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NDI 6D Architect User Guide

1. Figure 8 5 Tool Alignment Dialog To Assign a Local Coordinate System Using Alignment Parameters 1 Click Alignment Parameters The following dialog appears NDI 6D Architect User Guide Active Tool Characterizing with Engineering Data Alignment Transformation xj To specify the alignment parameters for each marker double click the marker alignment setting To use the marker in the origin calculation double click the Use in Origin column Alignment Positions 4 EE PO B za 3 o O42 7 Use in Origin Alignment Setting 1 x Unknown 2 X Y Quadrant 3 XAris ku zk 4 Unknown X Y 10 mm CZ Y 10mm 4 gt s T Template Mode Load Template Save Template z p Preview Cancel T View XFORM LOG upon successful alignment 3D 100 mm Z 10 mm Figure 8 6 Alignment Transformation Dialog 2 To assign a marker as the origin of the local coordinate system double click that marker s entry under Use in Origin If you select more than one marker as the origin of your tool 6D Architect will place the origin at the geometric centre of these markers 3 To place a marker onto an axis right click the marker s entry under Alignment Setting Use the list that appears to constrain the marker to be on any positive or negative x y or Z axis 4 To place a marker onto a plane of the local coordinate system double click that marker s entry under Alignment Setting Use the list that ap
2. 0 0 0c ee eee ee 73 Figure 8 9 Set Tolerances Dialog Bana tt 76 NDI 6D Architect User Guide vii List of Figures Figure 8 10 Characterization Completion Dialog8 o ooooooooo 71 Figure 9 1 User Specified ROM Dialog anaa 81 Figure 9 2 Changes to SROM File dialog 0 cee eee eee eee 82 Figure 10 1 Collection Settings Dialog 00 0 ccc cece eens 85 Figure 10 2 Tool Description Dialog 4 pian Sean aaya DALA ita 86 Figure 10 3 Marker Setup Dialog a4 2g Tma ba A Dama RAANG eee 88 Figure 10 4 Edit Marker Information Dialog 0 0 0 eee eee 89 Figure 10 5 Passive Viewer Dialogs sgh An NG A dv 90 Figure 10 6 Save Parameters Dialog cece cece eee eens 91 Figure 10 7 Data Collection Dialog 0 ccc eee cee eee 92 Figure 10 8 Current Collection Status Dialog 00 0 0 eee eee 93 Figure 10 9 Marker Setup Groups and Faces Dialog 94 Figure 10 10 Tool Alignment Dialog 0 0 cee cece ee eee 95 Figure 10 11 Alignment Transformation Dialog 000005 96 Figure 10 12 Manual Transform Dialog 2 0 0c eee eee eee 97 Figure 10 13 Marker and Face Normals Dialog 0 00 00 0 eee 98 Figure 10 14 Set Tolerances Dialog 0 aaa cbse ec ce eee kawad 101 Figure 10 15 Characterization Completion Dialo8 o ooooooomooo 102 Figure 11 1 Collection Settings Dialog aaa kw nian BLG Wa nk Fw eck GI Ea 10
3. Wireless tracking This is automatically disabled Unique geometry tracking This is automatically enabled Table 11 4 Enhanced Tracking Algorithm Section Note For more information about unique geometry see Unique Geometry on page 164 3 Complete the Serial Number Settings section Field Option Action Date MM DD Y Y Y Y Enter today s date using the format indicated Sequence Number Enter 1 to indicate an increment of one for each NDI 6D Architect User Guide serial number created Table 11 5 Serial Number Settings 107 Passive Tools Characterizing With A Polaris Accedo System The software will automatically calculate a unique serial number for your tool using these settings 4 Click Next The Marker Setup dialog opens 11 4 Enter Tool Marker Values 6D Architect tequires that you enter information about where each matker is placed on the tool These coordinates can be entered using one of three different methods e load a Rigid Body file RIG that has already been created for the tool e use data collection through the Polaris Accedo System e enter in each coordinate manually Marker Setup Passive Type To 0 RO M To collect tool position data the software must have an initial estimate of the marker Crea tion Wiza rd positions Click one of the methods below to enter these estimate values Marker Entry Method Manual Input use Engineering Data Passive Snapshot use values from
4. Optotrak System Settings Overall Marker Power sets the marker emission strength Collection Time seconds of data that will be recorded for each trial Frame Frequency the rate of data collection Dptotrak System Dverall Marker Power in Mar Collection Time s 10 Frame Frequency Hz 131 4 Camera Parameter File JE ndigital realtime standard cam B Advanced Options lt Back Cancel Figure A 2 Collection Settings Dialog 5 Complete the collection settings For more instructions on how to complete this dialog refer to one of the following sections e If you are characterizing with an Optotrak System see Enter the Collection Settings on page 44 e If you are characterizing with a Polaris System see Enter Collection Settings on page 21 Note Figure B 2 describes the collection settings for an Optotrak Certus System This screen differs for Polaris Systems Note If an SROM Image File is saved with an incorrect marker type you may not be able to access the desired port while pivoting the tool If this occurs edit the marker type using the characterization wizard and save the new SROM Image File information 6 Click Next The Pivot Rotation Data dialog appears 154 NDI 6D Architect User Guide Pivot Alignment Pivot Rotation Data Rotate the tool continuously about its tip through at least two planes of motion i e Pivot Tip side to side back and forth
5. Table 10 8 Marker Status 92 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris System Each coloured circle corresponds to a marker The number of circles should match the number of markers that are on the tool 3 Click Collect The system proceeds to collect information about each marker s position for the number of frames specified You can view this action in the marker status section of the dialog The Current Collection Status Dialog opens displaying this collected information Current Collection Status To 0 RO M This status page appears after each collection trial From here you can modify current Creation Wizard collections or stop collecting and proceed with the tool characterization r Collection Status Filename Properties C ndigital 6DA 011 csv 4 Markers in 51 frames r Choose Your Next Step RECORD Another Data Trial Return to the data collection page to perform another collection STOP Recording Complete the collection process and proceed IT View BUILD LOG file upon successful completion of build lt Back Cancel Figure 10 8 Current Collection Status Dialog Use this dialog to view the collection results or record another trial 1 Select the newly created csv file from the Collection Status list 2 Optional Click View The csv file results open for viewing When you have finished reviewing the results click Close 3
6. 4 Optional If you want to apply advanced system settings see Polaris Polaris Accedo System Settings on page 170 5 Click Next The Tool Description dialog appears 6 3 Describe Tool Properties In this screen the ROM Creation Wizard will ask you to enter the parameters about the tool This includes information such as the tool type marker type and the tracking algorithm Tool Description To 0 RO M This step allows you to define the tool properties These settings are saved Creation Wizard within the ROM file r Tool Description Part Number 123456 Manufacturer NDI Revision 13 Tool Type REFERENCE y Tool Subtype Removable Tip y Marker Type NDI930 active Marker ceramic base r Enhanced Tracking Algorithm Serial Number Settings I Lock using only 3 markers Date MM DD YYYY IT Stray marker tracking pa ho 2003 FT Wireless tracking Sequence Number fi 3 T Unique geometry tracking lt Back Cancel Figure 6 2 Tool Description Dialog NDI 6D Architect User Guide 23 Active Tools Characterizing with a Polaris System 1 Complete the Tool Description section Field Option Action Part Number Assign a part number to your tool You can use a maximum of20 characters Manufacturer Assign a manufacturer name to your tool You can use a maximum of 12 characters Revision Assign a revision number to your tool Tool Type From the list
7. Passive LI O Active Wirele r Characterization Method Polaris System pe Sy System Engineering Data r Optotrak Collection Type STATIC The tool remains stationary during each trial C DYNAMIC The tool may be in motion during each trial Please ensure that your Optotrak system is connected and that all components are powered on Cancel Figure 4 1 Starting the ROM Creation Wizard Note You can characterize a tool using the tool s design specifications This method requires that you enter its marker information manually To do this select Engineering Data as your characterization method 4 2 5 Click Next What Is Next At this point 6D Architect customizes ROM Creation Wizard procedures to match your tool type and system selections This guide is organized in a similar fashion so that you can jump ahead to only the information relevant to your tasks If you have selected Active Tool Polaris System Go to Active Tools Characterizing with a Polaris System on page 21 Active Tool Optotrak System Active Tools Characterizing with an Optotrak System on page 42 Table 4 1 What Is Next NDI 6D Architect User Guide If you have selected Active Tool Engineering Data Tool Characterization The First Step Go to Active Tool Characterizing with Engineering Data on page 63 Passive Tool Polaris System Pass
8. To 0 RO M In this step you may organize the markers into Faces and Groups Double click the Creation Wizard list below to toggle the group and face states for each marker GROUPS define which markers within a face can be fired simulatenously If markers within a face are less than 50mm apart they must be placed in separate groups FACES are separate Rigid Bodies that can each be used for tracking Each face must have at least 3 markers each marker must belong to at least 1 face Number of Groups 2 Number of Faces 2 a3 Reset Marker List to pekas KEYBOARD HINT You can also use the G key to toggle groups and the 1 8 keys to toggle the face states for the selected marker lt Back Cancel Figure 11 9 Marker Setup Groups and Faces Dialog 1 In the Number of Faces field select the number of faces 2 Assign a marker to a face in the table double click the marker s F column entry to change it to X This means that this marker is included on the face 3 Optional If you want to restore the faces to the original settings click Reset Marker List to Defaults 4 Click Next The Tool Alignment dialog opens NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris Accedo System 11 8 Align the Tool s Coordinate System Before any measurement system can calculate the position and rotation of your tool you will need to assign the tool a local coordinate system
9. 4 Continue the characterization process with the Rigid Body Creation Wizard For instructions see Rigid Bodies Characterizing with an Optotrak System on page 137 20 NDI 6D Architect User Guide 6 1 6 2 Active Tools Characterizing with a Polaris System Active Tools Characterizing with a Polaris System The following sections direct you through each window of the ROM Creation Wizard to help you characterize an active tool with a Polaris System This section explains the following steps 1 Start the Wizard 2 Enter Collection Settings 3 Describe Tool Properties 4 Define Marker Setup 5 Save Parameters 6 Collect Tool Marker Data 7 Define Groups and Faces 8 Align the Tool s Coordinate System 9 Add Marker and Face Normals 10 Complete the Tool Characterization 11 What Is Next Start the Wizard Before continuing you must open the wizard and indicate that you are characterizing an active tool with a Polaris System For instructions see Tool Characterization The First Step on page 15 Once this step is completed you can continue the characterization process Enter Collection Settings The ROM Creation Wizard s second screen is the Collection Settings dialog Collection settings tell 6D Architect which port the tool is connected to how many frames of data to collect and what kind of Polaris System measurement volume you are using NDI 6D Architect User Guide 21 Active Tools Charac
10. Figure 12 7 Set Tolerances Dialog 4 In the Rigid Body Settings tab complete the fields provided Field Action Maximum Marker Angle Enter the maximum angle that a marker normal can be pointed away from the Position Sensor Any marker turned away more than this value will not be used to compute a rigid body s transformation Minimum Number of Markers Enter the minimum number of markers that must be counted as present in the measurement volume before the system produces a transformation for the rigid body Maximum 3D Error Enter the maximum distance between where the marker is observed by the system and is expected to be in the Rigid Body file If a marker exceeds this value it is not used to compute a rigid body s transformation Table 12 3 Rigid Body Settings NDI 6D Architect User Guide 133 Rigid Bodies Characterizing with Previously Collected Data Field Maximum 3D RMS Error Action Enter the maximum 3D RMS error that a measurement system will accept If the calculated 3D RMS error of a transformation is greater than the value specified in this field the transformation will be tagged as missing Maximum Sensor Error Enter the maximum calculated sensor position for each Optotrak sensor to the nominal sensor positions which are based on the rigid body file If the difference for a particular marker sensor pair is greater than the specified Maximum Sensor Error then that pair s data will be tagged as ba
11. It is suggested that you go through the wizard again to change any ROM fields or options To automatically repeat the characterization process save the wizard settings to an output file vV Save Wizard Settings Output File D 4markersROMmacro crm a Description tool with 4 markers lt Back Cancel Figure 11 15 Characterization Completion Dialog 1 Choose Save Wizard Settings 2 Inthe Output File field browse to a location and enter a name by clicking E 3 Inthe Description field enter an identifying description for this wizard session 4 Click Finish The software saves your settings in a ROM Characterization Macro crm file Note The saved parameter file contains the tool s characterization information When applied to subsequent tools software will automatically increase the sequence number Once the characterization is complete the wizard closes and a graphical representation of the tool will be loaded into the main window The tool parameters are loaded in the ROM section of the main window For more information about the main window see Exploring 6D Architect Main Window on page 6 122 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris Accedo System 11 11 What Is Next After you have created and saved the SROM Image File ROM file you test the SROM Image File to ensure that the Polaris System can track the tool correctly For more instructions
12. Minimum Number of Markers 3 Maximum 3D Error 2 mm If a marker fails to satisfy any of these tolerances it is tagged as invalid and the transformation will be re calculated without it Cancel Figure 8 9 Set Tolerances Dialog 4 Complete the fields provided Field Maximum Marker Angle Action Enter the maximum angle that a marker normal can be pointed away from the Position Sensor Any marker turned away more than this value will not be used to compute a tool transformation Minimum Number of Markers Enter the minimum number of markers that must be counted as present in the measurement volume before the system produces a transformation for the tool Maximum 3D Error Enter the maximum distance between where the marker is observed by the system and is expected to be in the tool s SROM Image File If a marker exceeds this value it is not used to compute a tool transformation Table 8 6 Tolerance Fields 5 Click OK 6 Click Next The Characterization Completion dialog opens 8 8 Complete the Tool Characterization 6D Architect allows you to save all the ROM Creation Wizard selections that you ve made in case you want to repeat the characterization process for similar tools using similar parameters Remember that although you can use the same wizard selections for similar tools you will still need to perform separate and unique data collections for each 76 NDI 6D Architect Use
13. Optional You can record additional data trials e Ifyou want to collect another data trial select RECORD Another Data Trial You will be returned to the Data Collection dialog to begin the process again e If you want to overwrite an existing data trial select the file that you wish to overwrite from the list and click Re collect You will be returned to the Data Collection dialog to begin the process again NDI 6D Architect User Guide 93 Passive Tools Characterizing With A Polaris System 10 6 94 4 When you are satisfied with the data collection select STOP Recording 5 Optional If you want to view the Build log file at the end of the build when you have completed the ROM Creation Wizard choose View BUILD LOG upon successful completion of build 6 Click Next The Groups and Faces dialog opens Define Faces Once the firing sequence for the active markers has been defined you can organize the markers into faces Marker Setup Groups and Faces To 0 RO M In this step you may organize the markers into Faces and Groups Double click the Creation Wizard list below to toggle the group and face states for each marker GROUPS define which markers within a face can be fired simulatenously If markers within a face are less than 50mm apart they must be placed in separate groups FACES are separate Rigid Bodies that can each be used for tracking Each face must have at least 3 markers each marker must
14. 136 NDI 6D Architect User Guide Rigid Bodies Characterizing with an Optotrak System 13 Rigid Bodies Characterizing with an Optotrak System The following sections walk you through each window of the Rigid Body Creation Wizard to help you characterize a rigid body with an Optotrak System This section explains the following steps 1 Start the Wizard 2 Enter the Collection Settings 3 Save Parameters 4 Collect Marker Data 5 Specify the Build Parameters 6 Align the Rigid Body s Local Coordinate System 7 Add Marker Normals 8 Complete the Characterization 9 What Is Next 13 1 Start the Wizard Before continuing you must open the wizard and indicate that you are characterizing a rigid body with an Optotrak System For instructions see Rigid Body Characterization The First Step on page 18 Once this step is completed 6D Architect connects to the Optotrak System Once this is complete you can continue the characterization process 13 2 Enter the Collection Settings The Rigid Body Creation Wizard s second screen is the Collection Settings dialog Collection settings tell 6D Architect the collection time the marker power and the tracking frame frequency of your Optotrak System NDI 6D Architect User Guide 137 Rigid Bodies Characterizing with an Optotrak System RA AA CA HY x Optotrak Collection Settings Ri g d B ody Specify the total number of markers in the occupied port s Creation Wizard
15. Performs a user defined transform translation and rotation a PETES pd t Undo 3D 100 mm 2 10 mm r Algorithm Adjust Constraints A 2 4169 39 4214 20 1096 B 11 9331 55 9328 40 7414 Edit the transform F 36 8331 6 3716 41 1094 algorithm G 19 359 7 4935 27 0478 constraints K 6 5091 37 3150 6 9417 L 9 6326 59 1612 40 5838 lt Back Next gt Cancel Figure 10 10 Tool Alignment Dialog To Assign a Local Coordinate System Using Alignment Parameters 1 Click Alignment Parameters The following dialog appears NDI 6D Architect User Guide 95 Passive Tools Characterizing With A Polaris System 96 Alignment Transformation x To specify the alignment parameters for each marker double click the marker alignment setting To use the marker in the origin calculation double click the Use in Origin column Alignment Positions EGE PG B au 3 oo 9 2 7 Use in Origin Alignment Setting x Unknown X Y Quadrant XAxis ku zk Unknown X Y 10 mm CZ Y 10mm gt i T Template Mode Load Template sprenae E po Preview Cancel T View XFORM LOG upon successful alignment 3D 100 mm 0 2 10 mm Figure 10 11 Alignment Transformation Dialog To assign a marker as the origin of the local coordinate system double click that marker s entry under Use in Origin If you select more than one marker as the origin of your tool 6D Ar
16. Save Parameters 6 Collect Tool Marker Data 7 Define Faces 8 Align the Tool s Coordinate System 9 Add Marker and Face Normals 10 Complete the Tool Characterization 11 What Is Next Start the Wizard Before continuing you must open the wizard and indicate that you are characterizing a passive tool with a Polaris Accedo System For instructions see Tool Characterization The First Step on page 15 Once this step is completed you can continue the characterization process Enter the Collection Settings The ROM Creation Wizard s second screen is the Collection Settings dialog Collection settings tell 6D Architect how many frames of data to collect and what kind of measurement volume is supplying this data NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris Accedo System Polaris Accedo Collection Settings Tool ROM Creation Wizard This page allows you to specify the Polaris settings to use during collections r Collection Settings Polaris Tool Port ing Default Wireless Port A Collection Frames 100 hd Refresh COM Port COM1 Baud Rate 115200 Advanced Settings lt Back Cancel Figure 11 1 Collection Settings Dialog 1 Complete the Collection Settings section Field Option Definition Polaris Tool Port This field is disabled with its default value set to Wireless Port A Collection Frames The number
17. see Testing Tools on page 161 NDI 6D Architect User Guide 123 Rigid Bodies Characterizing with Previously Collected Data 12 Note 12 1 12 2 124 Rigid Bodies Characterizing with Previously Collected Data Characterizing a rigid body through previously collected data files allows you to perform the characterization using full raw data files raw data files or 3D data files These sections also apply to characterizing a rigid body with previously collected CSV files all screens and procedures are the same This section explains the following steps 1 Start the Wizard 2 Select the Data File 3 Specify the Build Parameters 4 Align the Rigid Body s Local Coordinate System 5 Add Marker Normals 6 Complete the Characterization 7 What Is Next Start the Wizard Before continuing you must open the wizard and indicate that you are characterizing an rigid body with previously collected data For instructions see Rigid Body Characterization The First Step on page 18 Once this step is completed you can continue the characterization process Select the Data File The Rigid Body Creation Wizard s second screen allows you to select the data file that you want to use to characterize the rigid body NDI 6D Architect User Guide Rigid Bodies Characterizing with Previously Collected Data NDI Data File s Selection Ri J id B ody Please select the Rigid Body Marker Data file s to use in the
18. select the entry that reflects the tool type Tool Subtype From the list select the entry that reflects the tool subtype Marker Type From the list select the entry that reflects the tool marker type Table 6 3 Tool Description Fields Note The part number manufacturer and revision number are mandatory fields This information uniquely identifies the tool s design and associates it with a particular application 2 Complete the Enhanced Tracking Algorithm section Field Option Action Lock using only 3 markers If you want to reduce the acquisition time choose this option Stray marker testing If you want the Polaris System to track a single stray marker which may move with respect to the tool select this option Wireless tracking This is disabled for active tools Unique geometry tracking If the tool meets unique geometry constraints choose this option This will result in a reduction of acquisition time for the tool Table 6 4 Algorithm Options Note A tool must meet the unique geometry constraints in order to use the Unique Geometry Tracking functionality If you use Unique Geometry Tracking for a tool that does not meet the constraints the tool cannot be tracked For more information see Unique Geometry on page 164 24 NDI 6D Architect User Guide Active Tools Characterizing with a Polaris System 3 Complete the Serial Number Settings section Field Option Action Date MM DD Y Y Y Y
19. 0000 0 0000 M 150 0000 0 0000 Edit Undo Last View 3D If necessary you can remove or edit values and view the markers in 3D to verify the tool shape Click Next tel Figure 8 3 Enter Marker Values Dialog NDI 6D Architect User Guide 67 Active Tool Characterizing with Engineering Data To Enter Marker Values Using a Rigid Body File 1 Click Rigid Body File use values from a Rigid Body 2 Select the desired file 3 Click Open 6D Architect reads the Rigid Body file and plugs its marker values into the Marker Values list 4 Click Next To Enter Marker Values Using Engineering Data 1 Click Manual Input use Engineering Data The following dialog opens x Marker Al x o NG Do zoo ooo Cancel 2 Edit Marker Information Dialog 3 Enter the x y and z positions for the marker indicated in the Marker field 4 Click OK The Edit Marker dialog closes 5 Repeat this process for all markers on the tool To Edit Marker Values Once you have entered marker values you can edit them in the following ways Edit or Change Action Edit a marker s values Select the marker and click Edit Remove a marker from the list Select the marker and click Remove Undo the last edit action Click Undo Last View the marker s in 3D Select the marker and click View 3D Table 8 4 Editing Marker Values 6 Click Next 68 NDI 6D Architect User Guide Active Tool Characterizing with
20. 3 X Axis fs zk 4 Unknown X Y 10 mm CZ Y 10mm 4 T Template Mode load Template Saye Template x p Preview Cancel I View XFORM LOG upon successful alignment 3D 100 mm 4 2 10 mm Figure 12 4 Alignment Transformation Dialog 2 To assign a marker as the origin of the local coordinate system double click that marker s entry under Use in Origin If you select more than one marker as the origin of 128 NDI 6D Architect User Guide Rigid Bodies Characterizing with Previously Collected Data your rigid body 6D Architect will place the origin at the geometric centre of these markers 3 To place a marker onto an axis right click the marker s entry under Alignment Setting Use the list that appears to constrain the marker to be on any positive or negative x y or Z axis 4 To place a marker onto a plane of the local coordinate system double click that marker s entry under Alignment Setting Use the list that appears to constrain the marker to any quadrant of any plane 5 Click Preview to view the changes that you make in the marker window This can help you visualize the chosen orientations and help trouble shoot any conflicting alignments you may have accidentally made 6 When you are finished return to the Rigid Body Alignment dialog e If you want to return to the original position and orientation click Cancel e If you are satisfied with the alignment parameters click Apply 7 Opt
21. 6 Collection Settings Dialog ec eee 158 Figure A 7 Pivot Rotation Data Dialog oo 159 Figure A 8 Pivot Results Dialogo eg sg NARRA IE AKA a awa ee 160 Figure B Test Tool Dialogies aiii nG han 161 Figure B 2 Realtime Tracking Information Dialog8 oooooooooomoo o 162 Figure C 1 Test Rigid Body Options Dialog ooooooomommom omo 163 Figure C 2 Test Rigid Body File Dialog 2 0 0 eee eee eee 163 Figure D 1 Unique Geometry Test Dialog 0 0 c eee eee eee eee 166 Figure E 1 Algorithm Constraints Dialog a 169 Figure F 1 System Settings Dial PARA GG KAILANG 170 x NDI 6D Architect User Guide List of Figures Figure F 2 Polaris Tabasa daka Brew A Sa ALA 171 Figure F 3 Volume Selection Dialog aaa a 171 Figure F 4 Advanced Tab rs A ES 172 Figure G 1 Optotrak Settings Dialog ooo 173 NDI 6D Architect User Guide Xi List of Tables List of Tables xii Table 2 1 Table 3 1 Table 3 2 Table 3 3 Table 3 4 Table 3 5 Table 3 6 Table 4 1 Table 5 1 Table 5 2 Table 5 3 Table 6 1 Table 6 2 Table 6 3 Table 6 4 Table 6 5 Table 6 6 Table 6 7 Table 6 8 Table 6 9 Table 7 1 Seleting ROM OF RIG st Pik lea oe eee ta 4 MA Toolbar aa tig of aes APAN a ARGO RE VRS ee SE OS 7 Manipulating Two Dimensional View 00 00 eee ee eee eee 9 Manipulating Three Dimensional View 00 c eee eee eee 9 Orienta
22. Alig nme nt Move slowly and smoothly as any movement of the end tip may lead to errors or inaccurate calculations Click Collect to start the collection Collection Frames E 3 Realtime Transformation Tx Missing Ty Missing Tz Missing Error Missing 00 Missing Ox Missing Qy Missing Qz Missing Collection Status Click Collect to begin Suggested Pivot Motions side to side XY Plane back and forth YZ Plane lt Back Cancel Figure A 3 Pivot Rotation Data Dialog 7 Position your tool in the measurement volume with its tool tip placed on a fixed point Ensure that all markers are visible and that the Realtime Transformation light is green Note Itis very important that the tool tip remain stationary while the tool is being rotated 8 Click Collect to begin the data collection trial 9 As the measurement system collects the data continuously rotate the tool back and forth and side to side with its tool tip remaining stationary at the fixed point The Pivot Results dialog opens displaying the calculated results of the tool tip data NDI 6D Architect User Guide 155 Pivot Alignment Pivot Ti p r Pivot Results Alignment Tool tip offset calculated Using your collected transformation data the pivot algorithm has determined the position and offset of the tool tip r Tooltip Offset Xx EAEE Y 2032 mm zZ 116 3638 mm Error Information Angle Informa
23. Alignment Setting x Unknown X Y Quadrant XAxis ku zk Unknown X Y 10 mm CZ Y 10mm gt i T Template Mode Load Template sprenae E po Preview Cancel T View XFORM LOG upon successful alignment 3D 100 mm 4 2 10 mm Figure 11 11 Alignment Transformation Dialog To assign a marker as the origin of the local coordinate system double click that marker s entry under Use in Origin If you select more than one marker as the origin of your tool 6D Architect will place the origin at the geometric centre of these markers To place a marker onto an axis right click the marker s entry under Alignment Setting Use the list that appears to constrain the marker to be on any positive or negative x y or Z axis To place a marker onto a plane of the local coordinate system double click that marker s entry under Alignment Setting Use the list that appears to constrain the marker to any quadrant of any plane Click Preview to view the changes that you make in the marker window This can help you visualize the chosen orientations and help trouble shoot any conflicting alignments you may have accidentally made Optional If you want to either save these alignment settings to a template or open an existing alignment template and apply it to your tool enable Template Mode to activate template functions When you are finished return to the Tool Alignment dialog e If you want to return to the original position
24. Assigning a local coordinate system is an important step in producing accurate transformations Tool Alignment The tool was successfully characterized To align the tool to a local coordinate system use the Alignment Methods below r Alignment Methods H EE z Hza o 0 2 Alignment Parameters J Tool ROM Creation Wizard Aligns the tool onto 1 user defined axes S Ex 5 zk or planes Manual Transform j AAA X Y 10 mm EZ Y 10 mm Performs a user defined transform translation and rotation a PETES pd t Undo 3D 100 mm 2 10 mm r Algorithm Adjust Constraints A 2 4169 39 4214 20 1096 B 11 9331 55 9328 40 7414 Edit the transform F 36 8331 6 3716 41 1094 algorithm G 19 359 7 4935 27 0478 constraints K 6 5091 37 3150 6 9417 L 9 6326 59 1612 40 5838 lt Back Next gt Cancel Figure 11 10 Tool Alignment Dialog To Assign a Local Coordinate System Using Alignment Parameters 1 Click Alignment Parameters The following dialog appears NDI 6D Architect User Guide 115 Passive Tools Characterizing With A Polaris Accedo System 116 Alignment Transformation x To specify the alignment parameters for each marker double click the marker alignment setting To use the marker in the origin calculation double click the Use in Origin column Alignment Positions EGE PG B au 3 oo 9 2 7 Use in Origin
