[IGSTK-Users] PolarisTracker problem on IGSTK
Lin Qi
lqi at ee.cuhk.edu.hk
Tue Oct 20 12:54:07 EDT 2009
hi, Patrick:
I am trying to use the IGSTK 4.2 for research. My system is Polaris
Hybrid Spectra with Combined Revision 012 under the windows vista and
visual studio 2008.
The build process is all right. Then I modified the source code of
example PolarisTrackerExample.cxx to retain the only one wireless
tool.
The serialcommunication seems ok. The tracker can response the reset
and initialization command.
But there are some problems from the PolarisTrackerLog.txt:
1. trackerTool2->RequestAttachToTracker( tracker ); will generate the
message" TrackerToolAttachmentToTrackerErrorEvent "
2. tracker->RequestStartTracking(); will generate the message"
TrackerStartTrackingErrorEvent "
Then i used the NDI API sample application to test tracking wireless
tool, the demo ran well. And i got the log file
"NDIAPISampleCapture.txt"captured from the serial comm. i compared
this file with the file "RecordedStreamByPolarisTracker.txt" output by
PolarisTrackerExample.exe, and found that in IGSTK, the command
procedure to initialize the tracker system, set the port handle and
start tracking was so simple. Finally, the tracking failed.
I don't know why this happened, is that the problem about Polaris
Spectra Combined Revision?
All the files are attached!
Can you help me about this problem?
Thanks and Regards
Cruise.
-------------- next part --------------
/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: PolarisTracker.cxx,v $
Language: C++
Date: $Date: 2009-05-18 19:17:29 $
Version: $Revision: 1.4 $
Copyright (c) ISC Insight Software Consortium. All rights reserved.
See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#if defined(_MSC_VER)
// Warning about: identifier was truncated to '255' characters
// in the debug information (MVC6.0 Debug)
#pragma warning( disable : 4786 )
#endif
#include <iostream>
#include <fstream>
#include <set>
#include "itkCommand.h"
#include "igstkLogger.h"
#include "itkStdStreamLogOutput.h"
#include "itkVector.h"
#include "itkVersor.h"
#include "igstkSerialCommunication.h"
// BeginLatex
//
// This example illustrates IGSTK's interface to Polaris NDI tracker. Polaris
// trackers are optical measurement system that measure the 3D positions of
// either active or passive markers.
//
// EndLatex
// BeginLatex
//
// To communicate with Polaris tracking device, include the Polaris Tracker
// header files ( \doxygen{PolarisTracker} ) and (\doxygen{PolarisTrackerTool}).
//
// EndLatex
// BeginCodeSnippet
#include "igstkPolarisTracker.h"
#include "igstkPolarisTrackerTool.h"
// EndCodeSnippet
#include "igstkTransform.h"
#include "igstkTransformObserver.h"
class PolarisTrackerCommand : public itk::Command
{
public:
typedef PolarisTrackerCommand Self;
typedef itk::Command Superclass;
typedef itk::SmartPointer<Self> Pointer;
itkNewMacro( Self );
protected:
PolarisTrackerCommand() {};
public:
void Execute(itk::Object *caller, const itk::EventObject & event)
{
Execute( (const itk::Object *)caller, event);
}
void Execute(const itk::Object * object, const itk::EventObject & event)
{
// don't print "CompletedEvent", only print interesting events
if (!igstk::CompletedEvent().CheckEvent(&event) &&
!itk::DeleteEvent().CheckEvent(&event) )
{
std::cout << event.GetEventName() << std::endl;
}
}
};
int main( int argc, char * argv[] )
{
igstk::RealTimeClock::Initialize();
typedef igstk::Object::LoggerType LoggerType;
typedef itk::StdStreamLogOutput LogOutputType;
typedef igstk::TransformObserver ObserverType;
if( argc < 4 )
{
std::cerr << " Usage: " << argv[0] << "\t"
<< "Logger_Output_filename "
<< "Wireless_SROM_filename "
<< "Port_Number"
<< std::endl;
return EXIT_FAILURE;
}
igstk::PolarisTrackerTool::Pointer tool = igstk::PolarisTrackerTool::New();
igstk::SerialCommunication::Pointer
serialComm = igstk::SerialCommunication::New();
PolarisTrackerCommand::Pointer
my_command = PolarisTrackerCommand::New();
std::string filename = argv[1];
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 );
//BeginLatex
//Instantiate serial communication object and set the communication parameters.
