{ "variable_list": [ { "name": "probe_in_tracker", "type": "transform_obj" }, { "name": "femur_ref_in_tracker", "type": "transform_obj" }, { "name": "femur_in_femur_ref", "type": "transform_obj", "value": [ 49.7073, -72.6173, -9.09289, 0.440928, 0.542853, 0.490098, 0.520286 ] }, { "name": "tibia_ref_in_tracker", "type": "transform_obj" }, { "name": "tibia_in_tibia_ref", "type": "transform_obj", "value": [ -3.91566, -85.3472, -42.0667, 0.360607, 0.661265, -0.283426, -0.5936 ] }, { "name": "camera_ref_in_tracker", "type": "transform_obj" }, { "name": "left_camera_in_tracker", "type": "transform_obj" }, { "name": "right_camera_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": "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": "femur_in_femur_ref_error", "type": "double_obj" }, { "name": "tibia_in_tibia_ref_error", "type": "double_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" } ], "object_list": [ { "type": "transform_tree", "name": "transform_tree", "init_config": { "node_list": [ { "name": "tracker" }, { "name": "probe_ref", "parent": "tracker", "transform_var_name": "probe_in_tracker" }, { "name": "probe", "parent": "probe_ref", "transform": [ -0.23, -13.98, -119.65, 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": "left_camera", "parent": "camera_ref", "transform": [ -11.3375, 21.2730, -37.5694, 0.0009, -0.7088, -0.0091, 0.7053 ] }, { "name": "right_camera", "parent": "camera_ref", "transform": [ -11.2100, 22.1807, -97.3032, 0.0011, 0.7066, 0.0120, -0.7075 ] } ] }, "start_config": { "watch_list": [ { "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": "femur", "observer": "tracker", "transform_var_name": "femur_in_tracker" }, { "target": "tibia", "observer": "tracker", "transform_var_name": "tibia_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": "COM3", "tool_list": [ { "rom_path": "/home/tpx/data/roms/GlassProbe_4Ball_4.rom", "outputs": { "transform": "probe_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_6.rom", "outputs": { "transform": "femur_ref_in_tracker" } }, { "rom_path": "/home/tpx/data/roms/Glass_3Ball_5.rom", "outputs": { "transform": "tibia_ref_in_tracker" } } ] }, "start_config": { "allow_unreliable": true, "prefer_stream_tracking": false } }, { "type": "transform_obj_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": "landmark_registration", "name": "femur_landmark", "start_config": { "fiducial_points": [ [ 1.68412, 22.5766, 202.831 ], [ 13.5083, -24.1831, 200.386 ], [ 26.621, 2.0151, 191.341 ] ], "point_var_name": "picked_point_in_femur_ref", "transform_var_name": "femur_in_femur_ref", "error_var_name": "femur_in_femur_ref_error" }, "dependencies": [ "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", "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": "double_obj_watcher", "name": "femur_registration_error_watcher", "start_config": { "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", "start_config": { "transform_type": "point", "transform_var_name": "probe_in_femur", "target_value": [ 0, 0, 0 ], "output_var_name": "probe_tip_in_femur" }, "dependencies": [ "ndi", "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", "start_config": { "stable_type": "point", "input_var_name": "probe_tip_in_femur", "output_var_name": "picked_point_in_femur", "linear_tolerance_mm": 0.05, "temporal_interval_s": 3 }, "dependencies": [ "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", "start_config": { "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", "dependencies": [ "transform_tree", "ndi", "probe_visibility_watcher", "camera_visibility_watcher", "femur_visibility_watcher", "tibia_visibility_watcher" ] }, { "type": "empty_object", "name": "femur_landmark_all", "dependencies": [ "tracker_all", "femur_landmark", "picked_point_watcher_for_femur_ref", "femur_registration_result_watcher", "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", "dependencies": [ "tracker_all", "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" ] } ] }