Plus applications user manual  2.7.0.7ac5b43
Software library for tracked ultrasound image acquisition, calibration, and processing.
CHRobotics CHR-UM6 magnetic, angular rate, and gravity (MARG) sensor

Supported hardware devices

Supported platforms

Installation

Device configuration settings

Example configuration file PlusDeviceSet_Server_ChRobotics.xml

<PlusConfiguration version="2.1">
<DataCollection StartupDelaySec="1.0">
<DeviceSet
Name="PlusServer: CHRobotics CH3-UM6 MARG sensor"
Description="Broadcasting tool tracking data through OpenIGTLink"
/>
<Device
Id="TrackerDevice"
Type="ChRobotics"
SerialPort="5"
BaudRate="115200"
FirmwareDirectory="ChRoboticsFirmware"
ToolReferenceFrame="Tracker" >
<DataSources>
<DataSource Type="Tool" Id="OrientationSensor" PortName="OrientationSensor" />
</DataSources>
<OutputChannels>
<OutputChannel Id="TrackerStream">
<DataSource Id="OrientationSensor"/>
</OutputChannel>
</OutputChannels>
</Device>
<Device
Id="CaptureDevice"
Type="VirtualCapture"
BaseFilename="RecordingTest.igs.mha"
EnableCapturingOnStart="FALSE" >
<InputChannels>
<InputChannel Id="TrackerStream" />
</InputChannels>
</Device>
</DataCollection>
<PlusOpenIGTLinkServer
MaxNumberOfIgtlMessagesToSend="1"
MaxTimeSpentWithProcessingMs="50"
ListeningPort="18944"
OutputChannelId="TrackerStream"
>
<DefaultClientInfo>
<MessageTypes>
<Message Type="TRANSFORM" />
</MessageTypes>
<TransformNames>
<Transform Name="OrientationSensorToTracker" />
<xTransform Name="AccelerometerToTracker" />
<xTransform Name="GyroscopeToTracker" />
<xTransform Name="MagnetometerToTracker" />
</TransformNames>
</DefaultClientInfo>
</PlusOpenIGTLinkServer>
</PlusConfiguration>