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ImFusion SDK 4.3
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ImFusion SDK 4.3
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#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 LiveHandEyeCalibrationAlgorithm: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.
Public Member Functions | |
| LiveHandEyeCalibrationAlgorithm (TrackingStream *trackingStream1, TrackingStream *trackingStream2) | |
| bool | sample () |
| Adds the last recorded sample from the tracking streams to the tracking sequences. | |
| bool | removeSample (size_t i) |
| Removes the recorded sample at index i from both tracking sequences. | |
| 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 |
| Returns the first tracking sequence with the recorded samples. | |
| 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) |
| Sets the recorded tracking sequences, replacing the current ones. | |
| 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 () |
| std::optional< mat4 > | baseToCamera () |
| Public Member Functions inherited from 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 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 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) |
| static std::optional< 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 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 |
| Calibration type, either EyeInHand or EyeOnBase. | |
| 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 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 Configurable | |
| Signal | signalParametersChanged |
Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted. | |
Protected Member Functions | |
| void | onStreamData (std::shared_ptr< const StreamData > streamData) |
| Protected Member Functions inherited from 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 SignalReceiver | |
| void | disconnectAll () |
| Disconnects all existing connections. | |
Protected Attributes | |
| TrackingStream * | m_trackingStream1 |
| TrackingStream * | m_trackingStream2 |
| std::optional< mat4 > | m_lastDataTracking1 |
| std::optional< mat4 > | m_lastDataTracking2 |
| std::unique_ptr< TrackingSequence > | m_samplesTracking1 |
| std::unique_ptr< TrackingSequence > | m_samplesTracking2 |
| std::optional< mat4 > | m_output |
| Protected Attributes inherited from 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 Configurable | |
| std::vector< Param > | m_params |
| List of all registered Parameter and SubProperty instances. | |
Additional Inherited Members | |
| Public Types inherited from Algorithm | |
| enum | Status { Unknown = -1 , Success = 0 , Error = 1 , InvalidInput , IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU , UnknownAction , AbortedByUser , User = 1000 } |
| Status codes. More... | |
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overridevirtual |
Runs the calibration algorithm on the recorded samples.
Implements Algorithm.
| Parameter<HandEyeCalibrationAlgorithm::CalibrationType> p_calibrationType |
Calibration type, either EyeInHand or EyeOnBase.
| 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.
