Motive API: Function Reference

A guide to the functions available in the Motive API.

Please use the table of contents to the right to navigate to specific functions or specific group of functions.

Important Note:

Some of the functions may be missing in the documentation. Please refer to the Motive API header file (MotiveAPI.h) for information on any functions that are not documented here.

Project Management

Initialize

Initializes the API and prepares all connected devices for capturing. Initialize also loads the default profile C:\ProgramData\OptiTrack\MotiveProfile.motive. When there is a need to load the profile from a separate directory, use the LoadProfile function.

eRESULT		Initialize();

Description

This function initializes the API library and prepares all connected devices for capturing.
When using the API, this function needs to be called at the beginning of a program before using the cameras.
Returns an NPRESULT value. When the function successfully updates the data, it returns 0 (or NPRESULT_SUCCESS).

Function Input

None

Function Output

eRESULT

C++ Example

// Initializing all connected cameras
Initialize();

Shutdown

Shuts down all of the connected devices.

Description

This function closes down all connected devices and the camera library. To ensure that all devices properly shutdown, call this function before terminating an application.
When the function successfully closes down the devices, it returns 0 (or kApiResult_Success).
When calling this function, the currently configured camera calibration will be saved under the default System Calibration.cal file.

Function Input

None

Function Output

eRESULT

C++ Example

// Close down all of the connected cameras
Shutdown();
return 0;

Update

Processes incoming frame data from the cameras.

Description

This function updates frame information with the most recent data from the cameras and 3D processing engines.
Another use of this function is to pick up newly connected cameras. Call this function at the beginning of a program in order to make sure that all of the new cameras are properly recognized.

Update vs. UpdateSingleFrame:

In general, the Update() function is sufficient to capture frames lost when a client application stalls momentarily. This function disregards accumulated frames and serves only the most recent frame data, which means the client application will miss the previous frames.

For situations where it is critical to ensure every frame is captured and the Update() cannot be called in a timely fashion, use theUpdateSingleFrame()function ensures that the next consecutive frame is updated each time the function is called.

Returns an eRESULT integer value, depending on whether the operation was successful or not. Returns kApiResult_Successwhen it successfully updates the frame data.

Function Input

None

Function Output

eRESULT

C++ Example

//== Update to pick up recently-arrived cameras ==/
Update();

//== Frame Processing: Polling the frame data ==//
while( programRunning ){
	if( Update() == kApiResult_Success){
		frameNumber++;
		//== Process Frame Data ==//
	}
}

UpdateSingleFrame

Updates a single frame of camera data.

eRESULT		UpdateSingleFrame();

Description

Every time this function is called, it updates frame information with the next frame of camera data.
Using this function ensures that every frame of data is processed.

Update vs. UpdateSingleFrame:

Returns an eRESULT value. When the function successfully updates the data, it returns 0 (or kApiResult_Success).

Function Input

None

Function Output

eRESULT

C++ Example

//== Update to pick up recently-arrived cameras ==/
Update();

//== Frame Processing: Polling the frame data ==//
while( programRunning ){
	if( UpdateSingleFrame() == kApiResult_Success){
		frameNumber++;
		//== Process Frame Data ==//
	}
}

LoadCalibration

Loads a Motive camera calibration file.

eRESULT		LoadCalibration(const wchar_t* filename, int* cameraCount = nullptr);

Description

Loads a camera calibration file (CAL).
Camera calibration files need to be exported from Motive.
Returns an eRESULT integer value. If the file was successfully loaded, it returns kApiResult_Success.

Function Input

Filename (const wchar_t)

Function Output

eRESULT

C++ Example

const wchar_t* calibrationFile = L"C:\\ProgramData\\OptiTrack\\Motive\\System Calibration.mcal";
int calibrationCameraCount = 0; 

eRESULT fileload = LoadCalibration( calibrationFile, &calibrationCameraCount );
if (fileload == kApiResult_Success)
{
	printf("%ls successfully loaded.\n", calFileName);
}
else
{
	printf("Error: %ls\n", MapToResultString(fileload));
}

LoadRigidBodies

Imports .motive files and loads Rigid Body assets from it.

eRESULT		LoadRigidBodies(const wchar_t* filename);

Description

This function imports and loads Rigid Body assets from a saved .motive file.
.motive file contain exported Rigid Body asset definitions from Motive.
All existing assets in the project will be replaced with the Rigid Body assets from the .motive file when this function is called. If you want to keep existing assets and only wish to add new Rigid Bodies, use the AddRigidBodies function.
Returns an eRESULT integer value. It returns kApiResult_Success when the file is successfully loaded.

Function Input

Filename (const wchat_t)

Function Output

eRESULT

SaveRigidBodies

Saves all of the Rigid Body asset definitions into a .motive file.

eRESULT		SaveRigidBodies(const wchar_t* filename);

Description

This function saves all of the Rigid Body assets from the project into a .motive file.
Returns an eRESULT integer value. It returns 0 or kApiResult_Success when successfully saving the file.

Function Input

Filename (const wchar_t)

Function Output

eRESULT

AddRigidBodies

Loads a .motive file and adds its Rigid Body assets onto the project.

eRESULT		AddRigidBodies(const wchar_t* filename);

Description

This function adds Rigid Body assets from the imported .motive file to the asset list of the current project. Existing assets are not deleted.
Returns an eRESULT integer value. If the Rigid Bodies have been added successfully, it returns 0 or kApiResult_Success.

Function Input

Filename (const wchar_t)

Function Output

eRESULT

LoadProfile

Loads a Motive User Profile (.MOTIVE).

eRESULT		LoadProfile(const wchar_t* filename);

Description

Loads the default application profile file (MOTIVE), which is located in the ProgramData directory: C:\ProgramData\OptiTrack\MotiveProfile.motive
The MOTIVE file stores software configurations as well as other application-wide settings.
Returns an eRESULT integer value. If the project file was successfully loaded, it returns 0 (kApiResult_Success).

Function Input

Filename (const wchar_t)

Function Output

eRESULT

SaveProfile

Saves the current application settings into a Profile XML file.

eRESULT		SaveProfile(const wchar_t* filename);

Description

This function saves the current configuration into an application Profile XML file.
Attaches the *.xml extension at the end of the filename.
Returns an eRESULT integer value. If the profile XML file was saved successfully, it returns 0 (kApiResult_Success).

Function Input

Filename (const wchar_t)

Function Output

eRESULT

LoadCalibrationFromMemory

Loads a calibration file that was previously loaded into a memory block.

eRESULT		LoadCalibrationFromMemory(unsigned char* buffer, int bufferSize, int* cameraCount = nullptr);

Description

This function loads a camera calibration from memory. In order to do this, the program must have a saved calibration in memory.
It assumes the pointer argument (unsigned char*) points to a memory block where calibration data is already stored. The address and size of the calibration buffer must be determined by the developer using the API.

Function Input

Buffer (unsigned char*)
Size of the buffer (int)

Function Output

eRESULT
The number of cameras read from the calibration file (int)

C++ Example

// get a pointer to the calibration block in memory
int bufferSize;
 
// get the size of the buffer
eRESULT result = LoadCalibrationFromMemory(unsigned char* buffer, int bufferSize, int* cameraCount = nullptr );

CameraExtrinsicsCalibrationFromMemory

Gets camera extrinsics from a calibration file in memory.

std::vector<sCameraInfo> CameraExtrinsicsCalibrationFromMemory( unsigned char* buffer, int bufferSize,
        eResult& result );

Description

This allows for acquiring camera extrinsics for cameras not connected to system.
It returns the list of details for all cameras contained in the calibration file.

Function Input

Buffer (unsigned char*)
Size of the buffer (int)
Result

Function Output

eRESULT

Calibration

StartCalibrationWanding

Start a new calibration wanding for all cameras.

void		StartCalibrationWanding();

Description

This will cancel any existing calibration process.

Function Input

None

Function Output

CalibrationState

Returns the current calibration state.

eCalibrationState		CalibrationState();

Description

Returns the current calibration state.

Function Input

None

Function Output

eCalibrationState

C++ Example

// If calibrating, print out some state information.
eCalibrationState state = CalibrationState();
if( state == eCalibrationState::Wanding )
{
	std::vector<int> neededCameras( CalibrationCamerasLackingSamples() );
	if( !neededCameras.empty() )
	{
		printf( "\nNeed more samples for %d cameras:", (int) neededCameras.size() );
		for( int cameraIndex:neededCameras )
		{
			int cameraSamples = CameraCalibrationSamples( cameraIndex );
			printf( "\n%d (%d)", CameraID( cameraIndex ), cameraSamples );
		}
		printf( "\n" );
	}
}
// If completed calibration wanding, print the quality
else if( state >= eCalibrationState::PreparingSolver && state <= eCalibrationState::Complete )
{
	PrintCalibrationQuality();
}

CalibrationCamerasLackingSamples

During calibration wanding, this will return a vector of camera indices that are lacking the minimum number of calibration samples to begin calculation.

std::vector<int>		CalibrationCamerasLackingSamples();

Description

When the returned vector for this method goes to zero, call StartCalibrationCalculation() to begin calibration calculations.
Wanding samples will be collected until StartCalibrationCalculation() is called.

