Cannot tracking more than 2 tools.

[jsbyysheng]

Thank you very much for scikit-surgerynditracker, it's a great library! However, I encountered a problem when using it on Ubuntu 20.04. If I provide more than 2 rom files, I get the following error. All rom files have been tested by NDI Track software.

[[nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]]
[[ 7.29017033e-01 -3.61322553e-01 -5.81360626e-01 -5.23241959e+01]
 [ 4.44580051e-01 -3.95852235e-01  8.03523233e-01  4.12811699e+01]
 [-5.20463969e-01 -8.44243460e-01 -1.27946223e-01 -1.64897363e+03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]
[[nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]]
[[nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]]
[[ 7.29017033e-01 -3.61322553e-01 -5.81360626e-01 -5.23241959e+01]
 [ 4.44580051e-01 -3.95852235e-01  8.03523233e-01  4.12811699e+01]
 [-5.20463969e-01 -8.44243460e-01 -1.27946223e-01 -1.64897363e+03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]
[[nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]]
[[nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]]
[[ 7.29017033e-01 -3.61322553e-01 -5.81360626e-01 -5.23241959e+01]
 [ 4.44580051e-01 -3.95852235e-01  8.03523233e-01  4.12811699e+01]
 [-5.20463969e-01 -8.44243460e-01 -1.27946223e-01 -1.64897363e+03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]
[[nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]
 [nan nan nan nan]]
Traceback (most recent call last):
  File "/home/avadakedavra/Workspace/catkin_ws/src/drivers/ros_ndi_sensors/ros_ndi_tracker/scripts/test.py", line 17, in <module>
    port_handles, timestamps, framenumbers, tracking, quality = TRACKER.get_frame()
  File "/home/avadakedavra/.local/lib/python3.8/site-packages/sksurgerynditracker/nditracker.py", line 453, in get_frame
    ndicapy.ndiCommand(self._device, self._capture_string)
UnicodeDecodeError: 'utf-8' codec can't decode byte 0x81 in position 2: invalid start byte

System: Ubuntu 20.04
Python: 3.8
Hardware: Polaris Spectra
Software:0.2.3

[thompson318]

Hello, thanks for raising this. We've had this issue before, see #17 (comment). By default we use binary data transfer "BX" but this seems to cause trouble on some devices so we can also use text transfer "TX", which should be slower but is fine in most instances. This is done by the function "_set_use_bx_transforms".
If you can work out what firmware your Spectra is using then add it to the list at line 164 that should fix your problem.
Please let me know if that works for you and if so what firmware you're using. Then if you want you can edit it and raise a pull request.

[jsbyysheng]

It works. My hardware is Polaris Spectra Rev 007. Thank you very much!.

[thompson318]

Fixed at release 0.2.4

[robot300795]

Also works with the Polaris Vicra Rev 007

[thompson318]

Also works with the Polaris Vicra Rev 007

Thanks @robot300795 for letting us know. We'd welcome a pull request to fix if you're able, otherwise we'll update it at some point.