[IGSTK-Users] EM tracking giving the same readings

[Jain, Ameet]

Hi all,

I am having an issue in trying to use IGSTK for EM tracking a large tool with multiple 5DOFs. It starts to track the sensors alright, but then after some point it starts giving me the same tracked information for all sensors - i.e. it repeats the previous value continuously for hours. My feeling is that it gets a 'bad fit' at some point and then the sensor location does not get updated after that.

The code where I update the tracking info for each tool is below. Do you think this is not the correct way to implement the update?

auroraTrackerTool[i]->RequestGetTransformToParent();
while(!TransformObserver[i]->GotTransform());
igstk::Transform transform = TransformObserver[i]->GetTransform();
igstk::Transform::VectorType t = transform.GetTranslation();
igstk::Transform::VersorType r = transform.GetRotation();

Your help is much appreciated,
Thanks a lot in advance,
Ameet Jain


PS: The code for initialization of the Aurora is below, in case you see some error there
igstk::SerialCommunication::PortNumberType AURORAPORT = (igstk::SerialCommunication::PortNumberType)6;
igstk::SerialCommunication::Pointer serialCommAurora;
igstk::AuroraTracker::Pointer  tracker;
igstk::AuroraTrackerTool::Pointer auroraTrackerTool[16];
igstk::TransformObserver::Pointer TransformObserver[16];

void openauroraport()
{
                serialCommAurora = igstk::SerialCommunication::New();
                serialCommAurora->SetPortNumber( AURORAPORT );
                serialCommAurora->SetParity( igstk::SerialCommunication::NoParity );
                serialCommAurora->SetBaudRate( igstk::SerialCommunication::BaudRate115200 );
                serialCommAurora->SetDataBits( igstk::SerialCommunication::DataBits8 );
                serialCommAurora->SetStopBits( igstk::SerialCommunication::StopBits1 );
                serialCommAurora->SetHardwareHandshake( igstk::SerialCommunication::HandshakeOff );
                serialCommAurora->OpenCommunication();

                tracker = igstk::AuroraTracker::New();
                std::cout << "SetCommunication()" << std::endl;
                tracker->SetCommunication( serialCommAurora );

                std::cout << "RequestOpen()" << std::endl;
                tracker->RequestOpen();

                for (int count_port = 0; count_port < 4; count_port++){
                                auroraTrackerTool[2*count_port] = igstk::AuroraTrackerTool::New();
                                auroraTrackerTool[2*count_port]->RequestSelect5DOFTrackerTool();
                                auroraTrackerTool[2*count_port]->RequestSetPortNumber( count_port );
                                auroraTrackerTool[2*count_port]->RequestSetChannelNumber( 0 );
                                auroraTrackerTool[2*count_port]->RequestConfigure();
                                auroraTrackerTool[2*count_port]->RequestAttachToTracker( tracker );

                                auroraTrackerTool[2*count_port + 1] = igstk::AuroraTrackerTool::New();
                                auroraTrackerTool[2*count_port + 1]->RequestSelect5DOFTrackerTool();
                                auroraTrackerTool[2*count_port + 1]->RequestSetPortNumber( count_port );
                                auroraTrackerTool[2*count_port + 1]->RequestSetChannelNumber( 1 );
                                auroraTrackerTool[2*count_port + 1]->RequestConfigure();
                                auroraTrackerTool[2*count_port + 1]->RequestAttachToTracker( tracker );

                                std::cout << "Initialized Port" << count_port << std::endl;
                }



                for (int count_port = 0; count_port < 4; count_port++){
                                TransformObserver[2*count_port] = igstk::TransformObserver::New();
                                TransformObserver[2*count_port]->ObserveTransformEventsFrom(auroraTrackerTool[2*count_port]);

                                TransformObserver[2*count_port + 1] = igstk::TransformObserver::New();
                                TransformObserver[2*count_port + 1]->ObserveTransformEventsFrom(auroraTrackerTool[2*count_port + 1]);

                                std::cout << "Assigned Observer" << count_port << std::endl;
                }

                tracker->RequestStartTracking();
                std::cout << "Requested Tracking" << std::endl;

}

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