[IGSTK-Developers] Re: Questions about IGSTK
David Gobbi
dgobbi at atamai.com
Thu Apr 5 11:42:26 EDT 2007
Hi Haiying,
I might know what the problem is. You say that you are using a
USB-to-serial converter. When you use one of these, the serial port
does not show up as /dev/ttyS0 but instead as /dev/ttyUSB0.
Some of the USB-to-serial converters out there are supported in the
stock linux kernel, and should be plug-and-play. Definitely the
Keyspan USA19HS and USA19QW are supported, I use these ones all the
time. With some other converters, you might have to specify some driver
module parameters, let me know which converter you are using and I might
be able to help.
By default, IGSTK uses /dev/ttyS0 as the serial device. You can change
this by running cmake on IGSTK.
In cmake, set IGSTK_SERIAL_PORT_0 to /dev/ttyUSB0
Let us know how it goes.
- David
Julien Jomier wrote:
> 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
>> http://public.kitware.com/cgi-bin/mailman/listinfo/igstk-developers
>
> _______________________________________________
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