#include <ImFusion/Vision/LiveHandEyeCalibrationAlgorithm.h>

Takes two tracking streams, and allows to sample frames and to compute the calibration from them The expected input is a stream containing the transforms from base to hand (i.e. More...

Inheritance diagram for ImFusion::LiveHandEyeCalibrationAlgorithm:

Detailed Description

Takes two tracking streams, and allows to sample frames and to compute the calibration from them The expected input is a stream containing the transforms from base to hand (i.e.

robot end effector), and one with camera to calibration marker. Order and direction of transforms should be specified with setStreamInfo. Depending on the calibration type, the output is the transform from the camera to hand (the robot end effector), or from the (robot) base to camera. If the calibration is EyeInHand, the algorithm returns the transform from camera to hand. If instead the calibration is EyeOnBase, the algorithm returns the transform from base to camera. It supports two calibration scenarios: Eye-in-hand: Computes camera-to-hand transform (camera mounted on robot) Eye-on-base: Computes base-to-camera transform (static camera)

Public Member Functions
	LiveHandEyeCalibrationAlgorithm (TrackingStream trackingStream1, TrackingStream trackingStream2)
	Initialize the algorithm with two tracking streams and set up data collection.
	~LiveHandEyeCalibrationAlgorithm () override
	Ensure all stream signals are disconnected before destruction to prevent callbacks to deleted object.
bool	sample ()
	Takes the current tracking data from both streams and adds them to sample sequences.
bool	removeSample (size_t i)
	Remove sample pair at given index.
bool	removeSamples (const std::vector< size_t > &indexesToRemove)
	Removes the recorded samples at indexesToRemove from both tracking sequences.
size_t	numberSamples ()
	Returns the number of recorded samples in the tracking sequences.
const TrackingSequence &	trackingSamples1 () const
	Read-only access to the collected calibration samples from the second tracking stream.
const TrackingSequence &	trackingSamples2 () const
	Returns the second tracking sequence with the recorded samples.
void	setSamples (std::unique_ptr< TrackingSequence > trackingSamples1, std::unique_ptr< TrackingSequence > trackingSamples2)
	Set directly pre-collected samples instead of collecting them in real time.
void	setSamples (const std::vector< std::unique_ptr< TrackingSequence > > &trackingSamplesContainer)
	Adds the provided tracking sequences to the recorded samples.
void	compute () override
	Runs the calibration algorithm on the recorded samples.
std::optional< mat4 >	cameraToHand ()
	Retrieve hand-to-camera transformation for the eye-in-hand calibration.
std::optional< mat4 >	baseToCamera ()
	Retrieve camera-to-base transformation for eye-on-base calibration.
std::optional< mat4 >	markerToBase ()
std::optional< mat4 >	markerToHand ()
Public Member Functions inherited from ImFusion::Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().
virtual OwningDataList	takeOutput ()
	Return any new Data that was created by the Algorithm during the last call to compute().
virtual void	setProgress (Progress *progress)
	Sets a Progress interface the algorithm can use to notify observers about its computing progress.
Progress *	progress () const
	Returns the progress interface if set.
virtual int	status () const
	Indicates the status of the last call to compute().
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.
const FactoryInfo &	factoryInfo () const
	Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory.
void	setFactoryInfo (const FactoryInfo &value)
	Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory.
Status	runAction (const std::string &id)
	Run the action with name id if it exists.
const std::vector< Action > &	actions ()
	Get a mapping from Action id to Action as registered in this algorithm.
Public Member Functions inherited from ImFusion::Configurable
virtual void	configure (const Properties *p)
	Configure this object instance by de-serializing the given Properties.
virtual void	configuration (Properties *p) const
	Serialize the current object configuration into the given Properties object.
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept
Public Member Functions inherited from ImFusion::SignalReceiver
	SignalReceiver ()=default
	Default constructor.
	SignalReceiver (const SignalReceiver &other)
	Copy constructor, does not copy any existing signal connections from other.
SignalReceiver &	operator= (SignalReceiver rhs)
	Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs.
virtual	~SignalReceiver ()
	Virtual destructor disconnects from all connected signals.

