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Motive API: Function Reference

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 NPTrackingTools header file for any information that are not documented here.

Project Management

TT_Initialize

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

NPRESULT		TT_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

  • NPRESULT

C++ Example

// Initializing all connected cameras
TT_Initialize();

TT_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 NPRESULT_SUCCESS).

  • When calling this function, currently configured camera calibration will be saved under the default System Calibration.cal file.

Function Input

  • None

Function Output

  • NPRESULT

C++ Example

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

TT_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.

  • TT_Update vs. TT_UpdateSingleFrame: In the case when a client application stalls momentarily, the program may get behind on updating the frames. In this situation, the TT_Update() function will disregard accumulated frames and service only the most recent frame data, but this also means that the client application will be missing the previous frames. On the other hand, the TT_UpdateSingleFrame function ensures that always a consecutive frame is updated each time the function is called. In general, a user should always use TT_Update(). Only in the case where a user wants to ensure their client application has access to every frame of tracking data and they are having problems calling TT_Update() in a timely fashion, should they consider using TT_UpdateSingleFrame(). If it is important for your program to obtain and process every single frame, use the TT_UpdateSingleFrame() function for updating the data.

  • Returns an NPRESULT integer value, depending on whether the operation was successful or not. Returns NPRESULT_SUCCESS when it successfully updates the frame data.

Function Input

  • None

Function Output

  • NPRESULT

C++ Example

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

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

TT_UpdateSingleFrame

Updates a single frame of camera data.

NPRESULT		TT_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.

  • TT_Update() vs. TT_UpdateSingleFrame(): In the case when a client application stalls momentarily, the program may get behind on updating the frames. In this situation, the TT_Update() function will disregard accumulated frames and service only the most recent frame data, but this also means that the client application will be missing the previous frames. On the other hand, the TT_UpdateSingleFrame function ensures that always a consecutive frame is updated each time the function is called. In general, a user should always use TT_Update(). Only in the case where a user wants to ensure their client application has access to every frame of tracking data and they are having problems calling TT_Update() in a timely fashion, should they consider using TT_UpdateSingleFrame(). If it is important for your program to obtain and process every single frame, use the TT_UpdateSingleFrame() function for updating the data.

  • Returns an NPRESULT value. When the function successfully updates the data, it returns 0 (or NPRESULT_SUCCESS).

Function Input

  • None

Function Output

  • NPRESULT

C++ Example

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

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

TT_LoadCalibration, TT_LoadCalibrationW

Loads a Motive camera calibration file.

NPRESULT		TT_LoadCalibration(const char *filename);
NPRESULT		TT_LoadCalibrationW(const wchar_t *filename);

Description

  • These functions load a camera calibration file (CAL).

  • Camera calibration files need to be exported from Motive.

  • Returns a NPRESULT integer value. If the file was successfully loaded, it returns NPRESULT_SUCCESS.

Function Input

  • Filename (const char, const wchar_t)

Function Output

  • NPRESULT

C++ Example

const char *calFileName= "project.ttp";
NPRESULT fileload = TT_LoadCalibration(calFileName);

if (fileload == NPRESULT_SUCCESS)
{
	printf("%s successfully loaded.\n", calFileName);
}
else
{
	printf("Error: %s\n", TT_GetResultString(fileload));
}

TT_LoadRigidBodies, TT_LoadRigidBodiesW

Imports TRA files and loads Rigid Body assets from it.

NPRESULT		TT_LoadRigidBodies(const char *filename);
NPRESULT		TT_LoadRigidBodiesW(const wchar_t *filename);

Description

  • This function imports and loads Rigid Body assets from a saved TRA file.

  • TRA files contain exported Rigid Body asset definitions from Motive.

  • All existing assets in the project will be replaced with the Rigid Body assets from the TRA file when this function is called. If you want to keep existing assets and only wish to add new Rigid Bodies, use TT_AddRigidBodies function.

  • Returns an NPRESULT integer value. It returns NPRESULT_SUCCESS when the file is successfully loaded.

