[IGSTK-Developers] working with the tracker classes

[David Gobbi]

Hi Ziv,

I have committed SROM channel change to cvs.  However, I'm not sure if 
it is enough.  I have never used multi-channel tools myself, but tell me 
if this is the way it works:

Do you have to load an SROM into the splitter itself, before you load 
the SROMs into each channel? If that is so, I'll have to make additional 
changes to make that possible.

 - David



David Gobbi wrote:
> Hi Ziv,
>
> You caught me on the LoadVirtualSROM method.  It doesn't have a 
> "toolNumber" parameter because it was copied over from the 
> PolarisTracker without modification.  This wasn't caught because 
> no-one has tried to load an SROM through a splitter with IGSTK before.
>
> This is an easy fix, so I'll do it and commit it tonight so that you 
> can test it (I don't have a splitter to test it with, myself).
>
> The querying of which tools are attached has not been implemented, for 
> any of the trackers.  We have discussed this at previous T-cons and 
> what we're going to do is have the Tracker send out an event whenever 
> a new tool becomes available.  The application can catch this event, 
> look at the event see what kind of tool it is, and take the 
> appropriate action.
>
> - David
>
>
>
> Ziv Yaniv wrote:
>> Hi All,
>>
>> I am trying to work with the IGSTK tracking classes and I have two 
>> questions:
>>
>> 1. In the AuroraTracker we have the following two methods:
>> a. AttachSROMFileNameToPort (const unsigned int portNum, std::string 
>> fileName) assigns a tool description file to a specific port number.
>>
>> b. GetToolTransform(unsigned int portNumber, unsigned int toolNumber, 
>> TransformType &position) const
>>
>> I am a bit confused by these two methods. With the Aurora we can 
>> attach two tools to a single physical port (using a splitter). When I 
>> want to load the SROM file to each of these tools how do I do this? 
>> Are they simply port1 and port2. If this is the case then what does 
>> the toolNumber variable in the GetToolTransform() method mean. If on 
>> the other hand the port has a single number and the tools are also 
>> numbered my two tools will be referenced as [port1,tool1] 
>> [port1,tool2], then how do I load different SROM files for each of 
>> the tools?
>>
>> 2. How do I find out which tools are attached to the tracker by 
>> querying it? I couldn't find a way to do this. Another interesting 
>> thing is that I can ask the tracker for a transformation from a port 
>> that doesn't have a tool connected and from looking at the 
>> GetToolTransform() method nothing will alert me to this fact.
>>
>>                                     advice appreciated
>>                                               Ziv
>>
>> P.S. In the igstkAuroraTracker.cxx file there are two references to 
>> the Polaris tracker in the logger code (cut and paste strike again :) )
>>
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>>   
>
>