#include <ImFusion/US/MotionTrajectoryModel.h>

Model representing simple motion defined either by a shift and rotation or a rigid pose between the first and last frames. More...

Inheritance diagram for ImFusion::US::SimpleMotionModel:

Detailed Description

Model representing simple motion defined either by a shift and rotation or a rigid pose between the first and last frames.

The model supports two modes (SimpleMotionModel::SimpleMotionType):

In ShiftAndRotation mode, the motion is described by a scalar translation along the Z axis and an in-plane rotation angle.
In RigidPose mode, the motion is described by a translation vector and Euler angles.

Public Types
enum class	SimpleMotionType { ShiftAndRotation , RigidPose }
	The modes of the SimpleMotionModel.
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
	SimpleMotionModel (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 "distributeSymmetrically" property if set.
void	setParameters (const std::vector< double > &pars) override
	Sets the motion parameters in Euler representation.
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.
double	shift () const
	Returns the translation along the Z-axis.
double	rotation () const
	Returns the rotation around the Z-axis.
void	setMotionType (SimpleMotionType t)
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
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
SimpleMotionType	m_type
bool	m_distributeSymmetrically
	If true, will distribute symmetrically around the central frame.
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.

Simple getters and setters.
SimpleMotionType	motionType () const
void	setDistributeSymmetrically (bool b)
bool	distributeSymmetrically () const

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.

Constructor & Destructor Documentation

◆ SimpleMotionModel()

ImFusion::US::SimpleMotionModel::SimpleMotionModel ( int size )

explicit

Parameters

size	The number of frames in the motion sequence.

Member Function Documentation

◆ name()

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

inlineoverridevirtual

Returns the name of the current motion model.

Implements ImFusion::US::MotionTrajectoryModel.

◆ configure()

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

overridevirtual

Extends MotionTrajectoryModel::configure(const Properties *).

Supports additional properties specific to this model:

"distributeSymmetrically": if true, the motion is distributed symmetrically around the central frame.

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

Reimplemented from ImFusion::US::MotionTrajectoryModel.

◆ configuration()

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

overridevirtual

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

Reimplemented from ImFusion::US::MotionTrajectoryModel.

◆ setParameters()

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

overridevirtual

Sets the motion parameters in Euler representation.

Implicitly changes the motion type.

If pars.size() == 2, the motion type is set to ShiftAndRotation.
If pars.size() >= 6, the motion type isset to RigidPose.

Any previously set parameters are discarded. Parameters are interpreted as:

ShiftAndRotation: [z-translation, in-plane rotation angle]
RigidPose: [tx, ty, tz, rx, ry, rz] in Euler angles

Warning: Logs a warning and ignores pars if the number of parameters is not 2 and less than 6.

Reimplemented from ImFusion::US::MotionTrajectoryModel.

◆ defineMotion()

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

overridevirtual

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

Implements ImFusion::US::MotionTrajectoryModel.

◆ fitMatrices()

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

overridevirtual

Sets the parameters based on the given motion sequence.

Defines the parameters as an Euler-angle representation of a rigid motion between first and the last frames of the input motion.

Parameters

mat	sequence of transformation matrices representing the motion.

Returns: a new registration matrix corresponding to the fitted motion.

Note: The mode will be set to RigidPose even if the motion only consists of a Z-axis translation and rotation around the Z-axis.

Implements ImFusion::US::MotionTrajectoryModel.

◆ setMotionType()

void ImFusion::US::SimpleMotionModel::setMotionType ( SimpleMotionType t )

Note: When switching from RigidPose to the ShiftAndRotation, the parameters will be truncated: the translation along the Z-axis becomes the shift, and the rotation along the Z-axis becomes the rotation.

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

ImFusion/US/MotionTrajectoryModel.h

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Simple getters and setters.

Additional Inherited Members

Constructor & Destructor Documentation

◆ SimpleMotionModel()

Member Function Documentation

◆ name()

◆ configure()

◆ configuration()

◆ setParameters()

◆ defineMotion()

◆ fitMatrices()

◆ setMotionType()