Streaming data TrackingTools with Matlab Sample

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Stefano
Posts: 5
Joined: Mon Nov 11, 2013 5:54 am

Streaming data TrackingTools with Matlab Sample

Post by Stefano » Mon Nov 11, 2013 6:27 am

I tried to stream the coordinates of an object with NatNetSDK2.5 and MATLAB R2012b.
At first I calibbrated the cameras in TrackingTools and enabled streaming in the application. TrackingTools shows me then the coordinates of the object.
Then I startet the MATLAB Sample which I attached to this post. I followed the instructions of the user guide, but it's still not working :| . I receive always following error message in MATLAB:

>> NatNetMatlabSample
NatNet Sample Begin
[NatNet] Creating Client.
[NatNet] Client Version : 2.5.0.0
[NatNet] Connecting to OptiTrack Server.
[NatNet] Initialization Succeeded
[NatNet] Tracking Models : 2

Rigid Body : Trackable 1
MarkerSet : Trackable 1

Rigid Body : Trackable 1 (ID=1, ParentID=-1)

Markerset : Trackable 1 (6 markers)
Marker : Marker 0 (ID=1)
Marker : Marker 1 (ID=2)
Marker : Marker 2 (ID=3)
Marker : Marker 3 (ID=4)
Marker : Marker 4 (ID=5)
Marker : Marker 5 (ID=6)
[NatNet] FrameReady Listener added.

err =

MException

Properties:
identifier: 'MATLAB:UndefinedFunction'
message: [1x83 char]
cause: {}
stack: [4x1 struct]
-----------------------------------------------------------------------------------------------
Can anybody please help me with this?

Here is the MATLAB Code i used to stream the data:

Code: Select all

% Optitrack Matlab / NatNet Sample
% 
%  Requirements:
%   - OptiTrack Motive 1.5 or later
%   - OptiTrack NatNet 2.5 or later
%   - Matlab R2013
%

function NatNetMatlabSample()

    display('NatNet Sample Begin')
    
    global frameRate;
    lastFrameTime = -1.0;
    lastFrameID = -1.0;
    usePollingLoop = false;         % approach 1 : poll for mocap data in a tight loop using GetLastFrameOfData
    usePollingTimer = false;        % approach 2 : poll using a Matlab timer callback ( better for UI based apps )
    useFrameReadyEvent = true;      % approach 3 : use event callback from NatNet (no polling)
    useUI = true;

    persistent arr;
    % Open figure
    if(useUI)
        hFigure = figure('Name','OptiTrack NatNet Matlab Sample','NumberTitle','off');
    end

    try
        % Add NatNet .NET assembly so that Matlab can access its methods, delegates, etc.
        % Note : The NatNetML.DLL assembly depends on NatNet.dll, so make sure they
        % are both in the same folder and/or path if you move them.
        display('[NatNet] Creating Client.')
        % TODO : update the path to your NatNetML.DLL file here
        %dllPath = fullfile('c:','NatNetSDK2.5','Samples','bin','NatNetML.dll');
        dllPath = fullfile('c:','NatNetSDK2.5','lib','x64','NatNetML.dll');
        %dllPath = fullfile('c:','NaturalPoint Trackd Module','naturalpointtracker.dll');
        assemblyInfo = NET.addAssembly(dllPath);

        % Create an instance of a NatNet client
        theClient = NatNetML.NatNetClientML(0); % Input = iConnectionType: 0 = Multicast, 1 = Unicast
        version = theClient.NatNetVersion();
        fprintf( '[NatNet] Client Version : %d.%d.%d.%d\n', version(1), version(2), version(3), version(4) );

        % Connect to an OptiTrack server (e.g. Motive)
        display('[NatNet] Connecting to OptiTrack Server.')
        hst = java.net.InetAddress.getLocalHost;
        %HostIP = char(hst.getHostAddress);
        HostIP = char('192.168.84.158');%239.255.42.99/////192.168.84.158
        flg = theClient.Initialize(HostIP, HostIP); % Flg = returnCode: 0 = Success
        if (flg == 0)
            display('[NatNet] Initialization Succeeded')
        else
            display('[NatNet] Initialization Failed')
        end
        
        % print out a list of the active tracking Models in Motive
        GetDataDescriptions(theClient)
        
        % Test - send command/request to Motive
        [byteArray, retCode] = theClient.SendMessageAndWait('FrameRate');
        if(retCode ==0)
            byteArray = uint8(byteArray);
            frameRate = typecast(byteArray,'single');
        end
        
