Computes hand-eye using registration. More...

Inheritance diagram for niftk::HandeyeCalibrateUsingRegistration:

Collaboration diagram for niftk::HandeyeCalibrateUsingRegistration:

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

void	Calibrate (const std::string &modelInputFile, const std::string &modelTrackingDirectory, const std::string &cameraPointsDirectory, const std::string &handTrackingDirectory, const double &distanceThreshold, const double &fiducialRegistrationThreshold, const std::string &outputMatrixFile)
	Calibration function that computes a hand-eye matrix using registration. More...

void	Calibrate (const mitk::PointSet &modelPointSet, const std::vector< cv::Mat > &modelTrackingMatrices, const std::vector< cv::Mat > &handTrackingMatrices, const std::vector< mitk::PointSet::Pointer > &pointsInCameraSpace, const double &distanceThreshold, const double &fiducialRegistrationThreshold, vtkMatrix4x4 &outputMatrix)
	The actual calibration method. More...

Protected Member Functions
	HandeyeCalibrateUsingRegistration ()

virtual	~HandeyeCalibrateUsingRegistration ()

	HandeyeCalibrateUsingRegistration (const HandeyeCalibrateUsingRegistration &)

HandeyeCalibrateUsingRegistration &	operator= (const HandeyeCalibrateUsingRegistration &)

Detailed Description

Computes hand-eye using registration.

Constructor & Destructor Documentation

niftk::HandeyeCalibrateUsingRegistration::HandeyeCalibrateUsingRegistration ( )

protected

niftk::HandeyeCalibrateUsingRegistration::~HandeyeCalibrateUsingRegistration ( )

protectedvirtual

niftk::HandeyeCalibrateUsingRegistration::HandeyeCalibrateUsingRegistration ( const HandeyeCalibrateUsingRegistration & )

protected

Member Function Documentation

void niftk::HandeyeCalibrateUsingRegistration::Calibrate	(	const std::string &	modelInputFile,
		const std::string &	modelTrackingDirectory,
		const std::string &	cameraPointsDirectory,
		const std::string &	handTrackingDirectory,
		const double &	distanceThreshold,
		const double &	fiducialRegistrationThreshold,
		const std::string &	outputMatrixFile
	)

Calibration function that computes a hand-eye matrix using registration.

Parameters

modelInputFile	a filename of an mitk::PointSet containing chessboard positions.
modelTrackingDirectory	if specified a directory containing tracking matrices of tracked chessboard, where all points in modelInputFile will be multiplied by these matrices to give coordinates in tracker (world) space.
cameraPointsDirectory	reconstructed chessboard points from the camera view.
distanceThreshold	if the distance from the camera is >= this threshold then that view is ignored.
fiducialRegistrationThreshold	if the FRE is >= this threshold, then that view is ignored.
outputMatrixFile	the output matrix relating tracker (hand) to camera (eye).

The number of matrices in modelTrackingDirectory must be zero (or the modelTrackingDirectory.length() == 0), or match the number of matrices in cameraPointsDirectory. It is up to whatever generated the matrices and points to make sure that they are all synchronised in time.

void niftk::HandeyeCalibrateUsingRegistration::Calibrate	(	const mitk::PointSet &	modelPointSet,
		const std::vector< cv::Mat > &	modelTrackingMatrices,
		const std::vector< cv::Mat > &	handTrackingMatrices,
		const std::vector< mitk::PointSet::Pointer > &	pointsInCameraSpace,
		const double &	distanceThreshold,
		const double &	fiducialRegistrationThreshold,
		vtkMatrix4x4 &	outputMatrix
	)

The actual calibration method.

Parameters

modelPointSet	representing calibration object (chessboard)
trackingMatrices	vector of 4x4 matrices, which should be empty, or the same length as pointsInCameraSpace.
pointsInCameraSpace	vector of camera views of the chessboard, where points are in camera space.
distanceThreshold	camera views are rejected if the distance from the camera is >= distanceThreshold.
fiducialRegistrationThreshold	camera views are rejected if the FRE is >= fiducialRegistrationThreshold.

niftk::HandeyeCalibrateUsingRegistration::mitkClassMacroItkParent	(	HandeyeCalibrateUsingRegistration	,
		itk::Object
	)

HandeyeCalibrateUsingRegistration& niftk::HandeyeCalibrateUsingRegistration::operator= ( const HandeyeCalibrateUsingRegistration & )

protected

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

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation