ToolCalibrationAlgorithm Class Reference

#include <ImFusion/Navigation/ToolCalibrationAlgorithm.h>

Algorithm for pointer tool calibrations. More...

Inheritance diagram for ToolCalibrationAlgorithm:

Detailed Description

Algorithm for pointer tool calibrations.

Public Types
enum class	CalibrationType : int { Pivot3d = 0 , NeedleDir = 1 , Both = 2 }
	Calibration type. 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
	ToolCalibrationAlgorithm (std::vector< TrackingSequence * > &tss)
	ToolCalibrationAlgorithm (TrackingSequence *pivoting, TrackingSequence *rotation)
	Constructor to explicitly specify pivoting (optional) and/or rotation (optional) tracking sequence.
void	compute () override
	Computes the calibration and applies it to the input tracking sequences.
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.
void	setCalibrationType (CalibrationType type)
	Sets the calibration type (only relevant if only one tracking sequence is provided, ignored otherwise).
void	rotateCalibration180 ()
	Rotates the calibration by 180 degrees around the z-axis.
mat4	calibration () const
	Returns the calibration matrix from tracker to tip of tool.
std::optional< vec3 >	origin () const
	Returns the tip location in tracking camera (world) coordinates during calibration.
std::optional< vec3 >	directionUp () const
	Returns an estimate of the upwards direction in tracking camera (world) coordinates (assuming a table or other flat surface).
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

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=0)
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.

Protected Member Functions
mat4	performPivotCalibration3d (const TrackingSequence &ts)
	Compute the pivot calibration of a sharp instrument. Returns identity rotation and computed offset.
mat4	performNeedleDirectionCalibration (const TrackingSequence &ts)
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.

Additional Inherited Members
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 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

CalibrationType

enum class CalibrationType : int

strong

Calibration type.

Enumerator
Pivot3d	3D pivot calibration, assumes articulated movement with fixed tip, will only set offset
NeedleDir	Needle direction calibration, takes rotation axes between first and last sample, will onyl set rotation.
Both	Consecutive 3D pivot calibration and needle direction calibration based on two input tracking sequences.

Constructor & Destructor Documentation

ToolCalibrationAlgorithm()

ToolCalibrationAlgorithm	(	TrackingSequence *	pivoting,
		TrackingSequence *	rotation )

Constructor to explicitly specify pivoting (optional) and/or rotation (optional) tracking sequence.

The calibration type is set accordingly: both if both parameters are use, the type according to the provided parameter otherwise.

Member Function Documentation

compute()

void compute ( )

overridevirtual

Computes the calibration and applies it to the input tracking sequences.

Implements Algorithm.

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.

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

• ImFusion/Navigation/ToolCalibrationAlgorithm.h