[IGSTK-Users] EM tracking giving the same readings

[Patrick Cheng]

Hi Ameet,

The code spinet you provided is probably not complete. The while loop
doesn't seem to be correct.

Try use this workflow:

loop{

    observer->Clear();
    trackerTool->RequestGetTransformToParent();
    if (observer->GotTransform())
      {
      ...
      }
    else
      {
     ...
      }
  }

Let me know how it goes,

Patrick

On Fri, Jul 22, 2011 at 3:52 PM, Jain, Ameet <ameet.jain at philips.com> wrote:

>  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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