Difference between revisions of "2017 Winter Project Week/ROS Surface Scan"
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<!-- Objective bullet points --> | <!-- Objective bullet points --> | ||
* Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge | * Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge | ||
− | * | + | * Tracking of 3D print model data with the real time surface scan data. |
− | * Ask a 2 DOF Lego robot to perform targeting | + | * Ask a 2 DOF Lego robot to perform targeting after registration of the robot to slicer(ROS). |
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− | * | + | * For objective 1 |
** Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage. | ** Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage. | ||
− | * | + | * For objective 2 |
** A 3D printed organ will be used for surface scan, and 3d model of the organ is also available. | ** A 3D printed organ will be used for surface scan, and 3d model of the organ is also available. | ||
− | ** Perform | + | ** Perform real time particle filter registration on the surface scan data and the 3d organ model. |
− | * | + | * For objective 3 |
− | ** Registration of the robot and Slicer could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached. This 2D flat desktop model is the working space of the robot | + | ** Registration of the robot and Slicer(or ROS) could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached. This 2D flat desktop model is the working space of the robot |
** Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets. | ** Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets. | ||
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Revision as of 14:20, 8 December 2016
Home < 2017 Winter Project Week < ROS Surface ScanKey Investigators
- Tobias Frank (Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)
- Junichi Tokuda (SPL, Boston)
- Longquan Chen (SPL, Boston)
Project Description
Objective | Approach and Plan | Progress and Next Steps |
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