        % get the mocap data
        if(usePollingTimer)
            % approach 2 : poll using a Matlab timer callback ( better for UI based apps )
            framePerSecond = 200;   % timer frequency
            TimerData = timer('TimerFcn', {@TimerCallback,theClient},'Period',1/framePerSecond,'ExecutionMode','fixedRate','BusyMode','drop');
            start(TimerData);
            % wait until figure is closed
            uiwait(hFigure);
        else
            if(usePollingLoop)
                % approach 1 : get data by polling - just grab 5 secs worth of data in a tight loop
                for idx = 1 : 1000   
                   % Note: sleep() accepts [mSecs] duration, but does not process any events.
                   % pause() processes events, but resolution on windows can be at worst 15 msecs
                   java.lang.Thread.sleep(5);  

                    % Poll for latest frame instead of using event callback
                    data = theClient.GetLastFrameOfData();
                    frameTime = data.fLatency;
                    frameID = data.iFrame;
                    if(frameTime ~= lastFrameTime)
                        fprintf('FrameTime: %0.3f\tFrameID: %5d\n',frameTime, frameID);
                        lastFrameTime = frameTime;
                        lastFrameID = frameID;
                    else
                        display('Duplicate frame');
                    end
                 end
            else
                % approach 3 : get data by event handler (no polling)
                % Add NatNet FrameReady event handler
                ls = addlistener(theClient,'OnFrameReady2',@(src,event)FrameReadyCallback(src,event));
                display('[NatNet] FrameReady Listener added.');
                % wait until figure is closed
                uiwait(hFigure);
            end
        end

    catch err
        display(err);%plot der Fehlermeldung
    end

    % cleanup
    if(usePollingTimer)
        stop(TimerData);
        delete(TimerData);
    end
    theClient.Uninitialize();
    if(useFrameReadyEvent)
        if(~isempty(ls))
            delete(ls);
        end
    end
    clear functions;

    display('NatNet Sample End')
    
end

% Test : process data in a Matlab Timer callback
function TimerCallback(obj, event, theClient)

    frameOfData = theClient.GetLastFrameOfData();
    UpdateUI( frameOfData );
    
end

% Test : Process data in a NatNet FrameReady Event listener callback
function FrameReadyCallback(src, event)
    
    frameOfData = event.data;
    UpdateUI( frameOfData );
    
end

% Update a Matlab Plot with values from a single frame of mocap data
function UpdateUI( frameOfData )

    persistent lastFrameTime;
    persistent lastFrameID;
    persistent hX;
    persistent hY;
    persistent hZ;
    persistent arrayIndex;
    persistent frameVals;
    persistent xVals;
    persistent yVals;
    persistent zVals;
    persistent bufferModulo;

    global frameRate;
    
    % first time - generate an array and a plot
    if isempty(hX)
        % initialize statics
        bufferModulo = 256;
        frameVals = 1:255;
        xVals = zeros([1,255]);
        yVals = zeros([1,255]);
        zVals = zeros([1,255]);
        arrayIndex = 1;
        lastFrameTime = frameOfData.fLatency;
        lastFrameID = frameOfData.iFrame;
       
        % create plot
        hX = plot(frameVals, xVals, 'color', 'r');
        hold on;
        hY = plot(frameVals, yVals, 'color', 'g');
        hZ = plot(frameVals, zVals, 'color', 'b');
        title('Mocap Angle Plot');
        xlabel('Frame number');
        ylabel('Angle (degrees)');
        set(gca,'YLim',[-180 180]);    
        set(gca,'XGrid','on','YGrid','on');
    end

    % calculate the frame increment based on mocap frame's timestamp
    % in general this should be monotonically increasing according
    % To the mocap framerate, however frames are not guaranteed delivery
    % so to be accurate we test and report frame drop or duplication
    newFrame = true;
    droppedFrames = false;
    frameTime = frameOfData.fLatency;
    frameID = frameOfData.iFrame;
    calcFrameInc = round( (frameTime - lastFrameTime) * frameRate );
    % clamp it to a circular buffer of 255 frames
    arrayIndex = mod(arrayIndex + calcFrameInc, bufferModulo);
    if(arrayIndex==0)
        arrayIndex = 1;
    end
    if(calcFrameInc > 1)
        % debug
        % fprintf('\nDropped Frame(s) : %d\n\tLastTime : %.3f\n\tThisTime : %.3f\n', calcFrameInc-1, lastFrameTime, frameTime);
        droppedFrames = true;
    elseif(calcFrameInc == 0)
        % debug
        % display('Duplicate Frame')      
        newFrame = false;
    end
    
