====== Magnetic motion tracker "Polhemus Liberty" ======

This motion tracker has a measurement space of about 4 m and 8 sensors which report position and orientation at a rate of 240 Hz over USB (with a precision better than 1 mm).

  * [[liberty_findingorientation|Figuring out the orientation of the sensors]]

  * [[liberty_skeletoncalibration|Calibrating the skeleton of the test subject]]

[[http://polhemus.com/|Polhemus]], the manufacturer, has a [[http://www.polhemus.com/?page=Support_Liberty|support page]] where he offers the
[[http://polhemus.com/polhemus_editor/assets/LIBERTY%20Rev%20F%20URM03PH156.pdf|Manual]]
for download as well as a simple ascii-mode
[[http://polhemus.com/polhemus_editor/assets/polhemus-tracker-terminal-1.0.0.tar.gz|linux driver]],
including the firmware files, which must be uploaded on every power-up.

We made a Sourceforge project for our own Polhemus Liberty driver:
[[https://sourceforge.net/projects/polhemusliberty/|Sourceforge Polhemus Liberty]].\\
It uses the faster binary mode and parses the motion data that it gets from the device.

The latest version of the driver is on the git repository. Get it with:
  git clone git://polhemusliberty.git.sourceforge.net/gitroot/polhemusliberty/polhemusliberty

It contains a firmware uploader for linux and a command line tool using libusb.
The firmware part consists of some hex files and a udev rule. It is now also available from the Polhemus web page.
The command line tool detects the amount of sensors, and starts printing data to stdout. This Software was written at our department by Jonathan, Federico, Ingo, and Alexis.

==== Resources ====

  * {{:projects:libertystuff.zip|Windows application that interfaces the device with matlab}}
  * [[http://sourceforge.net/projects/polhemusliberty/files/polhemusliberty-1.0.0.tar.gz/download|Download the driver]]