Sophiar2/tests/data/landmark_registration_config.json

{
  "listen_port": 5277,
  "object_list": [
    {
      "type": "transform_tree",
      "name": "global_transform_tree",
      "init_config": {
        "node_list": [
          {
            "name": "tracker"
          },
          {
            "name": "probe",
            "parent": "tracker",
            "transform_obj_name": "probe_in_tracker"
          },
          {
            "name": "model_ref",
            "parent": "tracker",
            "transform_obj_name": "model_ref_in_tracker"
          },
          {
            "name": "model",
            "parent": "model_ref",
            "transform_obj_name": "model_in_model_ref"
          }
        ]
      },
      "start_config": {
        "watch_list": [
          {
            "target": "probe",
            "observer": "model",
            "transform_name": "probe_in_model"
          },
          {
            "target": "probe",
            "observer": "model_ref",
            "transform_name": "probe_in_model_ref"
          }
        ]
      }
    },
    {
      "type": "ndi_interface",
      "name": "main_ndi",
      "init_config": {
        "address_type": "ethernet",
        "ip": "169.254.132.51",
        "tcp_port": 8765,
        "com_port": "COM3",
        "tool_list": [
          {
            "rom_path": "D:\\Program\\Robot\\Tools\\roms\\Probe_Small_4Ball.rom",
            "outputs": {
              "transform": "probe_in_tracker",
              "marker_uncertainty": "probe_in_tracker_uncertainty"
            }
          },
          {
            "rom_path": "D:\\Program\\Robot\\Tools\\roms\\Head_3Ball_2.rom",
            "outputs": {
              "transform": "model_ref_in_tracker",
              "marker_uncertainty": "model_ref_in_tracker_uncertainty"
            }
          }
        ]
      },
      "start_config": {
        "allow_unreliable": true,
        "prefer_stream_tracking": true
      }
    },
    {
      "type": "transform_stabilizer",
      "name": "model_ref_point_pickler",
      "dependencies": [
        "global_transform_tree",
        "main_ndi"
      ],
      "start_config": {
        "stable_type": "point",
        "input_obj_name": "probe_in_model_ref",
        "output_obj_name": "pickled_point_in_model_ref",
        "linear_tolerance_mm": 0.2,
        "angular_tolerance_deg": 0.05,
        "temporal_interval_s": 1.5,
        "counting_interval": 150
      }
    },
    {
      "type": "landmark_registration",
      "name": "model_registration",
      "dependencies": [
        "model_ref_point_pickler"
      ],
      "start_config": {
        "fiducial_points": [
          [
            164.66571453500848,
            18.71164620295797,
            82.62518570008311
          ],
          [
            123.52831200584696,
            14.231978533211485,
            96.3638417317588
          ],
          [
            93.07753837629471,
            11.094425704616972,
            79.15928190277317
          ],
          [
            143.6043085335037,
            25.819879662834747,
            108.72907272943397
          ],
          [
            132.738357125514,
            26.348048379275646,
            109.0070454170842
          ],
          [
            116.95809799419658,
            24.962181959549664,
            109.67909720928142
          ]
        ],
        "input_point_obj_name": "pickled_point_in_model_ref",
        "output_transform_obj_name": "model_in_model_ref",
        "output_error_obj_name": "model_registration_error"
      }
    },
    {
      "type": "transform_obj_recorder",
      "name": "model_ref_in_tracker_recorder",
      "dependencies": [
        "main_ndi"
      ],
      "start_config": {
        "obj_name": "probe_in_tracker",
        "save_file": "probe_in_tracker.txt"
      }
    },
    {
      "type": "transform_obj_recorder",
      "name": "model_ref_in_tracker_recorder",
      "dependencies": [
        "main_ndi"
      ],
      "start_config": {
        "obj_name": "model_ref_in_tracker",
        "save_file": "model_ref_in_tracker.txt"
      }
    }
  ]
}