Function Input

Filename (const char, const wchat_t)

Function Output

NPRESULT

C++ Example

//Loading Rigid Body Assets from a TRA file.
const char *traFile = "rigidbody.tra";
TT_LoadRigidBodies(traFile);

TT_SaveRigidBodies, TT_SaveRigidBodiesW

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

NPRESULT		TT_SaveRigidBodies(const char *filename);
NPRESULT		TT_SaveRigidBodiesW(const wchar_t *filename);

Description

  • This function saves all of the Rigid Body assets from the project into a TRA file.

  • Attach *.tra extension at the end of the filename.

  • Returns an NPRESULT integer value. It returns 0 or NPRESULT_SUCCESS when successfully saving the file.

Function Input

Filename (const char, const wchar_t)

Function Output

NPRESULT

C++ Example

//== Save Rigid Bodies ==/
TT_SaveRigidBodies("traFileName.tra");

TT_AddRigidBodies, TT_AddRigidBodiesW

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

NPRESULT		TT_AddRigidBodies(const char *filename);
NPRESULT		TT_AddRigidBodiesW(const wchar_t *filename);

Description

  • This function adds Rigid Body assets from the imported TRA file onto the existing list.

  • Adds Rigid Bodies from imported TRA files onto the asset list of the current project.

  • Returns an NPRESULT integer value. If the Rigid Bodies have been added successfully, it returns 0 or NPRESULT_SUCCESS.

Function Input

Filename (const char, const wchat_t)

Function Output

NPRESULT

C++ Example

/== Adding Rigid Bodies ==/
TT_AddRigidBodies("rigidbody.tra");

TT_LoadProfile, TT_LoadProfileW

Loads a Motive User Profile (.MOTIVE).

NPRESULT		TT_LoadProfile(const char *filename);
NPRESULT		TT_LoadProfileW(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 files store software configurations as well as other software-wide settings.

  • Profile files also loads trackable asset definitions. Once the application profile containing trackable assets is imported, there is no need to import TRA and SKL files separately.

  • Returns an NPRESULT integer value. If the project file was successfully loaded, it returns 0 (NPRESULT_SUCCESS).

Function Input

Filename (const char, const wchar_t)

Function Output

NPRESULT

C++ Example

//== Loading application profile XML file ==/
const char *filename= "UserProfile.ttp";
NPRESULT profileLoad = TT_LoadProfile(filename);

if (profileLoad == NPRESULT_SUCCESS)
{
	printf("%s successfully loaded.\n", filename);
}
else
{
	printf("Error: %s\n", TT_GetResultString(profileLoad));
}

TT_LoadProject, TT_LoadProjectW

Loads a Motive TTP project file.

NPRESULT		TT_LoadProject(const char *filename);
NPRESULT		TT_LoadProjectW(const wchar_t *filename);

Description

  • Loads a Motive TTP project file. TTP project file loads and saves both camera calibration and Rigid Body assets, so when using TTP files, there is no need to import or export CAL or TRA files separately.

  • Loading a project file will import all of the required information for tracking. These include camera calibration and Rigid Body assets that are associated with a Motive project.

  • Returns an NPRESULT integer value. If the project file was successfully loaded, it returns 0 (NPRESULT_SUCCESS).

Function Input

Filename (const char, const wchar_t)

Function Output

NPRESULT

C++ Example

//== Loading TTP project file ==/
const char *filename= "project.ttp";
NPRESULT ttpload = TT_LoadProject(filename);

if (ttpload == NPRESULT_SUCCESS)
{
	printf("%s successfully loaded.\n", filename);
}
else
{
	printf("Error: %s\n", TT_GetResultString(ttpload));
}

TT_SaveProfile, TT_SaveProfileW

Saves current application setting into a Profile XML file.

NPRESULT		TT_SaveProfile(const char *filename);
NPRESULT		TT_SaveProfileW(const wchar_t *filename);

Description

  • This function saves the current configuration into an application Profile XML file.

  • Attach *.xml extension at the end of the filename.

