IGT filter applying a Hand-Eye transformation to a given BaseData according to the current NavigationDataTransformation. The resulting BaseData is then given in tracking coordinates. More...

#include <mitkNavigationDataHandEyeCalibrationFilter.h>

Inheritance diagram for mitk::NavigationDataHandEyeCalibrationFilter:

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Collaboration diagram for mitk::NavigationDataHandEyeCalibrationFilter:

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Public Types
typedef itk::QuaternionRigidTransform< ScalarType >	QuaternionRigidTransformType
	transformation type for itk::QuaternionRigidTransforms More...

Public Member Functions
	mitkClassMacro (NavigationDataHandEyeCalibrationFilter, NavigationDataToNavigationDataFilter)

Pointer	Clone () const

void	SetObjectToTransform (unsigned int index, BaseData *data)
	Set the object that will be transformed to tracking coordinates using the current NavigationData and the given transformation of the HandEyeCalibration. More...

void	SetHandEyeTransformation (unsigned int index, Transform::Pointer handEyeTransform)
	Set the transformation of the HandEyeCalibration that should be applied to the BaseData with the current transformation of the Navigation Data. More...

void	GenerateData () override

Public Member Functions inherited from mitk::NavigationDataToNavigationDataFilter
	mitkClassMacro (NavigationDataToNavigationDataFilter, NavigationDataSource)

virtual void	SetInput (const NavigationData *nd)
	Set the input of this filter. More...

virtual void	SetInput (unsigned int idx, const NavigationData *nd)
	Set input with id idx of this filter. More...

const NavigationData *	GetInput (void) const
	Get the input of this filter. More...

const NavigationData *	GetInput (unsigned int idx) const
	Get the input with id idx of this filter. More...

const NavigationData *	GetInput (std::string navDataName) const
	Get the input with name navDataName of this filter. More...

DataObjectPointerArraySizeType	GetInputIndex (std::string navDataName)
	return the index of the input with name navDataName, throw std::invalid_argument exception if that name was not found More...

virtual void	ConnectTo (mitk::NavigationDataSource *UpstreamFilter)
	Connects the input of this filter to the outputs of the given NavigationDataSource. More...

Public Member Functions inherited from mitk::NavigationDataSource
	mitkClassMacroItkParent (NavigationDataSource, itk::ProcessObject)

virtual std::string	GetName ()

virtual void	SetName (std::string _arg)
	Sets the human readable name of this source. There is also a default name, but you can use this method if you need to define it on your own. More...

NavigationData *	GetOutput (void)
	return the output (output with id 0) of the filter More...

NavigationData *	GetOutput (DataObjectPointerArraySizeType idx)
	return the output with id idx of the filter More...

NavigationData *	GetOutput (const std::string &navDataName)
	return the output with name navDataName of the filter More...

NavigationTool::Pointer	GetToolMetaData (DataObjectPointerArraySizeType idx)

NavigationTool::Pointer	GetToolMetaData (const std::string &navDataName)

virtual mitk::NavigationToolStorage::Pointer	GetToolMetaDataCollection ()

virtual void	SetToolMetaDataCollection (mitk::NavigationToolStorage::Pointer _arg)

DataObjectPointerArraySizeType	GetOutputIndex (std::string navDataName)
	return the index of the output with name navDataName, -1 if no output with that name was found More...

virtual void	RegisterAsMicroservice ()
	Registers this object as a Microservice, making it available to every module and/or plugin. To unregister, call UnregisterMicroservice(). More...

virtual void	UnRegisterMicroservice ()
	Registers this object as a Microservice, making it available to every module and/or plugin. More...

std::string	GetMicroserviceID ()
	Returns the id that this device is registered with. The id will only be valid, if the NavigationDataSource has been registered using RegisterAsMicroservice(). More...

virtual void	GraftNthOutput (unsigned int idx, itk::DataObject *graft)
	Graft the specified DataObject onto this ProcessObject's output. More...

virtual void	GraftOutput (itk::DataObject *graft)
	Graft the specified DataObject onto this ProcessObject's output. More...

itk::DataObject::Pointer	MakeOutput (DataObjectPointerArraySizeType idx) override

itk::DataObject::Pointer	MakeOutput (const DataObjectIdentifierType &name) override

virtual void	SetParameters (const mitk::PropertyList *)
	Set all filter parameters as the PropertyList p. More...

virtual mitk::PropertyList::ConstPointer	GetParameters () const
	Get all filter parameters as a PropertyList. More...

virtual void	Freeze ()

virtual void	UnFreeze ()

virtual bool	GetIsFrozen ()

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	NavigationDataHandEyeCalibrationFilter ()
	Constructor. More...

	~NavigationDataHandEyeCalibrationFilter () override
	Destructor. More...

Protected Member Functions inherited from mitk::NavigationDataToNavigationDataFilter
	NavigationDataToNavigationDataFilter ()

	~NavigationDataToNavigationDataFilter () override

void	CreateOutputsForAllInputs ()
	Create an output for each input. More...

Protected Member Functions inherited from mitk::NavigationDataSource
	NavigationDataSource ()

	~NavigationDataSource () override

Protected Attributes
std::map< int, BaseData::Pointer >	m_ObjectsToTransform
	Map of the BaseDatas that should be transformed. More...

std::map< int, Transform::Pointer >	m_HandEyeTransformations
	Map of the hand-eye transformations that should be applied to the BaseDatas. More...

Protected Attributes inherited from mitk::NavigationDataSource
std::string	m_Name

bool	m_IsFrozen

NavigationToolStorage::Pointer	m_ToolMetaDataCollection

Additional Inherited Members
Static Public Attributes inherited from mitk::NavigationDataSource
static const std::string	US_INTERFACE_NAME
	These Constants are used in conjunction with Microservices. More...

static const std::string	US_PROPKEY_DEVICENAME

static const std::string	US_PROPKEY_ID

static const std::string	US_PROPKEY_ISACTIVE

Detailed Description

IGT filter applying a Hand-Eye transformation to a given BaseData according to the current NavigationDataTransformation. The resulting BaseData is then given in tracking coordinates.

Inputs: NavigationData(s), object(s) to transform (BaseData), hand-eye transformation (itk::QuaternionRigidTransform)

Derived from NavigationDataToNavigationDataFilter

Definition at line 35 of file mitkNavigationDataHandEyeCalibrationFilter.h.

Member Typedef Documentation

◆ QuaternionRigidTransformType

typedef itk::QuaternionRigidTransform<ScalarType> mitk::NavigationDataHandEyeCalibrationFilter::QuaternionRigidTransformType

transformation type for itk::QuaternionRigidTransforms

Definition at line 42 of file mitkNavigationDataHandEyeCalibrationFilter.h.

Constructor & Destructor Documentation

◆ NavigationDataHandEyeCalibrationFilter()

mitk::NavigationDataHandEyeCalibrationFilter::NavigationDataHandEyeCalibrationFilter ( )

protected

Constructor.

Definition at line 17 of file mitkNavigationDataHandEyeCalibrationFilter.cpp.

◆ ~NavigationDataHandEyeCalibrationFilter()

mitk::NavigationDataHandEyeCalibrationFilter::~NavigationDataHandEyeCalibrationFilter ( )

overrideprotected

Destructor.

Definition at line 24 of file mitkNavigationDataHandEyeCalibrationFilter.cpp.

References m_HandEyeTransformations, and m_ObjectsToTransform.

Member Function Documentation

◆ Clone()

Pointer mitk::NavigationDataHandEyeCalibrationFilter::Clone ( ) const

◆ GenerateData()

void mitk::NavigationDataHandEyeCalibrationFilter::GenerateData ( )

override

Definition at line 40 of file mitkNavigationDataHandEyeCalibrationFilter.cpp.

References mitk::NavigationDataToNavigationDataFilter::GetInput(), mitk::NavigationData::GetOrientation(), mitk::NavigationDataSource::GetOutput(), mitk::NavigationData::GetPosition(), mitk::NavigationData::Graft(), mitk::NavigationData::IsDataValid(), m_HandEyeTransformations, m_ObjectsToTransform, and mitk::NavigationData::SetDataValid().

◆ mitkClassMacro()

mitk::NavigationDataHandEyeCalibrationFilter::mitkClassMacro	(	NavigationDataHandEyeCalibrationFilter	,
		NavigationDataToNavigationDataFilter
	)

◆ New()

static Pointer mitk::NavigationDataHandEyeCalibrationFilter::New ( )

static

◆ SetHandEyeTransformation()

void mitk::NavigationDataHandEyeCalibrationFilter::SetHandEyeTransformation	(	unsigned int	index,
		Transform::Pointer	handEyeTransform
	)

Set the transformation of the HandEyeCalibration that should be applied to the BaseData with the current transformation of the Navigation Data.

Parameters

index	index corresponding to the NavigationData applied with this hand-eye transformation
handEyeTransform	transformation of a previously performed hand-eye calibration corresponding to the NavigationData at index

Definition at line 35 of file mitkNavigationDataHandEyeCalibrationFilter.cpp.

References m_HandEyeTransformations.

◆ SetObjectToTransform()

void mitk::NavigationDataHandEyeCalibrationFilter::SetObjectToTransform	(	unsigned int	index,
		BaseData *	data
	)

Set the object that will be transformed to tracking coordinates using the current NavigationData and the given transformation of the HandEyeCalibration.

Parameters