niftk::NiftyCalVideoCalibrationManager Class Reference

Manager class to perform video calibration as provided by NiftyCal. More...

Inheritance diagram for niftk::NiftyCalVideoCalibrationManager:

Collaboration diagram for niftk::NiftyCalVideoCalibrationManager:

Public Types
enum	CalibrationPatterns {   CHESS_BOARD, CIRCLE_GRID, APRIL_TAGS, TEMPLATE_MATCHING_CIRCLES,   TEMPLATE_MATCHING_RINGS }
enum	HandEyeMethod { TSAI_1989, SHAHIDI_2002, MALTI_2013, NON_LINEAR_EXTRINSIC }

Public Member Functions
	mitkClassMacroItkParent (NiftyCalVideoCalibrationManager, itk::Object)
void	SetDataStorage (const mitk::DataStorage::Pointer storage)
void	SetLeftImageNode (mitk::DataNode::Pointer node)
mitk::DataNode::Pointer	GetLeftImageNode () const
void	SetRightImageNode (mitk::DataNode::Pointer node)
mitk::DataNode::Pointer	GetRightImageNode () const
void	SetTrackingTransformNode (mitk::DataNode::Pointer node)
virtual mitk::DataNode::Pointer	GetTrackingTransformNode ()
virtual void	SetReferenceTrackingTransformNode (mitk::DataNode::Pointer _arg)
virtual mitk::DataNode::Pointer	GetReferenceTrackingTransformNode ()
virtual void	SetMinimumNumberOfSnapshotsForCalibrating (unsigned int _arg)
virtual unsigned int	GetMinimumNumberOfSnapshotsForCalibrating ()
virtual void	SetDoIterative (bool _arg)
virtual bool	GetDoIterative ()
virtual void	SetDo3DOptimisation (bool _arg)
virtual bool	GetDo3DOptimisation ()
virtual void	SetUpdateNodes (bool _arg)
virtual bool	GetUpdateNodes ()
virtual void	SetScaleFactorX (double _arg)
virtual double	GetScaleFactorX ()
virtual void	SetScaleFactorY (double _arg)
virtual double	GetScaleFactorY ()
virtual void	SetGridSizeX (unsigned int _arg)
virtual unsigned int	GetGridSizeX ()
virtual void	SetGridSizeY (unsigned int _arg)
virtual unsigned int	GetGridSizeY ()
virtual void	SetMinimumNumberOfPoints (unsigned int _arg)
virtual unsigned int	GetMinimumNumberOfPoints ()
virtual void	SetCalibrationPattern (CalibrationPatterns _arg)
virtual CalibrationPatterns	GetCalibrationPattern ()
virtual void	SetHandeyeMethod (HandEyeMethod _arg)
virtual HandEyeMethod	GetHandeyeMethod ()
virtual void	SetTagFamily (std::string _arg)
virtual std::string	GetTagFamily ()
void	SetModelFileName (const std::string &fileName)
virtual std::string	GetModelFileName ()
void	SetOutputDirName (const std::string &dirName)
virtual std::string	GetOutputDirName ()
void	SetReferenceDataFileNames (const std::string &imageFileName, const std::string &pointsFileName)
virtual std::string	GetReferenceImageFileName ()
virtual std::string	GetReferencePointsFileName ()
void	SetTemplateImageFileName (const std::string &fileName)
virtual std::string	GetTemplateImageFileName ()
void	SetModelToTrackerFileName (const std::string &fileName)
virtual std::string	GetModelToTrackerFileName ()
unsigned int	GetNumberOfSnapshots () const
void	Restart ()
	Clears down the internal points and image arrays, so calibration will restart with zero data. More...
bool	Grab ()
	Grabs images and tracking, and runs the point extraction. More...
void	UnGrab ()
	Removes the last grabbed snapshot. More...
double	Calibrate ()
	Performs the actual calibration. More...
void	Save ()
	Saves a bunch of standard (from a NifTK perspective) calibration files to the output dir, overwriting existing files. More...
void	UpdateCameraToWorldPosition ()
	To update the camera to world in mitk::DataStorage so we can watch the current calibration live in real-time. More...
void	LoadCalibrationFromDirectory (const std::string &dirName)
	Loads our NifTK standard named calibration files from disk, overwriting all the existing, intrinsic, distortion, hand-eye etc. More...

Static Public Member Functions
static Pointer	New ()

Static Public Attributes
static const bool	DefaultDoIterative
static const bool	DefaultDo3DOptimisation
static const unsigned int	DefaultMinimumNumberOfSnapshotsForCalibrating
static const double	DefaultScaleFactorX
static const double	DefaultScaleFactorY
static const unsigned int	DefaultGridSizeX
static const unsigned int	DefaultGridSizeY
static const CalibrationPatterns	DefaultCalibrationPattern
static const HandEyeMethod	DefaultHandEyeMethod
static const std::string	DefaultTagFamily
static const unsigned int	DefaultMinimumNumberOfPoints
static const bool	DefaultUpdateNodes

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

Detailed Description

Manager class to perform video calibration as provided by NiftyCal.

