//==============================================================================
int COptoTrack::ActivateSensors( ){
int iErr;
if( !IsRunning()) {
CP_printf("Cannot activate sensors. Tracker is not active!\n");
return 1;
}
iErr = OptotrakActivateMarkers();
if( iErr ) {
CP_printf("Error: OptotrakActivateMarkers() failed!\n");
return 1;
}
return 0;
}
void main( int argc, unsigned char *argv[] )
{
OptotrakSettings
dtSettings;
int
nCurDevice,
nCurMarker,
nDevices,
nMarkersToActivate;
ApplicationDeviceInformation
*pdtDevices;
DeviceHandle
*pdtDeviceHandles;
DeviceHandleInfo
*pdtDeviceHandlesInfo;
unsigned int
uFlags,
uElements,
uChannelCnt,
uFrameNumber;
Position3d
*p3dData;
static int
puOdauData[ SAMPLE_NUM_CHANNELS + 1];
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
/*
* initialization
* intialize variables
*/
pdtDevices = NULL;
pdtDeviceHandles = NULL;
pdtDeviceHandlesInfo = NULL;
p3dData = NULL;
dtSettings.nMarkers = 0;
dtSettings.fFrameFrequency = SAMPLE_FRAMEFREQ;
dtSettings.fMarkerFrequency = SAMPLE_MARKERFREQ;
dtSettings.nThreshold = 30;
dtSettings.nMinimumGain = 160;
dtSettings.nStreamData = SAMPLE_STREAMDATA;
dtSettings.fDutyCycle = SAMPLE_DUTYCYCLE;
dtSettings.fVoltage = SAMPLE_VOLTAGE;
dtSettings.fCollectionTime = 1.0;
dtSettings.fPreTriggerTime = 0.0;
nDevices = 0;
nMarkersToActivate = 0;
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak Certus 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 */
/*
* Communication Initialization
* Once the system processors have been loaded, the application
* prepares for communication by initializing the system processors.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Determine if this sample will run with the system attached.
* This sample is intended for Optotrak Certus systems.
*/
fprintf( stdout, "...DetermineSystem\n" );
if( uDetermineSystem( ) != OPTOTRAK_CERTUS_FLAG )
{
goto ERROR_EXIT;
} /* if */
/*
* Strober Initialization
* Once communication has been initialized, the application must
* determine the strober configuration.
* The application retrieves device handles and all strober
* properties from the system.
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* check if any devices have been detected by the system
*/
if( nDevices == 0 )
{
fprintf( stdout, ".........no devices detected. Quitting program...\n" );
goto PROGRAM_COMPLETE;
} /* if */
/*
* Now that all the device handles have been completely set up,
* the application can store all the device handle information in
* an internal data structure. This will facilitate lookups when
* a property setting needs to be checked.
*/
ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices );
/*
* Change the number of markers to fire for all devices
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
nMarkersToActivate = pdtDevices[nCurDevice].b3020Capability?
CERTUS_SAMPLE_3020_STROBER_MARKERSTOFIRE : CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate );
} /* if */
fprintf( stdout, "\n" );
/*
* Determine the collection settings based on the device properties
*/
ApplicationDetermineCollectionParameters( nDevices, pdtDevices, &dtSettings );
/*
* 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 camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Ensure that we are firing some markers
*/
if( dtSettings.nMarkers == 0 )
{
fprintf( stdout, "Error: There are no markers to be activated.\n" );
goto ERROR_EXIT;
} /* if */
/*
* allocate memory for 3d data
*/
p3dData = (Position3d*)malloc( dtSettings.nMarkers * sizeof( Position3d ) );
/*
* Configure ODAU Collection.
*/
fprintf( stdout, "...OdauSetupCollection\n" );
if( OdauSetupCollection( ODAU1,
SAMPLE_NUM_CHANNELS, /* Number of analog channels to collect. */
SAMPLE_ODAU_GAIN, /* Gain to use for the analog channels.*/
ODAU_DIGITAL_INPB_INPA, /* Mode for the Digital I/O port.*/
(float)100.0, /* Frequency to collect data frames at. */
(float)90000.0, /* Frequency to scan channels at. */
SAMPLE_STREAMDATA, /* Stream mode for the data buffers. */
(float)1.0, /* Number of seconds of data to collect. */
0.0, /* Number of seconds to pre-trigger data by. */
0 ) ) /* Flags. */
{
goto ERROR_EXIT;
} /* if */
/*
* Configure Optotrak Collection
* Once the system strobers have been enabled, and all settings are
* loaded, the application can set up the Optotrak collection
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
fprintf( stdout, ".....%d, %.2f, %.0f, %d, %d, %d, %.2f, %.2f, %.0f, %.0f\n",
dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime );
if( OptotrakSetupCollection( dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime,
OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG | OPTOTRAK_SWITCH_AND_CONFIG_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Activate markers.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
/*
* loop around until a device is plugged or unplugged
*/
while( 1 )
{
fprintf( stdout, "\nCHANGE THE STROBER CONFIGURATION OR PRESS SWITCH TO END THIS TEST\n\n" );
sleep( 1 );
if( DataGetLatest3D( &uFrameNumber, &uElements, &uFlags, p3dData ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
fprintf( stdout, "\nFrame Number: %8u\n", uFrameNumber );
/*
* display the 3d data
*/
fprintf( stdout, "3D Data Display (%d Markers)\n", dtSettings.nMarkers );
for( nCurMarker = 0; nCurMarker < dtSettings.nMarkers; nCurMarker++ )
{
DisplayMarker( nCurMarker + 1, p3dData[nCurMarker] );
} /* for */
/*
* check if the tool configuration has changed
*/
if( uFlags & OPTO_TOOL_CONFIG_CHANGED_FLAG )
{
/*
* exit the program loop
*/
fprintf( stdout, "\n\n\n...Tool Configuration Changed\n" );
break;
} /* if */
if( uFlags & OPTO_SWITCH_DATA_CHANGED_FLAG )
{
/*
* exit the program loop
*/
fprintf( stdout, "\n\n\n...Switch Data Changed\n" );
break;
} /* if */
/*
* Get a frame of ODAU raw data.
*/
fprintf( stdout, "\n" );
if( DataGetLatestOdauRaw( ODAU1, &uFrameNumber, &uElements, &uFlags, puOdauData ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Print out the data.
*/
for( uChannelCnt = 0; uChannelCnt < SAMPLE_NUM_CHANNELS; ++uChannelCnt )
{
fprintf( stdout, "Channel %u Raw 0x%08x Voltage %f\n",
uChannelCnt + 1,
puOdauData[ uChannelCnt],
(float)( (int)( puOdauData[uChannelCnt])) * 0.000305175/(float)SAMPLE_ODAU_GAIN );
/*
* if you have an ODAUI unit, instead of an ODAUII unit,
* replace the above fprintf statement with:
* fprintf( stdout, "Channel %u Raw 0x%08x Voltage %f\n",
* uChannelCnt + 1,
* puOdauData[ uChannelCnt ],
* (float)( (int)( puOdauData[ uChannelCnt] & 0x0FFF ) - 2048) *
* (10.0/2048.0)/(float)SAMPLE_ODAU_GAIN );
*/
} /* for */
fprintf( stdout, "Digital 0x%04x\n", puOdauData[SAMPLE_NUM_CHANNELS] );
} /* while */
sleep( 1 );
PROGRAM_COMPLETE:
/*
* CLEANUP
*/
fprintf( stdout, "\n" );
fprintf( stdout, "...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers( );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[nCurDevice].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
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( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[nCurDevice].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
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);
}
void main( int argc, unsigned char *argv[] )
{
OptotrakSettings
dtSettings;
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1],
szProperty[32];
int
i,
nCurDevice,
nCurProperty,
nCurFrame,
nCurMarker,
nMarkersToActivate,
nDevices,
nDeviceMarkers;
ApplicationDeviceInformation
*pdtDevices;
DeviceHandle
*pdtDeviceHandles;
DeviceHandleInfo
*pdtDeviceHandlesInfo;
unsigned int
uFlags,
uElements,
uFrameNumber;
Position3d
*p3dData;
char
*pChar,
szInput[10];
/*
* initialization
* intialize variables
*/
pdtDevices = NULL;
pdtDeviceHandles = NULL;
pdtDeviceHandlesInfo = NULL;
p3dData = NULL;
nMarkersToActivate = 0;
nDevices = 0;
nDeviceMarkers = 0;
dtSettings.nMarkers = 0;
dtSettings.fFrameFrequency = SAMPLE_FRAMEFREQ;
dtSettings.fMarkerFrequency = SAMPLE_MARKERFREQ;
dtSettings.nThreshold = 30;
dtSettings.nMinimumGain = 160;
dtSettings.nStreamData = SAMPLE_STREAMDATA;
dtSettings.fDutyCycle = SAMPLE_DUTYCYCLE;
dtSettings.fVoltage = SAMPLE_VOLTAGE;
dtSettings.fCollectionTime = 1.0;
dtSettings.fPreTriggerTime = 0.0;
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak Certus sample program\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 */
/*
* Communication Initialization
* Once the system processors have been loaded, the application
* prepares for communication by initializing the system processors.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Determine if this sample will run with the system attached.
* This sample is intended for Optotrak Certus systems.
*/
fprintf( stdout, "...DetermineSystem\n" );
if( uDetermineSystem( ) != OPTOTRAK_CERTUS_FLAG )
{
goto PROGRAM_COMPLETE;
} /* if */
EXECUTION_START:
/*
* Strober Initialization
* Once communication has been initialized, the application must
* determine the strober configuration.
* The application retrieves device handles and all strober
* properties from the system.
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Now that all the device handles have been completely set up,
* the application can store all the device handle information in
* an internal data structure. This will facilitate lookups when
* a property setting needs to be checked.
*/
ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices );
/*
* Change the number of markers to fire for all devices
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
nMarkersToActivate = pdtDevices[nCurDevice].b3020Capability?
CERTUS_SAMPLE_3020_STROBER_MARKERSTOFIRE : CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate );
} /* if */
fprintf( stdout, "\n" );
/*
* Retrieve the device properties again to verify that the changes took effect.
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
if( GetDevicePropertiesFromSystem( &(pdtDeviceHandlesInfo[nCurDevice]) ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
} /* for */
if( ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Display all the property values
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
fprintf( stdout, "...Device %d properties:\n", nCurDevice );
for( nCurProperty = 0; nCurProperty < pdtDeviceHandlesInfo[nCurDevice].nProperties; nCurProperty++ )
{
/*
* Determine the property
*/
switch( pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].uPropertyID )
{
case DH_PROPERTY_NAME:
sprintf( szProperty, "Device Name " );
break;
case DH_PROPERTY_MARKERSTOFIRE:
sprintf( szProperty, "Markers To Activate " );
/*
* add to the number of total markers being fired
*/
dtSettings.nMarkers += pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.nData;
break;
case DH_PROPERTY_MAXMARKERS:
sprintf( szProperty, "MaxDeviceMarkers " );
break;
case DH_PROPERTY_STARTMARKERPERIOD:
sprintf( szProperty, "Start Marker Period " );
break;
case DH_PROPERTY_SWITCHES:
sprintf( szProperty, "Device Switches " );
break;
case DH_PROPERTY_VLEDS:
sprintf( szProperty, "Device VLEDs " );
break;
case DH_PROPERTY_PORT:
sprintf( szProperty, "Strober Port " );
break;
case DH_PROPERTY_ORDER:
sprintf( szProperty, "Strober Port Order " );
break;
case DH_PROPERTY_SUBPORT:
sprintf( szProperty, "Strober SubPort " );
break;
case DH_PROPERTY_FIRINGSEQUENCE:
sprintf( szProperty, "Activation Sequence " );
break;
case DH_PROPERTY_HAS_ROM:
sprintf( szProperty, "Has Rom? " );
break;
case DH_PROPERTY_TOOLPORTS:
sprintf( szProperty, "Num ToolPorts " );
break;
case DH_PROPERTY_3020_CAPABILITY:
sprintf( szProperty, "3020 Capability " );
break;
case DH_PROPERTY_3020_MARKERSTOFIRE:
sprintf( szProperty, "3020 MrkrsToActivate " );
/*
* add to the number of total markers being fired
*/
dtSettings.nMarkers += pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.nData;
break;
case DH_PROPERTY_3020_STARTMARKERPERIOD:
sprintf( szProperty, "3020 StartMarkerPrd " );
break;
case DH_PROPERTY_STATUS:
sprintf( szProperty, "Status " );
break;
case DH_PROPERTY_UNKNOWN:
default:
sprintf( szProperty, "Unknown Property %d ", pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].uPropertyID );
break;
} /* switch */
/*
* Determine the property's data type before displaying it
*/
switch( pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtPropertyType )
{
case DH_PROPERTY_TYPE_INT:
fprintf( stdout, "......Property_%.2d - %s = %d\n", nCurProperty, szProperty, pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.nData );
