/*****************************************************************
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];
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak sample program #11\n\n" );
/*
* look for the -nodld parameter that indicates 'no download'
*/
if( ( argc < 2 ) || ( strncmp( argv[1], "-nodld", 6 ) != 0 ) )
{
/*
* Load the system of processors.
*/
fprintf( stdout, "...TransputerLoadSystem\n" );
if( TransputerLoadSystem( "system" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
} /* if */
/*
* Wait one second to let the system finish loading.
*/
sleep( 1 );
/*
* Initialize the processors system.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Set optional processing flags (this overides the settings in Optotrak.INI).
*/
fprintf( stdout, "...OptotrakSetProcessingFlags\n" );
if( OptotrakSetProcessingFlags( OPTO_LIB_POLL_REAL_DATA |
OPTO_CONVERT_ON_HOST |
OPTO_RIGID_ON_HOST ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Load the standard camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Set up a collection for the Optotrak.
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
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_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Activate the markers.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
/*
* Add rigid body 2 for tracking to the Optotrak system from an array of
* 3D points.
*/
fprintf( stdout, "...RigidBodyAdd\n" );
if( RigidBodyAdd(
RIGID_BODY_2, /* ID associated with this rigid body. */
7, /* First marker in the rigid body. */
6, /* Number of markers in the rigid body. */
(float *)RigidBody2, /* 3D coords for each marker in the body. */
NULL, /* no normals for this rigid body. */
OPTOTRAK_QUATERN_RIGID_FLAG ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Add rigid body 1 for tracking to the Optotrak system from a .RIG file.
*/
fprintf( stdout, "...RigidBodyAddFromFile\n" );
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.*/
OPTOTRAK_QUATERN_RIGID_FLAG ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Change the default frame of reference to be defined by rigid body one.
*/
fprintf( stdout, "...RigidBodyChangeFOR\n" );
if( RigidBodyChangeFOR( RIGID_BODY_1, OPTOTRAK_CONSTANT_RIGID_FLAG ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Get and display ten frames of rigid body data.
*/
fprintf( stdout, "\n\nSample Program Results:\n\n" );
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.
euler.translation.x,
RigidBodyData.pRigidData[ uRigidCnt].transformation.
euler.translation.y,
RigidBodyData.pRigidData[ uRigidCnt].transformation.
euler.translation.z );
fprintf( stdout, "Y = %8.2f P = %8.2f R = %8.2f\n",
RigidBodyData.pRigidData[ uRigidCnt].transformation.
euler.rotation.yaw,
RigidBodyData.pRigidData[ uRigidCnt].transformation.
euler.rotation.pitch,
RigidBodyData.pRigidData[ uRigidCnt].transformation.
euler.rotation.roll );
} /* for */
/*
* Print out the 3D data.
*/
fprintf( stdout, "\nAssociated 3D Marker Data\n\n" );
for( uMarkerCnt = 0; uMarkerCnt < NUM_MARKERS; ++uMarkerCnt )
{
DisplayMarker( uMarkerCnt + 1, RigidBodyData.p3dData[uMarkerCnt] );
} /* for */
} /* for */
fprintf( stdout, "\n" );
/*
* De-activate the markers.
*/
fprintf( stdout, "...OptotrakDeActivateMarkers\n" );
if( OptotrakDeActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
/*
* Shutdown the processors message passing system.
*/
fprintf( stdout, "...TransputerShutdownSystem\n" );
if( TransputerShutdownSystem() )
{
goto ERROR_EXIT;
} /* if */
/*
* Exit the program.
*/
fprintf( stdout, "\nProgram execution complete.\n" );
exit( 0 );
ERROR_EXIT:
/*
* Indicate that an error has occurred
*/
fprintf( stdout, "\nAn error has occurred during execution of the program.\n" );
if( OptotrakGetErrorString( szNDErrorString,
MAX_ERROR_STRING_LENGTH + 1 ) == 0 )
{
fprintf( stdout, szNDErrorString );
} /* if */
fprintf( stdout, "\n\n...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers();
TransputerShutdownSystem();
exit( 1 );
} /* main */
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[] )
{
int
nFileItems,
nFileSubItems;
void
*pFileHeader;
float
fFileFrequency,
*pfRawDataCur = NULL;
long int
lnFrameCnt,
lnFileFrames;
unsigned int
uElements,
uElementCnt,
uSpoolStatus = 0;
static char
szFileComments[ 81];
float
*pfRawData = NULL;
Position3d
*pdtPositionData = NULL,
*pdtPositionCur = NULL;
struct OptotrakRigidStruct
dtRigidBodyData;
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak sample program #19\n\n" );
/*
* look for the -nodld parameter that indicates 'no download'
*/
if( ( argc < 2 ) || ( strncmp( argv[1], "-nodld", 6 ) != 0 ) )
{
/*
* Load the system of processors.
*/
fprintf( stdout, "...TransputerLoadSystem\n" );
if( TransputerLoadSystem( "system" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
} /* if */
/*
* Wait one second to let the system finish loading.
*/
sleep( 1 );
/*
* Initialize the processors system.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Set optional processing flags (this overides the settings in Optotrak.INI).
*/
fprintf( stdout, "...OptotrakSetProcessingFlags\n" );
if( OptotrakSetProcessingFlags( OPTO_LIB_POLL_REAL_DATA |
OPTO_RIGID_ON_HOST ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Load the standard camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Set up a collection for the Optotrak.
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
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. */
0, /* 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_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG | OPTOTRAK_GET_NEXT_FRAME_FLAG ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Add the rigid body to the Optotrak system from an array of 3D points.
