{ "variable_list": [ { "name": "probe_ref_in_tracker", "type": "transform_obj" }, { "name": "probe_in_tracker", "type": "transform_obj" }, { "name": "femur_ref_in_tracker", "type": "transform_obj" }, { "name": "femur_in_femur_ref", "type": "transform_obj", "value": [ 405.60876310826154, -11.723419024851964, -64.43931776227325, -0.25881623739773235, 0.5976871267586126, -0.3985157377272106, 0.6457317249059794 ] }, { "name": "tibia_ref_in_tracker", "type": "transform_obj" }, { "name": "tibia_in_tibia_ref", "type": "transform_obj", "value": [ 117.21224919149104, 38.32624851921699, -72.90989200004259, -0.19759914802407674, 0.6557689584549056, -0.28931051779904626, 0.6687458965242118 ] }, { "name": "camera_ref_in_tracker", "type": "transform_obj" }, { "name": "camera_in_tracker", "type": "transform_obj" }, { "name": "camera_in_tracker_denoised", "type": "transform_obj" }, { "name": "femur_in_tracker", "type": "transform_obj" }, { "name": "tibia_in_tracker", "type": "transform_obj" }, { 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"transform_var_name": "femur_in_tracker" }, { "target": "tibia", "observer": "tracker", "transform_var_name": "tibia_in_tracker" }, { "target": "probe", "observer": "tracker", "transform_var_name": "probe_in_tracker" }, { "target": "probe", "observer": "femur_ref", "transform_var_name": "probe_in_femur_ref" }, { "target": "probe", "observer": "tibia_ref", "transform_var_name": "probe_in_tibia_ref" }, { "target": "probe", "observer": "femur", "transform_var_name": "probe_in_femur" }, { "target": "probe", "observer": "tibia", "transform_var_name": "probe_in_tibia" } ] } }, { "type": "ndi_interface", "name": "ndi", "init_config": { "address_type": "ethernet", "ip": "10.0.0.5", "tcp_port": 8765, "com_port": "/dev/ttyUSB0", "tool_list": [ { "rom_path": "/home/tpx/data/roms/GlassProbe_4Ball_4_SHC.rom", "serial_number": "3DD50000", "outputs": { "transform": "probe_ref_in_tracker" } }, { "rom_path": "/home/tpx/data/roms/Glass_4Ball_1.rom", "outputs": { "transform": "camera_ref_in_tracker" } }, { "rom_path": "/home/tpx/data/roms/Glass_3Ball_5.rom", "serial_number": "39B33001", "outputs": { "transform": "femur_ref_in_tracker" } }, { "rom_path": "/home/tpx/data/roms/Glass_3Ball_6.rom", "outputs": { "transform": "tibia_ref_in_tracker" } } ] }, "start_config": { "allow_unreliable": true, "prefer_stream_tracking": false } }, { "type": "variable_validity_watcher", "name": "probe_visibility_watcher", "start_config": { "variable_name": "probe_in_tracker" } }, { "type": "transform_obj_validity_watcher", "name": "camera_visibility_watcher", "start_config": { "variable_name": "camera_ref_in_tracker" } }, { "type": "transform_obj_validity_watcher", "name": "femur_visibility_watcher", "start_config": { "variable_name": "femur_ref_in_tracker" } }, { "type": "transform_obj_validity_watcher", "name": "tibia_visibility_watcher", "start_config": { "variable_name": "tibia_ref_in_tracker" } }, { "type": "scalarxyz_transformer", "name": "probe_tip_in_femur_ref_transformer", "start_config": { "transform_type": "point", "transform_var_name": "probe_in_femur_ref", "target_value": [ 0, 0, 0 ], "output_var_name": "probe_tip_in_femur_ref" }, "dependencies": [ "ndi", "transform_tree" ] }, { "type": "scalarxyz_transformer", "name": "probe_tip_in_tibia_ref_transformer", "start_config": { "transform_type": "point", "transform_var_name": "probe_in_tibia_ref", "target_value": [ 0, 0, 0 ], "output_var_name": "probe_tip_in_tibia_ref" }, "dependencies": [ "ndi", "transform_tree" ] }, { "type": "transform_stabilizer", "name": "point_picker_in_femur_ref", "start_config": { "stable_type": "point", "input_var_name": "probe_tip_in_femur_ref", "output_var_name": "picked_point_in_femur_ref", "linear_tolerance_mm": 0.05, "temporal_interval_s": 3 }, "dependencies": [ "probe_tip_in_femur_ref_transformer" ] }, { "type": "transform_stabilizer", "name": "point_picker_in_tibia_ref", "start_config": { "stable_type": "point", "input_var_name": "probe_tip_in_tibia_ref", "output_var_name": "picked_point_in_tibia_ref", "linear_tolerance_mm": 0.05, "temporal_interval_s": 3 }, "dependencies": [ "probe_tip_in_tibia_ref_transformer" ] }, { "type": "scalarxyz_obj_watcher", "name": "picked_point_watcher_for_femur_ref", "start_config": { "variable_name": "picked_point_in_femur_ref" } }, { "type": "scalarxyz_obj_watcher", "name": "picked_point_watcher_for_tibia_ref", "start_config": { "variable_name": "picked_point_in_tibia_ref" } }, { "type": "transform_obj_watcher", "name": "femur_registration_result_watcher", "start_config": { "variable_name": "femur_in_femur_ref" } }, { "type": "transform_obj_watcher", "name": "tibia_registration_result_watcher", "start_config": { "variable_name": "tibia_in_tibia_ref" } }, { "type": "kalman_denoiser", "name": "camera_denoiser", "init_config": { "variable_in": "camera_in_tracker", "variable_out": "camera_in_tracker_denoised" } }, { "type": "kalman_denoiser", "name": "femur_denoiser", "init_config": { "variable_in": "femur_in_tracker", "variable_out": "femur_in_tracker_denoised" } }, { "type": "kalman_denoiser", "name": "tibia_denoiser", "init_config": { "variable_in": "tibia_in_tracker", "variable_out": "tibia_in_tracker_denoised" } }, { "type": "empty_object", "name": "tracker_all", "dependencies": [ "transform_tree", "ndi", "probe_visibility_watcher", "camera_visibility_watcher", "femur_visibility_watcher", "tibia_visibility_watcher", "camera_denoiser", "femur_denoiser", "tibia_denoiser" ] } ] }