//
//EndLatex
//
//
//BeginCodeSnippet
typedef igstk::SerialCommunication::PortNumberType PortNumberType;
unsigned int portNumberIntegerValue = atoi(argv[3]);
PortNumberType polarisPortNumber = PortNumberType(portNumberIntegerValue);
serialComm->SetPortNumber( polarisPortNumber );
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( "RecordedStreamByPolarisTracker.txt" );
serialComm->SetCapture( true );
//EndCodeSnippet
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();
typedef igstk::PolarisTrackerTool TrackerToolType;
typedef TrackerToolType::TransformType TransformType;
// instantiate and attach wireless tracker tool
std::cout << "Instantiate second tracker tool: " << std::endl;
TrackerToolType::Pointer trackerTool2 = TrackerToolType::New();
trackerTool2->SetLogger( logger );
//Add observer to listen to events throw by the tracker tool
trackerTool2->AddObserver( itk::AnyEvent(), my_command);
//Select wireless tracker tool
//BeginLatex
//For wireless tracker tool type, invoke RequestSelectWirelessTrackerTool()
//method and set SROM file.
//EndLatex
//BeginCodeSnippet
trackerTool2->RequestSelectWirelessTrackerTool();
//Set the SROM file
std::string romFile = argv[2];
std::cout << "SROM file: " << romFile << std::endl;
trackerTool2->RequestSetSROMFileName( romFile );
//EndCodeSnippet
trackerTool2->RequestSetPortNumber( 1 );
//Configure
trackerTool2->RequestConfigure();
//Attach to the tracker
//BeginLatex
//After configuring the tracker tool, make a request to attach the tracker tool to the
// tracker.
//EndLatex
//BeginCodeSnippet
trackerTool2->RequestAttachToTracker( tracker );
//EndCodeSnippet
ObserverType::Pointer coordSystemAObserver2 = ObserverType::New();
coordSystemAObserver2->ObserveTransformEventsFrom( trackerTool2 );
//start tracking
//BeginLatex
//Start tracking and observer tracker tool pose information.
//EndLatex
//
//BeginCodeSnippet
tracker->RequestStartTracking();
typedef igstk::Transform TransformType;
typedef ::itk::Vector<double, 3> VectorType;
typedef ::itk::Versor<double> VersorType;
for(unsigned int i=0; i<100; i++)
{
igstk::PulseGenerator::CheckTimeouts();
TransformType transform;
VectorType position;
coordSystemAObserver2->Clear();
trackerTool2->RequestGetTransformToParent();
/*if (coordSystemAObserver2->GotTransform())
{*/
transform = coordSystemAObserver2->GetTransform();
/*if ( transform.IsValidNow() )
{*/
position = transform.GetTranslation();
std::cout << "Trackertool2:"
<< trackerTool2->GetTrackerToolIdentifier()
<< "\t\t Position = (" << position[0]
<< "," << position[1] << "," << position[2]
<< ")" << std::endl;
//}
//}
}
//EndCodeSnippet
//BeginLatex
//To end the tracking process, stop and close the tracker and close the
//serial communication channel.
