Implementation of Pivot and Spin Calibration

Development
1

Hello,

I am trying to implement pivot and spin calibration for a stylus, exactly how it is done in IGT > Pivot Calibration (in order to prevent a user from having to navigate away from a custom module and back again, as well as preventing the need to manually choose the input/output transforms).

I am computing pivot calibration, getting the pivot RMSE, and getting the error text. I am then updating my output node with GetToolTipToToolMatrix and similarly running spin calibration. When I do pivot > spin I get error values about one order of magnitude greater than what I get when I do it in the built-in module. If I do spin > pivot, my pivot error blows up extremely high. Are the error values for pivot/spin related at all, or do they represent separate errors for the individual calibrations?

Thank you!

2

SlicerIGT modules are designed to be used from other modules, because this is how we implement all the Slicer-based applications that can be used very efficiently in the operating room, under time pressure, with simple graphical user interface.

One openly available clinical application is LumpNav, which intraoperative ultrasound segmentation and resection guidance using tracked ultrasound. It includes needle calibration, so you can just copy-paste the relevant code pieces from there:

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