  • Returns an NPRESULT integer value. If the profile XML file was saved successfully, it returns 0 (NPRESULT_SUCCESS).

Function Input

Filename (const char, const wchar_t)

Function Output

NPRESULT

C++ Example

//== Saving the TTP project ==/
const char *projectname = "project.ttp";
NPRESULT result = TT_SaveProfile(projectname);

if ( result == NPRESULT_SUCCESS ){
        printf("Profile XML file saved.");
}
else {
        printf("Error: %s", TT_GetResultString(result));
}

TT_SaveProject, TT_SaveProjectW

TT_LoadCalibrationFromMemory

Loads calibration from memory.

NPRESULT		TT_LoadCalibrationFromMemory(unsigned char* buffer, int bufferSize);

Description

  • This function loads camera calibration from memory. In order to do this, the program must have saved calibration 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

  • NPRESULT

C++ Example

// get a pointer to the calibration block in memory
int bufferSize;
 
// get the size of the buffer
NPRESULT result = TT_LoadCalibrationFromMemory(buffer, bufferSize);

TT_CameraExtrinsicsCalibrationFromMemory

Gets camera extrinsics from a calibration file in memory.

NPRESULT		TT_CameraExtrinsicsCalibrationFromMemory(unsigned char* buffer, int bufferSize, eMotiveAPIResult& result);

Description

  • This allows for acquiring camera extrinsics for cameras not connected to system.

  • It simply 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

  • NPRESULT

C++ Example

// get a pointer to the calibration block in memory
int bufferSize;

// get the size of the buffer
NPRESULT result = TT_CameraExtrinsicsCalibrationFromMemory(unsigned char* buffer, int bufferSize, eMotiveAPIResult& result);

Calibration

TT_StartCalibrationWanding

Start a new calibration wanding for all cameras.

void		TT_StartCalibrationWanding();

Description

  • This will cancel any existing calibration process.

Function Input

  • None

Function Output

C++ Example

TT_CalibrationState

Returns the current calibration state.

NPRESULT		TT_CalibrationState();

Description

  • Returns the current calibration state.

Function Input

  • None

Function Output

  • NPRESULT

C++ Example

TT_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>		TT_CalibrationCamerasLackingSamples();

Description

  • When the returned vector for this method goes to zero size, you can call TT_StartCalibrationCalculation() to begin calibration calculations.

  • Wanding samples will continue to be collected until TT_StartCalibrationCalculation() is called.

Function Input

  • None

Function Output

  • Vector (int)

C++ Example

TT_CameraCalibrationSamples

During calibration wanding.

int		TT_CameraCalibrationSamples(int cameraIndex);

Description

  • This will return the number of wand samples collected for the given camera.

  • Return 0 otherwise.

Function Input

  • Camera index (int)

Function Output

  • Number of samples (int)

C++ Example

TT_CancelCalibration

Cancels wanding or calculation and resets calibration engine.

void		TT_CancelCalibration();

Description

  • Cancels wanding or calculation

  • Resets calibration engine

Function Input

  • none

Function Output

  • Exits either TT_StartCalibrationWanding() or TT_StartCalibratoinCalculation()

C++ Example

TT_StartCalibrationCalculation

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

bool		TT_StartCalibrationCalculation();

Description

  • Starts calibration calculations after wanding.

Function Input

  • Boolean value

Function Output

  • Starts calculation

C++ Example

TT_CurrentCalibrationQuality

During calibration calculation.

int		TT_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

TT_ApplyCalibrationCalculation

Run once TT_CalibrationState() returns "Complete".

bool		TT_ApplyCalibrationCalculation();

Description

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

Function Input

  • none

Function Output

  • Apply calibration results

C++ Example

TT_SetGroundPlane

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

bool		TT_SetGroundPlane(bool useCustomGroundPlane);

Description

  • If true then this function will use a custom ground plane.

Function Input

  • Boolean value of useCustomGroundPlane

Function Output

  • Either applies custom or preset ground plane to calibration.

