int main(){ // Function to retrieve OAPI version size_t len = LEN; size_t read; char *line = malloc(len); assert(line); // return variables char s0[1024]; int i0; int nFrameOld = -1; while ((read = getline(&line, &len, stdin)) != -1) { //fprintf(stderr, "INFO: Retrieved line of length %zu (including NULL): %s", read, line); if (cmp(line, "OAPIGetVersionString")){ i0 = OAPIGetVersionString(s0, len); printf("'%s'\n", s0); } else if (cmp(line, "OptoGetLastError")){ i0 = OptoGetLastError(s0, len); printf("'%s'\n", s0); } else if (cmp(line, "OptotrakGetErrorString")){ i0 = OptotrakGetErrorString(s0, len); printf("'%s'\n", s0); } else if (cmp(line, "OptoGetExtendedErrorCode")){ i0 = OptoGetExtendedErrorCode(); printf("%d\n", i0); } else if (cmp(line, "TransputerLoadSystem")){ strtok(line, "\""); char* s = strtok(NULL, "\""); // may be null i0 = TransputerLoadSystem(s); //i0 = TransputerLoadSystem("/opt/NDIoapi/ndigital/realtime/system.nif"); printf("%d\n", i0); } else if (cmp(line, "TransputerInitializeSystem")){ i0 = TransputerInitializeSystem(OPTO_LOG_ERRORS_FLAG); printf("%d\n", i0); } else if (cmp(line, "TransputerShutdownSystem")){ i0 = TransputerShutdownSystem(); printf("%d\n", i0); } else if (cmp(line, "TransputerDetermineSystemCfg")){ strtok(line, "\""); char* s = strtok(NULL, "\""); // may be null i0 = TransputerDetermineSystemCfg(s); printf("%d\n", i0); } else if (cmp(line, "OptotrakLoadCameraParameters")){ strtok(line, "\""); char* s = strtok(NULL, "\""); // may be null OptotrakLoadCameraParameters(s); printf("%d\n", i0); } else if (cmp(line, "OptotrakLoadAutoScale")){ strtok(line, "\""); char* s = strtok(NULL, "\""); // may be null OptotrakLoadAutoScale(s); printf("%d\n", i0); } else if (cmp(line, "OptotrakLockTemperatures")){ i0 = OptotrakLockTemperatures(); printf("%d\n", i0); } else if (cmp(line, "OptotrakSetCollectionFile")){ strtok(line, "\""); char* s = strtok(NULL, "\""); // may be null OptotrakSetCollectionFile(s); printf("%d\n", i0); } else if (cmp(line, "OptotrakSetupCollectionFromFile")){ strtok(line, "\""); char* s = strtok(NULL, "\""); // may be null OptotrakSetupCollectionFromFile(s); printf("%d\n", i0); } else if (cmp(line, "OptotrakSetupCollection")){ float fFrameFrequency, fMarkerFrequency; int nThreshold, nMinimumGain, nStreamData; float fDutyCycle, fVoltage, fCollectionTime, fPreTriggerTime; int nFlags; strtok(line, "("); char* s = strtok(NULL, ")"); int i = sscanf(s, "%d, %f, %f, %d, %d, %d, %f, %f, %f, %f, %d", &nMarkers, &fFrameFrequency, &fMarkerFrequency, &nThreshold, &nMinimumGain, &nStreamData, &fDutyCycle, &fVoltage, &fCollectionTime, &fPreTriggerTime, &nFlags); if(i==11){ i0 = OptotrakSetupCollection(nMarkers, fFrameFrequency, fMarkerFrequency, nThreshold, nMinimumGain, nStreamData, fDutyCycle, fVoltage, fCollectionTime, fPreTriggerTime, nFlags); printf("%d\n", i0); allocSpace(nMarkers); } else printf("ERROR: %d arguments read (11 expected)\n", i); } else if (cmp(line, "OptotrakActivateMarkers")){ i0 = OptotrakActivateMarkers(); printf("%d\n", i0); } else if (cmp(line, "OptotrakDeActivateMarkers")){ i0 = OptotrakDeActivateMarkers(); printf("%d\n", i0); } else if (cmp(line, "OptotrakGetStatus")){ int nNumSensors, nNumOdaus, nNumRigidBodies, nMarkers; float fFrameFrequency, fMarkerFrequency; int nThreshold, nMinimumGain, nStreamData; float fDutyCycle, fVoltage, fCollectionTime, fPreTriggerTime; int nFlags; i0 = OptotrakGetStatus(&nNumSensors, &nNumOdaus, &nNumRigidBodies, &nMarkers, &fFrameFrequency, &fMarkerFrequency, &nThreshold, &nMinimumGain, &nStreamData, &fDutyCycle, &fVoltage, &fCollectionTime, &fPreTriggerTime, &nFlags); printf("(%d, %d, %d, %d, %f, %f, %d, %d, %d, %f, %f, %f, %f, 0x%x)\n", nNumSensors, nNumOdaus, nNumRigidBodies, nMarkers, fFrameFrequency, fMarkerFrequency, nThreshold, nMinimumGain, nStreamData, fDutyCycle, fVoltage, fCollectionTime, fPreTriggerTime, nFlags); } else if (cmp(line, "OptotrakSetStroberPortTable")){ int nPort1, nPort2, nPort3, nPort4; strtok(line, "("); char* s = strtok(NULL, ")"); if(s && sscanf(s, "%d, %d, %d, %d", &nPort1, &nPort2, &nPort3, &nPort4) == 4){ i0 = OptotrakSetStroberPortTable(nPort1, nPort2, nPort3, nPort4); printf("%d\n", i0); } else printf("ERROR: reading 4 arguments\n"); } else if (cmp(line, "OptotrakSaveCollectionToFile")){ strtok(line, "\""); char* s = strtok(NULL, "\""); if (s) i0 = OptotrakSaveCollectionToFile(s); else i0 = OptotrakSaveCollectionToFile(""); printf("%d\n", i0); } else if (cmp(line, "OptotrakSetCameraParameters")){ int nMarkerType, nWaveLength, nModelType; strtok(line, "("); char* s = strtok(NULL, ")"); if(s && sscanf(s, "%d, %d, %d", &nMarkerType, &nWaveLength, &nModelType) == 3){ i0 = OptotrakSetCameraParameters(nMarkerType, nWaveLength, nModelType); printf("%d\n", i0); } else printf("ERROR: reading 3 arguments\n"); } else if (cmp(line, "OptotrakGetCameraParameterStatus")){ int curMarkerType, nCurWaveLength, nCurModelType; char szStatus[len]; i0 = OptotrakGetCameraParameterStatus(&curMarkerType, &nCurWaveLength, &nCurModelType, szStatus, len); printf("(%d, %d, %d, '%s')\n", curMarkerType, nCurWaveLength, nCurModelType, szStatus); } else if (cmp(line, "OdauSaveCollectionToFile")){ strtok(line, "\""); char* s = strtok(NULL, "\""); if (s){ i0 = OptotrakSaveCollectionToFile(s); printf("%d\n", i0); } else printf("ERROR: reading filename\n"); } else if (cmp(line, "OdauSetupCollectionFromFile")){ strtok(line, "\""); char* s = strtok(NULL, "\""); if (s){ i0 = OdauSetupCollectionFromFile(s); printf("%d\n", i0); } else printf("ERROR: reading filename\n"); } else if (cmp(line, "OdauSetTimer")){ //int OdauSetTimer( int nOdauId, unsigned uTimer, unsigned uMode, unsigned long ulVal ); int nOdauId; unsigned uTimer, uMode; unsigned long ulVal; strtok(line, "("); char* s = strtok(NULL, ")"); if(s && sscanf(s, "%d, %u, %u, %lu", &nOdauId, &uTimer, &uMode, &ulVal) == 4){ i0 = OdauSetTimer(ODAU1+nOdauId-1, uMode, uTimer, ulVal); printf("%d\n", i0); } else printf("ERROR: reading 4 arguments\n"); } else if (cmp(line, "OdauSetAnalogOutputs")){ //int OdauSetAnalogOutputs( int nOdauId, float *pfVoltage1, float *pfVoltage2, unsigned uChangeMask ); int nOdauId; // 1-4 -> ODAU1-ODAU4 float fVoltage1; float fVoltage2; unsigned