IGSTK
|
This class encapsulates the pivot calibration algorithm and tracking data acquistion for performing tool tip calibration. More...
#include <igstkPivotCalibration.h>
Public Member Functions | |
igstkStandardClassTraitsMacro (PivotCalibration, Object) void RequestInitialize(unsigned int n | |
Macro with standard traits declarations (Self, SuperClass, State Machine etc.). More... | |
void | RequestComputeCalibration () |
This method performs the data acquisition and calibration. More... | |
void | RequestCalibrationTransform () |
This method is used to request the calibration transformation. More... | |
void | RequestPivotPoint () |
This method is used to request the pivot point, given in the coordinate system in which the user supplied transforms were given. More... | |
void | RequestCalibrationRMSE () |
This method is used to request the Root Mean Square Error (RMSE) of the overdetermined equation system used to perform pivot calibration. More... | |
igstkEventMacro (InitializationSuccessEvent, IGSTKEvent) | |
This event is generated if the initialization succeeds. More... | |
igstkEventMacro (InitializationFailureEvent, IGSTKEvent) | |
This event is generated if the initialization fails (e.g. More... | |
igstkEventMacro (CalibrationSuccessEvent, IGSTKEvent) | |
This event is generated if the pivot calibration computation succeeds. More... | |
igstkLoadedEventMacro (CalibrationFailureEvent, IGSTKEvent, EventHelperType::StringType) | |
This event is generated if the pivot calibration fails, either due to data acquisition problems or computation failure. More... | |
igstkEventMacro (DataAcquisitionStartEvent, IGSTKEvent) | |
This event is generated when data acquisition starts. More... | |
igstkEventMacro (DataAcquisitionEvent, DoubleTypeEvent) | |
This event is generated when a transformation is acquired from the tracker. More... | |
igstkEventMacro (DataAcquisitionEndEvent, IGSTKEvent) | |
This event is generated when data acquisition ends. More... | |
![]() | |
virtual const char * | GetNameOfClass () const |
void | SetLogger (LoggerType *logger) |
Connect the Logger for this class. More... | |
void | RemoveObserver (unsigned long tag) const |
Public Attributes | |
igstk::TrackerTool::Pointer | trackerTool |
Protected Member Functions | |
PivotCalibration (void) | |
~PivotCalibration (void) | |
void | PrintSelf (std::ostream &os, itk::Indent indent) const |
Print the object information in a stream. More... | |
![]() | |
LoggerType * | GetLogger () const |
Object (void) | |
Constructor is protected in order to enforce the use of the New() operator. More... | |
virtual | ~Object (void) |
void | RegisterObservedObject (const ::igstk::Object *object, unsigned long tag) |
Register observed objects in an internal array so that they can be disconnected upon destruction. More... | |
void | RemoveFromObservedObjects () |
Remove observers that this object may have connected to other objects. More... | |
Additional Inherited Members | |
![]() | |
typedef Object | Self |
General Typedefs. More... | |
typedef ::itk::Object | Superclass |
typedef ::itk::SmartPointer< Self > | Pointer |
typedef ::itk::SmartPointer < const Self > | ConstPointer |
typedef igstk::Logger | LoggerType |
![]() | |
static Pointer | New (void) |
This class encapsulates the pivot calibration algorithm and tracking data acquistion for performing tool tip calibration.
This class enables you to perform pivot calibration (tool tip calibration). The class is responsible for acquisition of tracking data and computation of the pivot calibration. You set the specific tool and number of required transformations using the RequestInitialize() method. The class expects the tracker to be in tracking state. Once initialized the RequestComputeCalibration() method will start data acquistion and perform calibration.
Definition at line 46 of file igstkPivotCalibration.h.
|
protected |
|
protected |
igstk::PivotCalibration::igstkStandardClassTraitsMacro | ( | PivotCalibration | , |
Object | |||
) |
Macro with standard traits declarations (Self, SuperClass, State Machine etc.).
This method sets the number of transformations required for performing the pivot calibration and the tool we want to calibrate. It is assumed that the tracker is already in tracking mode. The method generates two events: InitializationSuccessEvent and InitializationFailureEvent (if the trackerTool pointer is null).
void igstk::PivotCalibration::RequestComputeCalibration | ( | ) |
This method performs the data acquisition and calibration.
It generates several events: CalibrationSuccessEvent, CalibrationFailureEvent, DataAcquistionStartEvent, DataAcquisitionEvent, and DataAcquisitionEndEvent. They denote success or failure of the acquisition and computation, the fact that acquisition of tracking data has started, data was acquired (contains the percentage out of the required tracking data), and that the acquisition is done.
void igstk::PivotCalibration::RequestCalibrationTransform | ( | ) |
This method is used to request the calibration transformation.
The method should only be invoked after a successful calibration. It generates two events: CoordinateSystemTransformToEvent, and TransformNotAvailableEvent, respectively denoting that a calibration transform is and isn't available.
void igstk::PivotCalibration::RequestPivotPoint | ( | ) |
This method is used to request the pivot point, given in the coordinate system in which the user supplied transforms were given.
It generates two events: PointEvent, and InvalidRequestErrorEvent, respectively denoting that the pivot point is and isn't available.
void igstk::PivotCalibration::RequestCalibrationRMSE | ( | ) |
This method is used to request the Root Mean Square Error (RMSE) of the overdetermined equation system used to perform pivot calibration.
It generates two events: DoubleTypeEvent, and InvalidRequestErrorEvent, respectively denoting that the RMSE is and isn't available.
igstk::PivotCalibration::igstkEventMacro | ( | InitializationSuccessEvent | , |
IGSTKEvent | |||
) |
This event is generated if the initialization succeeds.
igstk::PivotCalibration::igstkEventMacro | ( | InitializationFailureEvent | , |
IGSTKEvent | |||
) |
This event is generated if the initialization fails (e.g.
given tool is null).
igstk::PivotCalibration::igstkEventMacro | ( | CalibrationSuccessEvent | , |
IGSTKEvent | |||
) |
This event is generated if the pivot calibration computation succeeds.
igstk::PivotCalibration::igstkLoadedEventMacro | ( | CalibrationFailureEvent | , |
IGSTKEvent | , | ||
EventHelperType::StringType | |||
) |
This event is generated if the pivot calibration fails, either due to data acquisition problems or computation failure.
The event object contains a message (std::string) describing the exact reason for failure.
igstk::PivotCalibration::igstkEventMacro | ( | DataAcquisitionStartEvent | , |
IGSTKEvent | |||
) |
This event is generated when data acquisition starts.
igstk::PivotCalibration::igstkEventMacro | ( | DataAcquisitionEvent | , |
DoubleTypeEvent | |||
) |
This event is generated when a transformation is acquired from the tracker.
It contains the percentage of acquired data.
igstk::PivotCalibration::igstkEventMacro | ( | DataAcquisitionEndEvent | , |
IGSTKEvent | |||
) |
This event is generated when data acquisition ends.
|
protectedvirtual |
Print the object information in a stream.
Reimplemented from igstk::Object.
igstk::TrackerTool::Pointer igstk::PivotCalibration::trackerTool |
Definition at line 62 of file igstkPivotCalibration.h.