C++ Example

TT_TranslateGroundPlane

Translate the existing ground plane (in mm).

void		TT_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.

C++ Example

Data Streaming

TT_StreamNP

Enables/disables the NatNet streaming of the Natrual Point tracking data.

NPRESULT		TT_StreamNP(bool enabled);

Description

  • This function enables/disables NaturalPoint data stream.

  • This is equivalent to the Broadcase Frame Data in the Data Streaming panel in Motive.

  • Returns a NPRESULT integer value. If the operation was successful, it returns 0 (NPRESULT_SUCCESS).

Function Input

  • Boolean argument enabled (true) / disabled (false)

Function Output

  • NPRESULT

C++ Example

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

TT_StreamTrackd

Enables/disables streaming frame data into trackd.

NPRESULT		TT_StreamTrackd(bool enabled);

Description

  • This function enables/disables streaming data into trackd.

  • Returns a NPRESULT integer value. If the operation was successful, it returns 0 (NPRESULT_SUCCESS).

Function Input

  • True for enabling and false for disabling (bool)

Function Output

  • NPRESULT

C++ Example

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

TT_StreamVRPN

Enables/disables data stream into VRPN.

NPRESULT		TT_StreamVRPN(bool enabled, int port);

Description

  • This function enables/disables data streaming into VRPN.

  • To stream onto VRPN, the port address must be specified. VRPN server applications run through 3883 port, which is default port for the VRPN streaming.

  • Returns an NPRESULT integer value. If streaming was successfully enabled, or disabled, it returns 0 (NPRESULT_SUCCESS).

Function Input

  • True for enabling and false for disabling (bool)

  • Streaming port address (int)

Function Output

  • NPRESULT

C++ Example

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

3D Frame Data

TT_FrameMarkerCount

Gets total number of reconstruected markers in a frame.

int		TT_FrameMarkerCount();

Description

  • This function returns a total number of reconstructed 3D markers detected in 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 = TT_FrameMarkerCount();
printf("Total number of markers: %d", totalMarker);

for (int i = 0 ; i < totalMarker; i++) {
        //== Use a loop to access every marker in the frame ==//
        printf("Marker %d (X/Y/Z): (%f, %f, %f)\n", i,
		TT_FrameMarkerX(i), TT_FrameMarkerY(i), TT_FrameMarkerZ(i));
}

TT_FrameMarkerX

Returns x-position of a reconstructed marker.

float		TT_FrameMarkerX(int markerIndex);

Description

  • This function returns X coordinate of a reconstructed 3D marker in respect to the global coordinate system, in meters.

  • It requires a marker index value.

Function Input

  • Marker index (int)

Function Output

  • X-position of the 3D marker (float)

C++ Example

int totalMarker = TT_FrameMarkerCount();
printf("Total number of markers: %d", totalMarker);

//== Outputting marker positions ==//
for (int i = 0 ; i < totalMarker; i++) {
        //== Use a loop to access every marker in the frame ==//
        printf("Marker %d (X/Y/Z): (%f, %f, %f)", i,
		TT_FrameMarkerX(i), TT_FrameMarkerY(i), TT_FrameMarkerZ(i));
}

TT_FrameMarkerY

Returns y-position of a reconstructed marker.

float		TT_FrameMarkerY(int markerIndex);

Description

  • This function returns Y coordinate of a reconstructed 3D marker in respect to the global coordinate system, in meters.

  • It requires a marker index value.

Function Input

  • Marker index (int)

Function Output

  • Y-position of the 3D marker (float)

C++ Example

int totalMarker = TT_FrameMarkerCount();
printf("Total number of markers: %d", totalMarker);

//== Outputting marker positions ==//
for (int i = 0 ; i < totalMarker; i++) {
        //== Use a loop to access every marker in the frame ==//
        printf("Marker %d (X/Y/Z): (%f, %f, %f)", i,
		TT_FrameMarkerX(i), TT_FrameMarkerY(i), TT_FrameMarkerZ(i));
}

TT_FrameMarkerZ

Returns z-position of a reconstructed marker.

float		TT_FrameMarkerZ(int markerIndex);

Description

  • This function returns Z coordinate of a reconstructed 3D marker in respect to the global coordinate system, in meters.

  • It requires a marker index value.

Function Input

  • Marker index (int)

Function Output

  • Z-position of the 3D marker (float)

C++ Example

int totalMarker = TT_FrameMarkerCount();
printf("Total number of markers: %d", totalMarker);

//== Outputting marker positions ==//
for (int i = 0 ; i < totalMarker; i++) {
        //== Use a loop to access every marker in the frame ==//
        printf("Marker %d (X/Y/Z): (%f, %f, %f)", i,
		 TT_FrameMarkerX(i), TT_FrameMarkerY(i), TT_FrameMarkerZ(i));
}

TT_FrameMarkerResidual

Returns residual value of a marker.

float		TT_FrameMarkerResidual(int markerIndex);

Description

  • This function returns a residual value for a given marker indicated by the marker index.

  • Unit of 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)

TT_FrameMarkerLabel

Returns a unique identifier of a marker.

Core::cUID		TT_FrameMarkerLabel(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 = TT_FrameMarkerCount();
vector<Core::cUID> unique_Marker_ID(totalMarkers);

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

TT_FrameTimeStamp

Returns a timestamp value for the current frame.

double		TT_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( !TT_Update() ){
		frameNumber++;	// increment frame number each time a frame is processed.

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

TT_FrameCameraCentroid

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

bool		TT_FrameCameraCentroid(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 = TT_FrameMarkerCount();

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

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

TT_FlushCameraQueues

Flushes out the camera queues.

void		TT_FlushCameraQueues();

Description

  • This function flushes camera queues.

  • 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 TT_FlushCameraQueues() to refresh the camera queue before calling TT_Update() for processing the frame. After calling this function, avoid calling it again until the TT_Update() function is called and NPRESULT_SUCCESS is returned.

Function Input

  • None

Function Output

  • Void

C++ Example

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

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

Rigid Bodies

TT_IsRigidBodyTracked

Checks whether Rigid Body is tracked or not.

bool		TT_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 = TT_RigidBodyCount();

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

TT_RigidBodyLocation

Obtains and saves 3D position, quaternion orientation, and Euler orientation of a Rigid Body

void		TT_RigidBodyLocation(int rbIndex,
			float *x, float *y, float *z,
			float *qx, float *qy, float *qz, float *qw,
			float *yaw, float *pitch, float *roll);

Description

  • This function saves position and orientation of a Rigid Body. Specifically, position and orientation at the Rigid Body pivot point is obtained.

  • 3D coordinates of the Rigid Body will be assigned in declared variable addresses (*x, *y, *z).

  • Orientation of the Rigid Body will be saved in two different formats; Euler and quaternion rotations. Yaw, pitch, and roll values for Euler representation will be saved in the declared variable addresses (*yaw, *pitch, *roll), and qx, qy, qz, and qw values for the quaternion rotation will be saved in declared variable addresses (*qx, *qy, *qz, and *qw).

Function Input

  • Rigid body index (int)

  • Declared variable (float) addresses for:

    • 3D coordinates (x,y,z)

    • Quaternion Rotation (qx, qy, qz, qw)

    • Euler Rotation ( yaw, pitch, roll)

Function Output

  • Void

C++ Example

//== Declared variables ==//
float	x, y, z;
float 	qx, qy, qz, qw;
float	yaw, pitch, roll;
int rbcount = TT_RigidBodyCount();

for(int i = 0; i < rbcount; i++)
{
	//== Obtaining/Saving the Rigid Body position and orientation ==//
	TT_RigidBodyLocation( i, &x, &y, &z, &qx, & qy, &qz, &qw, &yaw, &pitch, &roll );
	
	if( TT_IsRigidBodyTracked( i ) )
	{
		printf( "%s: Pos (%.3f, %.3f, %.3f) Orient (%.1f, %.1f, %.1f)\n", 
					TT_RigidBodyName( i ), x, y, z, yaw, pitch, roll );
	}
}

TT_ClearRigidBodyList

Clears and removes all Rigid Body assets.

void		TT_ClearRigidBodyList();

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 ==//
TT_ClearRigidBodyList();

TT_RemoveRigidBody

Removes a Rigid Body from the project

NPRESULT		TT_RemoveRigidBody(int rbIndex);

Description

  • This function removes a single Rigid Body from a project.

