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Final Presentation. Video Overlay. Advanced Computer Integrated Surgery (600.446) Jeff Hsin, Cyrus Moon, Anand Viswanathan. Overview of Video Overlay. Video Overlay: The ability to accurately superimpose computer generated images onto related objects in real-time video. Software Flow Chart.

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Video overlay l.jpg

Final Presentation

Video Overlay

Advanced Computer Integrated Surgery (600.446)

Jeff Hsin, Cyrus Moon, Anand Viswanathan


Overview of video overlay l.jpg

Overview of Video Overlay

Video Overlay:

The ability to accurately superimpose computer generated images onto related objects in real-time video.


Software flow chart l.jpg
Software Flow Chart

Jeff

Camera

Input

Video

Software

Tracker

Input

Network

Software

Tracking

Software

Graphics

Software

Overlay

Image

Anand

Anand

Cyrus


Final plan l.jpg
Final Plan

OriginalUpdatedCurrent

  • Tracker code:

    • testing3/18 3/18 

  • Networking Code:

    • testing 3/18-25 4/13* 5/6*

  • Graphics Code:

    • diagram frames & transformations3/11 3/11 

    • framework 3/25 3/25 

    • primitive tracking/rendering: 3/25 4/15* 4/15*

    • tool object creation3/25 3/25 

    • tool calibration-- 4/? 

    • video input -- 4/15* 5/10*

    • camera calibration -- ? 5/6*

    • working video overlay system 4/7 4/22* 5/10**

Blue – Completed * – Changed Date ** – Twice Changed Date


Results work accomplished l.jpg
Results/Work Accomplished

  • Functional and tested Optotracker class

  • Working network software (UDP transportation of frame data)

  • Functional and tested vqs class

  • Working graphics framework

  • Integrated Tracking/Video/Graphics software

  • Working pointer/camera calibration software

  • Functional Video Overlay System


Coordinate graph video overlay l.jpg
Coordinate Graph (Video Overlay)

World (Tracker)

Camera

Patient markers

Lens

Model (from Imaging)

. . . . . . . .

Tool 1

Tool k

Screen

*Dynamic Transforms

(determined by Optotrak)


Possible improvements remaining work to be done l.jpg
Possible Improvements(Remaining Work to be Done)

  • Network Code:

    • Client/Server Model of OptoTracker class

    • fix remaining bugs of CIS Libraries (CISNetwork)

    • Usage of multithreading

    • or: Robust network code--using CORBA instead

  • Improved Pointer Calibration Program

  • Fully tested/debugged Camera Calibration Code

  • Curve Rendering Function

  • Registration Program

  • More Debugging and Quality Testing

  • Video Distortion Correction


Significance of work l.jpg
Significance of Work

  • Use of video overlay would make some surgeries more accurate and consistent.

    • Video overlay could be integrated into a broad range of surgical procedures

  • Code from this project could be used as basic frameworks for future projects in the ERC involving the OptoTrak, Video Input, Networking, and/or GLVU.

  • Code could be modified/appended to work with Image Overlay.

  • Aid in debugging of CIS Libraries has made them more robust, functional


Problems encountered l.jpg
Problems Encountered

  • Figuring out other people’s code:

    • Lack of good documentation

  • Compiling/Linking problems

    • includes, libraries, dependencies

  • Code Integration (incompatibilities)

    • Networking: SPREADCORBATCPUDP

    • CC and g++

  • Optotracker problems?—Anand

    needs to remember 


What we have learned l.jpg
What We have Learned

  • Issues associated with large scale code development

    • manipulation/use of large amounts of code is difficult; Integrating them is even harder

      • Optotrak API,CIS Libraries, VL libraries, glvu libraries

    • compilation/compatibility issues

      • CORBA and CIS libraries

      • different compilers do different things (CC and g++ don’t mix)

      • what a makefile is (finally!)

      • .dll vs. .lib creation


What we have learned cont d l.jpg
What We Have Learned (cont’d)

Always Check on dependencies

Organization = efficiency, less wasted time/stress

Know what to do / when to do it

‘If you don’t write it down, it never happened’

One can never have too many backup plans

The skeleton in the ERC is real

"You Morons!“ -- Randy G. (to team Video Overlay & co.)


What we would have done differently l.jpg
What we would have done differently

  • Better planning/research earlier on in the project

  • Bugged advisors earlier/gotten help as soon as possible

  • Setting of smaller, daily/weekly goals

  • More organization

    Cyrus punching paper towels 


Special thanks to l.jpg
Special Thanks to :

  • Advisors:

    -Dr. Taylor -Dr. Cohen

  • ERC people:

    -Anton Deguet -Dr. Rajesh Kumar -Andy Bzostek

    -Sadi Yigit -Adam Morris

    -rest of the ERC Staff for moral support

  • Jeff Lee - Beta Tester for OptoTracker class


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