[vtkusers] SynchroGrab4D, vtk Polaris tracking

[David Gobbi]

Hi Atul,

Get the tool positions from the vtkTrackerTool objects.  For example:

for (int k = 0; k < 10000; k++)
  {
  vtkTransform *toolTransform = gettool->GetTransform();
  double position[3] = { 0.0, 0.0, 0.0 };
  toolTransform->TransformPoint(position, position);
  if (gettool->IsMissing())
      {
      cout << "MISSING" << endl;
      }
  else
      {
      cout << position[0] << " " << position[1] << " " << position[2] <<
endl;
      }
  ::Sleep(200); // wait for 200 milliseconds before trying again
  }


On Fri, Jul 17, 2015 at 10:56 PM, luta <sharmaatul11 at gmail.com> wrote:

> Dear David,
> Thank you so much for your help. I followed your instructions and got some
> success in moving ahead. However, I am NOT able to get the 3D position of
> the markers. I get the values +00 or some random values when I apply the
> command "Command("3D:011")" . I was expecting it to be x,y,z coordinate
> value with the error value. Following is the current status of the code and
> the results. Our team and I really appreciate your kind help.
>
> #include <vtkConeSource.h>
> #include <vtkPolyData.h>
> #include <vtkSmartPointer.h>
> #include <vtkPolyDataMapper.h>
> #include <vtkActor.h>
> #include <vtkRenderWindow.h>
> #include <vtkRenderer.h>
> #include <vtkRenderWindowInteractor.h>
> #include "vtkNDITracker.h"
> #include <string>
> #include "ndicapi.h"
> #include "vtkMatrix4x4.h"
> #include "vtkTrackerTool.h"
> using namespace std;
>
> class Starttracker_aks
> {
> vtkNDITracker* newtracker;
> int x;
> int tool;
> const char *filename;
> public:
> void asignvalues()
>                 { // setting up the tracker
>                         newtracker
>                 =  vtkNDITracker::New();
>                 tool=3;
>                 filename=
>
> "C:\\ATUL_WORKS\\SOFTWARES\\vtkptog\\Cone\\Cone_Aks\\ToolKit\\8700340Probe.rom";
>                 string versionname;
>                 int serialname;
>                 newtracker->SetSerialDevice("COM5:");
>                 newtracker->Probe();
>                 // get the values from the tracker
>                 cout <<"GetSerialPort:\t "<< newtracker->GetSerialPort()
> << "\n";
>                 cout <<"GetSerialDevice:\t "<<
> newtracker->GetSerialDevice() << "\n";
>                 cout <<"GetBaudRate:\t "<< newtracker->GetBaudRate() <<
> "\n";
>                 // load tools
>                 newtracker->LoadVirtualSROM(tool,filename);
>                 // check status of the tracker
>                 int statust= newtracker->IsTracking() ;
>                 newtracker->Command("BEEP:1");
>                 *// start tracking and activate the tool handles*
>                 *newtracker->StartTracking();
>                 newtracker->Update();
>                 cout <<"updaterate rate:\t "<<
> newtracker->GetInternalUpdateRate()  <<
> "\n";
>                 // get the 3D positions of the tool
>                 for(int k=1;k<3;k++)
>                 {
>                 cout << "3D coordinates:\t" <<
> newtracker->Command("3D:011")<< "\n";
>                 }*
>                 // get world calibration matrix:
>                 cout << "GetWorldCalibrationMatrix:\t"<< "\n";
>                 vtkMatrix4x4*
> matrixw=newtracker->GetWorldCalibrationMatrix();
>                 for(int i =0 ; i<4;i++) {
>                         for(int j =0 ; j<4;j++){
>                                 cout << matrixw->GetElement(i,j) << "\t" ;
>                         }
>                         cout << "\n";
>                 }
>                 // Check the current status of the tracke and tool
>                 versionname=GetVersion();
>
>                 vtkTrackerTool* gettool;
>                 gettool=newtracker->GetTool(tool);
>
>                 cout <<"Is the tracker Missing:\t "<< gettool->IsMissing()
> << "\n";
>                 cout <<"gettool variable:\t "<< gettool << "\n";
>                 cout <<"Version:\t "<< newtracker->GetVersion() << "\n";
>                 statust= newtracker->IsTracking() ;
>                 cout <<"current running Status:\t "<< statust << "\n";
>                 double updaterate= newtracker->GetInternalUpdateRate();
>                 cout <<"current updaterate Status:\t "<< updaterate <<
> "\n";
>                 cout <<"ECHO:\t "<< newtracker->Command("ECHO:Tracker
> Running") << "\n";
>                 }
> };
>
> int main(int, char *[])
> {  //  ndicapi* yourdevice;
> Starttracker_aks statr;
> statr.asignvalues();
> return EXIT_SUCCESS;
> }
>
> <http://vtk.1045678.n5.nabble.com/file/n5732969/ErrorDay2.jpg>
>
>
>
> --
> View this message in context:
> http://vtk.1045678.n5.nabble.com/SynchroGrab4D-vtk-Polaris-tracking-tp4600704p5732969.html
> Sent from the VTK - Users mailing list archive at Nabble.com.
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