Probe Simulator

After we confirmed that we could get accurate depth data from Kinect, we attached three markers to the mock probe and tracked the 3D spacial information of them. Based on this information, we will be able to detect the position, direction and rotation of the probe.

Since the markers are smaller than the cups that we used previously, to make sure they are sensitive enough, their contrast against the background should be as high as possible. So we used Tianyu's black coat and it works very well. Also the board which carries the markers is dark yellow, similar to skin, so we moved the stand instead of the probe itself which would confuse the camera between our skin and the board. However, the light yellow marker could be detected even if we hold the probe in hand. So it could be the same convenient for the trainee.

We will modify the color of the board, record the requirement of the background and create a mock dummy with a box to test the 3D spacial data for the probe. After that, we will also try to integrate our codes.