25. Dialog To Set the Firing Sequence of the Markers 1 In the Markers field select the number of markers on your tool 2 From the Firing Sequence list click drag and drop each marker from the list to the appropriate lettered square in the wiring matrix When adding a marker to the wiring matrix you can also use any of the following short cuts e double click the marker to select the appropriate letter in the matrix e right click the marker to select the appropriate letter in the matrix e click the marker and enter the letter on the keyboard 3 If you are not setting switch flags click Next The Save Parameters dialog opens If you are setting switch flags see below To Set the Switch Flags You can set up to three different switches for each tool 1 In the Switch Flags section select a switch 48 NDI 6D Architect User Guide Active Tools Characterizing with an Optotrak System 2 Choose Present to let the system know that this switch is present 3 Choose Tool Engage if the tool has a removable tip When enabled the system will disable the tool if its tip is removed and this switch is activated during tracking You will not be able to use the tool again until the tip is replaced or re attached 4 Click Next The Save Parameters dialog opens 7 5 Save Parameters 6D Architect saves the collected data in a csv Comma Separated Value file and stores it in the location indicated by this Save Parameters
26. List of Figures Figure 7 1 Updated ROM Creation Wizard Dialog ooooooomomo o 43 Figure 7 2 Collection Settings Dialog 0 0 eee eee eee eee 44 Figure 7 3 Optotrak Tool Description Dialog 00 000 e eee eee 46 Figure 7 4 Marker Setup Dialog usas Piney DAANAN ANAN AYA 48 Figure 7 5 Save Parameters Dialog e pa nn aa yaaa SSA ee SaaS 49 Figure 7 6 Data Collection Dialog Worst bata aa ye ck 50 Figure 7 7 Current Collection Status Dialog a 52 Figure 7 8 Marker Setup Dialog cc ca is a PAA a ae es 53 Figure 7 9 Tool Alignment Dialog 0 cece cece eee eee 54 Figure 7 10 Alignment Transformation Dialog 0000s eee 55 Figure 7 11 Manual Transform Dialog a 56 Figure 7 12 Marker and Face Normals Dialog 0 000 e eee eee 57 Figure 7 13 Set Tolerances Dialop tiritas GG 60 Figure 7 14 Characterization Completion Dialog ooooooooooo o 61 Figure 8 1 Tool Description Dialog 0 64 Figure 8 2 Marker Setup Dialog o oooooooooomrrrrrrnrnn 66 Figure 8 3 Enter Marker Values Dialog samaan waa cues sees wawa 67 Figure 8 4 Marker Setup Groups and Faces Dialog 69 Figure 8 5 Tool Alignment Dialog ana cane eyo a 70 Figure 8 6 Alignment Transformation Dialog 00 0 0 e eee eee 71 Figure 8 7 Manual Transform Dialog 2 0 0 0 c eee eee ee eee 72 Figure 8 8 Marker and Face Normals Dialog
27. Marker Setup dialog 6 Click Next The Save Parameters dialog opens Save Parameters 6D Architect saves the collected data in a csv Comma Separated Value file and stored it in the location indicated by this Save Parameters dialog Once you have finished the entire characterization process you can open and review the csv file s contents NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris Accedo System Save Parameters Tool ROM 3 Each trial will be saved as a separate Comma Separated Value CS file Specify C reation Wiza rd the following save parameters If files already exist will the same parameters the collection files will continue with the existing naming convension It is suggested that you specify an extension that is unique to this collection set r Save Parameters Directory el File Name 6DA e g 6DA File Extension csv e g csv the trial number will be appended to your file name for each trial lt Back Cancel Figure 11 6 Save Parameters Dialog 7 Complete the Save Parameters section Field Option Action Directory Enter the directory location where you wish the files to be saved or browse to a location by clicking E File Name Enter the name for the data collection File Extension Enter csv Table 11 7 Save Parameters Section 8 Click Next The Data Collection dialog opens 11 6 Collect Tool Marker Data Th
28. Note You need to assign normals to all markers and all faces 36 NDI 6D Architect User Guide Active Tools Characterizing with a Polaris System 6D Architect performs several calculations and displays the results at the bottom of the Marker and Face Normals dialog to guide you in selecting the right normal values These suggestions change depending on how many markers are selected and where these markers are located on the tool Number of Markers Selected Suggested Values Provided 1 marker none 2 markers coordinates of the centroid 3 markers coordinates of the centroid and coefficients of an imagined plane that the three markers would create 4 or more markers coordinates of the centroid Table 6 8 Marker Information Provided By 6D Architect Note The centroid is the centre point of an imagined three dimensional volume created by the selected markers You can use these suggested values when determining normals but be sure to review and adjust the values as needed Note A face normal must be perpendicular to its face Individual marker normals however do not need to be perpendicular to the face that marker is assigned to To Create a Normal for Individual Markers 1 In the View list select All Markers 2 In the table at the bottom of the dialog press Ctrl and select three markers the desired marker included 3 Below the table the software displays the centroid and a plane equation associated with the se
29. Realtime Tracking Information x Transformation translation quaternion rotation xJ 22 4547 Y 422 6313 2 2244 8467 Erf 0 0362 q0 0 7815 Qs 0 6224 ay 0 0250 Qz 0 0335 LED 0 Used 1 for 2 z 3 Tool Switch States QO neh O 5wichs O Bad Fit ite O TooFewMarkers O GUY O Gute Exception JE f aine Guy O Face es Figure B 2 Realtime Tracking Information Dialog The software tests the SROM Image File by applying its parameters to the tool as the system tracks it in the measurement volume You can view the results in realtime using this dialog to help you evaluate the accuracy of the SROM Image File Note Figure A 1 displays a Realtime Tracking Information dialog for an Optotrak Certus System When using a Polaris System this dialog has more options and fields enabled 7 Click End Test once you are finished testing 162 NDI 6D Architect User Guide Testing Rigid Bodies Appendix C Testing Rigid Bodies Rigid Bodies should be tested to make sure that they have been characterized correctly 1 Ifyou do not have a RIG file already open from the main window menu select File gt Open 2 Make sure that your measurement system is properly connected to your computer and that the rigid body you plan to test is ready for use and placed in the measurement volume 3 Select File gt Test Rigid Body The Test Rigid Body Options dialog appears x Markers Number of Rigid
30. Status dialog opens displaying this collected information Use this dialog to view the collection results or record another trial Current Collection Status Tool ROM Creation Wizard This status page appears after each collection trial From here you can modity current collections or stop collecting and proceed with the tool characterization y Collection Status Filename Properties C ndigital 6DA 011 csv 4 Markers in 51 frames r Choose Your Next Step RECORD Another Data Trial Return to the data collection page to perform another collection STOP Recording Complete the collection process and proceed F View BUILD LOG file upon successful completion of build lt Back Cancel Figure 6 6 Current Collection Status Dialog 1 Select the newly created csv file from the Collection Status list 2 Optional Click View The csv file results open for viewing When you have finished reviewing the results click Close 3 Optional You can record additional data trials 30 NDI 6D Architect User Guide Active Tools Characterizing with a Polaris System e If you want to collect another data trial select RECORD Another Data Trial You will be returned to the Data Collection dialog to begin the process again e If you want to overwrite an existing data trial select the file that you wish to overwrite from the list and click Re collect You will be returned to the Data Collection dialo
31. Window currently showing ROM functionality 7 Figure 3 2 Marker Viewer Window o 8 Figure 3 3 6D Architect Main Window showing ROM functionality 11 Figure 3 4 NDI ROM Information section ce eee eee eee 12 Figure 3 5 6D Architect Main Window showing RIG functionality 13 Figure 3 6 NDI Rigid Body Information 2 0 0 0c eee ee eee eee 14 Figure 4 1 Starting the ROM Creation Wizard 00 0 e eee eee eee 16 Figure 5 1 Rigid Body Creation Wizard Welcome Dialog 18 Figure 6 1 Collection Settings Dialog 0 0 0 cece cece ene eens 22 Figure 6 2 Tool Description Dialog 0 0 cece ee teenies 23 Figure 6 3 Marker Setup DialoZ voii ose A ee te 26 Figure 6 4 Save Parameters Dialog voto a es 28 Figure 6 5 Data Collection Dialog visi daa trade 29 Figure 6 6 Current Collection Status Dialog nasaus eee ee eee eee 30 Figure 6 7 Marker Setup Groups and Faces Dialog 31 Figure 6 8 Tool Alignment Dialog 0 0 cee eee cee eee ee 33 Figure 6 9 Alignment Transformation Dialog 00 0000 eee eee 33 Figure 6 10 Manual Transform Dialog 0 0 cece eee eee 35 Figure 6 11 Marker and Face Normals Dialog 00 0 0 eee eee 36 Figure 6 12 Set Tolerances Dialog 2 aa shag A ARAS AA OR 39 Figure 6 13 Characterization Completion Dialog8 o ooooooooo 40 NDI 6D Architect User Guide
32. an identifying description for this wizard session 4 Click Finish The software saves your settings in a ROM Characterization Macro crm file Note The saved parameter file contains the tool s characterization information When applied to subsequent tools the software will automatically increase the sequence number Once the characterization is complete the wizard closes and a graphical representation of the tool will be loaded into the main window The tool parameters are loaded in the ROM section of the main window For more information about the main window see Exploring 6D Architect Main Window on page 6 102 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris System 10 10 What Is Next After you have created and saved the SROM Image File ROM file you must test the SROM Image File to ensure that the Polaris System can track the tool correctly For more instructions see Testing Tools on page 161 NDI 6D Architect User Guide 103 Passive Tools Characterizing With A Polaris Accedo System 11 11 1 11 2 104 Passive Tools Characterizing With A Polaris Accedo System The following sections walk you through each window of the ROM Creation Wizard to help you characterize an passive tool with a Polaris Accedo System This section explains the following steps 1 Start the Wizard 2 Enter the Collection Settings 3 Describe Tool Properties 4 Enter Tool Marker Values 5
33. and drop the entries in the list on the right to assign each marker to its correct data 3 Complete the Advance Build Algorithm Options section Option Action Upon successful build transform It is recommended to choose this option if you Rigid Body to a local origin are unsure how to align the rigid body Otherwise disable this option Use initial estimate RIG File If you want to use an existing Rigid Body file as an estimate select the file from the directory Table 13 3 Advanced Build Options 4 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 5 Click Next The Rigid Body Alignment dialog opens 13 6 Align the Rigid Body s Local Coordinate System Before any measurement system can calculate the position and rotation of your rigid body you will need to assign the rigid body a local coordinate system Assigning the rigid body a local coordinate system is an important step in producing accurate transformations NDI 6D Architect User Guide 143 Rigid Bodies Characterizing with an Optotrak System Rigid Body Alignment Ri Ti B od The Rigid Body was successfully calculated To align the Rigid Body to a local g y coordinat
34. be used to compute a rigid body transformation Minimum Number of Markers Enter the minimum number of markers that must be counted as present in the measurement volume before the system produces a transformation for the rigid body Maximum 3D Error Enter the maximum distance between where the marker is observed by the system and is expected to be in the Rigid Body file If a marker exceeds this value it is not used to compute a rigid body s transformation Table 13 5 Rigid Body Settings NDI 6D Architect User Guide 149 Rigid Bodies Characterizing with an Optotrak System Field Maximum 3D RMS Error Action Enter the maximum 3D RMS error that a measurement system will accept If the calculated 3D RMS error of a transformation is greater than the value specified in this field the transformation will be tagged as missing Maximum Sensor Error Enter the maximum calculated sensor position for each Optotrak sensor to the nominal sensor positions which are based on the rigid body file If the difference for a particular marker sensor pair is greater than the specified Maximum Sensor Error then that pair s data will be tagged as bad and the transformation will be re determined Maximum Sensor RMS Error Enter the maximum sensor RMS error that the measurement system will accept This parameter is considered a final check to determine if you will capture data for this frame or not If the calculated sensor RMS er
35. belong to at least 1 face Number of Groups 2 Number of Faces 2 a3 Reset Marker List to pekas KEYBOARD HINT You can also use the G key to toggle groups and the 1 8 keys to toggle the face states for the selected marker lt Back Cancel Figure 10 9 Marker Setup Groups and Faces Dialog 1 In the Number of Faces field select the number of faces 2 Assign a marker to a face in the table double click the marker s F column entry to change it to X This means that this marker is included on the face 3 Optional If you want to restore the faces to the original settings click Reset Marker List to Defaults 4 Click Next The Tool Alignment dialog opens NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris System 10 7 Align the Tool s Coordinate System Before any measurement system can calculate the position and rotation of your tool you will need to assign the tool a local coordinate system Assigning a local coordinate system is an important step in producing accurate transformations Tool Alignment The tool was successfully characterized To align the tool to a local coordinate system use the Alignment Methods below r Alignment Methods H EE z Hza o 0 2 Alignment Parameters J Tool ROM Creation Wizard Aligns the tool onto 1 user defined axes S Ex 5 zk or planes Manual Transform j AAA X Y 10 mm EZ Y 10 mm
36. dialog When you have finished the entire characterization process you can open and review the csv file s contents Save Parameters Tool ROM 3 Each trial will be saved as a separate Comma Separated Value CS file Specify Creation Wizard the following save parameters If files already exist will the same parameters the collection files will continue with the existing naming convension lt is suggested that you specify an extension that is unique to this collection set r Save Parameters Directory File Name EDAH e g 6DA File Extension csy e g csv the trial number will be appended to your file name for each trial lt Back Cancel Figure 7 5 Save Parameters Dialog NDI 6D Architect User Guide 49 Active Tools Characterizing with an Optotrak System 1 Complete the Save Parameters section Field Option Action Directory Enter the directory location where you wish the files to be saved or browse to a location by clicking E File Name Enter the name for the data collection File Extension Enter csv Table 7 5 Save Parameter Fields 2 Click Next The Data Collection dialog opens 7 6 Collect Tool Marker Data The Data Collection dialog allows you to check ifall tool markers are visible to the Position Sensor both before and during data collection trials The software requires accurate data collection in order to produce accurate information about each marker de
37. familiarize yourself with the 6D Architect interface All software functions are accessed through the 6D Architect main window 1 Open 6D Architect A pop up dialog appears asking you which characterizing task you wish to preform 2 For now close this dialog The 6D Architect main window opens displaying functions and fields specific to the last session either ROM or RIG functionality 6 NDI 6D Architect User Guide Exploring 6D Architect Main Window PA NDI 6D Architect ME ok loj x File Build Tool Operations Transform Settings Help Dee eK arse E NDI ROM Information Marker Positions Marker Normals Face Normals x M Z Item ROM Tag ROM Revision Tool Type Tool Sub Type Tool Revision Tool Date Sequence Number Maximum Angle Number of Markers Minimum Markers xl x Y 100 mm Z Y 100 mm Face Mask Group Mask Firing Sequence Marker Value Allow fields to be manually edited Advanced 2 30 100mm X Z 100 mm Figure 3 1 6D Architect Main Window currently showing ROM functionality 3 2 The Main Toolbar The following table describes the buttons on the main toolbar Command Icon Description TA The Characterization Wizard button launches a characterization wizard If tool information is already loaded running the wizard will allow you to modify this information The Test Tool button lets you test the tracking of the tool within the measurement vol
38. in a single pose Table 5 2 Build Algorithm Types 19 Rigid Body Characterization The First Step 5 2 What Is Next 6D Architect customizes the following Rigid Body Creation Wizard procedures to match the collection method chosen in the Rigid Body Creation Wizard Welcome dialog This guide is organized in a similar fashion If you have selected Go to Optotrak Collection Rigid Bodies Characterizing with an Optotrak System on page 137 Previously Collected NDI Data Files Rigid Bodies Characterizing with Previously Collected Data on page 124 Previously Collected CSV Files Rigid Bodies Characterizing with Previously Collected Data on page 124 Table 5 3 What Is Next 5 3 About CRG Files Once you have completed characterizing a rigid body 6D Architect allows you to save all the Rigid Body Creation Wizard selections that you have made in case you want to repeat the characterization process for additional rigid bodies using similar parameters Note For more information about creating this file see Complete the Characterization on page 151 You can open a crg file at any time while working in the 6D Architect main window 1 From the main window toolbar click Build gt Load Characterization Template File The Auto Characterization File dialog opens 2 Inthe File Name field enter the desired crg file or browse to it by clicking E 3 Click Proceed The System Connection dialog opens
39. markers AG Fry x Optotrak Certus Collection Settings Tool ROM Creation Wizard Tool Selection Ha Select tool to be used for ROM file creation Port 02 01 SubPort 02 NDI 8700223 33912005 v Refresh Tool List Optotrak System Settings Overall Marker Power sets the marker emission strength Collection Time seconds of data that will be recorded for each trial Frame Frequency the rate of data collection Dptotrak System Dverall Marker Power Mn aa Ma Collection Time s p a Frame Frequency Hz 2000 Le Camera Parameter File D MlocalData Architect camfiles stanc B Advanced Options JU Use Positioning Device Advanced Starting Marker lt Back Cancel Figure 7 2 Collection Settings Dialog Note Figure 7 1 shows the Collection Settings dialog of an Optotrak Certus System This contents of this dialog is slightly different for Optotrak 3020 Systems 1 From the Tool Selection drop down list select the tool you wish to characterize Each selection is formatted in the following way Port A B Subport_C Tool where A is the port number on the SCU 44 NDI 6D Architect User Guide Active Tools Characterizing with an Optotrak System B is the strober order number assigned sequentially to each strober connected to the indicated port C is the strober s subport number 6D Architect automatically generates the Tool Selection list using information that
40. markers that must be counted as present in the measurement volume before the system produces a transformation for the tool Maximum 3D Error Enter the maximum distance between where the marker is observed by the system and is expected to be in the tool s SROM Image File If a marker exceeds this value it is not used to compute a tool transformation Table 11 10 Tolerance Fields 5 Click OK 6 Click Next The Characterization Completion dialog opens 11 10 Complete the Tool Characterization 6D Architect allows you to save all the ROM Creation Wizard selections that you ve made in case you want to repeat the characterization process for similar tools using similar parameters Remember that although you can use the same wizard selections for similar tools you will still need to perform separate and unique data collections for each NDI 6D Architect User Guide 121 Passive Tools Characterizing With A Polaris Accedo System aaa xl Congratulations you have successfully characterized the Tool ROM tool Crea tion Wiza rd After exiting this wizard the ROM information will be loaded into the main program window to perform the following tasks 1 Save the ROM file 2 Test that Polaris and or Optotrak Certus systems can track the tool 3 Active Tool ROM files can be programmed directly to the tool Be sure to validate the tool to confirm it is operating as you expect and that it is returning correct transformations
41. of frames 6D Architect will collect from the Polaris Accedo System A frame is a single 3D measurement of the positions of all the markers in the measurement volume Table 11 1 Collection Settings Section 2 Complete the Polaris Accedo System section Field Option Definition Volume Your Polaris Accedo System s measurement volume COM Port The host computer s communications port to which the Polaris Accedo is connected Table 11 2 Polaris Accedo System Section NDI 6D Architect User Guide 105 Passive Tools Characterizing With A Polaris Accedo System Field Option Definition Baud Rate The host computer s baud rate The default setting is 9600 to ensure communications can be established for all computer configurations Table 11 2 Polaris Accedo System Section 3 Optional If you want to apply advanced system settings see Polaris Polaris Accedo System Settings on page 170 4 Click Next The Tool Description dialog appears 11 3 Describe Tool Properties In the following screen the ROM Creation Wizard will ask you to enter the parameters about the tool This includes information such as the tool type marker type and the tracking algorithm Tool Description To 0 RO M This step allows you to define the tool properties These settings are saved Creation Wizard within the ROM file r Tool Description Part Number 123456 Manufacturer NDI Revision 13 Tool Type REFERENCE y Tool Sub
42. the Number of Faces field select the number of faces 2 Assign a marker to a face in the table double click the marker s F column entry to change it to X This means that this marker is included on the face NDI 6D Architect User Guide 69 Active Tool Characterizing with Engineering Data 8 6 70 3 Optional If you want to restore the faces to the original settings click Reset Marker List to Defaults 4 Click Next The Tool Alignment dialog opens Align the Tool s Coordinate System Before any measurement system can calculate the position and rotation of your tool you will need to assign the tool a local coordinate system Assigning a local coordinate system is an important step in producing accurate transformations Tool ROM Creation Wizard Tool Alignment use the Alignment Methods below r Alignment Methods alaala PEG de 24 zlea Alignment Parameters K Ed Aligns the tool onto 1 user defined axes s kx or planes Performs a user defined transform translation and rotation a ccl z Undo r Algorithm The tool was successfully characterized To align the tool to a local coordinate system Manual Transform 3 A X 4 10 mm CZ Y 10 mm 3D 100 mm X Z 10 mm zk Adjust Constraints A 39 4214 B 11 9331 55 9328 Edit the transform F 36 8331 6 3716 algorithm G 19 3595 7 4935 constraints K 6 5091 37 3150 L 59 1612
43. the face that marker is assigned to To Create a Normal for Individual Markers 1 In the View list select All Markers 2 In the table at the bottom of the dialog press Ctrl and select three markers the desired marker included Below the table the software displays the centroid and a plane equation associated with the selected markers Use this information to determine the coordinates of the ideal normal for the desired marker Note The first three coefficients of the plane equation are coordinates for a normal vector perpendicular to the imagined plane NDI 6D Architect User Guide 119 Passive Tools Characterizing With A Polaris Accedo System 120 Note Select a single marker or if you want to assign the same normal to multiple markers select them while pressing the Ctrl key Click Edit Selected In the coordinate fields provided enter the values that you determined in step 2 and adjust the values if necessary Your changes are displayed graphically to help you with these edits Click OK To Create Normals for Faces l 2 In the View list select the appropriate face In the table at the bottom of the dialog press Ctrl and select three markers that are assigned to the face Below the table the software displays the centroid and a plane equation associated with the selected markers Use this information to determine the coordinates of the ideal normal for the desired marker The first three coefficie
44. wizard closes and a graphical representation of the tool will be loaded into the main window The tool parameters are loaded in the ROM section of the main window For more information about the main window see Exploring 6D Architect Main Window on page 6 NDI 6D Architect User Guide 77 Active Tool Characterizing with Engineering Data 8 9 What Is Next After you have created and saved the SROM Image File ROM file you must perform the following tasks 1 Test the SROM Image File to ensure that the Polaris System can track the tool correctly For more instructions see Testing Tools on page 161 2 Load the SROM Image File onto the tool s SROM device For instructions see Active Tools Programming SROM Devices on page 79 78 NDI 6D Architect User Guide Note 9 1 9 2 Active Tools Programming SROM Devices Active Tools Programming SROM Devices The SROM device is located inside an active tool s connector Use 6D Architect to load the SROM Image File ROM onto the SROM device so that the tool can carry its own information Whenever the tool connects to an NDI measurement system the SROM Image File is automatically retrieved from the SROM device for interpretation Because the SROM device can only be programmed once it is essential to view the tool parameters and test the tracking ability before programming For instructions see Testing Tools on page 161 This section explains the fol
45. you with these edits Click OK Optional If you want to restore all of the normals and tolerances to the default settings click Undo Click Next The Characterization Completion dialog opens To Set Tracking Tolerances de 2 3 In the View list select All Markers In the table at the bottom of the dialog select a marker Click Edit Tolerances The following dialog opens NDI 6D Architect User Guide 6 10 Active Tools Characterizing with a Polaris System Set Tolerances 3 xj Maximum Marker Angle 60 degrees Minimum Number of Markers 3 Maximum 3D Error 2 mm If a marker fails to satisfy any of these tolerances it is tagged as invalid and the transformation will be re calculated without it Cancel Figure 6 12 Set Tolerances Dialog 4 Complete the fields provided Field Maximum Marker Angle Action Enter the maximum angle that a marker normal can be pointed away from the Position Sensor Any marker turned away more than this value will not be used to compute a tool transformation Minimum Number of Markers Enter the minimum number of markers that must be counted as present in the measurement volume before the system produces a transformation for the tool Maximum 3D Error Enter the maximum distance between where the marker is observed by the system and is expected to be in the tool s SROM Image File If a marker exceeds this value it is not used to compute a too
46. 0 0 0000 Facel 0 0000 1 0000 0 0000 Click the Back button to re align the tool and its normals lt Back Cancel Figure 7 12 Marker and Face Normals Dialog About Determining Normals Note You need to assign normals to all markers and all faces NDI 6D Architect User Guide 57 Active Tools Characterizing with an Optotrak System 58 Note Note Note 6D Architect performs several calculations and displays the results at the bottom of the Marker and Face Normals dialog to guide you in selecting the right normal values These suggestions change depending on how many markers are selected and where these markers are located on the tool Number of Markers Selected Suggested Values Provided 1 marker none 2 markers coordinates of the centroid 3 markers coordinates of the centroid and coefficients of an imagined plane that the three markers would create 4 or more markers coordinates of the centroid Table 7 7 Marker Information Provided By 6D Architect The centroid is the centre point of an imagined three dimensional volume created by the selected markers You can use these suggested values when determining normals but be sure to review and adjust the values as needed A face normal must be perpendicular to its face Individual marker normals however do not need to be perpendicular to the face that marker is assigned to To Create a Normal for Individual Markers 1 In the View list se
47. 00 1 0000 0 0000 53 8000 0 0000 0 0000 0 0000 1 0000 0 0000 104 7000 6 4000 0 0000 0 0000 1 0000 0 0000 Facel 0 0000 1 0000 0 0000 A B E Click the Back button to re align the tool and its normals lt Back Cancel Figure 11 13 Marker and Face Normals Dialog 118 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris Accedo System About Determining Normals Note You need to assign normals to all markers and all faces 6D Architect performs several calculations and displays the results at the bottom of the Marker and Face Normals dialog to guide you in selecting the right normal values These suggestions change depending on how many markers are selected and where these markers are located on the tool Number of Markers Selected Suggested Values Provided 1 marker none 2 markers coordinates of the centroid 3 markers coordinates of the centroid and coefficients of an imagined plane that the three markers would create 4 or more markers coordinates of the centroid Table 11 9 Marker Information Provided By 6D Architect Note The centroid is the centre point of an imagined three dimensional volume created by the selected markers You can use these suggested values when determining normals but be sure to review and adjust the values as needed Note A face normal must be perpendicular to its face Individual marker normals however do not need to be perpendicular to
48. 14 Figure 3 6 NDI Rigid Body Information 1 129 4344 4243686 2939150 1 2 153 9894 4328240 2936743 2 3 87 5807 415 3996 2837228 3 4 106 1790 414 0513 290 5066 4 5 191803 4071627 2890415 5 6 24229 413 2271 288 4321 6 7 1155414 237 6119 166 0924 7 8 66 0034 238 0855 175 0604 8 9 66 0321 288 2479 172 6556 9 10 115 6326 287 9030 163 8075 10 11 35370 285 4455 168 7386 11 12 35 0399 286 2297 164 8265 12 37 5812 242 9335 176 1178 13 40 1132 199 6281 187 1781 14 z b Marker Operations Insert Edit Include Normals Edit Normals The NDI Rigid Body Information section has only one table listing all the markers in the rigid body This table includes the markers assigned names and coordinates The NDI Rigid Body Information section also has several Marker Operations that you can perform you can edit remove and insert additional markers to table above You can also change a marker s normals For more information about rigid body marker normals see Add Marker and Face Normals on page 57 NDI 6D Architect User Guide 4 1 Note Note Tool Characterization The First Step Tool Characterization The First Step NDI 6D Architect provides you with a characterization wizard to guide you through the process of characterizing a tool and creating an SROM Image File If you want to characterize a rigid body instead of a tool see Rigid Body Characterization The F
49. 49 1792 1198 O F 294 3249 155 2432 1787 8838 G 347 3731 139 5163 1800 0963 Y 1 kK _ 307 5792 108 8973 1771 2513 Change Trial Length O L 321 1238 104 5452 1774 0875 N lt Back Cancel Figure 6 5 Data Collection Dialog Note Figure 6 5 shows a Polaris System using a standard measurement volume 1 Optional Ifyou want to edit the collection trial length click Change Trial Length and enter the new value Increasing the trial length may increase the accuracy of the software s data interpretations 2 Position the tool within the measurement volume If you are unsure whether or not your markers are visible observe the marker status in the bottom right of the window Marker Colour Marker Status Green The marker is visible to the system and is inside the measurement volume Table 6 7 Marker Status Colours NDI 6D Architect User Guide 29 Active Tools Characterizing with a Polaris System Marker Colour Marker Status Yellow The marker is visible but not in the measurement volume Red The marker is not visible to the system Table 6 7 Marker Status Colours Fach coloured circle corresponds to a marker The number of circles should match the number of markers that are on the tool 3 Click Collect The system proceeds to collect information about each marker s position for the number of frames specified You can view this action in the marker status section of the dialog The Current Collection
50. 5 Figure 11 2 Polaris Accedo Tool Description Dialog8 o 106 Figure 11 3 Marker Setup Dialog 0 0 0 0 ccc cc cece ete ence eeas 108 Figure 11 4 Edit Marker Information Dialog 0 0 0 eee eee 109 Figure 11 5 Passive Viewer Dialog ta tena PARA KAKA 110 viii NDI 6D Architect User Guide List of Figures Figure 11 6 Save Parameters Dialog seu paawa pahina rra Kana 111 Figure 11 7 Data Collection Dialog ooo oo o oooo o ooco ns 112 Figure 11 8 Current Collection Status Dialog 2 0 0 0c eee ee eee 113 Figure 11 9 Marker Setup Groups and Faces Dialog 114 Figure 11 10 Tool Alignment Dialog 0 ce eee eee eee eee 115 Figure 11 11 Alignment Transformation Dialog 0 00 00 05 116 Figure 11 12 Manual Transform Dialog a 117 Figure 11 13 Marker and Face Normals Dialog 00 02 e eee 118 Figure 11 14 Set Tolerances Dialog 0 0 ee eee 121 Figure 11 15 Characterization Completion Dialo8 o ooooooomooo o 122 Figure 12 1 NDI Data File s Selection cca Sew dane AA A A 125 Figure 12 2 Build Parameters Dialog 5 00 coin Soa se bee She aes 126 Figure 12 3 Rigid Body Alignment Dialog 00 02 eee eee eee 128 Figure 12 4 Alignment Transformation Dialog 0000s eee 128 Figure 12 5 Manual Transform Dialog 00 0 c eee eee eee 130 Figure 12 6 Rigid Body Normals D
51. 62 8 Active Tool Characterizing with Engineering Data 63 8 1 Start the Wizard ised ee aad eee ed eee wa Pee RS 63 8 2 Describe Tool Properties assistance dab a Cae GAGA 63 8 3 Define Marker Setups ying sapa mia kA NAKA Kh aie be NAA 66 ii NDI 6D Architect User Guide Table of Contents 8 4 Enter Tool Marker Values sana occurred 67 8 5 Define Groups and PAGES a ta va bie BANANA Ka AP KA 69 8 6 Align the Tool s Coordinate System a 70 8 7 Add Marker and Face Normals o ooooocococoococoooooo 73 8 8 Complete the Tool Characterization oooooooomom ooo 76 8 9 What Is Next esi aaa A AAA oa 78 9 Active Tools Programming SROM Devices maana 79 9 1 Open the SROM Image Fll Ca Sod Hee Aa ees 79 9 2 Edit the SROM Image File aia GNG AA Fae cas 79 9 3 Test Tool Tracking sra at 80 9 4 Program User Specified SROM Tags 2 a 80 9 5 Program the SROM Device coca KG NAG aa 82 10 Passive Tools Characterizing With A Polaris System 84 10 1 Start the a AA O O 84 10 2 Enter Collection Settings 00oo ooomooooorrr rrrrr 84 10 3 Describe Tool Properties cee 86 10 4 Enter Tool Marker Values 3 ao as e GNG 88 10 5 Saving Parameters std es td taa Sore 90 10 6 Define Pas a da taa 94 10 7 Align the Tool s Coordinate System 0 0 000 95 10 8 Add Marker and Face Normals a 98 10 9 Complete the Tool Characterizat
52. 687 44 3863 10 5569 3 15 7831 0 6849 1 8210 4 18 3963 42 9635 5 9849 5 13 0627 44 3322 10 5469 6 15 7611 0 7181 1 9521 lt Back Cancel Figure 12 6 Rigid Body Normals Dialog About Determining Normals Note You need to assign normals to all markers 6D Architect performs several calculations and displays the results at the bottom of the Rigid Body Normals dialog to guide you in selecting the right normal values These NDI 6D Architect User Guide 131 Rigid Bodies Characterizing with Previously Collected Data 132 suggestions change depending on how many markers are selected and where these markers are located on the tool Number of Markers Selected Suggested Values Provided 1 marker none 2 markers coordinates of the centroid 3 markers coordinates of the centroid and coefficients of an imagined plane that the three markers would create 4 or more markers coordinates of the centroid Table 12 2 Marker Information Provided By 6D Architect Note The centroid is the centre point of an imagined three dimensional volume created by the selected markers Note You can use these suggested values when determining normals but be sure to review and adjust the values as needed To Create a Normal for Individual Markers 1 Enable Include Normals The software attempt to calculate normals for each marker on the rigid body In the table at the bottom of the dialog press Ctrl and select three
53. 820 Z Axis 0 0000 180 GTA A 180 Degrees Radians cone Figure 8 7 Manual Transform Dialog 2 Adjust each field incrementally to change the position and orientation of the local coordinate system Each change is reflected in the graphic representations in the Tool Alignment dialog e Use the Tx Ty and Tz fields to translate the origin of the local coordinate system e If you are using the Euler Angles as indicated in the drop down list use the X Axis Y Axis and Z Axis fields to rotate the local coordinate system Note The Rotation Matrix and Quaternion are advanced options The easiest and most intuitive way to rotate coordinate systems is to use Euler Angles 72 NDI 6D Architect User Guide Active Tool Characterizing with Engineering Data 3 Once you are satisfied click Apply to save your changes 4 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 5 Click Next The Marker and Face Normals dialog appears 8 7 Add Marker and Face Normals For each marker and face on your tool you will need to assign a vector that defines which way they are facing The system uses this vector or normal to
54. Architect User Guide 171 Polaris Polaris Accedo System Settings POLARIS System Settings xj Serial Port POLARIS Advanced Collection Parameters Frame Frequency 20 1 60Hz Collect Delay 0 0 20s r Marker Auto Detect Tolerances LED Cutoff 5 0 255 IRED Cutoff 45 0 255 Reset To Defaults caret Figure F 4 Advanced Tab 9 Complete the following parameters Field Option Frame Frequency Action Enter the maximum update rate to be used while collecting data for your tool s characterization in Hz Collect Delay Enter the delay before the collection starts The system will wait for the specified duration after you request a collection to begin LED Cutoff Enter the cutoff value in milliamps that determines it is an LED IRED Cutoff 10 Click OK Enter the cutoff value in milliamps that determines it is an IRED Table F 2 Advanced Fields Note NDI does not recommend changing the default values for LED Cutoff and IRED Cutoff Contact NDI technical support for details 172 NDI 6D Architect User Guide Optotrak System Settings AppendixG Optotrak System Settings This section describe the various advanced system settings available for Optotrak 3020 and Optotrak Certus Systems Note These settings are advanced features if you are unsure of the intended result simply continue with 6D Architect s default settings 1 From the main window select Settings gt Opto
55. Architect performs several calculations and displays the results at the bottom of the Rigid Body Normals dialog to guide you in selecting the right normal values These NDI 6D Architect User Guide 147 Rigid Bodies Characterizing with an Optotrak System 148 suggestions change depending on how many markers are selected and where these markers are located on the tool Number of Markers Selected Suggested Values Provided 1 marker none 2 markers coordinates of the centroid 3 markers coordinates of the centroid and coefficients of an imagined plane that the three markers would create 4 or more markers coordinates of the centroid Table 13 4 Marker Information Provided By 6D Architect Note The centroid is the centre point of an imagined three dimensional volume created by the selected markers Note You can use these suggested values when determining normals but be sure to review and adjust the values as needed To Create a Normal for Individual Markers 1 Enable Include Normals The software attempt to calculate normals for each marker on the rigid body In the table at the bottom of the dialog press Ctrl and select three markers the desired marker included Below the table the software displays the centroid and a plane equation associated with the selected markers Use this information to determine the coordinates of the ideal normal for the desired marker The first three coefficients of the plane
56. Body Markers 6 Port 1 0 Pa fe a 3 10 4 4 l0 a Optotrak Options coca Figure C 1 Test Rigid Body Options Dialog 4 Enter the total number of rigid body markers that are connected to each port 5 Click OK The Test Rigid Body File dialog appears displaying realtime tracking results Test Rigid Body File xi O Realtime Transformation Tx 23 320540 Ty 61 861870 Tz 234852553 Error 0 306159 oo 0 358921 Qx 0181713 Qy 0 214750 Dz 0 036505 Figure C 2 Test Rigid Body File Dialog The software tests the Rigid Body File by applying its parameters to the rigid body as the system tracks it in the measurement volume You can view the results in realtime using this dialog to help you evaluate the accuracy of the Rigid Body File 6 Click End Test when you are finished testing NDI 6D Architect User Guide 163 Unique Geometry AppendixD Unique Geometry Note D 1 D 2 164 Wireless tools are not physically connected a measurement system therefore that system cannot directly read the tool s design information and recognize which marker is which on the tool s face As such wireless tools require unique geometry markers positioned in such a way that they cannot be misidentified when discovered in the measurement volume See TB 0004 Revision 007 Unique Geometry Specifications for Polaris System Tools for information concerning geometry constraints Use 6D Architect to test your tool de
57. C 03 Randall Drive Waterloo ON Canada N2V 1C5 Phone 519 884 5142 Toll Free 877 634 6340 Global 800 634 634 00 Fax 519 884 5184 Email support ndigital com Website www ndigital com EUROPEAN OFFICE NDI EUROPE GmbH Fritz Reichle Ring 2 D 78315 Radolfzell Germany Phone 49 77 32 939 19 00 Global 800 634 634 00 Fax 49 77 32 939 19 09 Email support ndieurope com Website www ndieurope com ASIA PACIFIC OFFICE NDI ASIA PACIFIC Room 2603 26th Floor Office Tower Convention Plaza 1 Harbour Road Wanchai Hong Kong Phone 852 2802 2205 Fax 852 2802 0060 Email APsupport ndigital com Website www ndigital com NDI 6D Architect User Guide 2 1 Welcome to NDI 6D Architect Welcome to NDI 6D Architect NDI 6D Architect software helps you characterize tools and rigid bodies for the following NDI measurement systems Polaris The Polaris family of optical tracking systems is a highly versatile real time tracking technology By measuring the 3D positions of markers the Polaris System determines the real time positions and orientations of each tool Polaris Accedo The Polaris Accedo System differs from the Polaris System in that it only supports passive tools In addition it has a different measurement rate and can track a maximum of four tools at once Optotrak The Optotrak Systems are designed to track diodes that emit infrared light within a large characterized measure
58. Engineering Data 8 5 Define Groups and Faces Once the firing sequence for the active markers has been defined you can organize the markers into groups and faces aaa xl Marker Setup Groups and Faces To 0 RO M In this step you may organize the markers into Faces and Groups Double click the list below to toggle the group and face states for each marker Creation Wizard GROUPS define which markers within a face can be fired simulatenously If markers within a face are less than 50mm apart they must be placed in separate groups FACES are separate Rigid Bodies that can each be used for tracking Each face must have at least 3 markers each marker must belong to at least 1 face Number of Groups 2 a Number of Faces 2 Reset Marker List to pekas KEYBOARD HINT You can also use the G key to toggle groups and the 1 8 keys to toggle the face states tor the selected marker lt Back Cancel Figure 8 4 Marker Setup Groups and Faces Dialog To Select the Number of Groups 1 In the Number of Groups field select the number of groups you want to create 2 Assign each marker in the table to group in the table double click on a marker s Group N entry to toggle between group selections By default all markers are assigned to group 1 3 Optional If you want to restore the groups to the original settings click Reset Marker List to Defaults To Select the Number of Faces 1 In
59. Enter today s date using the format indicated Sequence Number Enter 1 to indicate an increment of one for each serial number created Table 6 5 Serial Number Settings The software will automatically calculate a unique serial number for your tool using these settings 4 Click Next The Marker Setup dialog opens 6 4 Define Marker Setup Once the tool description is defined the ROM Creation Wizard will ask you to specify where the markers are within the wiring matrix and if switches or LEDs are present on the tool You can determine the firing sequence of the markers automatically or by assigning a number manually Note You can use the Auto Detect feature to determine the location of the active markers and LEDs within the matrix If you choose this option the firing sequence is arbitrary NDI 6D Architect User Guide 25 Active Tools Characterizing with a Polaris System Marker Setup Active Type To 0 RO M Specify the tool wiring layout active markers visible LEDs and switch states switch e flags Each marker must have a matrix letter Creation Wizard Auto Detect Active Markers and LEDs m ctive Markers Markers E Firing Sequence m Visible LEDs Switch Flags 1 none 2 none T Present 3 Switch 2 a Switch 3 T Tool Engage 4 none KEYBOARD HINT You can also type the matrix position of the selected marker Next gt Cancel Figure 6 3 Marker Setu
60. Face Normals 4 From the drop down list select the appropriate face 5 In the coordinate fields provided enter the values that you determined in step 2 and adjust the values if necessary Your changes are displayed graphically to help you with these edits 6 Click OK 7 Optional If you want to restore all of the normals and tolerances to the default settings click Undo 8 Click Next The Characterization Completion dialog opens To Set Tracking Tolerances 1 In the View list select All Markers 2 In the table at the bottom of the dialog select a marker 3 Click Edit Tolerances The following dialog opens NDI 6D Architect User Guide 59 Active Tools Characterizing with an Optotrak System Set Tolerances A x Maximum Marker Angle 50 degrees Minimum Number of Markers 3 Maximum 3D Error 2 mm If a marker fails to satisfy any of these tolerances it is tagged as invalid and the transformation will be re calculated without it OK Cancel LOOK Figure 7 13 Set Tolerances Dialog 4 Complete the fields provided Field Action Maximum Marker Angle Enter the maximum angle that a marker normal can be pointed away from the Position Sensor Any marker turned away more than this value will not be used to compute a tool s transformation Minimum Number of Markers Enter the minimum number of markers that must be counted as present in the measurement volume before the system produces a transform
61. Marker Face Masks Group Masks and Firing Sequence This section allows you to view and edit each marker s Face Mask Group Mask and the Firing sequence Table 3 5 SROM Image File Information Note The value assigned to ROM Tag will always be NDI NDI 6D Architect User Guide Exploring 6D Architect Main Window Some of the NDI ROM Information fields are coloured differently than others Colour Meaning Green This field contains an integer value in decimal form Blue This field contains an integer value in hexidecimal form White This field contains a floating point value or a string Table 3 6 Field Colours 3 6 Rigid Body File Functionality If you are working with Rigid Body files select File gt New gt Rigid Body File The main window updates its contents to reflect Rigid Body file functions and fields FA Untitled NDI 6D Architect 10 lx File Edit Build Transform Settings Hel eE IEI AEE ER x Y 100 mm Z Y 100 mm Marker Operations y Insert Edit FT Include Normals Z 100 mm um Z Figure 3 5 6D Architect Main Window showing RIG functionality NDI Rigid Body Information Tables Once the characterization of a rigid body is complete you can view the configuration parameters and edit the values in the main window This information is located to the left of the Marker Viewer Window NDI 6D Architect User Guide 13 Exploring 6D Architect Main Window
62. Markers Port 1 a 2 40 4 3 J0 a 4 l0 a If the Rigid Body is a sub set of the collected markers you will be able to specify which markers are Rigid Body markers in a later wizard step Optotrak System Settings Overall Marker Power sets the marker emission strength Collection Time seconds of data that will be recorded for each trial Frame Frequency the rate of data collection r Optotrak System Overall Marker Power Min Mar Collection Time s 10 Frame Frequency Hz 131 Camera Parameter File JE ndigital realtime standard cam GF Advanced Options JT Use Positioning Device Advanced Device Settings lt Back Cancel Figure 13 1 Collection Settings Dialog Note Figure 12 1 shows the Collections Settings dialog that applies to an Optotrak 3020 System Optotrak Certus Systems have three ports not four To Enter the Collection Settings 1 In the Markers section enter the total number of markers that are connected to each port These totals may include markers that are not part of the rigid body 2 Complete the Optotrak System section Field Option Action Overall Marker Power Adjust the slide to indicate the intensity of light emitted from the markers Collection Time Enter the length of the intended collection time in seconds Frame Frequency Enter the frame frequency in Hz used during data collection Camera Parameter File Select the came
63. NDI 6D Architect User Guide Revision 4 0 March 2004 IMPORTANT Please read this entire document before attempting to operate the Measurement System Part number IL 1070059 Copyright 2004 Northern Digital Inc All Rights Reserved NDI Optotrak Aurora and Polaris are registered trademarks of Northern Digital Inc Accedo Certus and Measurement You Can Trust are trademarks of Northern Digital Inc Je Printed in Canada Published by Northern Digital Inc 103 Randall Dr Waterloo Ontario Canada N2V 1C5 Telephone 519 884 5142 Toll Free 877 634 6340 Global 800 634 634 00 Facsimile 519 884 5184 Website www ndigital com Copyright 2004 Northern Digital Inc All rights reserved No part of this document may be reproduced transcribed transmitted distributed modi fied merged or translated into any language in any form by any means graphic electronic or mechanical including but not limited to photocopying recording taping or information storage and retrieval systems with out the prior written consent of Northern Digital Inc Certain copying of the software included herein is unlawful Refer to your software license agreement for information respecting permitted copying DISCLAIMER OF WARRANTIES AND LIMITATION OF LIABILITIES Northern Digital Inc has taken due care in preparing this document and the programs and data on the elec tronic media accompanying this document including research develo
64. ROM Image File onto the tool s SROM device For instructions see Active Tools Programming SROM Devices on page 79 NDI 6D Architect User Guide 8 1 8 2 Active Tool Characterizing with Engineering Data Active Tool Characterizing with Engineering Data The following sections direct you through each window of the ROM Creation Wizard to help you characterize an active tool with engineering data This section explains the following steps 1 Start the Wizard 2 Describe Tool Properties 3 Define Marker Setups 4 Enter Tool Marker Values 5 Define Groups and Faces 6 Align the Tool s Coordinate System 7 Add Marker and Face Normals 8 Complete the Tool Characterization 9 What Is Next Start the Wizard Before continuing you must open the wizard and indicate that you are characterizing an active tool with engineering data For instructions see Tool Characterization The First Step on page 15 Once this step is completed you can continue the characterization process Describe Tool Properties The ROM C reation Wizard s second screen is the Tool Description dialog You will need to enter tool parameters including information such as the tool type marker type and the tracking algorithm NDI 6D Architect User Guide 63 Active Tool Characterizing with Engineering Data Tool ROM Creation Wizard Tool Description This step allows you to define the tool properties These settings are sav
65. STOP Recording Complete the collection process and proceed IT View BUILD LOG file upon successful completion of build lt Back Cancel Figure 11 8 Current Collection Status Dialog Use this dialog to view the collection results or record another trial Select the newly created csv file from the Collection Status list Optional Click View The csv file results open for viewing When you have finished reviewing the results click Close Optional You can record additional data trials e If you want to collect another data trial select RECORD Another Data Trial You will be returned to the Data Collection dialog to begin the process again e If you want to overwrite an existing data trial select the file that you wish to overwrite from the list and click Re collect You will be returned to the Data Collection dialog to begin the process again NDI 6D Architect User Guide 113 Passive Tools Characterizing With A Polaris Accedo System 11 7 114 4 When you are satisfied with the data collection select STOP Recording 5 Optional If you want to view the Build log file at the end of the build when you have completed the ROM Creation Wizard choose View BUILD LOG upon successful completion of build 6 Click Next The Groups and Faces dialog opens Define Faces Once the firing sequence for the active markers has been defined you can organize the markers into faces Marker Setup Groups and Faces
66. Tag Commands Tag Type Type v Add Tag i Tag Address Tag type Tag length Manufacturi 13 Tip location 13 3 3 Ox002E Type 0x11 3 OK Cancel Figure 9 1 User Specified ROM Dialog Note If pre existing information resides on your SROM Image File that information will appear inside the Tag Viewer section of the User Specified ROM dialog The following describes this dialog s table in more detail Column Description Tag The first number lists the currently existing tags The bracketed number is a zero based index of all tags on the ROM including any previously deleted tags Address The address in memory Tag Type The tag description with corresponding tag identification Tag length The tag length in bytes Tag The tag contents Table 9 2 SROM Tag Table 5 From the Tag Type field select the type of tag you wish to add 6 Click Add Tag A brief dialog will appear with the appropriate data fields for the tag type you selected 7 Complete these fields and click OK 8 Optional To remove a tag select the tag from the SROM Tag table and click Delete 9 When you have finished adding and editing the SROM tags click OK The Changes to SROM File dialog appears NDI 6D Architect User Guide 81 Active Tools Programming SROM Devices Note 9 5 Note A Warning 82 Changes to SROM File E x You have made changes to the SROM file would you like to program these changes to t
67. To automatically repeat the characterization process save the wizard settings to an output file vV Save Wizard Settings Output File D A4markersR0Mmacro crm ej Description tool with 4 markers lt Back Cancel Figure 7 14 Characterization Completion Dialog 1 Choose Save Wizard Settings 2 Inthe Output File field browse to a location and enter a name by clicking E 3 Inthe Description field enter an identifying description for this wizard session 4 Click Finish The software saves your settings in a ROM Characterization Macro crm file Note The saved parameter file contains the tool s characterization information When applied to subsequent tools the software will automatically increase the sequence number Once the characterization is complete the wizard closes and a graphical representation of the tool will be loaded into the main window The tool parameters are loaded in the ROM section of the main window For more information about the main window see Exploring 6D Architect Main Window on page 6 NDI 6D Architect User Guide 61 Active Tools Characterizing with an Optotrak System 7 11 62 What Is Next After you have created and saved the SROM Image File ROM file you must perform the following tasks 1 Test the SROM Image File to ensure that the Optotrak System can track the tool correctly For more instructions see Testing Tools on page 161 2 Load the S
68. a POLARIS collection Rigid Body File use values from a Rigid Body file m Marker Values X NG Z Remove Edit Undo Last View 3D If necessary you can remove or edit values and view the markers in 3D to verify the tool shape Click Next coca Figure 11 3 Marker Setup Dialog To Enter Marker Values Using a Rigid Body File 1 Click Rigid Body File use values from a Rigid Body 108 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris Accedo System 2 Select the desired file from the directory 3 Click Open 6D Architect reads the Rigid Body file and plugs its marker values into the Marker Values list 4 Click Next To Enter Marker Values Using Engineering Data 1 Click Manual Input use Engineering Data The Edit Marker Information dialog opens x Marker a xo vp 2 Cancel Figure 11 4 Edit Marker Information Dialog 2 Enter the x y z positions for all markers on the tool 3 Click OK The Edit Marker dialog closes 4 Once you have entered marker values you can edit them in the following ways Edit or Change Action Edit a marker s values Select the marker and click Edit Remove a marker from the list Select the marker and click Remove Undo the last edit action Click Undo Last View the marker s in 3D Select the marker and click View 3D Table 11 6 Changing Marker Values 5 Click Next The Marker Setup Gro
69. ame field enter the name for the data collection 3 Inthe Save Extension field enter dat NDI 6D Architect User Guide 139 Rigid Bodies Characterizing with an Optotrak System 4 Click Next The Data Collection dialog opens 13 4 Collect Marker Data The Data Collection dialog allows you to view the rigid body within the measurement volume during each data collection trial frame o xl Data Collection Ri id B od Click Collect when you are ready to start the collection At least three 3 markers must be J y visible during each collection frame The realtime display can be used to preview and Creation Wizard position pour markers This is a STATIC Collection the Rigid Body must be stationary during the collection TRIAL 1 of 1 NE gt z H sala Output File Bia E ndigitaNR 030 dat Trial Time 10 0000 s ria Frame Freq 30 Ha Trial Frames 300 x Y 10 FIA Collect Delay 1s Sead men Y 10 mm 3D 100 mm Z 10 mm Progress Click Collect to K __ _____ _____ __ O 1 421796 423 5385 2225 0073 l 2 0 6713 424 3199 2221 0732 O 3 81488 381 1635 2232 7761 O 4 55664 337 9624 2244 1738 O 5 371740 337 0712 2247 5835 O 6 398031 380 2577 2236 3811 Change Trial Length lt Back Cancel Figure 13 3 Data Collection Dialog 1 Optional Ifyou want to edit the collection trial length click Change Trial Length and enter the new value Increasing the trial length m
70. an continue the characterization process Enter Collection Settings The ROM Creation Wizard s second screen is the Collection Settings dialog Collection settings tell 6D Architect how many frames of data to collect and what kind of measurement volume is supplying this data NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris System Polaris Collection Settings Tool ROM Creation Wizard This page allows you to specify the Polaris settings to use during collections Collection Settings Polaris Tool Port ng Default Wireless Port A Collection Frames bd Stnd R 500 X 0 Y 0 Z 1900 ha Refresh COM Port COM1 Baud Rate 115200 Advanced Settings AH Use Positioning Device Advanced Port1 Por 2 Port 3 lt Back Cancel Figure 10 1 Collection Settings Dialog 1 Complete the Collection Settings section Field Option Definition Polaris Tool Port This field is disabled with its default value set to Wireless Port A Collection Frames The number of frames 6D Architect will collect from the Polaris System as it tracks the tool A frame is a single 3D measurement of the positions of all the markers in the measurement volume Table 10 1 Collection Settings Section 2 Complete the Polaris System section Field Option Definition Volume Your Polaris System s measurement volume type COM Port The host computer s
71. and orientation click Cancel e Ifyou are satisfied with the alignment parameters click Apply Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris Accedo System Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 9 Click Next The Marker and Face Normals dialog appears To Adjust the Local Coordinate System Manually 1 Click Manual Transform The following dialog appears Translation o Tx MO mm Ty 0 0000 mm Ea Rotation Euler Angles Axis 0 0000 JB BAN NATE Y Axis 0 0000 1 20 ADAC ORTA TA 180 Z Axis 0 0000 1 80 Nagana a ad 180 Degrees Radians Cancel Figure 11 12 Manual Transform Dialog 2 Adjust each field incrementally to change the position and orientation of the local coordinate system Each change is reflected in the graphic representations in the Tool Alignment dialog e Use the Tx Ty and Tz fields to translate the origin of the local coordinate system e If you are using the Euler Angles as indicated in the drop down list use the X Axis Y Axis and Z Axis fields to rotate the local coordinate system Not
72. anually edited Advanced 2 30 100mm X Z 100 mm Figure 3 3 6D Architect Main Window showing ROM functionality Note See Rigid Body File Functionality on page 13 for information about changing the main window to reflect RIG information NDI ROM Information Tables Once the characterization of a tool is complete you can view the configuration parameters and edit the values before applying the SROM Image File to the tool and its applications This information is located to the left of the Marker Viewer Window NDI 6D Architect User Guide 11 Exploring 6D Architect Main Window NDI ROM Information Marker Positions Marker Normals Face Normals x 157 Z A 69 826302 0 000000 0 000000 B 6 359300 0 067400 0 043200 C 63 466999 0 067400 0 043200 Item Value a ROM Tag ROM Revision 0x1 Tool Type 0x2 Tool Sub Type 1 Tool Revision 1 Tool Date 2002 01 11 Sequence Number 000 Maximum Angle 60 Number of Markers 3 Minimum Markers 3 xl Face Mask Group Mask Firing Sequence Marker Value Allow fields to be manually edited Advanced Figure 3 4 NDI ROM Information section NDI ROM Information is divided into three separate tables Table Marker Positions Marker Normals and Face Normals Description This table allows you to view and edit marker and face information Items and Values This table lists all of the attributes of what will become the SROM Image File
73. aracterization Completion dialog opens To Set Tracking Tolerances 1 Ze 3 In the View list select All Markers In the table at the bottom of the dialog select a marker Click Edit Tolerances The following dialog opens NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris System Set Tolerances 3 xj Maximum Marker Angle 60 degrees Minimum Number of Markers 3 Maximum 3D Error 2 mm If a marker fails to satisfy any of these tolerances it is tagged as invalid and the transformation will be re calculated without it Cancel Figure 10 14 Set Tolerances Dialog 4 Complete the fields provided Field Action Maximum Marker Angle Enter the maximum angle that a marker normal can be pointed away from the Position Sensor Any marker turned away more than this value will not be used to compute a tool transformation Minimum Number of Markers Enter the minimum number of markers that must be counted as present in the measurement volume before the system produces a transformation for the tool Maximum 3D Error Enter the maximum distance between where the marker is observed by the system and is expected to be in the tool s SROM Image File If a marker exceeds this value it is not used to compute a tool transformation Table 10 10 Tolerance Fields 5 Click OK 6 Click Next The Characterization Completion dialog opens 10 9 Complete the Tool Characterization 6D Arch
