If anyone could help regarding an error code I get when I try to run the matlab sample script that'd be great.
I've tried it in both Matlab 2012a and 2013a and get the same error:
Here's the sample code that I'm running (the one that comes in the download of NatNet SDK 2.6):NatNet Sample Begin
[NatNet] Creating Client.
err =
NET.NetException
Package: NET
Properties:
ExceptionObject: [1x1 System.IO.FileNotFoundException]
identifier: 'MATLAB:NET:CLRException:AddAssembly'
message: [1x186 char]
cause: {}
stack: [1x1 struct]
Methods, Superclasses
Undefined function or variable "TimerData".
Error in NatNetMatlabSample (line 109)
stop(TimerData);
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 = true; % 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','lib','x64','NatNetML.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('239.255.42.99');
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);
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
any help would be much appreciated,
Thanks,
James