//EndLatex
//BeginCodeSnippet
std::cout << "RequestStopTracking()" << std::endl;
tracker->RequestStopTracking();
std::cout << "RequestClose()" << std::endl;
tracker->RequestClose();
std::cout << "CloseCommunication()" << std::endl;
serialComm->CloseCommunication();
//EndCodeSnippet
return EXIT_SUCCESS;
}
-------------- next part --------------
11:57:52>
11:57:56< RESETBE6F
11:57:59> COMM:000000084
11:57:59< OKAYA896
11:58:10< RESETBE6F
11:58:13> GET:Info.Timeout.*BF54
11:58:15< Info.Timeout.INIT=4
Info.Timeout.COMM=2
Info.Timeout.VER=2
Info.Timeout.PHRQ=2
Info.Timeout.PINIT=6
Info.Timeout.PENA=2
Info.Timeout.PDIS=2
Info.Timeout.PHF=2
Info.Timeout.PVWR=2
Info.Timeout.PHSR=2
Info.Timeout.PHINF=2
Info.Timeout.PFSEL=2
Info.Timeout.TSTART=2
Info.Timeout.TSTOP=2
Info.Timeout.TX=4
Info.Timeout.BX=4
Info.Timeout.VSNAP=2
Info.Timeout.VGET=2
Info.Timeout.DSTART=2
Info.Timeout.DSTOP=2
Info.Timeout.IRED=2
Info.Timeout.3D=4
Info.Timeout.PSTART=2
Info.Timeout.PSTOP=2
Info.Timeout.GP=4
Info.Timeout.GETLOG=4
Info.Timeout.SYSLOG=8
Info.Timeout.SFLIST=2
Info.Timeout.VSEL=2
Info.Timeout.SSTAT=2
Info.Timeout.IRATE=2
Info.Timeout.BEEP=2
Info.Timeout.HCWDOG=2
Info.Timeout.SENSEL=2
Info.Timeout.ECHO=2
Info.Timeout.SET=8
Info.Timeout.GET=8
Info.Timeout.GETINFO=15
Info.Timeout.DFLT=2
Info.Timeout.SAVE=8
Info.Timeout.RESET=15
Info.Timeout.APIREV=2
Info.Timeout.GETIO=2
Info.Timeout.SETIO=2
Info.Timeout.LED=2
Info.Timeout.PPRD=4
Info.Timeout.PPWR=4
Info.Timeout.PSEL=2
Info.Timeout.PSRCH=4
Info.Timeout.PURD=4
Info.Timeout.PUWR=4
Info.Timeout.TCTST=2
Info.Timeout.TTCFG=2
Info.Timeout.PSOUT=2
6C35
11:58:15> COMM:50001C089
11:58:15< OKAYA896
11:58:15> INIT:E3A5
11:58:15< OKAYA896
11:58:15> VER:4A6EF
11:58:15< Polaris Spectra Control Firmware
NDI S/N: P7-02071
Characterization Date: 09/17/09
Freeze Tag: Polaris Spectra Rev 006.001
Freeze Date: 03/26/08
(C) Northern Digital Inc.
4F03
11:58:15> SFLIST:00514F
11:58:15< 0000003FEEEC
11:58:15> SFLIST:01918E
11:58:15< 31540
11:58:15> SFLIST:0290CE
11:58:15< FF281
11:58:15> SFLIST:04924E
11:58:15< 31540
11:58:15> SFLIST:05528F
11:58:15< 61680
11:58:15> IRATE:028FA
11:58:15< OKAYA896
11:58:22> PHSR:01E03E
11:58:22< 001414
11:58:22> PHRQ:********01****9EC3
11:58:22< 02D595
11:58:22> PVWR:0200004E444900D2110000010000000000000100000000031480345A00000004000000040000000000403F0000000000000000000000000000000000000000000000001107
11:58:22< OKAYA896
11:58:23> PVWR:02004000002041000000000000000000000000000000000000000052B8E4417B14244200000000000000000000B04200000000AE4731C2CDCC214200000000000000001AF0
11:58:23< OKAYA896
11:58:23> PVWR:020080000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000005DEA
11:58:23< OKAYA896
11:58:23> PVWR:0200C0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000006EF1
11:58:23< OKAYA896
11:58:23> PVWR:02010000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000803F00000000678F
11:58:23< OKAYA896
11:58:23> PVWR:020140000000000000803F00000000000000000000803F00000000000000000000803F00000000000000000000000000000000000000000000000000000000000000008535
11:58:23< OKAYA896
11:58:23> PVWR:020180000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000009DD2
11:58:23< OKAYA896
11:58:23> PVWR:0201C000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000AEC9
11:58:24< OKAYA896
11:58:24> PVWR:0202000000000000000000000000000000000000000000000000000000000000000000000000000000000000010203000000000000000000000000000000001F1F1F1FC0FA
11:58:24< OKAYA896
11:58:24> PVWR:020240090000004E444900000000000000000038373030333339000000000000000000000000000901010101000000000000000000000000000000000101010100000063B1
11:58:24< OKAYA896
11:58:24> PVWR:020280000000000000000000000000008000290000000000000000000080BF0000000000000000000000000000000000000000000000000000000000000000000000002FB1
11:58:24< OKAYA896
11:58:24> PVWR:0202C000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000AE82
11:58:24< OKAYA896
11:58:24> PHSR:02E17E
11:58:24< 020100102001C741
11:58:24> PHINF:0100050CAD
11:58:24< 00000000 0000000000001 7107
11:58:24> PINIT:0131EA
11:58:24< OKAYA896
11:58:24> PHINF:0200050CE9
11:58:24< 00000000 0000000000001 7107
11:58:24> PINIT:0230AA
11:58:24< OKAYA896
11:58:24> PHSR:02E17E
11:58:24< 001414
11:58:24> PHSR:0321BF
11:58:24< 0201011020119750
11:58:24> PENA:01D6D3B
