Head–device coregistration engine driven by a Polhemus Fastrak. More...

#include <polhemus_coregistration.h>

Classes
struct	OpticalCalibSample

Public Types
enum class	PivotState { Idle , WaitingForStart , Collecting , Done }

Signals
void	devicePoseChanged (const QMatrix4x4 &deviceToWorld)
void	penPoseChanged (const QVector3D &position, const QQuaternion &orientation)
void	probePoseChanged (const QVector3D &position, const QQuaternion &orientation)
void	penButtonPressed (const QVector3D &position, const QQuaternion &orientation)
void	registrationChanged ()
void	pivotStateChanged (PolhemusCoregistration::PivotState state)
void	pivotCalibrationDone (const QVector3D &offset, float residualMm)
void	pivotSampleCollected (int sampleCount, float angularSpanDeg)
void	opticalCalibrationChanged ()

Public Member Functions
	PolhemusCoregistration (QObject *parent=nullptr)
	~PolhemusCoregistration () override=default
void	setTrackerStation (int station)
void	setPenStation (int station)
void	setProbeStation (int station)
int	trackerStation () const
int	penStation () const
int	probeStation () const
void	setPenTipOffset (const QVector3D &offset)
QVector3D	penTipOffset () const
void	setTipOffsetEnabled (bool on)
bool	tipOffsetEnabled () const
void	setAxisMirror (bool mirrorX, bool mirrorY)
	Negate X and/or Y of incoming Polhemus positions.
bool	mirrorX () const
bool	mirrorY () const
void	startPivotCalibration ()
void	cancelPivotCalibration ()
PivotState	pivotState () const
int	pivotSampleCount () const
float	pivotResidualMm () const
void	setTrackerToDeviceOffset (const QVector3D &translation, const QQuaternion &rotation)
	Set the rigid offset from the tracker sensor body frame to the device frame.
QVector3D	trackerToDeviceTranslation () const
QQuaternion	trackerToDeviceRotation () const
bool	captureOpticalCalibSample ()
	Record one calibration sample (current tracker pose + current pen position).
int	opticalCalibSampleCount () const
void	clearOpticalCalibSamples ()
bool	captureObjectiveCenter ()
	Capture the current pen position as the objective lens center.
bool	hasObjectiveCenter () const
void	clearObjectiveCenter ()
QVector3D	objectiveCenterLocal () const
bool	solveOpticalCalibration ()
	Fit a 3D line through the focus points in tracker-local frame.
void	setKnownTrackerToObjectiveDistance (float metres)
	Set the known perpendicular distance from tracker sensor to the objective center (metres).
float	knownTrackerToObjectiveDistance () const
bool	opticalCalibrationValid () const
QVector3D	opticalAxisLocal () const
QVector3D	opticalCenterLocal () const
float	opticalCalibResidualMm () const
float	opticalCalibDepthSpreadMm () const
bool	applyOpticalAxisFineAdjust (const QVector3D &targetWorldPos, float &correctionDeg)
	Fine-adjust the optical axis so it passes through a known world-frame point (e.g. the probe tip touched with the stylus).
bool	opticalFineAdjustApplied () const
float	opticalFineAdjustDeg () const
void	clearOpticalFineAdjust ()
bool	opticalRayInWorld (QVector3D &origin, QVector3D &direction) const
	Compute the current optical axis ray in Polhemus world frame.
bool	opticalUpInWorld (QVector3D &up) const
void	setConnection (PolhemusConnection *conn)
PolhemusConnection *	connection () const
AcquiredPoints *	acquiredPoints () const
bool	captureCurrentPenPositionAsFiducial (FiducialId id)
bool	captureCurrentPenPositionAsHeadShape ()
void	setModelFiducial (FiducialId id, const QVector3D &posInModel)
bool	hasModelFiducial (FiducialId id) const
bool	hasAllModelFiducials () const
QVector3D	modelFiducial (FiducialId id) const
bool	hasAllPenFiducials () const
void	setModelVertex (const QVector3D &pos)
bool	hasModelVertex () const
QVector3D	modelVertex () const
bool	captureCurrentPenPositionAsVertex ()
bool	hasPenVertex () const
QVector3D	penVertex () const
bool	computeRegistration ()
	Compute the head→device rigid transform from the three captured fiducials (NAS, LPA, RPA).
void	resetRegistration ()
	Reset the registration state (headToWorld, headToDevice) to identity. Call this when the user clears all fiducials.
void	saveSessionState (QSettings &settings, const QString &prefix=QStringLiteral("polhemus")) const
bool	restoreSessionState (QSettings &settings, const QString &prefix=QStringLiteral("polhemus"))
bool	registrationValid () const
QMatrix4x4	deviceToWorld () const
QMatrix4x4	headToWorld () const
QMatrix4x4	headToDevice () const
QMatrix4x4	worldToModel () const
QVector3D	penPosition () const
QQuaternion	penOrientation () const
bool	haveLivePenPosition () const
QVector3D	probePosition () const
QQuaternion	probeOrientation () const
bool	haveLiveProbePosition () const