break;
case DH_PROPERTY_TYPE_FLOAT:
fprintf( stdout, "......Property_%.2d - %s = %f\n", nCurProperty, szProperty, pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.fData );
break;
case DH_PROPERTY_TYPE_DOUBLE:
fprintf( stdout, "......Property_%.2d - %s = %f\n", nCurProperty, szProperty, pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.dData );
break;
case DH_PROPERTY_TYPE_CHAR:
fprintf( stdout, "......Property_%.2d - %s = %s\n", nCurProperty, szProperty, pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.cData );
break;
case DH_PROPERTY_TYPE_STRING:
if( pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].uPropertyID == DH_PROPERTY_FIRINGSEQUENCE )
{
fprintf( stdout, "......Property_%.2d - %s = ", nCurProperty, szProperty );
for( pChar = pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.szData; ( pChar != '\0' ) && ( *pChar != 0 ); pChar++ )
{
fprintf( stdout, "%.3d, ", *pChar );
} /* for */
fprintf( stdout, "\n" );
}
else
{
fprintf( stdout, "......Property_%.2d - %s = %s\n", nCurProperty, szProperty, pdtDeviceHandlesInfo[nCurDevice].grProperties[nCurProperty].dtData.szData );
} /* if */
break;
default:
fprintf( stdout, "......Property_%.2d = UNKNOWN PROPERTY TYPE\n", nCurDevice );
break;
} /* switch */
} /* for */
fprintf( stdout, "\n" );
} /* for */
fprintf( stdout, "Continue? or determine strober configuration Again? [c|a] : " );
gets( szInput );
if( szInput[0] == 'a' )
{
goto EXECUTION_START;
} /* if */
/*
* Retrieve Optotrak Data
*/
fprintf( stdout, "\n" );
/*
* check if any devices have been detected by the system
*/
if( nDevices == 0 )
{
fprintf( stdout, ".........no devices detected.\n" );
fprintf( stdout, "Quit program? [y|n] : " );
gets( szInput );
if( szInput[0] == 'y' )
{
goto PROGRAM_COMPLETE;
} /* if */
fprintf( stdout, "...restarting program execution\n\n" );
goto EXECUTION_START;
} /* if */
/*
* Determine the collection settings based on the device properties
*/
ApplicationDetermineCollectionParameters( nDevices, pdtDevices, &dtSettings );
/*
* 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 camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Ensure that we are firing some markers
*/
if( dtSettings.nMarkers == 0 )
{
fprintf( stdout, "Error: There are no markers to be activated.\n" );
goto ERROR_EXIT;
} /* if */
/*
* allocate memory for 3d data
*/
p3dData = (Position3d*)malloc( dtSettings.nMarkers * sizeof( Position3d ) );
/*
* Configure Optotrak Collection
* Once the system strobers have been enabled, and all settings are
* loaded, the application can set up the Optotrak collection
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
fprintf( stdout, ".....%d, %.2f, %.0f, %d, %d, %d, %.2f, %.2f, %.0f, %.0f\n",
dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime );
if( OptotrakSetupCollection( dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime,
OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG | OPTOTRAK_SWITCH_AND_CONFIG_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Prepare for realtime data retrieval.
* Activate markers. Turn on the markers prior to data retrieval.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
/*
* Get and display five frames of 3D data.
*/
fprintf( stdout, "\n\nSample Program Results:\n\n" );
fprintf( stdout, "\n\n3D Data Display\n" );
for( nCurFrame = 0; nCurFrame < 5; nCurFrame++ )
{
/*
* Get a frame of data.
*/
fprintf( stdout, "\n" );
if( DataGetLatest3D( &uFrameNumber, &uElements, &uFlags, p3dData ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Print out the data.
*/
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Elements : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( nCurMarker = 0; nCurMarker < dtSettings.nMarkers; nCurMarker++ )
{
DisplayMarker( nCurMarker + 1, p3dData[nCurMarker] );
} /* for */
} /* for */
fprintf( stdout, "\n" );
/*
* De-activate the markers.
*/
fprintf( stdout, "...OptotrakDeActivateMarkers\n" );
if( OptotrakDeActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
/*
* Stop the collection.
*/
fprintf( stdout, "...OptotrakStopCollection\n" );
if( OptotrakStopCollection( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
fprintf( stdout, "Run again? [y|n] : " );
gets( szInput );
if( szInput[0] == 'y' )
{
goto EXECUTION_START;
} /* if */
PROGRAM_COMPLETE:
/*
* CLEANUP
*/
fprintf( stdout, "\n" );
fprintf( stdout, "...TransputerShutdownSystem\n" );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( i = 0; i < nDevices; i++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[i].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
free( p3dData );
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( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( i = 0; i < nDevices; i++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[i].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
free( p3dData );
exit( 1 );
} /* main */
void main( int argc, unsigned char *argv[] )
{
OptotrakSettings
dtSettings;
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
int
i,
nVLED,
nMarkersToActivate,
nCurDevice,
nDevices;
ApplicationDeviceInformation
*pdtDevices;
DeviceHandle
*pdtDeviceHandles;
DeviceHandleInfo
*pdtDeviceHandlesInfo;
/*
* initialization
* intialize variables
*/
pdtDevices = NULL;
pdtDeviceHandles = NULL;
pdtDeviceHandlesInfo = NULL;
nDevices = 0;
dtSettings.nMarkers = 0;
dtSettings.fFrameFrequency = SAMPLE_FRAMEFREQ;
dtSettings.fMarkerFrequency = SAMPLE_MARKERFREQ;
dtSettings.nThreshold = 30;
dtSettings.nMinimumGain = 160;
dtSettings.nStreamData = SAMPLE_STREAMDATA;
dtSettings.fDutyCycle = SAMPLE_DUTYCYCLE;
dtSettings.fVoltage = SAMPLE_VOLTAGE;
dtSettings.fCollectionTime = 1.0;
dtSettings.fPreTriggerTime = 0.0;
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak Certus 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 */
/*
* Communication Initialization
* Once the system processors have been loaded, the application
* prepares for communication by initializing the system processors.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Determine if this sample will run with the system attached.
* This sample is intended for Optotrak Certus systems.
*/
fprintf( stdout, "...DetermineSystem\n" );
if( uDetermineSystem( ) != OPTOTRAK_CERTUS_FLAG )
{
goto PROGRAM_COMPLETE;
} /* if */
/*
* Strober Initialization
* Once communication has been initialized, the application must
* determine the strober configuration.
