ApplicationHeart

Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

How to set up the heARt demo in our Lab

If you want to try out the Heart demo, you need:

  • a thorax model in inventor format
    • for video-see-through you also need the real thorax for this model
  • two tracked robot arms
  • a tracked camera
  • a magic wand to callibrate the whole stuff
  • a few Sheep to have fun with.

Setup Order

  • checkout the DWARF module from the CVS
  • use ../configure with the --enable-heart attribute or copy the XML-service descriptions for ServiceARTTracker, ServiceObjectCalibration and ServiceViewer in the source tree manually
  • build and compile - resolve all problems
  • copy the thorax model, planned arms model and roboter arm model in the dwarfinstall/share/ folder from /shared/dwarf/modeldata/heart/

  • there exists a complete setup like this on the local heart account on atbruegge10. The password is known by few :-)

Startup Order

  • ServiceManager:
    • run-servicemgr on atbruegge10
  • Tracking:
    • start the Heart Module of dtrack on atbruegge35
      • there are two different setups, one for 3 cameras (in the lab) and for the two-camera mobile demo.
    • ServiceARTTracker on atbruegge10
    • ServiceObjectCalibration on atbruegge10
  • Viewer:
    • optional, if you want to have see-through video: ServiceVideoGraber?
    • run ServiceViewer with Viewer -Dmodel../share/Phantom.iv= (if Video Grabber add -Dvideobackground=yes in front of -Dmodel)
      • there exists a script called HeartView.sh for the non-overlay and
      • another script called OverlayView.sh for the see-through.
  • Connecting the Robot Arms:
    • run ApplicationHeart.py from the /cvs/dwarf/applications/heart directory.

  • Calibrating the Thorax:
    • perform spatial calibration to display the model of the thorax at the right place
      • this does not work at the moment.
      • you need to "callibrate" by adjusting the real thorax wink

  • the rest is not needed anymore:
    • java -jar DISTARB.jar
    • set the Type of DISTARB to StringData, Name can be randomly
    • java -jar UIC.jar HeartNet - this will start the HeartNet Petrinet module
    • enter EventName = init in DISTARB // connects the pose data of spatial registration with the model
    • enter either EventName = arms or EventName = planning into DISTRAB // loads the coreponding models

More

For more information we refer to Joerg's Diplomarbeit. There is a more detailed setup description in Appendix C.


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Edit | Attach | Refresh | Diffs | More | Revision r1.1 - 20 Sep 2012 - 16:53 - Main.guest

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