If I believe that my privacy rights have been violated by my spouse and her lover what can I do?

The facts you've included include multiple issues.  But taken as a whole, if any of the items you shared were unknown to you and recording your movement (like a car tracker) or recording your body and/or voice ("home with hidden devices"); these strongly suggest civil privacy violations as well as possible criminal conduct.  

If you are certain that devices have been planted to track your movement or activity--then this conduct can result in someone being charged criminally for (which would start with a call to your local law enforcement agency).  Whether or not this will trigger full blown criminal investigations will be entirely up to the agency and what they find out.  

On the civil side, you or your legal counsel will need to handle the evidence carefully so that you don't open yourself up to the counterargument that you were either aware of it or set it up yourself.  

Bottom line: try to proceed cautiously in not contaminating your environment.  Make very specific notes on when you discovered the devices and how, as well as how you came to the conclusion that your cell phone and truck were compromised; and proceed to gather your evidence in a verifiable way.  Some individuals would prefer to have law enforcement involved as soon as possible--while others would not want to escalate things to that serious of a level [Arrests can result from the investigation, but your own privacy can now be opened up some degree when the case makes its way into court].