Hi Ameet,<div><br></div><div>Can you setup a logger to the aurora tracker and send me the log file? </div><div><br></div><div>You can find example code in igstkAuroraTrackerTesting.cxx</div><div><br></div><div>Another quick question, it looks like you are using a port spliter, did you burn the srom file onto the spliter? </div>
<div><br></div><div>Patrick </div><div><font class="Apple-style-span" color="#1f497d"><br></font></div><div><font class="Apple-style-span" color="#1f497d"><br></font><br><div class="gmail_quote">On Tue, Jul 26, 2011 at 3:32 PM, Jain, Ameet <span dir="ltr"><<a href="mailto:ameet.jain@philips.com">ameet.jain@philips.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;"><div lang="EN-US" link="blue" vlink="purple"><div><p class="MsoNormal"><span style="color:#1F497D">Thanks Patrick. I am not getting an ‘invalid transform’, i.e. transform.IsValidNow() (and the observer->GotTransform) is true, but I get the same transform as before. Would this be expected behavior? <u></u><u></u></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><u></u> <u></u></span></p><p class="MsoNormal"><span style="color:#1F497D">Thanks a lot of your help,<u></u><u></u></span></p><p class="MsoNormal"><span style="color:#1F497D">Ameet<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"><u></u> <u></u></span></p><div style="border:none;border-top:solid #B5C4DF 1.0pt;padding:3.0pt 0in 0in 0in"><p class="MsoNormal"><b><span style="font-size:10.0pt">From:</span></b><span style="font-size:10.0pt"> Patrick Cheng [mailto:<a href="mailto:patrick.p.cheng@gmail.com" target="_blank">patrick.p.cheng@gmail.com</a>] <br>
<b>Sent:</b> Tuesday, July 26, 2011 3:14 PM</span></p><div><div></div><div class="h5"><br><b>To:</b> Jain, Ameet<br><b>Cc:</b> <a href="mailto:igstk-users@public.kitware.com" target="_blank">igstk-users@public.kitware.com</a><br>
<b>Subject:</b> Re: [IGSTK-Users] EM tracking giving the same readings<u></u><u></u></div></div><p></p></div><div><div></div><div class="h5"><p class="MsoNormal"><u></u> <u></u></p><p class="MsoNormal">Hi Ameet,<u></u><u></u></p>
<div><p class="MsoNormal"><u></u> <u></u></p></div><div><p class="MsoNormal">Observer will not be updated if Aurora tool goes 'out of volume'.<u></u><u></u></p></div><div><p class="MsoNormal"><u></u> <u></u></p></div>
<div><p class="MsoNormal">You can check the validity of the time stamp to verify that:<u></u><u></u></p></div><div><p class="MsoNormal"><u></u> <u></u></p></div><div><div><p class="MsoNormal"> igstk::Transform transform = transformObserver->GetTransform();<u></u><u></u></p>
</div><div><p class="MsoNormal"> if( !transform.IsValidNow() )<u></u><u></u></p></div><div><p class="MsoNormal"> {<u></u><u></u></p></div><div><p class="MsoNormal"> // Invalid transforms<u></u><u></u></p></div><div>
<p class="MsoNormal"> {<u></u><u></u></p></div><div><p class="MsoNormal"><u></u> <u></u></p></div><div><p class="MsoNormal"><u></u> <u></u></p></div><p class="MsoNormal">Patrick<u></u><u></u></p></div><div><p class="MsoNormal">
<u></u> <u></u></p><div><p class="MsoNormal">On Tue, Jul 26, 2011 at 2:49 PM, Jain, Ameet <<a href="mailto:ameet.jain@philips.com" target="_blank">ameet.jain@philips.com</a>> wrote:<u></u><u></u></p><div><div><p class="MsoNormal">
<span style="font-size:11.0pt;color:#1F497D">Thanks for your email Patrick. However, this did not solve the issue. Seems like the observer is not getting updated for some reason. It continues to report the same value.</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">Do you know if the observer gets updated if the Aurora tool goes ‘out of volume’?</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">Thanks,</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">Ameet</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><div style="border:none;border-top:solid #B5C4DF 1.0pt;padding:3.0pt 0in 0in 0in"><p class="MsoNormal"><b><span style="font-size:10.0pt">From:</span></b><span style="font-size:10.0pt"> Patrick Cheng [mailto:<a href="mailto:patrick.p.cheng@gmail.com" target="_blank">patrick.p.cheng@gmail.com</a>] <br>
<b>Sent:</b> Monday, July 25, 2011 11:03 AM<br><b>To:</b> Jain, Ameet<br><b>Cc:</b> <a href="mailto:igstk-users@public.kitware.com" target="_blank">igstk-users@public.kitware.com</a><br><b>Subject:</b> Re: [IGSTK-Users] EM tracking giving the same readings</span><u></u><u></u></p>
</div><div><div><p class="MsoNormal"> <u></u><u></u></p><p class="MsoNormal">Hi Ameet,<u></u><u></u></p><div><p class="MsoNormal"> <u></u><u></u></p></div><div><p class="MsoNormal">The code spinet you provided is probably not complete. The while loop doesn't seem to be correct.<u></u><u></u></p>
</div><div><p class="MsoNormal"> <u></u><u></u></p></div><div><p class="MsoNormal">Try use this workflow:<u></u><u></u></p></div><div><p class="MsoNormal"> <u></u><u></u></p></div><div><p class="MsoNormal">loop{<u></u><u></u></p>
</div><div><p class="MsoNormal"> <u></u><u></u></p></div><div><div><p class="MsoNormal"> observer->Clear();<u></u><u></u></p></div><div><p class="MsoNormal"> trackerTool->RequestGetTransformToParent();<u></u><u></u></p>
</div><div><p class="MsoNormal"> if (observer->GotTransform())<u></u><u></u></p></div><div><p class="MsoNormal"> {<u></u><u></u></p></div><div><p class="MsoNormal"> ... <u></u><u></u></p></div><div><p class="MsoNormal">
}<u></u><u></u></p></div><div><p class="MsoNormal"> else<u></u><u></u></p></div><div><p class="MsoNormal"> {<u></u><u></u></p></div><div><p class="MsoNormal"> ...<u></u><u></u></p></div><div><p class="MsoNormal">
}<u></u><u></u></p></div><div><p class="MsoNormal"> }<u></u><u></u></p></div></div><div><p class="MsoNormal"> <u></u><u></u></p></div><div><p class="MsoNormal">Let me know how it goes,<u></u><u></u></p></div><div><p class="MsoNormal">
<u></u><u></u></p></div><div><p class="MsoNormal" style="margin-bottom:12.0pt">Patrick<u></u><u></u></p><div><p class="MsoNormal">On Fri, Jul 22, 2011 at 3:52 PM, Jain, Ameet <<a href="mailto:ameet.jain@philips.com" target="_blank">ameet.jain@philips.com</a>> wrote:<u></u><u></u></p>
<div><div><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">Hi all,</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal">
