Fish eye cameras and anatomical model in SOFA

Hi @Angela_Fifi,

As-is in SOFA, there’s no way of changing the camera’s intrinsic parameters using exisiting components.
There is a plugin, called SofaCV (computer vision) that contains a component called CalibratedCamera, and that can take OpenCV-style camera calibration data in the form of:
– A 3×4 matrix encoding both extrinsic and intrinsic camera parameters
– the K, R, and t parameters as expressed in OpenCV
– A glModelView / glProjection matrix if you’re more comfortable with OpenGL
– A position, up/lookat/ vector, & projection matrix
– …

This plugin is hosted at this address: https://gitlab.inria.fr/mimesis/ComputerVision/SofaCV, and while the plugin is Open source, Access is only given upon request I believe.

Otherwise, If you prefer going for your own implementation, I’d suggest to look into the VisualManager class (sofa::core::visual::VisualManager) That let’s you override the OpenGL camera parameters of your scene through the preDrawScene / postDrawScene methods.

If you want to go for the SofaCV plugin, If you want to go for the SofaCV plugin, I believe you would have to create an account on gitlab.inria.fr, and I should then be able to add you to the project’s members 🙂

Hi @faragassorobot-t-u-tokyo-ac-jp

And thank you for your question on the forum!
I am glad to see Bruno’s help clarified your question about the fish-eye effect.

I can answer you about the question concerning the availability of models/anatomy in SOFA. The examples of medical simulations that you can see in SOFA online videos often use patient data. These data (even if anonymized) can not be provided in our open-source repository for legal reasons.

You can however find some geometry- and tool-meshes in SOFA/share/mesh. An example is provided in the simulation examples/Demos/liver.scn

I hope this helps, do not hesitate if you have any further question.
Best wishes,

Hugo

Hi @nhnhan, this plug-in is now available on GitHub!
The plug-in has been split into 2 repositories also, SofaCV, which contains mainly interface code, and. ImageProcessing, which contains the code you’re interested in, and depends on SofaCV.
You can check out both plugins at the following link:
https://github.com/mimesis-inria/SofaCV
https://github.com/mimesis-inria/ImageProcessing

Dear @bmarques,
I have successfully compiled SofaCV with Sofa, but things seem even rougher with Imageprocessing plugin. When I activated ninja, many fatal errors popped up and it seems this plugin is no longer compatible with the current versions of SOFA (I tried v19, v20.06 and master branch). I just wonder is there any update in the coding of this plugin to make it more compatible with the current version of SOFA? It would be great if you could update it. Anyway, thank you for your wonderful works and I can wait to play with it.
Best regards,
btt

Hi @hugo,
Thank you for your effort in connecting with the authors of these plugins. These ones are of my interest and I really want to exploit them. I have faced some errors as shown below:
#error "OpenGL headers have been moved to Sofa.GL. Therefore you will need to link against Sofa.GL if you need OpenGL (PR1649), and include <sofa/gl/DrawToolGL.h> instead of this one."

Then when I tried to include <sofa/gl/DrawToolGL.h> as recommended, another error said “there is no such file”
Hope some one can have solution or any suggestiong will also be appreciated
Nhan

Hey @newbie

The Open.GL is a CMake package recently created (after v20.12 release). This means the branch of the plugin you are using is compatible with the master branch of SOFA.

Regarding a PR, it would be most welcome and appreciated by the community indeed! Do not hesitate to notify your PR in this post as well.

Best wishes,

Hugo