Detailed Description

Head–device coregistration engine driven by a Polhemus Fastrak.

The class wires itself to a PolhemusConnection and maintains:

A continuously updated device-to-world transform (from the tracker station + user-supplied calibration offset).
An AcquiredPoints store filled by explicit capture calls or automatically on pen-button press.
The computed head–device transform after computeRegistration.

Definition at line 84 of file polhemus_coregistration.h.

Inheritance diagram for UTILSLIB::PolhemusCoregistration:

Member Enumeration Documentation

◆ PivotState

enum class UTILSLIB::PolhemusCoregistration::PivotState

strong

Enumerator
Idle
WaitingForStart
Collecting
Done

Definition at line 168 of file polhemus_coregistration.h.

Constructor & Destructor Documentation

◆ PolhemusCoregistration()

PolhemusCoregistration::PolhemusCoregistration ( QObject * parent = nullptr )

explicit

Definition at line 33 of file polhemus_coregistration.cpp.

◆ ~PolhemusCoregistration()

UTILSLIB::PolhemusCoregistration::~PolhemusCoregistration ( )

overridedefault

Member Function Documentation

◆ acquiredPoints()

AcquiredPoints * UTILSLIB::PolhemusCoregistration::acquiredPoints ( ) const

inline

Definition at line 420 of file polhemus_coregistration.h.

◆ applyOpticalAxisFineAdjust()

bool PolhemusCoregistration::applyOpticalAxisFineAdjust	(	const QVector3D &	targetWorldPos,
		float &	correctionDeg )

Fine-adjust the optical axis so it passes through a known world-frame point (e.g. the probe tip touched with the stylus).

The correction rotates m_opticalAxisLocal in the tracker body frame so that a ray from the optical center would pass through targetWorldPos at the current tracker pose.

Parameters

	targetWorldPos	Desired focus point in Polhemus world frame.
[out]	correctionDeg	Angle of the applied correction (degrees).

Returns: true on success; false if calibration or tracker data is unavailable, or the correction would exceed 10°.

Definition at line 1057 of file polhemus_coregistration.cpp.

◆ cancelPivotCalibration()

void PolhemusCoregistration::cancelPivotCalibration ( )

Definition at line 543 of file polhemus_coregistration.cpp.

◆ captureCurrentPenPositionAsFiducial()

bool PolhemusCoregistration::captureCurrentPenPositionAsFiducial ( FiducialId id )

Definition at line 86 of file polhemus_coregistration.cpp.

◆ captureCurrentPenPositionAsHeadShape()

bool PolhemusCoregistration::captureCurrentPenPositionAsHeadShape ( )

Definition at line 125 of file polhemus_coregistration.cpp.

◆ captureCurrentPenPositionAsVertex()

bool PolhemusCoregistration::captureCurrentPenPositionAsVertex ( )

Definition at line 187 of file polhemus_coregistration.cpp.