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Create the algorithm if exactly two compatible tracking streams are provided in the data list.
static std::optional< std::pair< mat4, mat4 > >	compute (HandEyeCalibrationAlgorithm::CalibrationType type, const TrackingSequence &trackingSamples1, const TrackingSequence &trackingSamples2, HandEyeCalibrationAlgorithm::StreamInfo si1, HandEyeCalibrationAlgorithm::StreamInfo si2)
	Computes the calibration from the provided tracking sequences and stream information.
Static Public Member Functions inherited from ImFusion::Algorithm
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Factory function to check algorithm compatibility with input data and optionally instantiate it.

Public Attributes
Parameter< HandEyeCalibrationAlgorithm::CalibrationType >	p_calibrationType
Parameter< HandEyeCalibrationAlgorithm::StreamInfo >	p_streamInfo1
	Direction of the transformation of the first tracking sequence.
Parameter< HandEyeCalibrationAlgorithm::StreamInfo >	p_streamInfo2
	Direction of the transformation of the second tracking sequence.
Signal	signalAddedSample
	Signal emitted when a new sample is added to the tracking sequences.
Signal	signalRemovedSample
	Signal emitted when a sample is removed from the tracking sequences.
Public Attributes inherited from ImFusion::Algorithm
Signal	signalOutputChanged
	Signal should be emitted by Algorithms when their output/result has changed.
Signal	signalParametersChanged
	Signal should be emitted by Algorithms when their parameter configuration has changed.
Public Attributes inherited from ImFusion::Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.

Protected Member Functions
void	onStreamData (const std::shared_ptr< const StreamData > &streamData)
	Callback for new data from either tracking stream.
Protected Member Functions inherited from ImFusion::Algorithm
void	loadDefaults ()
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.
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.
void	registerAction (const Action &action)
	Register an action.
Protected Member Functions inherited from ImFusion::SignalReceiver
void	disconnectAll ()
	Disconnects all existing connections.

Protected Attributes
TrackingStream *	m_trackingStream1
	First tracking stream providing pose data.
TrackingStream *	m_trackingStream2
	Second tracking stream providing pose data.
std::optional< mat4 >	m_lastDataTracking1
	Most recent pose from first tracking stream.
std::optional< mat4 >	m_lastDataTracking2
	Most recent pose from second tracking stream.
std::unique_ptr< TrackingSequence >	m_samplesTracking1
	Collection of sampled poses from first tracking stream.
std::unique_ptr< TrackingSequence >	m_samplesTracking2
	Collection of sampled poses from second tracking stream.
std::optional< mat4 >	m_output
std::optional< mat4 >	m_aux
std::mutex	m_lastTrackingDataMutex
Protected Attributes inherited from ImFusion::Algorithm
std::string	m_name
	Algorithm name.
Progress *	m_progress = nullptr
	Non-owing pointer to a progress interface. May be a nullptr.
FactoryInfo	m_factoryInfo = {}
	Record describing how this algorithm was instantiated by the AlgorithmFactory.
int	m_status = Status::Unknown
	Algorithm status after last call to compute().
std::vector< Action >	m_actions
	Map of key given by the id of the action, of the available actions of this algorithm.
Protected Attributes inherited from ImFusion::Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Additional Inherited Members
Public Types inherited from ImFusion::Algorithm
enum	Status { Unknown = -1 , Success = 0 , Error = 1 , InvalidInput , IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU , UnknownAction , AbortedByUser , User = 1000 }
	Status codes. More...

Constructor & Destructor Documentation

◆ LiveHandEyeCalibrationAlgorithm()

ImFusion::LiveHandEyeCalibrationAlgorithm::LiveHandEyeCalibrationAlgorithm	(	TrackingStream *	trackingStream1,
		TrackingStream *	trackingStream2 )

explicit

Initialize the algorithm with two tracking streams and set up data collection.

It creates tracking sequences for storing samples and connects their stream signals with the onStreamData() function.

Parameters

trackingStream1	first tracking stream used for calibration.
trackingStream2	second tracking stream used for calibration.

Member Function Documentation

◆ createCompatible()

bool ImFusion::LiveHandEyeCalibrationAlgorithm::createCompatible	(	const DataList &	data,
		Algorithm **	a = nullptr )

static

Create the algorithm if exactly two compatible tracking streams are provided in the data list.

Parameters

data	the ImFusion DataList component containing the tracking streams.
a	output parameter for created algorithm.

Returns: true if algorithm can be created, false otherwise.

