User manual
Version: v4.5.2
1
timestamp ; index ;x;y;z; epipolar_err ; triangulation_err ; probability ; left_index ; right_index
Listing 8.2: Structure of a line of the 3D
fiducial
export CSV file.
Finally, the written information for
markers
, shown in Listing 8.3, is the timestamp, followed by the index,
the tracking id, the 3D position, the rotation (row-wise), the registration error, the geometry id, the
fiducial
presence mask and the corresponding
fiducial
index.
1
timestamp ; index ; tracking_id ;x;y;z;rot [1 -9]; registration_err ; geometry_id ; presence_mask ;
fiducials [1 -4]
Listing 8.3: Structure of a line of the
marker
data export CSV file.
The synchronisation of the data between the various files is achieved by a manual matching of the frame
timestamp, present in all files.
8.2.3 Dumping the data
The demo software allows to dump all data of a frame, for diagnostics purpose. The used file format is
, and the produced files contain all the needed information to reprocess the data. The user can
enter:
- the number of frames to record (the value
−
1
is equivalent to inf, i.e. the user must stop the record);
- a file name prefix;
- a ‘period’ for picture saving, i.e. a picture pair will be saved every
n
frames (a value of
0
results in
no
saved pictures).
The ‘Record’ button triggers the choice of the output directory. Then the record starts until the user hits ‘Stop
recording’ or the number of frames to record is reached. The file name consists of the prefix, followed by by
the device serial number (in hexadecimal) and the current timestamp, e.g.
Dumper_0xbb000005c21ffa28_2017
-11-07_14h39m53.xml
.
8.3 Command line software samples
The Atracsys
SDK
is also shipped with precompiled command line softwares, which show C++ code ex-
amples of how to use the
SDK
. From the install directory they can be found in the relative path
fusionTrack
SDK/bin
. Each sample demonstrates one operation. In order to run them, the fusionTrack must first be
switched on. Once the fusionTrack is properly running, any of the command line samples can be run De-
fault firewall settings may block the communication between the computer and the fusionTrack device and
should be checked.. The documentation of the various samples is present in [1], a short description is given
here below.
ftk1_ListOptions
exposes how to open/close the driver, enumerates the connected devices and lists
the options for a device.
ftk2_AcquisitionBasic
shows how to load a geometry from a file and how to get the
marker
’s position
and orientation. This program only produces output if the geometry of the presented
marker
matches the
one in the file given in arguments, and shows the position and error for any found
marker
of that kind (units
are mm).
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