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Unigine::Plugins::ARTTracker Class

Warning
The functionality described in this article is not available in the Community SDK edition.
You should upgrade to Sim SDK edition to use it.
Header: #include <plugins/UnigineARTTracker.h>

ARTTracker Class

Members


bool receive ( ) #

Receives and processes one DTrack data packet.

Return value

true if a DTrack data packet is received successfully, otherwise false.

int getFrameCounter ( ) #

Returns a frame counter (counting with synchronization frequency).

double getTimeStamp ( ) #

Returns the time at the measurement of the current frame, i.e. the time when the infrared flash of the cameras is fired. The timestamp uses the internal clock of the controller, giving back the seconds (with an accuracy of 1μs) since 00:00 UTC (midnight). This implies that the timestamp value is reset to zero when passing midnight (UTC).

Return value

Time at the measurement of the current frame.

int init ( const char * ip = "192.168.1.100", int port = 5000 ) #

Initializes communication with DTrack.

Arguments

  • const char * ip - DTrack IP address.
  • int port - DTrack UDP port.

Return value

1 if initialization was successful, otherwise 0.

bool start ( ) #

Starts communication with DTrack.

Return value

true if communication started successfully, otherwise false.

bool stop ( ) #

Stops communication with DTrack.

Return value

true if communication stopped successfully, otherwise false.

int getNumBody ( ) #

Returns the number of DTrack bodies.

Return value

Number of defined (calibrated) DTrack bodies.

int getBodyId ( int index ) #

Returns DTrack body ID.

Arguments

  • int index - DTrack body index.

Return value

DTrack body ID (starting from 0).

double getBodyQuality ( int index ) #

Returns the quality value of DTrack body, the value within the interval [0;1], or -1, if not tracked.

Arguments

  • int index - DTrack bodyindex.

Return value

Quality, the value within the interval [0;1], or -1, if not tracked.

Math::dvec3 getBodyLocation ( int index ) #

Returns the specified DTrack body location.

Arguments

  • int index - DTrack body index.

Return value

Body location (in mm).

Math::dmat4 getBodyRotation ( int index ) #

Returns the specified DTrack body rotation matrix.

Arguments

  • int index - DTrack body index.

Return value

Body rotation matrix (column-wise).

int getNumFlyStick ( ) #

Returns the number of defined (calibrated) Flystick bodies.

Return value

Number of Flystick bodies.

int getFlyStickId ( int index ) #

Returns the specified Flystick ID.

Arguments

  • int index - Flystick body index.

Return value

Flystick ID (starting from 0).

double getFlyStickQuality ( int index ) #

Returns the tracking quality value within the range [0; 1], or -1 if the Flystick is not tracked.

Arguments

  • int index - Flystick body index.

Return value

Tracking quality value within the range [0; 1], or -1 if the Flystick is not tracked.

int getFlyStickNumButton ( int index ) #

Returns the number of available buttons and controllers for the indicated Flystick. Information about buttons and controllers is valid as long as the wireless transmission is active.

Arguments

  • int index - Flystick button index.

Return value

Number of available buttons and controllers.

int getFlyStickButton ( int index, int button_index ) #

Returns the status of the given Flystick button.

Arguments

  • int index - Flystick index.
  • int button_index - Flystick button index.

Return value

Button state: 1 - if the button is pressed, 0 — if not pressed.

int getFlyStickNumJoyStick ( int index ) #

Returns the number of joystick values of a specified Flystick.

Arguments

  • int index - Flystick body index.

Return value

Number of joystick values.

double getFlyStickJoyStick ( int index, int joystick_index ) #

Returns the joystick value.

Arguments

  • int index - Flystick body index.
  • int joystick_index - Joystick index.

Return value

Joystick value [-1;1]; 0 horizontal, 1 vertical.

Math::dvec3 getFlyStickLocation ( int index ) #

Returns the Flystick body location (in mm).

Arguments

  • int index - Flystick body index.

Return value

Body location (in mm).

Math::dmat4 getFlyStickRotation ( int index ) #

Returns the FlyStick rotation matrix (column-wise).

Arguments

  • int index - Flystick body index.

Return value

Rotation matrix (column-wise).

int getNumMeaTool ( ) #

Returns the number of defined (calibrated) Measurement tools.

Return value

Number of defined (calibrated) Measurement tools.

int getMeaToolId ( int index ) #

Returns the Measurement Tool ID (starting from 0).

Arguments

  • int index - Measurement Tool body index.