Function Input

None

Function Output

Vector (int)

C++ Example

// If calibrating, print out some state information.
eCalibrationState state = CalibrationState();
if( state == eCalibrationState::Wanding )
{
	std::vector<int> neededCameras( CalibrationCamerasLackingSamples() );
	if( !neededCameras.empty() )
	{
		printf( "\nNeed more samples for %d cameras:", (int) neededCameras.size() );
		for( int cameraIndex:neededCameras )
		{
			int cameraSamples = CameraCalibrationSamples( cameraIndex );
			printf( "\n%d (%d)", CameraID( cameraIndex ), cameraSamples );
		}
		printf( "\n" );
	}
}
// If completed calibration wanding, print the quality
else if( state >= eCalibrationState::PreparingSolver && state <= eCalibrationState::Complete )
{
	PrintCalibrationQuality();
}

CameraCalibrationSamples

Returns the number of wand samples collected for the given camera during calibration wanding.

int		CameraCalibrationSamples(int cameraIndex);

Description

This will return the number of wand samples collected for the given camera.
Returns 0 otherwise.

Function Input

Camera index (int)

Function Output

Number of samples (int)

C++ Example

// If calibrating, print out some state information.
eCalibrationState state = CalibrationState();
if( state == eCalibrationState::Wanding )
{
	std::vector<int> neededCameras( CalibrationCamerasLackingSamples() );
	if( !neededCameras.empty() )
	{
		printf( "\nNeed more samples for %d cameras:", (int) neededCameras.size() );
		for( int cameraIndex:neededCameras )
		{
			int cameraSamples = CameraCalibrationSamples( cameraIndex );
			printf( "\n%d (%d)", CameraID( cameraIndex ), cameraSamples );
		}
		printf( "\n" );
	}
}
// If completed calibration wanding, print the quality
else if( state >= eCalibrationState::PreparingSolver && state <= eCalibrationState::Complete )
{
	PrintCalibrationQuality();
}

CancelCalibration

Cancels wanding or calculation and resets the calibration engine.

void		CancelCalibration();

Description

Cancels wanding or calculation
Resets calibration engine

Function Input

none

Function Output

Exits either StartCalibrationWanding() or StartCalibrationCalculation()

StartCalibrationCalculation

Once wanding is complete, call this function to begin the calibration calculations.

bool		StartCalibrationCalculation();

Description

Starts calibration calculations after wanding.

Function Input

Boolean value

Function Output

Starts calculation

C++ Example

// Start calculation and it will return false if it fails (likely due to not wanding first)
if( !StartCalibrationCalculation() )
{
	printf( "ERROR - Please wand the volume first by calling StartCalibrationWanding()\n" );
}

CurrentCalibrationQuality

Retrieves the current calibration quality.

int		CurrentCalibrationQuality();

Description

This method will return the current calibration quality in the range [0-5], with 5 being best.
Returns zero otherwise

Function Input

none

Function Output

Quality on scale of 0-5 (int)

C++ Example

int quality = CurrentCalibrationQuality();

printf( "Current calibration quality: " );
switch( quality )
{
case 0:
	printf( "Fair\n" );
	break;
case 1:
	printf( "Good\n" );
	break;
case 2:
	printf( "Great\n" );
	break;
case 3:
	printf( "Excellent\n" );
	break;
case 4:
	printf( "Exceptional\n" );
	break;
}

ApplyCalibrationCalculation

Call this function once CalibrationState() returns "Complete" to apply the calibration results to all cameras.

bool		ApplyCalibrationCalculation();

Description

Call this method to apply the calibration results to all cameras.

Function Input

none

Function Output

Apply calibration results

C++ Example

// Apply calibration to all cameras and if it fails, it will return false (likely due to not wanding)
if( !ApplyCalibrationCalculation() )
{
	printf( "ERROR - Please wand the volume first by calling StartCalibrationWanding()\n" );
}

SetGroundPlane

Set the ground plane using a standard or custom ground plane template.

eRESULT		SetGroundPlane(bool useCustomGroundPlane);

Description

Applies a standard or custom ground plane to the calibration.

Function Input

Boolean value of useCustomGroundPlane

Function Output

Either applies custom or preset ground plane to calibration.

TranslateGroundPlane

Translate the existing ground plane (in mm).

void		TranslateGroundPlane(float x, float y, float z);

Description

Takes float variables to alter existing ground plane.

Function Input

X, Y, and Z values (float)

Function Output

Applies new values to existing ground plane.

Data Streaming

StreamNP

Enables or disables the NatNet streaming of the OptiTrack data.

eRESULT		StreamNP(bool enable);

Description

This function enables/disables the OptiTrack data stream.
This is equivalent to the Broadcast Frame Data in the Data Streaming panel in Motive.
If the operation was successful, it returns 0 (kApiResult_Success), or an error code otherwise.

Function Input

Boolean argument enabled (true) / disabled (false)

Function Output

eRESULT

C++ Example

//== Enable NP Streaming ==/
StreamNP(true);

StreamVRPN

Enables or disables data stream into VRPN.

eRESULT		StreamVRPN(bool enable, int port);

Description

This function enables or disables data streaming into VRPN.
To stream onto VRPN, the port address must be specified. VRPN server applications run through 3883 port, which is the default port for the VRPN streaming.
Returns an eRESULT integer value. If streaming was successfully enabled, or disabled, it returns 0 (kApiResult_Success).

