#include <ImFusion/US/MotionTrajectoryModel.h>

A motion model that extends rigid motion with possible waypoint parametrization. More...

Inheritance diagram for ImFusion::US::ParametricMotionModel:

Detailed Description

A motion model that extends rigid motion with possible waypoint parametrization.

This class extends the functionality of SimpleMotionModel in RigidPose mode by combining it with a spline-based MotionModel. The base rigid motion is defined by the first 6 parameters and handled by SimpleMotionModel. The remaining parameters are used to define waypoints.

Note

The first 6 parameters define the global rigid transformation.
Rigid transformation is distributed symmetrically.
The remaining parameters are divided into k blocks of 6 values.
Each block defines the pose in position and euler angles for waypoints used by MotionModel.
The number of control points (numberOfControlPoints()) does not necessarily match the number of blocks. The motion will be calculated based on these waypoints, and for each control point, the pose matrix will be interpolated.
Control points are interpolated across the frame range, excluding the first and last frames.
The base rigid transformation (first 6 parameters) is distributed symmetrically across the full motion.
Waypoints influence only the internal frames.

Warning

setParameters(std::vector<double>) is not overridden. Parameters are exposed as-is:

pars[0..5]: Rigid motion parameters.
pars[6..]: k blocks of 6 parameters (position + Euler angles).

See also: SimpleMotionModel; MotionModel

Public Member Functions
	ParametricMotionModel (int size)
std::string	name () const override
	Returns the name of the current motion model.
void	configure (const Properties *p) override
	Extends MotionTrajectoryModel::configure(const Properties *).
void	configuration (Properties *p) const override
	Saves the current model settings into the provided Properties object, including the "numCtrlPoints" property if set.
std::vector< mat4 >	defineMotion () const override
	Computes a set of m_size matrices describing the intended motion trajectory.
mat4	fitMatrices (const std::vector< mat4 > &mat) override
	Sets the parameters based on the given motion sequence.
void	setNumberOfControlPoints (int p, bool opt=false)
	Function defining the number of control points and optimization flag.
int	numberOfControlPoints () const
bool	optimizeControlPoints () 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.
virtual int	numberOfParameters () const
virtual std::vector< double >	parameters () const
virtual void	setParameters (const std::vector< double > &pars)
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_numCtrlPoints = 1
	Control points of underlying MotionModel; Should not exceed the size of a model.
bool	m_modelOpt = false
	Optimize motion control points.
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
Public Types inherited from ImFusion::US::MotionTrajectoryModel
typedef std::function< MotionTrajectoryModel *(int)>	createModelFunc
	Function signature for creating a motion model with a given size.
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.

Constructor & Destructor Documentation

◆ ParametricMotionModel()

ImFusion::US::ParametricMotionModel::ParametricMotionModel ( int size )

explicit

Parameters

size	The number of frames in the motion sequence.

Member Function Documentation

◆ name()

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

inlineoverridevirtual

Returns the name of the current motion model.

Implements ImFusion::US::MotionTrajectoryModel.

◆ configure()

void ImFusion::US::ParametricMotionModel::configure ( const Properties * p )

overridevirtual

Extends MotionTrajectoryModel::configure(const Properties *).

Supports additional properties specific to this model:

"numCtrlPoints": the number of control points.

See also: MotionTrajectoryModel::configure(const Properties *)

Reimplemented from ImFusion::US::MotionTrajectoryModel.

◆ configuration()

void ImFusion::US::ParametricMotionModel::configuration ( Properties * p ) const

overridevirtual

Saves the current model settings into the provided Properties object, including the "numCtrlPoints" property if set.

Reimplemented from ImFusion::US::MotionTrajectoryModel.

◆ defineMotion()

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

overridevirtual

Computes a set of m_size matrices describing the intended motion trajectory.

Implements ImFusion::US::MotionTrajectoryModel.

◆ fitMatrices()

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

overridevirtual

Sets the parameters based on the given motion sequence.

Warning: If mat.size() > m_size, the behavior is undefined. Ensure the input sequence does not exceed the model size.

Implements ImFusion::US::MotionTrajectoryModel.

◆ setNumberOfControlPoints()

void ImFusion::US::ParametricMotionModel::setNumberOfControlPoints	(	int	p,
		bool	opt = false )

Function defining the number of control points and optimization flag.

If opt == false: Control points are distributed uniformly over the normalized time interval (0, 1), excluding the start and end frames.
If opt == true: Control points are distributed non-uniformly based on the Manhattan norm of each parameter block.

Parameters

p	Number of control points to use (must be 0 < p < m_size).
opt	Whether to optimize the distribution of control points based on waypoint motion.

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

ImFusion/US/MotionTrajectoryModel.h

Detailed Description

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ParametricMotionModel()

Member Function Documentation

◆ name()

◆ configure()

◆ configuration()

◆ defineMotion()

◆ fitMatrices()

◆ setNumberOfControlPoints()