[IGSTK-Developers] Re: Aurora SROM file

[David Gobbi]

Hi Patrick,

Thanks for running these tests.   The Aurora that I have access to does not
have any 5DOF tools or splitters, so it is impossible for me to run these
tests myself.

We will definitely have to revert the code if the changes were made in
error.  Let me know exactly which CVS version number you want to
revert vtkAuroraTracker.cxx to, and I will verify that aren't inadvertently
throwing away any valid bug fixes.

 - David



Patrick Cheng wrote:
> Hi David,
>
> I did some testing here, here is the result:
>
> 1. I actually went back the Aurora code before the your fix last time. 
> It seems to be working fine, as it suppose to be, according to NDI.
>
> 2. I have attached two 5DOF needles to the same port using splitter, 
> and did the following tests:
>
>   A. Using a "Dual Sensor Coil, 6DOF Tool" SROM file, and attach it to 
> port, we will get 1 tool and the result transform is 6DOF
>
>   B. Using "Dual Sensor Coil, Dual 5DOF Tool", and attach it to port, 
> we will get 2 tools with 5DOF transforms
>
>   C. The problem is with using "Single Sensor Coil Tool",
>      C.1. when attached to port, we get 2 tools,
>      C.2. when attached to channel 0, we get 1 tool
>      C.3. when attached to channel 1, we get 2 tools
>      C.4. when attached to both channels, we only get channel 0.
>
> The only confusion here is scenario C. This behavior is actually 
> consistent with what I heard from NDI.
>
> "You can not use two different SROM files in the same port, if you 
> want to use splitter to tracker multiple tools, you have to use 'Dual 
> Sensor Coil, Dual 5DOF Tool' SROM file", as in Scenario B, and we are 
> not suppose to do Scenario C.4.
>
> The way Tracker deal with SROM file is:
>
> 1. Look for SROM files in tools plugged into the tracker, and load 
> them in control unit.
>
> 2. If there is user defined SROM file, it will be send to the Virtual 
> SROM unit in the tracker, and this SROM file will overwrite previously 
> loaded one from the tool.
>
> 3. In case of tracking two 5DOF sensor, the tracker will automatically 
> add another handle to the port, if this port received a "Dual Sensor 
> Coil, Dual 5DOF Tool" SROM file
>
> 4. Most of the case, the tracker tools all have SROM file burned into 
> it, so we can tracker them without attaching any SROM files.
>
> My suggestion is:
> 1. Go back to the previous version of the AuroraTracker code
> 2. Eliminate the AttachSROMFileToChannel API, if we want to track 
> multiple tools, either do not use any SROM file (will load from 
> tools), or use a "Dual Sensor Coil, Dual 5DOF Tool" SROM file.
> 3. Modify the way we LoadVirtualSROM files in AuroraTracker class to 
> be consistent with NDI.
>
>
> Thank you,
>
> Patrick
>
>
>