  • Returns a NPRESULT integer value. If the operation was successful, it returns 0 (NPRESULT_SUCCESS).

Function Input

  • Rigid body index (int)

Function Output

  • NPRESULT

C++ Example

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

for (int i = 0; i < totalRB; i++)
{
	if(!TT_IsRigidBodyTracked(i))
	{
 		TT_RemoveRigidBody(i);
	}
}

TT_RigidBodyCount

Returns a total number of Rigid Bodies.

Description

  • This function returns a total count of Rigid Bodies involved in the project.

  • This 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 totalRB = TT_RigidBodyCount();

for (int i = 0; i < totalRB; i++)
{
	printf("Rigid Body #%d: %s\n", i, TT_RigidBodyName(i));
}

TT_RigidBodyUserData

Returns the User Data ID value of a Rigid Body.

int		TT_RigidBodyUserData(int rbIndex);

Description

  • This function returns the User Data ID number of a Rigid Body.

  • User ID 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

  • User Data ID (int)

C++ Example

int totalRB = TT_RigidBodyCount();

//== User Data ID for all Rigid Bodies ==//
for ( int i = 0 ; i < totalRB; i++ )
{
	printf("%s User Data ID: %d", TT_RigidBodyName(i), TT_RigidBodyUserData(i));
}

TT_SetRigidBodyUserData

Assigns a User Data ID number to a Rigid Body.

void		TT_SetRigidBodyUserData(int rbIndex, int ID);

Description

  • Assigns a User Data ID number to a Rigid Body.

  • The User Data ID numbers can be used to point to particular assets when processing the data in external applications.

Function Input

  • Rigid body index (int)

  • Desired User Data ID (int)

Function Output

  • Void

C++ Example

int totalRB = TT_RigidBodyCount();

//== Assigning incremental User Data ID for Rigid Bodies. ==//
for( int i = 0; i < totalRB; i++ )
{
	TT_SetRigidBodyUserData(i, i+1);
	printf("Rigid Body: %s, \t User Data ID: %d", TT_RigidBodyName(i), TT_RigidBodyUserData(i)); 
}

TT_RigidBodyMeanError

Returns a mean error of the Rigid Body tracking data.

void		TT_RigidBodyMeanError(int rbIndex, int ID);

Description

  • Returns a mean error value of the respective Rigid Body data for the current frame.

Function Input

  • Rigid body index (int)

Function Output

  • Mean error (meters)

TT_RigidBodyName, TT_RigidBodyNameW

Returns the name for the Rigid Body.

const char* 	 	TT_RigidBodyName(int rbIndex);
const wchar_t*		TT_RigidBodyNameW(int rbIndex);

Description

  • These functions are used to obtain name of a Rigid Body.

  • Returns the assigned name of the Rigid Body.

Function Input

  • Rigid body index (int)

Function Output

  • Rigid body name (const char*, const w_chart*)

C++ Example

int totalRB = TT_RigidBodyCount();

//== Printing Rigid Body Names ==//
for( int i = 0; i < totalRB; i++ )
{
	printf("Rigid Body: %s, \t User Data ID: %d", TT_RigidBodyName(i), TT_RigidBodyUserData(i)); 
}

TT_SetRigidBodyEnabled

Enables/disables tracking of a Rigid Body.

void		TT_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 = TT_RigidBodyCount();

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

TT_RigidBodyEnabled

Checks whether a Rigid Body is enabled.

bool		TT_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 = TT_RigidBodyCount();

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

TT_RigidBodyTranslatePivot

Translates the pivot point of a Rigid Body.

