KeypointSet Class Reference

#include <ImFusion/ML/KeypointSet.h>

Class for managing sets of keypoints within a KeypointsElement The class is meant to be used in parallel with SharedImageSet. More...

Inheritance diagram for KeypointSet:

Detailed Description

Class for managing sets of keypoints within a KeypointsElement The class is meant to be used in parallel with SharedImageSet.

For each frame in the set, and for each type of keypoint (i.e. body, pedicles, etc..), there is a list of points indicating an instance of that type in the reference image. In terms of tensor dimensions, this would be represented as [N, C, K], where N is the batch size, C is the number of channels (i.e. types of keypoints), and K is the number of keypoints for the same instance type. Each Keypoint is a vec3 having a futher dimension [3].

Note

This class API is experimental and might change soon.

Public Member Functions
	KeypointSet (std::vector< std::vector< std::vector< vec3 > > > data={})
	Constructor from a list of points, the 3 levels of nestedness represent respectively the frame index, the type index and the multiple instances to annotate.
	KeypointSet (std::vector< PointCloud > pcls)
	Constructor from PointCloud Each PointCloud in the vector is mapped to the batch index (outermost) of the resulting ML::KeypointSet object.
	KeypointSet (PointCloud pcl)
	Constructor from PointCloud The resulting KeypointSet has a single frame, or batch size = 1.
	KeypointSet (const KeypointSet &other)=default
KeypointSet &	operator= (const KeypointSet &other)=default
	KeypointSet (KeypointSet &&other) noexcept
KeypointSet &	operator= (KeypointSet &&other) noexcept
ML::Status	save (const std::string &path) const
Kind	kind () const override
	Data interface.
Pose::TransformationConvention	matrixConvention () const override
	Defines whether the internally stored matrices in derived classes map from or to the world coordinate system.
Geometry::AlignedBox	bounds () const override
	Returns the axis-aligned bounding box of this data in world space.
std::string	describe () const override
	Human readable description of the data for showing in the info bar.
int	size () const override
bool	empty () const
	Expose some interface of std::vector for convenience.
bool	operator== (const KeypointSet &other) const
bool	operator!= (const KeypointSet &other) const
auto &	at (size_t n)
const auto &	at (size_t n) const
auto &	operator[] (size_t n)
const auto &	operator[] (size_t n) const
bool	isEqual (const KeypointSet &other) const
	Strict check that two sets are bit-exact identical.
bool	isApprox (const KeypointSet &other) const
	Eigen-style check that each point in a set is approximately equal to each corresponding point in the other set.
std::pair< bool, bool >	canBeShownIn2D3D () const
	Returns whether the KeypointSet is probably 2D and/or probably 3D Since some cases might be ambiguous, we return a pair of separate flags for 2D and 3D Note: This function relies on heuristics.
Public Member Functions inherited from Data
	Data (const std::string &name="")
	Data (const Data &other)
Data &	operator= (const Data &other)
virtual	~Data ()
	Mandatory virtual destructor.
virtual Modality	modality () const
	Return the modality of this data.
const std::string &	name () const
	Return the name of this data.
void	setName (const std::string &name)
	Sets the name of this data.
virtual bool	isAnnotationType () const
	Return whether this data type is visualized through an annotation (e.g. mesh)
const DataComponentList &	components () const
	Returns the list of DataComponents for this data.
DataComponentList &	components ()
virtual void	setMatrixFromWorld (const mat4 &m)
	Set matrix mapping from the world coordinate system to the data coordinate system.
virtual void	setMatrixToWorld (const mat4 &m)
	Set matrix mapping from the data coordinate system to the world coordinate system.
virtual mat4	matrixFromWorld () const
	Get matrix mapping from the world coordinate system to the data coordinate system.
virtual mat4	matrixToWorld () const
	Get matrix mapping from the data coordinate system to the world coordinate system.
virtual mat4	matrix () const
	Return the transformation matrix.
virtual void	setMatrix (const mat4 &m)
	Set the transformation matrix.
Public Member Functions inherited from Selectable
	Selectable (const Selectable &)
	Selectable (Selectable &&)
Selectable &	operator= (const Selectable &)
Selectable &	operator= (Selectable &&)
virtual Selection	selection () const
virtual int	focus () const
virtual void	setSelection (const Selection &sel)
	Set the underlying selection.
virtual void	setFocus (int index)
	Set focus of the selection.