Return value

Measurement Tool ID (starting from 0).

double getMeaToolQuality ( int index ) #

Returns the value specifying the measurement quality.

Arguments

  • int index - Measurement Tool index.

Return value

1.0 if the target of the Measurement Tool is visible at the moment, or −1.0 if it is invisible.

int getMeaToolNumButton ( int index ) #

Returns the number of available buttons for the specified Measurement Tool.

Arguments

  • int index - Measurement Tool index.

Return value

Number of available buttons.

int getMeaToolButton ( int index, int button_index ) #

Returns the button state for the specified Measurement Tool.

Arguments

  • int index - Measurement Tool index.
  • int button_index - Index of the Measurement Tool button.

Return value

Button state: 1 — pressed, 0 — not pressed.

Math::dvec3 getMeaToolLocation ( int index ) #

Returns the Measurement Tool location.

Arguments

  • int index - Measurement Tool index.

Return value

Location (in mm).

Math::dmat4 getMeaToolRotation ( int index ) #

Returns the Measurement Tool rotation matrix.

Arguments

  • int index - Measurement Tool index.

Return value

Rotation matrix (column-wise).

double getMeaToolTipRadius ( int index ) #

Returns the radius of the Measurement Tool tip sphere.

Arguments

  • int index - Measurement Tool index.

Return value

Radius of the Measurement Tool tip sphere.

Math::dmat4 getMeaToolCovariance ( int index ) #

Returns the covariance of the tool tip location, in mm2.

Arguments

  • int index - Measurement Tool index.

Return value

Covariance matrix of the position of the tool tip.

int getNumMeaRef ( ) #

Returns the number of defined reference bodies of the Measurement Tool.

Return value

Number of defined reference bodies of the Measurement Tool.

int getMeaRefId ( int index ) #

Returns the ID of the reference body of the Measurement Tool.

Arguments

  • int index - Index of the reference body of the Measurement Tool.

Return value

ID of the Measurement reference (starting with 0).

double getQuality ( int index ) #

Returns the value specifying the measurement quality.

Arguments

  • int index - Index of the reference body of the Measurement Tool.

Return value

1.0 if the target of the Measurement Tool is visible at the moment, or −1.0 if it is invisible.

Math::dvec3 getMeaRefLocation ( int index ) #

Returns the position of the reference body of the Measurement Tool.

Arguments

  • int index - Index of the reference body of the Measurement Tool.

Return value

Location coordinates.

Math::dmat4 getMeaRefRotation ( int index ) #

Returns the rotation matrix of the reference body of the Measurement Tool.

Arguments

  • int index - Measurement Tool reference index.

Return value

Rotation matrix.

int getNumMarker ( ) #

Returns the number of tracked additional markers.

Return value

Number of additional Marker bodies.

int getMarkId ( int index ) #

Returns the marker ID number.

Arguments

  • int index - Marker index.

Return value

ID number (id, starting with 1).

double getMarkQuality ( int index ) #

Returns the value specifying the measurement quality.

Arguments

  • int index - Marker index.

Return value

Quality value.

Math::dvec3 getMarkLocation ( int index ) #

Returns the marker location.

Arguments

  • int index - Marker index.

Return value

Marker location (in mm).

int getNumHand ( ) #

Returns the number of tracked hand bodies.

Return value

Number of tracked hand bodies.

int getHandId ( int index ) #

Returns the hand ID number.

Arguments

  • int index - Hand index.

Return value

Hand ID number (starting with 0).

double getHandQuality ( int index ) #

Returns the value specifying the measurement quality.

Arguments

  • int index - Hand index.

Return value

Quality value.

int getHandLeft ( int index ) #

Returns the value to distinguish between the left and right hand.

Arguments

  • int index - Hand index.

Return value

The value to distinguish between the left (0) and right (1) hand.

int getHandNumFinger ( int index ) #

Returns the number of fingers for the specified hand. The maximum number of fingers is 5.
Notice
Based on this number, each finger can be addressed using its index starting from the thumb — 0, index finger — 1, etc.

Arguments

  • int index - Hand index.

Return value

Number of fingers.

Math::dvec3 getHandLocation ( int index ) #

Returns location (in mm) of the specified hand.

Arguments

  • int index - Hand index.

Return value

Hand location (in mm).

Math::dmat4 getHandRotation ( int index ) #

Returns the rotation matrix of the specified hand.

Arguments

  • int index - Hand index.

Return value

Hand rotation matrix (column-wise).

Math::dvec3 getHandFingerLocation ( int index, int finger_index ) #

Returns the location (in mm) for the specified hand finger.