◆ captureObjectiveCenter()

bool PolhemusCoregistration::captureObjectiveCenter ( )

Capture the current pen position as the objective lens center.

Touch the pen stylus to the center of the OPMI objective lens while the tracker is live. The point is stored in the tracker's local frame and used by the solver as a direct measurement of the optical center, replacing the sphere-distance constraint.

Returns: true on success, false if pen or tracker data unavailable.

Definition at line 710 of file polhemus_coregistration.cpp.

◆ captureOpticalCalibSample()

bool PolhemusCoregistration::captureOpticalCalibSample ( )

Record one calibration sample (current tracker pose + current pen position).

Returns: true if both pen and tracker data are available, false otherwise.

Definition at line 636 of file polhemus_coregistration.cpp.

◆ clearObjectiveCenter()

void PolhemusCoregistration::clearObjectiveCenter ( )

Clear the captured objective center.

Definition at line 749 of file polhemus_coregistration.cpp.

◆ clearOpticalCalibSamples()

void PolhemusCoregistration::clearOpticalCalibSamples ( )

Discard all calibration samples and reset the optical calibration.

Definition at line 699 of file polhemus_coregistration.cpp.

◆ clearOpticalFineAdjust()

void PolhemusCoregistration::clearOpticalFineAdjust ( )

Undo the last fine adjustment, restoring the original solved axis.

Definition at line 1130 of file polhemus_coregistration.cpp.

◆ computeRegistration()

bool PolhemusCoregistration::computeRegistration ( )

Compute the head→device rigid transform from the three captured fiducials (NAS, LPA, RPA).

Returns: true on success; false if any fiducial is missing or the fiducials are degenerate (collinear).

Definition at line 202 of file polhemus_coregistration.cpp.

◆ connection()

PolhemusConnection * UTILSLIB::PolhemusCoregistration::connection ( ) const

inline

Definition at line 411 of file polhemus_coregistration.h.

◆ devicePoseChanged

void UTILSLIB::PolhemusCoregistration::devicePoseChanged ( const QMatrix4x4 & deviceToWorld )

signal

◆ deviceToWorld()

QMatrix4x4 UTILSLIB::PolhemusCoregistration::deviceToWorld ( ) const

inline

Definition at line 506 of file polhemus_coregistration.h.

◆ hasAllModelFiducials()

bool PolhemusCoregistration::hasAllModelFiducials ( ) const

Definition at line 170 of file polhemus_coregistration.cpp.

◆ hasAllPenFiducials()

bool PolhemusCoregistration::hasAllPenFiducials ( ) const

Definition at line 180 of file polhemus_coregistration.cpp.

◆ hasModelFiducial()

bool PolhemusCoregistration::hasModelFiducial ( FiducialId id ) const

Definition at line 165 of file polhemus_coregistration.cpp.

◆ hasModelVertex()

bool UTILSLIB::PolhemusCoregistration::hasModelVertex ( ) const

inline

Definition at line 452 of file polhemus_coregistration.h.

◆ hasObjectiveCenter()

bool UTILSLIB::PolhemusCoregistration::hasObjectiveCenter ( ) const

inline

Returns: Whether an objective center has been captured.

Definition at line 262 of file polhemus_coregistration.h.

◆ hasPenVertex()

bool UTILSLIB::PolhemusCoregistration::hasPenVertex ( ) const

inline

Definition at line 462 of file polhemus_coregistration.h.

◆ haveLivePenPosition()

bool UTILSLIB::PolhemusCoregistration::haveLivePenPosition ( ) const

inline

Definition at line 530 of file polhemus_coregistration.h.

◆ haveLiveProbePosition()

bool UTILSLIB::PolhemusCoregistration::haveLiveProbePosition ( ) const

inline

Definition at line 543 of file polhemus_coregistration.h.

◆ headToDevice()

QMatrix4x4 UTILSLIB::PolhemusCoregistration::headToDevice ( ) const

inline

Definition at line 514 of file polhemus_coregistration.h.

◆ headToWorld()

QMatrix4x4 UTILSLIB::PolhemusCoregistration::headToWorld ( ) const

inline

Definition at line 510 of file polhemus_coregistration.h.