11:58:24< OKAYA896
11:58:24> PHINF:0100050CAD
11:58:24< 08000000NDI 0013588000131 0CB4
11:58:24> PENA:02D9D3B
11:58:24< OKAYA896
11:58:24> PHINF:0200050CE9
11:58:24< 01000000NDI 00034801403318700339 A890
11:58:47> TSTART:5423
11:58:47< OKAYA896
11:58:47> TX:0001031A
11:58:47< 0201MISSING0000003100000000
02+03235+03622-03201+08133+034975-003469-230736+0084000000031000009BE
0000364E
11:58:47> TX:0001031A
11:58:47< 0201MISSING0000003100000000
02+03230+03626-03206+08131+034973-003465-230738+0100600000031000009C1
00007043
11:58:47> TX:0001031A
11:58:47< 0201MISSING0000003100000000
02+03230+03626-03206+08131+034973-003465-230738+0100600000031000009C1
00007043
11:58:47> TX:0001031A
11:58:47< 0201MISSING0000003100000000
02+03237+03624-03199+08132+034973-003467-230735+0071900000031000009C4
0000D232
11:58:47> TX:0001031A
11:58:47< 0201MISSING0000003100000000
02+03234+03628-03204+08130+034972-003464-230732+0061300000031000009C7
0000DE87
11:58:47> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03234+03628-03204+08130+034972-003464-230732+0061300000031000009C7
0000DE87
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03233+03626-03205+08131+034972-003464-230732+0067500000031000009CA
0000CFC2
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03229+03622-03206+08134+034975-003465-230736+0095500000031000009CD
00006EDE
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03229+03622-03206+08134+034975-003465-230736+0095500000031000009CD
00006EDE
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03235+03627-03202+08131+034973-003466-230734+0064200000031000009D0
000085A5
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03235+03629-03204+08129+034972-003465-230733+0061800000031000009D3
00008C67
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03235+03629-03204+08129+034972-003465-230733+0061800000031000009D3
00008C67
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03235+03634-03205+08127+034969-003463-230725+0065800000031000009D6
0000839B
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03230+03622-03205+08134+034973-003465-230732+0082900000031000009D9
00000425
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03230+03622-03205+08134+034973-003465-230732+0082900000031000009D9
00000425
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03231+03627-03206+08131+034971-003464-230733+0074100000031000009DC
00001DD7
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03229+03626-03207+08132+034972-003464-230729+0098500000031000009DF
00001E80
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03229+03626-03207+08132+034972-003464-230729+0098500000031000009DF
00001E80
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03236+03628-03202+08130+034971-003465-230727+0069300000031000009E2
00000AB2
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03232+03628-03205+08130+034972-003464-230725+0068600000031000009E5
00004BC0
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03232+03628-03205+08130+034972-003464-230725+0068600000031000009E5
00004BC0
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03227+03626-03208+08132+034972-003464-230725+0078200000031000009E8
00006447
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03230+03630-03208+08129+034970-003463-230724+0087900000031000009EB
0000C354
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03230+03630-03208+08129+034970-003463-230724+0087900000031000009EB
0000C354
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03236+03635-03203+08126+034967-003463-230726+0046900000031000009EE
00002A4E
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03231+03624-03205+08132+034974-003466-230737+0083200000031000009F1
00007F4F
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03231+03624-03205+08132+034974-003466-230737+0083200000031000009F1
00007F4F
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03231+03626-03206+08131+034973-003465-230729+0081600000031000009F4
0000D7BE
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03230+03623-03205+08133+034975-003465-230736+0089700000031000009F7
00006860
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03230+03623-03205+08133+034975-003465-230736+0089700000031000009F7
00006860
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03233+03627-03204+08131+034973-003465-230733+0073300000031000009FA