Function Input

True to enable and false to disable (bool)
Streaming port address (int)

Function Output

eRESULT

C++ Example

//== Enable Streaming into VRPN ==/
StreamVRPN(true);

3D Frame Data

MarkerCount

Retrieves the total number of reconstructed markers in the current frame.

int		MarkerCount();

Description

This function returns a total number of reconstructed 3D markers detected in the current capture frame.
Use this function to count a total number of markers, access every markers, and obtain the marker index values.

Function Input

None

Function Output

Total number of reconstructed markers in the frame (int)

C++ Example

//Obtaining total marker count
int totalMarker = MarkerCount();
printf("Total number of markers: %d", totalMarker);

MarkerResidual

Returns the residual value of a specific marker in the current frame.

float		MarkerResidual(int markerIndex);

Description

This function returns the residual value for a given marker indicated by the marker index.
The returned value is in millimeters.
The marker index value may change between frames, but the unique identifier will always remain the same.

Function Input

Marker index (int)

Function Output

Residual value (float)

MarkerID

Returns the unique identifier of a specific marker in the current frame.

Core::cUID		MarkerID(int markerIndex);

Description

This function returns a unique identifier (cUID) for a given marker.
Markers have an index from 0 to [totalMarkers -1] for a given frame. In order to access unique identifier of any marker, it's index must be inputted.
The marker index value may change between frames, but the unique identifier will always remain the same.

Function Input

Marker index (int)

Function Output

Marker label (cUID)

C++ Example

int totalMarkers = MarkerID();
vector<Core::cUID> unique_Marker_ID(totalMarkers);

for (int i = 0; i < totalMarkers; ++i)
{
    unique_Marker_ID[i] = MarkerID(int markerIndex); 
}

FrameTimeStamp

Returns a timestamp value for the current frame.

double		FrameTimeStamp();

Description

This function returns a timestamp value of the current frame.

Function Input

None

Function Output

Frame timestamp (double)

C++ Example

int frameNumber = 0;

//== Display Frame number and Time stamp ==//
while( !_kbhit() )
{
	if( !Update() ){
		frameNumber++;	// increment frame number each time a frame is processed.

		printf("Frame #%d: (Timestamp: %f)\n", frameNumber, FrameTimeStamp());
	}
}

MarkerCameraCentroid

Checks whether a camera is contributing to reconstruction of a 3D marker, and saves the corresponding 2D location as detected in the camera's view.

bool		MarkerCameraCentroid(int markerIndex, int cameraIndex, float &x, float &y);

Description

This function evaluates whether the specified camera (cameraIndex) is contributing to point cloud reconstruction of a 3D point (markerIndex).
It returns true if the camera is contributing to the marker.
After confirming that the camera contributes to the reconstruction, this function will save the 2D location of the corresponding marker centroid in respect to the camera's view.
The 2D location is saved in the declared variable.

Function Input

3D reconstructed marker index (int)
Camera index (int)
Reference variables for saving x and y (floats).

Function Output

True / False (bool)

C++ Example

//== Getting 2D location of marker centroids from a camera.==//
float x, y;
int targetcam = 1;
int frameMarkercount = MarkerCount();

for (int i = 0; i < frameMarkercount; i++) // For each detected markers
{
	bool result = MarkerCameraCentroid(i, targetcam, x, y)

	if (result)
	{
		printf("Marker %d location in camera #%d: %f, %f\n", i, targetcam, x, y);
	}
}

FlushCameraQueues

Flushes out the camera queues.

void		FlushCameraQueues();

Description

This function flushes all queued camera frames.
In an event when you are tracking a very high number (hundreds) of markers and the application has accumulated data processing latency, you can call FlushCameraQueues() to refresh the camera queue before calling Update() for processing the frame. After calling this function, avoid calling it again until the Update() function is called and kApiResult_Success is returned.

Function Input

None

Function Output

Void

C++ Example

//== Flush Camera Queues to remove accumulated latency. ==//
FlushCameraQueues();

//== Update the incoming camera data after. ==//
Update();

Rigid Bodies

IsRigidBodyTracked

Checks whether Rigid Body is tracked or not.

bool		IsRigidBodyTracked(int rbIndex);

Description

Checks whether the Rigid Body is being tracked in the current frame.
Returns true if the Rigid Body is tracked.

Function Input

Rigid body index (int)

Function Output

True / False (bool)

C++ Example

int totalRB = RigidBodyCount();

//== Checking if the Rigid Body is tracked or not ==//
for(int i = 0; i < totalRB)
{
	If(IsRigidBodyTracked(i))
	{
		// Process Rigid Body
	}
}

ClearRigidBodies

Clears and removes all Rigid Body assets.

void		ClearRigidBodies();

Description

This function clears all of existing Rigid Body assets in the project.

Function Input

None

Function Output

Void

C++ Example

//== Clear all Rigid Bodies ==//
ClearRigidBodies();

RemoveRigidBody

Removes a Rigid Body at the given index.

eRESULT		RemoveRigidBody(int rbIndex);

Description

This function removes a single Rigid Body from a project.
Returns an eRESULT integer value. If the operation was successful, it returns 0 (kApiResult_Success).

Function Input

Rigid body index (int)

Function Output

eRESULT

C++ Example

//== Removing Rigid Bodies that are not tracked in the scene ==//
int totalRB = RigidBodyCount();

for (int i = 0; i < totalRB; i++)
{
	if(!IsRigidBodyTracked(i))
	{
 		RemoveRigidBody(i);
	}
}

RigidBodyCount

Returns a total number of Rigid Bodies.

int		RigidBodyCount();

Description

This function returns a total count of Rigid Bodies defined in the project, including all tracked and untracked assets.
This function can be used within a loop to set required number iterations and access each of the Rigid Bodies.

Function Input

None

Function Output

Total Rigid Body count (int)

C++ Example

//== Getting names of all Rigid Bodies ==//
int rigidBodyCount = RigidBodyCount();

for( int i = 0; i < rigidBodyCount; i++ )
{
	wchar_t name[ 256 ];
	RigidBodyName( i, name, 256 );
	printf( L"\t%ls\n", name );
}

RigidBodyID

Returns the unique ID of a Rigid Body at the given index.

Core::cUID		RigidBodyID(int rbIndex);

Description

This function returns the unique ID number of a Rigid Body.
This is different from User ID, which is a user definable ID for the Rigid Body. When working with capture data in external pipelines, this value can be used to address specific Rigid Bodies in the scene.

Function Input

Rigid body index (int)

Function Output

Unique ID number for Rigid Body

C++ Example

//== unique ID for all Rigid Bodies ==//
for ( int i = 0 ; i < RigidBodyCount(); i++ )
{
	Core::cUID rbID = RigidBodyID();
	std::wstring ID = 
		std::to_wstring(rbID.HighBits()) + L", " +
		std::to_wstring(rbID.LowBits());
 	printf("ID for RigidBody %d : %ls", i, ID);
}

RigidBodyMeanError

Returns a mean error of the Rigid Body tracking data.

float		RigidBodyMeanError(int rbIndex);

Description

Returns the average distance between the constraint location and the corresponding reconstructed marker, for all constraints.

Function Input

Rigid body index (int)

Function Output

Mean error (meters)

RigidBodyName

Returns the name for the Rigid Body at the given index.

const wchar_t*		RigidBodyName(int rbIndex, wchar_t* buffer, int bufferSize);

Description

These functions are used to obtain the name of a Rigid Body.
Returns the assigned name of the Rigid Body.

Function Input

Rigid body index (int)

Function Output

Rigid body name (wconst char_t*)

C++ Example

int totalRB = RigidBodyCount();

//== Printing Rigid Body Names ==//
for( int i = 0; i < totalRB; i++ )
{
	printf("Rigid Body: %ls", RigidBodyName(i)); 
}

SetRigidBodyEnabled

Enables or disables tracking of a Rigid Body.

void		SetRigidBodyEnabled(int rbIndex, bool enabled);

Description

This function enables or disables tracking of the selected Rigid Body.
All Rigid Bodies are enabled by default. Disabled Rigid Bodies will not be tracked, and no data will be received from it.

Function Input

Rigid body index (int)
Tracking status (bool)

Function Output

Void

C++ Example

int totalRB = RigidBodyCount();

//== Disabling all Rigid Bodies ==//
for(int i = 0; i < totalRB; i++)
{
	SetRigidBodyEnabled(i, FALSE);
}

RigidBodyEnabled

Checks whether a Rigid Body is enabled.

bool		RigidBodyEnabled(int rbIndex);

Description

This function checks whether tracking of the Rigid Body is enabled or not.
The function returns true is the tracking is enabled.

Function Input

Rigid body index (int)

Function Output

True / False (bool)

C++ Example

int totalRB = RigidBodyCount();

for (int i = 0; i < totalRB; i++)
{
	if (RigidBodyEnabled(i))
	{
 		//== Disabling all enabled Rigid Bodies ==//
		SetRigidBodyEnabled(i, FALSE);
	}
}

RigidBodyTranslatePivot

Translates the pivot point of a Rigid Body.

eRESULT		RigidBodyTranslatePivot(int rbIndex, float x, float y, float z);

Description

This function translates a Rigid Body.
3D position of a Rigid Body will be displaced in x/y/z directions by inputted amount (meters).
Translation is applied in respect to the local Rigid Body coordinate axis, not the global axis.
Returns an eRESULT integer value. If the operation is successful, returns 0 (kApiResult_Success).

Function Input

Rigid body index (int)
Translation along x-axis, in meters. (float)
Translation along y-axis, in meters. (float)
Translation along z-axis, in meters. (float)

Function Output

eRESULT

C++ Example

int rbIndex = 1;

//== Translating a Rigid Body 2 cm in positive x-direction ==//
RigidBodyTranslatePivot(rbIndex, 0.02, 0, 0);

RigidBodyResetOrientation

Resets the orientation of a Rigid Body.

bool		RigidBodyResetOrientation(int rbIndex);

Description

This function resets the orientation of the Rigid Body and re-aligns its orientation axis with the global coordinate system.
Note: When creating a Rigid Body, its zero orientation is set by aligning its axis with the global axis at the moment of creation. Calling this function essentially does the same thing on an existing Rigid Body asset.
Returns true if the Rigid Body orientation was reset.

Function Input

Rigid body index (int)

Function Input

True / False (bool)

C++ Example

int rbcount = RigidBodyCount();

//== Resetting orientation of each Rigid Body. ==//
for( int i = 0; i < rbcount i++ )
{
	if(RigidBodyResetOrientation(i))
	{
		printf("Rigid body (%ls) orientation reset", RigidBodyName(i));
	}
}

RigidBodyMarkerCount

Gets total number of markers in a Rigid Body.

int		RigidBodyMarkerCount(int rbIndex);

Description

This function returns the total number of markers involved in a Rigid Body.

Function Input

Rigid body index (int)

Function Output

Total number of marker in the Rigid Body (int)

C++ Example

int rbcount = RigidBodyCount();

//== Listing out all of the Rigid Body markers ==// 
for(int i = 0; i < rbcount; i++)
{
	printf("Rigid Body:%ls\t Marker Count: %d", RigidBodyName(i), RigidBodyMarkerCount(i));
}

RigidBodyMarker

Retrieves the positional offset of a marker constraint from a defined rigid body.

bool		RigidBodyMarker(int rbIndex, int markerIndex, float* x, float* y, float* z);

Description

This function gets the 3D position of a solved Rigid Body marker and saves them in designated addresses. Rigid body marker positions from this function represents solved (or expected) location of the Rigid Body markers.
Note that the 3D coordinates obtained by this function are represented in respect to Rigid Body's local coordinate axis.

Function Input

Rigid body index (int)
Marker index (int)
Three declared variable addresses for saving the x, y, z coordinates of the marker (float)

Function Output

True / False (bool)

C++ Example

//== Listing out all of the Rigid Body markers and its respective position. ==//
int rbcount = RigidBodyCount();

for(int i = 0; i < rbcount; i++)
{
	float	x,y,z;

	for(int j = 0; j < RigidBodyMarkerCount(i); j++)
	{
		wchar_t name[ 256 ];
		RigidBodyName( i, name, 256 );
		printf("Rigid Body:%ls\t Marker #%d\n", RigidBodyName(i), j);
		
		//== Marker Locations ==//
		RigidBodyMarker(i, j, &x, &y, &z);
		printf("Local: (%f, %f, %f)\n", x, y, z);
	}
}

RigidBodyUpdateMarker

Changes and updates the Rigid Body marker constraint positions.

bool     RigidBodyUpdateMarker( int rbIndex, int markerIndex, float x, float y, float z );

Description

This function is used to change the expected positions of a single Rigid Body marker.
Rigid body markers are expected marker positions. Read about marker types in Motive.

Function Input

Rigid body index (int)
Marker index (int)
New x-position of the Rigid Body marker in relation to the local coordinate system.
New y-position of the Rigid Body marker in relation to the local coordinate system.
New z-position of the Rigid Body marker in relation to the local coordinate system.

Function Output

Returns true if marker locations have been successfully updated.

RigidBodyReconstructedMarker

Retrieves the reconstructed marker location for a marker constraint on a defined rigid body in the current frame.

bool	RigidBodyReconstructedMarker( int rbIndex, int markerIndex, bool& tracked,       float& x, float& y, float& z );

Description

This function retrieves 3D coordinates of each expected Rigid Body marker positions in designated variable addresses.
3D coordinates are saved in respect to global coordinate system.

Function Input

Rigid body index (int)
Marker index (int)
Tracked status, True or False (bool)
Three declared variable addresses for saving x, y, z coordinates of the marker (float).

Function Output

Returns true if marker locations were found and successfully returned.

C++ Example

//== Listing out all of the Rigid Body markers and its respective position. ==//
int rbcount = RigidBodyCount();

for(int i = 0; i < rbcount; i++)
{
	float	gx, gy, gz;
	bool	tracked;

	for(int j = 0; j < RigidBodyMarkerCount(i); j++)
	{
		printf("Rigid Body:%ls\t Marker #%d\n", RigidBodyName(i), j);
		 
		//== Expected Rigid Body marker positions. ==//
		RigidBodyReconstructedMarker(i, j, tracked, gx, gy, gz);
		printf("Global: (%f, %f, %f)\n", x, y, z);
	}
}

RigidBodyID

This function retrieves the unique ID of the rigid body at the given index.

Core::cUID		RigidBodyID( int rbIndex );

Function Input

Rigid body index (int)

Function Output

Rigid body unique ID (Core::cUID)

CreateRigidBody

Creates a Rigid Body asset from a set of reconstructed 3D markers.

eRESULT		CreateRigidBody(const wchar_t* name, int id, int markerCount, float* markerList);

Description

This functions creates a Rigid Body from the marker list and marker count provided in its argument.
The marker list is expected to contain a list of marker coordinates in the following order: (x1, y1, z1, x2, y2, z2, …, xN, yN, zN). The x/y/z coordinates must be in respect to the Rigid Body pivot point, in meters.
Inputted 3D locations are taken as Rigid Body marker positions about the Rigid Body pivot point. If you are using MarkerX/Y/Z functions to obtain the marker coordinates, you will need to subtract the pivot point location from the global marker locations when creating a Rigid Body. This is shown in the below example. If this is not done, the created Rigid Body will have its pivot point at the global origin.
Returns an eRESULT integer value. If the Rigid Body was successfully created, it returns 0 or kApiResult_Success.

Function Input

Rigid body name (wchar_t)
User Data ID (int)
Marker Count (int)
Marker list (float list)

Function Output

eRESULT

SetRigidBodyProperty

Changes property settings of a Rigid Body.

bool		SetRigidBodyProperty(int rbIndex, const std::wstring& propertyName, const sPropertyValue& value);

Description

This function sets the value of a rigidbody property.
True if the property was found and the value was set

Function Input

Rigid body index (int)
Name of the property to set (std::wstring)
Value to set the property to (sPropertyValue)

Function Output

bool

RigidBodyRefineStart

Initiates the Rigid Body refinement process. Input the number of samples and the ID of the Rigid Body you wish to refine. After starting the process, RigidBodyRefineSample must be called on every frame to collect samples.

bool     RigidBodyRefineStart( Core::cUID rigidBodyID, int sampleCount );

Description

This function is used to start Rigid Body refinement.

Function Input

Target Rigid Body ID
Sample count (int)

Function Output

Returns true if the refinement process has successfully initiated.

RigidBodyRefineSample

This function collects samples for Rigid Body refinement after calling the RigidBodyRefineStart function. Call this function for every frame within the update loop. You can check the progress of calibration by calling the RigidBodyRefineProgress function.

bool     RigidBodyRefineSample();

Description

This function collects Rigid Body tracking data for refining the definition of the corresponding Rigid Body.

Function Input

None. Samples frames for the initialized refine progress.

Function Output

Returns true if the refinement process has successfully collected a sample. This function does not collect samples if the Rigid Body is not tracked on the frame.

RigidBodyRefineState

This function inquiries the state of the refinement process. It returns eRigidBodyRefineState enum as a result.

eRigidBodyRefineState     RigidBodyRefineState();

Description

This function queries the state of the Rigid Body refinement process. It returns an enum value for indicating whether the process is initialized, sampling, solving, complete, or uninitialized.

   <source> enum eRigidBodyRefineState {
   RigidBodyRefine_Initialized = 0,
   RigidBodyRefine_Sampling,
   RigidBodyRefine_Solving,
   RigidBodyRefine_Complete,
   RigidBodyRefine_Uninitialized
   };
   </source>

Function Input

None. Checks the state on the ongoing refinement process.

Function Output

Returns eRigidBodyRefineState enum value.

RigidBodyRefineProgress

This function retrieves the overall sampling progress of the rigid body refinement solver.

float     RigidBodyRefineProgress();

Description

When the refinement process is under the sampling state, calling this function returns the sampling progress. It will return a percentage value representing the sampling progress with respect to the total number of samples given in the RigidBodyRefineStart parameter.

Function Input

None. Checks the progress on the ongoing refinement process.

Function Output

Returns percentage completeness of the sampling process (float).

RigidBodyRefineInitialError

This function returns the error value of the Rigid Body definition before the refinement and is typically called in conjunction with RigidBodyRefineResultError.

float     RigidBodyRefineInitialError();

Description

Once the refinement process has reached complete stage, this function can be called along with RigidBodyRefineResultError to compare the error values from the corresponding Rigid Body definition before and after the refinement.

Function Input

None.

Function Output

Average error value of the target Rigid Body definition prior (RigidBodyRefineInitialError) and after (RigidBodyRefineResultError) the refinement.

RigidBodyRefineResultError

This function returns the error value of the Rigid Body definition after the refinement.

float     RigidBodyRefineResultError();

Description

Once the refinement process has reached complete stage, this function can be called along with RigidBodyRefineInitialError to compare the error values from the corresponding Rigid Body definition before and after the refinement.

Function Input

None.

Function Output

Average error value of the target Rigid Body definition prior (RigidBodyRefineInitialError) and after (RigidBodyRefineResultError) the refinement.

RigidBodyRefineApplyResult

This function applies the refined result to the corresponding Rigid Body definition.

bool     RigidBodyRefineApplyResult();

Description

This function applies the refinement to the Rigid Body definition. Call this function after comparing the error values before and after the refinement using the RigidBodyRefineInitialError and RigidBodyRefineResultError functions.

Function Input

None.

Function Output

Returns true if the refined results have been successfully applied.

RigidBodyRefineReset

This function discards the final refinement result and resets the refinement process.

bool     RigidBodyRefineReset();

Description

If the final refinement result from the RigidBodyRefineResultError call is not satisfying, you can call this function to discard the result and start over from the sampling process again.

Function Input

None.

Function Output

Returns true if the refined results have been successfully reset.

Camera Group

CameraManager

When using the Motive API in conjunction with the Camera SDK, this method will provide access to the manager class that owns all Camera instances. From here, many system state properties can be set or queried, cameras can be queried or edited, etc.

CameraLibrary::CameraManager*		CameraManager();

Description

This function returns a pointer to the CameraManager instance from the Camera SDK.
If a CameraManager instance is not found, MotiveAPI will create a new one.
Camera SDK must be installed to use this function.
The version number of Motive and the Camera SDK must match.
Corresponding headers and libraries must be included in the program.

Function Input

None

Function Output

Pointer to the CameraManager instance (CameraLibrary::CameraManager*)

C++ Example

// cameraManager is declared as a pointer to a CameraLibrary::CameraManager
// used in conjuction with the Camera SDK

CameraLibrary::CameraManager *cameraManager = CameraManager();

BuildNumber

Retrieves the specific build number of the API. This is correlated with the software /// release version, but the software release version is not encoded in this value.

Description

This function returns the corresponding Motive build number.

Function Input

None

Function Output

Build number (int)

C++ Example

//== Printing Motive Build Number ==//

printf("Motive Build: %d\n", BuildNumber());

CameraGroupCount

Returns the camera group count.

int		CameraGroupCount();

Description

This function returns the total count of camera groups that are involved in the project.
This will generally return a value of two: one for the tracking cameras and one for reference cameras.

Function Input

None

Function Output

Camera group count (int)

C++ Example

int groupcount = CameraGroupCount();

//== Processing Camera Groups ==//
for(int i = 0; i < groupcount; i++)
{
	//== Process each camera group ==//
}

CameraGroup

Returns an index value of a camera group that a camera is in.

int		CameraGroup(int cameraIndex);

Description

This function takes an index value of a camera and returns the corresponding camera group index that the camera is in.

Function Input

Camera index (int)

Function Output

Camera group index (int)

C++ Example

//== Listing out all of the cameras and their associate group index ==//
int cameracount = CameraCount();

for(int i = 0; i < cameracount; i ++)
{
	printf("Camera: %d\t CameraGroup: #%d", CameraSerial(i), CameraGroup(i));
}

Camera

CameraCount

Returns the total number of cameras connected to the system.

int		CameraCount();

Description

This function returns a total camera count.

Function Input

None

Function Output

Total number of cameras (int)

C++ Example

//== Printing Frame rate of the cameras ==//
int totalCamera = CameraCount();
for( int i = 0; i < totalCamera; i++)
{
 	printf("%d frame rate: %d\n", CameraSerial(i), CameraFrameRate(i));
}

CameraSerial

Returns the corresponding camera's serial number as an integer.

int		CameraSerial(int cameraIndex);

Description

This function returns the corresponding camera's serial number.

Function Input

Camera index (int)

Function Output

Camera serial number (int)

C++ Example

//== Displaying all connected cameras ==//
int totalCamera = CameraCount();

printf("Detected Cameras Serial Numbers:\n"); 
for (int i = 0; i < totalCamera; i++)
{
	printf("\t%d\n", CameraSerial(i));
}

CameraObjectCount

Returns a total number of objects detected by a camera in the current frame.

int		CameraObjectCount( int cameraIndex );

Description

This function returns a total number of centroids detected by a camera.
A centroid is defined for every group of contiguous pixels that forms a shape that encloses the thresholded pixels.
The size and roundness filter (cCameraGroupFilterSettings) is not applied in this data.

Function Input

Camera index (int)

Function Output

Number of centroids (int)

C++ Example

for (int i = 0; i < CameraCount(); i++)
{
	int centroidcount = CameraObjectCount(i);
	printf("Camera #%d detected centroids: %d\n", i, centroidcount);
}

CameraObject

Returns 2D location of the centroid as seen by a camera.

bool     CameraObject( int cameraIndex, int objectIndex, float& x, float& y );

Description

This function saves 2D location of the centroid as detected by a camera's imager.
Returns true if the function successfully saves the x and y locations.

Function Input

Camera index (int)
Object index (int)
Declared variables for saving x and y (float)

Function Output

True/False (bool)

C++ Example

int cameracount = CameraCount();

for (int i = 0; i < cameracount; i++)
{
	float x, y;
	int centroidcount = CameraObjectCount(i);