74. ata collections with an Optotrak System This collected data will be used to characterize the rigid body Previously Collected NDI Data File Previously collected data files can also be used to characterize a rigid body There are three types of data files that can be used NDI File Type Description Full Raw Data Files An NDI data file containing the numeric values of the marker centroids signal strength high and low and amplification measured over a specified period of time Raw Data Files An NDI data file containing the numeric values of the marker centroids measured over a specified period of time 3D Data Files An NDI data file containing the x y z coordinates of markers measured over a specified period of time Table 5 1 NDI Data Files Previously Collected CSV File CSV Comma Separated Values Files are text files containing a header and 3D marker data This file must have been previously collected with an Optotrak System 4 Select the Build Algorithm type Option Definition Static The rigid body will not move during data collection If it does that data collection trial becomes invalid Select this option if the Position Sensor can see all markers when the rigid body is stationary and in a single pose Dynamic The rigid body can move during data collection Select this 5 Click Next NDI 6D Architect User Guide option if the Position Sensor cannot see all markers when the rigid body is stationary and
75. ation for the tool Maximum 3D Error Enter the maximum distance between where the marker is observed by the system and is expected to be in the SROM Image File If a marker exceeds this value it is not used to compute a tool s transformation Table 7 8 Tolerance Fields 5 Click OK 6 Click Next The Characterization Completion dialog opens 7 10 Complete the Tool Characterization 6D Architect allows you to create a macro file that contains all the ROM Creation Wizard selections that you ve made in case you want to repeat the characterization process for additional tools using similar parameters Remember that although you can use the same 60 NDI 6D Architect User Guide Active Tools Characterizing with an Optotrak System wizard selections for similar tools you will still need to perform separate and unique data collections for each o xi Congratulations you have successfully characterized the Tool ROM tool Crea tion Wiza rd After exiting this wizard the ROM information will be loaded into the main program window to perform the following tasks 1 Save the ROM file 2 Test that Polaris and or Optotrak Certus systems can track the tool 3 Active Tool ROM files can be programmed directly to the tool Be sure to validate the tool to confirm it is operating as you expect and that it is returning correct transformations It is suggested that you go through the wizard again to change any ROM fields or options
76. auch UNG OS dz 20 5 3 About CRG Piles og cla 20 NDI 6D Architect User Guide i Table of Contents 6 Active Tools Characterizing with a Polaris System 21 6 l Start the Wizard PAP PP e E 21 6 2 Enter Collection Settings 4 a paaa a nab GGWA NENG 21 6 3 Describe Tool Properties os cia AG ad ak 23 6 4 Define Marker Setup di a 25 6 3 HAVE Par meters rs eE AE 2 6 6 Collect Tool Marker Data nsan ana aa BAW SA 29 6 7 Define Groups and Paces 0 dai NAA Panel hh ANY 31 6 8 Align the Tool s Coordinate System o oooooooooomoooo o 32 6 9 Add Marker and Face Normals o ooooocococoococoooooo 36 6 10 Complete the Tool Characterization an 39 6 11 What IS Next cortar Pi ii Saeed 41 7 Active Tools Characterizing with an Optotrak System 42 Tl Starts Ward pe ts OLA Ba Bp a Dong Be hn Ba 43 7 2 Enter the Collection Settings 252 205 kba LUGAR ae ee Hae a 44 7 3 Describe Tool Properties is TAP ees ean Ves TATA LABADA 45 TA Define Marker Setup a ta 47 17 5 Save Parameters a sae de dee ale ad ees 49 7 6 Collect Tool Marker Data us cy scares va ae SSA as 50 7 7 Define Groups and Faces osc 2 mana ee cee one ANG ak See ae nase 53 7 8 Align the Tool s Coordinate System 0 00 00 00 05 54 7 9 Add Marker and Face Normals 0 00 e eee eee eee 57 7 10 Complete the Tool Characterization a 60 Tak What ITs NeXt a tale Rode REA AD E aoaea ea
77. ay increase the accuracy of the software s data interpretation 2 Position the rigid body within the measurement volume If you are unsure whether or not your markers are visible observe the marker status in the bottom right of the window Marker Colour Marker Status Green The marker is visible to the system and is inside the measurement volume Red The marker is not visible to the system Table 13 2 Marker Status 140 NDI 6D Architect User Guide Rigid Bodies Characterizing with an Optotrak System Fach coloured circle corresponds to a marker detected in the measurement volume Keep in mind that these represent all markers in the measurement volume your rigid body s markers may be only a small subset of these You will make these distinctions later 3 Click Collect The system proceeds to collect data about each marker s position The Current Collection Status Dialog opens displaying this collected information Current Collection Status Ri J id B ody This status page appears after each collection trial From here you can modify current e 4 collections or stop collecting and proceed with the Rigid Body build Creation Wizard Collection Status Filename Properties H optotrak capsiRH002 dat 6 Markers in 200 frames at 20 00 Hz Move Up Move Down Remove Re collect Choose Your Next Step RECORD Another Data Trial Return to the data collection page to perform another collection STOP Recording C
78. calculation of the Rigid Body These files can be in 3D Data Format or in Full Raw Raw Format Cre ation Wizard If Full Raw Raw files are selected the location of the CAM file used during collection must also be specified E File Browser Look in AMIRA a CDLL Sample Code E C 001 6DA File Type NDI Data Files C AH y Add to Data List Selected Data File s Filename Properties Move Up Move Down Remove Camera Parameter File SA AY Paman Figure 12 1 NDI Data File s Selection Note The process for creating a rigid body using a CSV file is the same as the creating a rigid body with an NDI data file The only difference is in the type of file used 1 In the File Browser section enter the name of the file or click E to browse to its location and select it manually 2 Click Add to Data List 3 Optional If you want to view the data file before moving on to the next step click View 4 When you have finished reviewing the data click Exit to return to the Data File s Selection dialog 5 Click Next The Build Parameters dialog opens NDI 6D Architect User Guide 125 Rigid Bodies Characterizing with Previously Collected Data 12 3 Specify the Build Parameters Once you have collected data about each marker you must specify which markers are part of the Rigid Body and whether or not these markers are sequential Build Parameters Ri J id B ody Identify which markers in t
79. ce your tool in front of the POLARIS system When all of its markers are visible click Collect Snapshot to get their positions Xx Ni Z Front x Y 100mm Right Z Y 100mm poleci snapshot Wk Cancel Figure 10 5 Passive Viewer Dialog 2 Position the tool in front of the Position Sensor until ALL markers are within the measurement volume Ensure that the tool is perfectly stationary Note If the number of markers that appear are greater than the number of markers on your tool the system may be detecting phantom markers You can eliminate phantom markers by slightly repositioning the tool 3 Click Collect Snapshot 4 If there are phantom markers that need to be removed select the marker from the list and click Remove Selected Marker s 5 Once you are satisfied with the collection click OK The Polaris Passive Viewer dialog closes and you are returned to the Marker Setup dialog 6 Click Next The Save Parameters dialog opens 10 5 Saving Parameters 6D Architect saves the collected data in a csv Comma Separated Value file and stored it in the location indicated by this Save Parameters dialog Once you have finished the entire characterization process you can open and review the csv file s contents 90 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris System Save Parameters Tool ROM Creation Wizard Each trial will be saved as a separat
80. chitect User Guide Passive Tools Characterizing With A Polaris System 1 Complete the Tool Description section Field Option Definition Part Number Assign a part number to your tool You can use a maximum of 20 characters Manufacturer Assign a manufacturer name to your tool You can use a maximum of 12 characters Revision Assign a revision number to your tool Tool Type From the list select the entry that reflects the tool type Tool Subtype From the list select the entry that reflects the tool subtype Marker Type From the list select the entry that reflects your tool s marker type Table 10 3 Tool Description Section Note The part number manufacturer and revision number are mandatory fields This information uniquely identifies the tool s design and associates it with a particular application 2 Complete the Enhanced Tracking Algorithm section Field Option Definition Lock using only 3 markers If you want to reduce the acquisition time choose this option Stray marker testing This is disabled for passive tools Wireless tracking This is automatically disabled Unique geometry tracking This is automatically enabled Table 10 4 Enhanced Tracking Algorithm Section Note For more information about unique geometry see Unique Geometry on page 164 3 Complete the Serial Number Settings section Field Option Action Date MM DD Y Y Y Y Enter today s date us
81. chitect will place the origin at the geometric centre of these markers To place a marker onto an axis right click the marker s entry under Alignment Setting Use the list that appears to constrain the marker to be on any positive or negative x y or Z axis To place a marker onto a plane of the local coordinate system double click that marker s entry under Alignment Setting Use the list that appears to constrain the marker to any quadrant of any plane Click Preview to view the changes that you make in the marker window This can help you visualize the chosen orientations and help trouble shoot any conflicting alignments you may have accidentally made Optional If you want to either save these alignment settings to a template or open an existing alignment template and apply it to your tool enable Template Mode to activate template functions When you are finished return to the Tool Alignment dialog e If you want to return to the original position and orientation click Cancel e Ifyou are satisfied with the alignment parameters click Apply Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris System Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step an
82. cify where the markers are within the wiring matrix and if switches or LEDs are present on the tool Marker Setup Active Type Tool ROM Creation Wizard Specity the tool wiring layout active markers visible LEDs and switch states switch flags Each marker must have a matrix letter Auto Detect Active Markers and LEDs r Active Markers T T T Markers 3 a A E j l s y T T T ring Sequence B al G al L E F T T T cH A M oy l Ng ci dul cml r Visible LEDs r Switch Flags 1 none 2 none i I Present Switch 2 3 none Switch 3 T Tool Engage 4 none KEYBOARD HINT You can also type the matrix position of the selected marker Next Cancel Figure 8 2 Marker Setup Dialog Note You cannot use the Auto Detect feature to supply the active markers and LEDs with a matrix letter when characterizing with Engineering Data This button is disabled To Manually Set the Firing Sequence of the Markers 1 Inthe Markers field select the number of markers on your tool 2 From the Firing Sequence field click drag and drop each marker from the list to the appropriate lettered square in the wiring matrix When adding a marker to the wiring matrix you can also use any of the following short cuts e double click the marker to select the appropriate letter in the matrix e right click the marker to select the appropriate letter in the matrix e click the ma
83. communications port to which the Polaris is connected Table 10 2 Polaris System Section NDI 6D Architect User Guide 85 Passive Tools Characterizing With A Polaris System Field Option Definition Baud Rate The host computer s baud rate The default setting is 9600 to ensure communications can be established for all computer configurations Table 10 2 Polaris System Section 3 Optional If you are using a positioning device refer to 7B 10029 4 Optional If you want to apply advanced system settings see Polaris Polaris Accedo System Settings on page 170 5 Click Next The Tool Description dialog appears 10 3 Describe Tool Properties In the following screen the ROM Creation Wizard will ask you to enter the parameters about the tool This includes information such as the tool type marker type and the tracking algorithm Tool ROM Creation Wizard Tool Description This step allows you to define the tool properties These settings are saved within the ROM file r Tool Description Part Number 123456 Manufacturer NDI Revision 13 Tool Type REFERENCE y Tool Subtype Removable Tip y Marker Type NDI002 passive Marker 11 5mm sphere y Serial Number Settings Date MM DDAYYY 3 103 20033 Sequence Number fi 3 r Enhanced Tracking Algorithm I Lock using only 3 markers EE Figure 10 2 Tool Description Dialog 86 NDI 6D Ar
84. d and the transformation will be re determined Maximum Sensor RMS Error Enter the maximum sensor RMS error that the measurement system will accept This parameter is considered a final check to determine if you will capture data for this frame or not If the calculated sensor RMS error is greater than the value specified in this field the transformation will be tagged as missing Table 12 3 Rigid Body Settings 5 Click the Rigid Body Spread tab Rigid Body Settings x Rigid Body Settings Rigid Body Spreads Minimum Spread 1 ff mm Minimum Spread 2 0 mm Minimum Spread 3 0 mm Figure 12 8 Rigid Body Spread Tab 6 Enter the three minimum spreads 7 Click OK 8 Click Next The Characterization Completion dialog opens 134 NDI 6D Architect User Guide Rigid Bodies Characterizing with Previously Collected Data 12 6 Complete the Characterization 6D Architect allows you to save all the Rigid Body Creation Wizard selections that you have made in case you want to repeat the characterization process for additional rigid bodies using similar parameters Remember that although you can use the same wizard selections for similar rigid bodies you will still need to perform separate and unique data collections for each Congratulations you have successfully characterized a Rigid Body Rigid Body Creation Wizard After exiting this wizard the Rigid Body data will be loaded into the main program window
85. d offset of the tool tip r Tooltip Offset Xx EAEE Y 2032 mm zZ 116 3638 mm Error Information Angle Information RMS Error 3 0338 mm Major Axis 86 6652 degrees Mean Error 2 4742 mm Minor Axis 71 1178 degrees Max Error 8 3526 mm r Tip Position x 16 3319 mm Y 5241014 mm 2 1796 5128 mm IV Use the calculated tip position as the origin View XFORM LOG eel Figure A 8 Pivot Results Dialog The Pivot Results dialog provides the following information based on the data collection trial results Results Description Tool tip Offset The x y z position of the tool tip in relation to the origin of the rigid body s local coordinate system Error Information The RMS Mean and Max Errors in millimeters Angle Information Maximum and minimum angles in degrees of the pivot you measured Tip Position The x y z position of the tip in the relation to the global coordinate system Table A 2 Pivot Results 11 Optional If you want to transform the origin of the rigid body s local coordinate system so that it is located at the tool tip enable Use the calculated tip as the origin 12 Optional If you want to view the report generated from the calculation click View XFORM LOG 13 Click Finish The Pivot Alignment Wizard closes and you are returned to the 6D Architect main window 160 NDI 6D Architect User Guide Testing Tools Append
86. d simply continue with the default settings 9 Click Next The Marker and Face Normals dialog appears To Adjust the Local Coordinate System Manually 1 Click Manual Transform The following dialog appears Translation Tx MO mm Ty 0 0000 mm Tz 0 0000 mm Rotation Euler Angles Axis 0 0000 1 80 DOMO BOBO SO 180 Y Axis 0 0000 TOO Lee 180 Z Axis 0 0000 1 80 Nagana a ad 180 Degrees Radians Cancel Figure 10 12 Manual Transform Dialog 2 Adjust each field incrementally to change the position and orientation of the local coordinate system Each change is reflected in the graphic representations in the Tool Alignment dialog e Use the Tx Ty and Tz fields to translate the origin of the local coordinate system e If you are using the Euler Angles as indicated in the drop down list use the X Axis Y Axis and Z Axis fields to rotate the local coordinate system Note The Rotation Matrix and Quaternion are advanced options The easiest and most intuitive way to rotate coordinate systems is to use Euler Angles NDI 6D Architect User Guide 97 Passive Tools Characterizing With A Polaris System 3 Once you are satisfied click Apply to save your changes 4 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 Note The algorithm c
87. dinate systems is to use Euler Angles 10 Once you are satisfied click Apply to save your changes 11 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 56 NDI 6D Architect User Guide Active Tools Characterizing with an Optotrak System Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 12 Click Next The Marker and Face Normals dialog appears 7 9 Add Marker and Face Normals For each marker and face on your tool you will need to assign a vector that defines which way they are facing The system uses this vector or normal to help determine where the marker or face is pointing in the measurement volume With this information the system can determine if the marker or face is pointing at an angle that no longer provides accurate data Marker and Face Normals To 0 R 0 M This dialog allows you to set marker and face normals for the tool Creation Wizard Normal Operations E t Edit Selected Edit Face Normals CY 4 100mm Z X 100mm Undo Tracking Tolerances L Edit Tolerances z 3D 100mm Y Z 100mm x NG Z nx A 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 B 53 8000 0 0000 0 0000 0 0000 1 0000 0 0000 E 104 7000 6 4000 0 0000 0 0000 1 000
88. dinates for a normal vector perpendicular to the imagined plane NDI 6D Architect User Guide 99 Passive Tools Characterizing With A Polaris System 100 Note Select a single marker or if you want to assign the same normal to multiple markers select them while pressing the Ctrl key Click Edit Selected In the coordinate fields provided enter the values that you determined in step 2 and adjust the values if necessary Your changes are displayed graphically to help you with these edits Click OK To Create Normals for Faces l 2 In the View list select the appropriate face In the table at the bottom of the dialog press Ctrl and select three markers that are assigned to the face Below the table the software displays the centroid and a plane equation associated with the selected markers Use this information to determine the coordinates of the ideal normal for the desired marker The first three coefficients listed for the imagined plane can be used as coordinates for a vector perpendicular to the imagined plane Click Face Normals From the drop down list select the appropriate face In the coordinate fields provided enter the values that you determined in step 2 and adjust the values if necessary Your changes are displayed graphically to help you with these edits Click OK Optional If you want to restore all of the normals and tolerances to the default settings click Undo Click Next The Ch
89. e Abort on Error the rigid body calculation will proceed regardless of the returned values 2 Double click on any of the values to change their parameters 3 Click OK NDI 6D Architect User Guide 169 Polaris Polaris Accedo System Settings AppendixF Polaris Polaris Accedo System Settings This section describes the various advanced system settings available for Polaris Systems and Polaris Accedo Systems Note These settings are advanced features If you are unsure of the intended result continue with 6D Architect s default settings 1 From the main window select Settings gt Polaris POLARIS System Settings xj Serial Port POLARIS Advanced Com Port com y Baud Rate 9600 y Stop Bits h y Parity None y Data Bits EMMA I Use CRC Verification Hardware Handshaking Cancel Figure F 1 System Settings Dialog 2 Click the Serial Port tab 3 Define the following parameters Field Option Action Com Port Select the host computer port that the Polaris System uses to communicate with the host computer Baud Rate Enter the baud rate for the communication between the Polaris and your host computer Stop Bits Enter the number of stop bits you require between units of transmission NDI recommends that you do not change the default value of 1 Parity Enter the number of parity bits that mark a unit of transmission Table F 1 Serial Port Settings 170 NDI 6D Architec
90. e Comma Separated Value CS file Specify the following save parameters If files already exist will the same parameters the collection files will continue with the existing naming convension It is suggested that you specify an extension that is unique to this collection set r Save Parameters Directory el File Name 6DA e g 6DA File Extension csv e g csv the trial number will be appended to your file name for each trial lt Back Cancel Figure 10 6 Save Parameters Dialog 1 Complete the Save Parameters section Field Option Action Directory Enter the directory location where you wish the files to be saved or browse to a location by clicking E File Name Enter the name for the data collection File Extension Enter csv Table 10 7 Save Parameters Section 2 Click Next The Data Collection dialog opens The Data Collection dialog allows you to view the tool within the measurement volume during each trial frame NDI 6D Architect User Guide 91 Passive Tools Characterizing With A Polaris System The tool must remain motionless during collection trials If the tool is moved during a collection one or more of the markers may not be seen by the Polaris System and will be reported as missing Data Collection To 0 RO M Click Collect when you are ready to start the collection At least three 3 markers must be visible during each collection frame The rea
91. e Data Collection dialog allows you to view the tool within the measurement volume during each trial frame NDI 6D Architect User Guide 111 Passive Tools Characterizing With A Polaris Accedo System The tool must remain motionless during collection trials If the tool is moved even slightly during a collection the Polaris Accedo System cannot determine accurate positions of all markers with respect to each other The tool characterization will likely fail aaa x Data Collection To 0 RO M Click Collect when you are ready to start the collection At least three 3 markers must be visible during each collection frame The realtime display can be used to preview and Crea tion Wiza rd position your markers p3 This is a STATIC Collection the Rigid Body must be stationary during the collection TRIAL 1 of 1 gt Output File E ndigital 6EDA 048 csv Trial Frames 100 Collect Delay Os E X Y 100 mm CZ 100 mm 3D 100 mm X Z 100 mm Progress Ciok Colectto bean a 468955 4 3823 1232 9204 MT IG B ea 751171 1233 8882 c 72162 646678 1235 0969 D 10 8465 0 3748 1235 3257 Change Trial Length lt Back Cancel Figure 11 7 Data Collection Dialog Note Figure 6 5 shows a Polaris Accedo System using a Comet measurement volume 1 Optional Ifyou want to edit the collection trial length click Change Trial Length and enter the new value Increasing the tria
92. e The Rotation Matrix and Quaternion are advanced options The easiest and most intuitive way to rotate coordinate systems is to use Euler Angles NDI 6D Architect User Guide 117 Passive Tools Characterizing With A Polaris Accedo System 3 Once you are satisfied click Apply to save your changes 4 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 5 Click Next The Marker and Face Normals dialog appears 11 9 Add Marker and Face Normals For each marker and face on your tool you will need to assign a vector that defines which way they are facing The system uses this vector or normal to help determine where the marker or face is pointing in the measurement volume With this information the system can determine if the marker or face is pointing at an angle that no longer provides accurate data Marker and Face Normals This dialog allows you to set marker and face normals for the tool Tool ROM Creation Wizard Normal Operations Edit Selected Edit Face Normals YX 100mm Z X 100mm i Undo Tracking Tolerances S Edit Tolerances z 3D 100mm Y Z 100mm x nx 0 0000 0 0000 0 0000 0 00
93. e centroid 3 markers coordinates of the centroid and coefficients of an imagined plane that the three markers would create 4 or more markers coordinates of the centroid Table 8 5 Marker Information Provided By 6D Architect The centroid is the centre point of an imagined three dimensional volume created by the selected markers You can use these suggested values when determining normals but be sure to review and adjust the values as needed A face normal must be perpendicular to its face Individual marker normals however do not need to be perpendicular to the face that marker is assigned to To Create a Normal for Individual Markers 1 In the View list select All Markers 2 In the table at the bottom of the dialog press Ctrl and select three markers the desired marker included Below the table the software displays the centroid and a plane equation associated with the selected markers Use this information to determine the coordinates of the ideal normal for the desired marker The first three coefficients of the plane equation are coordinates for a normal vector perpendicular to the imagined plane NDI 6D Architect User Guide Active Tool Characterizing with Engineering Data 3 Select a single marker or if you want to assign the same normal to multiple markers select them while pressing the Ctrl key 4 Click Edit Selected 5 In the coordinate fields provided enter the values that you determined in s
94. e marker as the origin of your tool 6D Architect will place the origin at the geometric centre of these markers NDI 6D Architect User Guide 33 Active Tools Characterizing with a Polaris System 34 Note To place a marker onto an axis right click the marker s entry under Alignment Setting Use the list that appears to constrain the marker to be on any positive or negative x y or Z axis To place a marker onto a plane of the local coordinate system double click that marker s entry under Alignment Setting Use the list that appears to constrain the marker to any quadrant of any plane Click Preview to view the changes that you make in the marker window This can help you visualize the chosen orientations and help trouble shoot any conflicting alignments you may have accidentally made Optional If you want to either save these alignment settings to a template or open an existing alignment template and apply it to your tool enable Template Mode to activate template functions When you are finished return to the Tool Alignment dialog e Ifyou want to return to the original position and orientation click Cancel e Ifyou are satisfied with the alignment parameters click Apply Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 The algorithm constraints are advanced option parameters If the intended result i
95. e system use the Alignment Methods below Creation Wizard Alignment Methods Alignment Parameters Aligns the Rigid Body onto E t user defined axes or planes Manual Transform X Y 100mm 1 EZ Y 100mm Performs a user defined transform translation and rotation 4 JE Sa Ses 83 824 5 Undo wla 3D 100mm X Z 100mm 1 r Algorithm x F Z Adjust Constraints 1 18 4243 42 9427 7 1060 2 130687 44 3863 10 5569 Edit the transform 3 157831 0 6849 1 8210 algorithm 4 18 3963 42 9635 6 9849 constraints 5 130627 44 3322 10 5469 6 157611 0 7181 1 9521 lt Back Next gt Cancel Figure 13 6 Rigid Body Alignment Dialog To Assign a Local Coordinate System Using Alignment Parameters 1 Click Alignment Parameters The following dialog appears Alignment Transformation x To specify the alignment parameters for each marker double click the marker alignment setting To use the marker in the origin calculation double click the Use in Origin column Alignment Positions 4 EE E H 3 o 0 2 Use in Origin Alignment Setting 1 x Unknown 2 X Y Quadrant 3 X Axis fs zk 4 Unknown X Y 10 mm CZ Y 10mm 4 T Template Mode load Template Saye Template x p Preview Cancel I View XFORM LOG upon successful alignment 3D 100 mm 4 2 10 mm Figure 13 7 Alignment Transfor
96. e the tool continuously about its tip through at least two planes of motion i e Pivot Tip side to side back and forth Alig nme nt Move slowly and smoothly as any movement of the end tip may lead to errors or inaccurate calculations Click Collect to start the collection Collection Frames E 3 Realtime Transformation Tx Missing Ty Missing Tz Missing Error Missing 00 Missing Ox Missing Qy Missing Qz Missing Collection Status Click Collect to begin Suggested Pivot Motions side to side XY Plane back and forth YZ Plane lt Back Cancel Figure A 7 Pivot Rotation Data Dialog 7 Position your tool in the measurement volume with its tool tip placed on a fixed point Ensure that all markers are visible and that the Realtime Transformation light is green Note Itis very important that the tool tip remain stationary while the tool is being rotated 8 Click Collect to begin the data collection trial 9 As the measurement system collects the data continuously rotate the tool back and forth and side to side with its tool tip remaining stationary at the fixed point 10 The Pivot Results dialog opens displaying the calculated results of the tool tip data NDI 6D Architect User Guide 159 Pivot Alignment Pivot Ti p r Pivot Results Alignment Tool tip offset calculated Using your collected transformation data the pivot algorithm has determined the position an
97. e to the system Table 7 6 Marker Status Each coloured circle corresponds to a marker The number of markers detected should match the number of markers that are on the tool Note If you have set this to be a static collection the tool must remain motionless during all collection trials If the tool is moved during a static collection the data collection trial becomes invalid To set this as a dynamic collection rather than a static collection see Start the Wizard on page 43 3 Click Collect The system proceeds to collect data about each marker s position The Current Collection Status Dialog opens displaying this collected information NDI 6D Architect User Guide 51 Active Tools Characterizing with an Optotrak System Current Collection Status To 0 RO M This status page appears after each collection trial From here you can modify current Creation Wizard collections or stop collecting and proceed with the tool characterization r Collection Status Filename Properties C ndigital 6DA 011 csv 4 Markers in 51 frames r Choose Your Next Step RECORD Another Data Trial Return to the data collection page to perform another collection STOP Recording Complete the collection process and proceed T View BUILD LOG file upon successful completion of build lt Back Cancel Figure 7 7 Current Collection Status Dialog Use this dialog to view the collection results or record anothe
