<html xmlns:v="urn:schemas-microsoft-com:vml" xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns:m="http://schemas.microsoft.com/office/2004/12/omml" xmlns="http://www.w3.org/TR/REC-html40"><head><META HTTP-EQUIV="Content-Type" CONTENT="text/html; charset=us-ascii"><meta name=Generator content="Microsoft Word 15 (filtered medium)"><!--[if !mso]><style>v\:* {behavior:url(#default#VML);}
o\:* {behavior:url(#default#VML);}
w\:* {behavior:url(#default#VML);}
.shape {behavior:url(#default#VML);}
</style><![endif]--><style><!--
/* Font Definitions */
@font-face
{font-family:"Cambria Math";
panose-1:2 4 5 3 5 4 6 3 2 4;}
@font-face
{font-family:DengXian;
panose-1:2 1 6 0 3 1 1 1 1 1;}
@font-face
{font-family:Calibri;
panose-1:2 15 5 2 2 2 4 3 2 4;}
@font-face
{font-family:"Microsoft YaHei UI";
panose-1:2 11 5 3 2 2 4 2 2 4;}
@font-face
{font-family:"\@Microsoft YaHei UI";}
@font-face
{font-family:"Microsoft JhengHei Light";
panose-1:2 11 3 4 3 5 4 4 2 4;}
@font-face
{font-family:"\@Microsoft JhengHei Light";}
@font-face
{font-family:"\5FAE\8F6F\96C5\9ED1 Light";
panose-1:2 11 5 2 4 2 4 2 2 3;}
@font-face
{font-family:"\@\5FAE\8F6F\96C5\9ED1 Light";}
@font-face
{font-family:DengXian;
panose-1:2 1 6 0 3 1 1 1 1 1;}
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0cm;
margin-bottom:.0001pt;
font-size:11.0pt;
font-family:"Calibri",sans-serif;}
a:link, span.MsoHyperlink
{mso-style-priority:99;
color:#0563C1;
text-decoration:underline;}
a:visited, span.MsoHyperlinkFollowed
{mso-style-priority:99;
color:#954F72;
text-decoration:underline;}
p.MsoPlainText, li.MsoPlainText, div.MsoPlainText
{mso-style-priority:99;
mso-style-link:"Plain Text Char";
margin:0cm;
margin-bottom:.0001pt;
font-size:11.0pt;
font-family:"Calibri",sans-serif;}
p.msonormal0, li.msonormal0, div.msonormal0
{mso-style-name:msonormal;
mso-margin-top-alt:auto;
margin-right:0cm;
mso-margin-bottom-alt:auto;
margin-left:0cm;
font-size:12.0pt;
font-family:"Times New Roman",serif;}
span.PlainTextChar
{mso-style-name:"Plain Text Char";
mso-style-priority:99;
mso-style-link:"Plain Text";
font-family:"Calibri",sans-serif;}
span.EmailStyle20
{mso-style-type:personal;
font-family:"Microsoft YaHei UI",sans-serif;
font-weight:normal;
font-style:normal;}
span.EmailStyle21
{mso-style-type:personal-reply;
font-family:"Microsoft JhengHei Light",sans-serif;
color:#1F497D;
font-weight:normal;
font-style:normal;}
.MsoChpDefault
{mso-style-type:export-only;
font-size:10.0pt;}
@page WordSection1
{size:612.0pt 792.0pt;
margin:72.0pt 90.0pt 72.0pt 90.0pt;}
div.WordSection1
{page:WordSection1;}
--></style><!--[if gte mso 9]><xml>
<o:shapedefaults v:ext="edit" spidmax="1026" />
</xml><![endif]--><!--[if gte mso 9]><xml>
<o:shapelayout v:ext="edit">
<o:idmap v:ext="edit" data="1" />
</o:shapelayout></xml><![endif]--></head><body lang=EN-US link="#0563C1" vlink="#954F72"><div class=WordSection1><p class=MsoPlainText><span style='font-family:"微软雅黑 Light",sans-serif'>Hi,<o:p></o:p></span></p><p class=MsoPlainText><span style='font-family:"微软雅黑 Light",sans-serif'><o:p> </o:p></span></p><p class=MsoPlainText><span style='font-family:"微软雅黑 Light",sans-serif'>I need a camera navigation inside a colon model as the below picture shown. To simply it, I think the camera can be move along the central curve of the inside colon when the camera/endoscopic is pulled/pushed by Omni/Other devices, and it should be adjusted to different perspective for view in any point. So I am going to use several piecewise function to represent the central curve as the following function.<o:p></o:p></span></p><p class=MsoPlainText><span style='font-family:"微软雅黑 Light",sans-serif'><img width=160 height=99 style='width:1.6666in;height:1.0312in' id="_x0000_i1025" src="cid:image001.png@01D299BE.D28E9000"><o:p></o:p></span></p><p class=MsoPlainText><span style='font-family:"微软雅黑 Light",sans-serif'>The input parameters for the function is the moving distance (<i><span style='color:red'>d</span></i>) from device, and the output should be the position and orientation of camera. Currently, the position and orientation of camera are obtained from Omni, and it will be replaced by calculation result via the piecewise functions later.<o:p></o:p></span></p><p class=MsoPlainText><span style='font-family:"微软雅黑 Light",sans-serif'>Could you provide the interface in iMSTK for these piecewise function, then I can add them by myself?<o:p></o:p></span></p><p class=MsoPlainText><span style='font-family:"微软雅黑 Light",sans-serif'><o:p> </o:p></span></p><p class=MsoPlainText><span style='font-family:"微软雅黑 Light",sans-serif'>Thanks,<o:p></o:p></span></p><p class=MsoPlainText><span style='font-family:"微软雅黑 Light",sans-serif'>Zhaohui<o:p></o:p></span></p><p class=MsoPlainText><img width=327 height=449 style='width:3.4062in;height:4.677in' id="Picture_x0020_1" src="cid:image002.png@01D299BE.D28E9000" alt="cid:image001.png@01D2999E.C3DC4180"><o:p></o:p></p><p class=MsoPlainText>The colon picture<o:p></o:p></p><p class=MsoNormal><span style='font-size:10.0pt;font-family:"微软雅黑 Light",sans-serif;color:#3B3838;background:white'>----------------------------------------------------------------------------------------------------------</span><span style='font-size:10.0pt;font-family:"微软雅黑 Light",sans-serif;color:#3B3838'><o:p></o:p></span></p><p class=MsoNormal><span style='font-size:10.0pt;font-family:"微软雅黑 Light",sans-serif;background:white'>Zhaohui Xia, Ph.D.</span><span style='font-size:10.0pt;font-family:"微软雅黑 Light",sans-serif'><br><span style='background:white'>Postdoctoral Research Associate, Center for Modeling, Simulation and Imaging in Medicine (CeMSIM)</span><br><span style='background:white'>Rensselaer Polytechnic Institute</span><o:p></o:p></span></p></div></body></html>