* The application retrieves device handles and all strober
* properties from the system.
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* check if any devices have been detected by the system
*/
if( nDevices == 0 )
{
fprintf( stdout, ".........no devices detected. Quitting program...\n" );
goto PROGRAM_COMPLETE;
} /* if */
/*
* Now that all the device handles have been completely set up,
* the application can store all the device handle information in
* an internal data structure. This will facilitate lookups when
* a property setting needs to be checked.
*/
ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices );
/*
* Change the number of markers to fire for all devices
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
nMarkersToActivate = pdtDevices[nCurDevice].b3020Capability?
CERTUS_SAMPLE_3020_STROBER_MARKERSTOFIRE : CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate );
} /* if */
fprintf( stdout, "\n" );
/*
* Determine the collection settings based on the device properties
*/
ApplicationDetermineCollectionParameters( nDevices, pdtDevices, &dtSettings );
/*
* 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 camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Configure Optotrak Collection
* Once the system strobers have been enabled, and all settings are
* loaded, the application can set up the Optotrak collection
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
fprintf( stdout, ".....%d, %.2f, %.0f, %d, %d, %d, %.2f, %.2f, %.0f, %.0f\n",
dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime );
if( OptotrakSetupCollection( dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime,
OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG | OPTOTRAK_SWITCH_AND_CONFIG_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Prepare for realtime data retrieval.
* Activate markers. Turn on the markers prior to data retrieval.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
fprintf( stdout, "...waiting for 2 seconds\n" );
sleep( 2 );
/*
* Look through all devices to find visible LEDs
*/
fprintf( stdout, "\nProgram Results:\n" );
for( i = 0; i < nDevices; i++ )
{
if( pdtDevices[i].nVLEDs == 0 )
{
fprintf( stdout, "...Device %d has no LEDs. skipping...\n", i + 1 );
continue;
} /* if */
/*
* Turn every visible LED in the device on, except for the first VLED
* NOTE: The first VLED is reserved by the strober so we do not try to set it.
*/
if( pdtDevices[i].nVLEDs == 1 )
{
fprintf( stdout, "...Device %d has only 1 LED. skipping...\n", i + 1 );
continue;
} /* if */
for( nVLED = 2; nVLED <= pdtDevices[i].nVLEDs; nVLED++ )
{
fprintf( stdout, "...OptotrakDeviceHandleSetVisibleLED (Device %d, LED %d)\n", i + 1, nVLED );
if( OptotrakDeviceHandleSetVisibleLED( pdtDeviceHandlesInfo[i].pdtHandle->nID,
nVLED, VLEDST_ON ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
} /* for */
} /* for */
fprintf( stdout, "...waiting for 5 seconds. LEDs should be ON\n\n" );
sleep( 5 );
/*
* now make all the LEDs blink
*/
for( i = 0; i < nDevices; i++ )
{
if( pdtDevices[i].nVLEDs == 0 )
{
continue;
} /* if */
/*
* Make every visible LED in the device blink, except for the first VLED
* NOTE: The first VLED is reserved by the strober so we do not try to set it.
*/
if( pdtDevices[i].nVLEDs == 1 )
{
continue;
} /* if */
for( nVLED = 2; nVLED <= pdtDevices[i].nVLEDs; nVLED++ )
{
fprintf( stdout, "...OptotrakDeviceHandleSetVisibleLED (Device %d, LED %d)\n", i + 1, nVLED );
if( OptotrakDeviceHandleSetVisibleLED( pdtDeviceHandlesInfo[i].pdtHandle->nID,
nVLED, VLEDST_BLINK ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
} /* for */
} /* for */
fprintf( stdout, "...waiting for 5 seconds. LEDs should be BLINKING\n\n" );
sleep( 5 );
/*
* finally, turn all LEDs off
*/
for( i = 0; i < nDevices; i++ )
{
if( pdtDevices[i].nVLEDs == 0 )
{
continue;
} /* if */
/*
* Turn every visible LED in the device off, except for the first VLED
* NOTE: The first VLED is reserved by the strober so we do not try to set it.
*/
if( pdtDevices[i].nVLEDs == 1 )
{
continue;
} /* if */
for( nVLED = 2; nVLED <= pdtDevices[i].nVLEDs; nVLED++ )
{
fprintf( stdout, "...OptotrakDeviceHandleSetVisibleLED (Device %d, LED %d)\n", i + 1, nVLED );
if( OptotrakDeviceHandleSetVisibleLED( pdtDeviceHandlesInfo[i].pdtHandle->nID,
nVLED, VLEDST_OFF ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
} /* for */
} /* for */
fprintf( stdout, "...waiting for 5 seconds. LEDs should be OFF\n\n" );
sleep( 5 );
/*
* De-activate the markers.
*/
fprintf( stdout, "...OptotrakDeActivateMarkers\n" );
if( OptotrakDeActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
PROGRAM_COMPLETE:
/*
* CLEANUP
*/
fprintf( stdout, "\n" );
fprintf( stdout, "...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers( );
TransputerShutdownSystem( );
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 */
/*****************************************************************
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,
uChannelCnt,
uFrameNumber;
static int
puRawData[ NUM_CHANNELS + 1];
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak sample program #12\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 */
/*
* Load the standard camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Set up a collection for the ODAU.
*/
fprintf( stdout, "...OdauSetupCollection\n" );
if( OdauSetupCollection(
ODAU1, /* Id the ODAU the parameters are for. */
NUM_CHANNELS, /* Number of analog channels to collect. */
ODAU_GAIN, /* Gain to use for the analog channels.*/
ODAU_DIGITAL_INPB_INPA, /* Mode for the Digital I/O port.*/
(float)100.0, /* Frequency to collect data frames at. */
(float)90000.0, /* Frequency to scan channels at. */
0, /* Stream mode for the data buffers. */
(float)1.0, /* Number of seconds of data to collect. */
0.0, /* Number of seconds to pre-trigger data by. */
0 ) ) /* Flags. */
{
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. */
(float)100.0, /* 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. */
(float)1.0, /* 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 );
/*
* Get and display ten frames of ODAU data.
*/
fprintf( stdout, "\n\nSample Program Results:\n\n" );
fprintf( stdout, "ODAU Data Display\n" );
for( uFrameCnt = 0; uFrameCnt < 10; ++uFrameCnt )
{
/*
* Get a frame of ODAU raw data.
*/
fprintf( stdout, "\n" );
if( DataGetLatestOdauRaw( ODAU1, &uFrameNumber, &uElements, &uFlags,
puRawData ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Print out the data.
*/
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Elements : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( uChannelCnt = 0; uChannelCnt < NUM_CHANNELS; ++uChannelCnt )
{
fprintf( stdout, "Channel %u Raw 0x%08x Voltage %f\n",
uChannelCnt + 1,
puRawData[ uChannelCnt],
(float)( (int)( puRawData[ uChannelCnt])) *
0.000305175/(float)ODAU_GAIN );
/*
* if you have an ODAUI unit, instead of an ODAUII unit,
* replace the above fprintf statement with:
* fprintf( stdout, "Channel %u Raw 0x%08x Voltage %f\n",
* uChannelCnt + 1,
* puRawData[ uChannelCnt ],
* (float)( (int)( puRawData[ uChannelCnt] & 0x0FFF ) - 2048) *
* (10.0/2048.0)/(float)ODAU_GAIN );
*/
} /* for */
fprintf( stdout, "Digital 0x%04x\n", puRawData[ NUM_CHANNELS] );
} /* 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 */
/*****************************************************************
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 */
/*****************************************************************
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[] )
{
float
fRmsError;
boolean
bValid = TRUE;
unsigned int
uFlags,
uElements,
uFramesToAvg,
uFrameCnt,
uMarkerCnt,
uFrameNumber;
static Position3d
grdt3dData[NUM_MARKERS],
grdtAveraged3dData[NUM_MARKERS];
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
/*
* Initialize the averaged marker position array to zeros.
*/
for( uMarkerCnt = 0; uMarkerCnt < NUM_MARKERS; uMarkerCnt++ )
{
grdtAveraged3dData[uMarkerCnt].x =
grdtAveraged3dData[uMarkerCnt].y =
grdtAveraged3dData[uMarkerCnt].z = (float) 0.0;
} /* for */
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak sample program #18\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 */
/*
* 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. */
(float)100.0, /* 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)0.35, /* Marker Duty Cycle to use. */
(float)7.0, /* Voltage to use when turning on markers. */
(float)1.0, /* 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 );
/*
* Average 50 frames of 3D data to a single frame.
*/
uFrameCnt = 0;
uFramesToAvg = 0;
fprintf( stdout, "\n\nSample Program Results:\n\n" );
fprintf( stdout, "\n\nAveraging 3D data...\n" );
do
{
/*
* Get a frame of data.
*/
if( DataGetLatest3D( &uFrameNumber, &uElements, &uFlags, grdt3dData ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Determine if the frame is valid; that is if each marker has a 3D
* coordinate.
*/
bValid = TRUE;
for( uMarkerCnt = 0; uMarkerCnt < NUM_MARKERS; uMarkerCnt++ )
{
if( grdt3dData[uMarkerCnt].x < MAX_NEGATIVE )
{
bValid = FALSE;
} /* if */
} /* for */
/*
* Add in each markers contribution if this frame was valid.
*/
if( bValid )
{
for( uMarkerCnt = 0; uMarkerCnt < NUM_MARKERS; uMarkerCnt++ )
{
grdtAveraged3dData[uMarkerCnt].x += grdt3dData[uMarkerCnt].x;
grdtAveraged3dData[uMarkerCnt].y += grdt3dData[uMarkerCnt].y;
grdtAveraged3dData[uMarkerCnt].z += grdt3dData[uMarkerCnt].z;
uFramesToAvg++;
} /* for */
++uFrameCnt;
} /* if */
} /* do */
while( uFrameCnt < 50 );
/*
* De-activate the markers.
*/
fprintf( stdout, "...OptotrakDeActivateMarkers\n" );
if( OptotrakDeActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
/*
* Divide sums by 50 to get the averaged marker positions.
*/
for( uMarkerCnt = 0; uMarkerCnt < NUM_MARKERS; uMarkerCnt++ )
{
grdtAveraged3dData[uMarkerCnt].x /= uFramesToAvg;
grdtAveraged3dData[uMarkerCnt].y /= uFramesToAvg;
grdtAveraged3dData[uMarkerCnt].z /= uFramesToAvg;
} /* for */
/*
* Transform the measurement frame of reference for the Optotrak system
* to the frame of reference defined by the grdtAlignedPositions array.
*/
if( OptotrakChangeCameraFOR(
"standard", /* Camera Parameter File to load transform. */
NUM_MARKERS, /* Number of markers in 3D arrays. */
grdtAlignedPositions, /* Marker positions in current FOR. */
grdtAveraged3dData, /* Marker positions in desired FOR. */
"new", /* Name of new camera parameter file. */
grdt3dErrors, /* 3D errors of alignment transformation. */
&fRmsError ) ) /* RMS distance error of alignment transformation.*/
{
goto ERROR_EXIT;
} /* if */
/*
* Print out the results of the alignment.
*/
fprintf( stdout, "RMS Fit Error : %6.3f\n", fRmsError );
fprintf( stdout, "Coordinate Fit Error Table\n" );
fprintf( stdout, "Mkr %6s %6s %6s\n","X", "Y", "Z" );
for( uMarkerCnt = 0; uMarkerCnt < NUM_MARKERS; ++uMarkerCnt )
{
DisplayMarker( uMarkerCnt + 1, grdt3dErrors[uMarkerCnt] );
} /* for */
/*
* Load the NEW camera parameter file to the Optotrak system.
*/
fprintf( stdout, "\nLoading NEW camera parameters...\n\n" );
if( OptotrakLoadCameraParameters( "NEW" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Activate the markers.
*/
if( OptotrakActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
/*
* Get and display ten frames of 3D data. The position of which will be
* in the new frame of reference.
*/
fprintf( stdout, "\n\n3D Data Display\n" );
for( uFrameCnt = 0; uFrameCnt < 10; ++uFrameCnt )
{
/*
* Get a frame of data.
*/
fprintf( stdout, "\n" );
if( DataGetLatest3D( &uFrameNumber, &uElements, &uFlags, grdt3dData ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Print out the data.
*/
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Elements : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( uMarkerCnt = 0; uMarkerCnt < NUM_MARKERS; uMarkerCnt++ )
{
DisplayMarker( uMarkerCnt + 1, grdt3dData[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 */
/*****************************************************************
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 */
/*****************************************************************
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];
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak sample program #13\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 */
/*
* Load the standard camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Set up a collection for the ODAU.
*/
fprintf( stdout, "...OdauSetupCollection\n" );
if( OdauSetupCollection(
ODAU1, /* Id the ODAU the parameters are for. */
NUM_CHANNELS, /* Number of analog channels to collect. */
ODAU_GAIN, /* Gain to use for the analog channels.*/
ODAU_DIGITAL_INPB_INPA, /* Mode for the Digital I/O port.*/
(float)100.0, /* Frequency to collect data frames at. */
(float)90000.0, /* Frequency to scan channels at. */
1, /* Stream mode for the data buffers. */
(float)2.0, /* Number of seconds of data to collect. */
(float)0.0, /* Number of seconds to pre-trigger data by. */
0 ) ) /* Flags. */
{
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. */
(float)50.0, /* 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)0.40, /* Marker Duty Cycle to use. */
(float)8.0, /* Voltage to use when turning on markers. */
(float)2.0, /* Number of seconds of data to collect. */
(float)0.0, /* Number of seconds to pre-trigger data by. */
OPTOTRAK_NO_FIRE_MARKERS_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 3D data.
*/
fprintf( stdout, "...DataBufferInitializeFile\n" );
if( DataBufferInitializeFile( OPTOTRAK, "C#001.S13" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Initialize a file for spooling of the ODAU raw data.
*/
fprintf( stdout, "...DataBufferInitializeFile\n" );
if( DataBufferInitializeFile( ODAU1, "O1#001.S13" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Spool data to the previously initialized files.
*/
fprintf( stdout, "\n\nSample Program Results:\n\n" );
fprintf( stdout, "Collecting data files...\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 */
/*
* 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 */
/*****************************************************************
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 */
/*****************************************************************
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
nSensorCode;
unsigned int
uFlags,
uElements,
uFrameCnt,
uMarkerCnt,
uSensorCnt,
uFrameNumber,
uSpoolStatus = 0;
static FullRawDataType
pFullRawData[ NUM_MARKERS];
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak sample program #3\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 */
/*
* Initialize the processors system.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) )
{
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. */
(float)50.0, /* 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. */
(float)2.0, /* Number of seconds of data to collect. */
(float)0.0, /* Number of seconds to pre-trigger data by. */
OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_GET_NEXT_FRAME_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 );
/*
* Get and display ten frames of full raw data.
*/
fprintf( stdout, "\n\nSample Program Results:\n\n" );
for( uFrameCnt = 0; uFrameCnt < 10; ++uFrameCnt )
{
/*
* Get a frame of data.
*/
if( DataGetLatestRaw( &uFrameNumber, &uElements, &uFlags,
pFullRawData ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Print out the data.
*/
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Elements : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( uMarkerCnt = 0; uMarkerCnt < 6; ++uMarkerCnt )
{
/*
* Print out the current marker number.
*/
fprintf( stdout, "Marker %u\t\tCentroid Peak DRC Code\n",
uMarkerCnt + 1 );
/*
* Print out the information for each sensor.
*/
for( uSensorCnt = 0; uSensorCnt < NUM_SENSORS; ++uSensorCnt )
{
/*
* Print out the current sensor number.
*/
fprintf( stdout, "\tSensor %u\t", uSensorCnt + 1 );
/*
* Print out the centroid. If is is bad print out the
* string 'missing'.
*/
if( pFullRawData[ uMarkerCnt].fCentroid[ uSensorCnt] <
MAX_NEGATIVE )
{
fprintf( stdout, " missing " );
} /* if */
else
{
fprintf( stdout, "%8.2f ",
pFullRawData[ uMarkerCnt].fCentroid[ uSensorCnt] );
} /* else */
/*
* Print out the rest of this sensor's information.
*/
nSensorCode =
pFullRawData[ uMarkerCnt].SensorData[ uSensorCnt].ucCode;
fprintf( stdout, "%4d %4d %s\n",
pFullRawData[ uMarkerCnt].SensorData[ uSensorCnt].ucPeak,
pFullRawData[ uMarkerCnt].SensorData[ uSensorCnt].ucDRC,
pSensorStatusString[ nSensorCode] );
} /* for */
} /* for */
} /* for */
fprintf( stdout, "\n" );
/*
* Initialize a data file for spooling of the Optotrak data.
*/
fprintf( stdout, "...DataBufferInitializeFile\n" );
if( DataBufferInitializeFile( OPTOTRAK, "C#001.S03" ) )
{
goto ERROR_EXIT;
} /* if */
/*
* Spool data to the previously initialized file.
*/
fprintf( stdout, "...DataBufferSpoolData\n" );
if( DataBufferSpoolData( &uSpoolStatus ) )
{
goto ERROR_EXIT;
} /* if */
fprintf( stdout, "\n\nSample Program Results:\n\n" );
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 */
/*
* 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 */
void main( int argc, unsigned char *argv[] )
{
OptotrakSettings
dtSettings;
int
i,
nIterations,
nCurDevice,
nCurMarker,
nDevices,
nMarkersToActivate;
ApplicationDeviceInformation
*pdtDevices;
DeviceHandle
*pdtDeviceHandles;
DeviceHandleInfo
*pdtDeviceHandlesInfo;
unsigned int
uFlags,
uElements,
uFrameNumber;
Position3d
*p3dData;
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
/*
* initialization
* intialize variables
*/
pdtDevices = NULL;
pdtDeviceHandles = NULL;
pdtDeviceHandlesInfo = NULL;
p3dData = NULL;
dtSettings.nMarkers = 0;
dtSettings.fFrameFrequency = SAMPLE_FRAMEFREQ;
dtSettings.fMarkerFrequency = SAMPLE_MARKERFREQ;
dtSettings.nThreshold = 30;
dtSettings.nMinimumGain = 160;
dtSettings.nStreamData = SAMPLE_STREAMDATA;
dtSettings.fDutyCycle = SAMPLE_DUTYCYCLE;
dtSettings.fVoltage = SAMPLE_VOLTAGE;
dtSettings.fCollectionTime = 1.0;
dtSettings.fPreTriggerTime = 0.0;
nDevices = 0;
nMarkersToActivate = 0;
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak Certus sample program #2\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 */
/*
* Communication Initialization
* Once the system processors have been loaded, the application
* prepares for communication by initializing the system processors.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Determine if this sample will run with the system attached.
* This sample is intended for Optotrak Certus systems.
*/
fprintf( stdout, "...DetermineSystem\n" );
if( uDetermineSystem( ) != OPTOTRAK_CERTUS_FLAG )
{
goto ERROR_EXIT;
} /* if */
nIterations = 2;
for( i = 0; i < nIterations; i++ )
{
/*
* Strober Initialization
* Once communication has been initialized, the application must
* determine the strober configuration.
* The application retrieves device handles and all strober
* properties from the system.
