The cCameraGroupPointCloudSettings class contains variables for configuring the point cloud reconstruction settings. When first declaring an instance of this class, it will query the currently configured point cloud settings, and you can view or modify the settings through its member methods. There are multiple enum variables for defining various reconstruction settings. Please refer to the Reconstruction and 2D Mode page for detailed descriptions on individual settings.

Member Functions

SetBoolParameter, SetDoubleParameter, SetLongParameter

These member functions are used for changing reconstruction settings (bool, double, long) of a cCameraGroupPointCloudSettings instance. Call matching data type functions to modify the parameters.

bool	SetBoolParameter( Setting which, bool val );

bool	SetDoubleParameter( Setting which, double val );

bool	SetLongParameter( Setting which, long val );

BoolParameter, DoubleParameter, LongParameter

These member functions fetches a point cloud reconstruction parameter from a cCameraGroupPointCloudsettings instance and saves it in the designated address. Call matching data type functions to obtain the parameters.

bool	BoolParameter( Setting which, bool &val ) const;

bool	DoubleParameter( Setting which, double &val ) const;

bool	LongParameter( Setting which, long &val ) const;

Declaration: NPTrackingTools.h

<source> class TTAPI cCameraGroupPointCloudSettings { public:

   enum Setting : unsigned long long
   {
       eResolvePointCloud = 1LL,               // bool
       eShowCameras = 1LL << 1,                // bool
       eVisibleMarkerSize = 1LL << 2,          // double
       ePCResidual = 1LL << 3,                 // double
       ePCMinAngle = 1LL << 4,                 // double
       ePCMinRays = 1LL << 5,                  // long
       eShutterDelay = 1LL << 6,               // long
       ePrecisionPacketCap = 1LL << 7,        // long
       ePCMinRayLength = 1LL << 8,            // double
       ePCMaxRayLength = 1LL << 9,            // double
       ePCReconstructMinX = 1LL << 10,         // double
       ePCReconstructMaxX = 1LL << 11,         // double
       ePCReconstructMinY = 1LL << 12,         // double
       ePCReconstructMaxY = 1LL << 13,         // double
       ePCReconstructMinZ = 1LL << 14,         // double
       ePCReconstructMaxZ = 1LL << 15,         // double
       ePCObjectFilterLevel = 1LL << 16,       // long
       ePCObjectFilterMinSize = 1LL << 17,     // long
       ePCObjectFilterMaxSize = 1LL << 18,     // long
       ePCObjectFilterCircularity = 1LL << 19, // double
       ePCObjectFilterGrayscaleFloor = 1LL << 20, // long
       ePCObjectFilterAspectTolerance = 1LL << 21, // long
       ePCObjectFilterObjectMargin = 1LL << 22, // long
       eShowReconstructionBounds = 1LL << 23,  // bool
       eBoundReconstruction = 1LL << 24,       // bool
       eShowCaptureVolume = 1LL << 25,         // bool
       eShow3DMarkers = 1LL << 26,             // bool
       eShowCameraFOV = 1LL << 27,             // bool
       eCameraOverlap = 1LL << 28,             // double
       eVolumeResolution = 1LL << 29,          // double
       eWireframe = 1LL << 30,                 // double
       eFOVIntensity = 1LL << 31,              // double
       ePCPixelGutter = 1LL << 32,             // long
       ePCMaximum2DPoints = 1LL << 33,         // long
       eBlockWidth = 1LL << 34,                // double
       eBlockHeight = 1LL << 35,               // double
       eSynchronizerEngine = 1LL << 36,        // long 1=v1.0  2=v2.0
       eMarkerDiameterType = 1LL << 37,        // long
       eMarkerDiameterForceSize = 1LL << 38,   // double
       eSynchronizerControl = 1LL << 39,       // long
       eContinuousCalibration = 1LL << 40,     // bool
       eSettingsCount
   };
   cCameraGroupPointCloudSettings();
   ~cCameraGroupPointCloudSettings();
//== Set individual parameter values. Only values that are set will be changed when submitting
//== the settings block to TT_SetCameraGroupPointCloudSettings. These methods will return false 
//== if there is a mismatch between the requested parameter and its expected type.
   bool            SetBoolParameter( Setting which, bool val );
   bool            SetDoubleParameter( Setting which, double val );
   bool            SetLongParameter( Setting which, long val );
//== Retrieve individual parameter settings from the parameter block. These methods will return false 
//== if there is a mismatch between the requested parameter and its expected type.
   bool            BoolParameter( Setting which, bool &val ) const;
   bool            DoubleParameter( Setting which, double &val ) const;
   bool            LongParameter( Setting which, long &val ) const;
   private:
      unsigned long long mWhichSet;
      void *mSettings;
};

This class can be inherited into your TTAPI project for testing Rigid Body solutions. Input desired testing protocol for Rigid Bodies within the RigidBodySolutionTest member function of the inherited class, and attach/detach this class onto a Rigid Body using the following functions.

