Documentation/Nightly/Extensions/TrackerStabilizer

Introduction and Acknowledgements

This work is supported by NA-MIC, NCIGT, and the Slicer Community. This work is supported by P01-CA67165 "Image Guided Therapy" (PI: Ferenc Joelsz) Author: Laurent Chauvin, Jayender Jagadeesan, Nobuhiko Hata Contact: Laurent Chauvin <email> lchauvin@bwh.harvard.edu</email>

NA-MIC   NCIGT   SPL

Module Description

TrackerStabilizer module allows to output a filtered transform node based on an tracker input (transform node). Tracking sensors are really usefull to track surgical tools, robots, patient motion, etc... . However, the data imported in 3D Slicer from these devices are often noisy. In order to reduce this noise and being able to smoothly control some object, such as 3D Slicer camera, the TrackerStabilizer module will apply a low-pass filter on input data. The cut-off frequency (i.e. the smoothing parameter) is adjustable by the user. It is important to notice that filters induce delay, and the smoother the motion is, the bigger the delay between the raw data and the filtered position will be.

Use Cases

The TrackerStabilizer module could be used in any situation requiring stable tracking data and not requiring a "real-time" information. Indeed, applying a filter on raw data will induce a delay (depending on choosen parameters) on the filtered position/orientation. An example could be to drive Slicer's virtual camera. Having some noise on the transformation driving the camera will cause the camera to "shake" which could be really distracting and make it difficult to see what is happening in the scene. By filtering this raw data, we could smooth the camera motion.

Tutorials

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Panels and their use

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Similar Modules

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References

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