{ "controller_port": 5277, "variable_list": [ { "name": "probe_in_tracker", "type": "transform_obj" }, { "name": "model_ref_in_tracker", "type": "transform_obj" }, { "name": "model_in_model_ref", "type": "transform_obj", "value": [ 135.945, 39.1189, -267.07, 0.536927, 0.60565, -0.471815, -0.349698 ] }, { "name": "probe_in_model_ref", "type": "transform_obj" }, { "name": "probe_in_model", "type": "transform_obj" }, { "name": "tip_in_model_ref", "type": "scalarxyz_obj" }, { "name": "picked_point_in_model_ref", "type": "scalarxyz_obj" }, { "name": "model_in_model_ref_error", "type": "double_obj" }, { "name": "tip_in_model", "type": "scalarxyz_obj" }, { "name": "picked_point_in_model", "type": "scalarxyz_obj" } ], "object_list": [ { "type": "transform_tree", "name": "transform_tree", "init_config": { "node_list": [ { "name": "tracker" }, { "name": "probe", "parent": "tracker", "transform_var_name": "probe_in_tracker" }, { "name": "model_ref", "parent": "tracker", "transform_var_name": "model_ref_in_tracker" }, { "name": "model", "parent": "model_ref", "transform_var_name": "model_in_model_ref" } ] }, "start_config": { "watch_list": [ { "target": "probe", "observer": "model_ref", "transform_var_name": "probe_in_model_ref" }, { "target": "probe", "observer": "model", "transform_var_name": "probe_in_model" } ] } }, { "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/Drill_3Ball.rom", "outputs": { "transform": "model_ref_in_tracker" } }, { "rom_path": "/home/tpx/data/roms/Probe_Small_3Ball.rom", "outputs": { "transform": "probe_in_tracker" } } ] }, "start_config": { "allow_unreliable": false, "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": "model_ref_visibility_watcher", "start_config": { "variable_name": "model_ref_in_tracker" } }, { "type": "scalarxyz_transformer", "name": "probe_tip_transformer_for_model_ref", "start_config": { "transform_type": "point", "transform_var_name": "probe_in_model_ref", "target_value": [ 0, 0, 0 ], "output_var_name": "tip_in_model_ref" }, "dependencies": [ "ndi", "transform_tree" ] }, { "type": "transform_stabilizer", "name": "point_picker_for_model_ref", "start_config": { "stable_type": "point", "input_var_name": "tip_in_model_ref", "output_var_name": "picked_point_in_model_ref", "linear_tolerance_mm": 0.05, "angular_tolerance_deg": 0.01, "temporal_interval_s": 3, "counting_interval": 150 }, "dependencies": [ "probe_tip_transformer_for_model_ref" ] }, { "type": "scalarxyz_obj_watcher", "name": "picked_point_watcher_for_model_ref", "start_config": { "variable_name": "picked_point_in_model_ref" } }, { "type": "landmark_registration", "name": "model_registrator", "start_config": { "fiducial_points": [ [ 9.16363, 245.77, -35.5363 ], [ -38.2517, 238.265, 15.8886 ], [ -18.4721, 228.506, -24.2903 ] ], "point_var_name": "picked_point_in_model_ref", "transform_var_name": "model_in_model_ref", "error_var_name": "model_in_model_ref_error" }, "dependencies": [ "point_picker_for_model_ref" ] }, { "type": "transform_obj_watcher", "name": "registration_result_watcher", "start_config": { "variable_name": "model_in_model_ref" } }, { "type": "double_obj_watcher", "name": "registration_error_watcher", "start_config": { "variable_name": "model_in_model_ref_error" } }, { "type": "scalarxyz_transformer", "name": "probe_tip_transformer_for_model", "start_config": { "transform_type": "point", "transform_var_name": "probe_in_model", "target_value": [ 0, 0, 0 ], "output_var_name": "tip_in_model" }, "dependencies": [ "ndi", "transform_tree" ] }, { "type": "transform_stabilizer", "name": "point_picker_for_model", "start_config": { "stable_type": "point", "input_var_name": "tip_in_model", "output_var_name": "picked_point_in_model", "linear_tolerance_mm": 0.05, "angular_tolerance_deg": 0.01, "temporal_interval_s": 3, "counting_interval": 150 }, "dependencies": [ "probe_tip_transformer_for_model" ] }, { "type": "scalarxyz_obj_watcher", "name": "picked_point_watcher_for_model", "start_config": { "variable_name": "picked_point_in_model" } }, { "type": "empty_object", "name": "reg_model", "dependencies": [ "probe_visibility_watcher", "model_ref_visibility_watcher", "picked_point_watcher_for_model_ref", "registration_result_watcher", "registration_error_watcher", "model_registrator" ] }, { "type": "empty_object", "name": "icp_model", "dependencies": [ "probe_visibility_watcher", "model_ref_visibility_watcher", "picked_point_watcher_for_model", "point_picker_for_model", "registration_result_watcher" ] } ] }