Arguments

  • int index - Hand index.
  • int finger_index - Index of a finger.

Return value

Finger location (in mm).

Math::dmat4 getHandFingerRotation ( int index, int finger_index ) #

Returns the rotation matrix (column-wise) for the specified hand finger.

Arguments

  • int index - Hand index.
  • int finger_index - Index of a finger.

Return value

Finger rotation matrix (column-wise).

double getHandFingerTipRadius ( int index, int finger_index ) #

Returns the radius of the finger tip.

Arguments

  • int index - Hand index.
  • int finger_index - Index of a finger.

Return value

Radius of the finger tip.

Math::dvec3 getHandFingerLengthPhalanx ( int index, int finger_index ) #

Returns the length of a all phalanxes or the specified finger.

Arguments

  • int index - Hand index.
  • int finger_index - Index of a finger.

Return value

Length of phalanxes in the order: outermost, middle, innermost.

Math::dvec2 getHandFingerAnglePhalanx ( int index, int finger_index ) #

Returns the angles between the phalanxes of a finger.

Arguments

  • int index - Hand index.
  • int finger_index - Index of a finger.

Return value

Angles between phalanxes of a finger.

int getNumHuman ( ) #

Returns the number of human models.

Return value

Number of human models.

int getHumanId ( int index ) #

Returns the ID of the human model (starting with 0).

Arguments

  • int index - Human model index.

Return value

ID of the human model.

int getHumanNumJoints ( int index ) #

Returns the number of joints of the human model.

Arguments

  • int index - Human model index.

Return value

Number of joints of the human model.

int getHumanJointId ( int index, int joint_index ) #

Returns the ID of the joint (starting with 0).

Arguments

  • int index - Human model index.
  • int joint_index - Index of the joint.

Return value

ID of the joint.

double getHumanJointQuality ( int index, int joint_index ) #

Returns the tracking quality value within the range [0; 1], or -1 if the joint is not tracked.

Arguments

  • int index - Human model index.
  • int joint_index - Index of the joint.

Return value

Tracking quality value within the range [0; 1], or -1 if the joint is not tracked.

Math::dvec3 getHumanJointLocation ( int index, int joint_index ) #

Returns the location of the joint (in mm).

Arguments

  • int index - Human model index.
  • int joint_index - Index of the joint.

Return value

Location of the joint (in mm).

Math::dvec3 getHumanJointAngle ( int index, int joint_index ) #

Returns the angle of the selected joint in relation to the joint coordinate system.

Arguments

  • int index - Human model index.
  • int joint_index - Index of the joint.

Return value

Angle in relation to the joint coordinate system.

Math::dmat4 getHumanJointRotation ( int index, int joint_index ) #

Returns the rotation matrix of the joint (column-wise) in relation to room coordinate system.

Arguments

  • int index - Human model index.
  • int joint_index - Index of the joint.

Return value

Rotation matrix of the joint (column-wise) in relation to room coordinate system.

int getNumInertial ( ) #

Returns the number of all tracked standard 6DOF bodies (i.e. all 6DOF bodies except Flysticks, Measurement Tools, etc.) and all hybrid bodies.

Return value

Number of all tracked standard 6DOF bodies and all hybrid bodies.

int getInertialId ( int index ) #

Returns the ID number of the standard 6DOF body.

Arguments

  • int index - Standard 6DOF body index.

Return value

Standard 6DOF body ID number (starting with 0).

int getInertialState ( int index ) #

Returns the data tracking status.

Arguments

  • int index - Standard 6DOF body index.

Return value

Tracking status of the sensor:
  • 0 — no tracking.
  • 1 — inertial tracking.
  • 2 — optical tracking.

double getInertialError ( int index ) #

Returns the current drift error estimation, in degrees, estimate rising by 10 degree per minute when tracking inertially.

Arguments

  • int index - Standard 6DOF body index.

Return value

Math::dvec3 getInertialLocation ( int index ) #

Returns the position (in mm) of the Body.

Arguments

  • int index - Standard 6DOF body index.

Return value

Position of the Body.

Math::dmat4 getInertialRotation ( int index ) #

Returns the rotation matrix of the Body's orientation.

Arguments

  • int index - Standard 6DOF body index.

Return value

Rotation matrix (column-wise) of the Body's orientation.

ARTTrackerInterface::ERROR getLastDataError ( ) #

Returns the data on the last received error.

Return value

Last received error, one of the ERROR_ values.
Last update: 2020-04-10