This controller provides a lightweight approach to generate synthetic IVUS-like images for catheter navigation.

.github/workflows/ci.yml

@@ -2,6 +2,11 @@ name: CI
 
 on:
   push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
 
 jobs:
   build-and-test:

CMakeLists.txt

@@ -34,6 +34,22 @@ find_package(Sofa.Component.Haptics REQUIRED)
 find_package(Sofa.GUI.Component REQUIRED)
 find_package(Sofa.Component.Engine.Select REQUIRED)
 
+# -------------------------------
+# Find OpenCV
+# -------------------------------
+# Prefer environment variable OPENCV_DIR if set; fallback to default path
+if(NOT DEFINED OpenCV_DIR)
+    set(OpenCV_DIR "$ENV{OPENCV_DIR}" CACHE PATH "Path to OpenCVConfig.cmake")
+endif()
+
+if(NOT OpenCV_DIR)
+    message(FATAL_ERROR "OpenCV_DIR is not set. Please set the environment variable OPENCV_DIR or edit CMakeLists.")
+endif()
+
+find_package(OpenCV REQUIRED)
+message(STATUS "Found OpenCV version ${OpenCV_VERSION} at ${OpenCV_DIR}")
+
+
 
 set(USE_INFINYTOOLKIT_PLUGIN true CACHE BOOL "Use Interaction Tools plugin")
 
@@ -77,6 +93,9 @@ set(HEADER_FILES
     ## Replay motion controller
     ${INFINYTOOLKIT_SRC_DIR}/MotionReplayController/MotionReplayController.h
 
+    ## IVUS controller
+    ${INFINYTOOLKIT_SRC_DIR}/IVUSController/IVUSController.h
+
 
 
 )
@@ -116,6 +135,9 @@ set(SOURCE_FILES
     ## Replay motion controller
     ${INFINYTOOLKIT_SRC_DIR}/MotionReplayController/MotionReplayController.cpp
 
+    ## IVUS controller
+    ${INFINYTOOLKIT_SRC_DIR}/IVUSController/IVUSController.cpp
+
 
 )
 
@@ -156,6 +178,10 @@ target_link_libraries(${PROJECT_NAME}
     Sofa.Component.Haptics
     Sofa.GUI.Component
     Sofa.Component.Engine.Select
+
+    # <-- Add OpenCV here
+    ${OpenCV_LIBS}
+
 )