app_name: endo_guide

sophiar_config: /home/tpx/project/DepthGuide/data/sophiar_config_endo_guide.json
sophiar_start_var: tracker_all

camera_ref_transform_var: camera_ref_in_tracker
camera_ref_error_var: camera_ref_in_tracker_error
camera_transform_var: camera_in_tracker_denoised
camera_calib_transform_var: camera_in_camera_ref

monitor:
  - name: Camera
    var: camera_ref_in_tracker
  - name: MVS Camera
    var: mvs_ref_in_tracker
  - name: Femur
    var: femur_ref_in_tracker
  - name: Tibia
    var: tibia_ref_in_tracker
  - name: Probe
    var: probe_ref_in_tracker
  - name: Drill
    var: drill_ref_in_tracker

augment_list:
  - name: Femur
    transform_var: femur_in_tracker_denoised
    model: /home/tpx/project/DepthGuide/data/model/Femur_3.stl
  - name: Tibia
    transform_var: tibia_in_tracker_denoised
    model: /home/tpx/project/DepthGuide/data/model/Tibia_3.stl

probe_model: /home/tpx/project/RemoteAR3/data/models/Probe.stl

registration_list:
  - name: Femur
    model_file: /home/tpx/data/KneeWithNails/Femur.stl
    collect_obj: point_picker_in_femur_ref
    collect_var: picked_point_in_femur_ref
    target_var: femur_in_femur_ref
    probe_var: probe_in_femur
  - name: Tibia
    model_file: /home/tpx/data/KneeWithNails/Tibia.stl
    collect_obj: point_picker_in_tibia_ref
    collect_var: picked_point_in_tibia_ref
    target_var: tibia_in_tibia_ref
    probe_var: probe_in_tibia

left_camera_name: "LeftEye"
right_camera_name: "RightEye"

left_camera_info:
  fx: 3566.07514575013
  fy: 3565.09801365950
  cx: 1230.14290684677
  cy: 1026.56369172491
  k0: -0.0668340443448111
  k1: 0.0831050102080411
  width: 2448
  height: 2048

right_camera_info:
  fx: 3579.11217391698
  fy: 3578.22682676712
  cx: 1219.97484179738
  cy: 1036.82186898493
  k0: -0.0802083588903196
  k1: 0.158880530651155
  width: 2448
  height: 2048

left_camera_transform_var: left_camera_in_tracker_denoised
right_camera_transform_var: right_camera_in_tracker_denoised

output_width: 1920
output_height: 1080

acl_guide:
  femur:
    collect_obj: point_picker_in_femur_ref
    collect_var: picked_point_in_femur_ref
    transform_var: femur_ref_in_tracker
  tibia:
    collect_obj: point_picker_in_tibia_ref
    collect_var: picked_point_in_tibia_ref
    transform_var: tibia_ref_in_tracker
  drill_transform_var: drill_in_tracker