[IGSTK-Users] Polaris tracker reference tool

[Fabian Torres]

Hi Ozgur.

I have read the link you kindly gave to me and it was really helpful. In
fact, the method I was looking for was

ultrasoundTool->RequestComputeTransformTo(referenceTool);

this one solve all my problems.

Thanks


On Mon, Dec 2, 2013 at 3:21 PM, Özgür Güler <ozgur_guler at gmx.at> wrote:

> 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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> >>
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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
> >
> > Follow this link to subscribe/unsubscribe:
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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
>
> voxelmaster.eu
> www.gueler.at
> *********************************************************************
>



-- 
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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