[IGSTK-Developers] working with the tracker classes

[David Gobbi]

Hi Ziv,

You caught me on the LoadVirtualSROM method.  It doesn't have a 
"toolNumber" parameter because it was copied over from the 
PolarisTracker without modification.  This wasn't caught because no-one 
has tried to load an SROM through a splitter with IGSTK before.

This is an easy fix, so I'll do it and commit it tonight so that you can 
test it (I don't have a splitter to test it with, myself).

The querying of which tools are attached has not been implemented, for 
any of the trackers.  We have discussed this at previous T-cons and what 
we're going to do is have the Tracker send out an event whenever a new 
tool becomes available.  The application can catch this event, look at 
the event see what kind of tool it is, and take the appropriate action.

 - David



Ziv Yaniv wrote:
> Hi All,
>
> I am trying to work with the IGSTK tracking classes and I have two questions:
>
> 1. In the AuroraTracker we have the following two methods:
> a. AttachSROMFileNameToPort (const unsigned int portNum, std::string fileName) assigns a tool description file to a specific port number.
>
> b. GetToolTransform(unsigned int portNumber, unsigned int toolNumber, TransformType &position) const
>
> I am a bit confused by these two methods. With the Aurora we can attach two tools to a single physical port (using a splitter). When I want to load the SROM file to each of these tools how do I do this? Are they simply port1 and port2. If this is the case then what does the toolNumber variable in the GetToolTransform() method mean. If on the other hand the port has a single number and the tools are also numbered my two tools will be referenced as [port1,tool1] [port1,tool2], then how do I load different SROM files for each of the tools?
>
> 2. How do I find out which tools are attached to the tracker by querying it? I couldn't find a way to do this. Another interesting thing is that I can ask the tracker for a transformation from a port that doesn't have a tool connected and from looking at the GetToolTransform() method nothing will alert me to this fact.
>
>                                     advice appreciated
>                                               Ziv
>
> P.S. In the igstkAuroraTracker.cxx file there are two references to the Polaris tracker in the logger code (cut and paste strike again :) )
>
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