Detailed Description

Back-end algorithm for the UltrasoundCalibrationWizard.

It guides the user in estimating the calibration matrix for an ultrasound probe and tracker pair. This class also holds the data that the user is capturing as they advance through the wizard. From an input image and tracking stream, a set of motions are recorded. An initial calibration is computed from the input motions. Then the user has to disambiguate the flip of the ultrasound probe. Finally two perpendicular sweeps are recorded and a final calibration is computed.

Classes
struct	CalibrationData
	Holds the TrackingSequence and UltrasoundSweep that the user is capturing throughout the wizard. More...

Public Member Functions
	UltrasoundCalibrationWizardAlgorithm (ImageStream image, TrackingStream tracking)
	Takes in an image stream and a tracking stream to use as input data for the calibration.
	UltrasoundCalibrationWizardAlgorithm (ImageStream image, TrackingStream tracking, const std::vector< SharedImageSet * > &images)
	Takes in an image stream and a tracking stream to use as input data for the calibration.
void	compute () override
	Computes the calibration from the input data and applies it.
LiveSweepRecordingVisualizationAlgorithm *	liveUS ()
UltrasoundCalibrationWizardAlgorithm::CalibrationData &	data ()
ImageStream *	imageStream ()
TrackingStream *	trackingStream ()
SweepRecorderAlgorithm *	makeRecorder ()
void	startRecording ()
	Starts recording the input streams.
std::unique_ptr< UltrasoundSweep >	stopRecording ()
	Stops recording the input streams, generates an UltrasoundSweep from them.
void	setMainInstrument (int index)
	Sets the main instrument to record.
std::vector< TrackingInstrument >	devices ()
	Returns the tracking instruments in the input streams.
bool	isRecording () const
	Returns if the recorder is currently recording.
void	flipCoordinates (bool flip)
	Flips the assumed US image horizontal orientation.
void	initializeCalibration ()
	Initializes the calibration of the live sweep from the input directions.
void	calibrate (Progress *progress=nullptr)
	Runs the calibration process with a Progress.
void	calibrateRecordedData ()
	Applies the initial calibration on the recorded data.
mat4	calibratedPose ()
	Returns the calibrated tracker pose.
mat4	trackerPose ()
	Returns the tracker pose without any calibration.
mat4	calibrationMatrix ()
	Returns the initial calibration matrix.
bool	setForward (std::unique_ptr< TrackingSequence > ts)
	Sets the forward motion tracking sequence.
bool	setSide (std::unique_ptr< TrackingSequence > ts)
	Sets the side motion tracking sequence.
void	clearSide ()
	Clears the side motion tracking sequence.
bool	setRoll (std::unique_ptr< TrackingSequence > ts)
	Sets the roll motion tracking sequence.
bool	setPitch (std::unique_ptr< TrackingSequence > ts)
	Sets the pitch motion tracking sequence.
bool	setYaw (std::unique_ptr< TrackingSequence > ts)
	Sets the yaw motion tracking sequence.
void	clearRollPitchYaw ()
	Clears all roll, pitch and yaw tracking sequences.
void	setForwardSweep (std::unique_ptr< UltrasoundSweep > sweep)
	Sets the forward ultrasound sweep.
void	setSideSweep (std::unique_ptr< UltrasoundSweep > sweep)
	Sets the side ultrasound sweep.
std::optional< vec3 >	forwardAxisWorld ()
std::optional< vec3 >	sideAxisWorld ()
	Side vector wrt to world.
std::optional< vec3 >	upAxisWorld ()
	Up vector wrt to world.
mat3	surfaceOrientation ()
	Returns the surface orientation where the horizontal plane would be.
OwningDataList	takeOutput () override
	Return any new Data that was created by the Algorithm during the last call to compute().
Public Member Functions inherited from ImFusion::Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().
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	configure (const Properties *p)
	Configure this object instance by de-serializing the given Properties.
virtual void	configuration (Properties *p) const
	Serialize the current object configuration into the given Properties object.
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
Public Member Functions inherited from ImFusion::SignalReceiver
	SignalReceiver ()=default
	Default constructor.
	SignalReceiver (const SignalReceiver &other)
	Copy constructor, does not copy any existing signal connections from other.
SignalReceiver &	operator= (SignalReceiver rhs)
	Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs.
virtual	~SignalReceiver ()
	Virtual destructor disconnects from all connected signals.

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

Public Attributes
Signal< const TrackingSequence * >	recordingChanged
	Emitted when a recording has been taken.
Signal< const TrackingInstrument * >	trackingInstrumentChanged
	Emitted when a tracking instrument changes.
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.

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...
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.
Protected Member Functions inherited from ImFusion::SignalReceiver
void	disconnectAll ()
	Disconnects all existing connections.
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.

Constructor & Destructor Documentation

◆ UltrasoundCalibrationWizardAlgorithm()

ImFusion::US::UltrasoundCalibrationWizardAlgorithm::UltrasoundCalibrationWizardAlgorithm	(	ImageStream *	image,
		TrackingStream *	tracking,
		const std::vector< SharedImageSet * > &	images )

explicit

Takes in an image stream and a tracking stream to use as input data for the calibration.

Additionally images can be passed in containing front, side, roll, pitch, yaw and optionally two sweeps

Member Function Documentation

◆ compute()

void ImFusion::US::UltrasoundCalibrationWizardAlgorithm::compute ( )

overridevirtual

Computes the calibration from the input data and applies it.

Implements ImFusion::Algorithm.

◆ calibrate()

void ImFusion::US::UltrasoundCalibrationWizardAlgorithm::calibrate ( Progress * progress = nullptr )

Runs the calibration process with a Progress.

Takes the initial calibration from the input directions, and runs the calibration on the input sweeps Applies the calibration on the live sweep and sets the InstrumentCalibrationDataComponent in the input tracking stream

◆ takeOutput()

OwningDataList ImFusion::US::UltrasoundCalibrationWizardAlgorithm::takeOutput ( )

overridevirtual

Return any new Data that was created by the Algorithm during the last call to compute().

The default implementation will return an empty list.

Note: Since ownership of the data is transferred, you can call this method only once between calls to compute().

Reimplemented from ImFusion::Algorithm.

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

ImFusion/LiveUS/UltrasoundCalibrationWizardAlgorithm.h

Detailed Description

Classes

Public Member Functions

Static Public Member Functions