NPRESULT		TT_RigidBodyTranslatePivot(int index, 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 a NPRESULT integer value. If the operation was successful, it returns 0 (NPRESULT_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

  • NPRESULT

C++ Example

int rbIndex = 1;

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

TT_RigidBodyResetOrientation

Resets orientation of a Rigid Body.

bool		TT_RigidBodyResetOrientation(int rbIndex);

Description

  • This function resets orientation of the Rigid Body and re-aligns its orientation axis with the global coordinate system.

  • Additional 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 = TT_RigidBodyCount();

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

TT_RigidBodyMarkerCount

Gets total number of markers in a Rigid Body.

int		TT_RigidBodyMarkerCount(int rbIndex);

Description

  • This function returns 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 = TT_RigidBodyCount();

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

TT_RigidBodyMarker

Saves 3D coordinates of a solved Rigid Body marker in respect to respective Rigid Body's local space.

void		TT_RigidBodyMarker(int rbIndex, int markerIndex, float *x, float *y, float *z);

Description

  • This function gets 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. For actual reconstructed marker positions, use the TT_RigidBodyPointCloudMarker function.

  • Note that the 3D coordinates obtained by this function is represented in respect to Rigid Body's local coordinate axis. For obtaining 3D coordinate in respect to global coordinates, use TT_RigidBodyPointCloudMarker function.

Function Input

  • Rigid body index (int)

  • Marker index (int)

  • Three declared variable addresses for saving x, y, z coordinates of the marker (float)

Function Output

  • Void

C++ Example

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

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

	for(int j = 0; j < TT_RigidBodyMarkerCount(i); j++)
	{
		printf("Rigid Body:%s\t Marker #%d\n", TT_RigidBodyName(i), j);
		
		//== Marker Locations ==//
		TT_RigidBodyMarker(i, j, &x, &y, &z);
		printf("Local: (%f, %f, %f)\n", x, y, z);
	}
}

TT_RigidBodyUpdateMarker

Changes and updates the Rigid Body marker positions.

bool     TT_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 respect to the local coordinate system.

  • New y-position of the Rigid Body marker in respect to the local coordinate system.

  • New z-position of the Rigid Body marker in respect to the local coordinate system.

Function Output

  • Returns true if marker locations have been successfully updated.

TT_RigidBodyPointCloudMarker

Saves 3D coordinates of a Rigid Body marker in respect to the global space.

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

Description

  • This function saves 3D coordinates of each Rigid Body marker in designated 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

  • Void

C++ Example

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

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

	for(int j = 0; j < TT_RigidBodyMarkerCount(i); j++)
	{
		printf("Rigid Body:%s\t Marker #%d\n", TT_RigidBodyName(i), j);
		 
		//== Rigid Body Marker Global Coordinates ==//
		TT_RigidBodyPointCloudMarker(i, j, tracked, gx, gy, gz);
		printf("Global: (%f, %f, %f)\n", x, y, z);
	}
}

TT_RigidBodyPlacedMarker

Saves 3D coordinates of a Rigid Body solved marker positions in respect to the global space. Unlike TT_RigidBodyPointCloudMarker function, it does not report point cloud solved positions, but it reports the expected marker positions in respect to Rigid Body position and orientation.

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

Description

  • This function saves 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

  • Void

C++ Example

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

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

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

TT_RigidBodyID

This function is used for obtaining unique identifiers for a specific Rigid Body indicated by the Rigid Body index number.

Core::cUID		TT_RigidBodyID( int rbIndex );

Function Input

  • Rigid body index (int)

Function Output

  • Rigid body unique ID (Core::cUID)

TT_CreateRigidBody

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

NPRESULT		TT_CreateRigidBody(const char* name, int userDataID, 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 TT_FrameMarkerX/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, created Rigid Body will have its pivot point at the global origin.

  • Returns an NPRESULT integer value. If the Rigid Body was successfully created, it returns 0 or NPRESULT_SUCCESS.

