37 #include "DTrackSDK.hpp" 46 static void output_to_console();
47 static bool data_error_to_console();
48 static void messages_to_console();
54 int main(
int argc,
char** argv )
58 std::cout <<
"Usage: example_universal [<server host/ip>:]<data port>[:fw]" << std::endl;
64 dt =
new DTrackSDK( (
const char *)argv[ 1 ] );
70 std::cout <<
"DTrackSDK fatal error: initializing data interface" << std::endl;
74 std::cout <<
"DTrackSDK error: cannot connect to ATC" << std::endl;
78 std::cout <<
"DTrackSDK error: full access to ATC required" << std::endl;
85 std::cout <<
"Connected to ATC '" << argv[ 1 ] <<
"', listening at local data port " << dt->
getDataPort() << std::endl;
97 std::cout <<
"Measurement start failed!" << std::endl;
98 data_error_to_console();
99 messages_to_console();
106 while ( count++ < 1000 )
114 data_error_to_console();
119 messages_to_console();
125 messages_to_console();
136 static void output_to_console()
138 std::cout.precision( 3 );
139 std::cout.setf( std::ios::fixed, std::ios::floatfield );
159 std::cout <<
"DTrackSDK fatal error: invalid body id " << i << std::endl;
165 std::cout <<
"bod " << body->
id <<
" not tracked" << std::endl;
169 std::cout <<
"bod " << body->
id <<
" qu " << body->
quality 170 <<
" loc " << body->
loc[ 0 ] <<
" " << body->
loc[ 1 ] <<
" " << body->
loc[ 2 ]
171 <<
" rot " << body->
rot[ 0 ] <<
" " << body->
rot[ 1 ] <<
" " << body->
rot[ 2 ]
172 <<
" " << body->
rot[ 3 ] <<
" " << body->
rot[ 4 ] <<
" " << body->
rot[ 5 ]
173 <<
" " << body->
rot[ 6 ] <<
" " << body->
rot[ 7 ] <<
" " << body->
rot[ 8 ]
177 std::cout <<
"bod " << body->
id <<
" quatw " << quat.
w 178 <<
" quatxyz " << quat.
x <<
" " << quat.
y <<
" " << quat.
z << std::endl;
186 if ( flystick == NULL )
188 std::cout <<
"DTrackSDK fatal error: invalid Flystick id " << i << std::endl;
194 std::cout <<
"fly " << flystick->
id <<
" not tracked" << std::endl;
198 std::cout <<
"flystick " << flystick->
id <<
" qu " << flystick->
quality 199 <<
" loc " << flystick->
loc[ 0 ] <<
" " << flystick->
loc[ 1 ] <<
" " << flystick->
loc[ 2 ]
200 <<
" rot " << flystick->
rot[ 0 ] <<
" " << flystick->
rot[ 1 ] <<
" " << flystick->
rot[ 2 ]
201 <<
" " << flystick->
rot[ 3 ] <<
" " << flystick->
rot[ 4 ] <<
" " << flystick->
rot[ 5 ]
202 <<
" " << flystick->
rot[ 6 ] <<
" " << flystick->
rot[ 7 ] <<
" " << flystick->
rot[ 8 ]
207 for (
int j = 0; j < flystick->
num_button; j++ )
209 std::cout <<
" " << flystick->
button[ j ];
214 std::cout <<
" " << flystick->
joystick[ j ];
216 std::cout << std::endl;
223 if ( meatool == NULL )
225 std::cout <<
"DTrackSDK fatal error: invalid Measurement tool id " << i << std::endl;
231 std::cout <<
