Base class for Ultrasound Pin/Cross-Wire calibration and Video Hand-Eye calibration cost functions. More...

Inheritance diagram for itk::InvariantPointCalibrationCostFunction:

Collaboration diagram for itk::InvariantPointCalibrationCostFunction:

Public Types
typedef InvariantPointCalibrationCostFunction	Self

typedef itk::MultipleValuedCostFunction	Superclass

typedef itk::SmartPointer< Self >	Pointer

typedef itk::SmartPointer < const Self >	ConstPointer

typedef Superclass::ParametersType	ParametersType

typedef Superclass::DerivativeType	DerivativeType

typedef Superclass::MeasureType	MeasureType

typedef mitk::TimeStampsContainer::TimeStamp	TimeStampType

Public Member Functions
virtual void	SetInvariantPoint (mitk::Point3D _arg)

virtual mitk::Point3D	GetInvariantPoint () const

virtual void	SetOptimiseInvariantPoint (bool _arg)

virtual bool	GetOptimiseInvariantPoint () const

virtual void	SetTimingLag (double _arg)

virtual double	GetTimingLag () const

virtual void	SetAllowableTimingError (TimeStampType _arg)

virtual TimeStampType	GetAllowableTimingError () const

virtual void	SetOptimiseTimingLag (bool _arg)

virtual bool	GetOptimiseTimingLag () const

virtual void	SetOptimiseRigidTransformation (bool _arg)

virtual bool	GetOptimiseRigidTransformation () const

virtual void	SetVerbose (bool _arg)

virtual bool	GetVerbose () const

void	SetRigidTransformation (const cv::Matx44d &rigidBodyTrans)

cv::Matx44d	GetRigidTransformation () const

std::vector< double >	GetRigidTransformationParameters () const

void	SetRigidTransformationParameters (const std::vector< double > &params)

virtual unsigned int	GetNumberOfValues (void) const override
	Equal to the number of points * 3. More...

virtual unsigned int	GetNumberOfParameters () const override
	Required by base class to return the number of parameters. See introduction to this class. More...

void	SetNumberOfParameters (const int &numberOfParameters)
	Sets the number of parameters being optimised. This should be called before optimisation starts. More...

virtual void	GetDerivative (const ParametersType &parameters, DerivativeType &derivative) const override
	Simply uses central differences to approximate the derivative for each of the parameters. See also SetScales where you set the relative size of each parameter step size. More...

void	SetScales (const ParametersType &scales)
	Used when calculating derivative using central differences. More...

double	GetResidual (const MeasureType &values) const
	Returns the RMS residual of all the values stored in the values array. More...

void	SetTrackingData (mitk::TrackingAndTimeStampsContainer *trackingData)
	Sets the tracking data onto this object. More...

void	SetPointData (std::vector< std::pair< unsigned long long, cv::Point3d > > *pointData)
	Sets the point data onto this object, setting the number of values = pointData.size()*3. More...

virtual MeasureType	GetValue (const ParametersType &parameters) const override
	The cost function is the residual error of the reconstructed point, where this function returns an array of n (x, y, z) tuples where n is the number of points, and each x, y, z measure is the difference from the invariant point. More...

Protected Member Functions
	InvariantPointCalibrationCostFunction ()

virtual	~InvariantPointCalibrationCostFunction ()

	InvariantPointCalibrationCostFunction (const InvariantPointCalibrationCostFunction &)

InvariantPointCalibrationCostFunction &	operator= (const InvariantPointCalibrationCostFunction &)

void	ValidateSizeOfParametersArray (const ParametersType &parameters) const
	Checks the supplied parameters array is the right size (i.e. it equals this->GetNumberOfParameters()), and throws mitk::Exception if it isnt. More...

void	ValidateSizeOfScalesArray (const ParametersType &parameters) const
	Checks the supplied parameters array is the right size (i.e. it equals this->m_Scales.GetSize()), and throws mitk::Exception if it isnt. More...

virtual cv::Matx44d	GetCalibrationTransformation (const ParametersType &parameters) const =0
	Computes the calibration (image-to-probe) or (hand-eye) transformation from the current estimate of the parameters. More...

cv::Matx44d	GetRigidTransformation (const ParametersType &parameters) const
	Computes the rigid body part (US: image-to-probe) or (Video: hand-eye) transformation from the current estimate of the parameters. More...

cv::Matx44d	GetTranslationTransformation (const ParametersType &parameters) const
	Computes the translation transformation. More...

double	GetLag (const ParametersType &parameters) const
	Extracts the lag parameter from the array of things being optimised. More...

