VTget2p
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - NDI Camera
Introduced first in SolidGeometry 1.0, Creation date: 2011-10-20, Last change: 2025-09-14
gets a precise relation Matrix between A and B: A_T_B.
Description
It waits until both trackers are visible and the realtive position is constant (distance<0.5mm) for at least 0.8 seconds.
See Also: Vreset
, Vstray
, Vstat
, VTset
, VTget
, VTgetp
, VTlearn
, VTget2
Example Illustration
Syntax
[T,n]=VTget2p(a,b)
Input Parameter
a: | | the reference tracker number |
b: | | the tracker of interest number |
Output Parameter
T: | | resulting relative HT-Matrix A_T_B |
n: | | some distance norm in millimeter |
Copyright 2011-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth
Algorithm (Workflow)
This function, VTget2p, is designed to return a precise relation matrix between two trackers, identified as nr1 and nr2. The function is part of a system that requires both trackers to remain still, with a movement of less than 0.5 mm, for at least 0.8 seconds to ensure accuracy.
Input Parameters
- nr1: This is the number of the reference tracker. It is an integer value ranging from 1 to 6.
- nr2: This is the number of the tracker of interest. It is also an integer value ranging from 1 to 6.
Output Results
- T: This is the homogeneous transformation matrix that represents the precise relation between the two trackers.
- tcam: This is the timestamp indicating when the transformation data was captured by the camera, measured in camera-time seconds.
- tpc: This is the timestamp indicating when the data was requested from the camera, measured in pc-time seconds.
Algorithm Details
The function begins by checking if the global variable vicra_global is initialized. If it is empty, the function throws an error, indicating that the Vicra driver is not initialized and suggests calling VTReset first.
If vicra_global is initialized, the function proceeds to call the method vtget2p on vicra_global, passing nr1 and nr2 as arguments. This method returns the transformation matrix T, and the timestamps tcam and tpc.
The function relies on the assumption that the Vicra system is properly set up and that the trackers are stationary for the required duration to ensure the accuracy of the transformation matrix.
Algorithm explaination created using ChatGPT on 2025-08-18 23:02. (Please note: No guarantee for the correctness of this explanation)
Last html export of this page out of FM database by TL: 2025-09-21