uChangeMask; strtok(line, "("); char* s = strtok(NULL, ")"); if(s && sscanf(s, "%d, %f, %f, %u", &nOdauId, &fVoltage1, &fVoltage2, &uChangeMask) == 4){ i0 = OdauSetAnalogOutputs(ODAU1+nOdauId-1, &fVoltage1, &fVoltage2, uChangeMask); printf("(%f, %f)\n", fVoltage1, fVoltage1); } else printf("ERROR: reading 4 arguments\n"); } else if (cmp(line, "OdauSetDigitalOutputs")){ //int OdauSetDigitalOutputs( int nOdauId, unsigned *puDigitalOut, unsigned uUpdateMask ); int nOdauId; // 1-4 -> ODAU1-ODAU4 unsigned uDigitalOut, uUpdateMask; strtok(line, "("); char* s = strtok(NULL, ")"); if(s && sscanf(s, "%d, %u, %u", &nOdauId, &uDigitalOut, &uUpdateMask) == 4){ i0 = OdauSetDigitalOutputs(ODAU1+nOdauId-1, &uDigitalOut, uUpdateMask); printf("0x%x\n", uDigitalOut); } else printf("ERROR: reading 3 arguments\n"); } else if (cmp(line, "OdauSetupCollection")){ //OdauSetupCollection( int nOdauId, int nChannels, int nGain, int nDigitalMode, float fFrameFreq, float fScanFreq, int nStreamData, float fCollectionTime, float fPreTriggerTime, unsigned uFlags ); int nOdauId, nChannels, nGain, nDigitalMode; float fFrameFreq, fScanFreq; int nStreamData; float fCollectionTime, fPreTriggerTime; unsigned uFlags; strtok(line, "("); char* s = strtok(NULL, ")"); if(s && sscanf(s, "%d, %d, %d, %d, %f, %f, %d, %f, %f, %u", &nOdauId, &nChannels, &nGain, &nDigitalMode, &fFrameFreq, &fScanFreq, &nStreamData, &fCollectionTime, &fPreTriggerTime, &uFlags) == 10){ i0 = OdauSetupCollection(ODAU1+nOdauId-1, nChannels, nGain, nDigitalMode, fFrameFreq, fScanFreq, nStreamData, fCollectionTime, fPreTriggerTime, uFlags); printf("%d\n", i0); } else printf("ERROR: reading 10 arguments\n"); } else if (cmp(line, "OptotrakStopCollection")){ i0 = OptotrakStopCollection(); printf("%d\n", i0); } else if (cmp(line, "OdauGetStatus")){ //int OdauGetStatus( int nOdauId, int *pnChannels, int *pnGain, int *pnDigitalMode, float *pfFrameFrequency, float *pfScanFrequency, int *pnStreamData, float *pfCollectionTime, float *pfPreTriggerTime, unsigned *puCollFlags, int *pnFlags ); int nOdauId, nChannels, nGain, nDigitalMode; float fFrameFrequency, fScanFrequency; int nStreamData; float fCollectionTime, fPreTriggerTime; unsigned uCollFlags; int nFlags; strtok(line, "("); char* s = strtok(NULL, ")"); if(s && sscanf(s, "%d", &nOdauId) == 1){ i0 = OdauGetStatus(ODAU1+nOdauId-1, &nChannels, &nGain, &nDigitalMode, &fFrameFrequency, &fScanFrequency, &nStreamData, &fCollectionTime, &fPreTriggerTime, &uCollFlags, &nFlags); printf("(%d, %d, %d, %f, %f, %d, %f, %f, 0x%04x, %d)\n", nChannels, nGain, nDigitalMode, fFrameFrequency, fScanFrequency, nStreamData, fCollectionTime, fPreTriggerTime, uCollFlags, nFlags); } else printf("ERROR: reading argument\n"); } else if (cmp(line, "RigidBodyAddFromFile")){ int nRigidBodyId, nStartMarker; char szRigFile[len]; int nFlags; strtok(line, "("); char* s = strtok(NULL, ")"); if(s && sscanf(s, "%d, %d, %s, %d", &nRigidBodyId, &nStartMarker, szRigFile, &nFlags) != 4){ i0 = RigidBodyAddFromFile(nRigidBodyId, nStartMarker, szRigFile, nFlags); printf("%d\n", i0); } else printf("ERROR: reading 4 arguments\n"); } else if (cmp(line, "RigidBodyAdd")){ //int ( int nRigidBodyId, int nStartMarker, int nNumMarkers, float *pRigidCoordinates, float *pNormalCoordinates, int nFlags ); int nRigidBodyId, nStartMarker, nNumMarkers; float *rigidCoordinates, *normalCoordinates; int nFlags; char* s = strtok(line, "("); if(s && sscanf(line+strlen(s)+1, "%d, %d, %d", &nRigidBodyId, &nStartMarker, &nNumMarkers)==3){ rigidCoordinates = calloc(3*nNumMarkers, sizeof(float)); normalCoordinates = calloc(3*nNumMarkers, sizeof(float)); s = strtok(NULL, "[("); // up to first list/tuple if(!s){ printf("ERROR: reading rigid values\n"); goto end; } for(int i=0; i<3*nNumMarkers; i++){ char* s = strtok(NULL, ","); if(!s){ printf("ERROR: reading rigid value %d\n", i); goto end; } if(sscanf(s, "%f", (float*)&rigidCoordinates[i]) != 1){ printf("ERROR: parsing rigid value %d\n", i); goto end; } } s = strtok(NULL, "[("); // up to first list/tuple if(!s){ printf("ERROR: reading normal values\n"); goto end; } for(int i=0; i<3*nNumMarkers; i++){ char* s = strtok(NULL, ","); if(!s){ printf("ERROR: reading normal value %d\n", i); goto end; } if(sscanf(s, "%f", (float*)&normalCoordinates[i]) != 1){ printf("ERROR: parsing normal value %d\n", i); goto end; } } s = strtok(NULL, "],) "); //s = strtok(NULL, ")"); if(s && sscanf(s, "%d", &nFlags)==1){ i0 = RigidBodyAdd(nRigidBodyId, nStartMarker, nNumMarkers, rigidCoordinates, normalCoordinates, nFlags); printf("%d\n", i0); } else printf("ERROR: reading last argument\n"); } else printf("ERROR: reading first 3 arguments\n"); //int RigidBodyAddFromFile( int nRigidBodyId, int nStartMarker, char *pszRigFile, int nFlags ); //int RigidBodyChangeSettings( int nRigidBodyId, int nMinMarkers, int nMaxMarkersAngle, float fMax3dError, float fMaxSensorError, float fMax3dRmsError, float fMaxSensorRmsError, int nFlags ); //int RigidBodyDelete( int nRigidBodyId ); //int RigidBodyChangeFOR( int nRigidId, int nRotationMethod ); } else if (cmp(line, "RigidBodyChangeSettings")){ int nRigidBodyId, nMinMarkers, nMaxMarkersAngle; float fMax3dError, fMaxSensorError, fMax3dRmsError, fMaxSensorRmsError; int nFlags; strtok(line, "("); char* s = strtok(NULL, ")"); if(s && sscanf(s, "%d, %d, %d, %f, %f, %f, %f, %d", &nRigidBodyId, &nMinMarkers, &nMaxMarkersAngle, &fMax3dError, &fMaxSensorError, &fMax3dRmsError, &fMaxSensorRmsError, &nFlags) != 4){ i0 = RigidBodyChangeSettings(nRigidBodyId, nMinMarkers, nMaxMarkersAngle, fMax3dError, fMaxSensorError, fMax3dRmsError, fMaxSensorRmsError, nFlags); printf("%d\n", i0); } else printf("ERROR: reading 8 arguments\n"); } else if (cmp(line, "DataGetLatestRaw")){ uint uFrameNumber=999, uElements=999, uFlags=999; i0 = DataGetLatestRaw(&uFrameNumber, &uElements, &uFlags, pFullRawData); printf("Frame Number: %8u\n", uFrameNumber); printf("Elements : %8u\n", uElements); printf("Flags : 0x%04x\n", uFlags); for(uint uMarkerCnt=0; uMarkerCnt<nMarkers; uMarkerCnt++){ // Print out the current marker number. fprintf( stdout, "Marker %u, ", uMarkerCnt + 1 ); //Print out the information for each sensor. for(uint uSensorCnt = 0; uSensorCnt<NUM_SENSORS; ++uSensorCnt ){ //Print out the current