    % debug
    % fprintf('FrameTime: %0.3f\tFrameID: %d\n',frameTime, frameID);
    
    try
        if(newFrame)
            if(frameOfData.RigidBodies.Length() > 0)

                rigidBodyData = frameOfData.RigidBodies(1);

                % Test : Marker Y Position Data
                % angleY = data.LabeledMarkers(1).y;

                % Test : Rigid Body Y Position Data
                % angleY = rigidBodyData.y;

                % Test : Rigid Body 'Yaw'
                % Note : Motive display euler's is X (Pitch), Y (Yaw), Z (Roll), Right-Handed (RHS), Relative Axes
                % so we decode eulers heres to match that.
                q = quaternion( rigidBodyData.qx, rigidBodyData.qy, rigidBodyData.qz, rigidBodyData.qw );
                qRot = quaternion( 0, 0, 0, 1);     % rotate pitch 180 to avoid 180/-180 flip for nicer graphing
                q = mtimes(q, qRot);
                angles = EulerAngles(q,'zyx');
                angleX = -angles(1) * 180.0 / pi;   % must invert due to 180 flip above
                angleY = angles(2) * 180.0 / pi;
                angleZ = -angles(3) * 180.0 / pi;   % must invert due to 180 flip above
                           
                if(droppedFrames)
                    for i = 1 : calcFrameInc
                        fillIndex = arrayIndex - i;
                        if(fillIndex < 1)
                            fillIndex = bufferModulo-(abs(fillIndex)+1);
                        end
                        xVals(fillIndex) = angleX;  
                        yVals(fillIndex) = angleY;  
                        zVals(fillIndex) = angleZ;  
                    end
                end

                % update the array/plot for this frame
                xVals(arrayIndex) = angleX;  
                yVals(arrayIndex) = angleY;  
                zVals(arrayIndex) = angleZ;  
                set(hX, 'YData', xVals);
                set(hY, 'YData', yVals);
                set(hZ, 'YData', zVals);

           end
        end
    catch err
        display(err);
    end
    
    lastFrameTime = frameTime;
    lastFrameID = frameID;

end

% Print out a description of actively tracked models from Motive
function GetDataDescriptions( theClient )

    dataDescriptions = theClient.GetDataDescriptions();
    
    % print out 
    fprintf('[NatNet] Tracking Models : %d\n\n', dataDescriptions.Count);
    for idx = 1 : dataDescriptions.Count
        descriptor = dataDescriptions.Item(idx-1);
        if(descriptor.type == 0)
            fprintf('\tMarkerSet \t: ');
        elseif(descriptor.type == 1)
            fprintf('\tRigid Body \t: ');                
        elseif(descriptor.type == 2)
            fprintf('\tSkeleton \t: ');               
        else
            fprintf('\tUnknown data type : ');               
        end
        fprintf('%s\n', char(descriptor.Name));
    end

    for idx = 1 : dataDescriptions.Count
        descriptor = dataDescriptions.Item(idx-1);
        if(descriptor.type == 0)
            fprintf('\n\tMarkerset : %s\t(%d markers)\n', char(descriptor.Name), descriptor.nMarkers);
            markerNames = descriptor.MarkerNames;
            for markerIndex = 1 : descriptor.nMarkers
                name = markerNames(markerIndex);
                fprintf('\t\tMarker : %-20s\t(ID=%d)\n', char(name), markerIndex);             
            end
        elseif(descriptor.type == 1)
            fprintf('\n\tRigid Body : %s\t\t(ID=%d, ParentID=%d)\n', char(descriptor.Name),descriptor.ID,descriptor.parentID);
        elseif(descriptor.type == 2)
            fprintf('\n\tSkeleton : %s\t(%d bones)\n', char(descriptor.Name), descriptor.nRigidBodies);
            %fprintf('\t\tID : %d\n', descriptor.ID);
            rigidBodies = descriptor.RigidBodies;
            for boneIndex = 1 : descriptor.nRigidBodies
                rigidBody = rigidBodies(boneIndex);
                fprintf('\t\tBone : %-20s\t(ID=%d, ParentID=%d)\n', char(rigidBody.Name), rigidBody.ID, rigidBody.parentID);
            end               
        end
    end

end

morgan
NaturalPoint Employee
NaturalPoint Employee
Posts: 200
Joined: Tue Jun 24, 2008 2:01 pm
Location: Corvallis, OR, USA
Contact:

Re: Streaming data TrackingTools with Matlab Sample

Post by morgan » Wed Nov 20, 2013 3:13 pm

Hi Stefano,

The NatNet MATLAB example has been tested against MATLAB 2013b.

Is it possible the version of MATLAB you are using does not support a particular .NET call?

