DepthGuide/data/sophiar_config_endo_guide.json

{
  "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": [
        233.96470027218044,
        42.187788316685904,
        306.58865752584546,
        0.8190555328954703,
        -0.26342165437712295,
        0.24510986086006864,
        -0.4468536921048027
      ]
    },
    {
      "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_ref_in_tracker_error",
      "type": "double_obj"
    },
    {
      "name": "len_ref_in_camera_ref",
      "type": "transform_obj"
    },
    {
      "name": "camera_in_len_ref",
      "type": "transform_obj"
    },
    {
      "name": "len_ref_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "camera_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "mvs_ref_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "left_camera_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "right_camera_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "drill_ref_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "drill_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "femur_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "tibia_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "probe_in_femur_ref",
      "type": "transform_obj"
    },
    {
      "name": "probe_in_tibia_ref",
      "type": "transform_obj"
    },
    {
      "name": "probe_in_femur",
      "type": "transform_obj"
    },
    {
      "name": "probe_in_tibia",
      "type": "transform_obj"
    },
    {
      "name": "femur_in_camera_ref",
      "type": "transform_obj"
    },
    {
      "name": "tibia_in_camera_ref",
      "type": "transform_obj"
    },
    {
      "name": "probe_tip_in_femur_ref",
      "type": "scalarxyz_obj"
    },
    {
      "name": "probe_tip_in_tibia_ref",
      "type": "scalarxyz_obj"
    },
    {
      "name": "picked_point_in_femur_ref",
      "type": "scalarxyz_obj"
    },
    {
      "name": "picked_point_in_tibia_ref",
      "type": "scalarxyz_obj"
    },
    {
      "name": "probe_tip_in_femur",
      "type": "scalarxyz_obj"
    },
    {
      "name": "probe_tip_in_tibia",
      "type": "scalarxyz_obj"
    },
    {
      "name": "picked_point_in_femur",
      "type": "scalarxyz_obj"
    },
    {
      "name": "picked_point_in_tibia",
      "type": "scalarxyz_obj"
    },
    {
      "name": "camera_in_tracker_denoised",
      "type": "transform_obj"
    },
    {
      "name": "left_camera_in_tracker_denoised",
      "type": "transform_obj"
    },
    {
      "name": "right_camera_in_tracker_denoised",
      "type": "transform_obj"
    },
    {
      "name": "femur_in_tracker_denoised",
      "type": "transform_obj"
    },
    {
      "name": "tibia_in_tracker_denoised",
      "type": "transform_obj"
    }
  ],
  "object_list": [
    {
      "type": "transform_tree",
      "name": "transform_tree",
      "init_config": {
        "node_list": [
          {
            "name": "tracker"
          },
          {
            "name": "probe_ref",
            "parent": "tracker",
            "transform_var_name": "probe_ref_in_tracker"
          },
          {
            "name": "probe",
            "parent": "probe_ref",
            "transform": [
              0,
              0,
              0,
              1,
              0,
              0,
              0
            ]
          },
          {
            "name": "femur_ref",
            "parent": "tracker",
            "transform_var_name": "femur_ref_in_tracker"
          },
          {
            "name": "femur",
            "parent": "femur_ref",
            "transform_var_name": "femur_in_femur_ref"
          },
          {
            "name": "tibia_ref",
            "parent": "tracker",
            "transform_var_name": "tibia_ref_in_tracker"
          },
          {
            "name": "tibia",
            "parent": "tibia_ref",
            "transform_var_name": "tibia_in_tibia_ref"
          },
          {
            "name": "camera_ref",
            "parent": "tracker",
            "transform_var_name": "camera_ref_in_tracker"
          },
          {
            "name": "len_ref",
            "parent": "camera_ref",
            "transform_var_name": "len_ref_in_camera_ref"
          },
          {
            "name": "camera",
            "parent": "len_ref",
            "transform_var_name": "camera_in_len_ref"
          },
          {
            "name": "mvs_ref",
            "parent": "tracker",
            "transform_var_name": "mvs_ref_in_tracker"
          },
          {
            "name": "left_camera",
            "parent": "mvs_ref",
            "transform": [
              1.69529294997093,
              -40.8504461910221,
              -38.4356249156025,
              0.328217190586743,
              0.623382258094322,
              0.318037852337519,
              -0.634444607965983
            ]
          },
          {
            "name": "right_camera",
            "parent": "mvs_ref",
            "transform": [
              0.0941597771490770,
              -41.0431819166041,
              -105.682270133671,
              0.329203554783163,
              0.626106195513828,
              0.316605284270741,
              -0.631962930423275
            ]
          },
          {
            "name": "drill_ref",
            "parent": "tracker",
            "transform_var_name": "drill_ref_in_tracker"
          },
          {
            "name": "drill",
            "parent": "drill_ref",
            "transform": [
              -134.93834363508242,
              -38.64937251450866,
              76.05756748057985,
              0.5651659820674402,
              0.4249557773624757,
              -0.4256067427602504,
              -0.5646759252146404
            ]
          }
        ]
      },
      "start_config": {
        "watch_list": [
          {
            "target": "len_ref",
            "observer": "tracker",
            "transform_var_name": "len_ref_in_tracker"
          },
          {
            "target": "camera",
            "observer": "tracker",
            "transform_var_name": "camera_in_tracker"
          },
          {
            "target": "left_camera",
            "observer": "tracker",
            "transform_var_name": "left_camera_in_tracker"
          },
          {
            "target": "right_camera",
            "observer": "tracker",
            "transform_var_name": "right_camera_in_tracker"
          },
          {
            "target": "drill",
            "observer": "tracker",
            "transform_var_name": "drill_in_tracker"
          },
          {
            "target": "femur",
            "observer": "tracker",
            "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"
          },
          {
            "target": "femur",
            "observer": "camera_ref",
            "transform_var_name": "femur_in_camera_ref"
          },
          {
            "target": "tibia",
            "observer": "camera_ref",
            "transform_var_name": "tibia_in_camera_ref"
          }
        ]
      }
    },
    {
      "type": "ndi_interface",
      "name": "ndi",
      "init_config": {
        "address_type": "ethernet",
        "ip": "192.168.1.202",
        "tcp_port": 8765,
        "com_port": "/dev/ttyUSB0",
        "tool_list": [
          {
            "rom_path": "/home/tpx/data/roms/Probe_Small_4Ball.rom",
            "serial_number": "3DD50000",
            "outputs": {
              "transform": "probe_ref_in_tracker"
            }
          },
          {
            "rom_path": "/home/tpx/data/roms/Glass_4Ball_2.rom",
            "outputs": {
              "transform": "camera_ref_in_tracker",
              "marker_uncertainty": "camera_ref_in_tracker_error"
            }
          },
          {
            "rom_path": "/home/tpx/data/roms/NR_1_STCAM_20241115.rom",
            "outputs": {
              "transform": "mvs_ref_in_tracker"
            }
          },
          {
            "rom_path": "/home/tpx/data/roms/Glass_3Ball_7_Drill.rom",
            "outputs": {
              "transform": "drill_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": "left_camera_denoiser",
      "init_config": {
        "variable_in": "left_camera_in_tracker",
        "variable_out": "left_camera_in_tracker_denoised"
      }
    },
    {
      "type": "kalman_denoiser",
      "name": "right_camera_denoiser",
      "init_config": {
        "variable_in": "right_camera_in_tracker",
        "variable_out": "right_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",
        "femur_denoiser",
        "tibia_denoiser",
        "camera_denoiser",
        "left_camera_denoiser",
        "right_camera_denoiser"
      ]
    }
  ]
}