Commit 1415958c authored by Florian Pausch's avatar Florian Pausch

Minor changes

parent 857c660a
...@@ -295,8 +295,9 @@ classdef itaOptitrack < handle ...@@ -295,8 +295,9 @@ classdef itaOptitrack < handle
numFrames = []; % number of frames of tracking data to be saved according to recTime (only for recMethod 1) [double] numFrames = []; % number of frames of tracking data to be saved according to recTime (only for recMethod 1) [double]
rigidBodyLogData = []; % logged tracking data rigidBodyLogData = []; % logged tracking data
calibPenOffset = 0.12; % vector norm in meters measured from the volume center point of the marker set to the tip of the calibration pen [double] calibPenOffset = 0.12; % vector norm in meters measured from the volume center point of the marker set to the tip of the calibration pen [double]
measRodOffset = 1.045; % vector norm in meters measured from the volume center point of the marker set to the tip of the measurement rod [double] measRodOffset = 1.045; % vector norm in meters measured from the volume center point of the marker set to the tip of the measurement rod [double]
% Note: Marker set / rigid body of measurement rod must be named 'MeasRod' in Motive % Note: Marker set / rigid body of measurement rod must be named 'MeasRod' and oriented towards positive
% y-axis when creating the rigid body in Motive
% rigidBodyLogDataMLF = []; % logged tracking data decoded from MLF % rigidBodyLogDataMLF = []; % logged tracking data decoded from MLF
end end
...@@ -388,7 +389,6 @@ classdef itaOptitrack < handle ...@@ -388,7 +389,6 @@ classdef itaOptitrack < handle
%% DESTRUCTOR %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% DESTRUCTOR %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function destroy(Optitrack_obj) function destroy(Optitrack_obj)
delete(Optitrack_obj);
error('[itaOptitrack] Method deprecated. Please use .delete.'); error('[itaOptitrack] Method deprecated. Please use .delete.');
end end
function delete(Optitrack_obj) function delete(Optitrack_obj)
......
...@@ -40,7 +40,7 @@ for idx=1:this.numRigidBodies ...@@ -40,7 +40,7 @@ for idx=1:this.numRigidBodies
xlabel('Time in [sec]') xlabel('Time in [sec]')
ylabel('Orientation in [deg]') ylabel('Orientation in [deg]')
grid on grid on
axis tight axis square
% plot time cursor % plot time cursor
minvalOri = min([this.data(idx).orientation.roll_deg; this.data(idx).orientation.pitch_deg; this.data(idx).orientation.yaw_deg]); minvalOri = min([this.data(idx).orientation.roll_deg; this.data(idx).orientation.pitch_deg; this.data(idx).orientation.yaw_deg]);
...@@ -61,11 +61,11 @@ for idx=1:this.numRigidBodies ...@@ -61,11 +61,11 @@ for idx=1:this.numRigidBodies
s=surface(x,y,z,'FaceColor', 'none','EdgeColor',lightGrey); s=surface(x,y,z,'FaceColor', 'none','EdgeColor',lightGrey);
alpha(s,0.3) alpha(s,0.3)
hold on hold on
axis([-r r -r r -r r]) axis([-r r -r r -r r])
view([-1 1 1]) view([-1 1 1])
% zoom(1.1) axis vis3d
hold on hold on
qFig1(idx)=quiver3(0,0,0,vu(1,1,idx),vu(1,3,idx),vu(1,2,idx),'color','r','maxheadsize',.5,'linewidth',5); qFig1(idx)=quiver3(0,0,0,vu(1,1,idx),vu(1,3,idx),vu(1,2,idx),'color','r','maxheadsize',.5,'linewidth',5);
...@@ -87,8 +87,7 @@ for idx=1:this.numRigidBodies ...@@ -87,8 +87,7 @@ for idx=1:this.numRigidBodies
xlabel('Time in [sec]') xlabel('Time in [sec]')
ylabel('Position in [m]') ylabel('Position in [m]')
grid on grid on
legend('X','Y','Z') axis square
axis tight
% plot time cursor % plot time cursor
xmin=min(this.data(idx).position.x); xmax=max(this.data(idx).position.x); xmin=min(this.data(idx).position.x); xmax=max(this.data(idx).position.x);
...@@ -97,6 +96,7 @@ for idx=1:this.numRigidBodies ...@@ -97,6 +96,7 @@ for idx=1:this.numRigidBodies
minvalPos = min([xmin;ymin;zmin]); minvalPos = min([xmin;ymin;zmin]);
maxvalPos = max([xmax;ymax;zmax]); maxvalPos = max([xmax;ymax;zmax]);
hl2(idx) = line([0 0],[minvalPos maxvalPos],'color',[.5 .5 .5]); hl2(idx) = line([0 0],[minvalPos maxvalPos],'color',[.5 .5 .5]);
legend('Roll','Pitch','Yaw','Current Time Frame')
% initial position animation % initial position animation
subplot(this.numRigidBodies,numColumns,numColumns*(idx-1)+4); subplot(this.numRigidBodies,numColumns,numColumns*(idx-1)+4);
...@@ -110,6 +110,7 @@ for idx=1:this.numRigidBodies ...@@ -110,6 +110,7 @@ for idx=1:this.numRigidBodies
pFigt4(idx)=text(xmin-0.25,ymin,zmin-0.25,sprintf('y=%.3f m',round(this.data(idx).position.y(1)*1000)/1000)); pFigt4(idx)=text(xmin-0.25,ymin,zmin-0.25,sprintf('y=%.3f m',round(this.data(idx).position.y(1)*1000)/1000));
xlabel('x') xlabel('x')
zlabel('z') zlabel('z')
axis square
end end
......
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