SurfaceToVolumeRegistrationAlgorithm Class Reference

#include <RGBD/Include/ImFusion/RGBD/SurfaceToVolumeRegistrationAlgorithm.h>

Algorithm for surface scan to volume registration. More...

Inheritance diagram for SurfaceToVolumeRegistrationAlgorithm:

Detailed Description

Algorithm for surface scan to volume registration.

Public Types
enum class	ScanOrientation { Feet = 0 , Head , Left , Right }
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
	SurfaceToVolumeRegistrationAlgorithm (SharedImageSet *volume, const std::vector< PointCloud * > &pcs, SharedImageSet *volumeWeightMap=nullptr)
	Constructs the algorithm, stores initial poses of input point clouds.
	~SurfaceToVolumeRegistrationAlgorithm () override
	Destructs the algorithm.
void	compute () override
	TODO: Write this in details.
OwningDataList	takeOutput () override
	TODO: Write this.
bool	reset ()
	Resets the poses and clears out the intermediate data.
std::vector< mat4 >	originalPointCloudPoses () const
	Returns original point cloud poses.
void	setSurfaceScans (std::vector< PointCloud * > pointClouds)
	Sets the surface scan point clouds, stores their original poses.
void	setSkinSegmentation (std::unique_ptr< PointCloud > s)
	Sets a precomputed segmentation of the skin that has to be registered to the given volume.
Public Member Functions inherited from Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().
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

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=0)
	Checks if selected data is suitable to construct.
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< ScanOrientation >	p_surfaceRightOrientation = {"Surface right orientation", ScanOrientation::Feet, *this}
	Orientation of 3D sensor.
Parameter< double >	p_surfaceViewingAngle = {"Surface viewing angle", 0, *this}
	Angle in degrees from top-down view at which 3D sensor is viewing the surface For instance, if the sensor is observing the side of the patient rather then the top then the value should be 90.
Parameter< bool >	p_alignVolumeToSurface = {"Align volume to surface", false, *this}
	Flag to align volume to surface scans rather than the default condition, the other way around.
Parameter< bool >	p_downsampleSurface = {"Downsample surface", true, *this}
	Flag to downsample surface scan before processing, speeds up the process.
Parameter< std::vector< double > >	p_volumeWeights = {"Volume weights", std::vector<double>{}, *this}
	Weight to label correspondences. Each value corresponds to the index (0-based) as the label.
Parameter< std::vector< mat4 > >	p_groundTruthRegistration = {"GT registration (surface to volume)", std::vector<mat4>(), *this}
	Ground truth matrixToWorld transformation of the surface scan aligning it to the volume.
Parameter< double >	p_overlapRatio = {"ICP overlap ratio", 0.8, *this}
	Overlap ratio between 3D scan and skin mesh.
Parameter< bool >	p_skinSegmentationPadding = {"Skin segmentation padding", true, *this}
	Applies padding for skin segmentation if set true.
Parameter< int >	p_skinSegmentationPaddingSize = {"Skin segmentation padding size", 4, *this}
	Skin segmentation padding size.
Parameter< PaddingMode >	p_skinSegmentationPaddingMode = {"Skin segmentation padding mode", PaddingMode::Clamp, *this}
	Skin segmentation padding mode.
Parameter< bool >	p_skinSegmentationSubvoxelRefinement = {"Skin segmentation subvoxel refinement", true, *this}
	Skin segmentation subvoxel refinement.
Parameter< bool >	p_exportSkinPoints = {"Export skin points", false, *this}
	Export skin 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 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 Function Documentation

compute()

void compute ( )

overridevirtual

TODO: Write this in details.

Implements Algorithm.

takeOutput()

OwningDataList takeOutput ( )

overridevirtual

TODO: Write this.

Reimplemented from Algorithm.

reset()

bool reset

(

)

Resets the poses and clears out the intermediate data.

Returns

true if the reset was successful

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

• RGBD/Include/ImFusion/RGBD/SurfaceToVolumeRegistrationAlgorithm.h