Stereo Tracking for da Vinci surgical robot

Feroze Naina

Installation

Clone repository and open directory in MATLAB

Usage

Step 0: Start the da Vinci, run roslaunch dvrk_vtk_registration stereo_vision.launch

Step 1: Record data Run live_record.m to store files Copy files from inside the timestamped folder

Step 3: Manually annotate images Run annotate_images.m and click on the tip Run verify_annotations.m to check if the annotations are correct. Else, start over.

Step 3: Compute the 3D transform Run triangulate_points.m compute_transform.m - does least squares computation to determine Tf between camera frame and robot frame verify_transform.m - Projects the 3D point back into RL camera frames using Tf computed above

TODO

DEMO