Implemented TKA navigation.

app/data/tka_ar_navigation.json

@@ -27,7 +27,16 @@
     },
     {
       "name": "tibia_in_tibia_ref",
-      "type": "transform_obj"
+      "type": "transform_obj",
+      "value": [
+        -3.91566,
+        -85.3472,
+        -42.0667,
+        0.360607,
+        0.661265,
+        -0.283426,
+        -0.5936
+      ]
     },
     {
       "name": "camera_ref_in_tracker",
@@ -406,6 +415,35 @@
         "point_picker_in_femur_ref"
       ]
     },
+    {
+      "type": "landmark_registration",
+      "name": "tibia_landmark",
+      "start_config": {
+        "fiducial_points": [
+          [
+            -39.9547,
+            -25.8887,
+            204.005
+          ],
+          [
+            -51.1875,
+            12.4128,
+            203.383
+          ],
+          [
+            -71.8993,
+            -18.712,
+            204.388
+          ]
+        ],
+        "point_var_name": "picked_point_in_tibia_ref",
+        "transform_var_name": "tibia_in_tibia_ref",
+        "error_var_name": "tibia_in_tibia_ref_error"
+      },
+      "dependencies": [
+        "point_picker_in_tibia_ref"
+      ]
+    },
     {
       "type": "transform_obj_watcher",
       "name": "femur_registration_result_watcher",
@@ -413,6 +451,13 @@
         "variable_name": "femur_in_femur_ref"
       }
     },
+    {
+      "type": "transform_obj_watcher",
+      "name": "tibia_registration_result_watcher",
+      "start_config": {
+        "variable_name": "tibia_in_tibia_ref"
+      }
+    },
     {
       "type": "double_obj_watcher",
       "name": "femur_registration_error_watcher",
@@ -420,6 +465,13 @@
         "variable_name": "femur_in_femur_ref_error"
       }
     },
+    {
+      "type": "double_obj_watcher",
+      "name": "tibia_registration_error_watcher",
+      "start_config": {
+        "variable_name": "tibia_in_tibia_ref_error"
+      }
+    },
     {
       "type": "scalarxyz_transformer",
       "name": "probe_tip_in_femur_transformer",
@@ -438,6 +490,24 @@
         "transform_tree"
       ]
     },
+    {
+      "type": "scalarxyz_transformer",
+      "name": "probe_tip_in_tibia_transformer",
+      "start_config": {
+        "transform_type": "point",
+        "transform_var_name": "probe_in_tibia",
+        "target_value": [
+          0,
+          0,
+          0
+        ],
+        "output_var_name": "probe_tip_in_tibia"
+      },
+      "dependencies": [
+        "ndi",
+        "transform_tree"
+      ]
+    },
     {
       "type": "transform_stabilizer",
       "name": "point_picker_in_femur",
@@ -452,6 +522,20 @@
         "probe_tip_in_femur_transformer"
       ]
     },
+    {
+      "type": "transform_stabilizer",
+      "name": "point_picker_in_tibia",
+      "start_config": {
+        "stable_type": "point",
+        "input_var_name": "probe_tip_in_tibia",
+        "output_var_name": "picked_point_in_tibia",
+        "linear_tolerance_mm": 0.05,
+        "temporal_interval_s": 3
+      },
+      "dependencies": [
+        "probe_tip_in_tibia_transformer"
+      ]
+    },
     {
       "type": "scalarxyz_obj_watcher",
       "name": "picked_point_watcher_for_femur",
@@ -459,6 +543,13 @@
         "variable_name": "picked_point_in_femur"
       }
     },
+    {
+      "type": "scalarxyz_obj_watcher",
+      "name": "picked_point_watcher_for_tibia",
+      "start_config": {
+        "variable_name": "picked_point_in_tibia"
+      }
+    },
     {
       "type": "empty_object",
       "name": "tracker_all",
@@ -482,6 +573,17 @@
         "femur_registration_error_watcher"
       ]
     },
+    {
+      "type": "empty_object",
+      "name": "tibia_landmark_all",
+      "dependencies": [
+        "tracker_all",
+        "tibia_landmark",
+        "picked_point_watcher_for_tibia_ref",
+        "tibia_registration_result_watcher",
+        "tibia_registration_error_watcher"
+      ]
+    },
     {
       "type": "empty_object",
       "name": "femur_icp_all",
@@ -490,6 +592,15 @@
         "point_picker_in_femur",
         "picked_point_watcher_for_femur"
       ]
+    },
+    {
+      "type": "empty_object",
+      "name": "tibia_icp_all",
+      "dependencies": [
+        "tracker_all",
+        "point_picker_in_tibia",
+        "picked_point_watcher_for_tibia"
+      ]
     }
   ]
 }