ImFusion::OpticalTrackingMarker Class Reference

#include <ImFusion/Navigation/OpticalTrackingMarker.h>

Represents a marker for optical tracking cameras. More...

Inheritance diagram for ImFusion::OpticalTrackingMarker:

Detailed Description

Represents a marker for optical tracking cameras.

This class stores the geometry of tracking markers used in optical tracking systems. Each marker consists of multiple fiducials (reflective spheres or active LEDs) whose 3D positions are defined relative to the marker's local coordinate system. These markers are typically attached to surgical tools or reference frames.

Example usage:

OpticalTrackingMarker marker{"Pointer", 123};
marker.addFiducialPosition(vec3(0, 0, 0));
marker.addFiducialPosition(vec3(40, 0, 0));
marker.addFiducialPosition(vec3(0, 60, 0));

Public Member Functions
	OpticalTrackingMarker (std::string name, std::optional< uint32_t > markerId={})
bool	operator== (const OpticalTrackingMarker &other) const
bool	operator!= (const OpticalTrackingMarker &other) const
void	setName (const std::string &name)
	Sets the name for the marker.
const std::string &	name () const
	Returns the marker name.
void	setMarkerId (std::optional< uint32_t > markerId)
	Sets the optional marker ID to uniquely identify the marker.
std::optional< uint32_t >	markerId () const
	Returns the marker ID if available, std::nullopt otherwise.
void	setFiducialPositions (const std::vector< vec3 > &positions)
	Sets the fiducial positions in marker local coordinates (in millimeters).
const std::vector< vec3 > &	fiducialPositions () const
	Returns the fiducial positions.
bool	setFiducialNormals (const std::vector< vec3 > &normals)
	Sets the fiducial normals in marker local coordinates.
const std::vector< vec3 > &	fiducialNormals () const
	Returns the fiducial normals.
bool	hasNormals () const
	Checks if normals are defined for the fiducials.
void	addFiducial (vec3 position, std::optional< vec3 > normal={})
	Adds a single fiducial position with its normal.
void	clearFiducials ()
	Removes all fiducial positions and normals.
size_t	fiducialCount () const
	Returns the number of fiducials in this marker.
bool	isEmpty () const
	Checks if the marker has any fiducials.
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.
Public Member Functions inherited from ImFusion::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

Additional Inherited Members
Public Attributes inherited from ImFusion::Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Protected Attributes inherited from ImFusion::Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Function Documentation

setFiducialPositions()

void ImFusion::OpticalTrackingMarker::setFiducialPositions

(

const std::vector< vec3 > &

positions

)

Sets the fiducial positions in marker local coordinates (in millimeters).

Parameters

positions

Vector of 3D positions for each fiducial

setFiducialNormals()

bool ImFusion::OpticalTrackingMarker::setFiducialNormals

(

const std::vector< vec3 > &

normals

)

Sets the fiducial normals in marker local coordinates.

Parameters

normals

Vector of 3D normal directions. Must be empty or same size as positions.

Returns

True if successful, false if size mismatch

addFiducial()

void ImFusion::OpticalTrackingMarker::addFiducial	(	vec3	position,
		std::optional< vec3 >	normal = {} )

Adds a single fiducial position with its normal.

Parameters

position	3D position in marker local coordinates
normal	3D normal direction

configure()

void ImFusion::OpticalTrackingMarker::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 ImFusion::Configurable.

configuration()

void ImFusion::OpticalTrackingMarker::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 ImFusion::Configurable.

---

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

• ImFusion/Navigation/OpticalTrackingMarker.h