This one is not an MITK Service as it is stateful. So, it would be more problematic to have a system-wide service, called from multiple threads.

Member Enumeration Documentation

enum niftk::NiftyCalVideoCalibrationManager::CalibrationPatterns

Enumerator
CHESS_BOARD
CIRCLE_GRID
APRIL_TAGS
TEMPLATE_MATCHING_CIRCLES
TEMPLATE_MATCHING_RINGS

enum niftk::NiftyCalVideoCalibrationManager::HandEyeMethod

Enumerator
TSAI_1989
SHAHIDI_2002
MALTI_2013
NON_LINEAR_EXTRINSIC

Constructor & Destructor Documentation

niftk::NiftyCalVideoCalibrationManager::NiftyCalVideoCalibrationManager ( )

protected

niftk::NiftyCalVideoCalibrationManager::~NiftyCalVideoCalibrationManager ( )

protectedvirtual

niftk::NiftyCalVideoCalibrationManager::NiftyCalVideoCalibrationManager ( const NiftyCalVideoCalibrationManager &  )

protected

Member Function Documentation

double niftk::NiftyCalVideoCalibrationManager::Calibrate

(

)

Performs the actual calibration.

This can be mono, stereo, iterative and include hand-eye, depending on the configuration parameters stored in this class.

Returns

rms re-projection error (pixels)

virtual CalibrationPatterns niftk::NiftyCalVideoCalibrationManager::GetCalibrationPattern ( )

virtual

virtual bool niftk::NiftyCalVideoCalibrationManager::GetDo3DOptimisation ( )

virtual

virtual bool niftk::NiftyCalVideoCalibrationManager::GetDoIterative ( )

virtual

virtual unsigned int niftk::NiftyCalVideoCalibrationManager::GetGridSizeX ( )

virtual

virtual unsigned int niftk::NiftyCalVideoCalibrationManager::GetGridSizeY ( )

virtual

virtual HandEyeMethod niftk::NiftyCalVideoCalibrationManager::GetHandeyeMethod ( )

virtual

mitk::DataNode::Pointer niftk::NiftyCalVideoCalibrationManager::GetLeftImageNode

(

)

const

virtual unsigned int niftk::NiftyCalVideoCalibrationManager::GetMinimumNumberOfPoints ( )

virtual

virtual unsigned int niftk::NiftyCalVideoCalibrationManager::GetMinimumNumberOfSnapshotsForCalibrating ( )

virtual

virtual std::string niftk::NiftyCalVideoCalibrationManager::GetModelFileName ( )

virtual

virtual std::string niftk::NiftyCalVideoCalibrationManager::GetModelToTrackerFileName ( )

virtual

unsigned int niftk::NiftyCalVideoCalibrationManager::GetNumberOfSnapshots

(

)

const

virtual std::string niftk::NiftyCalVideoCalibrationManager::GetOutputDirName ( )

virtual

virtual std::string niftk::NiftyCalVideoCalibrationManager::GetReferenceImageFileName ( )

virtual

virtual std::string niftk::NiftyCalVideoCalibrationManager::GetReferencePointsFileName ( )

virtual

virtual mitk::DataNode::Pointer niftk::NiftyCalVideoCalibrationManager::GetReferenceTrackingTransformNode ( )

virtual

mitk::DataNode::Pointer niftk::NiftyCalVideoCalibrationManager::GetRightImageNode

(

)

const

virtual double niftk::NiftyCalVideoCalibrationManager::GetScaleFactorX ( )

virtual

virtual double niftk::NiftyCalVideoCalibrationManager::GetScaleFactorY ( )

virtual

virtual std::string niftk::NiftyCalVideoCalibrationManager::GetTagFamily ( )

virtual

virtual std::string niftk::NiftyCalVideoCalibrationManager::GetTemplateImageFileName ( )

virtual

virtual mitk::DataNode::Pointer niftk::NiftyCalVideoCalibrationManager::GetTrackingTransformNode ( )

virtual

virtual bool niftk::NiftyCalVideoCalibrationManager::GetUpdateNodes ( )

virtual

bool niftk::NiftyCalVideoCalibrationManager::Grab

(

)

Grabs images and tracking, and runs the point extraction.

Returns

Returns true if successful and false otherwise.

void niftk::NiftyCalVideoCalibrationManager::LoadCalibrationFromDirectory

(

const std::string &

dirName

)

Loads our NifTK standard named calibration files from disk, overwriting all the existing, intrinsic, distortion, hand-eye etc.