◆ knownTrackerToObjectiveDistance()

float UTILSLIB::PolhemusCoregistration::knownTrackerToObjectiveDistance ( ) const

inline

Definition at line 304 of file polhemus_coregistration.h.

◆ mirrorX()

bool UTILSLIB::PolhemusCoregistration::mirrorX ( ) const

inline

Definition at line 155 of file polhemus_coregistration.h.

◆ mirrorY()

bool UTILSLIB::PolhemusCoregistration::mirrorY ( ) const

inline

Definition at line 159 of file polhemus_coregistration.h.

◆ modelFiducial()

QVector3D PolhemusCoregistration::modelFiducial ( FiducialId id ) const

Definition at line 175 of file polhemus_coregistration.cpp.

◆ modelVertex()

QVector3D UTILSLIB::PolhemusCoregistration::modelVertex ( ) const

inline

Definition at line 456 of file polhemus_coregistration.h.

◆ objectiveCenterLocal()

QVector3D UTILSLIB::PolhemusCoregistration::objectiveCenterLocal ( ) const

inline

Captured objective center in tracker body frame (metres).

Returns: Objective center in the tracker body frame in metres; only meaningful if hasObjectiveCenter() is true.

Definition at line 275 of file polhemus_coregistration.h.

◆ opticalAxisLocal()

QVector3D UTILSLIB::PolhemusCoregistration::opticalAxisLocal ( ) const

inline

Direction of the optical axis in the tracker body frame (unit vector).

Returns: Unit optical-axis direction in the tracker body frame; only meaningful if opticalCalibrationValid() is true.

Definition at line 320 of file polhemus_coregistration.h.

◆ opticalCalibDepthSpreadMm()

float UTILSLIB::PolhemusCoregistration::opticalCalibDepthSpreadMm ( ) const

inline

Depth spread of calibration samples along the optical axis (mm).

Returns: Extent of the calibration focus points along the optical axis in millimetres.

Definition at line 350 of file polhemus_coregistration.h.

◆ opticalCalibrationChanged

void UTILSLIB::PolhemusCoregistration::opticalCalibrationChanged ( )

signal

◆ opticalCalibrationValid()

bool UTILSLIB::PolhemusCoregistration::opticalCalibrationValid ( ) const

inline

Returns: Whether a valid optical calibration has been computed.

Definition at line 310 of file polhemus_coregistration.h.

◆ opticalCalibResidualMm()

float UTILSLIB::PolhemusCoregistration::opticalCalibResidualMm ( ) const

inline

RMS residual of the last optical calibration (mm).

Returns: RMS distance of the focus points from the fitted optical axis in millimetres.

Definition at line 340 of file polhemus_coregistration.h.

◆ opticalCalibSampleCount()

int UTILSLIB::PolhemusCoregistration::opticalCalibSampleCount ( ) const

inline

Returns: Number of calibration samples recorded so far.

Definition at line 241 of file polhemus_coregistration.h.

◆ opticalCenterLocal()

QVector3D UTILSLIB::PolhemusCoregistration::opticalCenterLocal ( ) const

inline

Position of the optical center in the tracker body frame (metres).

Returns: Optical center in the tracker body frame in metres.

Definition at line 330 of file polhemus_coregistration.h.

◆ opticalFineAdjustApplied()

bool UTILSLIB::PolhemusCoregistration::opticalFineAdjustApplied ( ) const

inline

Returns: Whether a fine adjustment has been applied.

Definition at line 372 of file polhemus_coregistration.h.

◆ opticalFineAdjustDeg()

float UTILSLIB::PolhemusCoregistration::opticalFineAdjustDeg ( ) const

inline

Returns: The angle of the last fine adjustment (degrees).

Definition at line 378 of file polhemus_coregistration.h.

◆ opticalRayInWorld()

bool PolhemusCoregistration::opticalRayInWorld	(	QVector3D &	origin,
		QVector3D &	direction ) const

Compute the current optical axis ray in Polhemus world frame.

