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SunderlandkylSunderlandkyl
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Add fCal_Echo1.0 phantom and config file
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‎CADModels/fCalPhantom/fCal_Echo1.0.stl

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‎ConfigFiles/PlusDeviceSet_fCal_MmfUS_NDIAurora_ECG.xml

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<PlusConfiguration version="2.3" PlusRevision="Plus-2.8.0.62873a16 - Win64">
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<DataCollection StartupDelaySec="0">
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<DeviceSet
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Name="fCal: Echo probe (Microsoft Media Foundation Video) + Aurora tracker (Probe, Stylus, Reference) + Serial ECG - fCal Aurora Echo Phantom 1.0"
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Description="Ultrasound spatial calibration with echo probe customized fCal phantom. Aurora sensors should be attached in the following order: 1 Probe, 2 Stylus, 3 Reference. The Aurora 6DOF reference disk (610066) should be attached to the phantom in S1 position." />
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<Device
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Id="TrackerDevice"
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Type="AuroraTracker"
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SerialPort="7"
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LocalTimeOffsetSec="0.182302"
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MeasurementVolumeNumber="0"
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CheckDSR="true">
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<DataSources>
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<DataSource Type="Tool" Id="Reference" PortName="2" BufferSize="150" />
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<DataSource Type="Tool" Id="Stylus" PortName="1" BufferSize="150" />
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<DataSource Type="Tool" Id="Probe" PortName="0" BufferSize="150" />
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</DataSources>
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<OutputChannels>
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<OutputChannel Id="TrackerStream">
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<DataSource Id="Reference" />
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<DataSource Id="Stylus" />
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<DataSource Id="Probe" />
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</OutputChannel>
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</OutputChannels>
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</Device>
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<Device Id="VideoDevice" Type="MmfVideo" FrameSize="1680 1050" VideoFormat="YUY2" CaptureDeviceId="1">
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<DataSources>
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<DataSource Type="Video" Id="Video" PortUsImageOrientation="MF" BufferSize="1000" />
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</DataSources>
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<OutputChannels>
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<OutputChannel Id="VideoStream" VideoDataSourceId="Video" />
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</OutputChannels>
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</Device>
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<Device
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Id="SerialDevice"
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Type="GenericSerialDevice"
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SerialPort="5"
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BaudRate="115200"
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AcquisitionRate="60"
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MaximumReplyDelaySec="1"
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MaximumReplyDurationSec="3"
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LineEnding="0d">
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<DataSources>
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<DataSource Id="EcgData" Type="FieldData" BufferSize="150" />
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</DataSources>
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<OutputChannels>
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<OutputChannel Id="EcgChannel">
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<DataSource Id="EcgData" />
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</OutputChannel>
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</OutputChannels>
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</Device>
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<Device Id="FinalMixer" Type="VirtualMixer">
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<InputChannels>
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<InputChannel Id="VideoStream" />
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<InputChannel Id="TrackerStream" />
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</InputChannels>
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<OutputChannels>
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<OutputChannel Id="TrackedVideoStream" />
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</OutputChannels>
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</Device>
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<Device
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Id="TotalCapture"
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Type="VirtualCapture"
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EnableFileCompression="FALSE"
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EnableCaptureOnStart="FALSE"
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RequestedFrameRate="60"
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EnableCapturing="FALSE">
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<InputChannels>
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<InputChannel Id="TrackedVideoStream" />
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</InputChannels>
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</Device>
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<Device
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Id="VolumeReconstructorDevice"
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Type="VirtualVolumeReconstructor"
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OutputVolDeviceName="RecVol_Reference"
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EnableReconstruction="FALSE"
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ImageCoordinateFrame="Image"
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ReferenceCoordinateFrame="Reference">
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<InputChannels>
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<InputChannel Id="TrackedVideoStream" />
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</InputChannels>
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<VolumeReconstruction
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ImageCoordinateFrame="Image"
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ReferenceCoordinateFrame="Reference"
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OutputSpacing="1 1 1"
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ClipRectangleOrigin="-1 -1"
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ClipRectangleSize="-1 -1"
