[IGSTK-Developers] Re: Questions about IGSTK
Julien Jomier
julien.jomier at kitware.com
Thu Apr 5 11:25:14 EDT 2007
Hello,
I just tried the Polaris tracker on our linux box (Dell/RedHat) and the
code works great. I was able to run the OneViewAndTracking example as well.
Our box as a serial port, so I guess this doesn't help. I suspect the
USB-to-serial converter to be the problem in your case. Maybe NDI
provides some testing tools for Linux (I didn't have time to investigate
this).
Let me know if I should try anything else,
Julien
Patrick Cheng wrote:
> Hi Haiying,
>
> The code looks alright to me. I have no clue why it can not open the
> serial port unless I run the test. I will try to setup the system on our
> linux machine here (I am a pc guy).
>
> Meanwhile, Andinet and Luis, I think your guys have the tracking system
> connected to linux machine, could you try this code at your convenience?
> This is part of the Slicer-IGSTK integration project, it's very
> important to us.
>
> Thank you,
>
> Patrick
>
> hliu at bwh.harvard.edu wrote:
>> Patrick,
>>
>> Many thanks for your help.
>>
>> Indeed, the serial port seemed not opened (the Polaris is connected to my
>> computer on ttyS0). I tried all possible port numbers (0 ... 7) supported
>> by IGSTK, I got the same error message.
>>
>> I'm attaching the code snippet (it's copied from your test file) I'm
>> using
>> in Slicer to perform the serial port connection. Could you please scan it
>> a bit and point to me any errors?
>>
>>
>> Thank you very much,
>>
>>
>>
>> Haiying
>>
>>
>>> Hi Haiying,
>>>
>>> 1.
>>> Looking at the logger file from serial communication,
>>>
>>> 1175527044.46198701858520507812 : (DEBUG) State transition is being
>>> made : SerialCommunicationForPosix PointerID 0x212e150
>>> AttemptingToOpenPortState(10) with FailureInput(22) ---> IdleState(9).
>>>
>>> It looks like the serial port is not being opened. Did you try some
>>> other port number? There are some confusion in terms of numbering of the
>>> serial port. For instance, in Windows, COM1 is
>>> SerialCommunication::PortNumber0.
>>>
>>> 2.
>>> In state machine, we have a mechanism to check if the state-input
>>> transition table is complete. Some times programmer just provide the
>>> possible combination of state-input transition, some times, in this
>>> case, if the open communication failed, it will not enter into the next
>>> state, and if you sent some inputs to the state machine, it might
>>> complain, the transition if not being defined. Our guide line is to
>>> fully populate the transition table, and output error messages.
>>>
>>>
>>> Patrick
>>>
>>> hliu at bwh.harvard.edu wrote:
>>>> Hi Patrick,
>>>>
>>>> Thank you very much for your answers. Now I have more questions.
>>>>
>>>> A polaris is connected through a serial port (/dev/ttyS0) to a Dell
>>>> desktop with Fedora core 5 installed. The "ttyS0" has been made
>>>> writable.
>>>> To test the connection, I used another program to get tracking data
>>>> from
>>>> the Polaris; it worked well.
>>>>
>>>> Then, I embedded the part of the code in
>>>> IGSTK/Testing/igstkPolarisTrackerTest.cxx into Slicer. Since the
>>>> polaris
>>>> is connected on /dev/ttyS0, I use port 0 in
>>>> "serialComm->SetPortNumber(igstk::SerialCommunication::PortNumber0);"
>>>> Keep
>>>> other parameters unchanged.
>>>>
>>>> After running Slicer, I saved the output in these two files which are
>>>> attached:
>>>>
>>>> igstkLoggerOutput.txt -- from the logger
>>>> igtskScreenCout.txt -- screen text from cout
>>>>
>>>> It seems I could not get tracking data from polaris. I notice errors:
>>>>
>>>> 1. It complains the serial port is not writable. But I already changed
>>>> the
>>>> permission. Did I use the wrong port number?
>>>>
>>>> 2. A lot of "No transitions have been defined for current state." What
>>>> are
>>>> they?
>>>>
>>>> Thank you very much for any advice.
>>>>
>>>>
>>>>
>>>> Haiying
>>>>
>>>>
>>>>> Hi Haiying,
>>>>>
>>>>> 1) IGSTK supports serial communication, when you use serial-to-usb
>>>>> adapter, your external use device will just look like a serial device
>>>>> through port mapping.
>>>>>
>>>>> 2) For linux, you have to install some kernel level driver to do the
>>>>> USB-to-Serial conversion. There are some instructions in "Polaris User
>>>>> Guide" page 23
>>>>>
>>>>> 3) We normally use the toolbox from NDI to test the device connection
>>>>> before trying our own code
>>>>>
>>>>> 4) Error reporting from the hardware is a feature we are going to add
>>>>> to
>>>>> the toolkit in the future.
>>>>>
>>>>> Let me know if you need any help with setting up the system.
>>>>>
>>>>> Thank you,
>>>>>
>>>>> Patrick
>>>>>
>>>>> hliu at bwh.harvard.edu wrote:
>>>>>> Hi Patrick,
>>>>>>
>>>>>> My name is Haiying Liu, who is working with Dr. Noby Hata on Slicer
>>>>>> engineering for Image Guided Therapy at Brigham and Women's Hospital.
>>>>>>
>>>>>> I'm currently trying to integrate IGSTK into Slicer3. The following
>>>>>> describes what I have now:
>>>>>>
>>>>>> 1) NDI Polaris tracking device
>>>>>> 2) Dell laptop (Inspiron 1501) with Fedora core 6 installed
>>>>>>
>>>>>> My dell doesn't have any serial port; I'm using a serial-to-usb
>>>>>> converter
>>>>>> and connect polaris to the computer thru one of the USB ports. Here
>>>>>> come
>>>>>> my questions:
>>>>>>
>>>>>> 1) Does IGSTK support a computer without a serial port?
>>>>>> 2) For my case, which port number should I use?
>>>>>> 3) How do I know the connection between polaris and laptop is good?
>>>>>> 4) How I get error messages when something goes wrong?
>>>>>>
>>>>>> Thank you very much,
>>>>>>
>>>>>>
>>>>>>
>>>>>> Haiying
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>> ------------------------------------------------------------------------
>>>>>
>>>>>
>>>>> 1175527044.46130800247192382812 : (DEBUG)
>>>>> SerialCommunication::OpenCommunication called ...
>>>>> 1175527044.46185088157653808594 : (DEBUG) State transition is
>>>>> being
>>>>> made : SerialCommunicationForPosix PointerID 0x212e150 IdleState(9)
>>>>> with OpenPortInput(24) ---> AttemptingToOpenPortState(10).
>>>>> 1175527044.46188211441040039062 : (DEBUG)
>>>>> SerialCommunicationForPosix::InternalOpenPort called ...
>>>>> 1175527044.46198701858520507812 : (DEBUG) State transition is
>>>>> being
>>>>> made : SerialCommunicationForPosix PointerID 0x212e150
>>>>> AttemptingToOpenPortState(10) with FailureInput(22) --->
>>>>> IdleState(9).
>>>>> 1175527044.471179962158203125 : (DEBUG) PolarisTracker:: Entered
>>>>> SetCommunication ...
>>>>> 1175527044.47123694419860839844 : (DEBUG) UpdateParameters called
>>>>> ...
>>>>> 1175527044.47128009796142578125 : (DEBUG) State transition is
>>>>> being
>>>>> made : SerialCommunicationForPosix PointerID 0x212e150 IdleState(9)
>>>>> with UpdateParametersInput(26) ---> IdleState(9).
>>>>> 1175527044.471302032470703125 : (DEBUG) PolarisTracker:: Exiting
>>>>> SetCommunication ...
>>>>> 1175527044.47134804725646972656 : (DEBUG)
>>>>> igstk::Tracker::RequestOpen called...
>>>>> 1175527044.4714450836181640625 : (DEBUG) State transition is being
>>>>> made : PolarisTracker PointerID 0x2110910 IdleState(36) with
>>>>> EstablishCommunicationInput(46) --->
>>>>> AttemptingToEstablishCommunicationState(37).
>>>>> 1175527044.47147393226623535156 : (DEBUG)
>>>>> igstk::Tracker::AttemptToOpenProcessing called ...
>>>>> 1175527044.47149395942687988281 : (DEBUG)
>>>>> PolarisTracker::InternalOpen called ...
>>>>> 1175527044.4715518951416015625 : (DEBUG)
>>>>> SerialCommunication::PurgeBuffers called ...
>>>>> 1175527044.47157788276672363281 : (ERROR) In class
>>>>> SerialCommunicationForPosix No transitions have been defined for
>>>>> current state and input State = 9 [IdleState] Input = 30
>>>>> [PurgeBuffersInput]
>>>>> 1175527044.47160506248474121094 : (DEBUG) UpdateParameters called
>>>>> ...
>>>>> 1175527044.47163105010986328125 : (DEBUG) State transition is
>>>>> being
>>>>> made : SerialCommunicationForPosix PointerID 0x212e150 IdleState(9)
>>>>> with UpdateParametersInput(26) ---> IdleState(9).
>>>>> 1175527044.47167801856994628906 : (DEBUG)
>>>>> SerialCommunication::PurgeBuffers called ...
>>>>> 1175527044.47170305252075195312 : (ERROR) In class
>>>>> SerialCommunicationForPosix No transitions have been defined for
>>>>> current state and input State = 9 [IdleState] Input = 30
>>>>> [PurgeBuffersInput]
>>>>> 1175527044.47228789329528808594 : (DEBUG)
>>>>> SerialCommunication::Write(INIT:E3A5\x0D, 10) called...
>>>>> 1175527044.47236990928649902344 : (ERROR) In class
>>>>> SerialCommunicationForPosix No transitions have been defined for
>>>>> current state and input State = 9 [IdleState] Input = 28 [WriteInput]
>>>>> 1175527044.4724369049072265625 : (WARNING) Polaris Error 0x500:
>>>>> Serial port write error
>>>>> 1175527044.47247791290283203125 : (DEBUG) State transition is
>>>>> being
>>>>> made : PolarisTracker PointerID 0x2110910
>>>>> AttemptingToEstablishCommunicationState(37) with FailureInput(54)
>>>>> --->
>>>>> IdleState(36).
>>>>> 1175527044.47249889373779296875 : (DEBUG)
>>>>> igstk::Tracker::CommunicationEstablishmentFailureProcessing called ...
>>>>> 1175527044.4726428985595703125 : (DEBUG)
>>>>> igstk::Tracker::RequestInitialize called ...
>>>>> 1175527044.47266888618469238281 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 47 [ActivateToolsInput]
>>>>> 1175527044.49376010894775390625 : (DEBUG)
>>>>> igstk::Tracker::RequestStartTracking called ...
>>>>> 1175527044.49382495880126953125 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 48 [StartTrackingInput]
>>>>> 1175527044.49386000633239746094 : (DEBUG)
>>>>> igstk::Tracker::RequestUpdateStatus called ...
>>>>> 1175527044.493885040283203125 : (ERROR) In class PolarisTracker No
>>>>> transitions have been defined for current state and input State = 36
>>>>> [IdleState] Input = 49 [UpdateStatusInput]
>>>>> 1175527044.4942989349365234375 : (DEBUG)
>>>>> igstk::Tracker::RequestUpdateStatus called ...
>>>>> 1175527044.49432492256164550781 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 49 [UpdateStatusInput]
>>>>> 1175527044.49441099166870117188 : (DEBUG)
>>>>> igstk::Tracker::RequestUpdateStatus called ...
>>>>> 1175527044.49443697929382324219 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 49 [UpdateStatusInput]
>>>>> 1175527044.49451899528503417969 : (DEBUG)
>>>>> igstk::Tracker::RequestUpdateStatus called ...
>>>>> 1175527044.49454402923583984375 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 49 [UpdateStatusInput]
>>>>> 1175527044.49462604522705078125 : (DEBUG)
>>>>> igstk::Tracker::RequestUpdateStatus called ...
>>>>> 1175527044.49465203285217285156 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 49 [UpdateStatusInput]
>>>>> 1175527044.49473309516906738281 : (DEBUG)
>>>>> igstk::Tracker::RequestUpdateStatus called ...
>>>>> 1175527044.49475789070129394531 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 49 [UpdateStatusInput]
>>>>> 1175527044.49483990669250488281 : (DEBUG)
>>>>> igstk::Tracker::RequestUpdateStatus called ...
>>>>> 1175527044.49486494064331054688 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 49 [UpdateStatusInput]
>>>>> 1175527044.49494910240173339844 : (DEBUG)
>>>>> igstk::Tracker::RequestUpdateStatus called ...
>>>>> 1175527044.49497509002685546875 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 49 [UpdateStatusInput]
>>>>> 1175527044.49505710601806640625 : (DEBUG)
>>>>> igstk::Tracker::RequestUpdateStatus called ...
>>>>> 1175527044.49508190155029296875 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 49 [UpdateStatusInput]
>>>>> 1175527044.4951629638671875 : (DEBUG)
>>>>> igstk::Tracker::RequestUpdateStatus called ...
>>>>> 1175527044.49518799781799316406 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 49 [UpdateStatusInput]
>>>>> 1175527044.49528789520263671875 : (DEBUG)
>>>>> igstk::Tracker::RequestReset called ...
>>>>> 1175527044.49531292915344238281 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 51 [ResetInput]
>>>>> 1175527044.49533796310424804688 : (DEBUG)
>>>>> igstk::Tracker::RequestInitialize called ...
>>>>> 1175527044.49536609649658203125 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 47 [ActivateToolsInput]
>>>>> 1175527044.49539089202880859375 : (DEBUG)
>>>>> igstk::Tracker::RequestStartTracking called ...
>>>>> 1175527044.49541497230529785156 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 48 [StartTrackingInput]
>>>>> 1175527044.495449066162109375 : (DEBUG)
>>>>> igstk::Tracker::RequestStopTracking called ...
>>>>> 1175527044.49547410011291503906 : (ERROR) In class PolarisTracker
>>>>> No transitions have been defined for current state and input State =
>>>>> 36 [IdleState] Input = 50 [StopTrackingInput]
>>>>> 1175527044.49550890922546386719 : (DEBUG)
>>>>> igstk::Tracker::RequestClose called ...
>>>>> 1175527044.4955348968505859375 : (ERROR) In class
>>>>> PolarisTracker No
>>>>> transitions have been defined for current state and input State = 36
>>>>> [IdleState] Input = 52 [CloseCommunicationInput]
>>>>> 1175527044.49557209014892578125 : (DEBUG)
>>>>> SerialCommunication::CloseCommunication called ...
>>>>> 1175527044.49562191963195800781 : (DEBUG) State transition is
>>>>> being
>>>>> made : SerialCommunicationForPosix PointerID 0x212e150 IdleState(9)
>>>>> with ClosePortInput(25) ---> IdleState(9).
>>>>>
>>>>> ------------------------------------------------------------------------
>>>>>
>>>>>
>>>>> Script started on Mon 02 Apr 2007 11:16:53 AM EDT
>>>>> Unmatched ".
>>>>> th303-d4-5:/projects/birn/hliu/slicer3-trunk/Slicer3-build/bin% bash
>>>>>
>>>>> bash-3.1$ ./Slicer3
>>>>> Set environment:
>>>>> SLICER_HOME=/projects/birn/hliu/slicer3-trunk/Slicer3-build/bin/../
>>>>> Starting Slicer:
>>>>> Searching
>>>>> /projects/birn/hliu/slicer3-trunk/Slicer3-build/bin/../lib/Slicer3/Plugins
>>>>>
>>>>> for shared object plugins.
>>>>> Tested 0 files as shared object plugins. Found 0 new plugins in
>>>>> 0.00152493 seconds.
>>>>> Application does not include the Binary File Descriptor library (BFD).
>>>>> Cannot peek into executables for global symbols.
>>>>> Searching
>>>>> /projects/birn/hliu/slicer3-trunk/Slicer3-build/bin/../lib/Slicer3/Plugins
>>>>>
>>>>> for command line executable plugins by executing.
>>>>> Tested 0 files as command line executable plugins by executing.
>>>>> Found 0
>>>>> new plugins in 0.000633001 seconds.
>>>>> No plugin modules found. Check your module search path and your Slicer
>>>>> installation.PolarisTrackerTool
>>>>> PolarisTrackerTool (0x210b9e0)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 2
>>>>> Modified Time: 20
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x210bb38)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x210bb40)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x210bba8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x210bbb0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x210bc08)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x210bc10)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>> Logger output saved here:
>>>>> /spl/tmp/Haiying/HaiyingIGSTKLoggerOutput.txt
>>>>> OpenPortErrorEvent
>>>>> SetCommunication()
>>>>> RequestOpen()
>>>>> TrackerOpenErrorEvent
>>>>> RequestInitialize()
>>>>> PolarisTracker (0x2110910)
>>>>> RTTI typeinfo: igstk::PolarisTracker
>>>>> Reference Count: 2
>>>>> Modified Time: 33
>>>>> Debug: Off
>>>>> Observers:
>>>>> AnyEvent(Command)
>>>>> PulseGenerator (0x2112e80)
>>>>> RTTI typeinfo: igstk::PulseGenerator
>>>>> Reference Count: 2
>>>>> Modified Time: 37
>>>>> Debug: Off
>>>>> Observers:
>>>>> PulseEvent(SimpleMemberCommand)
>>>>> Frequency: 30
>>>>> Period: 33.3333
>>>>>
>>>>> SimpleMemberCommand (0x2114510)
>>>>> RTTI typeinfo: itk::SimpleMemberCommand<igstk::Tracker>
>>>>> Reference Count: 3
>>>>> Modified Time: 41
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>>
>>>>> Number of ports: 12
>>>>> TrackerPort (0x211d630)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 51
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x211cd10)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 47
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x211ce68)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x211ce70)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x211ced8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x211cee0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x211cf38)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x211cf40)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> TrackerPort (0x211e9b0)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 59
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x211e090)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 55
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x211e1e8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x211e1f0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x211e258)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x211e260)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x211e2b8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x211e2c0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> TrackerPort (0x211fd30)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 67
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x211f410)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 63
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x211f568)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x211f570)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x211f5d8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x211f5e0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x211f638)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x211f640)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> TrackerPort (0x21210e0)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 75
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x2120790)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 71