00007A9B
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03225+03625-03210+08132+034973-003464-230734+0089700000031000009FD
000063EA
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03225+03625-03210+08132+034973-003464-230734+0089700000031000009FD
000063EA
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03234+03629-03204+08129+034971-003465-230733+006730000003100000A00
0000F816
11:58:48> TX:0001031A
11:58:48< 0201MISSING0000003100000000
02+03232+03626-03205+08131+034971-003465-230728+006370000003100000A03
000048F1
11:58:48> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03232+03626-03205+08131+034971-003465-230728+006370000003100000A03
000048F1
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03226+03624-03209+08133+034973-003465-230734+007930000003100000A06
0000B701
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03227+03625-03209+08132+034973-003465-230731+007600000003100000A09
00003CBE
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03227+03625-03209+08132+034973-003465-230731+007600000003100000A09
00003CBE
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03235+03634-03204+08127+034970-003463-230728+005870000003100000A0C
0000BA03
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03236+03633-03203+08127+034971-003463-230725+008530000003100000A0F
00009969
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03236+03633-03203+08127+034971-003463-230725+008530000003100000A0F
00009969
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03232+03626-03205+08131+034973-003465-230731+007520000003100000A12
00007DAC
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03229+03625-03207+08132+034972-003464-230729+008630000003100000A15
0000CADA
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03229+03625-03207+08132+034972-003464-230729+008630000003100000A15
0000CADA
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03233+03626-03204+08132+034971-003464-230726+007580000003100000A18
0000DC54
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03234+03630-03204+08129+034970-003464-230728+005990000003100000A1B
00004312
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03234+03630-03204+08129+034970-003464-230728+005990000003100000A1B
00004312
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03231+03628-03205+08130+034972-003463-230728+007110000003100000A1E
000073D8
11:58:49> TX:0001031A
11:58:49< 0201MISSING0000003100000000
02+03234+03631-03205+08129+034972-003463-230726+006130000003100000A21
000098F4
11:58:49> TSTOP:2C14
11:58:49< OKAYA896
-------------- next part --------------
24544979383.45232 : (DEBUG) # recorded Tue Oct 20 17:49:43 2009
24544979388.808929 : (INFO) 0. receive[0]
24544979388.809448 : (INFO) 1. command[10] INIT:E3A5\x0D
24544979391.481277 : (INFO) 1. receive[10] RESETBE6F\x0D
24544979391.481701 : (INFO) 2. command[10] VER:065EE\x0D
24544979391.682484 : (INFO) 2. receive[172] Polaris Spectra Control Firmware\x0ANDI S/N: P7-02071\x0ACharacterization Date: 09/17/09\x0AFreeze Tag: Polaris Spectra Rev 006\x0AFreeze Date: 03/26/08\x0A(C) Northern Digital Inc.\x0A816F\x0D
24544979391.682915 : (INFO) 3. command[15] COMM:500000048\x0D
24544979391.724209 : (INFO) 3. receive[9] OKAYA896\x0D
24544979391.749771 : (INFO) 4. command[24] PHRQ:*********1****A4C1\x0D
24544979391.758217 : (INFO) 4. receive[12] ERROR0C4E42\x0D
24544979391.761421 : (INFO) 5. command[12] TSTART:5423\x0D
24544979391.772228 : (INFO) 5. receive[12] ERROR0C4E42\x0D
24544979392.471581 : (INFO) 6. command[15] COMM:000000084\x0D
24544979392.478279 : (INFO) 6. receive[9] OKAYA896\x0D
-------------- next part --------------
Logger output saved here:
PolarisTracker.txt
SetCommunication()
RequestOpen()
InputOutputTimeoutEvent
TrackerOpenEvent
Instantiate second tracker tool:
SROM file: Passive_RigidBody_8700339.rom
TrackerToolConfigurationEvent
TrackerToolAttachmentToTrackerErrorEvent
TrackerStartTrackingErrorEvent
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
CoordinateSystemTransformToNullTargetEvent
Trackertool2:Passive_RigidBody_8700339 Position = (0,0,0)
RequestStopTracking()
InvalidRequestErrorEvent
RequestClose()
TrackerCloseEvent
CloseCommunication()
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