A class to match video frames to tracking frames, when reading recorded tracking data. More...

Inheritance diagram for mitk::TrackerAnalysis:

Collaboration diagram for mitk::TrackerAnalysis:

Public Member Functions
	mitkClassMacroItkParent (TrackerAnalysis, itk::Object) static Pointer New()

void	TemporalCalibration (std::string filename, int windowLow=-100, int windowHigh=100, bool visualise=false, std::string fileout="")
	Pass a file name that defines the position of a point fixed in world coordinates relative to the camera lens, along with the on screen coordinates of the point. The VideoLag is adjusted so as to minimalise the standard deviation of the reconstructed world point. More...

void	OptimiseHandeyeCalibration (std::string filename, bool visualise=false, std::string fileout="")
	Pass a file name that defines the position of a point fixed in world coordinates relative to the camera lens, along with the on screen coordinates of the point. The world position of the point and the handeye calibration are optimised to minimise the residual error of the reconstructed point. More...

void	HandeyeSensitivityTest (std::string filename, double windowLow, double windowHigh, double stepSize, std::string fileout="")
	Pass a file name that defines the position of a point fixed in world coordinates relative to the camera lens, along with the on screen coordinates of the point. The world position of the point is is determined using a range of perturbed values for the handeye matrix. The variance in the residual reconstruction error is used to determine the sensitivity of the system to errors in the hand eye calibration. More...

virtual void	SetCalibrationDirectory (std::string _arg)

Public Member Functions inherited from mitk::VideoTrackerMatching
	mitkClassMacroItkParent (VideoTrackerMatching, itk::Object) static Pointer New()

void	Initialise (std::string directory)
	Initialise the class by passing it a directory name. More...

cv::Mat	GetTrackerMatrix (unsigned int FrameNumber, long long *TimingError=NULL, unsigned int TrackerIndex=0, int ReferenceIndex=-1)
	Return the tracking matrix for a given video frame number. More...

cv::Mat	GetCameraTrackingMatrix (unsigned int FrameNumber, long long TimingError=NULL, unsigned int TrackerIndex=0, std::vector< double > Perturbation=NULL, int ReferenceIndex=-1)
	Return the tracking matrix multiplied by the camera to tracker matrix for a given video frame number. More...

cv::Mat	GetVideoFrame (unsigned int FrameNumber, unsigned long long *TimingStamp=NULL)
	Returns a frame of video data (WARNING, not implemented, if you use this you will only get a 4x4 junk matrix back) and the time stamp for a given frame number. More...

unsigned long long	GetVideoFrameTimeStamp (unsigned int FrameNumber)
	Returns the time stamp for a frame of video data. More...

bool	IsReady ()
	returns state of m_Ready More...

virtual void	SetFlipMatrices (bool _arg)
	Set a flag as to whether to flip matrices between left/right handed, default is right. More...

virtual void	SetWriteTimingErrors (bool _arg)
	Set a flag as to whether to write out the timing errors. More...

virtual void	SetHaltOnFrameSkip (bool _arg)
	Set a flag to determine what to do if a skipped frame is found, by default we halt. More...

virtual void	SetInterpolateMatrices (bool _arg)
	Set a flag to determine whether we interpolate matrices or just use nearest neighbour. More...

virtual std::string	GetFrameMap ()
	Set a flag to determine what to do if a skipped frame is found, by default we halt. More...

int	GetNumberOfFrames ()
	Get the frame count. More...

void	SetVideoLagMilliseconds (unsigned long long VideoLag, bool VideoLeadsTracking=false, int trackerIndex=-1)
	If the tracking data is ahead of the video data you can set a video lag in milliseconds to account for this. If the video is ahead of the tracking set argument 2 to true. More...

void	SetCameraToTracker (cv::Mat, int trackerIndex=-1)
	set the camera to tracker matrix. if tracker index = -1 all camera to tracker matrices will be set with the same value More...

void	SetCameraToTrackers (std::string filename)

unsigned int	GetTrackingMatricesSize ()

Protected Member Functions
	TrackerAnalysis ()

virtual	~TrackerAnalysis ()

	TrackerAnalysis (const TrackerAnalysis &)

TrackerAnalysis &	operator= (const TrackerAnalysis &)

Protected Member Functions inherited from mitk::VideoTrackerMatching
	VideoTrackerMatching ()

virtual	~VideoTrackerMatching ()

	VideoTrackerMatching (const VideoTrackerMatching &)

VideoTrackerMatching &	operator= (const VideoTrackerMatching &)

std::vector < mitk::WorldPointsWithTimingError >	ReadPointsInLensCSFile (std::string filename, int PointsPerFrame=1, std::vector< mitk::ProjectedPointPairsWithTimingError > *onScreenPoints=NULL)
	Reads a file that defines the position of a point fixed in world coordinates relative to the camera lens. [framenumber][pointID] [framenumber][pointID](left,right) More...

Additional Inherited Members
Protected Attributes inherited from mitk::VideoTrackerMatching
std::vector< unsigned int >	m_FrameNumbers

TimeStampsContainer	m_VideoTimeStamps

bool	m_Ready

bool	m_FlipMatrices

bool	m_WriteTimingErrors

bool	m_InterpolateMatrices

std::string	m_Directory

Detailed Description

A class to match video frames to tracking frames, when reading recorded tracking data.

Constructor & Destructor Documentation

mitk::TrackerAnalysis::TrackerAnalysis ( )

protected

mitk::TrackerAnalysis::~TrackerAnalysis ( )

protectedvirtual

mitk::TrackerAnalysis::TrackerAnalysis ( const TrackerAnalysis & )

protected

Member Function Documentation

void mitk::TrackerAnalysis::HandeyeSensitivityTest	(	std::string	filename,
		double	windowLow,
		double	windowHigh,
		double	stepSize,
		std::string	fileout = `""`
	)

Pass a file name that defines the position of a point fixed in world coordinates relative to the camera lens, along with the on screen coordinates of the point. The world position of the point is is determined using a range of perturbed values for the handeye matrix. The variance in the residual reconstruction error is used to determine the sensitivity of the system to errors in the hand eye calibration.

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

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

protected

void mitk::TrackerAnalysis::OptimiseHandeyeCalibration	(	std::string	filename,
		bool	visualise = `false`,
		std::string	fileout = `""`
	)

Pass a file name that defines the position of a point fixed in world coordinates relative to the camera lens, along with the on screen coordinates of the point. The world position of the point and the handeye calibration are optimised to minimise the residual error of the reconstructed point.

virtual void mitk::TrackerAnalysis::SetCalibrationDirectory ( std::string _arg )

virtual

void mitk::TrackerAnalysis::TemporalCalibration	(	std::string	filename,
		int	windowLow = `-100`,
		int	windowHigh = `100`,
		bool	visualise = `false`,
		std::string	fileout = `""`
	)

Pass a file name that defines the position of a point fixed in world coordinates relative to the camera lens, along with the on screen coordinates of the point. The VideoLag is adjusted so as to minimalise the standard deviation of the reconstructed world point.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation