[IGSTK-Users] Polaris reference tool

[Jason YEE]

 Thank you Ziv,

 

I got another problem with the definition file (.rom file), after I used command PINIT to initialize the port handle, polaris spectra returned ERORR40 (file format is invalid or CRC failed).

But the return of command:PVWR is all okay. I am compused about it now, in order to make sure the file is right, I read the file out and wrote a test program by manually using PVWR assign the definition file one address by one address. But it is still not working. would you please give me some suggestion?
any help is very much appreciated,

 

 

Below is part of the test program(the rom flie is 8700339.rom which is provided by NDI):
write(fd,"PHRQ *********1****",20);

got handle 01;
then assign the file with 16 addresses
write(fd, "PVWR 0100004E444900D2110000010000000000000100000000031480345A00000004000000040000000000403F000000000000000000000000000000000000000000000000\r", 140);
usleep(1000000);
write(fd, "PVWR 01004000002041000000000000000000000000000000000000000052B8E4417B14244200000000000000000000B04200000000AE4731C2CDCC21420000000000000000\r", 140);
usleep(1000000);
write(fd, "PVWR 01008000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000\r", 140);
usleep(1000000);
write(fd, "PVWR 0100C000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000\r", 140);
usleep(1000000);
write(fd, "PVWR 01010000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000803F00000000\r", 140);
usleep(1000000);
write(fd, "PVWR 010140000000000000803F00000000000000000000803F00000000000000000000803F0000000000000000000000000000000000000000000000000000000000000000\r", 140);
usleep(1000000);
write(fd, "PVWR 01018000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000\r", 140);
usleep(1000000);
write(fd, "PVWR 0101C000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000\r", 140);
usleep(1000000);
write(fd, "PVWR 0102000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000001F1F1F1F\r", 140);
usleep(1000000);
write(fd, "PVWR 010240090000004E4449000000000000000000383730303333390000000000000000000000000009010101010000000000000000000000000000000001010101000000\r", 140);
usleep(1000000);
write(fd, "PVWR 010280000000000000000000000000008000290000000000000000000080BF000000000000000000000000000000000000000000000000000000000000000000000000\r", 140);
usleep(1000000);
write(fd, "PVWR 0102C000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000\r", 140);
usleep(1000000);
write(fd, "PVWR 01030000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000\r", 140);
usleep(1000000);
write(fd, "PVWR 01034000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000\r", 140);
usleep(1000000);
write(fd, "PVWR 01038000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000\r", 140); 
usleep(1000000);
write(fd, "PVWR 0103C000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000\r", 140);
usleep(1000000);
write(fd,"PINIT 01",9);

error40...

 

 

regards,

 

Jason

 

 
> Date: Mon, 30 Mar 2009 09:45:34 -0400
> From: zivy at isis.imac.georgetown.edu
> To: famousyi at hotmail.com
> CC: igstk-users at public.kitware.com
> Subject: Re: [IGSTK-Users] Polaris reference tool
> 
> Dear Jason YEE,
> 
> To set a tool as a dynamic reference you first initialize the tool as
> you would with all tools then attach it to the tracker and finally set
> it as a dynamic reference.
> 
> pseudo code:
> 
> Tracker;
> Tool;
> 
> Create and initialize tracker;
> Create and initialize Tool;
> 
> Tool->RequestAttachToTracker(Tracker);
> Tracker->RequestSetReferenceTool(Tool);
> 
> 
> Once you start tracking the reported transformation will be relative to
> the reference frame.
> 
> 
> If you are looking for generic code that works with all IGSTK supported
> trackers please take a look at the TrackerController class and the
> tracker configuration and xml file readers. These allow you to specify
> the tool configuration in an xml file and you don't have to write the
> initialization and setup code as described above. A good example of
> using this framework is the Navigator application.
> 
> regards
> Ziv
> 
> 
> Jason YEE wrote:
> > greetings,
> > 
> > I am encountering a problem with the reference port handle of the 
> > polaris currently, I seek your help:
> > 
> > There is no API command for setting the reference port handle (Is it 
> > right?), so how the position sensor know which tool has been set to be 
> > the reference? 
> > 
> > Could you please tell me a method for setting the reference and getting 
> > transform with respect to reference?
> > 
> > Any help is very much appreciated,
> > 
> > Regards,
> > 
> > Jason
> > ------------------------------------------------------------------------
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> 
> -- 
> Ziv Yaniv, PhD., Research Assistant Professor
> Imaging Science and Information Systems (ISIS) Center
> Department of Radiology
> Georgetown University Medical Center
> 2115 Wisconsin Avenue, Suite 603
> Washington, DC, 20007,
> 
> Phone: +1-202-687-7286
> Fax: +1-202-784-3479
> email: zivy at isis.georgetown.edu
> web: http://isiswiki.georgetown.edu/zivy/

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