• TT_AttachRigidBodySolutionTest

• TT_DetachRigidBodySolutionTest

Declaration: cRigidBodySolutionTest

class TTAPI cRigidBodySolutionTest
{
public:
	cRigidBodySolutionTest()  {}
	virtual ~cRigidBodySolutionTest() {}

	//== RigidBody Solution Test ==--

	virtual bool RigidBodySolutionTest( int markerCount, Core::cMarker *markers, bool *markerExists ) { 
		
		//Test rigid body solution
		
		return true;
	}
};

The cCameraGroupFilterSettings class determines 2D object filter settings for a camera group, which consists of multiple cameras.

• FilterNone will not use any filters.

• FilterSizeRoundness distinguishes marker reflections by the marker size and circularity of the reflection. More specifically, it looks at the number of pixels seen by the imager (MinMarkerSize and MaxMarkerSize) as well as the symmetry ratio of the shape of reflections (MinRoundness).

• Use TT_CameraGroupFilterSettings and TT_SetCameraGroupFilterSettings functions to obtain the existing filter settings and to apply an instance to a camera group.

For explanations on this filter in Motive, read through the Reconstruction and 2D Mode page.

Declaration: NPTrackingTools.h

class TTAPI cCameraGroupFilterSettings
{
public:
    cCameraGroupFilterSettings();
    ~cCameraGroupFilterSettings();

    enum eFilterType
    {
        FilterNone,
        FilterSizeRoundness,
        FilterCount
    };

    eFilterType  FilterType;
    int          MinMarkerSize;
    int          MaxMarkerSize;
    float        MinRoundness;
};

This class contains size properties of reconstructed 3D markers. The size of reconstructed marker is defined by its diameter (in mm), and an instance of this class can be assigned to a camera group. Use the and Motive API functions for obtaining and assigning an instance of this class.

• MarkerSizeCalculated: This marker size type will calculate suitable diameter of a marker to be displayed.

• MarkerSizeFixed: This marker size type will override calculated diameter and assign a set diameter.

• MarkerSizeCount: Returns number of marker size types.

Declaration: cCameraGroupMarkerSizeSettings

When using the Motive API, you can attach or detach cTTAPIListener class to a project by using the following functions.

Member Functions

TTAPIFrameAvailable

TTAPIFrameAvailable callback is called when a new synchronized group of camera frames has been delivered to the TTAPI and is ready for processing. You can use this notification to then call TT_Update() without having to poll blindly for new data.

TTAPICameraConnected

This callback function is called when a new camera is connected to the system.

TTAPICameraDisconnected

This callback function is called when a camera is disconnected from the system.

InitialPointCloud

InitialPointCloud is called when the initial point cloud is calculated from the connected cameras. During this callback 3D markers can be added (up to MaxMarkers) or removed by modifying the Markers list as well as the MarkerCount variable. After this callback the marker list is passed onto the Rigid Body solver.

ApplyContinuousCalibrationResult

By overriding this function in the attached listener class, you can control when the gets applied. The continuous calibration will continue to call this callback function when the updated calibration is available. You can check parameters in this functions and simply return True to accept the updated calibration, and return False to discard the updated calibration.

Declaration: cTTAPIListener

Declaration: NPTrackingTools.h

cRigidBodySettings class contains all of setting variables for configuring Rigid Body asset properties.

RigidBodySolver::cRigidBodySettings

In the Motive API, you can use...

• TT_RigidBodySettings function to obtain and save configured Rigid Body settings in to a cRigidBodySettings instance.

• TT_SetRigidBodySettings function to assign a cRigidBodySettings instance to a Rigid Body asset in order to apply the settings.

• Refer to the below source code for Rigid Body properties available in the cRigidBodySettings class.

• For more information on each settings read through the Properties: Rigid Body page.

Declaration: RigidBodySetting.h

namespace RigidBodySolver
{
    const int kRigidBodyNameMaxLen = 32;
    const int kRigidBodyModelNameMaxLen = 256;

    class cRigidBodySettings
    {
    public:
        cRigidBodySettings();

        void  Save( Core::cIWriter *serial ) const;
        void  Load( Core::cIReader *serial );

        wchar_t  mName     [kRigidBodyNameMaxLen];
        wchar_t  mModelName[kRigidBodyModelNameMaxLen];

        int   UserData;
        float ColorR;
        float ColorG;
        float ColorB;

        float MaxFrameRotation;             //== deprecated
        float MaxFrameTranslation;          //== deprecated

        bool  DynamicRotationConstraint;    //== deprecated
        bool  DynamicTranslationConstraint; //== deprecated
        int   DynamicConstraintFrames;

