Used to quickly make test harnesses demos and research prototypes. More...

Public Member Functions
	vtkCalibratedModelRenderingPipeline (const std::string &name, const mitk::Point2I &windowSize, const mitk::Point2I &calibratedWindowSize, const std::string &leftIntrinsicsFileName, const std::string &rightIntrinsicsFileName, const std::string &visualisationModelFileName, const std::string &rightToLeftFileName, const std::string &textureFileName, const std::string &trackingModelFileName, const std::string &ultrasoundCalibrationMatrixFileName, const std::string &ultrasoundImageFileName, const float &trackingGlyphRadius)
	Constructor. More...

virtual	~vtkCalibratedModelRenderingPipeline ()

std::string	GetName () const
	Returns the name of this object, just used for reference. More...

void	SetIsRightHandCamera (const bool &isRight)
	This class can be setup to be a right or left handed camera in a stereo camera pair. More...

bool	GetIsRightHandCamera () const
	Get the right(true)/left(false) indicator. More...

virtual void	Render ()
	Updates the whole VTK pipeline. More...

void	DumpScreen (const std::string fileName)
	Updates screen and writes to specified file. More...

void	SaveModelToWorld (const std::string &fileName)
	Saves the Model to World transform to file. More...

void	SaveCameraToWorld (const std::string &fileName)
	Saves the Camera to World transform to file. More...

void	SetModelToWorldMatrix (const vtkMatrix4x4 &modelToWorld)
	Multiplies model vtkPolyData points by modelToWorld to give a position in world coordinates, having the effect of moving the model relative to the world coordinates. More...

void	SetModelToWorldTransform (const std::vector< float > &)
	Sets transform using rx,ry,rz (degrees), tx,ty,rz (mm). More...

void	SetCameraToWorldMatrix (const vtkMatrix4x4 &cameraToWorld)
	Used to set the camera position in world coordinates. More...

void	SetCameraToWorldTransform (const std::vector< float > &)
	Sets transform using rx,ry,rz (degrees), tx,ty,rz (mm). More...

void	SetWorldToCameraMatrix (const vtkMatrix4x4 &worldToCamera)
	Used to set the camera position in world coordinates. More...

void	SetWorldToCameraTransform (const std::vector< float > &)
	Sets transform using rx,ry,rz (degrees), tx,ty,rz (mm). More...

bool	IsFacingCamera (const double normal[3])
	Returns true if point is deemed to be facing camera. normal vector of a point in world coordinates. More...

void	ProjectPoint (const double world[3], double imagePoint[2])
	projects a point from world 3D to image 2D. More...

void	ProjectToCameraSpace (const double worldPoint[3], double cameraPoint[3])
	projects a point from world 3D to camera 3D. More...

vtkPolyData *	GetTrackingModel () const
	Returns a pointer to the tracking model, so external classes can iterate over points for instance. More...

vtkRenderWindow *	GetRenderWindow () const
	Returns a point to the vtkRenderWindow. More...

Detailed Description

Used to quickly make test harnesses demos and research prototypes.

Loads camera calibration files and displays a perspective projection without doing distortion correction (i.e. just does intrinsic and extrinsic).

Constructor & Destructor Documentation

vtkCalibratedModelRenderingPipeline::vtkCalibratedModelRenderingPipeline	(	const std::string &	name,
		const mitk::Point2I &	windowSize,
		const mitk::Point2I &	calibratedWindowSize,
		const std::string &	leftIntrinsicsFileName,
		const std::string &	rightIntrinsicsFileName,
		const std::string &	visualisationModelFileName,
		const std::string &	rightToLeftFileName,
		const std::string &	textureFileName,
		const std::string &	trackingModelFileName,
		const std::string &	ultrasoundCalibrationMatrixFileName,
		const std::string &	ultrasoundImageFileName,
		const float &	trackingGlyphRadius
	)

Constructor.

