コード例 #1
0
        static bool Get6DOFSettings(RTState state, RTProtocol mProtocol)
        {
            // Get settings and information for streamed bodies
            bool getstatus = mProtocol.Get6dSettings();

            if (getstatus)
            {
                state.bodies.Clear();
                Settings6D settings = mProtocol.Settings6DOF;
                foreach (Settings6DOF body in settings.Bodies)
                {
                    SixDOFBody newbody = new SixDOFBody();
                    newbody.Name     = body.Name;
                    newbody.Color.r  = (body.ColorRGB) & 0xFF;
                    newbody.Color.g  = (body.ColorRGB >> 8) & 0xFF;
                    newbody.Color.b  = (body.ColorRGB >> 16) & 0xFF;
                    newbody.Color   /= 255;
                    newbody.Color.a  = 1F;
                    newbody.Position = Vector3.zero;
                    newbody.Rotation = Quaternion.identity;
                    state.bodies.Add(newbody);
                }

                return(true);
            }

            return(false);
        }
コード例 #2
0
        private bool Get6DOFSettings()
        {
            // Get settings and information for streamed bodies
            bool getstatus = mProtocol.Get6dSettings();

            if (getstatus)
            {
                mBodies.Clear();
                Settings6D settings = mProtocol.Settings6DOF;
                foreach (Settings6DOF body in settings.Bodies)
                {
                    SixDOFBody newbody = new SixDOFBody();
                    newbody.Name     = body.Name;
                    newbody.Position = Vector3.zero;
                    newbody.Rotation = Quaternion.identity;
                    mBodies.Add(newbody);
                }

                return(true);
            }

            return(false);
        }
コード例 #3
0
ファイル: TakeControl.cs プロジェクト: ulvs/Q.netTools
        public void HandleStreaming()
        {
            // Check if there is a connection with QTM
            if (!rtProtocol.IsConnected())
            {
                // If not connected, establish a connection
                if (!rtProtocol.Connect(ipAddress))
                {
                    Console.WriteLine("QTM: Trying to connect");
                    Thread.Sleep(1000);
                    return;
                }
                Console.WriteLine("QTM: Connected");

                // Take control of QTM and load the desired file and start the realtime stream
                if (rtProtocol.TakeControl(password))
                {
                    Console.WriteLine("QTM: Took control of QTM using specified password in Options/Real-Time Output.");
                    rtProtocol.LoadFile(filename);
                    rtProtocol.StartCapture(true);
                }
                else
                {
                    Console.WriteLine("QTM: Failed to take control of QTM using specified password in Options/Real-Time Output.");
                }
            }

            // Check for available 6DOF rigid body data in the stream
            if (rtProtocol.Settings6DOF == null)
            {
                if (!rtProtocol.Get6dSettings())
                {
                    Console.WriteLine("QTM: Trying to get 6DOF settings");
                    Thread.Sleep(500);
                    return;
                }
                Console.WriteLine("QTM: 6DOF data available");

                // If 6DOF was not streaming tell QTM to give the data as fast as possible
                rtProtocol.StreamAllFrames(QTMRealTimeSDK.Data.ComponentType.Component6dEulerResidual);
                Console.WriteLine("QTM: Starting to stream 6DOF data");
                Thread.Sleep(500);
            }

            // Get RTPacket from stream
            PacketType packetType;

            rtProtocol.ReceiveRTPacket(out packetType, false);

            // Handle 6DOF rigid body data
            if (packetType == PacketType.PacketData)
            {
                var sixDofData = rtProtocol.GetRTPacket().Get6DOFEulerResidualData();
                if (sixDofData != null)
                {
                    // Print out the available 6DOF data.
                    for (int body = 0; body < sixDofData.Count; body++)
                    {
                        var sixDofBody  = sixDofData[body];
                        var bodySetting = rtProtocol.Settings6DOF.Bodies[body];
                        Console.WriteLine("Frame:{0:D5} Body:{1,20} X:{2,7:F1} Y:{3,7:F1} Z:{4,7:F1} First Angle:{5,7:F1} Second Angle:{6,7:F1} Third Angle:{7,7:F1} Residual:{8,7:F1}",
                                          rtProtocol.GetRTPacket().Frame,
                                          bodySetting.Name,
                                          sixDofBody.Position.X, sixDofBody.Position.Y, sixDofBody.Position.Z,
                                          sixDofBody.Rotation.First, sixDofBody.Rotation.Second, sixDofBody.Rotation.Third,
                                          sixDofBody.Residual);
                    }
                }
            }

