[IGSTK-Users] EM tracking giving the same readings
Patrick Cheng
patrick.p.cheng at gmail.com
Tue Jul 26 15:49:00 EDT 2011
Hi Ameet,
Can you setup a logger to the aurora tracker and send me the log file?
You can find example code in igstkAuroraTrackerTesting.cxx
Another quick question, it looks like you are using a port spliter, did you
burn the srom file onto the spliter?
Patrick
On Tue, Jul 26, 2011 at 3:32 PM, Jain, Ameet <ameet.jain at philips.com> wrote:
> Thanks Patrick. I am not getting an ‘invalid transform’, i.e.
> transform.IsValidNow() (and the observer->GotTransform) is true, but I get
> the same transform as before. Would this be expected behavior? ****
>
> ** **
>
> Thanks a lot of your help,****
>
> Ameet****
>
> ** **
>
> *From:* Patrick Cheng [mailto:patrick.p.cheng at gmail.com]
> *Sent:* Tuesday, July 26, 2011 3:14 PM
>
> *To:* Jain, Ameet
> *Cc:* igstk-users at public.kitware.com
> *Subject:* Re: [IGSTK-Users] EM tracking giving the same readings****
>
> ** **
>
> Hi Ameet,****
>
> ** **
>
> Observer will not be updated if Aurora tool goes 'out of volume'.****
>
> ** **
>
> You can check the validity of the time stamp to verify that:****
>
> ** **
>
> igstk::Transform transform = transformObserver->GetTransform();****
>
> if( !transform.IsValidNow() )****
>
> {****
>
> // Invalid transforms****
>
> {****
>
> ** **
>
> ** **
>
> Patrick****
>
> ** **
>
> On Tue, Jul 26, 2011 at 2:49 PM, Jain, Ameet <ameet.jain at philips.com>
> wrote:****
>
> Thanks for your email Patrick. However, this did not solve the issue. Seems
> like the observer is not getting updated for some reason. It continues to
> report the same value.****
>
> ****
>
> Do you know if the observer gets updated if the Aurora tool goes ‘out of
> volume’?****
>
> ****
>
> Thanks,****
>
> Ameet****
>
> ****
>
> *From:* Patrick Cheng [mailto:patrick.p.cheng at gmail.com]
> *Sent:* Monday, July 25, 2011 11:03 AM
> *To:* Jain, Ameet
> *Cc:* igstk-users at public.kitware.com
> *Subject:* Re: [IGSTK-Users] EM tracking giving the same readings****
>
> ****
>
> 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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