        double Smoothing;                   // in the range [0,1]
        double PredictionTime;              // the amount of time to predict the solution forward, in fractional frames

        bool   Visible;
        bool   DisplayUntracked;
        bool   DisplayPivot;
        bool   DisplayUntrackedMarkers;
        bool   DisplayMarkerQuality;
        bool   DisplayQuality;
        bool   DisplayTracked;
        bool   DisplayLabel;
        bool   DisplayOrientation;
        bool   DisplayModelReplace;

        float  ModelYaw;
        float  ModelPitch;
        float  ModelRoll;
        float  ModelX;
        float  ModelY;
        float  ModelZ;
        float  ModelScale;

        bool   DisplayPositionHistory;
        bool   DisplayOrientationHistory;
        int    DisplayHistoryLength;
        int    DisplayOrientationSpread;
        int    DisplayOrientationSize;

        //== Static constraint ==--

        bool    StaticOrientationConstraint;
        double  StaticConstraintX;
        double  StaticConstraintY;
        double  StaticConstraintZ;
        double  StaticConstraintAngle;

        // Solver settings
        bool    Enabled;
        float   MaxMarkerDeflection;
        int     MinimumMarkerCount;
        int     MinimumHitCount;         //== deprecated
        float   Flexibility;
        bool    ShareMarkers;
        bool    Unique;
        double  MaxCalculationTime;
        int     AcquisitionFrames;

        bool    LocalizeSearch;

        enum eTrackingAlgorithms
        {
            Algorithm_Auto = 0,
            Algorithm_MarkerBased,
            Algorithm_RayBased,
            Algorithm_RayBasedPlus,
            Algorithm_RayBasedUltimate,
            Algorithm_Unspecified
        };

        eTrackingAlgorithms TrackingAlgorithmLevel;
    };
}

Rigid Body Properties

Most of the settings in the cRigidBodySettings class is described in the Properties: Rigid Body page.

cRigidBodySettings class contains all of setting variables for configuring Rigid Body asset properties.

RigidBodySolver::cRigidBodySettings

In the Motive API, you can use...

• TT_RigidBodySettings function to obtain and save configured Rigid Body settings in to a cRigidBodySettings instance.

• TT_SetRigidBodySettings function to assign a cRigidBodySettings instance to a Rigid Body asset in order to apply the settings.

• Refer to the below source code for Rigid Body properties available in the cRigidBodySettings class.

• For more information on each settings read through the Properties: Rigid Body page.

Declaration: RigidBodySetting.h

namespace RigidBodySolver
{
    const int kRigidBodyNameMaxLen = 32;
    const int kRigidBodyModelNameMaxLen = 256;

    class cRigidBodySettings
    {
    public:
        cRigidBodySettings();

        void  Save( Core::cIWriter *serial ) const;
        void  Load( Core::cIReader *serial );

        wchar_t  mName     [kRigidBodyNameMaxLen];
        wchar_t  mModelName[kRigidBodyModelNameMaxLen];

        int   UserData;
        float ColorR;
        float ColorG;
        float ColorB;

        float MaxFrameRotation;             //== deprecated
        float MaxFrameTranslation;          //== deprecated

        bool  DynamicRotationConstraint;    //== deprecated
        bool  DynamicTranslationConstraint; //== deprecated
        int   DynamicConstraintFrames;

        double Smoothing;                   // in the range [0,1]
        double PredictionTime;              // the amount of time to predict the solution forward, in fractional frames

        bool   Visible;
        bool   DisplayUntracked;
        bool   DisplayPivot;
        bool   DisplayUntrackedMarkers;
        bool   DisplayMarkerQuality;
        bool   DisplayQuality;
        bool   DisplayTracked;
        bool   DisplayLabel;
        bool   DisplayOrientation;
        bool   DisplayModelReplace;

        float  ModelYaw;
        float  ModelPitch;
        float  ModelRoll;
        float  ModelX;
        float  ModelY;
        float  ModelZ;
        float  ModelScale;

        bool   DisplayPositionHistory;
        bool   DisplayOrientationHistory;
        int    DisplayHistoryLength;
        int    DisplayOrientationSpread;
        int    DisplayOrientationSize;

        //== Static constraint ==--

        bool    StaticOrientationConstraint;
        double  StaticConstraintX;
        double  StaticConstraintY;
        double  StaticConstraintZ;
        double  StaticConstraintAngle;

        // Solver settings
        bool    Enabled;
        float   MaxMarkerDeflection;
        int     MinimumMarkerCount;
        int     MinimumHitCount;         //== deprecated
        float   Flexibility;
        bool    ShareMarkers;
        bool    Unique;
        double  MaxCalculationTime;
        int     AcquisitionFrames;

        bool    LocalizeSearch;

        enum eTrackingAlgorithms
        {
            Algorithm_Auto = 0,
            Algorithm_MarkerBased,
            Algorithm_RayBased,
            Algorithm_RayBasedPlus,
            Algorithm_RayBasedUltimate,
            Algorithm_Unspecified
        };

        eTrackingAlgorithms TrackingAlgorithmLevel;
    };
}

Rigid Body Properties

Most of the settings in the cRigidBodySettings class is described in the Properties: Rigid Body page.