            // Handle event packet
            if (packetType == PacketType.PacketEvent)
            {
                // If an event comes from QTM then print it out
                var qtmEvent = rtProtocol.GetRTPacket().GetEvent();
                Console.WriteLine("{0}", qtmEvent);
            }
        }
コード例 #4
0
        static void Main(string[] args)
        {
            //CreateConfigFile();
            //Constants
            var config = new Configuration();

            try
            {
                config = Configuration.LoadFromFile("config.cfg");
                Console.WriteLine("Settings loaded from config.cfg");
            }
            catch
            {
                CreateConfigFile();
                Console.WriteLine("No Configuration file found, new file created: config.cfg");
                Environment.Exit(0);
            }
            var    section          = config["General"];
            string dateToday        = DateTime.Today.Year.ToString() + DateTime.Today.Month.ToString() + DateTime.Today.Day.ToString();
            string filenameCSV      = section["Filename Prefix"].StringValue + dateToday + "_" + (int)DateTime.Now.TimeOfDay.TotalSeconds + ".csv";
            string filenameReadable = section["Filename Prefix"].StringValue + dateToday + "_" + (int)DateTime.Now.TimeOfDay.TotalSeconds + ".txt";
            bool   logReadable      = section["Log Readable"].BoolValue;
            bool   logCsv           = section["Log CSV"].BoolValue;
            bool   verbose          = section["Verbose"].BoolValue;
            bool   verboseCsv       = section["Verbose CSV"].BoolValue;
            string ipAddress        = section["ipAdress"].StringValue;
            int    flipDeg          = section["Flip deg"].IntValue;
            int    jumpDist         = section["Jump mm"].IntValue;

            //Dictionary<string, sixDofBody> bodys = new Dictionary<string, sixDofBody>();
            List <sixDofBody> ListOfBodies = new List <sixDofBody>();
            int      totalNumberofFrames   = 0;
            DateTime lastBlip = new DateTime();

            lastBlip = DateTime.Now;
            int        frameNumber = 0;
            RTProtocol mRtProtocol = new RTProtocol();

            while (true)
            {
                if (!mRtProtocol.IsConnected())
                {
                    if (!mRtProtocol.Connect(ipAddress))
                    {
                        Console.WriteLine("QTM: Trying to connect");
                        Thread.Sleep(1000);
                    }
                }
                else
                {
                    Console.WriteLine("QTM: Connected");
                    break;
                }
            }
            if (mRtProtocol.Settings6DOF == null)
            {
                if (!mRtProtocol.Get6dSettings())
                {
                    Console.WriteLine("QTM: Trying to get 6DOF settings");
                    Thread.Sleep(500);
                }
                Console.WriteLine("QTM: 6DOF settings available");

                //List<ComponentType> componentsToStream = new List<ComponentType>
                //{
                //    ComponentType.Component6dEulerResidual,
                //    ComponentType.ComponentTimecode
                //};

                mRtProtocol.StreamAllFrames(ComponentType.Component6dEulerResidual);
                Console.WriteLine("QTM: Starting to stream 6DOF data");
                Thread.Sleep(500);
            }
            string            fileName = DateTime.Today.Year + DateTime.Today.Month + DateTime.Today.Day + "_" + (int)DateTime.Now.TimeOfDay.TotalSeconds + ".csv";
            PacketType        packetType;
            List <Q6DOFEuler> previousFrame6dData = new List <Q6DOFEuler>();

