/// <summary>
/// Updates the camera list
/// </summary>
public static void UpdateCameraList()
{
if (APIRunning)
{
numberOfCameras = TrackingTools.CameraCount();
OptiTrackCamera camera = new OptiTrackCamera();
connectedCameraDetails = " Number of Cameras Connected: " + numberOfCameras + "\n";
double[] tempRotationMatrix = new double[9];
int j = 0;
for (int i = 0; i < numberOfCameras; i++)
{
camera.CameraNumber = i;
camera.CameraName = TrackingTools.CameraName(i);
camera.xCoordinate = TrackingTools.CameraLocationX(i) * 1000;
camera.yCoordinate = TrackingTools.CameraLocationY(i) * 1000;
camera.zCoordinate = TrackingTools.CameraLocationZ(i) * 1000;
connectedCameraDetails += " Camera : " + camera.CameraName + "\n";
j = 0;
for (j = 0; j < 9; j++)
{
tempRotationMatrix[j] = TrackingTools.CameraOrientation(i, j);
}
camera.RotationMatrix = tempRotationMatrix;
OptitrackCameraList.AddCamera(camera);
}
}
}
/// <summary>
/// Starts up the Tracking Tools API
/// </summary>
public static int Initialize()
{
int result = -1;
// Check that the Tracking Tools API .dll file exists then initialize
result = TrackingTools.Initialize();
if (result == 100)// Custom error code for DLL missing - shut down program
{
MessageBox.Show("NPTrackingTools.dll is missing", null, MessageBoxButtons.OK, MessageBoxIcon.Error);
Environment.Exit(1);
}
else
{
apiRunning = true;
UpdateCameraList();
if (result != 0)
{
// If the API failed to initialize correctly shutdown the api but keep the program running
Shutdown();
}
}
return(result);
}
/// <summary>
/// Loads the Tracking Tools Project (Calibration + Rigid Bodys etc)
/// Not very usefull as they can't be transfered between each new development build
/// </summary>
/// <param name="ProjectPath"></param>
public static int LoadProject(string ProjectPath)
{
int result = -1;
if (APIRunning)
{
result = TrackingTools.LoadProject(ProjectPath);
}
else
{
result = 101; // Custom error code for API not running
}
return(result);
}
/// <summary>
/// Loads the calibration file defined in CalibrationPath
/// </summary>
/// <param name="CalibrationPath">The .cal file Path</param>
public static int LoadCalibration(string CalibrationPath)
{
int result = -1;
if (APIRunning)
{
result = TrackingTools.LoadCalibration(CalibrationPath);
}
else
{
result = 101; // Custom error code for API not running
}
return(result);
}
/// <summary>
/// Returns the Trackable for the index specified
/// </summary>
/// <param name="TrackableIndex">The index of the trackable</param>
/// <returns>The result</returns>
public static Trackable GetTrackableLocation(int TrackableIndex)
{
Trackable trackable = new Trackable();
float x, y, z;
float qx, qy, qz, qw;
float yaw, pitch, roll;
GetTrackableLocation(TrackableIndex, out x, out y, out z, out qx, out qy, out qz, out qw, out yaw, out pitch, out roll);
trackable.xCoordinate = (int)(x * 1000); // Positive faceing the screen going right
trackable.yCoordinate = (int)(y * 1000); // Positive Up
trackable.zCoordinate = (int)(z * 1000); // Positive Towards the screen
trackable.Yaw = -Math.Round(yaw, 1); // invert yaw
trackable.Pitch = Math.Round(roll, 1); // Swap around pitch and roll
trackable.Roll = Math.Round(pitch, 1);
trackable.TimeStamp = System.DateTime.Now.Ticks;
trackable.ID = TrackableID(TrackableIndex);
trackable.Name = TT_TrackableName(TrackableIndex);
trackable.TrackableIndex = TrackableIndex;
trackable.QW = qw;
trackable.QX = qx;
trackable.QY = qy;
trackable.QZ = qz;
Marker trackableMarker = null;
trackable.TrackableMarkers = new List <Marker>();
// Build the rotation matrix
StroMoHab_Matrix.RotationMatrix rotationMatix = new StroMoHab_Matrix.RotationMatrix(Math.PI * trackable.Pitch / 180, Math.PI * trackable.Yaw / 180, Math.PI * trackable.Roll / 180);
//loop through and get all of the markers that are part of the trackable, apply the rotation matrix, and add them
for (int j = 0; j < TrackingTools.TrackableMarkerCount(TrackableIndex); j++)
