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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:
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Matlab-code for sample8:
%Name: SAMPLE8.M
%Description:
% OPTOTRAK Sample Program #8.
% 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. Initialize a file for spooling OPTOTRAK raw data.
% 7. Spool the OPTOTRAK raw data to file.
% 8. De-activate the IRED markers.
% 9. Convert the OPTOTRAK raw data file to a 3D data file.
% 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:
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'};
%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')
%Initialize a file for spooling of the OPTOTRAK data.
optotrak('DataBufferInitializeFile',{'OPTOTRAK'},'R#001.S08');
%Spool data to the previously initialized file.
fprintf('Collecting data file...\n');
SpoolStatus=optotrak('DataBufferSpoolData');
fprintf('Spool Status: 0x%04x\n',SpoolStatus);
%De-activate the markers.
optotrak('OptotrakDeActivateMarkers')
%Convert the raw data in the file 'R#001.S08' and write the
%3D data to the file 'C#001.S08'.
fprintf('Converting OPTOTRAK raw data file...\n');
optotrak('FileConvert','R#001.S08','C#001.S08',{'OPTOTRAK_RAW'});
fprintf('File conversion complete.\n');
%Shutdown the transputer message passing system.
optotrak('TransputerShutdownSystem')
%Exit the program.
fprintf('\nProgram execution complete.\n');
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Corresponding C-code for sample8:
/*****************************************************************
Name: SAMPLE8.C
Description:
OPTOTRAK Sample Program #8.
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. Initialize a file for spooling OPTOTRAK raw data.
7. Spool the OPTOTRAK raw data to file.
8. De-activate the IRED markers.
9. Convert the OPTOTRAK raw data file to a 3D data file.
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
/*****************************************************************
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
uSpoolStatus = 0;
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 */
/*
* Activate the markers.
*/
if( OptotrakActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
/*
* Initialize a file for spooling of the OPTOTRAK raw data.
*/
if( DataBufferInitializeFile( OPTOTRAK, "R#001.S08" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Spool data to the previously initialized file.
*/
fprintf( stdout, "Collecting data file...\n" );
if( DataBufferSpoolData( &uSpoolStatus ) )
{
goto ERROR_EXIT;
} /* if */
fprintf( stdout, "Spool Status: 0x%04x\n", uSpoolStatus );
/*
* De-activate the markers.
*/
if( OptotrakDeActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
/*
* Convert the raw data in the file 'R#001.S08' and write the
* 3D data to the file 'C#001.S08'.
*/
fprintf( stdout, "Converting OPTOTRAK raw data file...\n" );
if( FileConvert( "R#001.S08", "C#001.S08", OPTOTRAK_RAW ) )
{
goto ERROR_EXIT;
} /* if */
fprintf( stdout, "File conversion complete.\n" );
/*
* 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 */
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