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x21208e8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x21208f0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x2120958)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2120960)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x21209b8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x21209c0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> TrackerPort (0x2133530)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 83
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x2132df0)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 79
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x2132f48)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2132f50)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x2132fb8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2132fc0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x2133018)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2133020)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> TrackerPort (0x21348c0)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 91
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x2133f50)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 87
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x21340a8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x21340b0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x2134118)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2134120)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x2134178)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2134180)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> TrackerPort (0x2135c80)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 99
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x21352e0)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 95
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x2135438)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2135440)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x21354a8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x21354b0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x2135508)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2135510)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> TrackerPort (0x2136ff0)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 107
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x21366a0)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 103
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x21367f8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2136800)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x2136868)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2136870)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x21368c8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x21368d0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> TrackerPort (0x21383b0)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 115
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x2137a10)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 111
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x2137b68)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2137b70)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x2137bd8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2137be0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x2137c38)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2137c40)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> TrackerPort (0x2139780)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 123
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x2138dd0)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 119
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x2138f28)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2138f30)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x2138f98)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2138fa0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x2138ff8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x2139000)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> TrackerPort (0x213ab40)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 131
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x213a1a0)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 127
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x213a2f8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x213a300)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x213a368)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x213a370)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x213a3c8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x213a3d0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> TrackerPort (0x213beb0)
>>>>> RTTI typeinfo: igstk::TrackerPort