            while (previousFrame6dData.Count == 0)
            {
                mRtProtocol.ReceiveRTPacket(out packetType, false);
                if (packetType == PacketType.PacketData)
                {
                    previousFrame6dData = mRtProtocol.GetRTPacket().Get6DOFEulerResidualData();
                    foreach (var body in mRtProtocol.Settings6DOF.Bodies)
                    {
                        var mbody = new sixDofBody();
                        mbody.Name           = body.Name;
                        mbody.lastSeen       = mRtProtocol.GetRTPacket().Frame;
                        mbody.numberOfFrames = 1;
                        mbody.biggestGap     = 0;
                        ListOfBodies.Add(mbody);
                    }
                    var duplicates = ListOfBodies.GroupBy(x => x.Name).Where(x => x.Count() > 1).ToList(); //.Select(x => new { Name = x.Key, objs = x.ToList() });
                    foreach (var dup in duplicates)
                    {
                        Console.WriteLine("Warning multiple bodies with the same name: " + dup.Key);
                        Console.WriteLine("This will effect gap length calculations");
                        foreach (var bod in dup)
                        {
                        }
                    }
                }
            }


            var csvHeader = "Frame;Body;Type;Magnitude;X;Y;Z\n";

            using (var writer = File.AppendText(filenameCSV))
            {
                writer.Write(csvHeader);
            }

            while (true)
            {
                mRtProtocol.ReceiveRTPacket(out packetType, false);
                if (packetType == PacketType.PacketData)
                {
                    StringBuilder writeBufferReadable = new StringBuilder();
                    StringBuilder writeBufferCSV      = new StringBuilder();

                    var frame6dData = mRtProtocol.GetRTPacket().Get6DOFEulerResidualData();
                    var packet      = mRtProtocol.GetRTPacket();
                    frameNumber = packet.Frame;
                    if (frame6dData != null)
                    {
                        for (int body = 0; body < frame6dData.Count; body++)
                        {
                            var sixDofBody     = frame6dData[body];
                            var prevSexDofBody = previousFrame6dData[body];
                            var bodySetting    = mRtProtocol.Settings6DOF.Bodies[body];
                            totalNumberofFrames++;
                            //if (float.IsNaN(sixDofBody.Residual))
                            //{
                            //    bodys[bodySetting.Name].numberOfFrames++;
                            //    if ((frameNumber - bodys[bodySetting.Name].lastSeen)> bodys[bodySetting.Name].biggestGap)
                            //    {
                            //        bodys[bodySetting.Name].biggestGap = (frameNumber - bodys[bodySetting.Name].lastSeen);
                            //    }
                            //    bodys[bodySetting.Name].lastSeen = frameNumber;

                            //}

                            if (float.IsNaN(sixDofBody.Residual) && float.IsNaN(prevSexDofBody.Residual))
                            {
                            }
                            else if (!float.IsNaN(sixDofBody.Residual) && float.IsNaN(prevSexDofBody.Residual))
                            {
                                writeBufferReadable.AppendFormat("{0} Body: {1} appeard with coordinates {2:F2} {3:F2} {4:F2}", frameNumber, bodySetting.Name, sixDofBody.Position.X / 1000, sixDofBody.Position.Y / 1000, sixDofBody.Position.Z / 1000);