98. ection Threshold Enter the static noise threshold using a value between 0 and 255 only NDI recommends that you leave this at the default value of 30 Table G 2 Advanced Options 7 Click OK when you have finished your changes 174 NDI 6D Architect User Guide Numerics 6D Architect about characterization 3 about the software 3 explaining RIG and ROM 4 exploring the software 6 installing the software 5 main toolbar 7 marker viewer window 8 orientation toolbar 10 Rigid Body File functionality 13 SROM Image File functionality 10 A active tools characterizing with a Polaris System 21 characterizing with an Optotrak System 42 characterizing with engineering data 63 programming SROM Devices 79 testing tools 161 the first step 15 active wireless tools characterizing with an Polaris Accedo System 104 characterizing with an Polaris System 84 testing tools 161 the first step 15 advanced system settings Optotrak System 173 Polaris Accedo System 170 Polaris System 170 algorithm constraints about 167 build parameters 167 defining algorithm constraints 169 pivot parameters 169 transformation parameters 168 B build parameters rigid body with an Optotrak System 142 rigid body with previously collected data 126 NDI 6D Architect User Guide Index C characterization 3 collecting marker data active tool with a Polaris System 29 active tool with an Optotrak System 50 active wirel
99. ed within the ROM file for use with the POLARIS System Tool Description Part Number fi 23454 Manufacturer NDI Revision 1 Tool Type REFERENCE y Tool Subtype Removable Tip bd Marker Type NDIS50 active Marker metallic base y Serial Number Settings Date MM DDAYYYY rara 23 Enhanced Tracking Algorithm T7 Lock using only 3 markers TT Stray marker tracking FT Wireless tracking Sequence Number fi T Unique geometry tracking lt Back Cancel Figure 8 1 Tool Description Dialog 1 Complete the Tool Description section Field Option Action Part Number Assign a part number to your tool You can use a maximum of 20 characters Manufacturer Assign a manufacturer name to your tool You can use a maximum of 12 characters Revision Assign a revision number to your tool Tool Type From the list select the entry that reflects your tool s type Tool Subtype From the list select the entry that reflects your tool s subtype Marker Type From the list select the entry that reflects your tool s marker 64 type Table 8 1 Tool Description Section NDI 6D Architect User Guide Active Tool Characterizing with Engineering Data Note The part number manufacturer and revision number are mandatory fields This information uniquely identifies the tool s design and associates it with a particular application 2 Complete the Enhanced Tracking Al
100. eering data 63 active wireless tool with a Polaris Accedo Sys tem 106 active wireless tool with a Polaris System 86 passive tool with a Polaris Accedo System 106 passive tool with a Polaris System 86 U unique geometry about 164 testing for unique geometry 165 updates 1 User Specified SROM Tags 80 W warnings 1 177
101. eless tool 104 Polaris System advanced system settings 170 characterizing a passive tool 84 characterizing an active tool 21 characterizing an active wireless tool 84 previously collected data characterizing a rigid body 124 R RIG RIG versus ROM 4 converting ROM to RIG 164 Rigid Body File functionality 13 rigid bodies characterizing with an Optotrak System 137 characterizing with previously collected data 124 testing rigid bodies 163 the first step 18 NDI 6D Architect User Guide ROM RIG versus ROM 4 converting ROM to RIG 164 ROM Creation Wizard 15 SROM Image File functionality 10 ROM Creation Wizard 15 S saving parameters active tool with a Polaris System 27 active tool with an Optotrak System 49 active wireless tool with a Polaris Accedo Sys tem 110 active wireless tool with a Polaris System 90 passive tool with a Polaris Accedo System 110 passive tool with a Polaris System 90 rigid body with an Optotrak System 139 SROM Device about 79 programming the SROM Device 82 User Specified SROM Tags 80 SROM Image File editing an SROM Image File 79 opening an SROM Image File 79 programming SROM Devices 79 ROM Creation Wizard 15 NDI 6D Architect User Guide Index testing rigid bodies 163 tools 80 161 tool marker values active tool with engineering data 67 tool properties active tool with a Polaris System 23 active tool with an Optotrak System 45 active tool with engin
102. equation are coordinates for a normal vector perpendicular to the imagined plane Select a single marker or if you want to assign the same normal to multiple markers select them while pressing the Ctrl key Click Edit Selected In the coordinate fields provided enter the values that you determined in step 2 and adjust the values if necessary Your changes are displayed graphically to help you with these edits NDI 6D Architect User Guide Rigid Bodies Characterizing with an Optotrak System 6 Click OK 7 Click Next The Characterization Completion dialog opens To Set Tracking Tolerances 1 Enable Include Normals 2 In the table at the bottom of the dialog select a marker 3 Click Edit Tolerances The following dialog appears Rigid Body Settings x Rigid Body Settings Rigid Body Spreads Maximum Marker Angle degrees Minimum Number of Markers B Maximum 3D Error fps mm Maximum 3D RMS Error fps mm Maximum Sensor Error fo2 sensor units Maximum Sensor RMS Error for sensor units If a marker fails to satisfy any of these tolerances it is tagged as invalid and the transformation will be re calculated without it Figure 13 10 Set Tolerances Dialog 4 Inthe Rigid Body Settings tab complete the fields provided Field Action Maximum Marker Angle Enter the maximum angle that a marker normal can be pointed away from the Position Sensor Any marker turned away more than this value will not
103. erization Completion Dialog 1 Enable Save Wizard Settings 2 Inthe Output File field browse to a location and enter a name by clicking E 3 Inthe Description field enter an identifying description for this wizard session 4 Click Finish The software saves your settings in a ROM Characterization Macro crm file Note The saved parameter file contains the tool s characterization information When applied to subsequent tools the software will automatically increase the sequence number Once the characterization is complete the wizard closes and a graphical representation of the tool will be loaded into the main window The tool parameters are loaded in the ROM section of the main window For more information about the main window see Exploring 6D Architect Main Window on page 6 40 NDI 6D Architect User Guide Active Tools Characterizing with a Polaris System 6 11 What Is Next After you have created and saved the SROM Image File ROM file you must perform the following tasks 1 Test the SROM Image File to ensure that the Polaris System can track the tool correctly For more instructions see Testing Tools on page 161 2 Load the SROM Image File onto the tool s SROM device For instructions see Active Tools Programming SROM Devices on page 79 NDI 6D Architect User Guide 41 Active Tools Characterizing with an Optotrak System 7 42 Active Tools Characterizing with an Optotrak S
104. error for overlay transformations in millimeters The Max Overlay Error is used to exclude an entire view s data from determination of an estimate for a rigid body Min Marker Views Specifies the minimum number of collection trials in which a marker is visible If this number is met or exceeded the tool characterization will fail Max Overlay Iterations NDI 6D Architect User Guide Specifies the maximum number of overlay attempts the build algorithm should use to determine a new rigid body estimate Table E 1 Build Parameters 167 Algorithm Constraints E 2 About Transformation Parameters The transformation determination algorithm is an iterative algorithm which requires some measure to decide when the algorithm is complete Each time the algorithm generates a new estimate of the transformation the stopping criteria is checked to determine whether the algorithm is complete Parameter Yaw Accuracy Description Specifies the threshold difference between successive iterations for the rotation about the x axis This threshold determines when sufficient convergence has been achieved Roll Accuracy Specifies the threshold difference between successive iterations for the rotation about the z axis This threshold determines when sufficient convergence has been achieved Pitch Accuracy Specifies the threshold difference between successive iterations for the rotation about the y axis This thr
105. error set when the rigid body definition was set in the rigid body file If the rigid body includes imaginary markers changes in these markers will not be detected and incorrect transformations may be reported that could cause personal injury and or property damage It is a good practice to pivot a probe before using it to confirm that no bending of the probe tip has occurred Ensure that the correct rigid body file is used with the corresponding rigid body If the rigid body definition does not match the rigid body the rigid body may still be tracked but will report incorrect data If a rigid body definition contains imaginary markers but is used with the incorrect rigid body the rigid body may still be tracked but will report incorrect data for the imaginary points Incorrect data could cause personal injury and or property damage Updates NDI is committed to continuous improvements in the quality and versatility of its software and hardware To obtain the best results with your NDI system please download the latest software from the Partner Site section of our website www ndigital com login php You will need to obtain a User ID and Password for the Partner Site if you do not already have one Please allow two business days for activation of your login account NDI 6D Architect User Guide 1 Warnings and Updates 1 2 Questions Please contact NDI Technical Support at GNDI INTERNATIONAL HEADQUARTERS NORTHERN DIGITAL IN
106. eshold determines when sufficient convergence has been achieved xt Accuracy Specifies the threshold difference between successive iterations for the x component of the transformation This threshold determines when sufficient convergence has been achieved yt Accuracy Specifies the threshold difference between successive iterations for the y component of the transformation This threshold determines when sufficient convergence has been achieved zt Accuracy Specifies the threshold difference between successive iterations for the z component of the transformation This threshold determines when sufficient convergence has been achieved Max Coordinate Error Specifies the maximum error in millimeters for between the defined x y or z coordinates and those discovered after a transformation has been applied Max Chi Square Error Specifies the maximum chi square error for the final estimate of the transformation Max Average RMS Error Specifies the maximum average RMS error for the final estimate of the transformation Table E 1 Transformation Parameters 168 NDI 6D Architect User Guide EJ E 4 Note Note Algorithm Constraints Parameter Description Max Iterations Specifies the maximum number of iterations the transformation determination algorithm should perform Table E 1 Transformation Parameters About Pivot Parameters A Rigid Body transformation is determined for eac
107. ess tool with a Polaris Accedo Sys tem 111 passive tool with a Polaris Accedo System rigid body with an Optotrak System 140 collection settings active tool with a Polaris System 21 active tool with an Optotrak System 44 active wireless tool with a Polaris Accedo Sys tem 104 active wireless tool with a Polaris System 84 passive tool with a Polaris Accedo System 104 passive tool with a Polaris System 84 rigid body with an Optotrak System 137 contact NDI 2 D data file rigid body with previously collected data 124 engineering data characterizing an active tool 63 G groups and faces active tool with a Polaris System 31 active tool with an Optotrak System 53 active tool with engineering data 69 active wireless tool with a Polaris Accedo Sys tem 114 active wireless tool with a Polaris System 94 passive tool with a Polaris Accedo System 114 passive tool with a Polaris System 94 175 Index 176 H HELPID 6DA FirstStepTool 15 HELPID 6DA Marker PA 25 L local coordinate system active tool with a Polaris System 32 active tool with an Optotrak System 54 active tool with engineering data 70 active wireless tool with a Polaris Accedo Sys tem 115 active wireless tool with a Polaris System 95 passive tool with a Polaris Accedo System 115 passive tool with a Polaris System 95 rigid body with an Optotrak System 143 rigid body with previously collected data 127 using the Piv
108. function see Algorithm Constraints on page 167 NDI 6D Architect User Guide 35 Active Tools Characterizing with a Polaris System Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 5 Click Next The Marker and Face Normals dialog appears 6 9 Add Marker and Face Normals For each marker and face on your tool you will need to assign a vector that defines which way they are facing The system uses this vector or normal to help determine where the marker or face is pointing in the measurement volume With this information the system can determine if the marker or face is pointing at an angle that no longer provides accurate data Marker and Face Normals This dialog allows you to set marker and face normals for the tool Tool ROM Creation Wizard o gt p Normal Operations Edit Selected Edit Face Normals YX 100mm Z X 100mm Undo Tracking Tolerances Edit Tolerances z 3D 100mm Y Z 100mm x nx 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 53 8000 0 0000 0 0000 0 0000 1 0000 0 0000 104 7000 6 4000 0 0000 0 0000 1 0000 0 0000 Facel 0 0000 1 0000 0 0000 A B E Click the Back button to re align the tool and its normals lt Back Cancel Figure 6 11 Marker and Face Normals Dialog About Determining Normals
109. g to begin the process again 4 When you are satisfied with the data collection select STOP Recording 5 Optional If you want to view the Build log file at the end of the build when you have completed the ROM Creation Wizard choose View BUILD LOG upon successful completion of build 6 Click Next The Groups and Faces dialog opens 6 7 Define Groups and Faces Once the firing sequence for the active markers has been defined you can organize the markers into groups and faces eee xi Marker Setup Groups and Faces To 0 RO M In this step you may organize the markers into Faces and Groups Double click the Creation Wizard list below to toggle the group and face states for each marker GROUPS define which markers within a face can be fired simulatenously If markers within a face are less than 50mm apart they must be placed in separate groups FACES are separate Rigid Bodies that can each be used for tracking Each face must have at least 3 markers each marker must belong to at least 1 face Number of Groups 2 a Number of Faces 2 a Marker Group 2 F1 F2 7 4 Reset Marker List to peas KEYBOARD HINT You can also use the G key to toggle groups and the 1 8 keys to toggle the face states for the selected marker lt Back Cancel Figure 6 7 Marker Setup Groups and Faces Dialog To Select the Number of Groups 1 In the Number of Groups field select the number
110. gid Body file that you wish to test from its stored directory location Click Add to List to add the RIG file to the test list Optional If you wish to test all the faces of your tool together repeat Steps 2 and 3 to add all the related RIG files The program will consider them together when calculating marker and segment distances Complete the following fields in the Options section Field Definition Segment Difference Tolerance This field dictates how similar to each other segments can be The default value is 2 mm you can increase this value if you want to allow for manufacturing tolerances but do not decrease it Minimum Segment Length This field dictates how far each marker must be from all other markers The default value is 5 mm you can increase this value if you want to allow for manufacturing tolerances but do not decrease it Angle Separation Tolerance This field is only available if you are testing multiple RIG files at once It dictates how different the angle between two segments on one tool or face must be to two segments of a similar length on another tool or face Table D 1 UG Test Options Click Run Results of the test are displayed in the window on the right If the test fails an error message opens NDI 6D Architect User Guide 165 Unique Geometry Unique Geometry Test Ye 250 700 1 Y 25 0 Z 49 9 Segment 70 616531 and 70 682999 are closer than threshold 2 000000 Segment
111. gin column Alignment Positions 4 EE PO B za 3 o O42 7 Use in Origin Alignment Setting 1 x Unknown 2 X Y Quadrant 3 XAris ku zk 4 Unknown X Y 10 mm CZ Y 10mm 4 IC IE Template Mode Gad Template Save Templa z p Preview Cancel T View XFORM LOG upon successful alignment 3D 100 mm Z 10 mm Figure 7 10 Alignment Transformation Dialog 2 To assign a marker as the origin of the local coordinate system double click that marker s entry under Use in Origin If you select more than one marker as the origin of your tool 6D Architect will place the origin at the geometric centre of these markers 3 To place a marker onto an axis right click the marker s entry under Alignment Setting Use the list that appears to constrain the marker to be on any positive or negative x y or Z axis 4 To place a marker onto a plane of the local coordinate system double click that marker s entry under Alignment Setting Use the list that appears to constrain the marker to any quadrant of any plane 5 Click Preview to view the changes that you make in the marker window This can help you visualize the chosen orientations and help trouble shoot any conflicting alignments you may have accidentally made 6 When you are finished return to the Tool Alignment dialog e If you want to return to the original position and orientation click Cancel e Ifyou are satisfied with the alignment parameters cl
112. gns the tool onto 3 user defined axes Ex z zk ki or planes T Manual Transform 4 X Y 10 mm EZ Y 10 mm Performs a user defined transform translation and rotation a bi 5 E Undo 3D 100 mm 06 2910 mm Algorithm x Mz z Adjust Constraints 2 4169 39 4214 20 1096 B 11 9331 55 9328 40 7414 Edit the transform F 36 8331 6 3716 41 1094 algorithm G 19 3595 7 4935 27 0478 constraints K 6 5091 37 3150 6 9417 L 9 6326 59 1612 40 5838 lt Back Next gt Cancel Figure 6 8 Tool Alignment Dialog To Assign a Local Coordinate System Using Alignment Parameters 1 Click Alignment Parameters The following dialog appears Alignment Transformation xj To specify the alignment parameters for each marker double click the marker alignment setting To use the marker in the origin calculation double click the Use in Origin column Alignment Positions 4 E f B za 3 o 042 7 Use in Origin Alignment Setting 1 x Unknown 2 X Y Quadrant 3 Xubris ho zk 4 Unknown X Y 10 mm C Z Y 10 mm d 4 gt E T Template Mode Load Template Gaye Template z p Preview Cancel I View XFORM LOG upon successful alignment 3D 100 mm 66 9 10 mm Figure 6 9 Alignment Transformation Dialog 2 To assign a marker as the origin of the local coordinate system double click that marker s entry under Use in Origin If you select more than on
113. gorithm section Field Option Action Lock using only 3 markers If you want to reduce the acquisition time choose this option Stray marker testing If you want the Polaris System to track a single stray marker which may move with respect to the tool select this option Wireless tracking This is disabled for active tools Unique geometry tracking If the tool meets unique geometry constraints choose this option This will result in a reduction of acquisition time for the tool Table 8 2 Enhanced Tracking Algorith Section Note Atool must meet the unique geometry constraints in order to use the Unique Geometry Tracking functionality If you use Unique Geometry Tracking for a tool that does not meet the constraints the tool cannot be tracked For more information about unique geometry see Unique Geometry on page 164 3 Complete the Serial Number Settings section Field Option Action Date MM DD Y Y Y Y Enter today s date using the format indicated Sequence Number Enter 1 to indicate an increment of one for each serial number created Table 8 3 Serial Number Settings The software will automatically calculate a unique serial number for your tool using these settings 4 Click Next The Marker Setup dialog opens NDI 6D Architect User Guide 65 Active Tool Characterizing with Engineering Data 8 3 Define Marker Setups Once the tool description is defined the ROM Creation Wizard will ask you to spe
114. h pivot algorithm frame of data The Max QRMS Error parameter is used to exclude an entire frame s data from the pivot algorithm If the RMS Error for the transformation is greater than the specified QRMS Error that frame of data is ignored in the rest of the pivot calculations Defining Algorithm Constraints 1 From the main window menu select Settings gt Algorithm Constraints The Algorithm Constraints dialog opens If you are adjusting the algorithm constraints through the ROM Creation or the Rigid Body Creation Wizard you do not need to perform step 1 Algorithm Constraints x Transformation Parameters Build Parameters Constraint Value Constraint Value Yaw Accuracy rads 0 000002 Max Marker Error mm 1 00 Roll Accuracy rads 0 000002 Max Overlay Error mm 1 00 Pitch Accuracy rads 0 000002 Min Marker Views 1 2t Accuracy mm 0 002 Max Overlay Iterations 200 Yt Accuracy mm 0 002 Zt Accuracy mm 0 002 I Abort Rigid Body build on error Max Coordinate Error mm 0 75 Max Chi Square Error 20 Max Average AMS Error mm 2 0 Pivot Parameters Max Iterations 25 E Constraint Value TF Abort transformation on error Max ORMS Error mm 10 Reset To Defaults Cancel Figure E 1 Algorithm Constraints Dialog The Abort on Error option allows you to check against algorithm constraints If any values do not meet their algorithm constraints the rigid body calculation returns as failed If you do not choos
115. he collection data belong to the Rigid Body If the Rigid Body Creation Wizard markers appear sequentially in the data enter the starting marker number If they are non sequential you must specify the order manually Number of Rigid Body Markers Data RIG Marker 1 1 Marker Order 2 2 Sequential Order H A Starting Marker Number pi 5 5 C Non Sequential Order 6 6 Double click or drag the Rigid Markers in the list to set the order r Advanced Build Algorithm Options tc IV Upon successful build transform Rigid Body to a local origin I Use initial estimate RIG File AAA 7 FT Use estimat Lamera Parameter F er data requires CAM file used during collection e Jl Andigitaltrealtimer standard cam 5 Adjust Constraints Once you have specified the Build Parameters click Next to automatically build the Rigid Body from the marker data positions I View BUILD LOG file upon successful completion of build coca Figure 12 2 Build Parameters Dialog 1 In the Number of Rigid Body Markers field select the number of markers on your Rigid Body Keep in mind that the system has collected data about all markers found as shown in the Data column on the right hand side of the dialog The Number of Rigid Body Markers field allows you to indicate whether all markers found are in fact part of the rigid body 2 You must indicate which marker is associated with what collected
116. he nature of the tool tip may change should any physical change or damage occur to the rigid body It is best practice to re collect data and apply the most recent calculations to the Rigid Body file 4 Click Next e If you have selected Optotrak Collection the Collection Settings dialog appears Go to step 5 e If you have selected either Previously Collected NDI Data File or Previously Collected CSV File the Pivot Results dialog appears Go directly to step 10 5 In the Collection Settings dialog complete the fields and options provided Optotrak Collection Settings Pivot Ti p Specify the total number of markers in the occupied port s Alignment Markers Port 1 8 a 2 jo a 3 10 a Rigid Body Starting Marker 1 Optotrak System Settings Overall Marker Power sets the marker emission strength Collection Time seconds of data that will be recorded for each trial Frame Frequency the rate of data collection Dptotrak System Dverall Marker Power Min Ma Collection Time s fo a Frame Frequency H2 a a Camera Parameter File E ndigitalrealime1standard cam B Advanced Options lt Back Cancel Figure A 6 Collection Settings Dialog For instructions on how to complete these fields see Enter the Collection Settings on page 137 6 Click Next The Pivot Rotation Data dialog appears 158 NDI 6D Architect User Guide Pivot Alignment Pivot Rotation Data Rotat
117. he tool Figure 9 2 Changes to SROM File dialog 10 Click Yes to program the changes to the tool No changes will be made to the SROM Image File until you click Yes Any changes made without clicking Yes will be lost Program the SROM Device Once you are satisfied with the SROM Image File you can use 6D Architect to write it onto the tool s SROM device 1 In the 6D Architect main window select Tool Operations gt Program SROM 2 From the Select System list choose the system you are testing the tool with 3 Indicate where the tool is located e If you are testing with a Polaris System select the appropriate tool port from the drop down menu e If you are testing with an Optotrak Certus System click the Find Tools button The system will collect data information from the measurement volume and report back which tools were found Select the appropriate tool from the drop down list If you change the tools connected to the Optotrak System during this procedure you must click the Find Tools button to refresh the list 4 Click OK The Programming Tool dialog opens asking if you are sure you want to program the tool in the selected port Do not interrupt the communication between the host computer and the measurement system once you beginning transferring the SROM Image File to the SROM Device If there is an interruption the SROM Device may be permanently damaged 5 Click OK NDI 6D Architect User Guide Active To
118. help determine where the marker or face is pointing in the measurement volume With this information the system can determine if the marker or face is pointing at an angle that no longer provides accurate data Marker and Face Normals To 0 R 0 M This dialog allows you to set marker and face normals for the tool Creation Wizard gt a Normal Operations Edit Selected Edit Face Normals Undo Tracking Tolerances a Edit Tolerances p 3D 100mm Y Z 100mm YX 100mm Z X 100mm l x nx nz A 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 B 53 8000 0 0000 0 0000 0 0000 1 0000 0 0000 E 104 7000 6 4000 0 0000 0 0000 1 0000 0 0000 Facel 0 0000 1 0000 0 0000 Click the Back button to re align the tool and its normals lt Back Cancel Figure 8 8 Marker and Face Normals Dialog NDI 6D Architect User Guide 73 Active Tool Characterizing with Engineering Data 74 Note Note Note Note About Determining Normals You need to assign normals to all markers and all faces 6D Architect performs several calculations and displays the results at the bottom of the Marker and Face Normals dialog to guide you in selecting the right normal values These suggestions change depending on how many markers are selected and where these markers are located on the tool Number of Markers Selected Suggested Values Provided 1 marker none 2 markers coordinates of th
119. ialog 0 cee ee eee eee 131 Figure 12 7 Set Tolerances Diglogs o PAGKA eos GAD PG a APANG 133 Figure 12 8 Rigid Body Spread Tabs ven ese Ge NA KK NG tate heey Sate hs 134 Figure 12 9 Characterization Completion Dialog oooooooooo o 135 Figure 13 1 Collection Settings Dialog 00 0 138 Figure 13 2 Save Parameters Dialog sink aceon KNA TAN oe Gk SSR Ee 139 Figure 13 3 Data Collection Dialog 3 0 mg skate o LGA yee chads PASAY 140 Figure 13 4 Collection Status Dialog 4c oaa cock ARAL ka baa K 2a ba 141 NDI 6D Architect User Guide ix List of Figures Figure 13 5 Build Parameters Dialog o 142 Figure 13 6 Rigid Body Alignment Dialog8 o ooooooooommom omo 144 Figure 13 7 Alignment Transformation Dialog 00 000 e eee 144 Figure 13 8 Manual Transform Dialog 2 0 0 0 c eee eee eee 146 Figure 13 9 Rigid Body Normals Dialog 4 147 Figure 13 10 Set Tolerances Dilo oa 149 Figure 13 11 Rigid Body Spread Tab uka a6 cdieii eset mah LAPU NAGA 150 Figure 13 12 Characterization Completion Dialo8 oo oooooooooo 151 Figure A 1 Pivot Alignment Wizard Dialog 00 e eee eee eee 153 Figure A 2 Collection Settings Dialog 1 0 0 0 0 154 Figure A 3 Pivot Rotation Data Dialog 0 ce ce een eens 155 Figure A 4 Pivot Results Dialoec 2 BRAND o Sa Ree AG 156 Figure A 5 Pivot Alignment Wizard Dialog 0 0 0 c cee eee eee 157 Figure A
120. ick Apply 7 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings NDI 6D Architect User Guide 55 Active Tools Characterizing with an Optotrak System To Adjust the Local Coordinate System Manually 8 Click Manual Transform The following dialog appears Manual Transfo x Translation Ta mm Ty 0 0000 mm Tz 0 0000 mm Rotation Euler Angles Axis 0 0000 4 1 80 LG JOGA KAO SC KAT 1 80 Y Axis 0 0000 El 8 AA AA 1 80 Z Axis 0 0000 a 1 80 UPA LADA 1 80 Degrees Radians Cancel Figure 7 11 Manual Transform Dialog 9 Adjust each field incrementally to change the position and orientation of the local coordinate system Each change is reflected in the graphic representations in the Tool Alignment dialog e Use the Tx Ty and Tz fields to translate the origin of the local coordinate system e If you are using the Euler Angles as indicated in the drop down list use the X Axis Y Axis and Z Axis fields to rotate the local coordinate system Note Rotation Matrix and Quaternion are advanced options The easiest and most intuitive way to rotate coor
121. imensional View 3 4 The Orientation Toolbar The following table describes the buttons used to manipulate the orientation of the tool Display these buttons by clicking the arrow at the top of the Marker Viewer Window Command Icon Description The Reset button resets the view of the markers to their original position The Centroid button moves the view to the marker centroid The Lock Centroid button locks unlocks the view to the marker centroid The Frame of Reference button toggles the system frame of reference The Display Type button toggles the marker display type The Help button opens accompanying navigation help ss lax lea le ls la Table 3 4 Orientation Toolbar 3 5 SROM Image File Functionality If you are working with SROM Image Files select File gt New gt ROM File The main window updates its contents to reflect SROM Image File functions and fields 10 NDI 6D Architect User Guide Exploring 6D Architect Main Window MR NDI 6D Architect nail 01 x File Build Tool Operations Transform Settings Help Db ed SEA es E NDI ROM Information Marker Positions Marker Normals Face Normals x M Z Item ROM Tag ROM Revision Tool Type Tool Sub Type Tool Revision Tool Date Sequence Number Maximum Angle Number of Markers Minimum Markers x Y 100 mm Z Y 100 mm Face Mask Group Mask Firing Sequence Marker Value Allow fields to be m
122. ing the format indicated Sequence Number Enter 1 to indicate an increment of one for each NDI 6D Architect User Guide serial number created Table 10 5 Serial Number Settings 87 Passive Tools Characterizing With A Polaris System The software will automatically calculate a unique serial number for your tool using these settings 4 Click Next The Marker Setup dialog opens 10 4 Enter Tool Marker Values 6D Architect requires that you enter information about where each marker is placed on the tool These coordinates can be entered using one of three different methods e load a Rigid Body file RIG that has already been created for the tool e use data collection through the Polaris System e enter in each coordinate manually Marker Setup Passive Type To 0 RO M To collect tool position data the software must have an initial estimate of the marker Crea tion Wiza rd positions Click one of the methods below to enter these estimate values Marker Entry Method Manual Input use Engineering Data Passive Snapshot use values from a POLARIS collection Rigid Body File use values from a Rigid Body file m Marker Values Xx NG Z Remove Edit Undo Last If necessary you can remove or edit values and view the markers in 3D to verify the tool shape Click Next coca Figure 10 3 Marker Setup Dialog To Enter Marker Values Using a Rigid Body File 1 Clic
123. ion oooooococooo oo 101 10 10 What NS o de e as do tel cA o 103 11 Passive Tools Characterizing With A Polaris Accedo System 104 141 Start the Wizard saaneina i pa e AA 104 11 2 Enter the Collection Settings nnn NAA aca 104 11 3 Describe Tool Properties a ac a a Ba ee 106 NDI 6D Architect User Guide iii Table of Contents 11 4 Enter Tool Marker Values isis Ga ra bee vad KANG 108 11 5 Save Parameters tas NAA BG teen CO TA kA Ged 110 11 6 Collect Tool Marker Data carta pa 111 JJ 7 Define FACES arenu A AAA SEA 114 11 8 Align the Tool s Coordinate System a 115 11 9 Add Marker and Face Normals 0 118 11 10 Complete the Tool Characterization ooooooooo o 121 LIN bata Next mana dag eg agata ahah Baa Ta Ba aaa ab ma 123 12 Rigid Bodies Characterizing with Previously Collected Data 124 12 1 Start the Wizard tata Saas 124 12 2 Selectthe Data ENG paaa e epo aden a NG KAG awe ane O ae 124 12 3 Specify the Build Parameters 4 44 pan a PAL 126 12 4 Align the Rigid Body s Local Coordinate System 127 12 5 Add Marker Normals ies an NAA RAT PAG ak PAG PANG aag 131 12 6 Complete the Characterization orar ira GAW NAA 135 12 7 Whats Next nas aa MG LA AA A GA NG 136 13 Rigid Bodies Characterizing with an Optotrak System 137 154 SALANG Wiz rd reses sea a 137 13 2 Enter the Collection Seti yaa dai hd a eee 137 13 3 Save Para
124. ional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 8 Click Next The Rigid Body Normals dialog opens To Assign a Local Coordinate System Manually 1 Click Manual Transform The following dialog appears NDI 6D Architect User Guide 129 Rigid Bodies Characterizing with Previously Collected Data Manual Transform x Translation Te H mm Ty 0 0000 mm Tz 0 0000 mm Rotation Euler Angles Anis 0 0000 180 DA PORRA AAA 180 Y Anis 0 0000 18 AAA AA 180 Z Axis 0 0000 a 180 ea a ga NYAN Degrees Radians Crest Figure 12 5 Manual Transform Dialog 2 Adjust each field incrementally to change the position and orientation of the local coordinate system Each change is reflected in the graphic representations in the Rigid Body Alignment dialog e Use the Tx Ty and Tz fields to translate the origin of the local coordinate system e If you are using the Euler Angles as indicated in the drop down list use the X Axis Y Axis and Z Axis fields to rotate the local coordinate system Note Rotation Matrix and Quaternion are advanced options The easiest a
125. irst Step on page 18 This section explains the following topics e Start the ROM Creation Wizard e What Is Next Start the ROM Creation Wizard The first screen of the ROM Creation Wizard allows you to choose the type of tool you are characterizing and the method you plan to use 1 Select File gt New gt ROM File 2 Select Build 5 ROM Creation Wizard The ROM Creation Wizard dialog opens displaying a Welcome screen 6D Architect also gives you the opportunity to go directly to the ROM Creation Wizard s Welcome screen whenever you start the software In the pop up that appears upon opening 6D Architect select want to create a new ROM file 3 From the Tool Classification list select the appropriate tool type For example if you want to create an SROM Image File for an active tool select Active 4 From the Characterization Method list select the appropriate method For example if you plan to characterize your tool using data collected with an Optotrak Certus System select Optotrak NDI 6D Architect User Guide 15 Tool Characterization The First Step Tool ROM Creation Wizard G Welcome to the ROM Creation Wizard This Wizard guides you through a tool characterization Begin by choosing the tool class and the characterization method If you already know the exact marker positions the Engineering Data method allows you to enter them manually r Tool Classification Active
126. ish the files to be saved or browse to a location by clicking E File Name Enter the name for the data collection File Extension Enter csv Table 6 6 Save Parameters Section 2 Click Next The Data Collection dialog opens Note You will now be prompted to connect the Polaris System to the computer and ensure that the tool is connected to the correct port on the Tool Interface Unit 28 NDI 6D Architect User Guide Active Tools Characterizing with a Polaris System 6 6 Collect Tool Marker Data The Data Collection dialog allows you to view the tool within the measurement volume during each trial frame The tool must remain motionless during collection trials If the tool is moved even slightly during a collection the Polaris System cannot determine accurate positions of all markers with respect to each other The tool characterization will likely fail aaa xi Data Collection To 0 RO M Click Collect when you are ready to start the collection At least three 3 markers must be visible during each collection frame The realtime display can be used to preview and Crea tion Wiza rd position your markers This is a STATIC Collection the Rigid Body must be stationary during the collection TRIAL 2 of 2 5 Output File E 4ndigita NGDA 019 csy Trial Frames 100 Collect Delay Os Progress Click Collect to begin Y QA 327 5322 194 9924 1789 5979 B 341 2936 189 59
127. it gathered when it first connected to your Optotrak System If tools are switched or added to a port click the Refresh Tool List button 6D Architect will reconnect and update the selections available 2 Complete the Optotrak System Settings section Field Action Overall Marker Power scale Use this scale to indicate the intensity of light emitted from the markers Collection Time s Enter the length of collection time required for each data collection trial in seconds Frame Frequency Enter the frame frequency in Hz used during data collection Camera Parameter File Select the camera parameter file to be used to calculate 3D and 6D data Table 7 2 Optotrak System Settings Note The parameters for the Optotrak System must match the marker wavelength for the markers on the tool These parameters are stored in the camera parameter file that you must select in the Collection Settings dialog 3 Optional If you are using a positioning device refer to TB 10029 4 Optional If you want to apply advanced system settings see Optotrak System Settings on page 173 5 Click Next The Tool Description dialog appears 7 3 Describe Tool Properties In this screen the ROM Creation Wizard will ask you to make selections about the tool This includes information such as the tool type and marker type NDI 6D Architect User Guide 45 Active Tools Characterizing with an Optotrak System ce xl Tool Description T
128. itect allows you to save all the ROM Creation Wizard selections that you ve made in case you want to repeat the characterization process for similar tools using similar parameters Remember that although you can use the same wizard selections for similar tools you will still need to perform separate and unique data collections for each NDI 6D Architect User Guide 101 Passive Tools Characterizing With A Polaris System a xl Congratulations you have successfully characterized the Tool ROM tool Crea tion Wiza rd After exiting this wizard the ROM information will be loaded into the main program window to perform the following tasks 1 Save the ROM file 2 Test that Polaris and or Optotrak Certus systems can track the tool 3 Active Tool ROM files can be programmed directly to the tool Be sure to validate the tool to confirm it is operating as you expect and that it is returning correct transformations It is suggested that you go through the wizard again to change any ROM fields or options To automatically repeat the characterization process save the wizard settings to an output file vV Save Wizard Settings Output File D 4markersROMmacro crm a Description tool with 4 markers lt Back Cancel Figure 10 15 Characterization Completion Dialog 1 Choose Save Wizard Settings 2 Inthe Output File field browse to a location and enter a name by clicking E 3 Inthe Description field enter
129. ive Tools Characterizing With A Polaris System on page 84 Passive Tool Polaris Accedo System Passive Tools Characterizing With A Polaris Accedo System on page 104 Active Wireless Tool Polaris System Passive Tools Characterizing With A Polaris System on page 84 Table 4 1 What Is Next 4 3 About CRM Files Once you have completed characterizing a tool 6D Architect allows you to save all the ROM Creation Wizard selections that you have made in case you want to repeat the characterization process for additional tools using similar parameters For more information about creating this file see Complete the Tool Characterization on page 39 You can open a crm file at any time while working in the 6D Architect main window 1 From the main window toolbar click Build gt Load Characterization Template File The Auto Characterization File dialog opens 2 In the File Name field enter the desired crm file or browse to it by clicking El 3 Click Proceed The System Connection dialog opens 4 Continue the characterization process with the ROM Creation Wizard NDI 6D Architect User Guide 17 Rigid Body Characterization The First Step 5 Rigid Body Characterization The First Step NDI 6D Architect provides you with a characterization wizard to guide you through the process of characterizing a rigid body and creating a Rigid Body file RIG This section explains the following topics e S
130. ix B Testing Tools Tools should be tested to make sure that they have been characterized correctly 1 If you do not have a ROM file already open from the main window menu select File gt Open 2 Make sure that your measurement system is properly connected to your computer and that the tool you plan to test is ready for use and placed in the measurement volume 3 Select Tool Operations gt Test Tool The Test Tool dialog appears Test Tool F xj m Select System Polaris System C Optotrak Certus System Select Tool Cancel Figure B 1 Test Tool Dialog Note Figure A 1 shows testing a tool with a Polaris System For more information about selecting tools with an Optotrak Certus System see Enter the Collection Settings on page 44 4 From the Select System list choose the system you are testing the tool with 5 Indicate where the tool is located e Ifyou are testing with a Polaris System select the appropriate tool port from the drop down menu e Ifyou are testing with an Optotrak Certus System click the Find Tools button The system will check and report back which tools were found Select the appropriate tool from the drop down list Note If you change the tools connected to the Optotrak System during this procedure you must click the Find Tools button to refresh the list 6 Click OK The Realtime Tracking Information dialog opens NDI 6D Architect User Guide 161 Testing Tools
131. k Rigid Body File use values from a Rigid Body 88 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris System 2 Select the desired file from the directory 3 Click Open 6D Architect reads the Rigid Body file and plugs its marker values into the Marker Values list 4 Click Next To Enter Marker Values Using Engineering Data 1 Click Manual Input use Engineering Data The Edit Marker Information dialog opens x Marker a xo vp 2 Cancel Figure 10 4 Edit Marker Information Dialog 2 Enter the x y and z positions for all markers on the tool 3 Click OK The Edit Marker dialog closes 4 Once you have entered marker values you can edit them in the following ways Edit or Change Action Edit a marker s values Select the marker and click Edit Remove a marker from the list Select the marker and click Remove Undo the last edit action Click Undo Last View the marker s in 3D Select the marker and click View 3D Table 10 6 Changing Marker Values 5 Click Next The Marker Setup Groups and Faces dialog appears 6 Proceed directly to section Define Faces on page 94 To Enter Marker Values Using the Tool Snapshot Method 1 Click Passive Snapshot The following dialog opens NDI 6D Architect User Guide 89 Passive Tools Characterizing With A Polaris System POLARIS Passive Viewer x This dialog collects an estimate of your passive marker positions Pla
132. l Inc Product names listed are trademarks of their respective manufacturers Company names listed are trademarks or trade names of their respective companies NDI 6D Architect User Guide NDI 6D Architect User Guide Table of Contents Table of Contents 1 Warnings and Updates 0 ccc cece BA eee eee eee eens 1 1T Updates ole Sa Bl hola Ce Baa Bae Dadaan BG ha ee BN DARA 1 ER A A GAAN AG ee PANG mag 2 2 Welcome to NDI 6D Architect cece cece e teen eee eens 3 2 1 What is characterization ma paga a e ed Oe ee eS 3 2 2 Explaining RIG and ROM 2 4 iaa o KAU 4 2 3 Installing the Software oct ida A A A RA ees 5 3 Exploring 6D Architect Main Window 0c cece e ener e eens 6 3 1 Opening the Main Window 00 ce cece eee eee 6 32 Fhe Main IA Be LAAN NG PANTY ES 7 3 3 The Marker Viewer Window 5 5 sce airis tarot 8 3 4 The Orientation Toolbar whole GA AN NADAAN 10 3 5 SROM Image File Functionality cierras 10 3 6 Rigid Body File Functionality o oo oooooooomomo o o 13 4 Tool Characterization The First Step 0c cece cece cece eee eee 15 4 1 Start the ROM Creation Wizard 322 anna a ane bed Pada hes 15 4d What IS Nexo oui oe Dee Gey eee eae CoWare ee 16 43 About CRM BES ia ALNG UNG Hane anc gees ved Se 17 5 Rigid Body Characterization The First Step o oooooommmmmmm 18 5 1 Start the Rigid Body Creation Wizard 00000 eee 18 52 What IS Noti
133. l length may increase the accuracy of the software s data interpretations 2 Position the tool within the measurement volume If you are unsure whether or not your markers are visible observe the marker status in the bottom right of the window Marker Colour Marker Status Green The marker is visible to the system and is inside the measurement volume Yellow The marker is visible but not in the measurement volume Red The marker is not visible to the system Table 11 8 Marker Status 112 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris Accedo System Fach coloured circle corresponds to a marker The number of circles should match the number of markers that are on the tool Click Collect The system proceeds to collect information about each marker s position for the number of frames specified You can view this action in the marker status section of the dialog The Current Collection Status Dialog opens displaying this collected information Current Collection Status To 0 RO M This status page appears after each collection trial From here you can modify current Creation Wizard collections or stop collecting and proceed with the tool characterization r Collection Status Filename Properties C ndigital 6DA 011 csv 4 Markers in 51 frames Choose Your Next Step RECORD Another Data Trial Return to the data collection page to perform another collection
134. l transformation Table 6 9 Tolerance Fields 5 Click OK 6 Click Next The Characterization Completion dialog opens Complete the Tool Characterization 6D Architect allows you to save all the ROM Creation Wizard selections that you ve made in case you want to repeat the characterization process for similar tools using similar NDI 6D Architect User Guide parameters Remember that although you can use the same wizard selections for similar tools you will still need to perform separate and unique data collections for each 39 Active Tools Characterizing with a Polaris System aaa xl Congratulations you have successfully characterized the Tool ROM tool Crea tion Wiza rd After exiting this wizard the ROM information will be loaded into the main program window to perform the following tasks 1 Save the ROM file 2 Test that Polaris and or Optotrak Certus systems can track the tool 3 Active Tool ROM files can be programmed directly to the tool Be sure to validate the tool to confirm it is operating as you expect and that it is returning correct transformations It is suggested that you go through the wizard again to change any ROM fields or options To automatically repeat the characterization process save the wizard settings to an output file vV Save Wizard Settings Output File D 4markersROMmacro crm a Description tool with 4 markers lt Back Cancel Figure 6 13 Charact
135. lect All Markers 2 In the table at the bottom of the dialog press Ctrl and select three markers the desired marker included Below the table the software displays the centroid and a plane equation associated with the selected markers Use this information to determine the coordinates of the ideal normal for the desired marker The first three coefficients of the plane equation are coordinates for a normal vector perpendicular to the imagined plane 3 Select a single marker or if you want to assign the same normal to multiple markers select them while pressing the Ctrl key 4 Click Edit Selected NDI 6D Architect User Guide Active Tools Characterizing with an Optotrak System 5 In the coordinate fields provided enter the values that you determined in step 2 and adjust the values if necessary Your changes are displayed graphically to help you with these edits 6 Click OK To Create Normals for Faces 1 In the View list select the appropriate face 2 In the table at the bottom of the dialog press Ctrl and select three markers that are assigned to the face Below the table the software displays the centroid and a plane equation associated with the selected markers Use this information to determine the coordinates of the ideal normal for the desired marker Note The first three coefficients listed for the imagined plane can be used as coordinates for a vector perpendicular to the imagined plane 3 Click
136. lected markers Use this information to determine the coordinates of the ideal normal for the desired marker Note The first three coefficients of the plane equation are coordinates for a normal vector perpendicular to the imagined plane 4 Select a single marker or if you want to assign the same normal to multiple markers select them while pressing the Ctrl key NDI 6D Architect User Guide 37 Active Tools Characterizing with a Polaris System 38 Note Click Edit Selected In the coordinate fields provided enter the values that you determined in step 2 and adjust the values if necessary Your changes are displayed graphically to help you with these edits Click OK To Create Normals for Faces 1 2 In the View list select the appropriate face In the table at the bottom of the dialog press Ctrl and select three markers that are assigned to the face Below the table the software displays the centroid and a plane equation associated with the selected markers Use this information to determine the coordinates of the ideal normal for the desired marker The first three coefficients of the plane equation are coordinates for a normal vector perpendicular to the imagined plane Click Face Normals From the drop down list select the appropriate face In the coordinate fields provided enter the values that you determined in step 2 and adjust the values if necessary Your changes are displayed graphically to help
137. lgorithm Constraints on page 167 Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 146 NDI 6D Architect User Guide 13 7 Rigid Bodies Characterizing with an Optotrak System 5 Click Next The Rigid Body Normals dialog opens Add Marker Normals For each marker on the rigid body you will need to assign a vector that defines which way they are facing The system uses this vector or normal to help determine where the marker is pointing in the measurement volume With this information the system can determine if the marker is pointing at an angle that no longer provides accurate data Rigid Body Normals Ri Ti B od This optional step allows you to add and edit normal vectors for the Rigid Body markers J y You may also modify the Rigid Body tolerances used during tracking IET TELA Normal Operations ormal Uperations 4 K ga a 5 za 3 T Include Normals Edit Selected Undo m Tracking Tolerances X Y 100mm i CZ Y 100mm i Edit Tolerances 18 4243 42 9427 7 1060 1 2 13 0687 44 3863 10 5569 3 15 7831 0 6849 1 8210 4 18 3963 42 9635 5 9849 5 13 0627 44 3322 10 5469 6 15 7611 0 7181 1 9521 lt Back Cancel Figure 13 9 Rigid Body Normals Dialog About Determining Normals Note You need to assign normals to all markers 6D
138. lly understood do not perform this step and continue with the default settings 8 Click Next The Rigid Body Normals dialog opens To Assign a Local Coordinate System Manually 1 Click Manual Transform The following dialog appears NDI 6D Architect User Guide 145 Rigid Bodies Characterizing with an Optotrak System Manual Transform x Translation Te H mm Ty 0 0000 mm Tz 0 0000 mm Rotation Euler Angles Anis 0 0000 180 DA PORRA AAA 180 Y Anis 0 0000 18 AAA AA 180 Z Axis 0 0000 a 180 ea a ga NYAN Degrees Radians Crest Figure 13 8 Manual Transform Dialog 2 Adjust each field incrementally to change the position and orientation of the local coordinate system Each change is reflected in the graphic representations in the Rigid Body Alignment dialog e Use the Tx Ty and Tz fields to translate the origin of the local coordinate system e Ifyou are using the Euler Angles as indicated in the drop down list use the X Axis Y Axis and Z Axis fields to rotate the local coordinate system Note Rotation Matrix and Quaternion are advanced options The easiest and most intuitive way to rotate coordinate systems is to use Euler Angles 3 Once you are satisfied click Apply to save your changes 4 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see A
139. lowing steps 1 Open the SROM Image File 2 Edit the SROM Image File 3 Test Tool Tracking 4 Program User Specified SROM Tags 5 Program the SROM Device Open the SROM Image File 1 Plug the tool into a port of either your Optotrak System or Polaris System 2 Ifyou do not already have the tool s SROM Image File open in the main window open it using one of the following methods e If you are reading the SROM Image File directly from the connected tool select File gt Load ROM From Tool In the dialog that appears select the system you are using and the desired tool from the drop down list e Ifyou are opening an SROM Image File saved on the host computer from previous a previous characterization session select File gt Open and select the appropriate ROM file Edit the SROM Image File You have the option of manually editing SROM Image File information directly in the 6D Architect main window but only after enabling the Allow fields to be manually edited Advanced option located at the bottom of the ROM Information table After choosing this option double click a value in any of the NDI ROM Information tables to edit that value NDI 6D Architect User Guide 79 Active Tools Programming SROM Devices Note For more information see SROM Image File Functionality on page 10 9 3 Test Tool Tracking Before the SROM Image File information is programmed into the SROM device you should test its tracking abili
140. ltime display can be used to preview and Crea tion Wiza rd position your markers This is a STATIC Collection the Rigid Body must be stationary during the collection TRIAL 2 of 2 gt Output File EN E ndigital 6EDA 019 csv 3 Trial Frames 100 AS Collect Delay Os X Y 100 mm CZ Y 100 mm APN fag AA YA ER MEH A AGUAS s NAGA ally Se III A UA 3D 100 mm Z 100 mm x Progress Click Collect to begin A 327 5322 194 9924 1789 5979 Lo B 341 2936 189 5949 1792 1198 O F 294 3249 155 2432 1787 8838 G 347 3731 139 5163 1800 0963 j Ok _ 307 5792 108 8973 1771 2513 Change Trial Length O L 321 1238 104 5452 1774 0875 N lt Back Cancel Figure 10 7 Data Collection Dialog Note Figure 6 5 shows a Polaris System that uses a standard measurement volume 1 Optional Ifyou want to edit the collection trial length click Change Trial Length and enter the new value Increasing the trial length may increase the accuracy of the software s data interpretations 2 Position the tool within the measurement volume If you are unsure whether or not your markers are visible observe the marker status in the bottom right of the window Marker Colour Marker Status Green The marker is visible to the system and is inside the measurement volume Yellow The marker is visible but not in the measurement volume Red The marker is not visible to the system
141. marker data Complete the Marker Order section by choosing either Sequential Order or Non Sequential Order e If you choose sequential order you must specify the Starting Marker Number e Ifyou choose non sequential order you must drag and drop the entries in the list on the right to assign each marker to its correct data 126 NDI 6D Architect User Guide Rigid Bodies Characterizing with Previously Collected Data 3 Complete the Advance Build Algorithm Options section Option Action Upon successful build transform It is recommended to choose this option Rigid Body to a local origin Use initial estimate RIG File If you want to use an existing Rigid Body file as an estimate select the file from the directory Table 12 1 Advanced Build Options 4 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 5 Click Next The Rigid Body Alignment dialog opens 12 4 Align the Rigid Body s Local Coordinate System Before any measurement system can calculate the position and rotation of your rigid body you will need to assign it a local coordinate system Assigning a rigid body a local coordinate system is an important step in produci
142. markers the desired marker included Below the table the software displays the centroid and a plane equation associated with the selected markers Use this information to determine the coordinates of the ideal normal for the desired marker The first three coefficients of the plane equation are coordinates for a normal vector perpendicular to the imagined plane Select a single marker or if you want to assign the same normal to multiple markers select them while pressing the Ctrl key Click Edit Selected In the coordinate fields provided enter the values that you determined in step 2 and adjust the values if necessary Your changes are displayed graphically to help you with these edits NDI 6D Architect User Guide Rigid Bodies Characterizing with Previously Collected Data 6 Click OK 7 Click Next The Characterization Completion dialog opens To Edit Tolerances 1 Enable Include Normals 2 In the table at the bottom of the dialog select a marker 3 Click Edit Tolerances The following dialog appears Rigid Body Settings x Rigid Body Settings Rigid Body Spreads Maximum Marker Angle degrees Minimum Number of Markers la Maximum 3D Error fos mm Maximum 3D RMS Error fos mm Maximum Sensor Error p2 sensor units Maximum Sensor RMS Error for sensor units If a marker fails to satisfy any of these tolerances it is tagged as invalid and the transformation will be re calculated without it
143. mation Dialog 2 To assign a marker as the origin of the local coordinate system double click that marker s entry under Use in Origin If you select more than one marker as the origin of 144 NDI 6D Architect User Guide Rigid Bodies Characterizing with an Optotrak System your rigid body 6D Architect will place the origin at the geometric centre of these markers 3 To place a marker onto an axis right click the marker s entry under Alignment Setting Use the list that appears to constrain the marker to be on any positive or negative x y or X axis 4 To place a marker onto a plane of the local coordinate system double click that marker s entry under Alignment Setting Use the list that appears to constrain the marker to any quadrant of any plane 5 Click Preview to view the changes that you make in the marker window This can help you visualize the chosen orientations and help trouble shoot any conflicting alignments you may have accidentally made 6 When you are finished return to the Rigid Body Alignment dialog e If you want to return to the original position and orientation click Cancel e Ifyou are satisfied with the alignment parameters click Apply 7 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 Note The algorithm constraints are advanced option parameters If the intended result is not fu
144. ment volume This functionality is valuable to both industrial and research markets 6D Architect helps you perform the following tasks e characterize tools and rigid bodies using a wizard based interface e create and edit SROM Image Files ROM and Rigid Body files RIG e create snapshots of single faced wireless tools without using engineering data or a previously created SROM Image File e save and reuse characterization settings e view a graphical representation of the tool or rigid body e test SROM Image Files before programming them onto SROM devices This section explains the following topics e What is characterization e Explaining RIG and ROM e Installing the Software What is characterization The process of characterization creates a file that describes each feature of a tool or rigid body These files are an important part of the measuring process as they provide NDI measurement systems with the tool or rigid body s dimensions and marker placements Without this information a system cannot accurately interpret the data it has collected It is one thing to find markers it is another to know that they belong to a particular object and where on that object they are located NDI 6D Architect User Guide 3 Welcome to NDI 6D Architect 2 2 Note Note Explaining RIG and ROM 6D Architect offers you the option of working with either RIG files or ROM files Make your selection based on which NDI measureme
145. meters NP KANONG NG dl ahs 139 134 Collect Marker Data is EA a TRA 140 13 5 Specify the Build Parameters 273 0x4Xx3 243 dr a 142 13 6 Align the Rigid Body s Local Coordinate System 143 13 7 Add Marker Normals 3 naa wise va cttw NAN LINA GANA AG 147 13 8 Complete the Characterization oir 151 15 0 What IS NS a E a DAGANG a A 152 iv NDI 6D Architect User Guide Table of Contents Appendix A Pivot Alignment cece eects 153 A 1 Transforming Local Coordinate Systems SROM Image Files 153 A 2 Transforming Local Coordinate Systems Rigid Body Files 157 Appendix B Testing Tools vrs NG Modes Dees 161 Appendix C Testing Rigid Bodies ccc cee cece eee eee eee 163 Appendix D Unique Geometry 222222 aanak kk eee eee eee 164 DD Characteri7zme Faces a dys Banded Soa Ba LE 164 D 2 Converting RON to RIG hase a wage etna 164 D 3 Testing the Unique Geometry a 165 Appendix E Algorithm Constraints aa 167 Bol About Build Parameters a pn GE yaaa a WG 167 E 2 About Transformation Parameters a 168 E 3 About Pivot Parameters oi o Feel ees a BA aaa 169 E 4 Defining Algorithm Constraints a 169 Appendix F Polaris Polaris Accedo System Settings 170 Appendix G Optotrak System Settings 0 cece cece tenes 173 NDI 6D Architect User Guide V List of Figures List of Figures vi Figure 3 1 6D Architect Main
146. n an 65 Table 8 3 Serial Number Settings An IE TG at ag a Gag abana NG 65 Table 8 4 Editing Marker Values ula LAG A na Al Ba 68 Table 8 5 Marker Information Provided By 6D Architect o oo o oo 74 Table 8 6 Tolerance Fields o 2 nd tare eign A eg 76 Table Gel Tal PES AS GER e Gen ares amp 80 able 922 SROM Tag Table sz pido da AE RA Pra 81 Table 10 1 Collection Settings Section 0 ccc ee eee 85 Table 10 2 Polaris System Section ei tiros 85 Table 10 3 Tool Description Secon oc eater Or wha AO A ede Wa 87 Table 10 4 Enhanced Tracking Algorithm Section 0 000000 ee eee 87 Table 10 5 Serial Number Sellos vag ia Se NT ees 87 Table 10 6 Changing Marker Valdes 4 06 066 4 di eS RG elo ees 89 Table 10 7 Save Parameters Section 4 5 NS NG ot Laine py lt ealadva pesados 91 Table 10 8 Marker StAtUs anan Fe tena tt cr Meat 92 NDI 6D Architect User Guide xiii List of Tables xiv Table 10 9 Marker Information Provided By 6D Architect o o o o 99 Table 10 10 Tolerance BIOS E A AOS 101 Table 11 1 Collection Settings Section citas tri taa ida 105 Table 11 2 Polaris Accedo System Section 0 0 ccc cece cence eens 105 Table 11 3 Tool Description Section 24 24 gan dseec neve tin BANANA Sie ax 107 Table 11 4 Enhanced Tracking Algorithm Section 00 0000 eee 107 Table 11 5 Serial Number Settings mw DA KA ABAD ANN irlanda 107 Table 11 6 Changing Marker Value