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

static Pointer niftk::NiftyCalVideoCalibrationManager::New ( )

static

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

protected

void niftk::NiftyCalVideoCalibrationManager::Restart

(

)

Clears down the internal points and image arrays, so calibration will restart with zero data.

void niftk::NiftyCalVideoCalibrationManager::Save

(

)

Saves a bunch of standard (from a NifTK perspective) calibration files to the output dir, overwriting existing files.

virtual void niftk::NiftyCalVideoCalibrationManager::SetCalibrationPattern ( CalibrationPatterns  _arg )

virtual

void niftk::NiftyCalVideoCalibrationManager::SetDataStorage

(

const mitk::DataStorage::Pointer

storage

)

virtual void niftk::NiftyCalVideoCalibrationManager::SetDo3DOptimisation ( bool  _arg )

virtual

virtual void niftk::NiftyCalVideoCalibrationManager::SetDoIterative ( bool  _arg )

virtual

virtual void niftk::NiftyCalVideoCalibrationManager::SetGridSizeX ( unsigned int  _arg )

virtual

virtual void niftk::NiftyCalVideoCalibrationManager::SetGridSizeY ( unsigned int  _arg )

virtual

virtual void niftk::NiftyCalVideoCalibrationManager::SetHandeyeMethod ( HandEyeMethod  _arg )

virtual

void niftk::NiftyCalVideoCalibrationManager::SetLeftImageNode

(

mitk::DataNode::Pointer

node

)

virtual void niftk::NiftyCalVideoCalibrationManager::SetMinimumNumberOfPoints ( unsigned int  _arg )

virtual

virtual void niftk::NiftyCalVideoCalibrationManager::SetMinimumNumberOfSnapshotsForCalibrating ( unsigned int  _arg )

virtual

void niftk::NiftyCalVideoCalibrationManager::SetModelFileName

(

const std::string &

fileName

)

void niftk::NiftyCalVideoCalibrationManager::SetModelToTrackerFileName

(

const std::string &

fileName

)

void niftk::NiftyCalVideoCalibrationManager::SetOutputDirName

(

const std::string &

dirName

)

void niftk::NiftyCalVideoCalibrationManager::SetReferenceDataFileNames	(	const std::string &	imageFileName,
		const std::string &	pointsFileName
	)

virtual void niftk::NiftyCalVideoCalibrationManager::SetReferenceTrackingTransformNode ( mitk::DataNode::Pointer  _arg )

virtual

void niftk::NiftyCalVideoCalibrationManager::SetRightImageNode

(

mitk::DataNode::Pointer

node

)

virtual void niftk::NiftyCalVideoCalibrationManager::SetScaleFactorX ( double  _arg )

virtual

virtual void niftk::NiftyCalVideoCalibrationManager::SetScaleFactorY ( double  _arg )

virtual

virtual void niftk::NiftyCalVideoCalibrationManager::SetTagFamily ( std::string  _arg )

virtual

void niftk::NiftyCalVideoCalibrationManager::SetTemplateImageFileName

(

const std::string &

fileName

)

void niftk::NiftyCalVideoCalibrationManager::SetTrackingTransformNode

(

mitk::DataNode::Pointer

node

)

virtual void niftk::NiftyCalVideoCalibrationManager::SetUpdateNodes ( bool  _arg )

virtual

void niftk::NiftyCalVideoCalibrationManager::UnGrab

(

)

Removes the last grabbed snapshot.

void niftk::NiftyCalVideoCalibrationManager::UpdateCameraToWorldPosition

(

)

To update the camera to world in mitk::DataStorage so we can watch the current calibration live in real-time.

Member Data Documentation

const NiftyCalVideoCalibrationManager::CalibrationPatterns niftk::NiftyCalVideoCalibrationManager::DefaultCalibrationPattern

static

const bool niftk::NiftyCalVideoCalibrationManager::DefaultDo3DOptimisation

static

const bool niftk::NiftyCalVideoCalibrationManager::DefaultDoIterative

static

const unsigned int niftk::NiftyCalVideoCalibrationManager::DefaultGridSizeX

static

const unsigned int niftk::NiftyCalVideoCalibrationManager::DefaultGridSizeY

static

const NiftyCalVideoCalibrationManager::HandEyeMethod niftk::NiftyCalVideoCalibrationManager::DefaultHandEyeMethod

static

const unsigned int niftk::NiftyCalVideoCalibrationManager::DefaultMinimumNumberOfPoints

static

const unsigned int niftk::NiftyCalVideoCalibrationManager::DefaultMinimumNumberOfSnapshotsForCalibrating

static

const double niftk::NiftyCalVideoCalibrationManager::DefaultScaleFactorX

static

const double niftk::NiftyCalVideoCalibrationManager::DefaultScaleFactorY

static

const std::string niftk::NiftyCalVideoCalibrationManager::DefaultTagFamily

static

const bool niftk::NiftyCalVideoCalibrationManager::DefaultUpdateNodes

static

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

• niftkNiftyCalVideoCalibrationManager.h
• niftkNiftyCalVideoCalibrationManager.cxx