NDI Vega, Polaris and Aurora pose trackers
Supported hardware devicesAny NDI tracking device is supported thatuses the common API, such as Polarisoptical and Auroraelectromagneticpose trackers.Installation[*]If USB connection is used then drivers should be installed to allow the computer to connect to the system control unit (SCU).
[*]If you have just turned on the tracker and attempt to use it right away, you may get the error message "command is invalid while in current mode"; wait for the leftmost LED on the position sensor to stop flashing and try again.
[*]Default settings provide maximum compatibility (work with most trackers), but most of the time they do not provide optimal performance. It is recommended to use maximum BaudRate (typically 921600 works well) to have high refresh rate and low latency. Tracking may be also improved by choosing the most appropriate tracking volume by adjusting the MeasurementVolumeNumber attribute.
Example configuration file Vega PlusDeviceSet_Server_NDIVega.xml
<PlusConfiguration version="2.1">
<DataCollection StartupDelaySec="1.0" >
<DeviceSet
Name="PlusServer: NDI Vega tracker with passive markers - by IP"
Description="Broadcasting tool tracking data through OpenIGTLink
For NDI Vega: Tool (8700339), Stylus (8700340), Reference (8700449)" />
<Device
Id="TrackerDevice"
Type="NDITracker"
NetworkHostname="192.168.0.30"
NetworkPort="8765"
ToolReferenceFrame="Reference" >
<DataSources>
<DataSource Type="Tool" Id="Stylus" RomFile="NdiToolDefinitions/8700248.rom"/>
</DataSources>
<OutputChannels>
<OutputChannel Id="TrackerStream" >
<DataSource Id="Stylus"/>
</OutputChannel>
</OutputChannels>
</Device>
<Device
Id="VideoDevice"
Type="OpenCVVideo"
VideoURL="rtsp://192.168.0.30/video">
<DataSources>
<DataSource Type="Video" Id="Video" ImageType="RGB_COLOR" PortUsImageOrientation="MF"/>
</DataSources>
<OutputChannels>
<OutputChannel Id="VideoStream" VideoDataSourceId="Video" />
</OutputChannels>
</Device>
<Device
Id="TrackedVideoDevice"
Type="VirtualMixer" >
<InputChannels>
<InputChannel Id="TrackerStream" />
<InputChannel Id="VideoStream" />
</InputChannels>
<OutputChannels>
<OutputChannel Id="TrackedVideoStream"/>
</OutputChannels>
</Device>
</DataCollection>
<CoordinateDefinitions>
<Transform From="Image" To="Reference"
Matrix="
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1"
Error="0.554951" Date="012617_105449" />
<Transform From="StylusTip" To="Stylus"
Matrix="
1 0 0.000203823 0.0180449
3.31529e-09 -1-1.62655e-05-0.00144002
0.000203823 1.62655e-05 -1-88.5321
0 0 0 1"
Error="0.554951" Date="012617_105449" />
</CoordinateDefinitions>
<PlusOpenIGTLinkServer
MaxNumberOfIgtlMessagesToSend="1"
MaxTimeSpentWithProcessingMs="50"
ListeningPort="18944"
SendValidTransformsOnly="true"
OutputChannelId="TrackedVideoStream" >
<DefaultClientInfo>
<MessageTypes>
<Message Type="IMAGE" />
<Message Type="TRANSFORM" />
</MessageTypes>
<ImageNames>
<Image Name="Image" EmbeddedTransformToFrame="Reference" />
</ImageNames>
<TransformNames>
<Transform Name="StylusTipToReference" />
</TransformNames>
</DefaultClientInfo>
</PlusOpenIGTLinkServer>
</PlusConfiguration>Example configuration file Polaris PlusDeviceSet_Server_NDIAurora_NDIPolaris.xml
<PlusConfiguration version="2.1">
<DataCollection StartupDelaySec="1.0" >
<DeviceSet
Name="PlusServer: NDI Polaris tracker with passive markers"
Description="Broadcasting tool tracking data through OpenIGTLink
For NDI Polaris passive marker starting kit: Tool (8700339), Stylus (8700340), Reference (8700449)" />
<Device
Id="TrackerDevice"
Type="PolarisTracker"
