LiveTrackingPointRegistrationAlgorithm Class Reference

#include <ImFusion/Navigation/LiveTrackingPointRegistrationAlgorithm.h>

Performs point-based registration between a volume and a tracked tool. More...

Inheritance diagram for LiveTrackingPointRegistrationAlgorithm:

Detailed Description

Performs point-based registration between a volume and a tracked tool.

Behavior depends on whether a relative tracker is specified:

• If no relative tracker is set, the registration is applied directly to transform the image.
• If a relative tracker is set:
  • If the registration type in the controller is 'Adjust calibration', the calibration matrix of the relative tracker is updated.
  • If the rracking type in the controller is 'Adjust registration', the registration matrix of the image is updated.
  • These modes can be visualized using the ToolVisualizationAlgorithm by selecting the same target and relative tracker.

Classes
struct	Correspondence
	Legacy structure representing a correspondence between volume and tracker coordinates. More...

Public Types
enum class	RegistrationType { GlobalTracking = 0 , RelativeTrackingAdjustRegistration = 1 , RelativeTrackingAdjustCalibration = 2 }
	Defines how the registration is applied. More...
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...

Public Member Functions
	LiveTrackingPointRegistrationAlgorithm (TrackingStream &ts, SharedImageSet &volume)
std::optional< int >	addLiveTrackingPoint (vec3 &tp)
	Queries live tracking stream and adds current position.
bool	setVolumePoint (int id, const vec3 &p)
	Adds volume point to live tracking point.
std::vector< Correspondence >	correspondences () const
TrackingStream &	trackingStream () const
	Returns the input tracking stream.
SharedImageSet &	volume () const
	Returns the input image volume.
void	compute () override
	Executes registration based on the configured point correspondences.
mat4	trackerToVolumeTransform () const
	Returns the tracker-to-volume transformation matrix.
int	correspondenceId () const
	Return correspondence Id.
void	resetCorrespondences ()
	Reset all correspondences.
void	configure (const Properties *p) override
	Configure this object instance by de-serializing the given Properties.
void	configuration (Properties *p) const override
	Serialize the current object configuration into the given Properties object.
PointCorrespondences &	pointCorrespondences ()
PointsOnImage &	pointsOnImage ()
PointsOnTrackingStream &	pointsOnTrackingStream ()
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	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 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< RegistrationType >	p_registrationType {"registrationType", RegistrationType::GlobalTracking, this}
	Specifies the registration type, which must be set before adding tracking points.
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.

Additional Inherited Members
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 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.

Member Enumeration Documentation

RegistrationType

enum class RegistrationType

strong

Defines how the registration is applied.

Enumerator
GlobalTracking	Uses global tracking coordinates.
RelativeTrackingAdjustRegistration	Applies registration via the image's registration matrix.
RelativeTrackingAdjustCalibration	Applies calibration via the relative tracker's calibration matrix.

Member Function Documentation

addLiveTrackingPoint()

std::optional< int > addLiveTrackingPoint

(

vec3 &

tp

)

Queries live tracking stream and adds current position.

Parameters

tp	[output] Added point

Returns

Id of point in correspondence (optional)

Deprecated

"Use pointsOnTrackingStream()::addWorldPoint() instead"

setVolumePoint()

bool setVolumePoint	(	int	id,
		const vec3 &	p )

Adds volume point to live tracking point.

Parameters

id	The Id of the point in correspondence
p	The coordinates of the point in world coordinates (internally converted to image coordinates)

Returns

True if the point was successfully added, false otherwise

Deprecated

"Use pointsOnImage()::addWorldPoint() instead"

correspondences()

std::vector< Correspondence > correspondences

(

)

const

Deprecated

"Correspondences are encapsulated and controlled inside PointCorrespondences"

compute()

void compute ( )

overridevirtual

Executes registration based on the configured point correspondences.

Implements Algorithm.

trackerToVolumeTransform()

mat4 trackerToVolumeTransform

(

)

const

Returns the tracker-to-volume transformation matrix.

Returns a zero matrix on failure.

correspondenceId()

int correspondenceId

(

)

const

Return correspondence Id.

Deprecated

"Use pointsOnTrackingStream()::size() or pointsOnTrackingStream()::numberOfPoints() instead"

resetCorrespondences()

void resetCorrespondences

(

)

Reset all correspondences.

Deprecated

"Use pointsOnTrackingStream()::clear() instead"

configure()

void configure ( const Properties * p )

overridevirtual

Configure this object instance by de-serializing the given Properties.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also

configuration() for the inverse functionality

Reimplemented from Configurable.

configuration()

void configuration ( Properties * p ) const

overridevirtual

Serialize the current object configuration into the given Properties object.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also

configure() for the inverse functionality

Reimplemented from Configurable.

Member Data Documentation

p_registrationType

Parameter<RegistrationType> p_registrationType {"registrationType", RegistrationType::GlobalTracking, this}

Specifies the registration type, which must be set before adding tracking points.

Changing the type resets existing registration points.

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

• ImFusion/Navigation/LiveTrackingPointRegistrationAlgorithm.h