                                writeBufferCSV.AppendFormat("{0};{1};A;NaN;{2:F2};{3:F2};{4:F2}", frameNumber, bodySetting.Name, sixDofBody.Position.X / 1000, sixDofBody.Position.Y / 1000, sixDofBody.Position.Z / 1000);
                            }
                            else if (float.IsNaN(sixDofBody.Residual) && !float.IsNaN(prevSexDofBody.Residual))
                            {
                                writeBufferReadable.AppendFormat("{0} Body: {1} disappeared with coordinates {2:F2} {3:F2} {4:F2}", frameNumber, bodySetting.Name, prevSexDofBody.Position.X / 1000, prevSexDofBody.Position.Y / 1000, prevSexDofBody.Position.Z / 1000);
                                writeBufferCSV.AppendFormat("{0};{1};D;NaN;{2:F2};{3:F2};{4:F2}", frameNumber, bodySetting.Name, prevSexDofBody.Position.X / 1000, prevSexDofBody.Position.Y / 1000, prevSexDofBody.Position.Z / 1000);
                            }
                            else if (!float.IsNaN(sixDofBody.Residual) && !float.IsNaN(prevSexDofBody.Residual))
                            {
                                var movementX    = sixDofBody.Position.X - prevSexDofBody.Position.X;
                                var movementY    = sixDofBody.Position.Y - prevSexDofBody.Position.Y;
                                var movementZ    = sixDofBody.Position.Z - prevSexDofBody.Position.Z;
                                var movementABS  = Math.Sqrt(Math.Pow(movementX, 2) + Math.Pow(movementY, 2) + Math.Pow(movementZ, 2));
                                var angMovement1 = Math.Abs(sixDofBody.Rotation.First - prevSexDofBody.Rotation.First);
                                var angMovement2 = Math.Abs(sixDofBody.Rotation.Second - prevSexDofBody.Rotation.Second);
                                var angMovement3 = Math.Abs(sixDofBody.Rotation.Third - prevSexDofBody.Rotation.Third);
                                var angMoveMax   = Math.Max(angMovement1, Math.Max(angMovement2, angMovement3));
                                if (movementABS > jumpDist)
                                {
                                    writeBufferReadable.AppendFormat("{0} Body: {1} jumped {2:F}mm at {3:F2} {4:F2} {5:F2}", frameNumber, bodySetting.Name, movementABS, sixDofBody.Position.X / 1000, sixDofBody.Position.Y / 1000, sixDofBody.Position.Z / 1000);
                                    writeBufferCSV.AppendFormat("{0};{1};J;{2:F2};{3:F2};{4:F2};{5:F2}", frameNumber, bodySetting.Name, movementABS, sixDofBody.Position.X / 1000, sixDofBody.Position.Y / 1000, sixDofBody.Position.Z / 1000);
                                }
                                if (angMoveMax > flipDeg)
                                {
                                    writeBufferReadable.AppendFormat("{0} Body: {1} flipped {2:F0} deg at {2:F2} {3:F2} {4:F2}", frameNumber, bodySetting.Name, angMoveMax, sixDofBody.Position.X / 1000, sixDofBody.Position.Y / 1000, sixDofBody.Position.Z / 1000);
                                    writeBufferCSV.AppendFormat("{0};{1};F;{2:F2};{3:F2};{4:F2};{5:F2}", frameNumber, bodySetting.Name, movementABS, sixDofBody.Position.X / 1000, sixDofBody.Position.Y / 1000, sixDofBody.Position.Z / 1000);
                                }
                            }
                            if (writeBufferCSV.Length > 0)
                            {
                                if (logCsv)
                                {
                                    using (var writer = File.AppendText(filenameCSV))
                                    {
                                        writer.WriteLine(writeBufferCSV);
                                    }
                                }
                                if (logReadable)
                                {
                                    using (var writer = File.AppendText(filenameReadable))
                                    {
                                        writer.WriteLine(writeBufferReadable);
                                    }
                                }
                                if (verbose)
                                {
                                    Console.WriteLine(writeBufferReadable);
                                }
                                if (verboseCsv)
                                {
                                    Console.WriteLine(writeBufferCSV);
                                }

                                writeBufferReadable.Clear();
                                writeBufferCSV.Clear();
                            }
                        }
                        previousFrame6dData = frame6dData;
                    }
                }
                if (Console.KeyAvailable)
                {
                    if (Console.ReadKey(false).Key == ConsoleKey.Escape)
                    {
                        break;
                    }
                }
                if (lastBlip.AddSeconds(1) < DateTime.Now)
                {
                    Console.WriteLine("Logging, current frame " + frameNumber);
                    lastBlip = DateTime.Now;
                }
            }
        }
コード例 #5
0
ファイル: MainWindow.cs プロジェクト: ulvs/Q.netTools
        private void Timer_Tick(object sender, EventArgs e)
        {
            // Try and connect
            if (!rtProtocol.IsConnected())
            {
                if (!rtProtocol.Connect(ipAddress))
                {
                    Color.BackColor = System.Drawing.Color.Red;
                    return;
                }