Protected Attributes
ParametersType	m_Scales

mitk::Point3D	m_InvariantPoint

bool	m_OptimiseInvariantPoint

double	m_TimingLag

bool	m_OptimiseTimingLag

std::vector< double >	m_RigidTransformation

bool	m_OptimiseRigidTransformation

unsigned int	m_NumberOfValues

TimeStampType	m_AllowableTimingError

unsigned int	m_NumberOfParameters

std::vector< std::pair < TimeStampType, cv::Point3d > > *	m_PointData

mitk::TrackingAndTimeStampsContainer *	m_TrackingData

bool	m_Verbose

Detailed Description

Base class for Ultrasound Pin/Cross-Wire calibration and Video Hand-Eye calibration cost functions.

Ultrasound:

1 DOF: temporal calibration
6 DOF: 3 rotations, 3 translations
9 DOF: 6 DOF + invariant point
11 DOF: 9 DOF + scaling
12 DOF: 11 DOF + temporal calibration

Video:

1 DOF: temporal calibration
6 DOF: 3 rotations, 3 translations
9 DOF: 6 DOF + invariant point
10 DOF: 9 DOF + temporal calibration

See also: itk::UltrasoundPinCalibrationCostFunction; itk::VideoHandEyeCalibrationCostFunction

Member Typedef Documentation

typedef itk::SmartPointer<const Self> itk::InvariantPointCalibrationCostFunction::ConstPointer

typedef Superclass::DerivativeType itk::InvariantPointCalibrationCostFunction::DerivativeType

typedef Superclass::MeasureType itk::InvariantPointCalibrationCostFunction::MeasureType

typedef Superclass::ParametersType itk::InvariantPointCalibrationCostFunction::ParametersType

typedef itk::SmartPointer<Self> itk::InvariantPointCalibrationCostFunction::Pointer

typedef InvariantPointCalibrationCostFunction itk::InvariantPointCalibrationCostFunction::Self

typedef itk::MultipleValuedCostFunction itk::InvariantPointCalibrationCostFunction::Superclass

typedef mitk::TimeStampsContainer::TimeStamp itk::InvariantPointCalibrationCostFunction::TimeStampType

Constructor & Destructor Documentation

itk::InvariantPointCalibrationCostFunction::InvariantPointCalibrationCostFunction ( )

protected

itk::InvariantPointCalibrationCostFunction::~InvariantPointCalibrationCostFunction ( )

protectedvirtual

itk::InvariantPointCalibrationCostFunction::InvariantPointCalibrationCostFunction ( const InvariantPointCalibrationCostFunction & )

protected

Member Function Documentation

virtual TimeStampType itk::InvariantPointCalibrationCostFunction::GetAllowableTimingError ( ) const

virtual

virtual cv::Matx44d itk::InvariantPointCalibrationCostFunction::GetCalibrationTransformation ( const ParametersType & parameters ) const

protectedpure virtual

Computes the calibration (image-to-probe) or (hand-eye) transformation from the current estimate of the parameters.

ie. Derived class itk::UltrasoundPinCalibrationCostFunction can choose to add scaling, whereas itk::VideoHandEyeCalibrationCostFunction can choose not to for examples.

Implemented in itk::UltrasoundPinCalibrationCostFunction, and itk::VideoHandEyeCalibrationCostFunction.

void itk::InvariantPointCalibrationCostFunction::GetDerivative	(	const ParametersType &	parameters,
		DerivativeType &	derivative
	)		const

overridevirtual

Simply uses central differences to approximate the derivative for each of the parameters. See also SetScales where you set the relative size of each parameter step size.

virtual mitk::Point3D itk::InvariantPointCalibrationCostFunction::GetInvariantPoint ( ) const

virtual

double itk::InvariantPointCalibrationCostFunction::GetLag ( const ParametersType & parameters ) const

protected

Extracts the lag parameter from the array of things being optimised.

unsigned int itk::InvariantPointCalibrationCostFunction::GetNumberOfParameters ( void ) const

overridevirtual

Required by base class to return the number of parameters. See introduction to this class.

unsigned int itk::InvariantPointCalibrationCostFunction::GetNumberOfValues ( void ) const

overridevirtual

Equal to the number of points * 3.

virtual bool itk::InvariantPointCalibrationCostFunction::GetOptimiseInvariantPoint ( ) const

virtual

virtual bool itk::InvariantPointCalibrationCostFunction::GetOptimiseRigidTransformation ( ) const

virtual

virtual bool itk::InvariantPointCalibrationCostFunction::GetOptimiseTimingLag ( ) const

virtual

double itk::InvariantPointCalibrationCostFunction::GetResidual ( const MeasureType & values ) const

Returns the RMS residual of all the values stored in the values array.

cv::Matx44d itk::InvariantPointCalibrationCostFunction::GetRigidTransformation ( ) const

cv::Matx44d itk::InvariantPointCalibrationCostFunction::GetRigidTransformation ( const ParametersType & parameters ) const

protected

Computes the rigid body part (US: image-to-probe) or (Video: hand-eye) transformation from the current estimate of the parameters.

