DepthGuide/data/sophiar_config_endo_guide_oldhead.json

{
  "variable_list": [
    {
      "name": "probe_ref_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "probe_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "head_ref_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "head_in_head_ref",
      "type": "transform_obj",
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    {
      "name": "camera_ref_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "camera_ref_in_tracker_error",
      "type": "double_obj"
    },
    {
      "name": "camera_in_camera_ref",
      "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": "head_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "tibia_in_tracker",
      "type": "transform_obj"
    },
    {
      "name": "probe_in_head_ref",
      "type": "transform_obj"
    },
    {
      "name": "probe_in_head",
      "type": "transform_obj"
    },
    {
      "name": "probe_tip_in_head_ref",
      "type": "scalarxyz_obj"
    },
    {
      "name": "picked_point_in_head_ref",
      "type": "scalarxyz_obj"
    },
    {
      "name": "probe_tip_in_head",
      "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": "head_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": [
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          },
          {
            "name": "head_ref",
            "parent": "tracker",
            "transform_var_name": "head_ref_in_tracker"
          },
          {
            "name": "head",
            "parent": "head_ref",
            "transform_var_name": "head_in_head_ref"
          },
          {
            "name": "camera_ref",
            "parent": "tracker",
            "transform_var_name": "camera_ref_in_tracker"
          },
          {
            "name": "camera",
            "parent": "camera_ref",
            "transform_var_name": "camera_in_camera_ref"
          },
          {
            "name": "mvs_ref",
            "parent": "tracker",
            "transform_var_name": "mvs_ref_in_tracker"
          },
          {
            "name": "left_camera",
            "parent": "mvs_ref",
            "transform": [
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              0.6318,
              0.3547,
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          },
          {
            "name": "right_camera",
            "parent": "mvs_ref",
            "transform": [
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              -85.8847,
              0.6304,
              0.3605,
              0.4738,
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          }
        ]
      },
      "start_config": {
        "watch_list": [
          {
            "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": "head",
            "observer": "tracker",
            "transform_var_name": "head_in_tracker"
          },
          {
            "target": "probe",
            "observer": "tracker",
            "transform_var_name": "probe_in_tracker"
          },
          {
            "target": "probe",
            "observer": "head_ref",
            "transform_var_name": "probe_in_head_ref"
          },
          {
            "target": "probe",
            "observer": "head",
            "transform_var_name": "probe_in_head"
          }
        ]
      }
    },
    {
      "type": "ndi_interface",
      "name": "ndi",
      "init_config": {
        "address_type": "serial",
        "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_2_Endo.rom",
            "outputs": {
              "transform": "camera_ref_in_tracker",
              "marker_uncertainty": "camera_ref_in_tracker_error"
            }
          },
          {
            "rom_path": "/home/tpx/data/roms/Glass_4Ball_1_Camera_20240312.rom",
            "outputs": {
              "transform": "mvs_ref_in_tracker"
            }
          },
          {
            "rom_path": "/home/tpx/data/roms/Glass_3Ball_5_OldHead.rom",
            "serial_number": "39B33001",
            "outputs": {
              "transform": "head_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": "head_visibility_watcher",
      "start_config": {
        "variable_name": "head_ref_in_tracker"
      }
    },
    {
      "type": "scalarxyz_transformer",
      "name": "probe_tip_in_head_ref_transformer",
      "start_config": {
        "transform_type": "point",
        "transform_var_name": "probe_in_head_ref",
        "target_value": [
          0,
          0,
          0
        ],
        "output_var_name": "probe_tip_in_head_ref"
      },
      "dependencies": [
        "ndi",
        "transform_tree"
      ]
    },
    {
      "type": "transform_stabilizer",
      "name": "point_picker_in_head_ref",
      "start_config": {
        "stable_type": "point",
        "input_var_name": "probe_tip_in_head_ref",
        "output_var_name": "picked_point_in_head_ref",
        "linear_tolerance_mm": 0.05,
        "temporal_interval_s": 3
      },
      "dependencies": [
        "probe_tip_in_head_ref_transformer"
      ]
    },
    {
      "type": "scalarxyz_obj_watcher",
      "name": "picked_point_watcher_for_head_ref",
      "start_config": {
        "variable_name": "picked_point_in_head_ref"
      }
    },
    {
      "type": "transform_obj_watcher",
      "name": "head_registration_result_watcher",
      "start_config": {
        "variable_name": "head_in_head_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": "head_denoiser",
      "init_config": {
        "variable_in": "head_in_tracker",
        "variable_out": "head_in_tracker_denoised"
      }
    },
    {
      "type": "empty_object",
      "name": "tracker_all",
      "dependencies": [
        "transform_tree",
        "ndi",
        "probe_visibility_watcher",
        "camera_visibility_watcher",
        "head_visibility_watcher",
        "head_registration_result_watcher",
        "head_denoiser",
        "camera_denoiser",
        "left_camera_denoiser",
        "right_camera_denoiser"
      ]
    }
  ]
}