Morgan

Stefano
Posts: 5
Joined: Mon Nov 11, 2013 5:54 am

Re: Streaming data TrackingTools with Matlab Sample

Post by Stefano » Fri Nov 22, 2013 4:34 am

Hi Morgan,

I'm using Matlab R2012b at the moment.
Trying to get Matlab R2013b today.
Is the difference between these two versions the reason why it's not working?
Did Matlab 2012b not support a .NET call?

Stefan

morgan
NaturalPoint Employee
NaturalPoint Employee
Posts: 200
Joined: Tue Jun 24, 2008 2:01 pm
Location: Corvallis, OR, USA
Contact:

Re: Streaming data TrackingTools with Matlab Sample

Post by morgan » Tue Nov 26, 2013 12:16 pm

Hey Stefan,

It's possible 2013b added .NET function signatures not supported in 2012. We don't have MATLAB 2012 in house so it is difficult for us to test.

I would try commenting out the offending code, or if possible try 2013b. Let us know and we can work forward from there finding a 2012 compatible solution.

Also note - using the MATLAB .NET solution is only one approach. If you are comfortable with MATLAB scripting you could decide the NatNat UDP packets directly in Matlab. The NatNet SDK includes a direct depacketization sample that illustrates how to do this (albeit in C).

Alternatively - you could wrap a NatNet client app into a C-callbable DLL from MATLAB.

Morgan

Stefano
Posts: 5
Joined: Mon Nov 11, 2013 5:54 am

Re: Streaming data TrackingTools with Matlab Sample

Post by Stefano » Wed Dec 04, 2013 6:27 am

Hi,

after almost two weeks, I received Matlab 2013b from my supervisor.
The Matlab sample is working with it.
Didn't expect the Version of 2012 is the reason for my problem.

Thank you for your help.

morgan
NaturalPoint Employee
NaturalPoint Employee
Posts: 200
Joined: Tue Jun 24, 2008 2:01 pm
Location: Corvallis, OR, USA
Contact:

Re: Streaming data TrackingTools with Matlab Sample

Post by morgan » Tue Dec 10, 2013 3:17 pm

Hi Stefano,

Thank you for updating your post with the solution. We've updated our docs to reflect the compatibility issue, and are checking with the MATLAB folks to see what changed.

ajain
Posts: 2
Joined: Thu Mar 20, 2014 1:31 pm

Re: Streaming data TrackingTools with Matlab Sample

Post by ajain » Thu Mar 20, 2014 2:02 pm

I am using the same code for streaming data from TrackingTools into MATLAB R2013b. I am getting the following error message:
Attempt to call constructor figure with incorrect letter case.

Error in NatNetMatlabSample (line 25)
hFigure = figure('Name','OptiTrack NatNet Matlab Sample','NumberTitle','off');

morgan
NaturalPoint Employee
NaturalPoint Employee
Posts: 200
Joined: Tue Jun 24, 2008 2:01 pm
Location: Corvallis, OR, USA
Contact:

Re: Streaming data TrackingTools with Matlab Sample

Post by morgan » Fri Mar 21, 2014 10:24 am

The MATLAB error suggests possibly a namespace collision (a duplicate figure with the same name?). Do you have other figures in your code, or other objects with the same name?

I would try creating a figure with the default parameters - the optional params in the example are not required.

Morgan

ajain
Posts: 2
Joined: Thu Mar 20, 2014 1:31 pm

Re: Streaming data TrackingTools with Matlab Sample

Post by ajain » Tue Mar 25, 2014 8:05 am

Hi,
Thanks for your reply. I was able to remove that error, apparently there was some other function in my computer which was shadowing the figure function. But i am still getting this error message:

err =

NetException with properties:

ExceptionObject: [1x1 System.IO.FileNotFoundException]
identifier: [1x35 char]
message: [1x186 char]
cause: {}
stack: [1x1 struct]

Undefined variable theClient.

Error in NatNetMatlabSample (line 111)
theClient.Uninitialize();

I guess there is some problem in loading the library. Could you please help?

Thank you

morgan
NaturalPoint Employee
NaturalPoint Employee
Posts: 200
Joined: Tue Jun 24, 2008 2:01 pm
Location: Corvallis, OR, USA
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Re: Streaming data TrackingTools with Matlab Sample

Post by morgan » Tue Mar 25, 2014 11:07 am

I would check this line in the sample:

% TODO : update the path to your NatNetML.DLL file here
dllPath = fullfile('c:','NatNetSDK2.5','lib','x64','NatNetML.dll');

and confirm the path you are loading the NatNetML.dll file is correct.

morgan

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