mitk::PivotCalibration Class Reference

Does a pivot calibration from a vector of 4x4 matrices, such as might be used to calibrate an image guided surgery pointing device. More...

Inheritance diagram for mitk::PivotCalibration:

Collaboration diagram for mitk::PivotCalibration:

Public Member Functions
	mitkClassMacroItkParent (PivotCalibration, itk::Object) static Pointer New()
virtual void	SetSingularValueThreshold (double _arg)
virtual double	GetSingularValueThreshold ()
void	CalibrateUsingFilesInDirectories (const std::string &matrixDirectory, double &residualError, vtkMatrix4x4 &outputMatrix, const int &percentage=100, const int &reruns=100)
	Method that provides directory scanning before calling the other calibrate method. More...
void	Calibrate (const std::vector< cv::Mat > &matrices, cv::Matx44d &outputMatrix, double &residualError, const int &percentage=100, const int &reruns=100)
	Performs pivot (invariant point) based calibration. More...

Protected Member Functions
	PivotCalibration ()
virtual	~PivotCalibration ()
	PivotCalibration (const PivotCalibration &)
PivotCalibration &	operator= (const PivotCalibration &)

Detailed Description

Does a pivot calibration from a vector of 4x4 matrices, such as might be used to calibrate an image guided surgery pointing device.

Inspired by: Feuerstein et. al. Intraoperative Laparoscope Augmentation for Port Placement and Resection Planning. IEEE TMI Vol 27, No 3. March 2008.

Constructor & Destructor Documentation

mitk::PivotCalibration::PivotCalibration ( )

protected

mitk::PivotCalibration::~PivotCalibration ( )

protectedvirtual

mitk::PivotCalibration::PivotCalibration ( const PivotCalibration &  )

protected

Member Function Documentation

void mitk::PivotCalibration::Calibrate	(	const std::vector< cv::Mat > &	matrices,
		cv::Matx44d &	outputMatrix,
		double &	residualError,
		const int &	percentage = 100,
		const int &	reruns = 100
	)

Performs pivot (invariant point) based calibration.

Parameters

In]	matrices a vector of 4x4 matrices representing rigid body tracking transformation.
Out]	outputMatrix the calibration matrix
Out]	residualError the root mean square distance of each re-constructed point from the invariant point.
In]	percentage if < 100 and > 0 will take a randomly chosen number of matrices and run calibration, and measure the mean and standard deviation of the RMS reconstrution error.
In]	reruns the number of re-runs to do when you are randomly selecting data.

void mitk::PivotCalibration::CalibrateUsingFilesInDirectories	(	const std::string &	matrixDirectory,
		double &	residualError,
		vtkMatrix4x4 &	outputMatrix,
		const int &	percentage = 100,
		const int &	reruns = 100
	)

Method that provides directory scanning before calling the other calibrate method.

More specifically, it is assumed that a directory is provided containing JUST the 4x4 matrices, where each matrix is a separate plain text file, containing 4 rows of 4 floating point numbers, each number separated by spaces.

Parameters

In]	matrixDirectory directory containing tracking matrices
Out]	residualError the root mean square distance of each re-constructed point from the invariant point.
Out]	outputMatrix the output transformation.
In]	percentage if < 100 and > 0 will take a randomly chosen number of matrices and run calibration, and measure the mean and standard deviation of the RMS reconstrution error.
In]	reruns the number of re-runs to do when you are randomly selecting data.

virtual double mitk::PivotCalibration::GetSingularValueThreshold ( )

virtual

mitk::PivotCalibration::mitkClassMacroItkParent	(	PivotCalibration	,
		itk::Object
	)

PivotCalibration& mitk::PivotCalibration::operator= ( const PivotCalibration &  )

protected

virtual void mitk::PivotCalibration::SetSingularValueThreshold ( double  _arg )

virtual

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

• mitkPivotCalibration.h
• mitkPivotCalibration.cxx