Inquiry about additional points between each entry and exit points #25
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Hi Adnan, I have a quick question regarding to challenge 3. According to the description, some additional points which is to define the desired circular path between each entry and exit point will be given. Nevertheless, I cannot find corresponding information in the repo. Would you mind letting me know where or how I can find it? In addition, may I ask how many points will be given for the circular trajectory? Thanks! Best, |
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Replies: 2 comments
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Hi Jack, |
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Hi Jack. So I discussed this with @pkazanzides. You can access the pose (position + orientation) of each entry and exit point using the methods from scene.py or the CRTK-ROS topics from launch_crtk_interface.py. Once you have the pose, you can compute the midpoint for the optimal trajectory, such that the needle curvature remains parallel to the |
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Hi Jack. So I discussed this with @pkazanzides. You can access the pose (position + orientation) of each entry and exit point using the methods from scene.py or the CRTK-ROS topics from launch_crtk_interface.py. Once you have the pose, you can compute the midpoint for the optimal trajectory, such that the needle curvature remains parallel to the
XZ planeof the entry/exit points and the needle rotates around theY axisof the entry point. Please refer to the Entry/Exit frames section of the scene_coordinate_frames document for the coordinate frames of the entry/exit points.