                Color.BackColor = System.Drawing.Color.OrangeRed;
            }

            // Check for available 6DOF data in the stream
            if (rtProtocol.Settings6DOF == null)
            {
                if (!rtProtocol.Get6dSettings())
                {
                    return;
                }

                Color.BackColor = System.Drawing.Color.Yellow;

                if (sixDofBodyNameToUse.Length > 0)
                {
                    for (int bodyIndex = 0; bodyIndex < rtProtocol.Settings6DOF.BodyCount; bodyIndex++)
                    {
                        if (string.Equals(rtProtocol.Settings6DOF.Bodies[bodyIndex].Name, sixDofBodyNameToUse, StringComparison.OrdinalIgnoreCase))
                        {
                            bodyIndexToUse = bodyIndex;
                            break;
                        }
                    }
                }
                else
                {
                    if (rtProtocol.Settings6DOF.BodyCount > 0)
                    {
                        sixDofBodyNameToUse = rtProtocol.Settings6DOF.Bodies[0].Name;
                        bodyIndexToUse      = 0;
                    }
                }

                eulerNames = rtProtocol.Settings6DOF.EulerNames;

                // Start streaming 6dof euler residual data at 10Hz frequency
                rtProtocol.StreamFrames(StreamRate.RateFrequency, 10, QTMRealTimeSDK.Data.ComponentType.Component6dEulerResidual);
                Thread.Sleep(500);
            }

            // Get RTPacket from stream
            PacketType packetType;

            rtProtocol.ReceiveRTPacket(out packetType, false);

            // Handle data packet
            if (packetType == PacketType.PacketData)
            {
                Color.BackColor = System.Drawing.Color.Green;

                var sixDofData = rtProtocol.GetRTPacket().Get6DOFEulerResidualData();
                if (sixDofData != null)
                {
                    // Put 6dof data information in the labels
                    if (sixDofData.Count > bodyIndexToUse)
                    {
                        var sixDofBody = sixDofData[bodyIndexToUse];

                        this.Body.Text     = sixDofBodyNameToUse;
                        this.X.Text        = float.IsNaN(sixDofBody.Position.X) ? "X:---" : string.Format("X:{0:F1}", sixDofBody.Position.X);
                        this.Y.Text        = float.IsNaN(sixDofBody.Position.Y) ? "Y:---" : string.Format("Y:{0:F1}", sixDofBody.Position.Y);
                        this.Z.Text        = float.IsNaN(sixDofBody.Position.Z) ? "Z:---" : string.Format("Z:{0:F1}", sixDofBody.Position.Z);
                        this.Residual.Text = float.IsNaN(sixDofBody.Residual) ? "Residual:---" : string.Format("Residual:{0:F1}", sixDofBody.Residual);
                        this.First.Text    = float.IsNaN(sixDofBody.Rotation.First) ? string.Format("{0}:---", eulerNames.First) : string.Format("{0}:{1:F1}", eulerNames.First, sixDofBody.Rotation.First);
                        this.Second.Text   = float.IsNaN(sixDofBody.Rotation.Second) ? string.Format("{0}:---", eulerNames.Second) : string.Format("{0}:{1:F1}", eulerNames.Second, sixDofBody.Rotation.Second);
                        this.Third.Text    = float.IsNaN(sixDofBody.Rotation.Third) ? string.Format("{0}:---", eulerNames.Third) : string.Format("{0}:{1:F1}", eulerNames.Third, sixDofBody.Rotation.Third);
                    }
                }
            }