Static Public Member Functions
static std::vector< PointCloud >	keypointsToPointClouds (KeypointSet points)
	Converts KeypointSet to a vector of PointCloud A point cloud has a labels member that we use to map the annotation type, but we have no way of mapping the batch index.
static KeypointSet	pointCloudsToKeypoints (const std::vector< const PointCloud * > &pointClouds)
	Converts a (vector of) PointCloud(s) to a ML::KeypointSet structure Each PointCloud in the vector is mapped to the batch index of the resulting ML::KeypointSet object.
static KeypointSet	pointCloudsToKeypoints (std::vector< PointCloud > pointClouds)
static ML::Status	save (const KeypointSet &set, const std::string &path)
	Convenience function wrapping ImFusionFileIoAlgorithm for saving a KeypointSet.
static std::optional< KeypointSet >	load (const std::string &path)
	Convenience function wrapping ImFusionFileIoAlgorithm for loading a KeypointSet.
Static Public Member Functions inherited from Data
static std::string	modalityString (Data::Modality m)
	Return the name of an image modality.
static Data::Modality	stringToModality (const std::string &s)
	Returns the modality corresponding to a modality string or NA if nothing matches.

Public Attributes
std::vector< std::vector< std::vector< vec3 > > >	data
Public Attributes inherited from Data
Signal< const Data * >	signalDeleted
	Signal emitted when this instance is deleted.
Signal< const Data * >	signalMatrixChanged
	Signal emitted when the transformation of this Data has changed.
Signal< std::string >	signalNameChanged
	Signal emitted when the name changed.
Public Attributes inherited from Selectable
ProtectedSignal	signalSelectionChanged
	Signals that the selection or size might have changed.

Protected Member Functions
void	swapWith (KeypointSet &other)
Protected Member Functions inherited from Data
void	swapWith (Data &other)
	Swaps the data and emits a matrix and name changed signal for both.

Additional Inherited Members
Public Types inherited from Data
enum	Kind {   UNKNOWN = 0 , IMAGE = 1 , VOLUME = 2 , IMAGESET = 3 ,   VOLUMESET = 4 , IMAGESTREAM = 5 , VOLUMESTREAM = 6 , POINTSET = 7 ,   SURFACE = 8 , TRACKINGSTREAM = 9 , LIVETRACKINGSTREAM = TRACKINGSTREAM , TRACKINGDATA = 10 ,   TREE = 11 , TENSOR = 12 , POLYDATASTREAM = 13 , STEREOIMAGESET = 14 ,   STEREOIMAGESTREAM = 15 , VOLUMETRICMESH = 16 }
	Kind of data. More...
enum	Modality {   NA = 0 , XRAY = 1 , CT = 2 , MRI = 3 ,   ULTRASOUND = 4 , VIDEO = 5 , NM = 6 , OCT = 7 ,   LABEL = 8 , DISTANCE = 9 }
	Image modality of the data. More...
Protected Attributes inherited from Data
mat4	m_matrix
	Transformation matrix.
std::recursive_mutex *	m_matrixMutex
	Used to internally synchronize access to the matrix of data.
DataComponentList	m_dataComponentList
	The list of DataComponents for this data.
Protected Attributes inherited from Selectable
std::mutex	m_selectionMutex
	Mutex protecting the selection.
Selection	m_sel

Member Function Documentation

keypointsToPointClouds()

static std::vector< PointCloud > keypointsToPointClouds ( KeypointSet points )

static

Converts KeypointSet to a vector of PointCloud A point cloud has a labels member that we use to map the annotation type, but we have no way of mapping the batch index.

Thus we put each frame annotation in a separate pointCloud and push it to a vector.

Note

Since points in PointCloud with label values = 0 are rendered in gray in the UI, we use label values starting from 1 (Thus channel = 0 is mapped to label = 1 and so on.)

kind()

Kind kind ( ) const

inlineoverridevirtual

Data interface.

Implements Data.

matrixConvention()

Pose::TransformationConvention matrixConvention ( ) const

inlineoverridevirtual

Defines whether the internally stored matrices in derived classes map from or to the world coordinate system.

Changes the behavior of the default implementations of matrixToWorld and matrixFromWorld.

Implements Data.

bounds()

Geometry::AlignedBox bounds ( ) const

overridevirtual

Returns the axis-aligned bounding box of this data in world space.

Warning

Depending on the underlying data type this calling function may be computationally expensive! Do not call this method more often than needed, unless it is known that the caching behavior is implemented.

Implements Data.

describe()

std::string describe ( ) const

inlineoverridevirtual

Human readable description of the data for showing in the info bar.

Reimplemented from Data.

size()

int size ( ) const

inlineoverridevirtual

Returns

Total number of elements.

Implements Selectable.

---

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

• ImFusion/ML/KeypointSet.h