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

ARTkFusion Class Reference

Class for fusioning an ARToolkit and an inertial tracker PoseData stream. More...

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Public Member Functions

 ARTkFusion ()
virtual ~ARTkFusion ()
void run ()
void onEvent (DWARF::PoseData &pose, DWARF::EventReceiver< DWARF::PoseData > *receiver)

Private Attributes

DWARF::quaternion m_offset
DWARF::quaternion m_inertialOri
DWARF::pos3d m_lastPosition
omni_mutex m_mutex

Detailed Description

Class for fusioning an ARToolkit and an inertial tracker PoseData stream.

This class fuses the PoseData stream of an ARToolkit system with an inertial tracker stream. If a ARToolkit measurement is received, it is used as new reference and only the differences from the inertial tracker are added otherwise.

Author:
Franz Strasser <strassef@in.tum.de>

Definition at line 44 of file ARTkFusion.h.


Constructor & Destructor Documentation

ARTkFusion::ARTkFusion  ) 
 

The default constructor

Definition at line 29 of file ARTkFusion.cpp.

ARTkFusion::~ARTkFusion  )  [virtual]
 

The default destructor

Definition at line 37 of file ARTkFusion.cpp.


Member Function Documentation

void ARTkFusion::onEvent DWARF::PoseData pose,
DWARF::EventReceiver< DWARF::PoseData > *  receiver
 

The overwritten onEvent method

Definition at line 82 of file ARTkFusion.cpp.

void ARTkFusion::run  )  [virtual]
 

The main run method

Implements DWARF::PoseService.

Definition at line 42 of file ARTkFusion.cpp.


Field Documentation

DWARF::quaternion ARTkFusion::m_inertialOri [private]
 

The last orientation from the inertial tracker

Definition at line 52 of file ARTkFusion.h.

DWARF::pos3d ARTkFusion::m_lastPosition [private]
 

The last measured position from the ARToolkit

Definition at line 55 of file ARTkFusion.h.

omni_mutex ARTkFusion::m_mutex [private]
 

Mutex for the access control

Definition at line 58 of file ARTkFusion.h.

DWARF::quaternion ARTkFusion::m_offset [private]
 

The offset between ARTk and inertial

Definition at line 49 of file ARTkFusion.h.

ARTkFusion Class Reference | generated on Sun Apr 29 02:01:09 2007 by Doxygen 1.4.1 for DWARF