| | Serialize the current object configuration into the given Properties object.
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const std::tuple< vec3, double, mat3 > & | initialCircleEstimate () const |
| | Getter methods.
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const std::vector< double > & | intermediateReprojectionErrors () const |
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| | Algorithm () |
| | Default constructor will registers a single "compute" action that calls compute() and returns status().
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| virtual OwningDataList | takeOutput () |
| | Return any new Data that was created by the Algorithm during the last call to compute().
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| virtual void | setProgress (Progress *progress) |
| | Sets a Progress interface the algorithm can use to notify observers about its computing progress.
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Progress * | progress () const |
| | Returns the progress interface if set.
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| virtual int | status () const |
| | Indicates the status of the last call to compute().
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| virtual bool | survivesDataDeletion (const Data *) const |
| | Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list.
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| const FactoryInfo & | factoryInfo () const |
| | Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory.
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void | setFactoryInfo (const FactoryInfo &value) |
| | Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory.
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| Status | runAction (const std::string &id) |
| | Run the action with name id if it exists.
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const std::vector< Action > & | actions () |
| | Get a mapping from Action id to Action as registered in this algorithm.
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| virtual void | configureDefaults () |
| | Retrieve the properties of this object, replaces values with their defaults and sets it again.
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void | registerParameter (ParameterBase *param) |
| | Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
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void | unregisterParameter (const ParameterBase *param) |
| | Remove the given Parameter or SubProperty from the list of registered parameters.
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| Configurable (const Configurable &rhs) |
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| Configurable (Configurable &&rhs) noexcept |
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Configurable & | operator= (const Configurable &) |
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Configurable & | operator= (Configurable &&) noexcept |
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| enum | Status {
Unknown = -1
, Success = 0
, Error = 1
, InvalidInput
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IncompleteInput
, OutOfMemoryHost
, OutOfMemoryGPU
, UnsupportedGPU
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UnknownAction
, AbortedByUser
, User = 1000
} |
| | Status codes. More...
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| static bool | createCompatible (const DataList &data, Algorithm **a=nullptr) |
| | Factory function to check algorithm compatibility with input data and optionally instantiate it.
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Signal | signalOutputChanged |
| | Signal should be emitted by Algorithms when their output/result has changed.
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Signal | signalParametersChanged |
| | Signal should be emitted by Algorithms when their parameter configuration has changed.
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Signal | signalParametersChanged |
| | Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
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void | loadDefaults () |
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| void | registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action) |
| | Register an action to be run via runAction.
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template<typename D> |
| void | registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void)) |
| | Template version of runAction that can be used with a pointer to a member function.
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void | registerAction (const Action &action) |
| | Register an action.
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std::string | m_name |
| | Algorithm name.
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Progress * | m_progress = nullptr |
| | Non-owing pointer to a progress interface. May be a nullptr.
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FactoryInfo | m_factoryInfo = {} |
| | Record describing how this algorithm was instantiated by the AlgorithmFactory.
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int | m_status = Status::Unknown |
| | Algorithm status after last call to compute()
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std::vector< Action > | m_actions |
| | Map of key given by the id of the action, of the available actions of this algorithm.
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std::vector< Param > | m_params |
| | List of all registered Parameter and SubProperty instances.
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Inheritance diagram for ConeBeamCalibration: