diff --git a/applications/Hardware/Tracking/Optitrack/@itaOptitrack/itaOptitrack.m b/applications/Hardware/Tracking/Optitrack/@itaOptitrack/itaOptitrack.m index 3cb6af572587af2b1283b9480e72335a51a17f24..7a1b318a206302a4bc9aa7546b5b15c4bdcc33c7 100644 --- a/applications/Hardware/Tracking/Optitrack/@itaOptitrack/itaOptitrack.m +++ b/applications/Hardware/Tracking/Optitrack/@itaOptitrack/itaOptitrack.m @@ -1,5 +1,4 @@ classdef itaOptitrack < handle - % class itaOptitrack % % Constructs an itaOptitrack object to communicate with a NatNet server @@ -28,7 +27,7 @@ classdef itaOptitrack < handle % default command port is '1510' (and can be changed % in Motive's Advanced Network options) [string]. % - % Destructor: Optitrack_obj.destroy(): + % Destructor: Optitrack_obj.delete(): % Delete Optitrack_obj. % % To establish a connection to a NatNet server application on 'localhost', @@ -71,29 +70,29 @@ classdef itaOptitrack < handle % 'savePath' path to save file containing logged data [string] % 'saveName' name of file containing logged data [string] % - % Contents of Optitrack_obj.info [struct]: - % .CaptureStartTime start time of data logging [string] - % .NatNetVersion version of used NatNet SDK [string] - % .TakeName name of recording take (if specified - % during .startLogging) [string] - % .CaptureFrameRate tracker rate in Hz [double] - % .TotalFrames number of recorded frames [double] - % .CoordinateSpace used coordinate space [string] + % Optitrack_obj.info [struct] contains: + % .CaptureStartTime start time of data logging [string] + % .NatNetVersion version of used NatNet SDK [string] + % .TakeName name of recording take (if specified + % during .startLogging) [string] + % .CaptureFrameRate tracker rate in Hz [double] + % .TotalFrames number of recorded frames [double] + % .CoordinateSpace used coordinate space [string] % - % Contents of Optitrack_obj.data [1 x numRigidBodies struct]: - % .frameID IDs of all tracked frames [numFrames x 1 double] - % .frameTime time stamps of all tracked frames [numFrames x 1 double] - % .rigigBodyID ID of rigid body [double] - % .rigidBodyName name of rigid body [string] - % .position position of rigid body [itaCoordinates with numFrames points] - % .orientation position of rigid body [itaOrientation with numFrames points] - % .meanError mean error of marker distances between the rigid body definition - % and the tracked rigid body [numFrames x 1 double] - % .isTracked tracked/un-tracked [numFrames x 1 logical] - % .nMarkers number of markers associated with rigid body [1 x 1 double] - % .droppedFrameID IDs of dropped frames [numDroppedFrames x 1 double] - % .droppedFrameTime time stamps of dropped frames [numDroppedFrames x 1 double] - % .calibratedData data is adjusted by offset vector calculated during .calibrate (only for first rigid body) [logical] + % Optitrack_obj.data [1 x numRigidBodies struct] contains: + % .frameID IDs of all tracked frames [numFrames x 1 double] + % .frameTime time stamps of all tracked frames [numFrames x 1 double] + % .rigigBodyID ID of rigid body [double] + % .rigidBodyName name of rigid body [string] + % .position position of rigid body [itaCoordinates with numFrames points] + % .orientation position of rigid body [itaOrientation with numFrames points] + % .meanError mean error of marker distances between the rigid body definition + % and the tracked rigid body [numFrames x 1 double] + % .isTracked tracked/un-tracked [numFrames x 1 logical] + % .nMarkers number of markers associated with rigid body [1 x 1 double] + % .droppedFrameID IDs of dropped frames [numDroppedFrames x 1 double] + % .droppedFrameTime time stamps of dropped frames [numDroppedFrames x 1 double] + % .calibratedData data is adjusted by offset vector calculated during .calibrate (only for first rigid body) [logical] % % Optitrack_obj.stopLogging(options) % Stop logging tracker data @@ -102,13 +101,16 @@ classdef itaOptitrack < handle % Plot routine to visualize position and orientation over time % 'stepSize' only display every stepSize frame % (default: 7) [double] + % + % Note: Use the function ita_plot_itaOptitrack_data for plotting + % stored logging data after using .startLogging and 'autoSave'. % % Optitrack_obj.calibrate(options) % Calculate offset of a head-mounted rigid body to the center % of the interaural axis (procedure description: see below). % 'useCalibration' apply calibration data in % consecutive measurements (optional, default: [], user will be asked) [logical] - % 'calibPenOffset' calibration pen: vector norm in meters measured from the volume centre point + % 'calibPenOffset' calibration pen: vector norm in meters measured from the volume center point % of the marker set to the tip of the calibration pen [double] % 'countdownDuration' duration of countdown in seconds during calibration procedure [double] % 'savePathCalibration' path to save Optitrack_obj.dataCalibration / .infoCalibration @@ -121,11 +123,28 @@ classdef itaOptitrack < handle % 'loadPathCalibration' path to Optitrack_obj.calibrationData .mat file to be loaded [string] % 'loadNameCalibration' file name of .mat file to be loaded [string] % - % Optitrack_obj.dataCalibration contains calibration data measured during .calibrate - % Optitrack_obj.infoCalibration contains info about the calibration data. + % Optitrack_obj.dataCalibration (calibration data as measured during .calibrate) + % .head position (itaCoordinates) and orientation (itaOrientation) + % of head-mounted marker set + % .leftPenTip position (itaCoordinates) and orientation (itaOrientation) + % of offset-corrected left pen marker set + % .rightPenTip position (itaCoordinates in [m]) and orientation (itaOrientation) + % of offset-corrected right pen marker set + % .headToLeftPenTip vector norm measured from the volume center point + % of the head-mounted marker set to the offset-corrected tip of the + % left calibration pen (itaCoordinates) + % .headToRightPenTip vector norm measured from the volume center point + % of the head-mounted marker set to the offset-corrected tip of the + % right calibration pen (itaCoordinates) + % .headToEarAxisCenter vector norm measured from the volume center point + % of the head-mounted marker set to the center of the + % line connecting the tips of the calibration pens + % (e.g., ear axis midpoint) (itaCoordinates) + % + % Optitrack_obj.infoCalibration contains information about the calibration data (see .dataCalibration) % - % The following useful commands are available to communicate with Optitrack's Motive - % software via Matlab/NatNet (see p.14 of NatNet User's Guide) + % The following useful commands are available to communicate with Optitrack's software Motive + % via Matlab/NatNet (see p.14 of NatNet's User Guide) % % Syntax: % Optitrack_obj.theClient.SendMessageAndWait(', ') @@ -152,7 +171,7 @@ classdef itaOptitrack < handle % Optitrack_obj.connect('ip','127.0.0.1') % Optitrack_obj.startLogging('recMethod',0,'recTime',0.5) % Optitrack_obj.disconnect(); - % Optitrack_obj.destroy(); + % Optitrack_obj.delete(); % % Example 2: create+autoconnect (without given host IP), log tracking % data (recMethod 1), destroy @@ -160,7 +179,7 @@ classdef itaOptitrack < handle % Optitrack_obj.startLogging('recMethod',1,'savePath',pwd,'saveName','testtake') % java.util.concurrent.locks.LockSupport.parkNanos(0.5*10^9); % Optitrack_obj.stopLogging - % Optitrack_obj.destroy(); + % Optitrack_obj.delete(); % % Example 3: create+autoconnect (with given host IP), set take name, % start/stop logging ~0.5s of tracking data in Motive, destroy @@ -169,7 +188,7 @@ classdef itaOptitrack < handle % Optitrack_obj.theClient.SendMessageAndWait('StartRecording'); % java.util.concurrent.locks.LockSupport.parkNanos(0.5*10^9); % Optitrack_obj.theClient.SendMessageAndWait('StopRecording'); - % Optitrack_obj.destroy(); + % Optitrack_obj.delete(); % % Optitrack_obj.calibrate: Description of the calibration procedure % This calibration method relies on 3 rigid bodies (define in Motive): @@ -188,7 +207,7 @@ classdef itaOptitrack < handle % 2) A dialog window with countdown appears. You now have % Optitrack_obj.countdownDuration seconds to place the two tips % of the calibration pens at the user's ear entrances of each ear. - % The vector norm in meters measured from the volume centre point + % The vector norm in meters measured from the volume center point % of the calibration pen's marker set to the tip of the calibration % pen (default: 0.12 m) is already included in this procedure. % @@ -207,6 +226,7 @@ classdef itaOptitrack < handle % % See also: itaOrientation, itaCoordinates, quaternion, ita_quat2rpy, % ita_quat2vu, ita_rpy2quat, ita_rpy2vu, ita_vu2quat, ita_vu2rpy + % ita_plot_itaOptitrack_data properties (Constant, Hidden) stopped = 0; @@ -271,7 +291,7 @@ classdef itaOptitrack < handle lastFrameID = []; % most recent frame of data ID numFrames = []; % number of frames of tracking data to be saved according to recTime (only for recMethod 1) rigidBodyLogData = []; % logged tracking data - calibPenOffset = 0.12; % vector norm in meters measured from the volume centre 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] % rigidBodyLogDataMLF = []; % logged tracking data decoded from MLF end @@ -363,7 +383,7 @@ classdef itaOptitrack < handle %% DESTRUCTOR %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% function destroy(Optitrack_obj) delete(Optitrack_obj); - warning('[itaOptitrack] Method .destroy will be changed to Method .delete in future versions'); + error('[itaOptitrack] Method deprecated. Please use .delete.'); end function delete(Optitrack_obj) % delete Optitrack_obj (invalid handle remains -> clear('Optitrack_obj')) @@ -380,7 +400,7 @@ classdef itaOptitrack < handle %% function connect(Optitrack_obj, varargin) % connect to a NatNet server application (optionally pass host ip address [string]) - if Optitrack_obj.isConnected == false; + if Optitrack_obj.isConnected == false % parse input arguments sArgs = struct('ip',Optitrack_obj.ip,'port',Optitrack_obj.port); @@ -703,7 +723,7 @@ classdef itaOptitrack < handle for idx = 1:Optitrack_obj.numRigidBodies %TODO: implement without for loop if idx==1 tmpNatNetVersion = num2str(int32(Optitrack_obj.theClient.NatNetVersion)); - Optitrack_obj.info.NatNetVersion = strrep(tmpNatNetVersion, ' ', '.'); + Optitrack_obj.info.NatNetVersion = strrep(tmpNatNetVersion, ' ', '.'); Optitrack_obj.info.TakeName = Optitrack_obj.saveName; Optitrack_obj.info.CaptureFrameRate = Optitrack_obj.frameRate; Optitrack_obj.info.TotalFrames = numel(Optitrack_obj.rigidBodyLogData.data(:,1,1)); @@ -776,11 +796,11 @@ classdef itaOptitrack < handle Optitrack_obj.data(idx).droppedFrameTime = Optitrack_obj.rigidBodyLogData.droppedFrames(:,2); end - if Optitrack_obj.data(idx).rigidBodyID == 1; % set calibratedData flag + if Optitrack_obj.data(idx).rigidBodyID == 1 % set calibratedData flag Optitrack_obj.data(idx).calibratedData = Optitrack_obj.rigidBodyLogData.info.calibratedData; else Optitrack_obj.data(idx).calibratedData = false; - end; + end end % save data and info @@ -1005,12 +1025,14 @@ classdef itaOptitrack < handle trackedData(index) = Optitrack_obj.data(index).isTracked; end Optitrack_obj.infoCalibration.isTracked = trackedData; - Optitrack_obj.infoCalibration.TakeName = fullfile(Optitrack_obj.savePathCalibration,Optitrack_obj.saveNameCalibration); + if ~isempty(Optitrack_obj.savePathCalibration)&&~isempty(Optitrack_obj.saveNameCalibration) + Optitrack_obj.infoCalibration.TakeName = fullfile(Optitrack_obj.savePathCalibration,Optitrack_obj.saveNameCalibration); + end % calculate offset Optitrack_obj.dataCalibration.head.position = itaCoordinates( Optitrack_obj.rigidBodyLogData.data(1,4:6,1) ); Optitrack_obj.dataCalibration.head.orientation = itaOrientation( Optitrack_obj.rigidBodyLogData.data(1,7:10,1) ); - % integrate offset of calibration pen, i.e. vector norm in meters measured from the volume centre point + % integrate offset of calibration pen, i.e. vector norm in meters measured from the volume center point % of the calibration pen's marker set to the tip of the calibration pen leftPenTip.orientation = itaOrientation( Optitrack_obj.rigidBodyLogData.data(1,7:10,2) ); leftPenTip.position = itaCoordinates( Optitrack_obj.rigidBodyLogData.data(1,4:6,2) ); @@ -1109,7 +1131,7 @@ classdef itaOptitrack < handle try tmp = load(fullfile(Optitrack_obj.loadPathCalibration,... - Optitrack_obj.loadNameCalibration)); + Optitrack_obj.loadNameCalibration)); Optitrack_obj.dataCalibration = tmp.calibrationData; Optitrack_obj.infoCalibration = tmp.calibrationInfo; @@ -1160,19 +1182,19 @@ classdef itaOptitrack < handle % display info about dropped or duplicate frames if(frameID ~= Optitrack_obj.lastFrameID) || Optitrack_obj.singleShot if (frameID - Optitrack_obj.lastFrameID)==2 - if Optitrack_obj.debugInfo; + if Optitrack_obj.debugInfo fprintf('[\b[itaOptitrack] Dropped frame! FrameID: %5d\tFrameTime: %0.3f]\b\n', frameID, frameTime); % else % fprintf('[\b[itaOptitrack] Dropped frame!]\b\n') - end; + end Optitrack_obj.rigidBodyLogData.droppedFrames = [Optitrack_obj.rigidBodyLogData.droppedFrames; double(frameID-1), Optitrack_obj.lastFrameTime+1/Optitrack_obj.frameRate]; elseif (frameID - Optitrack_obj.lastFrameID)>2 - if Optitrack_obj.debugInfo; + if Optitrack_obj.debugInfo fprintf('[\b[itaOptitrack] Multiple dropped frames! FrameID: %5d to %5d\tFrameTime: %0.3f to %0.3f]\b\n', Optitrack_obj.lastFrameID+1, frameID-1, ... Optitrack_obj.lastFrameTime+1/Optitrack_obj.frameRate, frameTime-1/Optitrack_obj.frameRate:frameTime-1/Optitrack_obj.frameRate); % else % fprintf('[\b[itaOptitrack] Multiple dropped frames!]\b\n') - end; + end Optitrack_obj.rigidBodyLogData.droppedFrames = [Optitrack_obj.rigidBodyLogData.droppedFrames; double(Optitrack_obj.lastFrameID+1:frameID-1)', ... ( double(frameTime)-(double(frameID) - double(Optitrack_obj.lastFrameID) - 1)/Optitrack_obj.frameRate:1/Optitrack_obj.frameRate:frameTime-1/Optitrack_obj.frameRate )']; end @@ -1242,9 +1264,9 @@ classdef itaOptitrack < handle end - methods(Static) - output = plot(this,varargin); - end +% methods(Static) +% output = plot(Optitrack_obj,varargin); +% end end diff --git a/applications/Hardware/Tracking/Optitrack/@itaOptitrack/plot.m b/applications/Hardware/Tracking/Optitrack/@itaOptitrack/plot.m index 56b3e6ceaec3d169ce4ae500faa3c3830bf74534..b7bc318e9825aadf015727c2d6ae052f562fdbfb 100644 --- a/applications/Hardware/Tracking/Optitrack/@itaOptitrack/plot.m +++ b/applications/Hardware/Tracking/Optitrack/@itaOptitrack/plot.m @@ -43,13 +43,13 @@ for idx=1:this.numRigidBodies xlabel('Time in [sec]') ylabel('Orientation in [deg]') grid on - legend('Roll','Pitch','Yaw') axis tight % plot time cursor minvalOri = min([this.data(idx).orientation.roll_deg; this.data(idx).orientation.pitch_deg; this.data(idx).orientation.yaw_deg]); maxvalOri = max([this.data(idx).orientation.roll_deg; this.data(idx).orientation.pitch_deg; this.data(idx).orientation.yaw_deg]); hl1(idx) = line([0 0],[minvalOri maxvalOri],'color',[.5 .5 .5]); + legend('Roll','Pitch','Yaw','Current Time Frame') % initial vu animation subplot(this.numRigidBodies,numColumns,numColumns*(idx-1)+2); @@ -67,7 +67,7 @@ for idx=1:this.numRigidBodies axis([-r r -r r -r r]) view([-1 1 1]) - zoom(1.1) +% zoom(1.1) hold on diff --git a/applications/Hardware/Tracking/Optitrack/ita_plot_itaOptitrack_data.m b/applications/Hardware/Tracking/Optitrack/ita_plot_itaOptitrack_data.m index 032f99019ec1698269f6eb8b164ba7e58e4a620f..113a8b6dece3efd341ba2c30238ea479c37144e1 100644 --- a/applications/Hardware/Tracking/Optitrack/ita_plot_itaOptitrack_data.m +++ b/applications/Hardware/Tracking/Optitrack/ita_plot_itaOptitrack_data.m @@ -50,13 +50,13 @@ for idx=1:size(LogData,2) xlabel('Time in [sec]') ylabel('Orientation in [deg]') grid on - legend('Roll','Pitch','Yaw') axis tight % plot time cursor minvalOri = min([LogData(jdx).orientation.roll_deg; LogData(jdx).orientation.pitch_deg; LogData(jdx).orientation.yaw_deg]); maxvalOri = max([LogData(jdx).orientation.roll_deg; LogData(jdx).orientation.pitch_deg; LogData(jdx).orientation.yaw_deg]); hl1(idx) = line([0 0],[minvalOri maxvalOri],'color',[.5 .5 .5]); + legend('Roll','Pitch','Yaw','Current Time Frame') % initial vu animation subplot(size(LogData,2),numColumns,numColumns*(idx-1)+2); @@ -74,7 +74,7 @@ for idx=1:size(LogData,2) axis([-r r -r r -r r]) view([-1 1 1]) - zoom(1.1) +% zoom(1.1) hold on