>>>>> Reference Count: 1
>>>>> Modified Time: 139
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Number of tools: 1
>>>>> PolarisTrackerTool (0x213b560)
>>>>> RTTI typeinfo: igstk::PolarisTrackerTool
>>>>> Reference Count: 1
>>>>> Modified Time: 135
>>>>> Debug: Off
>>>>> Observers:
>>>>> none
>>>>> Transform: Transform (0x213b6b8)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x213b6c0)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> RawTransform: Transform (0x213b728)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x213b730)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1.17553e+12
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ToolCalibrationTransform: Transform (0x213b788)
>>>>> RTTI typeinfo: N5igstk9TransformE
>>>>> TimeStamp (0x213b790)
>>>>> RTTI typeinfo: N5igstk9TimeStampE
>>>>> Start Time = 1.17553e+12
>>>>> Expiration Time = 1e+300
>>>>>
>>>>> [0, 0, 0]
>>>>> [ 0, 0, 0, 1 ]
>>>>> 2.22507e-308
>>>>>
>>>>> ValidityPeriod: 0
>>>>>
>>>>>
>>>>> Port 0 Enabled: 0
>>>>> Po
>>>
>>> ------------------------------------------------------------------------
>>>
>>> void vtkIGTIGSTKStream::Test()
>>> {
>>>
>>> igstk::RealTimeClock::Initialize();
>>>
>>> // typedef itk::Logger LoggerType; // typedef
>>> itk::StdStreamLogOutput LogOutputType;
>>>
>>> igstk::PolarisTrackerTool::Pointer tool =
>>> igstk::PolarisTrackerTool::New();
>>> std::cout << tool->GetNameOfClass() << std::endl;
>>> std::cout << tool << std::endl;
>>>
>>> igstk::SerialCommunicationForPosix::Pointer
>>> serialComm = igstk::SerialCommunicationForPosix::New();
>>>
>>> PolarisTrackerTestCommand::Pointer my_command =
>>> PolarisTrackerTestCommand::New();
>>>
>>> // logger object created std::string testName = "HaiyingIGSTK";
>>> // std::string outputDirectory = IGSTK_TEST_OUTPUT_DIR;
>>> std::string outputDirectory = "/spl/tmp/Haiying"; std::string
>>> filename = outputDirectory +"/";
>>> filename = filename + testName;
>>> filename = filename + "LoggerOutput.txt";
>>> std::cout << "Logger output saved here:\n";
>>> std::cout << filename << "\n";
>>> std::ofstream loggerFile;
>>> loggerFile.open( filename.c_str() );
>>> LoggerType::Pointer logger = LoggerType::New();
>>> LogOutputType::Pointer logOutput = LogOutputType::New();
>>> logOutput->SetStream( loggerFile );
>>> logger->AddLogOutput( logOutput );
>>> logger->SetPriorityLevel( itk::Logger::DEBUG);
>>>
>>> serialComm->AddObserver( itk::AnyEvent(), my_command);
>>>
>>> serialComm->SetLogger( logger );
>>>
>>> // serialComm->SetPortNumber( IGSTK_TEST_POLARIS_PORT_NUMBER );
>>> serialComm->SetPortNumber(
>>> igstk::SerialCommunication::PortNumber0 );
>>> serialComm->SetParity( igstk::SerialCommunication::NoParity );
>>> serialComm->SetBaudRate(
>>> igstk::SerialCommunication::BaudRate115200 );
>>> serialComm->SetDataBits( igstk::SerialCommunication::DataBits8 );
>>> serialComm->SetStopBits( igstk::SerialCommunication::StopBits1 );
>>> serialComm->SetHardwareHandshake(
>>> igstk::SerialCommunication::HandshakeOff );
>>>
>>> serialComm->SetCaptureFileName(
>>> "RecordedStreamByPolarisTrackerTest.txt" );
>>> serialComm->SetCapture( true );
>>>
>>> serialComm->OpenCommunication();
>>>
>>>
>>> igstk::PolarisTracker::Pointer tracker;
>>>
>>> tracker = igstk::PolarisTracker::New();
>>>
>>> tracker->AddObserver( itk::AnyEvent(), my_command);
>>>
>>> tracker->SetLogger( logger );
>>>
>>> std::cout << "SetCommunication()" << std::endl;
>>> tracker->SetCommunication( serialComm );
>>>
>>> std::cout << "RequestOpen()" << std::endl;
>>> tracker->RequestOpen();
>>>
>>>
>>> std::cout << "RequestInitialize()" << std::endl;
>>> tracker->RequestInitialize();
>>>
>>> std::cout << tracker << std::endl;
>>>
>>> std::cout << "GetNumberOfTools()" << std::endl;
>>> unsigned int ntools = tracker->GetNumberOfTools();
>>>
>>> std::cout << "NumberOfTools : " << ntools << std::endl;
>>>
>>> std::cout << "RequestStartTracking()" << std::endl;
>>> tracker->RequestStartTracking();
>>>
>>> typedef igstk::Transform TransformType;
>>> typedef ::itk::Vector<double, 3> VectorType;
>>> typedef ::itk::Versor<double> VersorType;
>>>
>>> for(unsigned int i=0; i<10; i++)
>>> {
>>> tracker->RequestUpdateStatus();
>>> for (unsigned int port = 0; port < 4; port++)
>>> {
>>> TransformType transform;
>>> VectorType position;
>>>
>>> tracker->GetToolTransform( port, 0, transform );
>>> position = transform.GetTranslation();
>>> std::cout << "Port " << port << " Position = (" <<
>>> position[0]
>>> << "," << position[1] << "," << position[2]
>>> << ")" << std::endl;
>>> }
>>> }
>>>
>>> std::cout << "RequestReset()" << std::endl;
>>> tracker->RequestReset();
