User Manual

How to Create Combined Model (run these programs in order)
1. bulk_contours.m	(creates bulk contours from bulk volume)
2. ICPRegistration.m	(formats bulk data as points and side-view data as mesh and saves formatted data in text files)
3. robot: enter 'i' to python script	(runs ICP registration between bulk points and side-view mesh)
4. AverageContours.m	(uses transformation produced by C++ code to transform bulk data to side-view data and create averaged contours)
5. combined_model.m	(creates and displays the combined model from the averaged contours

How to use Robot:
Open Terminal
Change directory to /dev/cisst/build/cisst/bin
Execute ./cisstGlobalComponentManagerFLTK (this is our GCM)
Open Terminal
Change directory to /dev/ear/buildEarRobot
Execute ./EarRobot1 localhost
Open Terminal
Change directory to /dev/eyebrp/source/sandbox/robotPy
Execute python PulseContour.py
Commands are sent to the robot via the python script
Commands:
'n': Enact the fixtures set by other commands (see below)
'a': Fix the robot to move along an axis, only downward (enact with 'n')
'b': Fix the robot to move along an axis, only upward (enact with 'n')
'd': Fix the robot to move 1 mm downward along an axis (enact with 'n')
'u': Fix the robot to move 1 mm upward along an axis (enact with 'n')
'p': Store a vector to contribute to insertion virtual fixtures (see report)
'v': Enact insertion virtual fixture
'c': Begin saving data to contour file/close contour file
'f': Change contour acquisition mode (stream from OCT machine/read from file)
'h': Halt robot's motion
'i': Perform ICP
'r': Rotate robot at specified Hz
's': Stop rotation

How to use Sideview GUI:
Press 'Load Acquisition GUI'
On Acquisition GUI, press 'Grab'
On Sideview GUI, press 'Streaming'
Alter Brightness/Contrast on Acquisition GUI
When done, delete files from F drive or save them to disk