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Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

Object calibration service


Files

file  CalibrationReceiver.h
 The file containing the implementation of class CalibrationReceiver.
file  CalibrationWindowImpl.cpp
 The file containing the implementation of the main ObjectCalibration Qt window.
file  CalibrationWindowImpl.h
 The file containing the declaration of the main ObjectCalibration Qt window.
file  ObjectCalibration.cpp
 The file containing the implementation of class ObjectCalibration.
file  ObjectCalibration.h
 The file containing the declaration of class ObjectCalibration and PointingDeviceReceiver.
file  ocEnums.h
 Contains common enum data structures.
file  PointingDeviceReceiver.cpp
 The file containing the implementation of class PointingDeviceReceiver.
file  PointingDeviceReceiver.h
 The file containing the declaration of class PointingDeviceReceiver.

Data Structures

class  DWARF::CalibrationReceiver
 The class handling the calibration and runtime transformations. More...
class  CalibrationWindowImpl
 The class handling the Qt window operations. More...
class  DWARF::ObjectCalibration
 The class handling the calibration task. More...
class  DWARF::PointingDeviceReceiver
 The class handling the PoseData events from the pointing device. More...

Detailed Description

This service offers a GUI to perform simple calibration tasks using a pointing device. To calibrate objects, the object's coordinate system has to be aligned with the world coordinate system, additionally, the pointing device has to point to the object coordinate system's origin. Then the following formula for a desired transformation will be solved ($R_o$, $t_o$ being the orientation and translation of the object, $t_p$ being the pointing device's position and $R_x$, $t_x$ being the desired transformation parameters):

\[ \left( \begin{array}{cc} R_o & t_o \\ 0 & 1 \end{array} \right) \cdot \left( \begin{array}{cc} R_x & t_x \\ 0 & 1 \end{array} \right) = \left( \begin{array}{cc} I & t_p \\ 0 & 1 \end{array} \right) \]

The solution to this equation is:

\[ \left( \begin{array}{cc} R_x & t_x \\ 0 & 1 \end{array} \right) = \left( \begin{array}{cc} R_o^{-1} & R_o^{-1}(t_p - t_o) \\ 0 & 1 \end{array} \right) \]

This matrix is subsequently multiplied on every incoming pose from the right side.

New Feature: Coordinate System Transformation

Clicking "Calibration -> Coordinate System" in the GUI takes you to a three-step menu.<br/> On every call, this method stores the current position of the pointing device. These points get interpreted as follows

Author:
Martin Wagner <martin.wagner@in.tum.de>

Object calibration service | generated on Sun Apr 29 02:01:25 2007 by Doxygen 1.4.1 for DWARF