>>>
>>> std::cout << "RequestInitialize()" << std::endl;
>>> tracker->RequestInitialize();
>>>
>>> std::cout << "RequestStartTracking()" << std::endl;
>>> tracker->RequestStartTracking();
>>>
>>> std::cout << "RequestStopTracking()" << std::endl;
>>> tracker->RequestStopTracking();
>>>
>>> std::cout << "RequestClose()" << std::endl;
>>> tracker->RequestClose();
>>>
>>> std::cout << "CloseCommunication()" << std::endl;
>>> serialComm->CloseCommunication();
>>>
>>> std::cout << "[PASSED]" << std::endl;
>>> }
>
> ------------------------------------------------------------------------
>
> void vtkIGTIGSTKStream::Test()
> {
>
> igstk::RealTimeClock::Initialize();
>
> // typedef itk::Logger LoggerType;
> // typedef itk::StdStreamLogOutput LogOutputType;
>
> igstk::PolarisTrackerTool::Pointer tool = igstk::PolarisTrackerTool::New();
> std::cout << tool->GetNameOfClass() << std::endl;
> std::cout << tool << std::endl;
>
> igstk::SerialCommunicationForPosix::Pointer
> serialComm = igstk::SerialCommunicationForPosix::New();
>
> PolarisTrackerTestCommand::Pointer
> my_command = PolarisTrackerTestCommand::New();
>
> // logger object created
> std::string testName = "HaiyingIGSTK";
> // std::string outputDirectory = IGSTK_TEST_OUTPUT_DIR;
> std::string outputDirectory = "/spl/tmp/Haiying";
> std::string filename = outputDirectory +"/";
> filename = filename + testName;
> filename = filename + "LoggerOutput.txt";
> std::cout << "Logger output saved here:\n";
> std::cout << filename << "\n";
>
> std::ofstream loggerFile;
> loggerFile.open( filename.c_str() );
> LoggerType::Pointer logger = LoggerType::New();
> LogOutputType::Pointer logOutput = LogOutputType::New();
> logOutput->SetStream( loggerFile );
> logger->AddLogOutput( logOutput );
> logger->SetPriorityLevel( itk::Logger::DEBUG);
>
> serialComm->AddObserver( itk::AnyEvent(), my_command);
>
> serialComm->SetLogger( logger );
>
> // serialComm->SetPortNumber( IGSTK_TEST_POLARIS_PORT_NUMBER );
>
> serialComm->SetPortNumber( igstk::SerialCommunication::PortNumber0 );
> serialComm->SetParity( igstk::SerialCommunication::NoParity );
> serialComm->SetBaudRate( igstk::SerialCommunication::BaudRate115200 );
> serialComm->SetDataBits( igstk::SerialCommunication::DataBits8 );
> serialComm->SetStopBits( igstk::SerialCommunication::StopBits1 );
> serialComm->SetHardwareHandshake( igstk::SerialCommunication::HandshakeOff );
>
> serialComm->SetCaptureFileName( "RecordedStreamByPolarisTrackerTest.txt" );
> serialComm->SetCapture( true );
>
> serialComm->OpenCommunication();
>
>
> igstk::PolarisTracker::Pointer tracker;
>
> tracker = igstk::PolarisTracker::New();
>
> tracker->AddObserver( itk::AnyEvent(), my_command);
>
> tracker->SetLogger( logger );
>
> std::cout << "SetCommunication()" << std::endl;
> tracker->SetCommunication( serialComm );
>
> std::cout << "RequestOpen()" << std::endl;
> tracker->RequestOpen();
>
>
> std::cout << "RequestInitialize()" << std::endl;
> tracker->RequestInitialize();
>
> std::cout << tracker << std::endl;
>
> std::cout << "GetNumberOfTools()" << std::endl;
> unsigned int ntools = tracker->GetNumberOfTools();
>
> std::cout << "NumberOfTools : " << ntools << std::endl;
>
> std::cout << "RequestStartTracking()" << std::endl;
> tracker->RequestStartTracking();
>
> typedef igstk::Transform TransformType;
> typedef ::itk::Vector<double, 3> VectorType;
> typedef ::itk::Versor<double> VersorType;
>
> for(unsigned int i=0; i<10; i++)
> {
> tracker->RequestUpdateStatus();
> for (unsigned int port = 0; port < 4; port++)
> {
> TransformType transform;
> VectorType position;
>
> tracker->GetToolTransform( port, 0, transform );
> position = transform.GetTranslation();
> std::cout << "Port " << port << " Position = (" << position[0]
> << "," << position[1] << "," << position[2]
> << ")" << std::endl;
> }
> }
>
> std::cout << "RequestReset()" << std::endl;
> tracker->RequestReset();
>
> std::cout << "RequestInitialize()" << std::endl;
> tracker->RequestInitialize();
>
> std::cout << "RequestStartTracking()" << std::endl;
> tracker->RequestStartTracking();
>
> std::cout << "RequestStopTracking()" << std::endl;
> tracker->RequestStopTracking();
>
> std::cout << "RequestClose()" << std::endl;
> tracker->RequestClose();
>
> std::cout << "CloseCommunication()" << std::endl;
> serialComm->CloseCommunication();
>
> std::cout << "[PASSED]" << std::endl;
> }
>
>
> ------------------------------------------------------------------------
>
> _______________________________________________
> IGSTK-Developers mailing list
> IGSTK-Developers at public.kitware.com
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