[IGSTK-Users] Timing considerations

[Rafael Palomar]

Hi all,

I'm making some advances on tracking with Aurora and IGSTK, however always a
new problem arises. Now I have a basic application that tries to get the
position of the tracker tool and show it by standard output. My problem now
is that sometimes I get invalid transformations (I guess it is about timing)
and sometimes valid transformations. Here you can see the main loop:

-------------------------------------------------------------------------------------------

    for(unsigned int i = 0; i<500000; i++)
    {
        igstk::PulseGenerator::CheckTimeouts();

        TransformType transform;
        VectorType position;

        coordSystemAObserver->Clear();
        tool->RequestGetTransformToParent();

        if(coordSystemAObserver->GotTransform())
        {
            transform = coordSystemAObserver->GetTransform();

            if(transform.IsValidNow())
            {
                position = transform.GetTranslation();
                std::cout << "Position:" << position[0] << " " <<
position[1] << " " << position[2] << std::endl;
            }
            else
                std::cout << "Invalid" << std::endl;
        }

        //vtksys::SystemTools::Delay(100);
    }

-------------------------------------------------------------------------------------------

As you can see I am displaying either "invalid" or the position I get. Do
you think is it a problem of synchronization between getting the transform
and producing the data by the tracker?

Thank you for your help!

Kind Regards,
Rafael Palomar
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