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* check if any devices have been detected by the system
*/
if( nDevices == 0 )
{
fprintf( stdout, ".........no devices detected. Quitting program...\n" );
goto PROGRAM_COMPLETE;
} /* if */
/*
* Now that all the device handles have been completely set up,
* the application can store all the device handle information in
* an internal data structure. This will facilitate lookups when
* a property setting needs to be checked.
*/
ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices );
/*
* Change the number of markers to fire for all devices
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
nMarkersToActivate = pdtDevices[nCurDevice].b3020Capability?
CERTUS_SAMPLE_3020_STROBER_MARKERSTOFIRE : CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate );
} /* for */
fprintf( stdout, "\n" );
/*
* If there are strobers with tool capabilities, but no tools,
* then set up the strobers to fire some markers
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
if( pdtDevices[nCurDevice].nToolPorts > 0 )
{
/*
* set the markers to activate for this device
* this will be 0 if there are tools plugged into the
* device, or CERTUS_SAMPLE_STROBER_MARKERSTOFIRE if there
* are no tools plugged in
*/
nMarkersToActivate = CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForToolDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate, pdtDevices, nDevices );
} /* if */
} /* for */
/*
* Determine the collection settings based on the device properties
*/
ApplicationDetermineCollectionParameters( nDevices, pdtDevices, &dtSettings );
/*
* 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 camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Ensure that we are firing some markers
*/
if( dtSettings.nMarkers == 0 )
{
fprintf( stdout, "Error: There are no markers to be activated.\n" );
goto ERROR_EXIT;
} /* if */
/*
* allocate memory for 3d data
*/
p3dData = (Position3d*)malloc( dtSettings.nMarkers * sizeof( Position3d ) );
/*
* Configure Optotrak Collection
* Once the system strobers have been enabled, and all settings are
* loaded, the application can set up the Optotrak collection
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
fprintf( stdout, ".....%d, %.2f, %.0f, %d, %d, %d, %.2f, %.2f, %.0f, %.0f\n",
dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime );
if( OptotrakSetupCollection( dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime,
OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG | OPTOTRAK_SWITCH_AND_CONFIG_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Prepare for realtime data retrieval.
* Activate markers. Turn on the markers prior to data retrieval.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
/*
* loop around until a device is plugged or unplugged
*/
while( 1 )
{
fprintf( stdout, "\nCHANGE THE STROBER CONFIGURATION TO END THIS TEST\n\n" );
sleep( 1 );
if( DataGetLatest3D( &uFrameNumber, &uElements, &uFlags, p3dData ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* display the 3d data
*/
fprintf( stdout, "3D Data Display (%d Markers)\n", dtSettings.nMarkers );
/*
* Print out the data.
*/
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Elements : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( nCurMarker = 0; nCurMarker < dtSettings.nMarkers; nCurMarker++ )
{
DisplayMarker( nCurMarker + 1, p3dData[nCurMarker] );
} /* for */
/*
* check if the tool configuration has changed
*/
if( uFlags & OPTO_TOOL_CONFIG_CHANGED_FLAG )
{
fprintf( stdout, "\n\n\n...Tool Configuration Changed\n" );
sleep( 3 );
break;
} /* if */
} /* while */
sleep( 1 );
/*
* stop the collection since we are finished at this point
*/
fprintf( stdout, "...OptotrakStopCollection\n\n\n" );
if( OptotrakStopCollection( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
} /* for */
/*
* Exiting the loop above means that the tool configuration has changed
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
PROGRAM_COMPLETE:
/*
* CLEANUP
*/
fprintf( stdout, "\n" );
fprintf( stdout, "...TransputerShutdownSystem\n" );
OptotrakDeActivateMarkers( );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[nCurDevice].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
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( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[nCurDevice].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
exit( 1 );
} /* main */
void main( int argc, unsigned char *argv[] )
{
OptotrakSettings
dtSettings;
char
szNDErrorString[MAX_ERROR_STRING_LENGTH + 1];
int
i,
nCurDevice,
nCurMarker,
nMarkersToActivate,
nDevices,
nDeviceMarkers,
nNumSensors,
nCurSensor;
ApplicationDeviceInformation
*pdtDevices;
DeviceHandle
*pdtDeviceHandles;
DeviceHandleInfo
*pdtDeviceHandlesInfo;
unsigned int
uFlags,
uElements,
uFrameNumber;
Position3d
*p3dData;
float
*pfCurSensor,
*pCentroidData;
/*
* initialization
* intialize variables
*/
pdtDevices = NULL;
pdtDeviceHandles = NULL;
pdtDeviceHandlesInfo = NULL;
p3dData = NULL;
nMarkersToActivate = 0;
nDevices = 0;
nDeviceMarkers = 0;
dtSettings.nMarkers = 0;
dtSettings.fFrameFrequency = SAMPLE_FRAMEFREQ;
dtSettings.fMarkerFrequency = SAMPLE_MARKERFREQ;
dtSettings.nThreshold = 30;
dtSettings.nMinimumGain = 160;
dtSettings.nStreamData = SAMPLE_STREAMDATA;
dtSettings.fDutyCycle = SAMPLE_DUTYCYCLE;
dtSettings.fVoltage = SAMPLE_VOLTAGE;
dtSettings.fCollectionTime = 1.0;
dtSettings.fPreTriggerTime = 0.0;
/*
* Announce that the program has started
*/
fprintf( stdout, "\nOptotrak Certus sample program #16\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 */
/*
* Communication Initialization
* Once the system processors have been loaded, the application
* prepares for communication by initializing the system processors.
*/
fprintf( stdout, "...TransputerInitializeSystem\n" );
if( TransputerInitializeSystem( OPTO_LOG_ERRORS_FLAG | OPTO_LOG_MESSAGES_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Determine if this sample will run with the system attached.
* This sample is intended for Certus systems.
*/
fprintf( stdout, "...DetermineSystem\n" );
if( uDetermineSystem( ) != OPTOTRAK_CERTUS_FLAG )
{
goto PROGRAM_COMPLETE;
} /* if */
/*
* Strober Initialization
* Once communication has been initialized, the application must
* determine the strober configuration.
* The application retrieves device handles and all strober
* properties from the system.
*/
fprintf( stdout, "...DetermineStroberConfiguration\n" );
if( DetermineStroberConfiguration( &pdtDeviceHandles, &pdtDeviceHandlesInfo, &nDevices ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* check if any devices have been detected by the system
*/
if( nDevices == 0 )
{
fprintf( stdout, ".........no devices detected. Quitting program...\n" );
goto PROGRAM_COMPLETE;
} /* if */
/*
* Now that all the device handles have been completely set up,
* the application can store all the device handle information in
* an internal data structure. This will facilitate lookups when
* a property setting needs to be checked.