sensor number. fprintf( stdout, "Sensor %u, ", uSensorCnt + 1 ); // Print out the centroid. If it is bad print out *the string 'missing'. //if( pFullRawData[uMarkerCnt].fCentroid[uSensorCnt] < MAX_NEGATIVE ) //printf("data missing, " ); //else printf("data: %8.2g, ", (float)pFullRawData[uMarkerCnt].fCentroid[uSensorCnt] ); //Print out the rest of this sensor’s information. printf("peak: %4d, DRC: %4d, sensorCode: %u\n", pFullRawData[uMarkerCnt].SensorData[uSensorCnt].ucPeak, pFullRawData[uMarkerCnt].SensorData[uSensorCnt].ucDRC, (uint)pFullRawData[uMarkerCnt].SensorData[uSensorCnt].ucCode); } /* for */ } /* for */ } else if (cmp(line, "DataGetLatest3D")){ //int DataGetLatest3D( unsigned *pnFrame, unsigned *pElems, unsigned *pFlags, void *pDataDest ); uint nFrame=999, elems=999, flags=999; //Position3d dataDest[NUM_MARKERS]; i0 = DataGetLatest3D(&nFrame, &elems, &flags, pPosition3d); printf("(%d, %u, %u, 0x%X, (", i0, nFrame, elems, flags); for(uint i=0; i<nMarkers; i++){ printf(" (%10.3g, %10.3g, %10.3g),", pPosition3d[i].x, pPosition3d[i].y, pPosition3d[i].z); } printf("))\n"); } else if (cmp(line, "RequestLatest3D")){ i0 = RequestLatest3D(); printf("%d\n", i0); } else if (cmp(line, "DataIsReady")){ i0 = DataIsReady(); printf("%d\n", i0); } else if (cmp(line, "DataReceiveLatest3D")){ // alle markers 3d uint nFrame=999, elems=999, flags=999; Position3d dataDest; i0 = DataReceiveLatest3D(&nFrame, &elems, &flags, &dataDest); printf("(%d, %u, %u, 0x%X, (", i0, nFrame, elems, flags); for(uint i=0; i<nMarkers; i++){ printf(" (%10.3g, %10.3g, %10.3g),", pPosition3d[i].x, pPosition3d[i].y, pPosition3d[i].z); } printf("))\n"); } else if (cmp(line, "DataReceiveLatestRaw")){ uint nFrame, elems, flags; void *dataDest; // todo allocate! i0 = DataReceiveLatestRaw(&nFrame, &elems, &flags, &dataDest); printf("(%d, %u, 0x%x)\n", i0, nFrame, flags); } else if (cmp(line, "DataBufferInitializeFile")){ //unsigned uDataId; char pszFileName[len]; strtok(line, "\""); char* s = strtok(NULL, "\""); if(sscanf(s, "%s", pszFileName)==1){ i0 = DataBufferInitializeFile(OPTOTRAK, s); printf("%d\n", i0); } else printf("ERROR: could not read filename\n"); } else if (cmp(line, "DataBufferSpoolData")){ int i = 999; i0 = DataBufferSpoolData(&i); printf("(%d, %d)\n", i0, i); } else if (cmp(line, "DataBufferStart")){ i0 = DataBufferStart(); printf("%d\n", i0); } else if (cmp(line, "DataBufferStop")){ i0 = DataBufferStop(); printf("%d\n", i0); } else if (cmp(line, "DataBufferWriteData")){ unsigned uRealtimeData=999, uSpoolComplete=0, uSpoolStatus=999; unsigned long ulFramesBuffered=999; i0 = DataBufferWriteData(&uRealtimeData, &uSpoolComplete, &uSpoolStatus, &ulFramesBuffered); printf("(%d, %u, %u, %u, %lu)\n", i0, uRealtimeData, uSpoolComplete, uSpoolStatus, ulFramesBuffered); } else if (cmp(line, "DataBufferAbortSpooling")){ i0 = DataBufferAbortSpooling(); printf("%d\n", i0); } else { printf("ERROR: no such command: %s\n", line); } end: fflush(stdout); } exit(EXIT_SUCCESS); }
/***************************************************************** 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 */