[IGSTK-Users] IGSTK Polaris tests results

Patrick Cheng cheng at isis.georgetown.edu
Thu Oct 23 13:09:51 EDT 2008 

Hi Anka,

That's good news. NeedleBiopsy works for Polaris, Aurora, and Micron. 
It's based on FLTK. We don't currently have an Qt example
integrated with tracker yet.

The PDIS is used to "disable the reporting of transform for particular 
port handle". It operates under "SETUP" mode.
TSTOP will exit "TRACKING" mode and enter into "SETUP" mode. So I think 
that's not the problem.

Looking at the log file. It seems like the port handle used in PDIS is 
not correct. If I remember it right, PHF already released all port handles.
Could that be the problem?

Andinet, can you help us on this?

1224778139.30816006660461425781  :    (DEBUG) 
igstk::Tracker::StopTrackingSuccessProcessing called ...
1224778139.30817294120788574219  :    (DEBUG) 
igstk::TrackerTool::RequestReportTrackingStopped called...
1224778139.30819392204284667969  :    (DEBUG) State transition is being 
made : PolarisTrackerTool  PointerID 0x84bed38 NotAvailableState(163)  
with TrackingStoppedInput(149) ---> AttachedState(161).
1224778139.30820608139038085938  :    (DEBUG) 
igstk::TrackerTool::ReportTrackingStopped called ...
1224778139.30824899673461914062  :    (DEBUG) 
igstk::Tracker::RequestClose called ...
1224778139.30826997756958007812  :    (DEBUG) State transition is being 
made : PolarisTracker  PointerID 0x84b4418 
CommunicationEstablishedState(99)  with CloseCommunicationInput(112) 
---> AttemptingToCloseCommunicationState(98).
1224778139.30828189849853515625  :    (DEBUG) 
igstk::Tracker::CloseFromCommunicatingStateProcessing called ...
1224778139.30829405784606933594  :    (DEBUG) 
igstk::NDITracker::RemoveTrackerToolFromInternalDataContainers called ...
1224778139.30830502510070800781  :    (DEBUG) 
igstk::TrackerTool::GetTrackerToolIdentifier called...
......
1224778139.30839300155639648438  :    (DEBUG) 
SerialCommunication::Write(PHF:01CF0C\x0D, 11) called...
......
1224778139.34412097930908203125  :    (DEBUG) 
SerialCommunication::Read(OKAYA896\x0D, 2047, 9) called...
......
******************************************************************************************************
1224778139.34421110153198242188  :    (DEBUG) 
SerialCommunication::Write(PDIS:011266\x0D, 12) called...
......
1224778139.37612795829772949219  :    (DEBUG) 
SerialCommunication::Read(ERROR086D02\x0D, 2047, 12) called...
1224778139.37615108489990234375  :    (WARNING) NDI Error 0x08: Invalid 
port handle selected
******************************************************************************************************

1224778139.37623190879821777344  :    (DEBUG) 
igstk::NDITracker::InternalClose called ...
......
1224778139.37632107734680175781  :    (DEBUG) 
SerialCommunication::Write(COMM:000000084\x0D, 15) called...
......
1224778139.41211605072021484375  :    (DEBUG) 
SerialCommunication::Read(OKAYA896\x0D, 2047, 9) called...
......
1224778139.61801409721374511719  :    (DEBUG) Communication port closed.