*/
ApplicationStoreDeviceProperties( &pdtDevices, pdtDeviceHandlesInfo, nDevices );
/*
* Change the number of markers to fire for all devices
*/
for( nCurDevice = 0; nCurDevice < nDevices; nCurDevice++ )
{
nMarkersToActivate = pdtDevices[nCurDevice].b3020Capability?
CERTUS_SAMPLE_3020_STROBER_MARKERSTOFIRE : CERTUS_SAMPLE_STROBER_MARKERSTOFIRE;
SetMarkersToActivateForDevice( &(pdtDevices[nCurDevice]), pdtDeviceHandlesInfo[nCurDevice].pdtHandle->nID, nMarkersToActivate );
} /* if */
fprintf( stdout, "\n" );
/*
* Determine the collection settings based on the device properties
*/
ApplicationDetermineCollectionParameters( nDevices, pdtDevices, &dtSettings );
/*
* 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 camera parameters.
*/
fprintf( stdout, "...OptotrakLoadCameraParameters\n" );
if( OptotrakLoadCameraParameters( "standard" ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* allocate memory for all data
*/
if( OptotrakGetStatus( &nNumSensors, NULL, NULL, NULL,
NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Ensure that we are firing some markers
*/
if( dtSettings.nMarkers == 0 )
{
fprintf( stdout, "Error: There are no markers to be activated.\n" );
goto ERROR_EXIT;
} /* if */
p3dData = (Position3d*)malloc( dtSettings.nMarkers * sizeof( Position3d ) );
pCentroidData = (float*)malloc( dtSettings.nMarkers * nNumSensors * sizeof( float ) );
/*
* Configure Optotrak Collection
* Once the system strobers have been enabled, and all settings are
* loaded, the application can set up the Optotrak collection
*/
fprintf( stdout, "...OptotrakSetupCollection\n" );
fprintf( stdout, ".....%d, %.2f, %.0f, %d, %d, %d, %.2f, %.2f, %.0f, %.0f\n",
dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime );
if( OptotrakSetupCollection( dtSettings.nMarkers,
dtSettings.fFrameFrequency,
dtSettings.fMarkerFrequency,
dtSettings.nThreshold,
dtSettings.nMinimumGain,
dtSettings.nStreamData,
dtSettings.fDutyCycle,
dtSettings.fVoltage,
dtSettings.fCollectionTime,
dtSettings.fPreTriggerTime,
OPTOTRAK_NO_FIRE_MARKERS_FLAG | OPTOTRAK_BUFFER_RAW_FLAG | OPTOTRAK_SWITCH_AND_CONFIG_FLAG ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* Wait one second to let the camera adjust.
*/
sleep( 1 );
/*
* Prepare for realtime data retrieval.
* Activate markers. Turn on the markers prior to data retrieval.
*/
fprintf( stdout, "...OptotrakActivateMarkers\n" );
if( OptotrakActivateMarkers( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
sleep( 1 );
fprintf( stdout, "\n\nSample Program Results:\n\n" );
/*
* Retrieve a frame of Centroid data.
* Use the non-block 'RequestNext'/'ReceiveLatest' call to
* retrieve a frame of data.
* Add the data retrieval functions return status information in
* the uFlags field.
* All the data retrieval functions return status information in
* the uFlags field.
* If the flags indicate that the system configuration has changed,
* all processing should stop and the application should re-query
* the system for all device information.
* NOTE: The re-initialization is not done here in order to
* simplify the sample program.
*/
if( RequestNextCentroid( ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
while( !DataIsReady( ) );
if( DataReceiveLatestCentroid( &uFrameNumber, &uElements, &uFlags, pCentroidData ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* display the Centroid data
*/
fprintf( stdout, "Centroid Data Display (%d Markers)\n", dtSettings.nMarkers );
/*
* Print out the data.
*/
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Elements : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( nCurMarker = 0, pfCurSensor = pCentroidData; nCurMarker < dtSettings.nMarkers; nCurMarker++ )
{
fprintf( stdout, "Marker_%.3d:\n", nCurMarker + 1 );
for( nCurSensor = 0; nCurSensor < nNumSensors; nCurSensor++, pfCurSensor++ )
{
fprintf( stdout, " sensor_%.2d: %10.4f\n", nCurSensor, *pfCurSensor );
} /* for */
} /* for */
fprintf( stdout, "\n\n" );
/*
* Retrieve a frame of 3D data.
* Use the blocking 'GetLatest' call to retrieve a frame of data.
*/
if( DataGetLatest3D( &uFrameNumber, &uElements, &uFlags, p3dData ) != OPTO_NO_ERROR_CODE )
{
goto ERROR_EXIT;
} /* if */
/*
* display the 3d data
*/
fprintf( stdout, "3D Data Display (%d Markers)\n", dtSettings.nMarkers );
/*
* Print out the data.
*/
fprintf( stdout, "Frame Number: %8u\n", uFrameNumber );
fprintf( stdout, "Elements : %8u\n", uElements );
fprintf( stdout, "Flags : 0x%04x\n", uFlags );
for( nCurMarker = 0; nCurMarker < dtSettings.nMarkers; nCurMarker++ )
{
DisplayMarker( nCurMarker, p3dData[nCurMarker] );
} /* for */
/*
* De-activate the markers.
*/
fprintf( stdout, "...OptotrakDeActivateMarkers\n" );
if( OptotrakDeActivateMarkers() )
{
goto ERROR_EXIT;
} /* if */
PROGRAM_COMPLETE:
/*
* CLEANUP
*/
fprintf( stdout, "\n" );
fprintf( stdout, "...TransputerShutdownSystem\n" );
TransputerShutdownSystem( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( i = 0; i < nDevices; i++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[i].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
free( p3dData );
free( pCentroidData );
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( );
/*
* free all memory
*/
if( pdtDeviceHandlesInfo )
{
for( i = 0; i < nDevices; i++ )
{
AllocateMemoryDeviceHandleProperties( &(pdtDeviceHandlesInfo[i].grProperties), 0 );
} /* for */
} /* if */
AllocateMemoryDeviceHandles( &pdtDeviceHandles, 0 );
AllocateMemoryDeviceHandlesInfo( &pdtDeviceHandlesInfo, pdtDeviceHandles, 0 );
free( p3dData );
free( pCentroidData );
exit( 1 );
} /* main */