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Hello Eric,<BR>
<BR>I am sorry that I have no idea about your code. But as I remeber, if you want to get the position of a single marker, the API command sent to the tracking system is different. And there is just position information but no roatation information for a single marker (I use polaris I am not sure about other tracking systems). <BR>
<BR>
Hope it helps,<BR>
<BR>
Regards,<BR>
<BR>
Jason<BR>
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From: eric_lb@hotmail.com<BR>To: igstk-users@public.kitware.com<BR>Date: Thu, 25 Jun 2009 20:59:23 +0000<BR>Subject: [IGSTK-Users] Tool positions or Tools Translations?<BR><BR>
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<BR> <BR>Hi all.<BR> <BR>I'm working in a project where I need to know the positions in 3D of each marker (reflective sphere) of a passive tool.<BR>I have some problems with this.<BR>The tool is intented to be referenced to a static tool (the reference tool provided with the tracking system).<BR>The problem is that when I try to get the transformations of each marker, there is no consistent data.<BR> <BR>My design tool have three spheres(ellipses), like this:<BR><FONT color=#008000 size=2><FONT color=#008000 size=2>/////////////Desing Tool03<BR></FONT></FONT><FONT size=2>translation[0] = 0;<BR>translation[1] = 0;<BR>translation[2] = 0;<BR>rotation.Set( 0.0, 0.0, 0.0, 1.0 );<BR>transform.SetTranslationAndRotation(translation, rotation, errorValue, validityTimeInMilliseconds );<BR>Tool03Ellip1->RequestSetTransformAndParent( transform, Tool03 );<BR> <BR>translation[0] = 50;<BR>transform.SetTranslationAndRotation(translation, rotation, errorValue, validityTimeInMilliseconds );<BR>Tool03Ellip2->RequestSetTransformAndParent( transform, Tool03 );<BR> <BR>translation[0] = 32.07;<BR>translation[1] = 58.83;<BR>transform.SetTranslationAndRotation(translation, rotation, errorValue, validityTimeInMilliseconds );<BR>Tool03Ellip3->RequestSetTransformAndParent( transform, Tool03 );<BR></FONT> <BR> <BR><FONT size=2>I set some observers to each ellipse:</FONT><BR><FONT size=2>T3Ellip1Observer = ObserverType::New();<BR>T3Ellip1Observer->ObserveTransformEventsFrom( Tool03Ellip1 );<BR>T3Ellip2Observer = ObserverType::New();<BR>T3Ellip2Observer->ObserveTransformEventsFrom( Tool03Ellip2 );<BR>T3Ellip3Observer = ObserverType::New();<BR>T3Ellip3Observer->ObserveTransformEventsFrom( Tool03Ellip3 );<BR></FONT> <BR>And I get the transformations:<BR><FONT size=2>TT3Ellip01=T3Ellip1Observer->GetTransform();<BR><FONT size=2>translation=TT3Ellip01.GetTranslation();<BR>T3RotE1=TT3Ellip01.GetRotation(); <BR>///... for each ellipse<BR></FONT></FONT> <BR>With the transformations data I try to apply the rotation and translation to each position marker taked from origin of coordinate system (reference tool), but the positions that i get seems to be incorrect.<BR>Then, I decided to take directly the translation as the position, with no rotation, and the result were better, but with positions not aligned to the coordinated system (rotated). If i apply the rotation to each marker, the result is again bad.<BR> <BR>I undesrtand that to get the transformations referenced to the static tool need to apply:<BR>T= (Mreg) (Tref^-1) (Traw) (Mcal) ... (IGSTK The book for release 2.0, Chap 8.2.5 Coordinate Transformations, pp 105)<BR>In this case, there is no Mreg and Mcal. When i try to get the referenced transformation of the ellispes, i use this code:<BR><FONT size=2>TAbs01=TAbs01.TransformCompose(TRef.GetInverse(),TT3Ellip01); //... for each ellipse<BR></FONT>But the data is incorrect.<BR> <BR>I plot the data with matlab to emulate the movement of the tool, thats why i can see the incorrect transformations.<BR>Considering all this long process :s my question is How can i get the three marker positions??? What i need to do with the rotations???<BR>There is something that i'm doing bad?? Some idea????<BR>Please, I hope someone can help me.<BR> <BR>Thanks.<BR> <BR> <BR>Eric LB<BR> <BR> <BR> <BR><BR>
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