Anka Kochanowska wrote:
> Hi Patrick,
> I have upgraded Polaris and igstkTest works now. There is still one 
> error at the end, is it because PDIS is called after TSTOP?
>
> And, do you have any example for Polaris tracker with Qt (fltk at worst)?
>
> Thanks!
> Anka
>
>
>
> Patrick Cheng wrote:
>> Hi Anka,
>>
>> I think it's unlikely that IGSTK will go back and support the old NDI 
>> firmware version.
>>
>> We need to evaluate how much changes need to be made. If it's a small 
>> change of checking the firmware version and then send different 
>> command to allocate handle, we can put a fix to our code. To do that, 
>> we will need your help to do the testing on your tracker.
>>
>> If you have NDI Toolbox installed, you can also use that to update 
>> the firmware.
>>
>> !!!BUT!!!
>>
>> I strongly suggest that you consult NDI tech support before you run 
>> the update. The new firmware might not work with your equipment.
>>
>> Patrick
>>
>> Anka Kochanowska wrote:
>>> Hi Patrick,
>>> My version is 15, you show me differences between 18 and 24....
>>> Does that mean I should abandon IGSTK?
>>>
>>> I do not know yet if I can update Polaris firmware. If it is 
>>> possible and I do, my application may not work anymore.
>>>
>>> I have to discuss all this my boss, prof. Louis Collins.
>>>
>>> I shall know more on Monday.
>>>
>>> Thanks!
>>> Anka
>>>
>>> Patrick Cheng wrote:
>>>> Hi Anka,
>>>>
>>>> My mistake, I think V018 is the first combined API. The newest 
>>>> version is V024. I attached a page from the Polaris API document 
>>>> showing the difference between V018 to V024.
>>>>
>>>> PHRQ is a new command replacing the old PVTIP.
>>>>
>>>> I think this explains all the trouble.
>>>>
>>>> Patrick
>>>>
>>>> Patrick Cheng wrote:
>>>>> Hi Anka,
>>>>>
>>>>> It looks like the firmware version of your Polaris is 015, while 
>>>>> the current one is 018. This might be the reason that your tracker 
>>>>> does not recognize the command:
>>>>> PHRQ:*********1****A4C1\x0D
>>>>>
>>>>> Can you send us the code that works on your tracker?
>>>>>
>>>>> Thank you,
>>>>>
>>>>> Patrick
>>>>>
>>>>> Anka Kochanowska wrote:
>>>>>> Hi!
>>>>>> The results are attached.
>>>>>> Thanks!
>>>>>> Anka
>>>>>>
>>>>>>
>>>>>> Patrick Cheng wrote:
>>>>>>> Hi Anka,
>>>>>>>
>>>>>>> Thank you for running the test and send us the log file.
>>>>>>>
>>>>>>> In your experiment setup. trackerTool2 should work and report 
>>>>>>> transform.
>>>>>>>
>>>>>>> But it failed to attach to tracker, that's why we get all the
>>>>>>> "CoordinateSystemTransformToNullTargetEvent"
>>>>>>>
>>>>>>> "....
>>>>>>> Instantiate second tracker tool:
>>>>>>> SROM file: /opt/polaris_rom_files/passive_pointer/1400394.rom
>>>>>>> TrackerToolConfigurationEvent
>>>>>>> TrackerToolAttachmentToTrackerErrorEvent
>>>>>>> ..."
>>>>>>>
>>>>>>> I commented out all the code for trackerTool and trackerTool3 
>>>>>>> and attached the file. Can you compile this one and run the test 
>>>>>>> again? I am trying to find out if the error condition test 
>>>>>>> failed the code.
>>>>>>>
>>>>>>> The other error is from the serial communication. I haven't 
>>>>>>> found the reference for that error return code yet.
>>>>>>> "(INFO) 4. receive[12] ERROR016BC2\x0D"
>>>>>>>
>>>>>>> Thank you,
>>>>>>>
>>>>>>> Patrick
>>>>>>>
>>>>>>>
>>>>>>> Anka Kochanowska wrote:
>>>>>>>> Hi Patrick!
>>>>>>>> I checked out IGSTK code at 8am today and built it with Qt4 
>>>>>>>> support.
>>>>>>>> I made sure that my tools were seen by Polaris - I checked 
>>>>>>>> using my application, written in VTK, using David's Gobi code 
>>>>>>>> for tracking.
>>>>>>>> I tested first with unchanged code:
>>>>>>>> ./igstkTests igstkPolarisTrackerTest.txt 
>>>>>>>> logIgstkPolarisTrackerTest.txt 
>>>>>>>> /opt/polaris_rom_files/passive_pointer/1400394.rom 3
>>>>>>>> I saved the terminal output in toto.txt and made a tarball 
>>>>>>>> res1.tar.gz containing: RecordedStreamByPolarisTrackerTest.txt, 
>>>>>>>> igstkPolarisTrackerTest.txt, toto.txt.
>>>>>>>>
>>>>>>>> Then I tested with commented lines
>>>>>>>>      if ( transform.IsValidNow() )
>>>>>>>>
>>>>>>>> ./igstkTests igstkPolarisTrackerTest 
>>>>>>>> logIgstkPolarisTrackerTest2.txt 
>>>>>>>> /opt/polaris_rom_files/passive_pointer/1400394.rom 3 > & toto2.txt
>>>>>>>>
>>>>>>>> and saved the results: RecordedStreamByPolarisTrackerTest.txt, 
>>>>>>>> logIgstkPolarisTrackerTest2.txt, toto2.txt
>>>>>>>> in res2.tar.gz.
>>>>>>>>
>>>>>>>> Have a nice day!
>>>>>>>> Anka
>>>>>>>>
>>>>> _______________________________________________
>>>>> IGSTK-Users mailing list
>>>>> IGSTK-Users at public.kitware.com
>>>>> http://public.kitware.com/cgi-bin/mailman/listinfo/igstk-users
>>>>>
>>>>>
>>>
>>>
>>

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