#include <ImFusion/US/MotionTrajectoryModel.h>

Motion model with independent poses for each frame, exposing only one frame at a time for optimization. More...

Inheritance diagram for ImFusion::US::EveryFrameModel:

Detailed Description

Motion model with independent poses for each frame, exposing only one frame at a time for optimization.

This model maintains a pose (as a transformation matrix) for each frame in the range [0, m_size). Only the parameters of the currently focused frame are accessible.

Coordinate systems for motion can be chosen using CoordinateMode:

Global: world coordinate system.
ImagePlane: coordinates in the 2D image plane of each frame (X-Y plane).
Trajectory: aligned with the motion trajectory, with Z-axis along the direction of travel.

The model uses the averaging interval to define the radius of the sliding window for the estimated trajectory direction. For each frame, an amount equal to m_averageInterval of matrices from the fitted motion is taken before and after the currently estimated frame, and the average motion is calculated for the motion within this interval.

For example, for fitted motion of size 100: For the frame at position i = 20 and m_averageInterval = 5, the average motion in the range [15, 25] will be calculated.

Note: The range of the sliding window does not exceed the bounds of the fitted motion.

Public Types
enum class	CoordinateMode : int { Global = 0 , ImagePlane = 1 , Trajectory = 2 }
	Coordinate system of optimization (only relevant for restricted movement, e.g. in image plane direction). More...
Public Types inherited from ImFusion::US::MotionTrajectoryModel
typedef std::function< MotionTrajectoryModel *(int)>	createModelFunc
	Function signature for creating a motion model with a given size.

Public Member Functions
	EveryFrameModel (int size, int focus=0)
std::string	name () const override
	Returns the name of the current motion model.
int	numberOfParameters () const override
std::vector< double >	parameters () const override
void	setParameters (const std::vector< double > &pars) override
	Sets pose parameters for the currently focused frame.
std::vector< mat4 >	defineMotion () const override
	Defines the motion trajectory across all frames.
mat4	fitMatrices (const std::vector< mat4 > &mat) override
	Fit motion parameters to a sequence of pose matrices.
void	setFocus (int f)
int	focus () const
void	setMatrix (const mat4 &m, int which)
	Sets the parameters of the waypoint with index `which` from the transformation matrix.
mat4	matrix (int which) const
	Retrieves the transformation matrix for a specified frame.
void	setAverageInterval (int ai)
	Sets the number of frames to average for estimating trajectory direction.
int	averageInterval () const
	Gets the averaging interval used for trajectory estimation.
void	setCoordinateMode (CoordinateMode mode)
CoordinateMode	coordinateMode () const
Public Member Functions inherited from ImFusion::US::MotionTrajectoryModel
	MotionTrajectoryModel (int size)
void	setRelativeShiftMatrix (const mat4 &relShiftBefore)
	Sets the relative shift matrix applied before the motion.
void	configure (const Properties *p) override
	Sets one or multiple properties.
void	configuration (Properties *p) const override
	Retrieve the properties of this 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

Protected Attributes
int	m_focus
	Current frame the exposed parameters correspond to.
std::vector< mat4 >	m_relativeMatrices
	Matrices to set transformation in desired local coordinate system.
std::vector< mat4 >	m_originalMatrices
	Original tracking matrices.
CoordinateMode	m_coordMode = CoordinateMode::Global
int	m_averageInterval = 1
	Averaging interval to average trajectory direction.
Protected Attributes inherited from ImFusion::US::MotionTrajectoryModel
const int	m_size
	Size of the model, regularly the number of frames.
std::vector< double >	m_pars
	Full motion parameter vector - not necessarily the exposed ones.
mat4	m_relShift
	Generic helper matrix to incorporate optional shifts. Considered by rigidMotion().
Protected Attributes inherited from ImFusion::Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Additional Inherited Members
Static Public Member Functions inherited from ImFusion::US::MotionTrajectoryModel
static std::vector< std::pair< std::string, createModelFunc > > &	supportedModels ()
	Returns a list of supported motion models.
Public Attributes inherited from ImFusion::Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Protected Member Functions inherited from ImFusion::US::MotionTrajectoryModel
std::vector< mat4 >	rigidMotion (const mat4 &m0, const mat4 &m1, int startFrame=0, int endFrame=-1) const
	Helper method to interpolate a rigid motion between m0 and m1.

