[IGSTK-Developers] calibration (followup to David and James'sdiscussion)

[Hui Zhang]

Hi,

This sounds good, I will put these two functions in the Wiki's class 
requirement soon. Do we also need add that igstkReferenceCalibration class 
in the Wiki? That is a general class to calculate the reference transform 
between the object position/orientation to reference position/orientation, 
which can also be used for Ziv's proposed routine to get the rotation?

Regards,
James
----- Original Message ----- 
From: "David Gobbi" <dgobbi at atamai.com>
>
> We will need intuitive methods for setting the orientation, because not 
> many people are familiar enough with quaternions.  So there could be two 
> methods:
>
> SetToolPrincipalAxis(vx, vy, vz) -- set a vector that points along the 
> tool axis towards the tool top
> SetToolFaceNormal(nx, ny, nz) -- set a vector to define a  that "face" of 
> the tool, this vector must be perpendicular to the tool axis
>
> The "tool face" is for when you want to use a pointer as a virtual 
> ultrasound probe, it will define the orientation of the plane that you 
> want to use as the virtual ultrasound plane.  This is only useful for 6DOF 
> tools, not for 5DOF tools.
>
> These two vectors can be put together to create the quaternion that is 
> used as the orientation.  The NDI tool architect software does something 
> very similar to this.
>
> - David
>
>