polhemus_coregistration.h File Reference

Head–device coregistration using the Polhemus Fastrak. More...

#include "../utils_global.h"
#include "acquired_points.h"
#include "polhemus_connection.h"
#include <QMatrix4x4>
#include <QObject>
#include <QQuaternion>
#include <QSettings>
#include <QVector3D>
#include <vector>

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Classes
class	UTILSLIB::PolhemusCoregistration
	Head–device coregistration engine driven by a Polhemus Fastrak. More...
struct	UTILSLIB::PolhemusCoregistration::OpticalCalibSample

Namespaces
namespace	UTILSLIB
	Shared utilities (I/O helpers, spectral analysis, layout management, warp algorithms).

Detailed Description

Head–device coregistration using the Polhemus Fastrak.

SPDX-License-Identifier: BSD-3-Clause Copyright (c) 2026 MNE-CPP Authors

Author

Christoph Dinh chris.nosp@m.toph.nosp@m..dinh.nosp@m.@mne.nosp@m.-cpp..nosp@m.org

Since

2.2.1

Date

May 2026

      Two Polhemus stations work together:

      - **Tracker station** — a rigid sensor fixed to an external
        device (e.g. microscope) at a known calibration offset.
        Its continuous stream provides the live device pose in
        the Polhemus world (transmitter) frame.

      - **Pen station** — the digitization stylus. The operator
        touches anatomical landmarks (NAS, LPA, RPA) and free
        head-surface points to build up an @ref AcquiredPoints store.

      After capturing all three fiducials the caller invokes
      @ref computeRegistration to obtain the head→device rigid
      transform (@ref headToDevice). This matrix can be used
      directly by a neuro-navigation pipeline.

      The head coordinate frame follows the standard MEG/EEG convention:
        - Origin at the midpoint of LPA and RPA.
        - +X toward the nasion.
        - +Y toward LPA (patient's left).
        - +Z superior (up).

      The tracker-to-device calibration offset
      (@ref setTrackerToDeviceOffset) describes the rigid transform
      from the tracker sensor body frame to the device frame.
      It is determined once by a pivot-calibration procedure and
      stored in the application settings.

Definition in file polhemus_coregistration.h.