IGSTK
Public Member Functions | Public Attributes | Protected Member Functions | List of all members
igstk::PivotCalibration Class Reference

This class encapsulates the pivot calibration algorithm and tracking data acquistion for performing tool tip calibration. More...

#include <igstkPivotCalibration.h>

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Public Member Functions

 igstkStandardClassTraitsMacro (PivotCalibration, Object) void RequestInitialize(unsigned int n
 Macro with standard traits declarations (Self, SuperClass, State Machine etc.).
void RequestComputeCalibration ()
 This method performs the data acquisition and calibration.
void RequestCalibrationTransform ()
 This method is used to request the calibration transformation.
void RequestPivotPoint ()
 This method is used to request the pivot point, given in the coordinate system in which the user supplied transforms were given.
void RequestCalibrationRMSE ()
 This method is used to request the Root Mean Square Error (RMSE) of the overdetermined equation system used to perform pivot calibration.
 igstkEventMacro (InitializationSuccessEvent, IGSTKEvent)
 This event is generated if the initialization succeeds.
 igstkEventMacro (InitializationFailureEvent, IGSTKEvent)
 This event is generated if the initialization fails (e.g.
 igstkEventMacro (CalibrationSuccessEvent, IGSTKEvent)
 This event is generated if the pivot calibration computation succeeds.
 igstkLoadedEventMacro (CalibrationFailureEvent, IGSTKEvent, EventHelperType::StringType)
 This event is generated if the pivot calibration fails, either due to data acquisition problems or computation failure.
 igstkEventMacro (DataAcquisitionStartEvent, IGSTKEvent)
 This event is generated when data acquisition starts.
 igstkEventMacro (DataAcquisitionEvent, DoubleTypeEvent)
 This event is generated when a transformation is acquired from the tracker.
 igstkEventMacro (DataAcquisitionEndEvent, IGSTKEvent)
 This event is generated when data acquisition ends.
- Public Member Functions inherited from igstk::Object
virtual const char * GetNameOfClass () const
void SetLogger (LoggerType *logger)
 Connect the Logger for this class.
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.
- Protected Member Functions inherited from igstk::Object
LoggerTypeGetLogger () const
 Object (void)
 Constructor is protected in order to enforce the use of the New() operator.
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.
void RemoveFromObservedObjects ()
 Remove observers that this object may have connected to other objects.

Additional Inherited Members

- Public Types inherited from igstk::Object
typedef Object Self
 General Typedefs.
typedef ::itk::Object Superclass
typedef ::itk::SmartPointer< SelfPointer
typedef ::itk::SmartPointer
< const Self
ConstPointer
typedef igstk::Logger LoggerType
- Static Public Member Functions inherited from igstk::Object
static Pointer New (void)

Detailed Description

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.

Constructor & Destructor Documentation

igstk::PivotCalibration::PivotCalibration ( void  )
protected
igstk::PivotCalibration::~PivotCalibration ( void  )
protected

Member Function Documentation

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.

See Also
PivotCalibrationAlgorithm
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.

void igstk::PivotCalibration::PrintSelf ( std::ostream &  os,
itk::Indent  indent 
) const
protectedvirtual

Print the object information in a stream.

Reimplemented from igstk::Object.

Member Data Documentation

igstk::TrackerTool::Pointer igstk::PivotCalibration::trackerTool

Definition at line 62 of file igstkPivotCalibration.h.


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