This is always 6 DOF, so no scaling.

std::vector< double > itk::InvariantPointCalibrationCostFunction::GetRigidTransformationParameters ( ) const

virtual double itk::InvariantPointCalibrationCostFunction::GetTimingLag ( ) const

virtual

cv::Matx44d itk::InvariantPointCalibrationCostFunction::GetTranslationTransformation ( const ParametersType & parameters ) const

protected

Computes the translation transformation.

This is always 3 DOF, pure translation, translating from tracker coordinates to the invariant point.

InvariantPointCalibrationCostFunction::MeasureType itk::InvariantPointCalibrationCostFunction::GetValue ( const ParametersType & parameters ) const

overridevirtual

The cost function is the residual error of the reconstructed point, where this function returns an array of n (x, y, z) tuples where n is the number of points, and each x, y, z measure is the difference from the invariant point.

virtual bool itk::InvariantPointCalibrationCostFunction::GetVerbose ( ) const

virtual

InvariantPointCalibrationCostFunction& itk::InvariantPointCalibrationCostFunction::operator= ( const InvariantPointCalibrationCostFunction & )

protected

virtual void itk::InvariantPointCalibrationCostFunction::SetAllowableTimingError ( TimeStampType _arg )

virtual

virtual void itk::InvariantPointCalibrationCostFunction::SetInvariantPoint ( mitk::Point3D _arg )

virtual

void itk::InvariantPointCalibrationCostFunction::SetNumberOfParameters ( const int & numberOfParameters )

Sets the number of parameters being optimised. This should be called before optimisation starts.

virtual void itk::InvariantPointCalibrationCostFunction::SetOptimiseInvariantPoint ( bool _arg )

virtual

virtual void itk::InvariantPointCalibrationCostFunction::SetOptimiseRigidTransformation ( bool _arg )

virtual

virtual void itk::InvariantPointCalibrationCostFunction::SetOptimiseTimingLag ( bool _arg )

virtual

void itk::InvariantPointCalibrationCostFunction::SetPointData ( std::vector< std::pair< unsigned long long, cv::Point3d > > * pointData )

Sets the point data onto this object, setting the number of values = pointData.size()*3.

void itk::InvariantPointCalibrationCostFunction::SetRigidTransformation ( const cv::Matx44d & rigidBodyTrans )

void itk::InvariantPointCalibrationCostFunction::SetRigidTransformationParameters ( const std::vector< double > & params )

void itk::InvariantPointCalibrationCostFunction::SetScales ( const ParametersType & scales )

Used when calculating derivative using central differences.

virtual void itk::InvariantPointCalibrationCostFunction::SetTimingLag ( double _arg )

virtual

void itk::InvariantPointCalibrationCostFunction::SetTrackingData ( mitk::TrackingAndTimeStampsContainer * trackingData )

Sets the tracking data onto this object.

virtual void itk::InvariantPointCalibrationCostFunction::SetVerbose ( bool _arg )

virtual

void itk::InvariantPointCalibrationCostFunction::ValidateSizeOfParametersArray ( const ParametersType & parameters ) const

protected

Checks the supplied parameters array is the right size (i.e. it equals this->GetNumberOfParameters()), and throws mitk::Exception if it isnt.

void itk::InvariantPointCalibrationCostFunction::ValidateSizeOfScalesArray ( const ParametersType & parameters ) const

protected

Checks the supplied parameters array is the right size (i.e. it equals this->m_Scales.GetSize()), and throws mitk::Exception if it isnt.

Member Data Documentation

TimeStampType itk::InvariantPointCalibrationCostFunction::m_AllowableTimingError

protected

mitk::Point3D itk::InvariantPointCalibrationCostFunction::m_InvariantPoint

protected

unsigned int itk::InvariantPointCalibrationCostFunction::m_NumberOfParameters

protected

unsigned int itk::InvariantPointCalibrationCostFunction::m_NumberOfValues

mutableprotected

bool itk::InvariantPointCalibrationCostFunction::m_OptimiseInvariantPoint

protected

bool itk::InvariantPointCalibrationCostFunction::m_OptimiseRigidTransformation

protected

bool itk::InvariantPointCalibrationCostFunction::m_OptimiseTimingLag

protected

std::vector< std::pair<TimeStampType, cv::Point3d> >* itk::InvariantPointCalibrationCostFunction::m_PointData

protected

std::vector<double> itk::InvariantPointCalibrationCostFunction::m_RigidTransformation

protected

ParametersType itk::InvariantPointCalibrationCostFunction::m_Scales

protected

double itk::InvariantPointCalibrationCostFunction::m_TimingLag

protected

mitk::TrackingAndTimeStampsContainer* itk::InvariantPointCalibrationCostFunction::m_TrackingData

protected

bool itk::InvariantPointCalibrationCostFunction::m_Verbose

protected

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation