Navigation Data. More...

#include <mitkNavigationData.h>

Inheritance diagram for mitk::NavigationData:

Public Types
typedef mitk::Point3D	PositionType
	Type that holds the position part of the tracking data.

typedef mitk::Quaternion	OrientationType
	Type that holds the orientation part of the tracking data.

typedef itk::Matrix< mitk::ScalarType, 6, 6 >	CovarianceMatrixType
	type that holds the error characterization of the position and orientation measurements

typedef double	TimeStampType
	type that holds the time at which the data was recorded in milliseconds

Public Member Functions
	mitkClassMacroItkParent (NavigationData, itk::DataObject)

	itkFactorylessNewMacro (Self)

	itkCloneMacro (Self)

	mitkNewMacro2Param (Self, mitk::AffineTransform3D::Pointer, const bool)

	mitkNewMacro1Param (Self, mitk::AffineTransform3D::Pointer)

	itkSetMacro (Position, PositionType)
	sets the position of the NavigationData object

	itkGetConstMacro (Position, PositionType)
	returns position of the NavigationData object

	itkSetMacro (Orientation, OrientationType)
	sets the orientation of the NavigationData object

	itkGetConstMacro (Orientation, OrientationType)
	returns the orientation of the NavigationData object

virtual bool	IsDataValid () const
	returns true if the object contains valid data

	itkSetMacro (DataValid, bool)
	sets the dataValid flag of the NavigationData object indicating if the object contains valid data

	itkSetMacro (IGTTimeStamp, TimeStampType)
	sets the IGT timestamp of the NavigationData object in milliseconds

	itkGetConstMacro (IGTTimeStamp, TimeStampType)
	gets the IGT timestamp of the NavigationData object in milliseconds Please note, that there is also the GetTimeStamp method provided by the ITK object. Within IGT you should always use GetIGTTimeStamp !

	itkSetMacro (HasPosition, bool)
	sets the HasPosition flag of the NavigationData object

	itkGetConstMacro (HasPosition, bool)
	gets the HasPosition flag of the NavigationData object

	itkSetMacro (HasOrientation, bool)
	sets the HasOrientation flag of the NavigationData object

	itkGetConstMacro (HasOrientation, bool)
	gets the HasOrientation flag of the NavigationData object

	itkSetMacro (CovErrorMatrix, CovarianceMatrixType)
	sets the 6x6 Error Covariance Matrix of the NavigationData object

	itkGetConstMacro (CovErrorMatrix, CovarianceMatrixType)
	gets the 6x6 Error Covariance Matrix of the NavigationData object

	itkSetStringMacro (Name)
	set the name of the NavigationData object

	itkGetStringMacro (Name)
	returns the name of the NavigationData object

void	Graft (const DataObject *data) override
	Graft the data and information from one NavigationData to another.

void	CopyInformation (const DataObject *data) override
	copy meta data of a NavigationData object

void	PrintSelf (std::ostream &os, itk::Indent indent) const override
	Prints the object information to the given stream os.

void	SetPositionAccuracy (mitk::ScalarType error)

void	SetOrientationAccuracy (mitk::ScalarType error)

mitk::AffineTransform3D::Pointer	GetAffineTransform3D () const
	Calculate AffineTransform3D from the transformation held by this NavigationData. TODO: should throw an error if transformation is invalid.

mitk::Matrix3D	GetRotationMatrix () const
	Calculate the RotationMatrix of this transformation.

mitk::Point3D	TransformPoint (const mitk::Point3D point) const
	Transform by an affine transformation.

mitk::NavigationData::Pointer	GetInverse () const

void	Compose (const mitk::NavigationData::Pointer n, const bool pre=false)

Protected Member Functions
	mitkCloneMacro (Self)

	NavigationData ()

	NavigationData (const mitk::NavigationData &toCopy)

	NavigationData (mitk::AffineTransform3D::Pointer affineTransform3D, const bool checkForRotationMatrix=true)

	~NavigationData () override

Protected Attributes
PositionType	m_Position
	holds the position part of the tracking data

OrientationType	m_Orientation
	holds the orientation part of the tracking data

CovarianceMatrixType	m_CovErrorMatrix
	A 6x6 covariance matrix parameterizing the Gaussian error distribution of the measured position and orientation.

bool	m_HasPosition
	defines if position part of m_CovErrorMatrix is valid

bool	m_HasOrientation
	defines if orientation part of m_CovErrorMatrix is valid

bool	m_DataValid
	defines if the object contains valid values

TimeStampType	m_IGTTimeStamp
	contains the time at which the tracking data was recorded

std::string	m_Name
	name of the navigation data

Detailed Description

Navigation Data.

Documentation

This class represents the data object that is passed through the MITK-IGT navigation filter pipeline. It encapsulates position and orientation of a tracked tool/sensor. Additionally, it contains a data structure that contains error/plausibility information

It provides methods to work with the affine transformation represented by its orientation and position. Additionally, it provides a constructor to construct a NavigationData object from an AffineTransform3D and a getter to create an AffineTransform3D from a NavigationData object.

Definition at line 36 of file mitkNavigationData.h.

Member Typedef Documentation

◆ CovarianceMatrixType

itk::Matrix<mitk::ScalarType,6,6> mitk::NavigationData::CovarianceMatrixType

type that holds the error characterization of the position and orientation measurements

Definition at line 56 of file mitkNavigationData.h.

◆ OrientationType

mitk::Quaternion mitk::NavigationData::OrientationType

Type that holds the orientation part of the tracking data.

Definition at line 52 of file mitkNavigationData.h.

◆ PositionType

mitk::Point3D mitk::NavigationData::PositionType

Type that holds the position part of the tracking data.

Definition at line 48 of file mitkNavigationData.h.

◆ TimeStampType

double mitk::NavigationData::TimeStampType

type that holds the time at which the data was recorded in milliseconds

Definition at line 60 of file mitkNavigationData.h.

Constructor & Destructor Documentation

◆ NavigationData() [1/3]

mitk::NavigationData::NavigationData ( )

protected

Definition at line 17 of file mitkNavigationData.cpp.

◆ NavigationData() [2/3]

mitk::NavigationData::NavigationData ( const mitk::NavigationData & toCopy )

protected

Definition at line 27 of file mitkNavigationData.cpp.

◆ NavigationData() [3/3]

mitk::NavigationData::NavigationData	(	mitk::AffineTransform3D::Pointer	affineTransform3D,
		const bool	checkForRotationMatrix = true )

protected

Creates a NavigationData object from an affineTransform3D. Caution: NavigationData doesn't support spacing, only translation and rotation. If the affine transform includes spacing it cannot be converted to a NavigationData and an exception is thrown.

Parameters

affineTransform3D
checkForRotationMatrix	if this is true, the rotation matrix coming from the affineTransform is checked for being a rotation matrix. If it isn't, an exception is thrown. Disable this check by setting checkForRotationMatrix to false.

Exceptions

mitkException if checkForRotationMatrix is true and a non rotation matrix was introduced by AffineTransform.

Definition at line 157 of file mitkNavigationData.cpp.

◆ ~NavigationData()

mitk::NavigationData::~NavigationData ( )

overrideprotected

Definition at line 33 of file mitkNavigationData.cpp.

Member Function Documentation

◆ Compose()

void mitk::NavigationData::Compose	(	const mitk::NavigationData::Pointer	n,
		const bool	pre = false )

Compose with another NavigationData

This method composes self with another NavigationData of the same dimension, modifying self to be the composition of self and other. If the argument pre is true, then other is precomposed with self; that is, the resulting transformation consists of first applying other to the source, followed by self. If pre is false or omitted, then other is post-composed with self; that is the resulting transformation consists of first applying self to the source, followed by other.

Definition at line 146 of file mitkNavigationData.cpp.

◆ CopyInformation()

void mitk::NavigationData::CopyInformation ( const DataObject * data )

override

copy meta data of a NavigationData object

copies all meta data from NavigationData data to this object

Definition at line 92 of file mitkNavigationData.cpp.

◆ GetAffineTransform3D()

mitk::AffineTransform3D::Pointer mitk::NavigationData::GetAffineTransform3D ( ) const

Calculate AffineTransform3D from the transformation held by this NavigationData. TODO: should throw an error if transformation is invalid.

Definition at line 189 of file mitkNavigationData.cpp.

◆ GetInverse()

mitk::NavigationData::Pointer mitk::NavigationData::GetInverse ( ) const

Get inverse of the Transformation represented by this NavigationData.

Exceptions

mitk::Exception in case the transformation is invalid (only case: quaternion is zero)

Definition at line 246 of file mitkNavigationData.cpp.

◆ GetRotationMatrix()

mitk::Matrix3D mitk::NavigationData::GetRotationMatrix ( ) const

Calculate the RotationMatrix of this transformation.

Definition at line 208 of file mitkNavigationData.cpp.

◆ Graft()

void mitk::NavigationData::Graft ( const DataObject * data )

override

Graft the data and information from one NavigationData to another.

Copies the content of data into this object. This is a convenience method to setup a second NavigationData object with all the meta information of another NavigationData object. Note that this method is different than just using two SmartPointers to the same NavigationData object since separate DataObjects are still maintained.

Definition at line 38 of file mitkNavigationData.cpp.

◆ IsDataValid()

bool mitk::NavigationData::IsDataValid ( ) const

virtual

returns true if the object contains valid data

Definition at line 73 of file mitkNavigationData.cpp.

◆ itkCloneMacro()

mitk::NavigationData::itkCloneMacro ( Self )

◆ itkFactorylessNewMacro()

mitk::NavigationData::itkFactorylessNewMacro ( Self )

◆ itkGetConstMacro() [1/6]

mitk::NavigationData::itkGetConstMacro	(	CovErrorMatrix	,
		CovarianceMatrixType	)

gets the 6x6 Error Covariance Matrix of the NavigationData object

◆ itkGetConstMacro() [2/6]

mitk::NavigationData::itkGetConstMacro	(	HasOrientation	,
		bool	)

gets the HasOrientation flag of the NavigationData object

◆ itkGetConstMacro() [3/6]

mitk::NavigationData::itkGetConstMacro	(	HasPosition	,
		bool	)

gets the HasPosition flag of the NavigationData object

◆ itkGetConstMacro() [4/6]

mitk::NavigationData::itkGetConstMacro	(	IGTTimeStamp	,
		TimeStampType	)

gets the IGT timestamp of the NavigationData object in milliseconds Please note, that there is also the GetTimeStamp method provided by the ITK object. Within IGT you should always use GetIGTTimeStamp !

◆ itkGetConstMacro() [5/6]

mitk::NavigationData::itkGetConstMacro	(	Orientation	,
		OrientationType	)

returns the orientation of the NavigationData object

◆ itkGetConstMacro() [6/6]

mitk::NavigationData::itkGetConstMacro	(	Position	,
		PositionType	)

returns position of the NavigationData object

◆ itkGetStringMacro()

mitk::NavigationData::itkGetStringMacro ( Name )

returns the name of the NavigationData object

◆ itkSetMacro() [1/7]

mitk::NavigationData::itkSetMacro	(	CovErrorMatrix	,
		CovarianceMatrixType	)

sets the 6x6 Error Covariance Matrix of the NavigationData object

◆ itkSetMacro() [2/7]

mitk::NavigationData::itkSetMacro	(	DataValid	,
		bool	)

sets the dataValid flag of the NavigationData object indicating if the object contains valid data

◆ itkSetMacro() [3/7]

mitk::NavigationData::itkSetMacro	(	HasOrientation	,
		bool	)

sets the HasOrientation flag of the NavigationData object

◆ itkSetMacro() [4/7]

mitk::NavigationData::itkSetMacro	(	HasPosition	,
		bool	)

sets the HasPosition flag of the NavigationData object

◆ itkSetMacro() [5/7]

mitk::NavigationData::itkSetMacro	(	IGTTimeStamp	,
		TimeStampType	)

sets the IGT timestamp of the NavigationData object in milliseconds

◆ itkSetMacro() [6/7]

mitk::NavigationData::itkSetMacro	(	Orientation	,
		OrientationType	)

sets the orientation of the NavigationData object

◆ itkSetMacro() [7/7]

mitk::NavigationData::itkSetMacro	(	Position	,
		PositionType	)

sets the position of the NavigationData object

◆ itkSetStringMacro()

mitk::NavigationData::itkSetStringMacro ( Name )

set the name of the NavigationData object

◆ mitkClassMacroItkParent()

mitk::NavigationData::mitkClassMacroItkParent	(	NavigationData	,
		itk::DataObject	)

◆ mitkCloneMacro()

mitk::NavigationData::mitkCloneMacro ( Self )

protected

◆ mitkNewMacro1Param()

mitk::NavigationData::mitkNewMacro1Param	(	Self	,
		mitk::AffineTransform3D::Pointer	)

◆ mitkNewMacro2Param()

mitk::NavigationData::mitkNewMacro2Param	(	Self	,
		mitk::AffineTransform3D::Pointer	,
		const bool	)

◆ PrintSelf()

void mitk::NavigationData::PrintSelf	(	std::ostream &	os,
		itk::Indent	indent ) const

override

Prints the object information to the given stream os.

Parameters

os	The stream which is used to print the output.
indent	Defines the indentation of the output.

