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

[David Gobbi]

Yes, I think that the igstkReferenceCalibration should be added to the 
wiki.  I'm interested to see what the interface to the class will look like.

Hui Zhang wrote:

> 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
>>
>>
>
>
>