General

Name

Allows a custom name to be assigned to the Rigid Body. Default is "Rigid Body X" where x is the Rigid Body ID.

Enable

Enables/Disables tracking of the selected Rigid Body. Disabled Rigid Bodies will not be tracked, and its data will not be included in the exported or streamed tracking data.

Streaming ID

User definable ID for the selected Rigid Body. When working with capture data in the external pipeline, this value can be used to address specific Rigid Bodies in the scene.

Minimum Markers to Boot

The minimum number of markers that must be tracked and labeled in order for a Rigid Body asset, or each Skeleton bone, to be booted or first tracked.

Minimum Markers to Continue

The minimum number of markers that must be tracked and labeled in order for a Rigid Body asset, or each Skeleton bone, to continue to be tracked after the initial boot.

Rotation Order

_[Advanced]_The order of the Euler axis used for calculating the orientation of the Rigid Body and Skeleton bones. Motive computes orientations in Quaternion and converts them into an Euler representation as needed. For exporting specific Euler angles, it's recommended to configure it from the Exporter settings, or for streaming, convert Quaternion into Euler angles on the client-side.

Visuals

Label

Selects whether or not to display the Rigid Body name in the 3D Perspective View. If selected, a small label in the same color as the Rigid Body will appear over the centroid in the 3D Perspective View.

Visual

Show the corresponding Rigid Body in the 3D viewport when it is tracked by the camera system.

Color

Color of the selected Rigid Body in the 3D Perspective View. Clicking on the box will bring up the color picker for selecting the color.

Bones

For Rigid Bodies, this property shows, or hides, visuals of the Rigid Body pivot point.

Bone Orientation

[Advanced] Enables the display of a Rigid Body's local coordinate axes. This option can be useful in visualizing the orientation of the Rigid Body, and for setting orientation offsets.

Bone Position History

Shows a history of the Rigid Body’s position. When enabled, you can set the history length and the tracking history will be drawn in the Perspective view.

Asset Model Markers

Shows the Asset Model Markers as transparent spheres on the Rigid Body. Asset mode markers are the expected marker locations according to the Rigid Body solve.

Asset Model Lines

Draws lines between labeled Rigid Body or Skeleton markers and corresponding expected marker locations. This helps to visualize the offset distance between actual marker locations and the asset model markers.

Untracked Markers

[Advanced] When enabled, all markers that are part of the Rigid Body definition will be dimmed, but still visible, when not present in the point cloud.

Replace Geometry

When a valid geometric model is loaded in the Attached Geometry section, the model will be displayed instead of a Rigid Body when this entry is set to true.

Attached Geometry

Attached Geometry setting will be visible if the Replace Geometry setting is enabled. Here, you can load an OBJ file to replace the Rigid Body. Scale, positions, and orientations of the attached geometry can be configured under the following section also. When a OBJ file is loaded, properties configured in the corresponding MTL files alongside the OBJ file will be loaded as well.

IMU

IMU Active Tags/Pucks: IMU settings are applicable only to Active Tags and Pucks that are equipped with IMU sensors. This feature is not fully supported in Motive 3.x; please use Motive 2.3 version. Please refer to the Motive 2.3 wiki page for more details on how to set up the IMU active components

Uplink ID

Uplink ID assigned to the Tag or Puck using the Active Batch Programmer. This ID must match with the Uplink ID assigned to the Active Tag or Puck that was used to create the Rigid Body.

RF Channel

Radio frequency communication channel configured on the Active Tag, or Puck, that was used to define the corresponding Rigid Body. This must match the RF channel configured on the active component; otherwise, IMU data will not be received.

Smoothing and Damping

Smoothing

Applies double exponential smoothing to translation and rotation of the Rigid Body. Increasing this setting may help smooth out noise in the Rigid Body tracking, but excessive smoothing can introduce latency. Default is 0 (disabled).

Forward Prediction

Compensate for system latency when tracking of the corresponding Rigid Body by predicting its movement into the future. Please note that predicting further into the future may impact the tracking stability.

Damping

[Advanced] When needed, you can damp down translational and/or rotational tracking of a Rigid Body or a Skeleton bone on selected axis.

To attach cCameraModule instances to a camera object using Motive API, call the following functions:

• to attach.

• to detach