[IGSTK-Users] Polaris tracker reference tool

[Özgür Güler]

Hi Fabian,

please take a look at following link which describes how to build the
scene graph in IGSTK and use the reference tool as the origin of the
scene. Having built the scene graph properly you don't need to deal
with the underlying transformations manually.
Coming back to your problem, as soon as you set a certain rigid body
as your reference tool
(m_Tracker->RequestSetReferenceTool(referenceTool) , all the
transformations will be calculated with respect to the reference tool.

You can get transformations between tools as follows:

trackerTool1->RequestComputeTransformTo( TrackerTool2 );

http://public.kitware.com/IGSTKWIKI/index.php/Needle_Biopsy

Best,
Ozgur

On Mon, Dec 2, 2013 at 2:09 PM, Fabian Torres <fabian.trobles at gmail.com> wrote:
> Hi Philipp.
>
> Thanks for your quick response.
>
> I guess that is an easy way to solve my problem, but I was hopping that
> IGSTK has something implemented already.
>
> I will implement that solution and use it until I find a direct solution.
>
> Thanks
>
>
> On Mon, Dec 2, 2013 at 12:31 PM, Philipp Matthies
> <philipp.matthies at gmail.com> wrote:
>>
>> Hi Fabian,
>>
>> I don't know if there is a direct function to query that transformation,
>> but it is very easy to calculate since it is only one coordinate system
>> transformation, e.g. a simple matrix multiplication.
>>
>> To obtain ultrasoundTool in the coordinate system of referenceTool, simply
>> multiply the inverse of referenceTool with ultrasoundTool, given that both
>> transformations are represented by their 4x4 matrices.
>>
>> Cheers,
>> Philipp
>>
>> ---
>> Dipl.-Phys. Univ. Philipp Matthies
>> Research Assistant
>> Computer Aided Medical Procedures (CAMP)
>> Technische Universität München, Germany
>> Tel.: +49 (89) 289-19401
>> http://campar.in.tum.de/Main/PhilippMatthies
>>
>> Am 02.12.2013 um 19:03 schrieb Fabian Torres <fabian.trobles at gmail.com>:
>>
>> Hi. I would like to know If i can get the transform of a tracked tool with
>> respect to another tool.
>>
>> I have two tracked tools in my program attached to the same tracker
>>
>> referenceTool and ultrasoundTool
>>
>> I am using my reference tool as my scene origin
>>
>> View1->RequestSetTransformAndParent(identityTransform, referenceTool);
>>
>> But I want this reference tool to also be the origin for the coordinates
>> of my other tool (ultrasoundTool)
>> When I ask GetTransform() for the ultrasound probe tool I obtain its
>> transform with respect to the tracker coordinate system, but I want to
>> obtain the transform with respect to the reference tool coordinate system.
>>
>> Is there a way ti do this. I have try using
>>
>>
>> ultrasoundProbe->RequestSetTransformAndParent(identityTransform,referenceTool);
>>
>> but this does not work.
>>
>> Thanks for your help
>>
>>
>>
>> --
>> Fabián Torres Robles
>> Maestria en Ciencias en Ingeniería Electrónica
>> Ingeniería en Sistemas Electrónicos
>> tel. 58081280, 0445534661338
>> e-mail fabian.trobles at gmail.com, dae.wong at gmail.com
>>
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>
>
>
>
> --
> Fabián Torres Robles
> Maestria en Ciencias en Ingeniería Electrónica
> Ingeniería en Sistemas Electrónicos
> tel. 58081280, 0445534661338
> e-mail fabian.trobles at gmail.com, dae.wong at gmail.com
>
> _______________________________________________
> Powered by www.kitware.com
>
> Visit other Kitware open-source projects at
> http://www.kitware.com/opensource/opensource.html
>
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Dr. Dipl.-Ing. Özgür Güler, Bakk. techn. PhD
Research Assistant
4D-Visualization Laboratory
Univ. ENT Clinic
Innsbruck Medical University
Anichstr. 35, A-6020 Innsbruck, Austria

tel.: +43 512 504 23428, fax.: +43 512 504 25231

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