36 #include "DTrackSDK.hpp" 46 static void output_to_console();
47 static bool data_error_to_console();
53 int main(
int argc,
char** argv )
57 std::cout <<
"Usage: example_listening <data port>" << std::endl;
61 std::istringstream portstream( argv[ 1 ] );
65 if ( portstream.fail() )
67 std::cout <<
"invalid port '" << argv[ 1 ] <<
"'" << std::endl;
77 std::cout <<
"DTrackSDK init error" << std::endl;
80 std::cout <<
"listening at local data port " << dt->
getDataPort() << std::endl;
91 while ( count++ < 1000 )
99 data_error_to_console();
111 static void output_to_console()
113 std::cout.precision( 3 );
114 std::cout.setf( std::ios::fixed, std::ios::floatfield );
134 std::cout <<
"DTrackSDK fatal error: invalid body id " << i << std::endl;
140 std::cout <<
"bod " << body->
id <<
" not tracked" << std::endl;
144 std::cout <<
"bod " << body->
id <<
" qu " << body->
quality 145 <<
" loc " << body->
loc[ 0 ] <<
" " << body->
loc[ 1 ] <<
" " << body->
loc[ 2 ]
146 <<
" rot " << body->
rot[ 0 ] <<
" " << body->
rot[ 1 ] <<
" " << body->
rot[ 2 ]
147 <<
" " << body->
rot[ 3 ] <<
" " << body->
rot[ 4 ] <<
" " << body->
rot[ 5 ]
148 <<
" " << body->
rot[ 6 ] <<
" " << body->
rot[ 7 ] <<
" " << body->
rot[ 8 ]
152 std::cout <<
"bod " << body->
id <<
" quatw " << quat.
w 153 <<
" quatxyz " << quat.
x <<
" " << quat.
y <<
" " << quat.
z << std::endl;
161 if ( flystick == NULL )
163 std::cout <<
"DTrackSDK fatal error: invalid Flystick id " << i << std::endl;
169 std::cout <<
"fly " << flystick->
id <<
" not tracked" << std::endl;
173 std::cout <<
"flystick " << flystick->
id <<
" qu " << flystick->
quality 174 <<
" loc " << flystick->
loc[ 0 ] <<
" " << flystick->
loc[ 1 ] <<
" " << flystick->
loc[ 2 ]
175 <<
" rot " << flystick->
rot[ 0 ] <<
" " << flystick->
rot[ 1 ] <<
" " << flystick->
rot[ 2 ]
176 <<
" " << flystick->
rot[ 3 ] <<
" " << flystick->
rot[ 4 ] <<
" " << flystick->
rot[ 5 ]
177 <<
" " << flystick->
rot[ 6 ] <<
" " << flystick->
rot[ 7 ] <<
" " << flystick->
rot[ 8 ]
182 for (
int j = 0; j < flystick->
num_button; j++ )
184 std::cout <<
" " << flystick->
button[ j ];
189 std::cout <<
" " << flystick->
joystick[ j ];
191 std::cout << std::endl;
198 if ( meatool == NULL )
200 std::cout <<
"DTrackSDK fatal error: invalid Measurement tool id " << i << std::endl;
206 std::cout <<
"mea " << meatool->
id <<
" not tracked" << std::endl;
210 std::cout <<
"mea " << meatool->
id <<
" qu " << meatool->
quality 211 <<
" loc " << meatool->
loc[ 0 ] <<
" " << meatool->
loc[ 1 ] <<
" " << meatool->
loc[ 2 ]
212 <<
" rot " << meatool->
rot[ 0 ] <<
" " << meatool->
rot[ 1 ] <<
" " << meatool->
rot[ 2 ]
213 <<
" " << meatool->
rot[ 3 ] <<
" " << meatool->
rot[ 4 ] <<
" " << meatool->
rot[ 5 ]
214 <<
" " << meatool->
rot[ 6 ] <<
" " << meatool->
rot[ 7 ] <<
" " << meatool->
rot[ 8 ]
220 std::cout <<
" radius " << meatool->
tipradius << std::endl;
226 for (
int j = 0; j < meatool->
num_button; j++ )
228 std::cout <<
" " << meatool->
button[ j ];
230 std::cout << std::endl;
238 if ( mearef == NULL )
240 std::cout <<
"DTrackSDK fatal error: invalid Measurement reference id " << i << std::endl;
246 std::cout <<
"mearef " << mearef->
id <<
" not tracked" << std::endl;
250 std::cout <<
"mearef " << mearef->
id <<
" qu " << mearef->
quality 251 <<
" loc " << mearef->
loc[ 0 ] <<
" " << mearef->
loc[ 1 ] <<
" " << mearef->
loc[ 2 ]
252 <<
" rot " << mearef->
rot[ 0 ] <<
" " << mearef->
rot[ 1 ] <<
" " << mearef->
rot[ 2 ]
253 <<
" " << mearef->
rot[ 3 ] <<
" " << mearef->
rot[ 4 ] <<
" " << mearef->
rot[ 5 ]
254 <<
" " << mearef->
rot[ 6 ] <<
" " << mearef->
rot[ 7 ] <<
" " << mearef->
rot[ 8 ]
263 if ( marker == NULL )
265 std::cout <<
"DTrackSDK fatal error: invalid marker index " << i << std::endl;
269 std::cout <<
"mar " << marker->
id <<
" qu " << marker->
quality 270 <<
" loc " << marker->
loc[ 0 ] <<
" " << marker->
loc[ 1 ] <<
" " << marker->
loc[ 2 ]
280 std::cout <<
"DTrackSDK fatal error: invalid FINGERTRACKING id " << i << std::endl;
286 std::cout <<
"hand " << hand->
id <<
" not tracked" << std::endl;
290 std::cout <<
"hand " << hand->
id <<
" qu " << hand->
quality 291 <<
" lr " << ( ( hand->
lr == 0 ) ?
"left" :
"right") <<
" nf " << hand->
nfinger 292 <<
" loc " << hand->
loc[ 0 ] <<
" " << hand->
loc[ 1 ] <<
" " << hand->
loc[ 2 ]
293 <<
" rot " << hand->
rot[ 0 ] <<
" " << hand->
rot[ 1 ] <<
" " << hand->
rot[ 2 ]
294 <<
" " << hand->
rot[ 3 ] <<
" " << hand->
rot[ 4 ] <<
" " << hand->
rot[ 5 ]
295 <<
" " << hand->
rot[ 6 ] <<
" " << hand->
rot[ 7 ] <<
" " << hand->
rot[ 8 ]
298 for (
int j = 0; j < hand->
nfinger; j++ )
300 std::cout <<
" fi " << j
306 std::cout <<
" fi " << j
319 std::cout <<
"no human model data" << std::endl;
327 std::cout <<
"DTrackSDK fatal error: invalid human model id " << i << std::endl;
333 std::cout <<
"human " << human->
id <<
" not tracked" << std::endl;
337 std::cout <<
"human " << human->
id <<
" num joints " << human->
num_joints << std::endl;
342 std::cout <<
"joint " << human->
joint[ j ].
id <<
" not tracked" << std::endl;
355 std::cout << std::endl;
361 std::cout <<
"no inertial body data" << std::endl;
367 if ( inertial == NULL )
369 std::cout <<
"DTrackSDK fatal error: invalid hybrid body id " << i << std::endl;
373 std::cout <<
" inertial body " << inertial->
id <<
" st " << inertial->
st <<
" error " << inertial->
error << std::endl;
376 std::cout <<
" loc " << inertial->
loc[ 0 ] <<
" " << inertial->
loc[ 1 ] <<
" " << inertial->
loc[ 2 ]
377 <<
" rot " << inertial->
rot[ 0 ] <<
" " << inertial->
rot[ 1 ] <<
" " << inertial->
rot[ 2 ]
378 <<
" " << inertial->
rot[ 3 ] <<
" " << inertial->
rot[ 4 ] <<
" " << inertial->
rot[ 5 ]
379 <<
" " << inertial->
rot[ 6 ] <<
" " << inertial->
rot[ 7 ] <<
" " << inertial->
rot[ 8 ]
387 std::cout <<
"no system status data" << std::endl;
392 if ( status == NULL )
394 std::cout <<
"DTrackSDK fatal error: invalid system status" << std::endl;
399 std::cout <<
"status gen nc " << status->
numCameras 408 for (
int i = 0; i < status->
numCameras; i++ )
410 std::cout <<
"status cam " << status->
cameraStatus[ i ].idCamera
412 <<
" nu " << status->
cameraStatus[ i ].numReflectionsUsed
413 <<
" mi " << status->
cameraStatus[ i ].maxIntensity << std::endl;
425 static bool data_error_to_console()
429 std::cout <<
"--- timeout while waiting for tracking data" << std::endl;
435 std::cout <<
"--- error while receiving tracking data" << std::endl;
441 std::cout <<
"--- error while parsing tracking data" << std::endl;
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.
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.
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)
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])
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.
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.
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.