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Interpolation="NEAREST_NEIGHBOR"
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Optimization="FULL"
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CompoundingMode="LATEST"
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FillHoles="OFF"
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NumberOfThreads="1"
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OutputOrigin="0 0 0"
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OutputExtent="0 0 0 0 0 0" />
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</Device>
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</DataCollection>
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<PlusOpenIGTLinkServer MaxNumberOfIgtlMessagesToSend="1" MaxTimeSpentWithProcessingMs="50" ListeningPort="18944" SendValidTransformsOnly="true" OutputChannelId="TrackedVideoStream">
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<DefaultClientInfo>
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<MessageTypes>
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<Message Type="STRING" />
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<Message Type="IMAGE" />
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<Message Type="TRANSFORM" />
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</MessageTypes>
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<StringNames>
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<String Name="EcgData" />
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</StringNames>
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<ImageNames>
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<Image Name="Image" EmbeddedTransformToFrame="Reference" />
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</ImageNames>
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<TransformNames>
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<Transform Name="ProbeToReference" />
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</TransformNames>
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</DefaultClientInfo>
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</PlusOpenIGTLinkServer>
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<CoordinateDefinitions>
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<Transform From="Image" To="Probe"
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Matrix="
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-0.0366908 0.00859235 0.0703785 33.0566
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-0.0131224 -0.0659215 0.00481551 6.16212
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0.0798326 -0.00866914 0.0331372 -48.1144
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0 0 0 1"
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Error="1.77822" Date="120719_122959" />
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<Transform From="Image" To="TransducerOriginPixel"
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Matrix="
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1 0 0 -410
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0 1 0 5
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0 0 1 0
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0 0 0 1"
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Date="2011.12.06 17:57:00" />
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<Transform From="Phantom" To="Reference"
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Matrix="
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0 -1 0 0
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0 0 1 -14
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-1 0 0 -25
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0 0 0 1"
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Date="082219_123643" />
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<Transform From="StylusTip" To="Stylus"
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Matrix="
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1 0 0 0
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0 1 0 0
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0 0 1 0
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0 0 0 1"
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Date="2019.09.04 23:39:22" />
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<Transform From="TransducerOriginPixel" To="TransducerOrigin"
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Matrix="
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0.0888685 0 0 0
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0 0.0669975 0 0
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0 0 0.0779385 0
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0 0 0 1"
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Date="120719_122959" />
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</CoordinateDefinitions>
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<Rendering WorldCoordinateFrame="Reference" DisplayedImageOrientation="MFA">
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<DisplayableObject Type="Model" ObjectCoordinateFrame="Reference" Id="Volume" />
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<DisplayableObject Type="Image" ObjectCoordinateFrame="Image" Id="LiveImage" />
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<DisplayableObject Type="Model" ObjectCoordinateFrame="Stylus" Id="StylusModel" File="Stylus_Example.stl" />
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<DisplayableObject
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Type="Model"
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ObjectCoordinateFrame="Phantom"
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Id="PhantomModel"
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File="fCal_Echo1.0.stl"
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Opacity="0.4"
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ModelToObjectTransform="
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1 0 0 -30
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0 1 0 -10
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0 0 1 -12.5
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0 0 0 1" />
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<DisplayableObject
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Type="Model"
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ObjectCoordinateFrame="TransducerOrigin"
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Id="ProbeModel"
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File="Probe_L14-5_38.stl"
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Opacity="0.6"
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ModelToObjectTransform="
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1 0 0 0
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0 1 0 0
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0 0 1 0
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0 0 0 1" />
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</Rendering>
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<Segmentation
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ApproximateSpacingMmPerPixel="0.0676012"
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MorphologicalOpeningCircleRadiusMm="0.01"
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MorphologicalOpeningBarSizeMm="2"
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ClipRectangleOrigin="293 332"
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ClipRectangleSize="977 687"
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MaxLinePairDistanceErrorPercent="10"
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AngleToleranceDegrees="10"
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MaxAngleDifferenceDegrees="10"
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MinThetaDegrees="-70"
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MaxThetaDegrees="70"
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MaxLineShiftMm="10"
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ThresholdImagePercent="10"
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CollinearPointsMaxDistanceFromLineMm="0.6"
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UseOriginalImageIntensityForDotIntensityScore="0" />
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<PhantomDefinition>
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<Description Name="fCAL" Type="Multi-N" Version="2.0" WiringVersion="2.0" Institution="Phantom for NDI Aurora Reference Sensor" />
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<Geometry>
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<Pattern Type="NWire">
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<Wire Name="7:F3_f3" EndPointFront="25.0 0.0 15.0" EndPointBack="25.0 40.0 15.0" />
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<Wire Name="8:G3_h3" EndPointFront="30.0 0.0 15.0" EndPointBack="35.0 40.0 15.0" />
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<Wire Name="9:I3_i3" EndPointFront="40.0 0.0 15.0" EndPointBack="40.0 40.0 15.0" />
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</Pattern>
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<Pattern Type="NWire">
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<Wire Name="7:F4_f4" EndPointFront="25.0 0.0 10.0" EndPointBack="25.0 40.0 10.0" />
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<Wire Name="8:H4_g4" EndPointFront="35.0 0.0 10.0" EndPointBack="30.0 40.0 10.0" />
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<Wire Name="9:I4_i4" EndPointFront="40.0 0.0 10.0" EndPointBack="40.0 40.0 10.0" />
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</Pattern>
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<Pattern Type="NWire">
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<Wire Name="7:F5_f5" EndPointFront="25.0 0.0 5.0" EndPointBack="25.0 40.0 5.0" />
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<Wire Name="8:H5_g5" EndPointFront="35.0 0.0 5.0" EndPointBack="30.0 40.0 5.0" />
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<Wire Name="9:I5_i5" EndPointFront="40.0 0.0 5.0" EndPointBack="40.0 40.0 5.0" />
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</Pattern>
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<Pattern Type="NWire">
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<Wire Name="7:F6_f6" EndPointFront="25.0 0.0 0.0" EndPointBack="25.0 40.0 0.0" />
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<Wire Name="8:G6_h6" EndPointFront="30.0 0.0 0.0" EndPointBack="35.0 40.0 0.0" />
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<Wire Name="9:I6_i6" EndPointFront="40.0 0.0 0.0" EndPointBack="40.0 40.0 0.0" />
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</Pattern>
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<Landmarks>
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<Landmark Name="#1" Position="-22.5 -9.5 30.0" />
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<Landmark Name="#8" Position=" 82.5 -9.5 -5.0" />
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<Landmark Name="#9" Position="-29.5 40.0 27.5" />
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<Landmark Name="#12" Position="-29.5 22.5 -5.0" />
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<Landmark Name="#13" Position="-20.0 40.0 37.0" />
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<Landmark Name="#16" Position=" 80.0 0.0 37.0" />
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<Landmark Name="#17" Position=" 89.5 -5.0 27.5" />
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<Landmark Name="#20" Position=" 89.5 40.0 -2.5 " />
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<Landmark Name="#21" Position=" 82.5 49.5 30.0" />
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<Landmark Name="#28" Position="-22.5 49.5 -5.0" />
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</Landmarks>
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</Geometry>
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</PhantomDefinition>
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<fCal
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PhantomModelId="PhantomModel"
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ReconstructedVolumeId="Volume"
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TransducerModelId="ProbeModel"
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StylusModelId="StylusModel"
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ImageDisplayableObjectId="LiveImage"
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NumberOfCalibrationImagesToAcquire="200"
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NumberOfValidationImagesToAcquire="200"
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NumberOfStylusCalibrationPointsToAcquire="200"
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RecordingIntervalMs="100"
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MaxTimeSpentWithProcessingMs="70"
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ImageCoordinateFrame="Image"
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ProbeCoordinateFrame="Probe"
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ReferenceCoordinateFrame="Reference"
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TransducerOriginCoordinateFrame="TransducerOrigin"
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TransducerOriginPixelCoordinateFrame="TransducerOriginPixel"
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TemporalCalibrationDurationSec="10"
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FixedChannelId="VideoStream"
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FixedSourceId="Video"
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MovingChannelId="TrackerStream"
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MovingSourceId="ProbeToTracker"
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DefaultSelectedChannelId="TrackedVideoStream"
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FreeHandStartupDelaySec="3" />
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<vtkPlusPivotCalibrationAlgo ObjectMarkerCoordinateFrame="Stylus" ReferenceCoordinateFrame="Reference" ObjectPivotPointCoordinateFrame="StylusTip" />
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<vtkPlusPhantomLandmarkRegistrationAlgo PhantomCoordinateFrame="Phantom" ReferenceCoordinateFrame="Reference" StylusTipCoordinateFrame="StylusTip" DetectionTimeSec="2.0" StylusTipMaximumDisplacementThresholdMm="1" />
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<vtkPhantomLinearObjectRegistrationAlgo PhantomCoordinateFrame="Phantom" ReferenceCoordinateFrame="Reference" StylusTipCoordinateFrame="StylusTip" />
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<vtkTemporalCalibrationAlgo ClipRectangleOrigin="-1 -1" ClipRectangleSize="-1 -1" SetMaximumMovingLagSec="0.5" />
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<vtkPlusProbeCalibrationAlgo ImageCoordinateFrame="Image" ProbeCoordinateFrame="Probe" PhantomCoordinateFrame="Phantom" ReferenceCoordinateFrame="Reference" />
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<vtkPlusTemporalCalibrationAlgo ClipRectangleOrigin="293 332" ClipRectangleSize="977 687" />
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</PlusConfiguration>

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