VTgetp
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
returns a precise pose (HT-Matrix) of a registered tracker by the NDI camera
Description
It waits until the trackers is visible and its position is constant (distance<0.5mm) for at least 0.8 seconds.
See Also: Vreset
, Vstray
, Vstat
, VTset
, VTget
, VTlearn
, VTget2
, VTget2p
Example Illustration
Syntax
[T,n]=VTgetp(nr)
Input Parameter
nr: | | the tracker of interests number |
Output Parameter
T: | | HT-Matrix of the requested Tracker |
n: | | some distance norm |
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, VTgetp, retrieves transformation data from a tracker, ensuring the tracker's position is consistent within a specified deviation for a minimum duration. It is part of the SG-Library and interacts with a global variable, vicra_global, which must be initialized before use.
Input Parameters
- nr: The number of the tracker to request data from, ranging from 1 to 6.
- dev (optional): The maximum tolerated deviation in millimeters, with a default value of 0.5 mm.
- ttm (optional): A homogeneous transformation matrix (HTM) from the tracker to the tooltip.
Output Results
- T: The homogeneous transformation matrix representing the transformation data.
- rms: The root mean square error value, indicating the accuracy of the transformation.
- tcam: The timestamp when the transformation data was captured by the camera, measured in camera-time seconds.
- tpc: The timestamp when the data was requested from the camera, measured in PC-time seconds.
Algorithm Steps
- Check if the global variable
vicra_global is initialized. If not, an error is raised, instructing the user to call VTReset first.
- Call the method
vtgetp on vicra_global with the tracker number and any additional arguments provided. This method retrieves the transformation data.
- Return the transformation matrix
T, the RMS error rms, and the timestamps tcam and tpc.
Algorithm explaination created using ChatGPT on 2025-08-19 00:04. (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