Slicer Training Navigation With Aurora

Back to 3D Ultrasound Module in Slicer3

Build IGSTK

Download source code

• Login:

 cvs -d :pserver:anonymous@public.kitware.com:/cvsroot/IGSTK login
 password: igstk 

• Check out IGSTK:

 cvs -d :pserver:anonymous@public.kitware.com:/cvsroot/IGSTK co IGSTK

• Check out IGSTKSandbox:

 cvs -d :pserver:anonymous@public.kitware.com:/cvsroot/IGSTK co IGSTKSandbox

Compile IGSTK

• Create a directory named 'IGSTK-build'
• Cd to IGSTK-build
• Run this command

 ccmake ../IGSTK

• Set the configuration parameters. For example, here are my settings:

BUILD_DOCUMENTATION              OFF
BUILD_TESTING                    ON
CMAKE_BACKWARDS_COMPATIBILITY    2.4
CMAKE_BUILD_TYPE
CMAKE_INSTALL_PREFIX             /usr/local
DART_ROOT                        DART_ROOT-NOTFOUND
EXECUTABLE_OUTPUT_PATH           /home/hliu/projects/igstk/IGSTK-build/bin
IGSTK_BUILD_EXAMPLES             ON
IGSTK_BUILD_TESTING              ON
IGSTK_DEVELOPMENT_VERSION        ON
IGSTK_TEST_AURORA_ATTACHED       ON
IGSTK_TEST_AURORA_PORT_NUMBER    0
IGSTK_TEST_LOOPBACK_ATTACHED     OFF
IGSTK_TEST_LOOPBACK_PORT_NUMBE   1
IGSTK_TEST_POLARIS_ATTACHED      OFF
IGSTK_TEST_POLARIS_PORT_NUMBER   0
IGSTK_USE_FLTK                   OFF
IGSTK_USE_MicronTracker          OFF
IGSTK_USE_Qt                     OFF
ITK_DIR                          /home/hliu/projects/Slicer3-lib/Insight-build
LIBRARY_OUTPUT_PATH              /home/hliu/projects/igstk/IGSTK-build/bin
VTK_DIR                          /home/hliu/projects/Slicer3-lib/VTK-build

• Press "g" to configure the project
• Run make to compile

Compile IGSTKSandbox

• Create a directory named 'IGSTKSandbox-build'
• Cd to IGSTKSandbox-build
• Run this command

 ccmake ../IGSTKSandbox

• Set the configuration parameters. For example, here are my settings:

Compile IGSTK

• Create a directory named 'IGSTK-build'
• Cd to IGSTK-build
• Run this command

 ccmake ../IGSTKSandbox

• Set the configuration parameters. For example, here are my settings:

BUILD_TESTING ON

CMAKE_BACKWARDS_COMPATIBILITY    2.4
CMAKE_BUILD_TYPE
CMAKE_INSTALL_PREFIX             /usr/local
DART_ROOT                        DART_ROOT-NOTFOUND
DOT                              DOT-NOTFOUND
EXECUTABLE_OUTPUT_PATH           /home/hliu/projects/igstk/IGSTKSandbox-build/bin
FLTK_DIR                         FLTK_DIR-NOTFOUND
IGSTKSandbox_BUILD_EXAMPLES      ON
IGSTKSandbox_BUILD_SUPERVISED_   OFF
IGSTKSandbox_BUILD_TESTING       ON
IGSTKSandbox_SEND_TRANSFORMS_T   ON
IGSTKSandbox_TEST_AURORA_ATTAC   ON
IGSTKSandbox_TEST_AURORA_PORT_   0
IGSTKSandbox_TEST_LOOPBACK_ATT   OFF
IGSTKSandbox_TEST_LOOPBACK_POR   1
IGSTKSandbox_TEST_POLARIS_ATTA   ON
IGSTKSandbox_TEST_POLARIS_PORT   0
IGSTKSandbox_USE_FLTK            OFF
IGSTKSandbox_USE_MicronTracker   OFF
IGSTKSandbox_USE_Qt              OFF
IGSTKSandbox_USE_vtkKWImage      ON
IGSTK_SOURCE_DIR                 /home/hliu/projects/igstk/IGSTK
IGSTK_USE_COORDINATE_REFERENCE   ON
ITK_DIR                          /home/hliu/projects/Slicer3-lib/Insight-build
LIBRARY_OUTPUT_PATH              /home/hliu/projects/igstk/IGSTKSandbox-build/bin
VTK_DIR                          /home/hliu/projects/Slicer3-lib/VTK-build

• Press "g" to configure the project
• Run make to compile

Configure Slicer

Start Slicer 3, and follows these steps:

1. create a transform called "tracker" inside the MRML tree from the Data module
   
2. load a dataset or a moder and make it a child of the "tracker" transform that you just created
   
3. Open the Interactor window and from there start the tracker daemon by using the following commands:
   1. source $::SLICER_BUILD/../Slicer3/Modules/TrackerDaemon/Tcl/trackerd.tcl
   2. trackerd_start

Data communication

Once Slicer is ready waiting for transforms, then do in a console the following command:

  ./igstkSandboxTests igstkAuroraTrackerToolObserverToSocketRelayTest localhost 8529 10000 0 1

At that point, the Aurora tracker should be initialized (beeping), and Slicer should popup a message asking for authorization to let somebody connect in "127.0.0.1". If you click on "OK" in that message, then Slicer should start receiving the transforms from the socket, and you should see the volume moving as you move the Tracking tool.