This tarball contains all code that was developed as part of Group 10's
project: Guidance for Skullbase Surgery. For more information on the specific
procedures, see the report. There are four folders:

1) sawMedtronicStealthlink:
-------------------------------
The required interface in sawMedtronicStealthlink was modified to keep track
of the hind of each tool as a new entry in the state table. A read command
and its corresponding method were then created to get the information of the 
hind (if defined) of each tool in StealthStation camera coordinates. The 
hind of each tool in StealthStation camera coordinates is given F_t \{dot} F_hind. 

2) samplingSimulation:
--------------------------------
samplingSimulation contains the code that was used for the sampling experiments. 
It is originally based on VTK's LandmarkTransform example. The 
program is run from the directory containing frame.txt and ct.txt, which
contain the fiducial points for registration in frame and ct
coordinates. The directory should also contain artery.vtk, which
is the segmented artery in vtk format. The program can easily be modified 
to change the number of times the simulation runs. It can also be modified
to change the initial error that is introduced. The CMakeLists used to compile
the code is included in the folder. 

3) laserSimulation:
--------------------------------
laserSimulation contains the code that was used for the laser experiments. 
The program is based on the sawMedtronicStealthlinkExample that was in the
original saw library. The program is run from the directory containing points.txt
and artery.vtk, which are the annotated fiducial points and the segmented
artery in ct coordinates respectively. The program can easily be modified
to change the initial error that is introduced. The main program has the following
commands:
- p: Pre-operating mode
- f: Collect fiducial point
- r: Perform registration using fiducial points collected
- o: Operating mode
- s: Shoot laser
- c: Correct registration
The mtsMedtronicStealthlinkExampleComponent defines the provided interfaces
for collection of tip, hind and marker frame points. It also implements
the actual program flow, as described in the report. main.cpp defines
the provided interfaces for the keyboard component and manages and connects
all the interfaces together. The CMakeLists used to compile the code is
included in the folder. 

4) rawData:
------------------------------
rawData contains a copy of the annotated fiducials and segmented artery
in ct coordinates named artery.vtk and points.txt respectively. 



