Plus applications user manual  2.7.0.7ac5b43
Software library for tracked ultrasound image acquisition, calibration, and processing.
Phidgets Spatial 3/3/3 magnetic, angular rate, and gravity (MARG) sensor

Supported hardware devices

Supported platforms

The device manufacturer supports additional platforms. On request, Plus toolkit will be extended to support this device on other platforms, too.

Installation

Device configuration settings

Tracker coordinate system: South-West-Down. Sensor coordinate system is drawn on the sensor PCB. If the PCB is laying flat on the table with cable socket towards East then the axis directions are: South-West-Down.

If magnetic fields are nearby the sensor have non-negligible effect then compass can be ignored by choosing an IMU AHRS algorithm (as opposed to MARG) or compass correction may be performed (see http://www.phidgets.com/docs/Compass_Primer). The magnetometer has an internal calibration mechanism, which is running continuously. During this internal calibration no measurement data can be retrieved from the magnetometer. When magnetometer data is not available then the associated tool status is set to INVALID.

Example configuration file PlusDeviceSet_Server_PhidgetSpatial.xml

<PlusConfiguration version="2.1">
<DataCollection StartupDelaySec="1.0">
<DeviceSet
Name="PlusServer: PhidgetSpatial MARG sensor"
Description="Broadcasting tool tracking data through OpenIGTLink
Keep the device stationary for 2 seconds after connect for accurate gyroscope initialization."
/>
<Device
Id="TrackerDevice"
Type="PhidgetSpatial"
AhrsAlgorithm="MADGWICK_MARG"
AhrsAlgorithmGain="1.5"
TiltSensorWestAxisIndex="1"
FilteredTiltSensorAhrsAlgorithm="MADGWICK_IMU"
FilteredTiltSensorAhrsAlgorithmGain="0.01"
FilteredTiltSensorWestAxisIndex="1"
ToolReferenceFrame="Tracker" >
<DataSources>
<DataSource Type="Tool" Id="OrientationSensor" PortName="OrientationSensor" />
<DataSource Type="Tool" Id="TiltSensor" PortName="TiltSensor" />
<DataSource Type="Tool" Id="FilteredTiltSensor" PortName="FilteredTiltSensor" />
<DataSource Type="Tool" Id="Accelerometer" PortName="Accelerometer" />
<DataSource Type="Tool" Id="Gyroscope" PortName="Gyroscope" />
<DataSource Type="Tool" Id="Magnetometer" PortName="Magnetometer" />
</DataSources>
<OutputChannels>
<OutputChannel Id="TrackerStream" >
<DataSource Id="OrientationSensor"/>
<DataSource Id="TiltSensor"/>
<DataSource Id="FilteredTiltSensor"/>
<DataSource Id="Accelerometer"/>
<DataSource Id="Gyroscope"/>
<DataSource Id="Magnetometer"/>
</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" />
<Transform Name="TiltSensorToTracker" />
<Transform Name="FilteredTiltSensorToTracker" />
<xTransform Name="AccelerometerToTracker" />
<xTransform Name="GyroscopeToTracker" />
<xTransform Name="MagnetometerToTracker" />
</TransformNames>
</DefaultClientInfo>
</PlusOpenIGTLinkServer>
</PlusConfiguration>