            // Handle event packet
            if (packetType == PacketType.PacketEvent)
            {
                var qtmEvent = rtProtocol.GetRTPacket().GetEvent();
                switch (qtmEvent)
                {
                case QTMEvent.EventConnectionClosed:
                case QTMEvent.EventCaptureStopped:
                case QTMEvent.EventCalibrationStopped:
                case QTMEvent.EventRTFromFileStopped:
                case QTMEvent.EventQTMShuttingDown:

                    // If QTM is shutting down then handle it, disconnect and empty labels
                    rtProtocol.StreamFramesStop();
                    rtProtocol.Disconnect();

                    Color.BackColor = System.Drawing.Color.Red;

                    this.Body.Text     = "Body";
                    this.X.Text        = "X";
                    this.Y.Text        = "Y";
                    this.Z.Text        = "Z";
                    this.Residual.Text = "Residual";
                    this.First.Text    = eulerNames.First;
                    this.Second.Text   = eulerNames.Second;
                    this.Third.Text    = eulerNames.Third;

                    break;
                }
            }
        }
コード例 #6
0
        private static RTProtocol EstablishConnection(string qtmName)
        {
            RTProtocol rtProtocol = new RTProtocol();

            Console.WriteLine("Discovering QTM servers on the network...");
            // We know the name of the computer we want to connect to, find out its IP
            DiscoveryResponse qtmToConnect = new DiscoveryResponse();

            if (rtProtocol.DiscoverRTServers(qtmDiscoveryPort))
            {
                var discoveryResponses = rtProtocol.DiscoveryResponses;
                if (discoveryResponses.Count != 0)
                {
                    foreach (var discoveryResponse in discoveryResponses)
                    {
                        Console.WriteLine(
                            "Discovered {0,16} {1,16} {2,16} {3,3} cameras",
                            discoveryResponse.HostName,
                            discoveryResponse.IpAddress,
                            discoveryResponse.InfoText,
                            discoveryResponse.CameraCount
                            );
                        if (discoveryResponse.HostName == qtmName)
                        {
                            qtmToConnect = discoveryResponse;
                        }
                    }
                }
                else
                {
                    Console.WriteLine("No QTM servers found on available networks!");
                }
            }

            // Only connect if the desired computer name is found
            if (qtmToConnect.HostName == qtmName)
            {
                // Try max. 5 times, then admit failure
                for (int i = 0; i < 5; i++)
                {
                    if (rtProtocol.IsConnected())
                    {
                        break;
                    }
                    if (!rtProtocol.Connect(qtmToConnect.IpAddress))
                    {
                        Console.WriteLine("Trying to connect...");
                        Thread.Sleep(1000);
                    }
                    else
                    {
                        Console.WriteLine(
                            "Connected to {0} @ {1}!",
                            qtmToConnect.HostName,
                            qtmToConnect.IpAddress
                            );
                    }
                }
            }
            else
            {
                Console.WriteLine("The desired QTM server ({0}) was not found!", qtmName);
            }

            // Get settings if connected to QTM, otherwise alert user and continue
            if (rtProtocol.IsConnected())
            {
                // 6DOF settings
                Console.WriteLine("Getting 6DOF settings...");
                // Try max. 5 times, then admit failure
                for (int i = 0; i < 5; i++)
                {
                    if (rtProtocol.Get6dSettings())
                    {
                        Settings6D settings6D = rtProtocol.Settings6DOF;
                        int        bodyCount  = settings6D.BodyCount;
                        Console.WriteLine("{0} 6DOF bodies found.", bodyCount);
                        List <Settings6DOF> qtmBodies = settings6D.Bodies;
                        foreach (Settings6DOF body in qtmBodies)
                        {
                            Console.WriteLine("\t Found 6DOF body: {0}", body.Name);
                        }
                        break;
                    }
                    else
                    {
                        Console.WriteLine("Failed to get 6DOF settings!");
                    }
                }
            }
            else
            {
                Console.WriteLine("Could not communicate with QTM!");
            }

