Discussion and Support for the OptiTrack, SmartNav and TrackIR brands by NaturalPoint
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Code: Select all
//========================================================================-----
//== OptiTrack WIN32 Sample Application
//== Copyright 20067 NaturalPoint
//==
//== This sample is intended to show how to properly access and control
//== OptiTrack cameras. The application does the following:
//==
//== 1. Initializes the OptiTrack COM Component.
//== 2. Displays information about all connected cameras.
//== 3. Starts the first camera in the system and displays ongoing info.
//== 4. Unintializes the OptiTrack cameras, COM, and terminates.
//== INCLUDES ============================================================-----
#include "stdafx.h"
#include <conio.h> //== For sample simplicity: kbhit()
//== NECESSARY OPTITRACK INCLUDES AND DEFINITIONS ========================-----
#include <objbase.h>
#include <atlbase.h>
#include "optitrack.h"
#import "optitrack.tlb"
//== SAMPLE APPLICATION ENTRY POINT ======================================-----
int _tmain(int argc, _TCHAR* argv[])
{
printf("OptiTrack WIN32 Sample Application ============================================\n");
printf("Copyright 2007 NaturalPoint =============================================------\n\n");
//== Initialize Microsoft COM Interop ================----
CoInitialize(NULL);
//== Initialize OptiTrack COM Component ==============----
CComPtr<INPCameraCollection> cameraCollection;
CComPtr<INPCamera> camera;
CComPtr<INPCameraFrame> frame;
cameraCollection.CoCreateInstance(CLSID_NPCameraCollection);
//== Enumerate (Identify) Available Cameras ==========----
cameraCollection->Enum();
long cameraCount = 0;
int frameCounter = 0;
VARIANT vOption;
vOption.boolVal = VARIANT_TRUE;
//== Determine Available Cameras =====================----
cameraCollection->get_Count(&cameraCount);
printf("%d Camera(s) Detected:\n\n", cameraCount);
//== Display Camera Information for All Cameras ======----
for(int index=0; index<cameraCount; index++)
{
cameraCollection->Item(index, &camera);
long serial,width,height,model,revision,rate;
camera->get_SerialNumber(&serial);
camera->get_Width (&width);
camera->get_Height (&height);
camera->get_Model (&model);
camera->get_Revision (&revision);
camera->get_FrameRate (&rate);
printf(" Camera %d\n",serial);
printf(" =========================\n");
printf(" Resolution: %dx%d\n",width,height);
printf(" Revision : 0x%8x\n",revision);
printf(" Model : 0x%8x\n",model);
printf(" Frame rate: %d\n\n" ,rate);
//== Always Clean-up COM Objects ================----
camera.Release();
}
//== Open the first camera ==========================----
if(cameraCount>0)
{
printf("\nPress Return To Exit\n\n");
cameraCollection->Item(0, &camera);
camera->Open();
camera->SetOption(NP_OPTION_STATUS_GREEN_ON_TRACKING, vOption);
camera->Start();
while(!_kbhit())
{
Sleep(50);
MSG msg;
if( PeekMessage( &msg, NULL, 0, 0, PM_NOREMOVE ) )
{
if(GetMessage( &msg, NULL, 0, 0 ) )
{
TranslateMessage(&msg);
DispatchMessage(&msg);
}
}
camera->GetFrame(5, &frame);
if (frame != NULL)
{
printf("*");
}
else
{
printf("0");
}
//frame->Free();
//frame.Release();
}
camera->Stop();
camera->Close();
camera.Release();
}
//== Always Clean-up COM Objects ================----
cameraCollection.Release();
//== Uninitialize Microsoft COM Interop =============----
CoUninitialize();
printf("Application Exit.\n");
getchar();
return 0;
}
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if (frame != NULL)
{
printf("*");
frame->Free();
frame.Release();
}
else
{
printf("0");
}
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// ____________________________________________________________________
//
// OUTPUT_XY
// X,Y Coordinate Output for a Single Object using the SmartNAV Camera
// ____________________________________________________________________
// ____________________________________________________________________
// Standard Includes and OptiTrack API Includes
#include "stdafx.h"
#include <tchar.h>
#include <conio.h>
#include <iostream>
#include <math.h>
#include <stdlib.h>
#include <string>
#include <objbase.h>
#include <atlbase.h>
#include "optitrack.h"
#import "optitrack.tlb"
using namespace std;
struct vDat
{
double yaw;
double pitch;
double roll;
double pointData [3][3];
};
void updateVectorInfo(INPCameraFrame *frame, struct vDat &vectorData);
CComPtr<INPCameraCollection> cameraCollection;
CComPtr<INPCamera> camera;
CComPtr<INPCameraFrame> frame;
CComPtr<INPVector2> pVector;
CComPtr<INPPoint> pPoint;
// ____________________________________________________________________
// Start program
int _tmain(int argc, _TCHAR* argv[])
{
printf("X,Y Coordinate Output for a Single Object (SmartNAV Camera)\n\n");
// ________________________________________________
