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Reference tracking using NDI Polaris Vega ST returns global coordinates #1111

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Mil228 opened this issue Sep 12, 2023 · 12 comments
Open

Reference tracking using NDI Polaris Vega ST returns global coordinates #1111

Mil228 opened this issue Sep 12, 2023 · 12 comments

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@Mil228
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Mil228 commented Sep 12, 2023

Hi all,

I have been struggling with an issue for quite a while and cannot seem to fix it myself. I am in need of your help! While using my config file in fCal, I seem to be able to connect to a Philips Epiq Ultrasound machine through DNL services and to a NDI Polaris Vega ST Optical tracker. My desired output would be an MHA file containing the transformation matrix from tool 449 (id='Geometry') to tool 339 (id='Reference'). I set my ToolReferenceFrame to 'Reference' and changed a few options but the tracking results in the MHA file () are still in global ('OpticalTracker') coordinates instead of relative tracked to the slightly moving 'Reference' tool. What am I doing wrong? Do I need to change the xml config completely? Note that I am not using any PlusOpenIGTLink output, I just need to be able to press record and save the relative tracking data to a MHA file. I also do not need the ImageToGeometry transform as I import my tracking data as well as the DNL data into Matlab and perform the transformations there. But the realtive tracking data is essential for this. Please, is there anyone that could help me? I would very much appreciate it!!

example_mha.txt
example_config.txt
@Mil228 Mil228 changed the title Reference tracking using NDI Polaris Vega ST retirns global coordinates Reference tracking using NDI Polaris Vega ST returns global coordinates Sep 12, 2023
@adamrankin
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You have both a tool and a ToolReferenceFrame both named "Reference". Change your ToolReferenceFrame to "Tracker"

"OpticalTracker" is not a known coordinate system. After fixing the above, the transforms you can send are:

GeometryToReference
ReferenceToGeometry
GeometryToTracker
TrackerToGeometry

Is there a warning somewhere in your log?

@Mil228
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Mil228 commented Sep 12, 2023 via email •
edited by adamrankin
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@adamrankin
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I would check your log for warnings telling you it's not recording tracking due to a configuration error. I'd try fixing that and I bet they'll show up in your recordings

@Mil228
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Mil228 commented Sep 13, 2023 via email •
edited by adamrankin
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@adamrankin
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You can change AveragedItemsForFiltering but it's not necessary. I would reduce your log level to INFO to make it easier to read and to filter out the unimportant entries.

I don't see where it says it won't compute GeometryToReference

@Mil228
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Mil228 commented Sep 13, 2023 via email

@adamrankin
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In the <TransformNames> tag you choose which transforms to send to a client.

@Mil228
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Mil228 commented Sep 13, 2023 via email •
edited by adamrankin
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@adamrankin
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Are there any warnings or errors in the log for that run?

@Mil228
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Mil228 commented Sep 13, 2023 via email

@adamrankin
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I had not noticed you were using fCal. What channel have you selected when you choose to record?

@Mil228
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Mil228 commented Nov 20, 2023 via email

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@adamrankin @Mil228