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PlusToolkit / PlusLib

Software library for data acquisition, pre-processing, and calibration for navigated image-guided interventions.
http://www.plustoolkit.org
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PlusLib and FusionTrack 500 #820

Closed andriskuciks closed 3 years ago

andriskuciks commented 3 years ago

Hello everyone. I'm new to PlusToolkit and hope your community might help. I'm trying to launch either PlusServerLauncher.exe with Slicer or TrackingTest.exe to visualize marker that I'm trying to track. FW version of the Ftk500 is "firmVersion" : "v3.0.1 (1593689054) Windows-6.3.9600", and SDK version is "sdkVersion" : "v4.5.2" and trying to run latest stable build executables from PlusApp-2.8.0.20191105-fusionTrack-Win64.exe. I can not manage to make Plus tools work with Ftk500. Content of .xml file is pasted below. I did everything according to user manual but every time I'm getting this error: "|DEBUG|001.568000| TrackerDevice-MarkerToTracker: vtkPlusBuffer: Cannot do data interpolation. The closest item to the requested time (time: 1.551657, uid: 37) is invalid.| in E:\D\PSNPFTb\PlusLib\src\PlusDataCollection\vtkPlusBuffer.cxx(1127)". I know that the SDK version recommended was 4.1.3 but when I installed it I wasn't able to connect to Ftk500 so I stayed on 4.5.2 version. Also I checked the geometry004.ini file in supported Atracsys demo.exe and tracker is able to recognize this marker. Also tried to set SendValidTransformsOnly="TRUE" but then I did not receive any debug messages and also in Slicer under I/O configuration --> IN there isn't any stream available. My guess all the transforms are invalid?!

Every help appreciated Regards, Andris

<PlusConfiguration version="2.7">
  <DataCollection StartupDelaySec="1.0">
    <DeviceSet
      Name="PlusServer: Atracsys"
      Description="Broadcasting tracking data from Atracsys spryTrack180, fusionTrack250 or fusionTrack500 through OpenIGTLink."
    />
    <Device
      Id="TrackerDevice"
      Type="AtracsysTracker"
      MaxMissingFiducials="1"
      MaxMeanRegistrationErrorMm="5.0"
      ActiveMarkerPairingTimeSec="0"
      LocalTimeOffsetSec="0.0"
      ToolReferenceFrame="Tracker" >
      <DataSources>
        <DataSource Type="Tool" Id="Marker" TrackingType="PASSIVE" GeometryFile="AtracsysTools/geometry004.ini" />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="TrackerStream">
        <DataSource Type="Tool" Id="Marker" />
        </OutputChannel>
      </OutputChannels>
    </Device>
  </DataCollection>
  <PlusOpenIGTLinkServer
    MaxNumberOfIgtlMessagesToSend="1"
    MaxTimeSpentWithProcessingMs="50"
    ListeningPort="18944"
    SendValidTransformsOnly="FALSE"
    OutputChannelId="TrackerStream" >
    <DefaultClientInfo>
      <MessageTypes>
        <Message Type="TRANSFORM" />
      </MessageTypes>
      <TransformNames>
        <Transform Name="MarkerToTracker" />
      </TransformNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>
</PlusConfiguration>
andriskuciks commented 3 years ago

Apparently there was something wrong with the geometry. I tried also to calibrate Geometry 4 using the marker calibration tool supported with Plus toolkit but it always resulted in errors. If anybody else has similar issue I suggest to use either different geometry/marker or recalibrate existing marker multiple times with defaults Atracsys demo.exe app until Plus Toolkit recognizes it. Sorry for the issue spam but it took me couple of days to get this thing work as I always tried to run Plus with Geometry 4