*/
fprintf( stdout, "...RigidBodyAdd\n" );
if( RigidBodyAdd(
RIGID_BODY_ID, /* ID associated with this rigid body. */
1, /* First marker in the rigid body. */
NUM_MARKERS, /* Number of markers in the rigid body. */
(float *)dtRigidBody, /* 3D coords for each marker in the body. */
NULL, /* no normals for this rigid body. */
OPTOTRAK_QUATERN_RIGID_FLAG | OPTOTRAK_RETURN_EULER_FLAG ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Activate the markers.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
/*
* Initialize a file for spooling of the Optotrak raw data.
*/
fprintf( stdout, "...DataBufferInitializeFile\n" );
if( DataBufferInitializeFile( OPTOTRAK, "R#001.S19" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Spool data to the previously initialized file.
*/
fprintf( stdout, "\n\nSample Program Results:\n\n" );
fprintf( stdout, "Collecting data file...\n" );
if( DataBufferSpoolData( &uSpoolStatus ) )
{
goto ERROR_EXIT;
} /* if */
fprintf( stdout, "Spool Status: 0x%04x\n", uSpoolStatus );
fprintf( stdout, "\n" );
/*
* De-activate the markers.
*/
fprintf( stdout, "...OptotrakDeActivateMarkers\n" );
if( OptotrakDeActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
/*
* Open the raw data file we just collected as our input data file.
*/
fprintf( stdout, "\n\nSample Program Results:\n\n" );
fprintf( stdout, "Processing raw data file...\n" );
if( FileOpen( "R#001.S19",
INPUT_FILE,
OPEN_READ,
&nFileItems,
&nFileSubItems,
&lnFileFrames,
&fFileFrequency,
szFileComments,
&pFileHeader ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Allocate the memory required for the conversions and transformations.
*/
pfRawData = (float *)malloc( lnFileFrames * nFileItems * nFileSubItems *
sizeof(float) );
if( pfRawData == NULL )
{
fprintf( stderr, "Insufficient memory for raw data." );
goto ERROR_EXIT;
} /* if */
pdtPositionData = (Position3d *)malloc( lnFileFrames * nFileItems *
nFileSubItems * sizeof(Position3d) );
if( pdtPositionData == NULL )
{
fprintf( stderr, "Insufficient memory for 3D position data." );
goto ERROR_EXIT;
} /* if */
/*
* Read the raw data from the file.
*/
if( FileRead( INPUT_FILE, 0L, (int)lnFileFrames, pfRawData ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Close the input file.
*/
FileClose( INPUT_FILE );
fprintf( stdout, "File processing complete.\n" );
/*
* Convert the raw data to 3D position data and display it.
*/
fprintf( stdout, "\n3D position data:" );
pfRawDataCur = pfRawData;
pdtPositionCur = pdtPositionData;
for( lnFrameCnt = 0; lnFrameCnt < lnFileFrames; lnFrameCnt++ )
{
if( OptotrakConvertRawTo3D( &uElements,
pfRawDataCur,
pdtPositionCur ) )
{
goto ERROR_EXIT;
} /* if */
for( uElementCnt = 0; uElementCnt < uElements; uElementCnt++ )
{
fprintf( stdout,
"\n%5ld %3u %12.5f %12.5f %12.5f",
lnFrameCnt,
uElementCnt,
pdtPositionCur[uElementCnt].x,
pdtPositionCur[uElementCnt].y,
pdtPositionCur[uElementCnt].z );
} /* for */
pfRawDataCur += uElements * NUM_SENSORS;
pdtPositionCur += uElements;
} /* for */
/*
* Transform the 3D position data to 6D and display it.
*/
fprintf( stdout, "\n\nRigid body data:\n" );
pdtPositionCur = pdtPositionData;
for( lnFrameCnt = 0; lnFrameCnt < lnFileFrames; lnFrameCnt++ )
{
if( OptotrakConvertTransforms( &uElements,
&dtRigidBodyData,
pdtPositionCur ) )
{
goto ERROR_EXIT;
} /* if */
fprintf( stdout, "Frame %04u\n", lnFrameCnt );
fprintf( stdout,
"XT = %12.6f YT = %12.6f ZT = %12.6f\n",
dtRigidBodyData.transformation.euler.translation.x,
dtRigidBodyData.transformation.euler.translation.y,
dtRigidBodyData.transformation.euler.translation.z );
fprintf( stdout,
"Y = %12.6f P = %12.6f R = %12.6f\n",
dtRigidBodyData.transformation.euler.rotation.yaw,
dtRigidBodyData.transformation.euler.rotation.pitch,
dtRigidBodyData.transformation.euler.rotation.roll );
pdtPositionCur += uElementCnt;
} /* for */
fprintf( stdout, "\n" );
/*
* Shutdown the processors message passing system.
*/
fprintf( stdout, "...TransputerShutdownSystem\n" );
if( TransputerShutdownSystem() )
{
goto ERROR_EXIT;
} /* if */
/*
* Exit the program.
*/
free( pfRawData );
free( pdtPositionData );
fprintf( stdout, "\nProgram execution complete.\n" );
exit( 0 );
ERROR_EXIT:
/*
* Indicate that an error has occurred
*/
fprintf( stdout, "\nAn error has occurred during execution of the program.\n" );
if( OptotrakGetErrorString( szNDErrorString,
MAX_ERROR_STRING_LENGTH + 1 ) == 0 )
{
fprintf( stdout, szNDErrorString );
} /* if */
fprintf( stdout, "\n\n...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers();
TransputerShutdownSystem();
if( pfRawData != NULL )
{
free( pfRawData );
} /* if */
if( pdtPositionData != NULL )
{
free( pdtPositionData );
} /* if */
exit( 1 );
} /* main */