Definition at line 79 of file mitkNavigationData.cpp.

◆ SetOrientationAccuracy()

void mitk::NavigationData::SetOrientationAccuracy ( mitk::ScalarType error )

Set the orientation part of m_CovErrorMatrix to I*error^2 This means that all orientation variables are assumed to be independent

Definition at line 133 of file mitkNavigationData.cpp.

◆ SetPositionAccuracy()

void mitk::NavigationData::SetPositionAccuracy ( mitk::ScalarType error )

Set the position part of m_CovErrorMatrix to I*error^2 This means that all position variables are assumed to be independent

Definition at line 119 of file mitkNavigationData.cpp.

◆ TransformPoint()

mitk::Point3D mitk::NavigationData::TransformPoint ( const mitk::Point3D point ) const

Transform by an affine transformation.

This method applies the affine transform given by self to a given point, returning the transformed point.

Definition at line 223 of file mitkNavigationData.cpp.

Member Data Documentation

◆ m_CovErrorMatrix

CovarianceMatrixType mitk::NavigationData::m_CovErrorMatrix

protected

A 6x6 covariance matrix parameterizing the Gaussian error distribution of the measured position and orientation.

The hasPosition/hasOrientation fields define which entries are valid. holds the error characterization of the position and orientation

Definition at line 245 of file mitkNavigationData.h.

◆ m_DataValid

bool mitk::NavigationData::m_DataValid

protected

defines if the object contains valid values

Definition at line 257 of file mitkNavigationData.h.

◆ m_HasOrientation

bool mitk::NavigationData::m_HasOrientation

protected

defines if orientation part of m_CovErrorMatrix is valid

Definition at line 253 of file mitkNavigationData.h.

◆ m_HasPosition

bool mitk::NavigationData::m_HasPosition

protected

defines if position part of m_CovErrorMatrix is valid

Definition at line 249 of file mitkNavigationData.h.

◆ m_IGTTimeStamp

TimeStampType mitk::NavigationData::m_IGTTimeStamp

protected

contains the time at which the tracking data was recorded

Definition at line 261 of file mitkNavigationData.h.

◆ m_Name

std::string mitk::NavigationData::m_Name

protected

name of the navigation data

Definition at line 265 of file mitkNavigationData.h.

◆ m_Orientation

OrientationType mitk::NavigationData::m_Orientation

protected

holds the orientation part of the tracking data

Definition at line 236 of file mitkNavigationData.h.

◆ m_Position

PositionType mitk::NavigationData::m_Position

protected

holds the position part of the tracking data

Definition at line 232 of file mitkNavigationData.h.

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

Modules/IGTBase/include/mitkNavigationData.h
Modules/IGTBase/src/mitkNavigationData.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CovarianceMatrixType

◆ OrientationType

◆ PositionType

◆ TimeStampType

Constructor & Destructor Documentation

◆ NavigationData() [1/3]

◆ NavigationData() [2/3]

◆ NavigationData() [3/3]

◆ ~NavigationData()

Member Function Documentation

◆ Compose()

◆ CopyInformation()

◆ GetAffineTransform3D()

◆ GetInverse()

◆ GetRotationMatrix()

◆ Graft()

◆ IsDataValid()

◆ itkCloneMacro()

◆ itkFactorylessNewMacro()

◆ itkGetConstMacro() [1/6]

◆ itkGetConstMacro() [2/6]

◆ itkGetConstMacro() [3/6]

◆ itkGetConstMacro() [4/6]

◆ itkGetConstMacro() [5/6]

◆ itkGetConstMacro() [6/6]

◆ itkGetStringMacro()

◆ itkSetMacro() [1/7]

◆ itkSetMacro() [2/7]

◆ itkSetMacro() [3/7]

◆ itkSetMacro() [4/7]

◆ itkSetMacro() [5/7]

◆ itkSetMacro() [6/7]

◆ itkSetMacro() [7/7]

◆ itkSetStringMacro()

◆ mitkClassMacroItkParent()

◆ mitkCloneMacro()

◆ mitkNewMacro1Param()

◆ mitkNewMacro2Param()

◆ PrintSelf()

◆ SetOrientationAccuracy()

◆ SetPositionAccuracy()

◆ TransformPoint()

Member Data Documentation

◆ m_CovErrorMatrix

◆ m_DataValid

◆ m_HasOrientation

◆ m_HasPosition

◆ m_IGTTimeStamp

◆ m_Name

◆ m_Orientation

◆ m_Position