[IGSTK-Developers] Re: Aurora SROM file

[Patrick Cheng]

Hi David,

Thank you for the fix. I have tested the code, it worked nicely.

Patrick

David Gobbi wrote:
> Hi Patrick,
> 
> I have made the changes to the AuroraTracker.  Please test
> the new code when you have a chance.
> 
> - David
> 
> 
> Patrick Cheng wrote:
>> Hi David,
>>
>> I think we need to revert to
>> igstkAuroraTracker.cxx   V 1.24
>> igstkAuroraTracker.h     V 1.16
>>
>> There are some fixes on style after that, which is minor.
>>
>> We should also remove the AttachSROMFilesToChannel function and 
>> related operations. And we need to be careful when using "Single 
>> Sensor Coil Tool".
>>
>> It would be nice to add a function to set the valid time period for 
>> the transform and set the default valid time period to be around 
>> 300-400ms. That should be done in Tracker class.
>>
>> Thank you,
>>
>> Patrick
>>
>> David Gobbi wrote:
>>> Hi Patrick,
>>>
>>> Thanks for running these tests.   The Aurora that I have access to 
>>> does not
>>> have any 5DOF tools or splitters, so it is impossible for me to run 
>>> these
>>> tests myself.
>>>
>>> We will definitely have to revert the code if the changes were made in
>>> error.  Let me know exactly which CVS version number you want to
>>> revert vtkAuroraTracker.cxx to, and I will verify that aren't 
>>> inadvertently
>>> throwing away any valid bug fixes.
>>>
>>> - David
>>>
>>>
>>>
>>> Patrick Cheng wrote:
>>>> Hi David,
>>>>
>>>> I did some testing here, here is the result:
>>>>
>>>> 1. I actually went back the Aurora code before the your fix last 
>>>> time. It seems to be working fine, as it suppose to be, according to 
>>>> NDI.
>>>>
>>>> 2. I have attached two 5DOF needles to the same port using splitter, 
>>>> and did the following tests:
>>>>
>>>>   A. Using a "Dual Sensor Coil, 6DOF Tool" SROM file, and attach it 
>>>> to port, we will get 1 tool and the result transform is 6DOF
>>>>
>>>>   B. Using "Dual Sensor Coil, Dual 5DOF Tool", and attach it to 
>>>> port, we will get 2 tools with 5DOF transforms
>>>>
>>>>   C. The problem is with using "Single Sensor Coil Tool",
>>>>      C.1. when attached to port, we get 2 tools,
>>>>      C.2. when attached to channel 0, we get 1 tool
>>>>      C.3. when attached to channel 1, we get 2 tools
>>>>      C.4. when attached to both channels, we only get channel 0.
>>>>
>>>> The only confusion here is scenario C. This behavior is actually 
>>>> consistent with what I heard from NDI.
>>>>
>>>> "You can not use two different SROM files in the same port, if you 
>>>> want to use splitter to tracker multiple tools, you have to use 
>>>> 'Dual Sensor Coil, Dual 5DOF Tool' SROM file", as in Scenario B, and 
>>>> we are not suppose to do Scenario C.4.
>>>>
>>>> The way Tracker deal with SROM file is:
>>>>
>>>> 1. Look for SROM files in tools plugged into the tracker, and load 
>>>> them in control unit.
>>>>
>>>> 2. If there is user defined SROM file, it will be send to the 
>>>> Virtual SROM unit in the tracker, and this SROM file will overwrite 
>>>> previously loaded one from the tool.
>>>>
>>>> 3. In case of tracking two 5DOF sensor, the tracker will 
>>>> automatically add another handle to the port, if this port received 
>>>> a "Dual Sensor Coil, Dual 5DOF Tool" SROM file
>>>>
>>>> 4. Most of the case, the tracker tools all have SROM file burned 
>>>> into it, so we can tracker them without attaching any SROM files.
>>>>
>>>> My suggestion is:
>>>> 1. Go back to the previous version of the AuroraTracker code
>>>> 2. Eliminate the AttachSROMFileToChannel API, if we want to track 
>>>> multiple tools, either do not use any SROM file (will load from 
>>>> tools), or use a "Dual Sensor Coil, Dual 5DOF Tool" SROM file.
>>>> 3. Modify the way we LoadVirtualSROM files in AuroraTracker class to 
>>>> be consistent with NDI.
>>>>
>>>>
>>>> Thank you,
>>>>
>>>> Patrick
>>>>
>>>>
>>>>
>>>
>>>
>>>
>>>
>>
>>
>>
> 
> 
> 
>