ToolReferenceFrame="Tracker" >
<DataSources>
<DataSource Type="Tool" Id="Tool" RomFile="NdiToolDefinitions/8700339.rom"/>
<DataSource Type="Tool" Id="Stylus" RomFile="NdiToolDefinitions/8700340.rom"/>
<DataSource Type="Tool" Id="Reference" RomFile="NdiToolDefinitions/8700449.rom"/>
</DataSources>
<OutputChannels>
<OutputChannel Id="TrackerStream" >
<DataSource Id="Tool"/>
<DataSource Id="Stylus"/>
<DataSource Id="Reference"/>
</OutputChannel>
</OutputChannels>
</Device>
<Device
Id="CaptureDevice"
Type="VirtualCapture"
BaseFilename="RecordingTest.igs.nrrd"
EnableFileCompression="TRUE"
EnableCapturingOnStart="TRUE" >
<InputChannels>
<InputChannel Id="TrackerStream" />
</InputChannels>
</Device>
</DataCollection>
<CoordinateDefinitions>
<Transform From="StylusTip" To="Stylus"
Matrix="
1 0 0.000203823 0.0180449
3.31529e-09 -1-1.62655e-05-0.00144002
0.000203823 1.62655e-05 -1-88.5321
0 0 0 1"
Error="0.554951" Date="012617_105449" />
</CoordinateDefinitions>
<PlusOpenIGTLinkServer
MaxNumberOfIgtlMessagesToSend="1"
MaxTimeSpentWithProcessingMs="50"
ListeningPort="18944"
SendValidTransformsOnly="true"
OutputChannelId="TrackerStream" >
<DefaultClientInfo>
<MessageTypes>
<Message Type="TRANSFORM" />
</MessageTypes>
<TransformNames>
<Transform Name="StylusTipToReference" />
<Transform Name="ToolToReference" />
<Transform Name="ToolToTracker" />
<Transform Name="StylusToTracker" />
<Transform Name="ReferenceToTracker" />
</TransformNames>
</DefaultClientInfo>
</PlusOpenIGTLinkServer>
</PlusConfiguration>
Example configuration file Aurora PlusDeviceSet_Server_NDIAurora_NDIPolaris.xml
<PlusConfiguration version="2.1">
<DataCollection StartupDelaySec="1.0">
<DeviceSet
Name="PlusServer: NDI Aurora and Polaris tracker"
Description="Broadcasting tool tracking data through OpenIGTLink
Tracking a single EM pointer and an optical pointer and reference." />
<Device
Id="EmTracker"
Type="AuroraTracker"
SerialPort="5"
BaudRate="115200"
AcquisitionRate="20"
LocalTimeOffsetSec="0.0"
ToolReferenceFrame="EmTracker" >
<DataSources>
<DataSource Type="Tool" Id="Pointer" PortName="0" />
</DataSources>
<OutputChannels>
<OutputChannel Id="EmTrackerStream">
<DataSource Id="Pointer" />
</OutputChannel>
</OutputChannels>
</Device>
<Device
Id="OpticalTracker"
Type="PolarisTracker"
SerialPort="6"
BaudRate="115200"
AcquisitionRate="20"
LocalTimeOffsetSec="0.0"
ToolReferenceFrame="OpticalTracker" >
<DataSources>
<DataSource Type="Tool" Id="Stylus" RomFile="NdiToolDefinitions/8700340.rom" />
<DataSource Type="Tool" Id="Reference" RomFile="NdiToolDefinitions/8700449.rom" />
</DataSources>
<OutputChannels>
<OutputChannel Id="OpticalTrackerStream" >
<DataSource Id="Stylus"/>
<DataSource Id="Reference"/>
</OutputChannel>
</OutputChannels>
</Device>
<Device
Id="CombinedTracker"
Type="VirtualMixer" >
<InputChannels>
<InputChannel Id="EmTrackerStream" />
<InputChannel Id="OpticalTrackerStream" />
</InputChannels>
<OutputChannels>
<OutputChannel Id="CombinedTrackerStream"/>
</OutputChannels>
</Device>
</DataCollection>
<PlusOpenIGTLinkServer
MaxNumberOfIgtlMessagesToSend="1"
MaxTimeSpentWithProcessingMs="50"
ListeningPort="18944"
SendValidTransformsOnly="true"
OutputChannelId="CombinedTrackerStream" >
<DefaultClientInfo>
<MessageTypes>
<Message Type="TRANSFORM" />
</MessageTypes>
<TransformNames>
<Transform Name="ReferenceToOpticalTracker" />
<Transform Name="StylusToOpticalTracker" />
<Transform Name="PointerToEmTracker" />
</TransformNames>
</DefaultClientInfo>
</PlusOpenIGTLinkServer>
</PlusConfiguration>
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