Parameters

[out]	origin	Ray origin (optical center in world frame).
[out]	direction	Ray direction (optical axis in world frame, unit vector).

Returns: true if tracker data and calibration are available.

Definition at line 1004 of file polhemus_coregistration.cpp.

◆ opticalUpInWorld()

bool PolhemusCoregistration::opticalUpInWorld ( QVector3D & up ) const

Returns the "up" direction of the optical path in world coordinates. This is the tracker's local Y axis rotated into the world frame, orthogonalised against the optical axis so it can be used directly as an orientation hint for projected overlays.

Parameters

[out] up Unit vector pointing "up" in the microscope view.

Returns: true if tracker data and calibration are available.

Definition at line 1030 of file polhemus_coregistration.cpp.

◆ penButtonPressed

void UTILSLIB::PolhemusCoregistration::penButtonPressed	(	const QVector3D &	position,
		const QQuaternion &	orientation )

signal

◆ penOrientation()

QQuaternion UTILSLIB::PolhemusCoregistration::penOrientation ( ) const

inline

Definition at line 526 of file polhemus_coregistration.h.

◆ penPoseChanged

void UTILSLIB::PolhemusCoregistration::penPoseChanged	(	const QVector3D &	position,
		const QQuaternion &	orientation )

signal

◆ penPosition()

QVector3D UTILSLIB::PolhemusCoregistration::penPosition ( ) const

inline

Definition at line 522 of file polhemus_coregistration.h.

◆ penStation()

int UTILSLIB::PolhemusCoregistration::penStation ( ) const

inline

Definition at line 104 of file polhemus_coregistration.h.

◆ penTipOffset()

QVector3D UTILSLIB::PolhemusCoregistration::penTipOffset ( ) const

inline

Definition at line 121 of file polhemus_coregistration.h.

◆ penVertex()

QVector3D UTILSLIB::PolhemusCoregistration::penVertex ( ) const

inline

Definition at line 466 of file polhemus_coregistration.h.

◆ pivotCalibrationDone

void UTILSLIB::PolhemusCoregistration::pivotCalibrationDone	(	const QVector3D &	offset,
		float	residualMm )

signal

◆ pivotResidualMm()

float UTILSLIB::PolhemusCoregistration::pivotResidualMm ( ) const

inline

Definition at line 186 of file polhemus_coregistration.h.

◆ pivotSampleCollected

void UTILSLIB::PolhemusCoregistration::pivotSampleCollected	(	int	sampleCount,
		float	angularSpanDeg )

signal

◆ pivotSampleCount()

int UTILSLIB::PolhemusCoregistration::pivotSampleCount ( ) const

inline

Definition at line 182 of file polhemus_coregistration.h.

◆ pivotState()

PivotState UTILSLIB::PolhemusCoregistration::pivotState ( ) const

inline

Definition at line 178 of file polhemus_coregistration.h.

◆ pivotStateChanged

void UTILSLIB::PolhemusCoregistration::pivotStateChanged ( PolhemusCoregistration::PivotState state )

signal

◆ probeOrientation()

QQuaternion UTILSLIB::PolhemusCoregistration::probeOrientation ( ) const

inline

Definition at line 539 of file polhemus_coregistration.h.

◆ probePoseChanged

void UTILSLIB::PolhemusCoregistration::probePoseChanged	(	const QVector3D &	position,
		const QQuaternion &	orientation )

signal

◆ probePosition()

QVector3D UTILSLIB::PolhemusCoregistration::probePosition ( ) const

inline

Definition at line 535 of file polhemus_coregistration.h.

◆ probeStation()

int UTILSLIB::PolhemusCoregistration::probeStation ( ) const

inline

Definition at line 108 of file polhemus_coregistration.h.

◆ registrationChanged

void UTILSLIB::PolhemusCoregistration::registrationChanged ( )

signal

◆ registrationValid()

bool UTILSLIB::PolhemusCoregistration::registrationValid ( ) const

inline

Definition at line 497 of file polhemus_coregistration.h.