<span style="font-size:11.0pt;color:#1F497D">I am having an issue in trying to use IGSTK for EM tracking a large tool with multiple 5DOFs. It starts to track the sensors alright, but then after some point it starts giving me the same tracked information for all sensors - i.e. it repeats the previous value continuously for hours. My feeling is that it gets a ‘bad fit’ at some point and then the sensor location does not get updated after that. </span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">The code where I update the tracking info for each tool is below. Do you think this is not the correct way to implement the update?</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">auroraTrackerTool[i]->RequestGetTransformToParent();</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">while(!TransformObserver[i]->GotTransform());</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">igstk::Transform transform = TransformObserver[i]->GetTransform();</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">igstk::Transform::VectorType t = transform.GetTranslation();</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">igstk::Transform::VersorType r = transform.GetRotation();</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">Your help is much appreciated,</span><u></u><u></u></p><p class="MsoNormal">
<span style="font-size:11.0pt;color:#1F497D">Thanks a lot in advance,</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">Ameet Jain</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><b><u><span style="font-size:11.0pt;color:#1F497D">PS: The code for initialization of the Aurora is below, in case you see some error there</span></u></b><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">igstk::SerialCommunication::PortNumberType AURORAPORT = (igstk::SerialCommunication::PortNumberType)6; </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">igstk::SerialCommunication::Pointer serialCommAurora;</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">igstk::AuroraTracker::Pointer tracker;</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">igstk::AuroraTrackerTool::Pointer auroraTrackerTool[16];</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">igstk::TransformObserver::Pointer TransformObserver[16]; </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">void openauroraport()</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">{</span><u></u><u></u></p><p class="MsoNormal">
<span style="font-size:11.0pt;color:#1F497D"> serialCommAurora = igstk::SerialCommunication::New(); </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> serialCommAurora->SetPortNumber( AURORAPORT );</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> serialCommAurora->SetParity( igstk::SerialCommunication::NoParity );</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> serialCommAurora->SetBaudRate( igstk::SerialCommunication::BaudRate115200 );</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> serialCommAurora->SetDataBits( igstk::SerialCommunication::DataBits8 );</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> serialCommAurora->SetStopBits( igstk::SerialCommunication::StopBits1 );</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> serialCommAurora->SetHardwareHandshake( igstk::SerialCommunication::HandshakeOff );</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> serialCommAurora->OpenCommunication();</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> tracker = igstk::AuroraTracker::New();</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> std::cout << "SetCommunication()" << std::endl;</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> tracker->SetCommunication( serialCommAurora );</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> std::cout << "RequestOpen()" << std::endl;</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> tracker->RequestOpen();</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> for (int count_port = 0; count_port < 4; count_port++){</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port] = igstk::AuroraTrackerTool::New();</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port]->RequestSelect5DOFTrackerTool();</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port]->RequestSetPortNumber( count_port );</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port]->RequestSetChannelNumber( 0 );</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port]->RequestConfigure();</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port]->RequestAttachToTracker( tracker );</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port + 1] = igstk::AuroraTrackerTool::New();</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port + 1]->RequestSelect5DOFTrackerTool();</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port + 1]->RequestSetPortNumber( count_port );</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port + 1]->RequestSetChannelNumber( 1 );</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port + 1]->RequestConfigure();</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> auroraTrackerTool[2*count_port + 1]->RequestAttachToTracker( tracker );</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> std::cout << "Initialized Port" << count_port << std::endl;</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> }</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal">
<span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> for (int count_port = 0; count_port < 4; count_port++){</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> TransformObserver[2*count_port] = igstk::TransformObserver::New();</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> TransformObserver[2*count_port]->ObserveTransformEventsFrom(auroraTrackerTool[2*count_port]);</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> TransformObserver[2*count_port + 1] = igstk::TransformObserver::New();</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> TransformObserver[2*count_port + 1]->ObserveTransformEventsFrom(auroraTrackerTool[2*count_port + 1]);</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> std::cout << "Assigned Observer" << count_port << std::endl;</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> }</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal">
<span style="font-size:11.0pt;color:#1F497D"> tracker->RequestStartTracking();</span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> std::cout << "Requested Tracking" << std::endl;</span><u></u><u></u></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"> </span><u></u><u></u></p><p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">}</span><u></u><u></u></p></div><p class="MsoNormal"> <u></u><u></u></p>
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</div><p class="MsoNormal"> <u></u><u></u></p></div></div></div></div></div></div><p class="MsoNormal"><u></u> <u></u></p></div></div></div></div></div></blockquote></div><br></div>