Member Enumeration Documentation

◆ CoordinateMode

enum class ImFusion::US::EveryFrameModel::CoordinateMode : int

strong

Coordinate system of optimization (only relevant for restricted movement, e.g. in image plane direction).

Enumerator
Global	Global coordinate system is used for rigid transformation.
ImagePlane	Coordinate system in local image coordinates (x-y plane = image plane).
Trajectory	Coordinate system in trajectory system (z-axis = trajectory).

Constructor & Destructor Documentation

◆ EveryFrameModel()

ImFusion::US::EveryFrameModel::EveryFrameModel	(	int	size,
		int	focus = 0 )

explicit

Parameters

size	number of frames in the motion sequence.
focus	index of currently focused frame

Member Function Documentation

◆ name()

std::string ImFusion::US::EveryFrameModel::name ( ) const

inlineoverridevirtual

Returns the name of the current motion model.

Implements ImFusion::US::MotionTrajectoryModel.

◆ numberOfParameters()

int ImFusion::US::EveryFrameModel::numberOfParameters ( ) const

inlineoverridevirtual

Accessors for the exposed parameters. Default implement access the full vector m_pars, but derived classes may choose to only expose some of them depending on some internal state.

Reimplemented from ImFusion::US::MotionTrajectoryModel.

◆ parameters()

std::vector< double > ImFusion::US::EveryFrameModel::parameters ( ) const

overridevirtual

Reimplemented from ImFusion::US::MotionTrajectoryModel.

◆ setParameters()

void ImFusion::US::EveryFrameModel::setParameters ( const std::vector< double > & pars )

overridevirtual

Sets pose parameters for the currently focused frame.

Only 6 elements in the input vector are assumed.

Parameters

pars	6-element vector representing the pose parameters (assumed to be a 6D vector: translation + Euler angles).

Warning: If the pars.size() > 6 then the behaviour is undefined.

Reimplemented from ImFusion::US::MotionTrajectoryModel.

◆ defineMotion()

std::vector< mat4 > ImFusion::US::EveryFrameModel::defineMotion ( ) const

overridevirtual

Defines the motion trajectory across all frames.

Computes the transformation matrix for each frame based on the current coordinate mode.

If coordinateMode() == Global, the motion for each frame is computed from its pose parameters.
If coordinateMode() != Global, the motion must be defined by externally provided matrices using fitMatrices(const std::vector<mat4>&). These populate both the original and relative matrices used in the final motion.

Implements ImFusion::US::MotionTrajectoryModel.

◆ fitMatrices()

mat4 ImFusion::US::EveryFrameModel::fitMatrices ( const std::vector< mat4 > & mat )

overridevirtual

Fit motion parameters to a sequence of pose matrices.

Computes and sets internal parameters to approximate the given trajectory, and returns a registration matrix to align the model to the input poses.

Parameters

mat	Pose waypoints as 4x4 matrices, using the TOWORLD convention.

Returns: Registration matrix aligning the fitted motion to the input.

Implements ImFusion::US::MotionTrajectoryModel.

◆ matrix()

mat4 ImFusion::US::EveryFrameModel::matrix ( int which ) const

Retrieves the transformation matrix for a specified frame.

If the index is out of range, returns mat4::Identity().

◆ setAverageInterval()

void ImFusion::US::EveryFrameModel::setAverageInterval ( int ai )

Sets the number of frames to average for estimating trajectory direction.

Parameters

ai	Averaging interval (number of frames).

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

ImFusion/US/MotionTrajectoryModel.h

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Enumeration Documentation

◆ CoordinateMode

Constructor & Destructor Documentation

◆ EveryFrameModel()

Member Function Documentation

◆ name()

◆ numberOfParameters()

◆ parameters()

◆ setParameters()

◆ defineMotion()

◆ fitMatrices()

◆ matrix()

◆ setAverageInterval()