[IGSTK-Developers] working with the tracker classes

[David Gobbi]

Ziv Yaniv wrote:
> David Gobbi wrote:
>> Hi Ziv,
>>
>> I have committed SROM channel change to cvs.  However, I'm not sure 
>> if it is enough.  I have never used multi-channel tools myself, but 
>> tell me if this is the way it works:
>>
>> Do you have to load an SROM into the splitter itself, before you load 
>> the SROMs into each channel? If that is so, I'll have to make 
>> additional changes to make that possible.
>>
>> - David
>>
>>
>>
>> David Gobbi wrote:
>>> 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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>>>>
>>>>   
>>>
>>>
>>
> David,
>
> Thanks for the quick response. I will probably try this out next week.
>
> When can I expect the implementation of the mechanism for detecting 
> tools to be implemented? Are we talking about the next couple of weeks 
> or will this be only when the funding is turned on, next march?
>
>           thanks again
>               Ziv
>

The tool detection mechanism won't be implemented until next year.

 - David