Parameters

name
windowSize	The actual window size we want to represent (e.g. 1920, 1080)
calibratedWindowSize	For calibrated camera model, we specify the size of the window that the calibration (e.g. niftkCameraCalibration) was done at. (e.g. 1920,540)
leftIntrinsicsFileName	Filename containing intrinsic parameters, as output by other NifTK programs such as niftkCameraCalibration.
rightIntrinsicsFileName	Filename containing intrinsic parameters, as output by other NifTK programs such as niftkCameraCalibration.
visualisationModelFileName	Filename of vtkPolyData that will be rendered at a given pose.
textureFileName	If not-empty, and if loadable, will be texture mapped onto the visualisationModel.
rightToLeftFileName	If not-empty, and if loadable, will be added into camera matrices to simulate a right-hand camera. Default is left.
trackingModelFileName	If not-empty, and if loadable, will also be rendered, where each surface point is combined with a sphere glyph.
ultrasoundCalibrationMatrixFileName	If not-empty, and if loadable, and if ultrasoundImageFileName is also set, will also render the ultrasound image in place.
ultrasoundImageFileName	If not-empty, and if loadable, and if ultrasoundCalibrationMatrixFileName is also set, will also render the ultrasound image in place.

vtkCalibratedModelRenderingPipeline::~vtkCalibratedModelRenderingPipeline ( )

virtual

Member Function Documentation

void vtkCalibratedModelRenderingPipeline::DumpScreen ( const std::string fileName )

Updates screen and writes to specified file.

Parameters

fileName file name

bool vtkCalibratedModelRenderingPipeline::GetIsRightHandCamera ( ) const

inline

Get the right(true)/left(false) indicator.

std::string vtkCalibratedModelRenderingPipeline::GetName ( ) const

inline

Returns the name of this object, just used for reference.

vtkRenderWindow * vtkCalibratedModelRenderingPipeline::GetRenderWindow ( ) const

Returns a point to the vtkRenderWindow.

vtkPolyData * vtkCalibratedModelRenderingPipeline::GetTrackingModel ( ) const

Returns a pointer to the tracking model, so external classes can iterate over points for instance.

bool vtkCalibratedModelRenderingPipeline::IsFacingCamera ( const double normal[3] )

Returns true if point is deemed to be facing camera. normal vector of a point in world coordinates.

void vtkCalibratedModelRenderingPipeline::ProjectPoint	(	const double	world[3],
		double	imagePoint[2]
	)

projects a point from world 3D to image 2D.

void vtkCalibratedModelRenderingPipeline::ProjectToCameraSpace	(	const double	worldPoint[3],
		double	cameraPoint[3]
	)

projects a point from world 3D to camera 3D.

void vtkCalibratedModelRenderingPipeline::Render ( )

virtual

Updates the whole VTK pipeline.

void vtkCalibratedModelRenderingPipeline::SaveCameraToWorld ( const std::string & fileName )

Saves the Camera to World transform to file.

Parameters

fileName

void vtkCalibratedModelRenderingPipeline::SaveModelToWorld ( const std::string & fileName )

Saves the Model to World transform to file.

Parameters

fileName

void vtkCalibratedModelRenderingPipeline::SetCameraToWorldMatrix ( const vtkMatrix4x4 & cameraToWorld )

Used to set the camera position in world coordinates.

Parameters

cameraToWorld rigid body transform

void vtkCalibratedModelRenderingPipeline::SetCameraToWorldTransform ( const std::vector< float > & transform )

Sets transform using rx,ry,rz (degrees), tx,ty,rz (mm).

void vtkCalibratedModelRenderingPipeline::SetIsRightHandCamera ( const bool & isRight )

This class can be setup to be a right or left handed camera in a stereo camera pair.

void vtkCalibratedModelRenderingPipeline::SetModelToWorldMatrix ( const vtkMatrix4x4 & modelToWorld )

Multiplies model vtkPolyData points by modelToWorld to give a position in world coordinates, having the effect of moving the model relative to the world coordinates.

Parameters

modelToWorld rigid body transform

void vtkCalibratedModelRenderingPipeline::SetModelToWorldTransform ( const std::vector< float > & transform )

Sets transform using rx,ry,rz (degrees), tx,ty,rz (mm).

void vtkCalibratedModelRenderingPipeline::SetWorldToCameraMatrix ( const vtkMatrix4x4 & worldToCamera )

Used to set the camera position in world coordinates.

Parameters

worldToCamera rigid body transform

void vtkCalibratedModelRenderingPipeline::SetWorldToCameraTransform ( const std::vector< float > & transform )

Sets transform using rx,ry,rz (degrees), tx,ty,rz (mm).

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation