General and Experimental Psychology
People
Publications
Research
Teaching
Colloquium
Guestbook
Jobs
News
Research group
Perception and Action
Graduate school
NeuroAct
Emmy-Noether-Group
Sensory-Motor Decision-Making
I moved to Tübingen. Please click here to see my new web-page there
The Optotrak Toolbox: Sample programs.
Volker H. Franz, University of Giessen, Germany
Each example shows first the Matlab-code and second the code you would need to perform the same actions using the C-programming language. Please select the sample you want to view:
|
Matlab-code for sample10:
%Name: SAMPLE10.M
%Description:
% OPTOTRAK Sample Program #10.
% 1. Load the system of transputers with the appropriate
% transputer programs.
% 2. Initiate communications with the transputer system.
% 3. Load the appropriate camera parameters.
% 4. Set up an OPTOTRAK collection.
% 5. Activate the IRED markers.
% 6. Add a rigid body to the OPTOTRAK System tracking list using
% a .RIG file.
% 7. Change the default settings for the rigid body just added.
% 8. Request/receive/display 10 frames of rigid body transforms
% in Quaternion format; also display the attached 3D marker
% position data.
% 9. De-activate the IRED markers.
% 10. Disconnect the PC application program from the transputer
% system.
%Just to be on the save side, we first reset all Matlab functions:
clear functions
%Settings for Optotrak collection:
coll.NumMarkers =6; %Number of markers in the collection.
coll.FrameFrequency =50 ; %Frequency to collect data frames at.
coll.MarkerFrequency =2500; %Marker frequency for marker maximum on-time.
coll.Threshold =30; %Dynamic or Static Threshold value to use.
coll.MinimumGain =160; %Minimum gain code amplification to use.
coll.StreamData =1; %Stream mode for the data buffers.
coll.DutyCycle =0.4; %Marker Duty Cycle to use.
coll.Voltage =7.5; %Voltage to use when turning on markers.
coll.CollectionTime =5; %Number of seconds of data to collect.
coll.PreTriggerTime =0; %Number of seconds to pre-trigger data by.
coll.Flags={'OPTOTRAK_BUFFER_RAW_FLAG'};
%Constants for identifying the rigid bodies:
NumRigids = 1;
RBfileset.RigidBodyIndex = 1; %Index associated with this rigid body.
RBfileset.StartMarker = 1; %First marker in the rigid body
RBfileset.RigFile = 'plate';%RIG file containing rigid body coordinates
%VF: The following command is added for better stability (cf. sample9.c):
% This is not a problem of the OptotrakToolbox, but of the NDI samples!!!
%Set optional processing flags (this overides the settings in OPTOTRAK.INI).
optotrak('OptotrakSetProcessingFlags',{'OPTO_LIB_POLL_REAL_DATA',
'OPTO_CONVERT_ON_HOST',
'OPTO_RIGID_ON_HOST'});
%Load the system of transputers.
optotrak('TransputerLoadSystem','system');
%Wait one second to let the system finish loading.
pause(1);
%Initialize the transputer system.
optotrak('TransputerInitializeSystem',{'OPTO_LOG_ERRORS_FLAG'})
%Load the standard camera parameters.
optotrak('OptotrakLoadCameraParameters','standard');
%Set up a collection for the OPTOTRAK.
optotrak('OptotrakSetupCollection',coll)
%Wait one second to let the camera adjust.
pause(1);
%Activate the markers.
optotrak('OptotrakActivateMarkers')
% Add rigid body 1 for tracking to the OPTOTRAK system from a .RIG file.
optotrak('RigidBodyAddFromFile',RBfileset);
%Change the default settings for this rigid body:
RBset.RigidBodyIndex = RBfileset.RigidBodyIndex; %ID associated with rigid body
RBset.MinMarkers = 4; %Min number of markers which must be seen
RBset.MaxMarkersAngle = 60; %Cut off angle for marker inclusion in calcs
RBset.Max3dError = 0.25;%Max 3-D marker error for rigid body
RBset.MaxSensorError = 1; %Max raw sensor error for rigid body
RBset.Max3dRmsError = 1; %Max 3-D RMS marker error for rigid body
RBset.MaxSensorRmsError= 1; %Max raw sensor RMS error for rigid body
RBset.Flags = {'OPTOTRAK_QUATERN_RIGID_FLAG','OPTOTRAK_RETURN_QUATERN_FLAG'}
optotrak('RigidBodyChangeSettings',RBset);
%Get and display 10 frames of rigid body data.
fprintf('Rigid Body Data Display\n');
for FrameCnt = 1:10
%Get a frame of data.
data=optotrak('DataGetLatestTransforms',coll.NumMarkers,NumRigids);
%Print out the rigid body transformation data.
fprintf('\n');
fprintf('Rigid Body Transformation Data\n\n');
fprintf('Frame Number: %8u\n',data.FrameNumber);
fprintf('Transforms : %8u\n',data.NumRigids);
fprintf('Flags : 0x%04x\n',data.Flags);
for RigidCnt = 1:data.NumRigids
fprintf('Rigid Body %u\n',RigidCnt);
fprintf('%s\n',data.Rigids{RigidCnt}.TransformError);
fprintf('XT = %8.2f YT = %8.2f ZT = %8.2f\n',...
data.Rigids{RigidCnt}.Trans(1),...
data.Rigids{RigidCnt}.Trans(2),...
data.Rigids{RigidCnt}.Trans(3));
fprintf('Q0 = %8.2f QX = %8.2f QY = %8.2f QZ = %8.2f\n',...
data.Rigids{RigidCnt}.RotQuaternion(1),...
data.Rigids{RigidCnt}.RotQuaternion(2),...
data.Rigids{RigidCnt}.RotQuaternion(3),...
data.Rigids{RigidCnt}.RotQuaternion(4));
end
% Print out the 3D data.
fprintf('\nAssociated 3D Marker Data\n\n');
for MarkerCnt = 1:data.NumMarkers
fprintf('Marker %u X %7.2f Y %7.2f Z %7.2f\n',...
MarkerCnt,...
data.Markers{MarkerCnt}(1),...
data.Markers{MarkerCnt}(2),...
data.Markers{MarkerCnt}(3));
end
end
%De-activate the markers.
optotrak('OptotrakDeActivateMarkers')
%Shutdown the transputer message passing system.
optotrak('TransputerShutdownSystem')
%Exit the program.
fprintf('\nProgram execution complete.\n');
|
Corresponding C-code for sample10:
/*****************************************************************
Name: SAMPLE10.C
Description:
OPTOTRAK Sample Program #10.
1. Load the system of transputers with the appropriate
transputer programs.
2. Initiate communications with the transputer system.
3. Load the appropriate camera parameters.
4. Set up an OPTOTRAK collection.
5. Activate the IRED markers.
6. Add a rigid body to the OPTOTRAK System tracking list using
a .RIG file.
7. Change the default settings for the rigid body just added.
8. Request/receive/display 10 frames of rigid body transforms
in Quaternion format; also display the attached 3D marker
position data.
9. De-activate the IRED markers.
10. Disconnect the PC application program from the transputer
system.
*****************************************************************/
/*****************************************************************
C Library Files Included
*****************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#ifdef _MSC_VER
void sleep( unsigned int uSec );
#elif __BORLANDC__
#include <dos.h>
#elif __WATCOMC__
#include <dos.h>
#endif
/*****************************************************************
ND Library Files Included
*****************************************************************/
#include "ndtypes.h"
#include "ndpack.h"
#include "ndopto.h"
/*****************************************************************
Defines:
*****************************************************************/
#define NUM_MARKERS 6
#define FRAME_RATE (float)50.0
#define COLLECTION_TIME (float)5.0
/*
* Constants for identifying the rigid bodies.
*/
#define RIGID_BODY_1 0
#define NUM_RIGID_BODIES 1
/*****************************************************************
Static Structures and Types:
*****************************************************************/
/*
* Type definition to retreive and access rigid body transformation
* data.
*/
typedef struct RigidBodyDataStruct
{
struct OptotrakRigidStruct pRigidData[ NUM_RIGID_BODIES];
Position3d p3dData[ NUM_MARKERS];
} RigidBodyDataType;
/*****************************************************************
Name: main
Input Values:
int
argc :Number of command line parameters.
unsigned char
*argv[] :Pointer array to each parameter.
Output Values:
None.
Return Value:
None.
Description:
Main program routine performs all steps listed in the above
program description.
*****************************************************************/
void main( int argc, unsigned char *argv[] )
{
unsigned int
uFlags,
uElements,
uFrameCnt,
uRigidCnt,
uMarkerCnt,
uFrameNumber;
RigidBodyDataType
RigidBodyData;
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
/*
* Load the system of transputers.
*/
if( TransputerLoadSystem( "system" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the system finish loading.
*/
sleep( 1 );
/*
* Initialize the transputer system.
*/
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Load the standard camera parameters.
*/
if( OptotrakLoadCameraParameters( "standard" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Set up a collection for the OPTOTRAK.
*/
if( OptotrakSetupCollection(
NUM_MARKERS, /* Number of markers in the collection. */
FRAME_RATE, /* Frequency to collect data frames at. */
(float)2500.0, /* Marker frequency for marker maximum on-time. */
30, /* Dynamic or Static Threshold value to use. */
160, /* Minimum gain code amplification to use. */
1, /* Stream mode for the data buffers. */
(float)0.4, /* Marker Duty Cycle to use. */
(float)7.5, /* Voltage to use when turning on markers. */
COLLECTION_TIME, /* Number of seconds of data to collect. */
(float)0.0, /* Number of seconds to pre-trigger data by. */
OPTOTRAK_BUFFER_RAW_FLAG ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Activate the markers.
*/
if( OptotrakActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
/*
* Add rigid body 1 for tracking to the OPTOTRAK system from a .RIG file.
*/
if( RigidBodyAddFromFile(
RIGID_BODY_1, /* ID associated with this rigid body. */
1, /* First marker in the rigid body.*/
"plate", /* RIG file containing rigid body coordinates.*/
0 ) ) /* flags */
{
goto ERROR_EXIT;
} /* if */
/*
* Change the default settings for this rigid body 1.
*/
if( RigidBodyChangeSettings(
RIGID_BODY_1, /* ID associated with this rigid body. */
4, /* Minimum number of markers which must be seen
before performing rigid body calculations.*/
60, /* Cut off angle for marker inclusion in calcs.*/
(float)0.25, /* Maximum 3-D marker error for this rigid body. */
(float)1.0, /* Maximum raw sensor error for this rigid body. */
(float)1.0, /* Maximum 3-D RMS marker error for this rigid body. */
(float)1.0, /* Maximum raw sensor RMS error for this rigid body. */
OPTOTRAK_QUATERN_RIGID_FLAG | OPTOTRAK_RETURN_QUATERN_FLAG ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Get and display ten frames of rigid body data.
*/
fprintf( stdout, "Rigid Body Data Display\n" );
for( uFrameCnt = 0; uFrameCnt < 10; ++uFrameCnt )
{
/*
* Get a frame of data.
*/
if( DataGetLatestTransforms( &uFrameNumber, &uElements, &uFlags,
&RigidBodyData ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Print out the rigid body transformation data.
*/
fprintf( stdout, "\n" );
fprintf( stdout, "Rigid Body Transformation Data\n\n" );
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Transforms : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( uRigidCnt = 0; uRigidCnt < uElements; ++uRigidCnt )
{
fprintf( stdout, "Rigid Body %u\n",
RigidBodyData.pRigidData[ uRigidCnt].RigidId );
fprintf( stdout, "XT = %8.2f YT = %8.2f ZT = %8.2f\n",
RigidBodyData.pRigidData[ uRigidCnt].transformation.
quaternion.translation.x,
RigidBodyData.pRigidData[ uRigidCnt].transformation.
quaternion.translation.y,
RigidBodyData.pRigidData[ uRigidCnt].transformation.
quaternion.translation.z );
fprintf( stdout, "Q0 = %8.2f QX = %8.2f QY = %8.2f QZ = %8.2f\n",
RigidBodyData.pRigidData[ uRigidCnt].transformation.
quaternion.rotation.q0,
RigidBodyData.pRigidData[ uRigidCnt].transformation.
quaternion.rotation.qx,
RigidBodyData.pRigidData[ uRigidCnt].transformation.
quaternion.rotation.qy,
RigidBodyData.pRigidData[ uRigidCnt].transformation.
quaternion.rotation.qz );
} /* for */
/*
* Print out the 3D data.
*/
fprintf( stdout, "\nAssociated 3D Marker Data\n\n" );
for( uMarkerCnt = 0; uMarkerCnt < NUM_MARKERS; ++uMarkerCnt )
{
fprintf( stdout, "Marker %u X %f Y %f Z %f\n",
uMarkerCnt + 1,
RigidBodyData.p3dData[ uMarkerCnt].x,
RigidBodyData.p3dData[ uMarkerCnt].y,
RigidBodyData.p3dData[ uMarkerCnt].z );
} /* for */
} /* for */
/*
* De-activate the markers.
*/
if( OptotrakDeActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
/*
* Shutdown the transputer message passing system.
*/
if( TransputerShutdownSystem() )
{
goto ERROR_EXIT;
} /* if */
/*
* Exit the program.
*/
fprintf( stdout, "\nProgram execution complete.\n" );
exit( 0 );
ERROR_EXIT:
if( OptotrakGetErrorString( szNDErrorString,
MAX_ERROR_STRING_LENGTH + 1 ) == 0 )
{
fprintf( stdout, szNDErrorString );
} /* if */
OptotrakDeActivateMarkers();
TransputerShutdownSystem();
exit( 1 );
} /* main */
|
