Merge branch '162-us-probe-relative-to-model'

sksurgeryvtk/models/vtk_surface_model.py

@@ -136,11 +136,13 @@ def set_model_transform(self, matrix):
         Sets the model to world transform onto a vtkPolyDataFilter.
         This enables all the points and point data to be transformed
         according to a vtkMatrix4x4 similarity transform.
+
         :param matrix: vtkMatrix4x4
         """
         mu.validate_vtk_matrix_4x4(matrix)
         self.transform.SetMatrix(matrix)
         self.transform_filter.SetTransform(self.transform)
+        self.transform_filter.Update()
 
     def get_model_transform(self):
         """
@@ -177,8 +179,9 @@ def get_points_as_numpy(self):
         as_numpy = numpy_support.vtk_to_numpy(vtk_points.GetData())
         return as_numpy
 
-    def get_vtk_data(self) -> vtk.vtkPolyData:
-        """Return vtk poly data for this object
+    def get_vtk_source_data(self) -> vtk.vtkPolyData:
+        """
+        Return original vtk poly data for this object
 
         :return: vtkPolyData
         :rtype: vtk.vtkPolyData

sksurgeryvtk/widgets/vtk_lus_simulator.py

@@ -19,6 +19,11 @@ class VTKLUSSimulator(rg.VTKRenderingGenerator):
     respect to a stationary camera, placed at the world origin,
     and pointing along +ve z axis, as per OpenCV conventions.
 
+    Note: The mesh representing the LUS probe body must be called 'probe',
+    and there must be at least one other mesh called 'liver'. Any other
+    meshes, e.g. gallbladder, arterties etc., will have the same transform
+    applied as the liver surface.
+
     :param models_json_file: JSON file describing VTK models, in SNAPPY format
     :param background_image_file: RGB image to render in background
     :param camera_intrinsics_file: [3x3] matrix in text file, in numpy format

tests/models/test_voxelise.py

@@ -110,7 +110,7 @@ def test_preop_from_vtkdata():
     size = 0.3
     grid_elements = 64
 
-    grid = voxelise.voxelise(input_mesh=model.get_vtk_data(),
+    grid = voxelise.voxelise(input_mesh=model.get_vtk_source_data(),
                             scale_input=0.001,
                             center=True,
                             size=size,