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CustusX
22.09
An IGT application
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CustusX supports the NDI Polaris and Aurora tracking systems though IGSTK, http://www.igstk.com. It is assumed that the NDI driver are installed as described here:
Setup connection between CustusX and IGSTK:
The folder
/Library/CustusX/igstk.links
is required to exist and be writable.
You can run the shell commands below after installing the Track application, or create it and set permissions in the Finder.
sudo mkdir -p /Library/CustusX/igstk.links sudo chmod a+rwx /Library/CustusX/igstk.links
CustusX assumes that NDI connects through COM-port
9. If this is not the case, change the port manually. Go to the device manager in the control panel and find the NDI USB port under COM Ports. Change the port number in the advanced settings.
Each tool needs an associated tool file. Prior to use, the tools must be configured in the Preferences->Tool Configuration
panel.
A fex tool files are supplied with the application (Look in the config/tool/Tools/Shared
folder). Use these as a starting point to creating your own.
Important content:
<tool> <type>type_of_tool</type> <id>unique_uid</id> <name>My pointing device</name> <clinical_app>Laboratory Laparoscopy</clinical_app> <geo_file>visual_representation.stl</geo_file> <pic_file>illustrating_image.png</pic_file> <sensor> <type>Polaris_or_Aurora</type> <rom_file>ROMfile.rom</rom_file> </sensor> <calibration> <cal_file>smt.cal</cal_file> </calibration> </tool>
visual_representation.stl
contains a 3D graphical representation of the tool, that will be shown in the 3D scene. The drawing is done in the Tool (t) space.smt.cal
contains the tool calibration sMt. The smt.cal
file must contain 16 numbers representing the 4x4 affine matrix sMt. If no file is present, an identity matrix is assumed.If you encounter problems:
For a more detailed discussion, refer to (TBD: papers on custusx accuracy).
sMt
.