            // Disconnect on exit
            AppDomain.CurrentDomain.ProcessExit += (sender, e) => OnProcessExit(sender, e, rtProtocol);

            return(rtProtocol);
        }
コード例 #7
0
    void StartStreaming(string ipAddress)
    {
        Debug.LogFormat("Starting stream from {0}...", ipAddress);

        // Init protocol
        rtProtocol = new RTProtocol();

        if (!rtProtocol.IsConnected())
        {
            // Check if connection to QTM is possible
            if (!rtProtocol.IsConnected())
            {
                if (!rtProtocol.Connect(ipAddress))
                {
                    Debug.Log("QTM: Trying to connect...");
                    return;
                }
                Debug.Log("QTM: Connected!");
            }

            // Get settings and start stream
            if (rtProtocol.GeneralSettings == null)
            {
                if (!rtProtocol.GetGeneralSettings())
                {
                    Debug.Log("QTM: Trying to get General settings...");
                    return;
                }
                Debug.Log("QTM: General settings available.");

                // Print camera settings to console
                Debug.LogFormat("QTM: Frequency: {0}", rtProtocol.GeneralSettings.CaptureFrequency);
                Debug.Log("QTM: Cameras:");
                foreach (var camera in rtProtocol.GeneralSettings.CameraSettings)
                {
                    Debug.LogFormat("\t{0}", camera.Model);
                }

                // Reset mocap gameobject
                foreach (Transform child in mocapGameObject.transform)
                {
                    GameObject.Destroy(child.gameObject);
                }

                // Init components to stream
                List <QTMRealTimeSDK.Data.ComponentType> componentsToStream = new List <QTMRealTimeSDK.Data.ComponentType>();

                // Start 2D data stream and print to console
                if (print2DToConsole)
                {
                    Debug.Log("QTM: Starting to stream 2D data, printing to console.");
                    componentsToStream.Add(QTMRealTimeSDK.Data.ComponentType.Component2d);
                }

                // Start 3D data stream...
                if (print3DToConsole || render3D)
                {
                    Debug.Log("QTM: Starting to stream 3D data.");
                    componentsToStream.Add(QTMRealTimeSDK.Data.ComponentType.Component3dResidual);
                    // ...and print to console...
                    if (print3DToConsole)
                    {
                        Debug.Log("QTM: 3D data stream will print to console.");
                    }
                    // ...and/or render as balls
                    if (render3D)
                    {
                        Debug.Log("QTM: 3D data stream will render in world.");
                        rtProtocol.Get3dSettings();
                        balls = new GameObject[rtProtocol.Settings3D.Labels.Count];
                        for (int i = 0; i < balls.Length; i++)
                        {
                            balls[i] = GameObject.CreatePrimitive(PrimitiveType.Sphere);
                            balls[i].transform.parent     = mocapGameObject.transform;
                            balls[i].transform.localScale = new Vector3(0.03f, 0.03f, 0.03f);
                        }
                    }
                }

                // Start 6D data stream and render
                if (render6D)
                {
                    rtProtocol.Get6dSettings();
                    List <QTMRealTimeSDK.Settings.Settings6DOF> qtmBodies = rtProtocol.Settings6DOF.Bodies;
                    foreach (QTMRealTimeSDK.Settings.Settings6DOF body in qtmBodies)
                    {
                        Debug.LogFormat("QTM: Found 6DOF body: {0}", body.Name);
                    }
                    cubes = new GameObject[qtmBodies.Count];
                    for (int i = 0; i < cubes.Length; i++)
                    {
                        cubes[i] = GameObject.CreatePrimitive(PrimitiveType.Cube);
                        cubes[i].transform.parent     = mocapGameObject.transform;
                        cubes[i].transform.localScale = new Vector3(0.1f, 0.1f, 0.1f);
                    }
                    Debug.LogFormat("QTM: Starting to stream 6D data, rendering in world.");
                    componentsToStream.Add(QTMRealTimeSDK.Data.ComponentType.Component6dResidual);
                }
                rtProtocol.StreamFrames(StreamRate.RateFrequency, streamFrequency, componentsToStream);
            }
        }
    }