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ImFusion C++ SDK 4.5.0
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ImFusion C++ SDK 4.5.0
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#include <ImFusion/US/NeedleSweepCalibrationAlgorithm.h>
This algorithm allows to perform ultrasound calibration using a tracked needle or pointer. More...
This algorithm allows to perform ultrasound calibration using a tracked needle or pointer.
The input to this algorithm is an ultrasound sweep with more than one tracking sequence, and where the needle tip is visible in at least 4 frames. The first unused tracking sequence is assumed to be the needle or pointer tracking.
Before using compute(), fiducial points must be annotated in the ultrasound sweep by calling addPoint(). Calibration Procedure:
Public Member Functions | |
| NeedleSweepCalibrationAlgorithm (UltrasoundSweep &sweep) | |
| Constructs a NeedleSweepCalibrationAlgorithm for the given ultrasound sweep. | |
| void | compute () override |
| Execute the algorithm. | |
| double | residualError () |
| Retrieves the residual error of the calibration. | |
| void | undo () |
| Resets the calibration to the previous value. | |
| UltrasoundSweep & | sweep () |
| Provides access to the ultrasound sweep object. | |
| const UltrasoundSweep & | sweep () const |
| Provides access to the ultrasound sweep object. | |
| PointsOnImage & | points () |
| Provides access to the PointsOnImage object. | |
| const PointsOnImage & | points () const |
| Provides access to the PointsOnImage object. | |
| std::optional< mat4 > | hasNeedle () |
| Retrieves the needle coordinates in image coordinates for the current frame. | |
| 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::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 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 |
Static Public Member Functions | |
| static bool | createCompatible (const DataList &data, Algorithm **a=0) |
| Static Public Member Functions inherited from ImFusion::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 | |
| std::optional< mat4 > | hasNeedleMatrixForFrame (int frame) const |
| Finds the needle matrix corresponding to the given ultrasound sweep frame. | |
| Protected Member Functions inherited from ImFusion::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 Types inherited from ImFusion::Algorithm | |
| enum | Status { Unknown = -1 , Success = 0 , Error = 1 , InvalidInput , IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU , UnknownAction , AbortedByUser , User = 1000 } |
| Status codes. More... | |
| Public Attributes inherited from ImFusion::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 ImFusion::Configurable | |
| Signal | signalParametersChanged |
| Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted. | |
| Protected Attributes inherited from ImFusion::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 ImFusion::Configurable | |
| std::vector< Param > | m_params |
| List of all registered Parameter and SubProperty instances. | |
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explicit |
Constructs a NeedleSweepCalibrationAlgorithm for the given ultrasound sweep.
| std::runtime_error | if the sweep is null |
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overridevirtual |
Execute the algorithm.
Implements ImFusion::Algorithm.
| std::optional< mat4 > ImFusion::US::NeedleSweepCalibrationAlgorithm::hasNeedle | ( | ) |
Retrieves the needle coordinates in image coordinates for the current frame.
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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.
Reimplemented from ImFusion::Configurable.
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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.
Reimplemented from ImFusion::Configurable.
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protected |
Finds the needle matrix corresponding to the given ultrasound sweep frame.
| frame | Index of the frame. |