◆ resetRegistration()

void PolhemusCoregistration::resetRegistration ( )

Reset the registration state (headToWorld, headToDevice) to identity. Call this when the user clears all fiducials.

Definition at line 144 of file polhemus_coregistration.cpp.

◆ restoreSessionState()

bool PolhemusCoregistration::restoreSessionState	(	QSettings &	settings,
		const QString &	prefix = QStringLiteral("polhemus") )

Definition at line 1286 of file polhemus_coregistration.cpp.

◆ saveSessionState()

void PolhemusCoregistration::saveSessionState	(	QSettings &	settings,
		const QString &	prefix = QStringLiteral("polhemus") ) const

Definition at line 1201 of file polhemus_coregistration.cpp.

◆ setAxisMirror()

void UTILSLIB::PolhemusCoregistration::setAxisMirror	(	bool	mirrorX,
		bool	mirrorY )

inline

Negate X and/or Y of incoming Polhemus positions.

The Polhemus Fastrak coordinate system depends on the physical placement and orientation of the transmitter. When the transmitter is oriented such that its axes are mirrored relative to the expected neuroscience convention, enable the corresponding mirror flags here.

Parameters

[in]	mirrorX	True to negate the X coordinate of incoming positions.
[in]	mirrorY	True to negate the Y coordinate of incoming positions.

Definition at line 150 of file polhemus_coregistration.h.

◆ setConnection()

void PolhemusCoregistration::setConnection ( PolhemusConnection * conn )

Definition at line 70 of file polhemus_coregistration.cpp.

◆ setKnownTrackerToObjectiveDistance()

void UTILSLIB::PolhemusCoregistration::setKnownTrackerToObjectiveDistance ( float metres )

inline

Set the known perpendicular distance from tracker sensor to the objective center (metres).

When nonzero, the solver constrains the optical center to lie at this distance from the tracker origin, vastly improving accuracy. Default: 0.200 m (~200 mm for ZEISS Kinevo). Set to 0 to disable.

Parameters

[in] metres Tracker-to-objective distance in metres; 0 disables the constraint.

Definition at line 300 of file polhemus_coregistration.h.

◆ setModelFiducial()

void PolhemusCoregistration::setModelFiducial	(	FiducialId	id,
		const QVector3D &	posInModel )

Definition at line 158 of file polhemus_coregistration.cpp.

◆ setModelVertex()

void UTILSLIB::PolhemusCoregistration::setModelVertex ( const QVector3D & pos )

inline

Definition at line 447 of file polhemus_coregistration.h.

◆ setPenStation()

void PolhemusCoregistration::setPenStation ( int station )

Definition at line 49 of file polhemus_coregistration.cpp.

◆ setPenTipOffset()

void UTILSLIB::PolhemusCoregistration::setPenTipOffset ( const QVector3D & offset )

inline

Definition at line 117 of file polhemus_coregistration.h.

◆ setProbeStation()

void PolhemusCoregistration::setProbeStation ( int station )

Definition at line 54 of file polhemus_coregistration.cpp.

◆ setTipOffsetEnabled()

void UTILSLIB::PolhemusCoregistration::setTipOffsetEnabled ( bool on )

inline

Definition at line 125 of file polhemus_coregistration.h.

◆ setTrackerStation()

void PolhemusCoregistration::setTrackerStation ( int station )

Definition at line 44 of file polhemus_coregistration.cpp.

◆ setTrackerToDeviceOffset()

void PolhemusCoregistration::setTrackerToDeviceOffset	(	const QVector3D &	translation,
		const QQuaternion &	rotation )

Set the rigid offset from the tracker sensor body frame to the device frame.

Parameters

translation	Translation in metres, expressed in the tracker body frame.
rotation	Rotation from tracker body frame to device frame.

Definition at line 61 of file polhemus_coregistration.cpp.

◆ solveOpticalCalibration()

bool PolhemusCoregistration::solveOpticalCalibration ( )

Fit a 3D line through the focus points in tracker-local frame.