147. n is disabled 2 Complete the Serial Number Settings section Field Option Action Date MM DD Y Y Y Y Enter today s date using the format indicated Sequence Number Enter 1 to indicate an increment of one for each serial number created Table 7 4 Serial Number Section The software will automatically calculate a unique serial number for your tool using these settings 3 Click Next The Marker Setup dialog opens 7 4 Define Marker Setup Once the tool description is defined the ROM Creation Wizard will prompt you to specify where the markers are within the wiring matrix and if switches or LEDs are present on the tool You must also indicate the firing sequence of the markers Note You cannot use the Auto Detect feature with an Optotrak System This button is disabled NDI 6D Architect User Guide 47 Active Tools Characterizing with an Optotrak System Marker Setup Active Type Tool ROM Creation Wizard Specity the tool wiring layout active markers visible LEDs and switch states switch flags Each marker must have a matrix letter Auta WetectActve Mekes ana LEDS Active Markets Markers E Firing Sequence Emb sli r Visible LEDs 1 r Switch Flags 1D Switch 1 2E vito M Present 3 none Switch 3 T Tool Engage 4 none KEYBOARD HINT You can also type the matrix position of the selected marker lt Back Cancel Figure 7 4 Marker Setup
148. nd most intuitive way to rotate coordinate systems is to use Euler Angles 3 Once you are satisfied click Apply to save your changes 4 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 130 NDI 6D Architect User Guide 12 5 Rigid Bodies Characterizing with Previously Collected Data 5 Click Next The Rigid Body Normals dialog opens Add Marker Normals For each marker on the rigid body you will need to assign a vector that defines which way they are facing The system uses this vector or normal to help determine where the marker is pointing in the measurement volume With this information the system can determine if the marker is pointing at an angle that no longer provides accurate data Rigid Body Normals Ri Ti B od This optional step allows you to add and edit normal vectors for the Rigid Body markers J y You may also modify the Rigid Body tolerances used during tracking IET TELA Normal Operations ormal Uperations 4 K ga a 5 za 3 T Include Normals Edit Selected Undo m Tracking Tolerances X Y 100mm i CZ Y 100mm i Edit Tolerances 18 4243 42 9427 7 1060 1 2 13 0
149. ng accurate transformations NDI 6D Architect User Guide 127 Rigid Bodies Characterizing with Previously Collected Data Rigid Body Alignment Ri Ti B od The Rigid Body was successfully calculated To align the Rigid Body to a local g y coordinate system use the Alignment Methods below Creation Wizard Alignment Methods Alignment Parameters Aligns the Rigid Body onto E t user defined axes or planes Manual Transform X Y 100mm 1 EZ Y 100mm Performs a user defined transform translation and rotation 4 JE Sa Ses 83 824 5 Undo wla 3D 100mm X Z 100mm 1 r Algorithm x F Z Adjust Constraints 1 18 4243 42 9427 7 1060 2 130687 44 3863 10 5569 Edit the transform 3 157831 0 6849 1 8210 algorithm 4 18 3963 42 9635 6 9849 constraints 5 130627 44 3322 10 5469 6 157611 0 7181 1 9521 lt Back Next gt Cancel Figure 12 3 Rigid Body Alignment Dialog To Assign a Local Coordinate System Using Alignment Parameters 1 Click Alignment Parameters The following dialog appears Alignment Transformation x To specify the alignment parameters for each marker double click the marker alignment setting To use the marker in the origin calculation double click the Use in Origin column Alignment Positions 4 EE E H 3 o 0 2 Use in Origin Alignment Setting 1 x Unknown 2 X Y Quadrant
150. ns Align the Tool s Coordinate System Before any measurement system can calculate the position and rotation of your tool you will need to assign the tool a local coordinate system Assigning a local coordinate system is an important step in producing accurate transformations Tool ROM Creation Wizard Tool Alignment use the Alignment Methods below r Alignment Methods 0135 50 5 5 3 gt Alignment Parameters Aligns the tool onto user defined axes Lx or planes Performs a user defined transform translation and rotation zk Undo The tool was successfully characterized To align the tool to a local coordinate system z Manual Transform A X Y 100 mm CZ Y 10 mm T 3D 100 mm 2 10 mm constraints r Algorithm X NG Zz Adjust Constraints A 43 6570 0 0000 0 0000 G 0 0000 25 3866 0 0000 Edit the transform M 6 2929 36 4029 48 6009 algorithm 5 50 0503 11 0188 48 8653 Figure 7 9 Tool Alignment Dialog To Assign a Local Coordinate System Using Alignment Parameters 1 Click Alignment Parameters The following dialog appears NDI 6D Architect User Guide Active Tools Characterizing with an Optotrak System Alignment Transformation x To specify the alignment parameters for each marker double click the marker alignment setting To use the marker in the origin calculation double click the Use in Ori
151. nt system and what type of tool or rigid body you are working with Measurement System Tool Category Tool Types File Required Polaris Wired tools Active tools RROM Wireless tools Passive tools ROM Active wireless tools ROM Polaris Accedo Wireless tool Passive tools ROM Optotrak Systems Rigid bodies RIG Tools ROM Table 2 1 Selecting ROM or RIG Essentially when you characterize rigid bodies you are creating a Rigid Body file RIG when you characterize tools you are creating an SROM Image File ROM Although it is not explicit in the table above active tools and active wireless tools that are normally associated with Polaris Systems can also be characterized with an Optotrak Certus System This guide is written with the assumption that you have an understanding of these different tool categories and types For more information about the different tools listed above refer to the following tool design documentation Polaris System and Polaris Accedo System Wiring Guide for Polaris Active Marker Tools e NDI TB 0004 Polaris Tools Unique Geometry Specification e NDI TB 0010 Technical Description of the Polaris Wireless Tool e NDI TB 0011 Polaris Rigid Body Definition Polaris Specific Parameters e NDI TB 0021 Design and Manufacturing Tools Incorporating IRED Markers Optotrak Systems Optotrak Certus Rigid Body and Tool Design Guide For the latest releases of NDI documents sof
152. nts listed for the imagined plane can be used as coordinates for a vector perpendicular to the imagined plane Click Face Normals From the drop down list select the appropriate face In the coordinate fields provided enter the values that you determined in step 2 and adjust the values if necessary Your changes are displayed graphically to help you with these edits Click OK Optional If you want to restore all of the normals and tolerances to the default settings click Undo Click Next The Characterization Completion dialog opens To Set Tracking Tolerances 1 Ze 3 In the View list select All Markers In the table at the bottom of the dialog select a marker Click Edit Tolerances The following dialog opens NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris Accedo System Set Tolerances 3 xj Maximum Marker Angle 60 degrees Minimum Number of Markers 3 Maximum 3D Error 2 mm If a marker fails to satisfy any of these tolerances it is tagged as invalid and the transformation will be re calculated without it Cancel Figure 11 14 Set Tolerances Dialog 4 Complete the fields provided Field Action Maximum Marker Angle Enter the maximum angle that a marker normal can be pointed away from the Position Sensor Any marker turned away more than this value will not be used to compute a tool transformation Minimum Number of Markers Enter the minimum number of
153. of groups you want to create NDI 6D Architect User Guide 31 Active Tools Characterizing with a Polaris System 6 8 32 2 Assign each marker in the table to group in the table double click on a marker s Group N entry to toggle between group selections By default all markers are assigned to group 1 3 Optional If you want to restore the groups to the original settings click Reset Marker List to Defaults To Select the Number of Faces 1 In the Number of Faces field select the number of faces 2 Assign a marker to a face in the table double click the marker s F column entry to change it to X This means that this marker is included on the face 3 Optional If you want to restore the faces to the original settings click Reset Marker List to Defaults 4 Click Next The Tool Alignment dialog opens Align the Tool s Coordinate System Before any measurement system can calculate the position and rotation of your tool you will need to assign the tool a local coordinate system Assigning a local coordinate system is an important step in producing accurate transformations NDI 6D Architect User Guide Active Tools Characterizing with a Polaris System Tool Alignment The tool was successfully characterized To align the tool to a local coordinate system use the Alignment Methods below Tool ROM Crea tion Wiza rd r Alignment Methods 4 KEY ag 5 SA 3 H 24 a jz E Alignment Parameters Ali
154. ols Programming SROM Devices 6 If your tool already contains a SROM Image File a Warning dialog appears stating that your tool is already programmed and that continuing the action may corrupt the tool If you wish to continue programming the SROM click Yes If not click No If your tool does not contain a SROM Image File a dialog appears stating that programming the SROM device was successful NDI 6D Architect User Guide 83 Passive Tools Characterizing With A Polaris System 10 Note 10 1 10 2 84 Passive Tools Characterizing With A Polaris System The following sections walk you through each window of the ROM Creation Wizard to help you characterize an passive tool with a Polaris System This section also applies to characterizing active wireless tools with a Polaris System all screens and procedures are the same This section explains the following steps 1 Start the Wizard 2 Enter Collection Settings 3 Describe Tool Properties 4 Enter Tool Marker Values 5 Saving Parameters 6 Define Faces 7 Align the Tool s Coordinate System 8 Add Marker and Face Normals 9 Complete the Tool Characterization 10 What Is Next Start the Wizard Before continuing you must open the wizard and indicate that you are characterizing a passive tool or an active wireless tool with a Polaris System For instructions see Tool Characterization The First Step on page 15 Once this step is completed you c
155. omplete the collection process and proceed lt Back Cancel Figure 13 4 Collection Status Dialog 4 Select the newly created dat file from the Collection Status list 5 Click View The dat file results open for viewing 6 When you have finished reviewing the results click Close 7 Optional If you want to collect another data trial select RECORD Another Data Trial Select the file that you wish to overwrite then click Re collect You will be returned to the Data Collection dialog to begin the process again 8 When you are satisfied with the data collection select STOP Recording NDI 6D Architect User Guide 141 Rigid Bodies Characterizing with an Optotrak System 9 Optional If you want to view the log file for the collection choose View BUILD LOG upon successful completion of build 10 Click Next The Build Parameters dialog opens 13 5 Specify the Build Parameters Once you have collected data about each marker you must specify which markers are part of the Rigid Body and whether or not these markers are sequential Rigid Body Creation Wizard Build Parameters Identify which markers in the collection data belong to the Rigid Body If the Rigid Body markers appear sequentially in the data enter the starting marker number If they are non sequential you must specify the order manually Number of Rigid Body Markers El RIG Marker 1 1 Marker Order 2 2 Sequential O
156. onstraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 5 Click Next The Marker and Face Normals dialog appears 10 8 Add Marker and Face Normals For each marker and face on your tool you will need to assign a vector that defines which way they are facing The system uses this vector or normal to help determine where the marker or face is pointing in the measurement volume With this information the system can determine if the marker or face is pointing at an angle that no longer provides accurate data Marker and Face Normals This dialog allows you to set marker and face normals for the tool Tool ROM Creation Wizard Normal Operations Edit Selected Edit Face Normals YX 100mm Z X 100mm i Undo Tracking Tolerances S Edit Tolerances z 3D 100mm Y Z 100mm x nx 0 0000 0 0000 0 0000 0 0000 1 0000 0 0000 53 8000 0 0000 0 0000 0 0000 1 0000 0 0000 104 7000 6 4000 0 0000 0 0000 1 0000 0 0000 Facel 0 0000 1 0000 0 0000 A B E Click the Back button to re align the tool and its normals lt Back Cancel Figure 10 13 Marker and Face Normals Dialog 98 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris System About Determining Normals Note You need to assign normals to all markers and all faces 6D Architect performs
157. ool ROM Creation Wizard This step allows you to define the tool properties These settings are saved within the ROM file r Tool Description Part Number 123142 Manufacturer LALA Revision id Tool Type REFERENCE y Tool Subtype Removable Tip Marker Type NDI930 active Marker ceramic base r Enhanced Tracking Algorithn Serial Number Settings Date MM DDAYYYY o3 29 pung Sequence Number 1 coca Figure 7 3 Optotrak Tool Description Dialog 1 Complete the Tool Description section Field Option Action Part Number Assign a part number to your tool You can use a maximum of 20 characters Manufacturer Assign a manufacturer name to your tool You can use a maximum of 12 characters Revision Assign a revision number to your tool Tool Type From the list select the entry that reflects the tool type Tool Subtype From the list select the entry that reflects the tool subtype Marker Type From the list select the entry that reflects the tool marker type Table 7 3 Tool Description Section Note The part number manufacturer and revision number are mandatory fields This information uniquely identifies the tool s design and associates it with a particular application 46 NDI 6D Architect User Guide Active Tools Characterizing with an Optotrak System Note Because you cannot use Enhanced Tracking Algorithms with an Optotrak System that sectio
158. ool remains stationary during each trial DYNAMIC The tool may be in motion during each trial 1 Please ensure that your Optotrak system is connected and that all components are powered on Back Cancel Figure 7 1 Updated ROM Creation Wizard Dialog 1 Select the Optotrak Collection Type Option Definition Static The tool will not move during data collection If it does that data collection trial becomes invalid Dynamic The tool can move during data collection Table 7 1 Collection Type Options Note Select Dynamic if not all tool s markers can be seen by the Position Sensor when the tool is in a single pose You will need to be able to change the tool pose in order to collect information on all its markers 2 Make sure that the Optotrak System is connected and powered on NDI 6D Architect User Guide 43 Active Tools Characterizing with an Optotrak System 3 Click Next At this point 6D Architect connects to the Optotrak System to determine its type Optotrak Certus or Optotrak 3020 Once this has been determined the Collection Settings dialog appears adjusted to reflect which Optotrak System was detected From here you can continue the characterization process 7 2 Enter the Collection Settings The ROM Creation Wizard s second screen is the Collection Settings dialog Collection settings tell 6D Architect which what tool is being characterized and how the Optotrak System reads the tool s
159. ot Alignment Wizard 153 157 main toolbar 7 main window Rigid Body File functionality 13 SROM Image File functionality 10 marker and face normals active tool with a Polaris System 36 active tool with an Optotrak System 57 active tool with engineering data 73 active wireless tool with a Polaris Accedo Sys tem 118 passive tool with a Polaris Accedo System 118 passive tool with a Polaris Systemmarker and face normals active wireless tool with a Polaris System 98 rigid body with an Optotrak System 147 rigid body with previously collected data 131 marker setup active tool with a Polaris System 25 active tool with an Optotrak System 47 active tool with engineering data 66 active wireless tool with a Polaris Accedo Sys tem 108 active wireless tool with a Polaris System 88 passive tool with a Polaris Accedo System 108 passive tool with a Polaris System 88 marker viewer window about 8 orientation toolbar 10 0 Optotrak System advanced system settings 173 characterizing a rigid body 137 characterizing an active tool 42 orientation toolbar 10 P passive tools characterizing with an Polaris Accedo System 104 characterizing with an Polaris System 84 testing tools 161 the first step 15 pivot alignment about 153 transforming Rigid Body files 157 transforming SROM Image Files 153 Polaris Accedo System advanced system settings 170 characterizing a passive tool 104 characterizing an active wir
160. p Dialog To Automatically Detect the Active Markers 1 Click Auto Detect Active Markers and LEDs The system will automatically populate the matrix with the active markers shown in white and the visible LEDs shown in green associated with the tool Note The software distinguishes between markers and LEDs using settings that you can change See Polaris Polaris Accedo System Settings on page 170 for more information 2 Ifyou are not setting switch flags click Next If you are setting switch flags see below To Manually Set the Firing Sequence of the Markers 1 In the Markers field select the number of markers on your tool 2 From the Firing Sequence field click drag and drop each marker from the list to the appropriate lettered square in the wiring matrix 26 NDI 6D Architect User Guide Active Tools Characterizing with a Polaris System When adding a marker to the wiring matrix you can also use any of the following short cuts e double click the marker to select the appropriate letter in the matrix e right click the marker to select the appropriate letter in the matrix e click the marker and enter the letter on the keyboard 3 If you are not setting switch flags click Next If you are setting switch flags see below To Set the Switch Flags You can set up to three different switches for each tool 1 In the Switch Flags section select the switch for which you are defining parameters 2 Choose Present to le
161. pane while keeping the others in view or you can maximize a pane so that it covers the entire Marker Viewer Window Change to View Action to perform Maximize minimize a pane Double click any pane Change the way the markers are Right double click on any pane displayed squares boxes or marker numbers Reset the markers to their Press the O key original positions Translate the view Hold the left mouse button and drag the cursor Zoom Hold the right mouse button and move the cursor vertically Table 3 2 Manipulating Two Dimensional View To Manipulate the Three dimensional View The bottom left pane is a three dimensional representation You can manipulate this view in the following ways Change to View Action to Perform Zoom Hold the Z key and the left mouse button and drag the cursor vertically Rotate the view Hold the right mouse button and drag the cursor Rotate about the x axis Hold the Y key and the left mouse button and drag the cursor Rotate about the y axis Hold the R key and the left mouse button and drag the cursor Table 3 3 Manipulating Three Dimensional View NDI 6D Architect User Guide 9 Exploring 6D Architect Main Window Change to View Action to Perform Rotate about the z axis Hold the P key and the left mouse button and drag the cursor Rotate about all axes Hold the Z and the right mouse button and drag the cursor Table 3 3 Manipulating Three D
162. pears to constrain the marker to any quadrant of any plane 5 Click Preview to view the changes that you make in the marker window This can help you visualize the chosen orientations and help trouble shoot any conflicting alignments you may have accidentally made 6 Optional If you want to either save these alignment settings to a template or open an existing alignment template and apply it to your tool enable Template Mode to activate template functions 7 When you are finished return to the Tool Alignment dialog e If you want to return to the original position and orientation click Cancel e If you are satisfied with the alignment parameters click Apply 8 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this function see Algorithm Constraints on page 167 NDI 6D Architect User Guide 71 Active Tool Characterizing with Engineering Data Note The algorithm constraints are advanced option parameters If the intended result is not fully understood do not perform this step and simply continue with the default settings 9 Click Next The Marker and Face Normals dialog appears To Adjust the Local Coordinate System Manually 1 Click Manual Transform The following dialog appears MX Translation Ty 0 0000 mm Tz 0 0000 mm Rotation Euler Angles Y XAxis 0 0000 ys m EDO a Y Anis 0 0000 H 180 SOS PUN OA 1
163. pment and testing This document describes the state of Northern Digital Inc s knowledge respecting the subject matter herein at the time of its publication and may not reflect its state of knowledge at all times in the future Northern Digital Inc has carefully reviewed this document for technical accuracy If errors are suspected the user should con sult with Northern Digital Inc prior to proceeding Northern Digital Inc makes no expressed or implied warranty of any kind with regard to this document or the programs and data on the electronic media accompanying this document Northern Digital Inc makes no representation condition or warranty to the user or any other party with respect to the adequacy of this document or accompanying media for any particular purpose or with respect to its ade quacy to produce a particular result The user s right to recover damages caused by fault or negligence on the part of Northern Digital Inc shall be limited to the amount paid by the user to Northern Digital Inc for the provi sion of this document In no event shall Northern Digital Inc be liable for special collateral incidental direct indirect or consequential damages losses costs charges claims demands or claim for lost profits data fees or expenses of any nature or kind NDI Polaris Aurora and Optotrak are registered trademarks of Northern Digital Inc Accedo Certus and Meas urement You Can Trust are trademarks of Northern Digita
164. r Guide Active Tool Characterizing with Engineering Data Congratulations you have successfully characterized the Tool ROM tool Crea tion Wiza rd After exiting this wizard the ROM information will be loaded into the main program window to perform the following tasks 1 Save the ROM file 2 Test that Polaris and or Optotrak Certus systems can track the tool 3 Active Tool ROM files can be programmed directly to the tool Be sure to validate the tool to confirm it is operating as you expect and that it is returning correct transformations It is suggested that you go through the wizard again to change any ROM fields or options To automatically repeat the characterization process save the wizard settings to an output file vV Save Wizard Settings Output File D 44markersR0Mmacro crm ej Description tool with 4 markers lt Back Cancel Figure 8 10 Characterization Completion Dialog 1 Choose Save Wizard Settings 2 Inthe Output File field browse to a location and enter a name by clicking E 3 Inthe Description field enter an identifying description for this wizard session 4 Click Finish The software saves your settings in a ROM Characterization Macro crm file Note The saved parameter file contains the tool s characterization information When applied to subsequent tools the software will automatically increase the sequence number Once the characterization is complete the
165. r trial 1 Select the newly created csv file from the Collection Status list 2 Optional Click View The csv file results open for viewing When you have finished reviewing the results click Close 3 Optional You can record additional data trials e Ifyou want to collect another data trial select RECORD Another Data Trial You will be returned to the Data Collection dialog to begin the process again e Ifyou want to overwrite an existing data trial select the file that you wish to overwrite from the list and click Re collect You will be returned to the Data Collection dialog to begin the process again 4 When you are satisfied with the data collection select STOP Recording 5 Optional If you want to view the Build log file at the end of the build when you have completed the ROM Creation Wizard choose View BUILD LOG upon successful completion of build 6 Click Next The Groups and Faces dialog opens 52 NDI 6D Architect User Guide Active Tools Characterizing with an Optotrak System 7 7 Define Groups and Faces Once the firing sequence for the active markers has been defined you can organize the markers into groups and faces o xl Marker Setup Groups and Faces To 0 RO M In this step you may organize the markers into Faces and Groups Double click the list below to toggle the group and face states for each marker Creation Wizard GROUPS define which markers within a face can be fired simula
166. ra parameter file to be used to calculate 3D and 6D data Table 13 1 Collection Settings 138 NDI 6D Architect User Guide Rigid Bodies Characterizing with an Optotrak System 3 Optional If you are using a positioning device refer to TB 10029 4 Optional If you want to apply advanced system settings see Optotrak System Settings on page 173 5 Click Next The Save Parameters dialog opens 13 3 Save Parameters 6D Architect saves the collected data in a dat file and stores it in the location indicated by this Save Parameters dialog When you have finished the entire characterization process you can open and review the dat file s contents Save Parameters Ri g id B ody Each trial will be saved as a separate Full Raw Data file Specify the Creation Wizard following save paramters If files already exist will the same parameters the collection files will continue with the existing naming convension lt is suggested that you specify an extension that is unique to this collection set Save Directory H Joptotrak caps e Save Extension dat e g dat The NDI naming convention will be used with these collection files e g R 001 dat with the number representing the collection trial number lt Back Next gt Cancel Figure 13 2 Save Parameters Dialog 1 In the Save Directory field enter the desired directory location or browse to a location by clicking E 2 Inthe Save File N
167. rder A re Starting Marker Number fi 5 5 6 6 Non Sequential Order Double click or drag the Rigid Markers in the list to set the order r Advanced Build Algorithm Options IV Upon successful build transform Rigid Body to a local origin T Use initial estimate RIG File sj FT Use estimate to filter marker data requires CAM file used during collection Camera Parameter File CNndigital realtime standard cam Adjust Constraints Once you have specified the Build Parameters click Next to automatically build the Rigid Body from the marker data positions View BUILD LOG file upon successful completion of build coca Figure 13 5 Build Parameters Dialog 1 In the Number of Rigid Body Markers field select the number of markers on your Rigid Body The system has collected data about all markers found as shown in the Data column on the right hand side of the dialog The Number of Rigid Body Markers field allows you to indicate whether all markers found are in fact part of the rigid body 142 NDI 6D Architect User Guide Rigid Bodies Characterizing with an Optotrak System 2 You must indicate which marker is associated with what collected marker data Complete the Marker Order section by choosing either Sequential Order or Non Sequential Order e If you choose sequential order you must specify the Starting Marker Number e If you choose non sequential order you must drag
168. rker and enter the letter on the keyboard 66 NDI 6D Architect User Guide 8 4 Active Tool Characterizing with Engineering Data 3 If you are not setting switch flags click Next If you are setting switch flags see below To Set the Switch Flags You can set up to three different switches for each tool 1 In the Switch Flags section select the switch for which you are defining parameters 2 Choose Present to let the software know that a switch is present 3 Choose Tool Engage if the tool has a removable tip With this enabled the system will disable the tool if its tip is removed and the switch is activated during tracking You will not be able to use the tool again until the tip is replaced or re attached 4 Click Next The Enter Marker Values dialog opens Enter Tool Marker Values 6D Architect requires that you enter information about where each marker is placed on the tool These coordinates can be entered using one of two different methods load a Rigid Body file that has been previously created for the tool or enter in each coordinate manually Tool ROM Creation Wizard Enter Marker Values Engineering Data Click one of the methods below to enter the marker position values Marker Entry Method Manual Input use Engineering Data Passive Snapshot use values from a POLARIS collection Rigid Body File use values from a Rigid Body file r Marker Values 10 0000 0 0000 G 75
169. ror is greater than the value specified in this field the transformation will be tagged as missing Table 13 5 Rigid Body Settings 5 Click the Rigid Body Spread tab Rigid Body Settings x Rigid Body Settings Rigid Body Spreads Minimum Spread 1 ff mm Minimum Spread 2 0 mm Minimum Spread 3 0 mm Figure 13 11 Rigid Body Spread Tab 6 Enter the three minimum spread values 7 Click OK 8 Click Next The Characterization Completion dialog opens 150 NDI 6D Architect User Guide 13 8 Note Rigid Bodies Characterizing with an Optotrak System Complete the Characterization 6D Architect allows you to save all the Rigid Body Creation Wizard selections that you have made in case you want to repeat the characterization process for additional rigid bodies using similar parameters However remember that although you can use the same wizard selections for similar rigid bodies you will still need to perform separate and unique data collections for each aaa xl Rigid Body Creation Wizard Congratulations you have successfully characterized a Rigid Body After exiting this wizard the Rigid Body data will be loaded into the main program window to perform the following tasks 1 Save the RIG file 2 Add marker normals 3 Transform or Align the Rigid Body to a local coordinate system 4 Test that the Optotrak System can track the tool To automatically repeat the characterization proce
170. s adas Sales DAR bad ae Bae ed paa 109 Table 11 7 Save Parameters Section 1 eat tie DRA BANAAG 111 Table 1148 Marker Stats PAGKAKAGAWA NAG Y Whew ged Wat neg aa 112 Table 11 9 Marker Information Provided By 6D Architect 119 Table 1 10 Tolerance Fred a daa Sistas dep he ae BANA NG en Sea 121 Table 12 1 Advanced Build Options 1 La A o LAG GG A 127 Table 12 2 Marker Information Provided By 6D Architect 132 Table 12 3 Rigid Body Settings ana rs Cates pond BANAL ALA ANG 133 Table 13 1 Collection Settings ii IA 138 Table13 27 Marker Status oso KHAN wa a a 140 Table 13 3 Advanced Build Options 4 3 2 kana aie A DA NBI KAG AAA 143 Table 13 4 Marker Information Provided By 6D Architect 148 Table 13 5 Rigid Body Settings a aan NS Ta LUNA NAAN TANGA DE NAUNA i 149 NDI 6D Architect User Guide List of Tables NDI 6D Architect User Guide XV List of Tables xvi NDI 6D Architect User Guide A Warning A Warning 1 1 Note Warnings and Updates Warnings and Updates A complete list of the warnings classifications and approvals that apply to the Polaris Polaris Accedo and Optotrak Systems is included in the System Guide shipped with each system The following two warnings also apply If a rigid body is dropped the relative positions of markers may change Changes in the positions of IRED markers will be detected if the change is greater than the Max3D