{
trackableMarker = TrackingTools.TrackableMarker(TrackableIndex, j); // get the marker
// rotate the marker
StroMoHab_Matrix.PointMatrix newPointMatrix = StroMoHab_Matrix.Operations.Rotate(new StroMoHab_Matrix.PointMatrix(trackableMarker.xCoordinate, trackableMarker.yCoordinate, trackableMarker.zCoordinate), rotationMatix);
//get the new marker position
trackableMarker.xCoordinate = Math.Round(newPointMatrix.XCoordinate, 1);
trackableMarker.yCoordinate = Math.Round(newPointMatrix.YCoordinate, 1);
trackableMarker.zCoordinate = Math.Round(newPointMatrix.ZCoordinate, 1);
trackable.TrackableMarkers.Add(trackableMarker);
}
return(trackable);
}
/// <summary>
/// Turns an error code of type int into a string containing the error message
/// </summary>
/// <param name="errorCode"></param>
public static string GetErrorMessage(int errorCode)
{
string errorMessage = null;
switch (errorCode)
{
case 0: // Method worked
errorMessage = "Success";
break;
case 100: // Custom error when .dll is missing
errorMessage = "NPTrackingTools.dll is missing";
break;
case 101: // Custom error when API is not running
errorMessage = "Tracking Tools API is not running\n";
break;
case 102: //Timer is already running
errorMessage = "The update timer has already been started";
break;
case 2: //orveride missing file
errorMessage = "File not found - Have you imported the requiered settings?";
break;
case 11: // Overide Invalid licence error and add the list of cameras connected
errorMessage = "Invalid Licence - Usually the licenced camera isn't connected\n" + connectedCameraDetails;
break;
default: // Decode error message using Tracking Tools API as its not a custom error code
errorMessage = TrackingTools.GetResultString(errorCode);
break;
}
return(errorMessage);
}
/// <summary>
/// Updates the list of markers with lastest marker coordinates
/// </summary>
public static void UpdateCoordinates(bool updateMarker, bool updateTrackable)
{
if (APIRunning)
{
// Get the timestamp to apply to all markers and trackables
long timeStamp = System.DateTime.Now.Ticks;
try
{
if (TrackingTools.UpdateAll() == 0) // If it updates correctly
{
if (updateMarker)
{
int markerCount = TrackingTools.FrameMarkerCount();
Marker marker = new Marker();
for (int i = 0; i < markerCount; i++)
{
//Get the marker details from TrackingTools
marker.MarkerId = i;
marker.TimeStamp = timeStamp;
marker.xCoordinate = -(int)(TrackingTools.FrameMarkerX(i) * 1000);
marker.yCoordinate = (int)(TrackingTools.FrameMarkerY(i) * 1000);
marker.zCoordinate = (int)(TrackingTools.FrameMarkerZ(i) * 1000);
MarkerList.AddMarker(marker);
marker = new Marker();
}
MarkerList.RemoveExcessMarkersFromList(markerCount);
OnMarkerListAvaliable(MarkerList.listOfMarkers, timeStamp);
}
if (updateTrackable)
{
int trackableCount = TrackingTools.TrackableCount();
trackableList.Clear();
Trackable newTrackable = null;
// Go through the loaded trackables and if they are in the current frame
// add them to the trackableList
for (int i = 0; i < trackableCount; i++)
{
if (TrackingTools.IsTrackableTracked(i))
{
newTrackable = TrackingTools.GetTrackableLocation(i);
newTrackable.TimeStamp = timeStamp;
trackableList.Add(newTrackable);
}
}
OnTrackableListAvaliable(trackableList, timeStamp);
}
}
}
catch (AccessViolationException ex)
{
System.Diagnostics.Debug.WriteLine("Error With UpdateALL() " + ex + " Time Stamp : " + timeStamp);
}
catch (System.Runtime.InteropServices.SEHException ex)
{
System.Diagnostics.Debug.WriteLine("Error With UpdateALL() " + ex + " Time Stamp : " + timeStamp);
}
}
}
/// <summary>
/// Shuts down the API and driver threads - the application must now be re-started
/// </summary>
public static void FinalShutdown()
{
TrackingTools.FinalShutdown();
}
/// <summary>
/// Shuts down the Tracking Tools API - but doesn't shutdown the driver thread
/// </summary>
public static void Shutdown()
{
apiRunning = false;
TrackingTools.Shutdown();
}