"mea " << meatool->
id <<
" not tracked" << std::endl;
235 std::cout <<
"mea " << meatool->
id <<
" qu " << meatool->
quality 236 <<
" loc " << meatool->
loc[ 0 ] <<
" " << meatool->
loc[ 1 ] <<
" " << meatool->
loc[ 2 ]
237 <<
" rot " << meatool->
rot[ 0 ] <<
" " << meatool->
rot[ 1 ] <<
" " << meatool->
rot[ 2 ]
238 <<
" " << meatool->
rot[ 3 ] <<
" " << meatool->
rot[ 4 ] <<
" " << meatool->
rot[ 5 ]
239 <<
" " << meatool->
rot[ 6 ] <<
" " << meatool->
rot[ 7 ] <<
" " << meatool->
rot[ 8 ]
245 std::cout <<
" radius " << meatool->
tipradius << std::endl;
251 for (
int j = 0; j < meatool->
num_button; j++ )
253 std::cout <<
" " << meatool->
button[ j ];
255 std::cout << std::endl;
263 if ( mearef == NULL )
265 std::cout <<
"DTrackSDK fatal error: invalid Measurement reference id " << i << std::endl;
271 std::cout <<
"mearef " << mearef->
id <<
" not tracked" << std::endl;
275 std::cout <<
"mearef " << mearef->
id <<
" qu " << mearef->
quality 276 <<
" loc " << mearef->
loc[ 0 ] <<
" " << mearef->
loc[ 1 ] <<
" " << mearef->
loc[ 2 ]
277 <<
" rot " << mearef->
rot[ 0 ] <<
" " << mearef->
rot[ 1 ] <<
" " << mearef->
rot[ 2 ]
278 <<
" " << mearef->
rot[ 3 ] <<
" " << mearef->
rot[ 4 ] <<
" " << mearef->
rot[ 5 ]
279 <<
" " << mearef->
rot[ 6 ] <<
" " << mearef->
rot[ 7 ] <<
" " << mearef->
rot[ 8 ]
288 if ( marker == NULL )
290 std::cout <<
"DTrackSDK fatal error: invalid marker index " << i << std::endl;
294 std::cout <<
"mar " << marker->
id <<
" qu " << marker->
quality 295 <<
" loc " << marker->
loc[ 0 ] <<
" " << marker->
loc[ 1 ] <<
" " << marker->
loc[ 2 ]
305 std::cout <<
"DTrackSDK fatal error: invalid FINGERTRACKING id " << i << std::endl;
311 std::cout <<
"hand " << hand->
id <<
" not tracked" << std::endl;
315 std::cout <<
"hand " << hand->
id <<
" qu " << hand->
quality 316 <<
" lr " << ( ( hand->
lr == 0 ) ?
"left" :
"right") <<
" nf " << hand->
nfinger 317 <<
" loc " << hand->
loc[ 0 ] <<
" " << hand->
loc[ 1 ] <<
" " << hand->
loc[ 2 ]
318 <<
" rot " << hand->
rot[ 0 ] <<
" " << hand->
rot[ 1 ] <<
" " << hand->
rot[ 2 ]
319 <<
" " << hand->
rot[ 3 ] <<
" " << hand->
rot[ 4 ] <<
" " << hand->
rot[ 5 ]
320 <<
" " << hand->
rot[ 6 ] <<
" " << hand->
rot[ 7 ] <<
" " << hand->
rot[ 8 ]
323 for (
int j = 0; j < hand->
nfinger; j++ )
325 std::cout <<
" fi " << j
331 std::cout <<
" fi " << j
344 std::cout <<
"no human model data" << std::endl;
352 std::cout <<
"DTrackSDK fatal error: invalid human model id " << i << std::endl;
358 std::cout <<
"human " << human->
id <<
" not tracked" << std::endl;
362 std::cout <<
"human " << human->
id <<
" num joints " << human->
num_joints << std::endl;
367 std::cout <<
"joint " << human->
joint[ j ].
id <<
" not tracked" << std::endl;
380 std::cout << std::endl;
386 std::cout <<
"no inertial body data" << std::endl;
392 if ( inertial == NULL )
394 std::cout <<
"DTrackSDK fatal error: invalid hybrid body id " << i << std::endl;
398 std::cout <<
" inertial body " << inertial->
id <<
" st " << inertial->
st <<
" error " << inertial->
error << std::endl;
401 std::cout <<
" loc " << inertial->
loc[ 0 ] <<
" " << inertial->
loc[ 1 ] <<
" " << inertial->
loc[ 2 ]
402 <<
" rot " << inertial->
rot[ 0 ] <<
" " << inertial->
rot[ 1 ] <<
" " << inertial->
rot[ 2 ]
403 <<
" " << inertial->
rot[ 3 ] <<
" " << inertial->
rot[ 4 ] <<
" " << inertial->
rot[ 5 ]
404 <<
" " << inertial->
rot[ 6 ] <<
" " << inertial->
rot[ 7 ] <<
" " << inertial->
rot[ 8 ]
412 std::cout <<
"no system status data" << std::endl;
417 if ( status == NULL )
419 std::cout <<
"DTrackSDK fatal error: invalid system status" << std::endl;
424 std::cout <<
"status gen nc " << status->
numCameras 433 for (
int i = 0; i < status->
numCameras; i++ )
435 std::cout <<
"status cam " << status->
cameraStatus[ i ].idCamera
437 <<
" nu " << status->
cameraStatus[ i ].numReflectionsUsed
438 <<
" mi " << status->
cameraStatus[ i ].maxIntensity << std::endl;
450 static bool data_error_to_console()
458 std::cout <<
"--- timeout while waiting for tracking data" << std::endl;
462 std::cout <<
"--- error while receiving tracking data" << std::endl;
466 std::cout <<
"--- error while parsing tracking data" << std::endl;
476 std::cout <<
"--- timeout while waiting for Controller command" << std::endl;
480 std::cout <<
"--- error while receiving Controller command" << std::endl;
484 std::cout <<
"--- error while parsing Controller command" << std::endl;
497 static void messages_to_console()
double getTimeStamp() const
Get timestamp since midnight.
int getNumFlyStick() const
Get number of calibrated Flysticks.
double loc[3]
Location (in [mm])
const DTrackFlyStick * getFlyStick(int id) const
Get Flystick data.
const DTrackMeaTool * getMeaTool(int id) const
Get Measurement Tool data.
int getNumBody() const
Get number of calibrated standard bodies (as far as known).
bool receive()
Receive and process one tracking data packet.
bool isStatusAvailable() const
Returns if system status data is available.
double rot[9]
Rotation matrix (column-wise)
double loc[3]
Location (in [mm])
unsigned short getDataPort() const
Get UDP data port where tracking data is received.
int numOtherWarningMessages
Number of other warning messages (since booting)
int lr
Left (0) or right (1) hand.
bool isCommandInterfaceFullAccess()
Returns if TCP connection has full access for DTrack2/DTRACK3 commands.
double loc[3]
Location (in [mm])
Single marker data (3DOF).
double x
Quaternion component x.
double quality
Quality (0.0 <= qu <= 1.0, no tracking if -1.0)
int getNumHand() const
Get number of calibrated A.R.T. FINGERTRACKING hands (as far as known).
A.R.T. Flystick data (6DOF + buttons).
Hybrid (optical-inertial) body data (6DOF).
double error
Drift error estimate (only during inertial tracking, in [deg])
bool isTracked() const
Returns if joint is currently tracked.
std::vector< DTrackCameraStatus > cameraStatus
Camera status.
double quality
Quality of joint (0.0 <= qu <= 1.0, no tracking if -1.0)
A.R.T. FINGERTRACKING hand data (6DOF + fingers).
int numInfoMessages
Number of info messages (since booting)
int num_joints
Number of joints.
int numTrackedBodies
Number of currently tracked 6DOF bodies.
const DTrackBody * getBody(int id) const
Get standard body data.
bool isTracked() const
Returns if Measurement Tool reference is currently tracked.
struct DTrackSDK_Datatypes::DTrackHuman::DTrackJoint joint[DTRACKSDK_HUMAN_MAX_JOINTS]
Joint data.
double y
Quaternion component y.
int numCameras
Number of cameras.
int nfinger
Number of fingers (maximum 5)
double quality
Quality (0.0 <= qu <= 1.0, no tracking if -1.0)
double rot[9]
Rotation matrix of outermost phalanx (column-wise)
double loc[3]
Location of tip (in [mm])
const DTrackMeaRef * getMeaRef(int id) const
Get Measurement Tool reference data.
DTrack SDK main class derived from DTrackParser.
int id
ID number (starting with 1)
const DTrackMarker * getMarker(int index) const
Get single marker data.
unsigned int getLatencyUsec() const
Get latency (delay between exposure and sending UDP data in Controller).
int getNumMeaRef() const
Get number of calibrated Measurement Tool references.
double anglephalanx[2]
Angle between phalanxes (order: outermost, innermost; in [deg])
int st
State of hybrid body (0: not tracked, 1: inertial tracking, 2: optical tracking, 3: inertial and opti...
bool isTracked() const
Returns if body is currently tracked.
std::string getMessageStatus() const
Get status of last DTrack2/DTRACK3 event message.
int numCameraWarningMessages
Number of camera-related warning messages (since booting)
int id
ID number of joint (starting with 0)
int numOtherErrorMessages
Number of other error messages (since booting)
double lengthphalanx[3]
Length of phalanxes (order: outermost, middle, innermost; in [mm])
int getNumMarker() const
Get number of tracked single markers.
double loc[3]
Location of joint (in [mm])
unsigned int getFrameCounter() const
Get frame counter.
double rot[9]
Rotation matrix (column-wise)
unsigned int getTimeStampUsec() const
Get timestamp since Unix epoch (1970-01-01 00:00:00), microseconds.
int id
ID number (starting with 0)
const DTrackHuman * getHuman(int id) const
Get ART-Human model data.
int id
ID number (starting with 0)
Errors getLastServerError() const
Get last error at exchanging commands with Controller (command transmission).
bool isCommandInterfaceValid() const
Returns if TCP connection for DTrack2/DTRACK3 commands is active.
double quality
Quality (0.0 <= qu <= 1.0, no tracking if -1.0)
double quality
Quality (0.0 <= qu <= 1.0, no tracking if -1.0)
unsigned int getTimeStampSec() const
Get timestamp since Unix epoch (1970-01-01 00:00:00), seconds.
double loc[3]
Location of back of the hand (in [mm])
std::string getMessageMsg() const
Get message text of last DTrack2/DTRACK3 event message.
const DTrackHand * getHand(int id) const
Get A.R.T. FINGERTRACKING hand data.
double quality
Quality (0.0 <= qu <= 1.0)
int num_joystick
Number of joystick values.
int id
ID number (starting with 0)
int id
ID number (starting with 0)
Error while parsing command.
int num_button
Number of buttons.
bool isDataInterfaceValid() const
Returns if UDP socket is open to receive tracking data on local machine.
double rot[9]
Rotation matrix of joint (column-wise) in relation to room coordinate system.
bool getMessage()
Get DTrack2/DTRACK3 event message from the Controller.
const DTrackInertial * getInertial(int id) const
Get hybrid (optical-inertial) data.
Errors getLastDataError() const
Get last error at receiving tracking data (data transmission).
int numCameraErrorMessages
Number of camera-related error messages (since booting)
int getNumInertial() const
Get number of calibrated hybrid (optical-inertial) bodies.
int button[DTRACKSDK_FLYSTICK_MAX_BUTTON]
Button state (1 pressed, 0 not pressed): 0 front, 1..n-1 right to left.
bool stopMeasurement()
Stop measurement.
bool startMeasurement()
Start measurement.
const DTrackStatus * getStatus() const
Get system status data.
bool isTracked() const
Returns if human model is currently tracked.
double rot[9]
Rotation matrix of back of the hand (column-wise)
Measurement Tool reference data (6DOF).
double w
Quaternion component w.
double z
Quaternion component z.
double rot[9]
Rotation matrix (column-wise)
struct DTrackSDK_Datatypes::DTrackHand::DTrackFinger finger[DTRACKSDK_HAND_MAX_FINGER]
Finger data (order: thumb, index finger, middle finger, ...)
DTrackQuaternion getQuaternion() const
Returns rotation as quaternion.
bool isTracked() const
Returns if Flystick is currently tracked.
double radiustip
Radius of tip (in [mm])
double rot[9]
Rotation matrix (column-wise)
int getNumHuman() const
Get number of calibrated ART-Human models.
bool isTracked() const
Returns if hand is currently tracked.
int numTrackedMarkers
Number of currently found additional 3DOF markers.
double loc[3]
Location (in [mm])
Standard body data (6DOF).
double loc[3]
Location (in [mm])
double joystick[DTRACKSDK_FLYSTICK_MAX_JOYSTICK]
Joystick value (-1.0 <= joystick <= 1.0); 0 horizontal, 1 vertical.
bool isTracked() const
Returns if body is currently tracked.
int id
ID number (starting with 0)
int id
ID number of human model (starting with 0)
ART-Human model (joints (6DOF) including optional Fingertracking).
int getNumMeaTool() const
Get number of calibrated Measurement Tools.
bool isValid()
Returns if constructor was successful due to the wanted mode.