171. s are not valid Marker Segment Sets Marker 3 Segments 0 1 2 Angle Separation Table Figure D 1 Unique Geometry Test Dialog 7 Optional If you want to save the test into a log file click Save Results 8 To exit the UG Test window click Close 166 NDI 6D Architect User Guide Algorithm Constraints Appendix E Algorithm Constraints Defining the algorithm constraints includes setting build parameters transformation parameters and pivot parameters The system uses these constraints when transforming a rigid body to a local coordinate system Note The algorithm constraints are advanced option parameters If the intended result is not fully understood continue with the default settings This section explains the following topics e About Build Parameters e About Transformation Parameters e About Pivot Parameters e Defining Algorithm Constraints E 1 About Build Parameters Defining the build parameters sets the algorithm variables used when building a rigid body These variables can be used for either a single dynamic view or a series of static view files Parameter Max Marker Error Description Specifies the maximum allowable error in millimetres If a marker in any view has a 3D error greater than the Max Marker Error that marker s data in that view is marked as bad and a new estimate of the rigid body definition is computed Max Overlay Error Specifies the maximum allowable RMS
172. s not fully understood do not perform this step and simply continue with the default settings 9 Click Next The Marker and Face Normals dialog appears NDI 6D Architect User Guide Active Tools Characterizing with a Polaris System To Adjust the Local Coordinate System Manually 1 Click Manual Transform The following dialog appears Manual Transform F3 Translation Tx 0 0000 mm Ty 0 0000 mm Tz 0 0000 mm Rotation Euler Angles Axis 0 0000 O ne KAG a Y Axis 0 0000 18 CIC SG Ta pai aag pal 180 Z Axis 0 0000 180 KUTT TTA 180 Degrees Radians core Figure 6 10 Manual Transform Dialog 2 Adjust each field incrementally to change the position and orientation of the local coordinate system Each change is reflected in the graphic representations in the Tool Alignment dialog e Use the Tx Ty and Tz fields to translate the origin of the local coordinate system e If you are using the Euler Angles as indicated in the drop down list use the X Axis Y Axis and Z Axis fields to rotate the local coordinate system Note The Rotation Matrix and Quaternion are advanced options The easiest and most intuitive way to rotate coordinate systems is to use Euler Angles 3 Once you are satisfied click Apply to save your changes 4 Optional Define the algorithm constraints further by clicking Adjust Constraints For more information about this
173. several calculations and displays the results at the bottom of the Marker and Face Normals dialog to guide you in selecting the right normal values These suggestions change depending on how many markers are selected and where these markers are located on the tool Number of Markers Selected Suggested Values Provided 1 marker none 2 markers coordinates of the centroid 3 markers coordinates of the centroid and coefficients of an imagined plane that the three markers would create 4 or more markers coordinates of the centroid Table 10 9 Marker Information Provided By 6D Architect Note The centroid is the centre point of an imagined three dimensional volume created by the selected markers You can use these suggested values when determining normals but be sure to review and adjust the values as needed Note A face normal must be perpendicular to its face Individual marker normals however do not need to be perpendicular to the face that marker is assigned to To Create a Normal for Individual Markers 1 In the View list select All Markers 2 In the table at the bottom of the dialog press Ctrl and select three markers the desired marker included Below the table the software displays the centroid and a plane equation associated with the selected markers Use this information to determine the coordinates of the ideal normal for the desired marker Note The first three coefficients of the plane equation are coor
174. sign s unique geometry before you actually build the tool 1 Create a tool design 2 Produce engineering files 3 Using these engineering files and 6D Architect characterize each face of the tool This will produce a ROM file representing each face 4 Using 6D Architect convert each ROM file into a RIG file This step is required as 6D Architect can only test the geometry of RIG files Instructions are included in this appendix 5 Using the 6D Architect Unique Geometry functionality test each RIG file to ensure that your tool has identifiable marker positions 6 Manufacture the tool Characterizing Faces For more information about how to characterize each face of your tool using engineering files see Active Tool Characterizing with Engineering Data on page 63 Converting ROM to RIG 1 Once a ROM file is loaded into the Marker Viewer window click File gt Save As The Save As dialog opens 2 From the Save in list select the directory location for your RIG file 3 From the Save as type list select Rigid Body Files rig 4 Click Save The NDI Rigid Body Information for the tool geometry file is now displayed NDI 6D Architect User Guide Unique Geometry D 3 Testing the Unique Geometry Use 6D Architect to test your tool s unique geometry 1 From the main window click Tool Operations gt UG Test The Unique Geometry Test dialog appears In the File Name field select the Ri
175. ss save the wizard settings to an output file T Save Wizard Settings Descriptior Cana L lt Back Cancel Figure 13 12 Characterization Completion Dialog 1 Choose Save Wizard Settings 2 Inthe Output File field browse to a location and enter a name by clicking E 3 Inthe Description field enter an identifying description for this wizard session 4 Click Finish The software saves your settings in a RIG Characterization crg file Your saved parameter file contains your rigid body s characterization information When applied to subsequent rigid bodies the software will automatically increase the sequence number Once the characterization is complete the wizard closes and a graphical representation of the rigid body will be loaded into the main window NDI 6D Architect User Guide 151 Rigid Bodies Characterizing with an Optotrak System For more information about the 6D Architect main window see Exploring 6D Architect Main Window on page 6 13 9 What Is Next After you have created and saved the Rigid Body RIG file you must test it to ensure that the Optotrak System can track the rigid body correctly For more instructions see Testing Rigid Bodies on page 163 152 NDI 6D Architect User Guide Pivot Alignment Appendix A Pivot Alignment Using the Pivot Alignment Wizard you can calculate the location of a tool or rigid body s tool tip You can add this information
176. t Transform gt Using Pivot Algorithm The Pivot Alignment Wizard dialog opens eee xl Welcome to the Pivot Alignment Wizard Pivot Tip Alig nme nt This wizard calculates the tool tip offset The calculation requires collected data of the tool MIA being pivoted or rotated around the tip point Specify the desired option from the list below Optotrak System Previously collected NDI Data File s C 7 R Previously collected CSV Data File s 3 Please ensure that your Optotrak system is connected and that all components are powered on Badi Cancel Figure A 5 Pivot Alignment Wizard Dialog 3 Select one of the following collection methods Collection Method Description Optotrak Collection Selecting Optotrak Collection allows you to perform data collections with an Optotrak System This collected data will be used to characterize the rigid body Previously Collected NDI Data Previously collected data files can also be used to File characterize a rigid body Previously Collected CSV File CSV Comma Separated Values Files are text files containing a header and 3D marker data This file must have been previously collected with an Optotrak System Table A 4 Data Collection Methods NDI 6D Architect User Guide 157 Pivot Alignment Note NDI recommends that you collect current tool tip data using the Optotrak Collection option as previously collected information may be out of date T
177. t User Guide Polaris Polaris Accedo System Settings Field Option Action Data Bits Enter the number of data bits that make up a unit of transmission NDI recommends that you do not change the default value of 8 CRC Verification Enable this option if you want all commands and responses to go through Cyclic Redundancy Checks Hardware Handshaking Enable this option if you want hardware handshaking Table F 1 Serial Port Settings 4 Click the Polaris tab POLARIS System Settings E x Serial Port POLARIS Advanced Measurement Volume POLARIS System Information Serial Number Combined Revision O Active Ports Wireless Ports Supported Wavelengths Connect and Retrieve Features If you have changed updated the POLARIS System click Connect and Retrieve Features to register the new settings coca Figure F 2 Polaris Tab 5 Click Connect and Retrieve Features 6D Architect connects to the Polaris System and retrieves the system specifications The following dialog opens Yolume Selection Please select the measurement volume Figure F 3 Volume Selection Dialog 6 From the drop down list select the appropriate measurement volume type 7 Click OK The Volume Selection dialog closes and the measurement volume is added to the System Settings dialog This list can be edited once the system settings are changed and the dialog is closed 8 Click the Advanced tab NDI 6D
178. t the software know that a switch is present 3 Choose Tool Engage if the tool has a removable tip With this enabled the system will disable the tool if its tip is removed and the switch is activated during tracking You will not be able to use the tool again until the tip is replaced or re attached 4 Click Next The Save Parameters dialog opens 6 5 Save Parameters 6D Architect saves the collected data in a csv Comma Separated Value file and stores it in the location indicated in this Save Parameters dialog Once you have finished the entire characterization process you can open and review the csv file s contents NDI 6D Architect User Guide 27 Active Tools Characterizing with a Polaris System Save Parameters Tool ROM F Each trial will be saved as a separate Comma Separated Value CSV file Specify C reation Wiza rd the following save parameters If files already exist will the same parameters the collection files will continue with the existing naming convension lt is suggested that you specify an extension that is unique to this collection set r Save Parameters Directory el File Name 6DAR e g 6DA File Extension csv e g csv the trial number will be appended to your file name for each trial lt Back Cancel Figure 6 4 Save Parameters Dialog 1 Complete the Save Parameters section Field Option Action Directory Enter the directory location where you w
179. tart the Rigid Body Creation Wizard e What Is Next 5 1 Start the Rigid Body Creation Wizard 1 Select File gt New gt Rigid Body File 2 Select Build gt Build Rigid Body The Rigid Body Creation Wizard dialog opens Welcome to the Rigid Body File Wizard Ri g id B ody This Wizard guides you through a Rigid Body build Choose the marker collection Creation Wizard method and the desired build algorithm method r Marker Collection Method Optotrak Collection C Previously collected NDI Data File s C 7 R C Previously collected CSV Data File s Build Algorthim DYNAMIC Uses collected data of the Rigid Body in motion C STATIC Uses collected data of the stationary Rigid Body Several trials may be required it all markers are not visible in each static position El 3 Please ensure that your Optotrak system is connected and that all components are powered on a Figure 5 1 Rigid Body Creation Wizard Welcome Dialog Note 6D Architect also gives you the opportunity to go directly to the Rigid Body Creation Wizard s Welcome screen whenever you start the software In the pop up that appears upon opening 6D Architect select want to create a new RIG file 3 From the Marker Collection Method section select one of the following options 18 NDI 6D Architect User Guide Rigid Body Characterization The First Step Optotrak Collection Selecting Optotrak Collection allows you to perform d
180. tected Data Collection To 0 RO M Click Collect when you are ready to start the collection At least three 3 markers must be visible during each collection frame The realtime display can be used to preview and Crea tion Wiza rd position your markers pa This is a STATIC Collection the Rigid Body must be stationary during the collection TRIAL 1of1 Je se 25 5 3 3 Output File E 4ndigita 6DAH021 csv ng Trial Frames 30 BEH Collect Delay 1s X Y 10 mm EZ Y 10 mm bl 3D 100 mm 04 29 10 mm Progress Click Collect to begin ley 66 7849 427 3522 2249 5410 OQ G 23 4888 428 4478 2223 5906 M 25 9274 478 5807 2221 5833 O 5 692258 477 7638 2247 5857 Change Trial Length IE lt Back Collect gt Cancel Figure 7 6 Data Collection Dialog 50 NDI 6D Architect User Guide Active Tools Characterizing with an Optotrak System 1 Optional If you want to edit the collection trial length click Change Trial Length and enter the new length in seconds Increasing the trial length may increase the accuracy of the software s data interpretation 2 Position the tool within the measurement volume If you are unsure whether or not the markers are visible observe the marker status in the bottom right of the window Marker Colour Marker Status Green The marker is visible to the system and is inside the measurement volume Red The marker is not visibl
181. tenously If markers within a face are less than 50mm apart they must be placed in separate groups FACES are separate Rigid Bodies that can each be used for tracking Each face must have at least 3 markers each marker must belong to at least 1 face Number of Groups 2 a Number of Faces 2 Reset Marker List to pekas KEYBOARD HINT You can also use the G key to toggle groups and the 1 8 keys to toggle the face states tor the selected marker lt Back Cancel Figure 7 8 Marker Setup Dialog To Select the Number of Groups 1 In the Number of Groups field select the number of groups you want to create 2 Assign each marker in the table to group in the table double click on a marker s Group N entry to toggle between group selections By default all markers are assigned to group 1 3 Optional If you want to restore the groups to the original settings click Reset Marker List to Defaults To Select the Number of Faces 1 In the Number of Faces field select the number of faces 2 Assign a marker to a face in the table double click the marker s F column entry to change it to X This means that this marker is included on the face NDI 6D Architect User Guide 53 Active Tools Characterizing with an Optotrak System 7 8 54 3 Optional If you want to restore the faces to the original settings click Reset Marker List to Defaults 4 Click Next The Tool Alignment dialog ope
182. tep 2 and adjust the values if necessary Your changes are displayed graphically to help you with these edits 6 Click OK To Create Normals for Faces 1 In the View list select the appropriate face 2 In the table at the bottom of the dialog press Ctrl and select three markers that are assigned to the face Below the table the software displays the centroid and a plane equation associated with the selected markers Use this information to determine the coordinates of the ideal normal for the desired marker Note The first three coefficients listed for the imagined plane can be used as coordinates for a vector perpendicular to the imagined plane 3 Click Face Normals 4 From the drop down list select the appropriate face 5 In the coordinate fields provided enter the values that you determined in step 2 and adjust the values 1f necessary Your changes are displayed graphically to help you with these edits 6 Click OK 7 Optional If you want to restore all of the normals and tolerances to the default settings click Undo 8 Click Next The Characterization Completion dialog opens To Set Tracking Tolerances 1 In the View list select All Markers 2 In the table at the bottom of the dialog select a marker 3 Click Edit Tolerances The following dialog opens NDI 6D Architect User Guide 75 Active Tool Characterizing with Engineering Data Set Tolerances x Maximum Marker Angle 50 degrees
183. terizing with a Polaris System POLARIS Collection Settings Tool ROM Creation Wizard This page allows you to specify the POLARIS settings to use during collections r Collection Settings POLARIS Tool Port Port1 C Port 2 C Port 3 Collection Frames 20 0 x 0 00 Y 0 00 0 00 Rate 9600 Advanced Settings Port 1 Port 2 O Port 3 lt Back Cancel Figure 6 1 Collection Settings Dialog 1 Complete the Collection Settings section Field Option Definition Polaris Tool Port The tool port that the tool is plugged into Collection Frames The number of frames 6D Architect will collect from the Polaris System as it tracks the tool A frame is a single 3D measurement of the positions of all the markers in the measurement volume Table 6 1 Collection Settings Section 2 Complete the Polaris System section Field Option Definition Volume Your Polaris System s measurement volume type COM Port The host computer s communications port to which the Polaris System is connected Table 6 2 Polaris System Section 22 NDI 6D Architect User Guide Active Tools Characterizing with a Polaris System Field Option Definition Baud Rate The host computer s baud rate The default setting is 9600 to ensure communications can be established for all computer configurations Table 6 2 Polaris System Section 3 Optional If you are using a positioning device refer to TB 10029
184. tion RMS Error 3 0338 mm Major Axis 86 6652 degrees Mean Error 2 4742 mm Minor Axis 71 1178 degrees Max Error 8 3526 mm r Tip Position X 16 3319 mm Y 524 1014 mm Z 1796 5128 mm IV Use the calculated tip position as the origin View XFORM LOG eel Figure A 4 Pivot Results Dialog The Pivot Results dialog provides the following information based on the data collection trial results Results Description Tool tip Offset The x y z position of the tool tip in relation to the origin of the tool s local coordinate system Error Information The RMS Mean and Max Errors in millimeters Angle Information Maximum and minimum angles in degrees of the pivot you measured Tip Position The x y z position of the tip in the relation to the global coordinate system Table A 1 Pivot Results 10 Optional If you want to transform the origin of the tool s local coordinate system so that it is located at the tool tip enable Use the calculated tip as the origin 11 Optional If you want to view the report generated from the calculation click View XFORM LOG 12 Click Finish The Pivot Alignment Wizard closes and you are returned to the 6D Architect main window 156 NDI 6D Architect User Guide Pivot Alignment A 2 Transforming Local Coordinate Systems Rigid Body Files 1 Open the Rigid Body file that you wish to adjust 2 From the main window menu selec
185. tion Toolbar ah oi Na ends 10 SROM Image File Information 0 00 0 cece eee eae 12 Field Colours en tk kek So Re A BER HAGE PERV EAS 13 What IS NEX A fy pA ata sui tar gg ae aca wy avg a a ee 16 NDI Data Files 2 da PEA SAR die 19 Build Algorithm Tp a waa ae NANANA ANNA An A 19 What IS NG einas a ago daei a BS hy eS 20 Collection Settings Section nada LIGA NONA AA AAA 22 Polaris System SECO Mtra 22 Too Description Fields moligns oats eae ds LO a psa 24 Algorithm OPONE 24 Serial Number SEUA Ss oe a EA ww rence od EA AE 25 Save Parameters Sections Baa A aes ww wey ERE eRe 28 Marker Status Colours 44 wak KG as Beles 29 Marker Information Provided By 6D Architect o o oo o 37 Tolerance MICAS o oea ura a eaa AA PA ea 39 Collection Type Options stats ed da pain pets 43 NDI 6D Architect User Guide List of Tables Table 7 2 Optotrak System Settings ica hamak aka ka Bobet ded ai 45 Table 7 3 Tool Description Section 00 0 bcc eee eee 46 Table 7 4 Serial Number Secos ts gat aa ce ea ga a Va eed ees 47 Table 7 5 Save Parameter Fields gy so Bias Oia PAV Eee Sew ais 50 Table 7 02 Marker StAtUs et Sct eat eens ha tran KNA BAGA SR eas 51 Table 7 7 Marker Information Provided By 6D Architect o o ooooo 58 Table 7 8 Tolerance Ficlds oio ANA KA niia daaa aia a i a a eaa 60 Table 8 1 Tool Description Section 2 34 cries seas PG ARDE AAA RA 64 Table 8 2 Enhanced Tracking Algorith Sectio
186. to an existing SROM Image File or Rigid Body file You can also use this information to transform a local coordinate system so that its origin is located at the tool tip This section explains the following topics e Transforming Local Coordinate Systems SROM Image Files e Transforming Local Coordinate Systems Rigid Body Files A 1 Transforming Local Coordinate Systems SROM Image Files 1 Open the SROM Image File that you wish to adjust 2 From the main window menu select Transform gt Using Pivot Algorithm The Pivot Alignment Wizard dialog opens co xl Welcome to the Pivot Alignment Wizard Pivot Tip Alig nme nt This wizard calculates the tool tip offset The calculation requires collected data of the tool MIA being pivoted or rotated around the tip point Specify the desired option from the list below C Polaris Collection Optotrak Collection 3 Please ensure that your Optotrak system is connected and that all components are powered on Cancel Figure A 1 Pivot Alignment Wizard Dialog 3 Select the NDI measurement you are using to characterize the tool In Figure B 1 Optotrak Collection is selected 4 Click Next The Collection Settings dialog opens NDI 6D Architect User Guide 153 Pivot Alignment Optotrak Collection Settings Pivot Ti p Specify the total number of markers in the occupied port s Alignment Markers Port 1 8 a 2 jo 4 3 lo a Rigid Body Starting Marker 1
187. to perform the following tasks 1 Save the RIG file Add marker normals 3 Transform or Align the Rigid Body to a local coordinate system 4 Test that the OPTOTRAK System can track the tool To automatically repeat the characterization process save the wizard settings to an output file pi 3 Cancel Figure 12 9 Characterization Completion Dialog 1 Choose Save Wizard Settings 2 Inthe Output File field browse to a location and enter a name by clicking E 3 Inthe Description field enter an identifying description for this wizard session 4 Click Finish The software saves your settings in a RIG Characterization crg file Note Your saved parameter file contains your rigid body s characterization information When applied to subsequent rigid bodies the software will automatically increase the sequence number Once the characterization is complete the wizard closes and a graphical representation of the rigid body will be loaded into the main window NDI 6D Architect User Guide 135 Rigid Bodies Characterizing with Previously Collected Data For more information about the 6D Architect main window see Exploring 6D Architect Main Window on page 6 12 7 What Is Next After you have created and saved the Rigid Body RIG file you must test it to ensure that the Optotrak System can track the rigid body correctly For more instructions see Testing Rigid Bodies on page 163
188. trak The Optotrak Settings dialog appears Optotrak Settings xj Basic Options Advanced Options CT Marker Power Options Optotrak Connection Dup EYRE z C ISA Card DUPIE 42 5 7 erober voltae De s PCI Card SUGDET yoltadEe 7 75 j SCSI Card Marker Frequency fi 000 HG Penal m SCSI Options Host tl fi Target ID E Timeout ro Ethernet Settings IP Address fo 0 0 0 Reset Delay Collect Delay fi sec Threshold 30 Figure G 1 Optotrak Settings Dialog 2 Click the Basic Options tab and complete the fields provided Field Option Action Overall Marker Adjust the slide to indicate the intensity of light emitted Power from the markers Frame Frequency Enter the frame frequency in Hz used during data collection Camera Parameter Select the camera parameter file to be used to calculate 3D File and 6D data Table G 1 Basic System Settings NDI 6D Architect User Guide 173 Optotrak System Settings 3 Click the Advanced Options tab 4 Optional Enable Marker Power Options to edit the Duty Cycle Strober Voltage and Marker Frequency fields 5 From the Optotrak Connections list select the appropriate connection type Depending on which one you select other related fields are made available for editing 6 Complete the fields at the bottom of the screen Field Action Collect Delay Enter the number of seconds you wish 6D Architect to delay before beginning a data trial coll
189. tware and firmware please visit the NDI Partner Site NDI 6D Architect User Guide 2 3 Note NDI 6D Architect User Guide Welcome to NDI 6D Architect Installing the Software NDI 6D Architect uses an automatic installation wizard that by default stores all program files on C Program Files Northern Digital Inc ANDI 6D Architect This location can be changed during installation Follow the steps as directed by the installation wizard Once the installation is complete you will be prompted to restart your computer as such it is recommended that you close all other programs before installing NDI 6D Architect About File Locations NDI data files used and created by 6D Architect are stored in the ndigital directory The ndigital directory is defined by the ND DIR environment variable This directory can typically be found in e ndigital NDI recommends that this directory not be changed during installation All NDI programs use the ND DIR environment variable Changing the default settings may affect other NDI software Exploring 6D Architect Main Window 3 Exploring 6D Architect Main Window This section explains the following topics e Opening the Main Window e The Main Toolbar e The Marker Viewer Window e The Orientation Toolbar e SROM Image File Functionality e Rigid Body File Functionality 3 1 Opening the Main Window Before you start characterizing tools and rigid bodies use this section to
190. ty For instructions see Testing Tools on page 161 9 4 Program User Specified SROM Tags You can add four additional tags to a tool s SROM Device to further identify the parameters of your tool Tag Type Description Tip Location This tag sets the location of the tool s end tip and consists of x y and z coordinates Trajectory This tag sets the tool s trajectory and consists of quaternion coordinates Type This tag assigns a tool type number to the tool with a maximum value of 65 535 Manufacturing This tag assigns a manufacturing name to the tool with a maximum of 12 characters Table 9 1 Tag Types 1 Click Tool Operations gt SROM Tags The Port Selection dialog opens 2 From the Select System list choose the system you are testing the tool with 3 Indicate where the tool is located e Ifyou are testing with a Polaris System select the appropriate tool port from the drop down menu e If you are testing with an Optotrak Certus System click the Find Tools button The system will collect data information from the measurement volume and report back which tools were found Select the appropriate tool from the drop down list Note If you change the tools connected to the Optotrak System during this procedure you must click the Find Tools button to refresh the list 4 Click OK The User Specified ROM dialog opens 80 NDI 6D Architect User Guide Active Tools Programming SROM Devices x
191. type Removable Tip y Marker Type NDIO02 passive Marker 11 5mm sphere y r Enhanced Tracking Algorithm Serial Number Settings I Lock using only 3 markers Date MM DDAYYYY BB Stray marker tracking 123 103 2003 MI Sequence Number 1 3 lt Back Cancel Figure 11 2 Polaris Accedo Tool Description Dialog 106 NDI 6D Architect User Guide Passive Tools Characterizing With A Polaris Accedo System 1 Complete the Tool Description section Field Option Definition Part Number Assign a part number to your tool You can use a maximum of 20 characters Manufacturer Assign a manufacturer name to your tool You can use a maximum of 12 characters Revision Assign a revision number to your tool Tool Type From the list select the entry that reflects the tool type Tool Subtype From the list select the entry that reflects the tool subtype Marker Type From the list select the entry that reflects your tool s marker type Table 11 3 Tool Description Section Note The part number manufacturer and revision number are mandatory fields This information uniquely identifies the tool s design and associates it with a particular application 2 Complete the Enhanced Tracking Algorithm section Field Option Definition Lock using only 3 markers If you want to reduce the acquisition time choose this option Stray marker testing This is disabled for passive tools
192. ume The Program SROM button lets you program the SROM Image zu File into the SROM device of a wired tool Table 3 1 Main Toolbar NDI 6D Architect User Guide 7 Exploring 6D Architect Main Window Command Icon Description The User Specified Transformation button lets you manually a transform the orientation of the tool 1 The Alignment Parameter Transform button lets you align the Rigid Body onto a local coordinate system 5 The Pivot Algorithm Transform button launches the Pivot Alignment Wizard This wizard is used to calculate the tool tip offset of a tool Table 3 1 Main Toolbar 3 3 The Marker Viewer Window The Marker Viewer Window located on the left hand side of the main window illustrates tool marker geometry for the currently loaded SROM Image File or Rigid Body file X Y 100 mm CZ Y 100mm X Z 100 mm Figure 3 2 Marker Viewer Window 8 NDI 6D Architect User Guide Exploring 6D Architect Main Window Four tool geometry viewer panes make up the Marker Viewer Window Three of the four panes provide a two dimensional representation of the tool s geometry one for each axis plane The remaining pane provides a three dimensional representation of the same information Note Information is displayed relative to the tool or rigid body s local coordinate system To Manipulate the Two dimensional Views The xy xz and yz panes are views of each respective plane You can manipulate a
193. ups and Faces dialog appears 6 Proceed directly to section Define Faces on page 114 To Enter Marker Values Using the Tool Snapshot Method 1 Click Passive Snapshot The following dialog opens NDI 6D Architect User Guide 109 Passive Tools Characterizing With A Polaris Accedo System Note 11 5 110 Polaris Accedo Passive Yiewer x This dialog collects an estimate of the passive marker positions Make sure all the markers are visible within the characterized volume When all of its markers are visible click Collect Snapshot to record the marker positions a z qee a 46 5609 3 8627 1231 4546 p y OB 41 5833 74 6636 1233 3464 We c 7 2603 64 1776 1234 5718 f x D 10 8434 0 0939 1234 7817 X Z 100 mm Ni Cancel Figure 11 5 Passive Viewer Dialog 2 Position the tool in front of the Position Sensor until ALL markers are within the measurement volume Ensure that the tool is perfectly stationary If the number of markers that appear are greater than the number of markers on your tool the system may be detecting phantom markers You can eliminate phantom markers by slightly repositioning the tool 3 Click Collect Snapshot 4 If there are phantom markers that need to be removed select the marker from the list and click Remove Selected Marker s 5 Once you are satisfied with the collection click OK The Polaris Passive Viewer dialog closes and you are returned to the
194. ystem The following sections direct you through each window of the ROM Creation Wizard to help you characterize an active tool with an Optotrak System This section explains the following steps 1 Ze 3 9 Start the Wizard Enter the Collection Settings Describe Tool Properties Define Marker Setup Save Parameters Collect Tool Marker Data Define Groups and Faces Align the Tool s Coordinate System Add Marker and Face Normals 10 Complete the Tool Characterization 11 What Is Next NDI 6D Architect User Guide Active Tools Characterizing with an Optotrak System 7 1 Start the Wizard Before continuing you must open the wizard and indicate that you are characterizing an active tool with an Optotrak System For instructions see Tool Characterization The First Step on page 15 When you select Optotrak System the wizard automatically updates your options to include collection types Welcome to the ROM Creation Wizard Tool ROM 2 This Wizard guides you through a tool characterization Begin by choosing the tool Creation Wizard class and the characterization method If you already know the exact marker positions the Engineering Data method allows you to enter them manually r Tool Classification Active Passive eo c r Characterization Method C Polaris Spiet Polar Ol Ci Salem C Engineering Data r Optotrak Collection Type STATIC The t

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