31 #ifndef _ART_DTRACKSDK_DATATYPES_HPP_ 32 #define _ART_DTRACKSDK_DATATYPES_HPP_ 99 {
return rot2quat(
rot ); }
102 typedef DTrackBody DTrack_Body_Type_d;
123 {
return (
st > 0 ); }
131 {
return rot2quat(
rot ); }
134 typedef DTrackInertial DTrack_Inertial_Type_d;
138 #define DTRACKSDK_FLYSTICK_MAX_BUTTON 16 139 #define DTRACKSDK_FLYSTICK_MAX_JOYSTICK 8 151 int button[ DTRACKSDK_FLYSTICK_MAX_BUTTON ];
153 double joystick[ DTRACKSDK_FLYSTICK_MAX_JOYSTICK ];
171 {
return rot2quat(
rot ); }
174 typedef DTrackFlyStick DTrack_FlyStick_Type_d;
178 #define DTRACKSDK_MEATOOL_MAX_BUTTON 16 190 int button[ DTRACKSDK_MEATOOL_MAX_BUTTON ];
210 {
return rot2quat(
rot ); }
213 typedef DTrackMeaTool DTrack_MeaTool_Type_d;
241 {
return rot2quat(
rot ); }
244 typedef DTrackMeaRef DTrack_MeaRef_Type_d;
248 #define DTRACKSDK_HAND_MAX_FINGER 5 276 {
return rot2quat(
rot ); }
295 {
return rot2quat(
rot ); }
296 }
finger[ DTRACKSDK_HAND_MAX_FINGER ];
299 typedef DTrackHand DTrack_Hand_Type_d;
303 #define DTRACKSDK_HUMAN_MAX_JOINTS 200 348 {
return rot2quat(
rot ); }
349 }
joint[ DTRACKSDK_HUMAN_MAX_JOINTS ];
352 typedef DTrackHuman DTrack_Human_Type_d;
396 #endif // _ART_DTRACKSDK_DATATYPES_HPP_ double loc[3]
Location (in [mm])
double rot[9]
Rotation matrix (column-wise)
double loc[3]
Location (in [mm])
int numOtherWarningMessages
Number of other warning messages (since booting)
int lr
Left (0) or right (1) hand.
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)
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.
bool isTracked() const
Returns if Measurement Tool reference is currently tracked.
struct DTrackSDK_Datatypes::DTrackHuman::DTrackJoint joint[DTRACKSDK_HUMAN_MAX_JOINTS]
Joint data.
DTrackQuaternion getQuaternion() const
Returns rotation as quaternion.
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)
DTrackQuaternion getQuaternion() const
Returns rotation of back of the hand as quaternion.
DTrackQuaternion getQuaternion() const
Returns rotation of joint as quaternion.
double rot[9]
Rotation matrix of outermost phalanx (column-wise)
double loc[3]
Location of tip (in [mm])
int id
ID number (starting with 1)
int maxIntensity
Intensity of the brightest pixel (between 0 and 10)
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.
double covref[3]
Reference point of covariance (in [mm])
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])
double loc[3]
Location of joint (in [mm])
double rot[9]
Rotation matrix (column-wise)
int id
ID number (starting with 0)
int id
ID number (starting with 0)
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)
double loc[3]
Location of back of the hand (in [mm])
double ang[3]
Angles in relation to joint coordinate system; DEPRECATED.
double quality
Quality (0.0 <= qu <= 1.0)
int num_joystick
Number of joystick values.
A.R.T. FINGERTRACKING finger data.
int id
ID number (starting with 0)
int id
ID number (starting with 0)
int num_button
Number of buttons.
double rot[9]
Rotation matrix of joint (column-wise) in relation to room coordinate system.
int numCameraErrorMessages
Number of camera-related error messages (since booting)
DTrackQuaternion getQuaternion() const
Returns rotation as quaternion.
int button[DTRACKSDK_FLYSTICK_MAX_BUTTON]
Button state (1 pressed, 0 not pressed): 0 front, 1..n-1 right to left.
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.
int numReflections
Number of 2DOF reflections seen by this camera.
int idCamera
ID number of the camera (starting with 0)
DTrackQuaternion getQuaternion() const
Returns rotation as quaternion.
int numReflectionsUsed
Number of seen 2DOF reflections used for 6DOF tracking.
double radiustip
Radius of tip (in [mm])
DTrackQuaternion getQuaternion() const
Returns rotation of outermost phalanx as quaternion.
double rot[9]
Rotation matrix (column-wise)
bool isTracked() const
Returns if hand is currently tracked.
int numTrackedMarkers
Number of currently found additional 3DOF markers.
double cov[36]
6x6-dimensional covariance matrix for the 6d pose (with 3d location in [mm], 3d euler angles in [rad]...
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).