// Start MS COM Library on thread
CoInitialize(NULL);
// ________________________________________________
// Initialize COM Objects for Camera, Frame, etc
cameraCollection.CoCreateInstance(CLSID_NPCameraCollection);
pVector.CoCreateInstance(CLSID_NPVector);
pPoint.CoCreateInstance(CLSID_NPPoint);
// ________________________________________________
// Enumerate all cameras on the system
cameraCollection->Enum();
long cameraCount = 0;
int frameCounter = 0;
VARIANT vOptionTrue;
vOptionTrue.boolVal = VARIANT_TRUE;
VARIANT vOptionFalse;
vOptionFalse.boolVal = VARIANT_FALSE;
// ________________________________________________
// Return number of cameras available
cameraCollection->get_Count(&cameraCount);
printf("%d Camera(s) Detected:\n\n", cameraCount);
// ________________________________________________
// Show camera information (assumed only 1 camera)
int index = 0;
cameraCollection->Item(index, &camera);
long serial,width,height,model,revision,rate;
camera->get_SerialNumber(&serial);
camera->get_Width (&width);
camera->get_Height (&height);
camera->get_Model (&model);
camera->get_Revision (&revision);
camera->get_FrameRate (&rate);
printf(" Camera %d\n",serial);
printf(" =========================\n");
printf(" Resolution: %dx%d\n",width,height);
printf(" Revision : 0x%8x\n",revision);
printf(" Model : 0x%8x\n",model);
printf(" Frame rate: %d\n\n" ,rate);
// ________________________________________________
// Release COM Object
camera.Release();
// ________________________________________________
// Prompt user to start aquisition
printf("\n\n Press any key to start aquisition");
printf("\n Press any key once aquisition has started to exit.\n\n");
_getch();
// ________________________________________________
// Open/Start Camera
if(cameraCount == 1)
{
// ________________________________________________
// Assign the first camera to the 'camera' COM object
cameraCollection->Item(0, &camera);
camera->Open();
camera->SetOption(NP_OPTION_STATUS_LED_ON_START, vOptionFalse);
camera->SetOption(NP_OPTION_STATUS_GREEN_ON_TRACKING, vOptionTrue);
camera->Start();
// ________________________________________________
// (Press any key to terminate program)
while(!_kbhit())
{
Sleep(50); //Delay between frame grabs
MSG msg;
if( PeekMessage( &msg, NULL, 0, 0, PM_NOREMOVE ) )
{
if(GetMessage( &msg, NULL, 0, 0 ) )
{
TranslateMessage(&msg);
DispatchMessage(&msg);
}
}
// ________________________________________________
// Get frame from camera
camera->GetFrame(INFINITE, &frame);
vDat vectorData;
int written = 0;
if (frame != NULL)
{
//Check if there is ONE object detected by camera
LONG oCount = 0;
frame->get_Count(&oCount);
if (oCount < 3)
{
cout << "\rToo few objects to create vector";
//Print out the coordinates
written = 1;
}
else if (oCount == 3)
{
updateVectorInfo(frame, vectorData);
cout << "\r3 objects in frame";
//printf("x=%.3f y=%.3f z=%.3f yaw=%.3f pitch=%.3f roll=%.3f \r",
//vx.dblVal, vy.dblVal, vz.dblVal, vyaw.dblVal, vpitch.dblVal, vroll.dblVal);
written = 1;
}
//Frames must be freed after processing ASAP
frame->Free();
frame.Release();
}
else
{
printf("\rToo many objects");
written = 1;
}
} //ends while (!kbhit())
// ________________________________________________
// Stop camera
camera->Stop();
camera->Close();
camera.Release();
}
// ________________________________________________
// Release COM Objects
cameraCollection.Release();
// ________________________________________________
// Uninitialize COM
CoUninitialize();
printf("\n\nApplication Exit.\n");
return 0;
}
void updateVectorInfo(INPCameraFrame * frame, struct vDat &vectorData)
{
CComVariant varYaw, varPitch, varRoll, varX, varY, varZ, varEmpty;
// Process the vector data
pVector->Update(camera, frame);
pVector->get_Yaw(&varYaw);
pVector->get_Pitch(&varPitch);
pVector->get_Roll(&varRoll);
// Assign vector data to struct
vectorData.yaw = varYaw.dblVal;
vectorData.pitch = varPitch.dblVal;
vectorData.roll = varRoll.dblVal;
// Get Point number 0 on the clip
pVector->GetPoint(0, &pPoint);
pPoint->get_X(&varX);
pPoint->get_Y(&varY);
pPoint->get_Z(&varZ);
vectorData.pointData[0][0] = varX.dblVal;
vectorData.pointData[0][1] = varY.dblVal;
vectorData.pointData[0][2] = varZ.dblVal;
pPoint.Release();
// Get Point number 1 on the clip
pVector->GetPoint(1, &pPoint);
pPoint->get_X(&varX);
pPoint->get_Y(&varY);
pPoint->get_Z(&varZ);
vectorData.pointData[1][0] = varX.dblVal;
vectorData.pointData[1][1] = varY.dblVal;
vectorData.pointData[1][2] = varZ.dblVal;
pPoint.Release();
// Get Point number 2 on the clip
pVector->GetPoint(1, &pPoint);
pPoint->get_X(&varX);
pPoint->get_Y(&varY);
pPoint->get_Z(&varZ);
vectorData.pointData[2][0] = varX.dblVal;
vectorData.pointData[2][1] = varY.dblVal;
vectorData.pointData[2][2] = varZ.dblVal;
pPoint.Release();
}