Requires at least 2 samples. Computes the optical axis direction and the optical center offset in the tracker body frame.

Returns: true on success; false if insufficient or degenerate data.

Definition at line 755 of file polhemus_coregistration.cpp.

◆ startPivotCalibration()

void PolhemusCoregistration::startPivotCalibration ( )

Definition at line 533 of file polhemus_coregistration.cpp.

◆ tipOffsetEnabled()

bool UTILSLIB::PolhemusCoregistration::tipOffsetEnabled ( ) const

inline

Definition at line 129 of file polhemus_coregistration.h.

◆ trackerStation()

int UTILSLIB::PolhemusCoregistration::trackerStation ( ) const

inline

Definition at line 100 of file polhemus_coregistration.h.

◆ trackerToDeviceRotation()

QQuaternion UTILSLIB::PolhemusCoregistration::trackerToDeviceRotation ( ) const

inline

Definition at line 209 of file polhemus_coregistration.h.

◆ trackerToDeviceTranslation()

QVector3D UTILSLIB::PolhemusCoregistration::trackerToDeviceTranslation ( ) const

inline

Definition at line 205 of file polhemus_coregistration.h.

◆ worldToModel()

QMatrix4x4 UTILSLIB::PolhemusCoregistration::worldToModel ( ) const

inline

Definition at line 518 of file polhemus_coregistration.h.

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

src/libraries/utils/polhemus/polhemus_coregistration.h
src/libraries/utils/polhemus/polhemus_coregistration.cpp

Classes

Public Types

Signals

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ PivotState

Constructor & Destructor Documentation

◆ PolhemusCoregistration()

◆ ~PolhemusCoregistration()

Member Function Documentation

◆ acquiredPoints()

◆ applyOpticalAxisFineAdjust()

◆ cancelPivotCalibration()

◆ captureCurrentPenPositionAsFiducial()

◆ captureCurrentPenPositionAsHeadShape()

◆ captureCurrentPenPositionAsVertex()

◆ captureObjectiveCenter()

◆ captureOpticalCalibSample()

◆ clearObjectiveCenter()

◆ clearOpticalCalibSamples()

◆ clearOpticalFineAdjust()

◆ computeRegistration()

◆ connection()

◆ devicePoseChanged

◆ deviceToWorld()

◆ hasAllModelFiducials()

◆ hasAllPenFiducials()

◆ hasModelFiducial()

◆ hasModelVertex()

◆ hasObjectiveCenter()

◆ hasPenVertex()

◆ haveLivePenPosition()

◆ haveLiveProbePosition()

◆ headToDevice()

◆ headToWorld()

◆ knownTrackerToObjectiveDistance()

◆ mirrorX()

◆ mirrorY()

◆ modelFiducial()

◆ modelVertex()

◆ objectiveCenterLocal()

◆ opticalAxisLocal()

◆ opticalCalibDepthSpreadMm()

◆ opticalCalibrationChanged

◆ opticalCalibrationValid()

◆ opticalCalibResidualMm()

◆ opticalCalibSampleCount()

◆ opticalCenterLocal()

◆ opticalFineAdjustApplied()

◆ opticalFineAdjustDeg()

◆ opticalRayInWorld()

◆ opticalUpInWorld()

◆ penButtonPressed

◆ penOrientation()

◆ penPoseChanged

◆ penPosition()

◆ penStation()

◆ penTipOffset()

◆ penVertex()

◆ pivotCalibrationDone

◆ pivotResidualMm()

◆ pivotSampleCollected

◆ pivotSampleCount()

◆ pivotState()

◆ pivotStateChanged

◆ probeOrientation()

◆ probePoseChanged

◆ probePosition()

◆ probeStation()

◆ registrationChanged

◆ registrationValid()

◆ resetRegistration()

◆ restoreSessionState()

◆ saveSessionState()

◆ setAxisMirror()

◆ setConnection()

◆ setKnownTrackerToObjectiveDistance()

◆ setModelFiducial()

◆ setModelVertex()