◆ sample()

bool ImFusion::LiveHandEyeCalibrationAlgorithm::sample ( )

Takes the current tracking data from both streams and adds them to sample sequences.

Returns: true if samples were successfully captured, false otherwise.

Note: Both streams must have valid data available for sampling to succeed.

◆ removeSample()

bool ImFusion::LiveHandEyeCalibrationAlgorithm::removeSample ( size_t i )

Remove sample pair at given index.

Parameters

i	index of sample to remove.

Returns: true if samples were removed, false if index is invalid.

◆ trackingSamples1()

const TrackingSequence & ImFusion::LiveHandEyeCalibrationAlgorithm::trackingSamples1 ( ) const

Read-only access to the collected calibration samples from the second tracking stream.

Note: samples can only be modified through sample() and removeSamples() methods.

◆ setSamples()

void ImFusion::LiveHandEyeCalibrationAlgorithm::setSamples	(	std::unique_ptr< TrackingSequence >	trackingSamples1,
		std::unique_ptr< TrackingSequence >	trackingSamples2 )

Set directly pre-collected samples instead of collecting them in real time.

Parameters

trackingSamples1	samples for the first stream.
trackingSamples2	samples for the second stream.

◆ compute() [1/2]

void ImFusion::LiveHandEyeCalibrationAlgorithm::compute ( )

overridevirtual

Runs the calibration algorithm on the recorded samples.

Implements ImFusion::Algorithm.

◆ compute() [2/2]

std::optional< std::pair< mat4, mat4 > > ImFusion::LiveHandEyeCalibrationAlgorithm::compute	(	HandEyeCalibrationAlgorithm::CalibrationType	type,
		const TrackingSequence &	trackingSamples1,
		const TrackingSequence &	trackingSamples2,
		HandEyeCalibrationAlgorithm::StreamInfo	si1,
		HandEyeCalibrationAlgorithm::StreamInfo	si2 )

static

Computes the calibration from the provided tracking sequences and stream information.

Returns: A pair of transforms, where the first one is the calibration, and the other one is the auxiliary transform (between the marker and the robot base or hand)

◆ cameraToHand()

std::optional< mat4 > ImFusion::LiveHandEyeCalibrationAlgorithm::cameraToHand ( )

Retrieve hand-to-camera transformation for the eye-in-hand calibration.

Returns: Empty if calibration type is not eye-in-hand or calibration failed, otherwise return the calibrated transformation

◆ baseToCamera()

std::optional< mat4 > ImFusion::LiveHandEyeCalibrationAlgorithm::baseToCamera ( )

Retrieve camera-to-base transformation for eye-on-base calibration.

Returns: Empty if calibration type is not eye-on-base or calibration failed, otherwise return the calibrated transformation

Member Data Documentation

◆ p_calibrationType

Parameter<HandEyeCalibrationAlgorithm::CalibrationType> ImFusion::LiveHandEyeCalibrationAlgorithm::p_calibrationType

Initial value:

= {"calibrationType",
                                                                                     HandEyeCalibrationAlgorithm::CalibrationType::EyeInHand,
                                                                                     this}

◆ p_streamInfo1

Parameter<HandEyeCalibrationAlgorithm::StreamInfo> ImFusion::LiveHandEyeCalibrationAlgorithm::p_streamInfo1

Initial value:

= {
            "streamInfo1",
            HandEyeCalibrationAlgorithm::HandToBase,
            this}

Direction of the transformation of the first tracking sequence.

◆ p_streamInfo2

Parameter<HandEyeCalibrationAlgorithm::StreamInfo> ImFusion::LiveHandEyeCalibrationAlgorithm::p_streamInfo2

Initial value:

= {
            "streamInfo2",
            HandEyeCalibrationAlgorithm::CalibToCam,
            this}

Direction of the transformation of the second tracking sequence.

The documentation for this class was generated from the following file:

ImFusion/Vision/LiveHandEyeCalibrationAlgorithm.h

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ LiveHandEyeCalibrationAlgorithm()

Member Function Documentation

◆ createCompatible()

◆ sample()

◆ removeSample()

◆ trackingSamples1()

◆ setSamples()

◆ compute() [1/2]

◆ compute() [2/2]

◆ cameraToHand()

◆ baseToCamera()

Member Data Documentation

◆ p_calibrationType

◆ p_streamInfo1

◆ p_streamInfo2