Function Input

  • Rigid body name (char)

  • User Data ID (int)

  • Marker Count (int)

  • Marker list (float list)

Function Output

  • NPRESULT

C++ Example

int markerCount = TT_FrameMarkerCount;
vector<float> markerListRelativeToGlobal;

// add markers to markerListRelativeToGlobal using TT_FrameMarkerX, etc
for (int i = 0; i < markerCount; ++i)
{
    	markerListRelativeToGlobal.push_back(TT_FrameMarkerX(i));
    	markerListRelativeToGlobal.push_back(TT_FrameMarkerY(i));
	markerListRelativeToGlobal.push_back(TT_FrameMarkerZ(i));
}

// then average the locations in x, y and z
float sx = 0, sy = 0, sz = 0;
for (int i = 0; i < markerCount; ++i)
{
    	sx += markerListRelativeToGlobal[3*i];
    	sy += markerListRelativeToGlobal[3*i + 1];
    	sz += markerListRelativeToGlobal[3*i + 2];
}


float ax = sx/markerCount;
float ay = sy/markerCount;
float az = sz/markerCount;


vector<float> pivotPoint = {ax, ay, az};
vector<float> markerListRelativeToPivotPoint;

// subtract the pivot point location from the marker location
for (int i = 0; i < markerCount; ++i)
{
    markerListRelativeToPivotPoint.push_back(markerListRelativeToGlobal[3*i] - ax);
    markerListRelativeToPivotPoint.push_back(markerListRelativeToGlobal[3*i + 1] - ay);
    markerListRelativeToPivotPoint.push_back(markerListRelativeToGlobal[3*i + 2] - az);
}

TT_CreateRigidBody("Rigid Body New", 1, markerCount, markerListRelativeToPivotPoint);

TT_RigidBodySettings

Obtains Rigid Body settings for a given asset, and saves them in a cRigidBodySettings instance.

NPRESULT		TT_RigidBodySettings(int rbIndex, RigidBodySolver::cRigidBodySettings &settings);

Description

  • This function obtains Rigid Body settings for a given Rigid Body asset and saves them into a declared cRigidBodySetting instance address.

  • Rigid body settings are saved into an instance of the cRigidBodySettings class.

  • For detailed information on member function and variables in the cRigidBodySettings class, refer to its declaration in the RigidBodySettings.h header file.

  • Returns a NPRESULT integer value.

Function Input

  • Rigid body index (int)

  • declared instance address (cRigidBodySettings)

Function Output

  • NPRESULT

C++ Example

//== Constructor at the Beginning of the program ==//
RigidBodySolver::cRigidBodySettings::cRigidBodySettings()	{};

//== Obtaining Rigid Body Settings ==//
int rbcount = TT_RigidBodyCount();
RigidBodySolver::cRigidBodySettings	settings;

for( int i = 0; i < rbcount; i++ )
{
	TT_RigidBodySettings(i, settings);

	printf("Rigid Body: %s\n", TT_RigidBodyName(i));

	//== Printing Some of the Settings==// 
	printf("MaxMarkerDeflection: %f\n", settings.MaxMarkerDeflection);
	printf("MinimumMarkerCount: %d\n", settings.MinimumMarkerCount);

	if (settings.Unique) 
	{
		printf("Unique: True\n");
	}
}

TT_SetRigidBodySettings

Changes property settings of a Rigid Body.

NPRESULT		TT_SetRigidBodySettings(int rbIndex, RigidBodySolver::cRigidBodySettings &settings);

Description

  • This function assigns a set of Rigid Body settings to a Rigid Body asset.

  • An instance of cRigidBodySettings will be attached to the provided Rigid Body.

  • Returns a NPRESULT integer value. If the marker was successfully created, it returns 0 (NPRESULT_SUCCESS).

Function Input

  • Rigid body index (int)

Function Output

  • NPRESULT

C++ Example

//== Constructor at the Beginning of the program ==//
int rbcount = TT_RigidBodyCount();
RigidBodySolver::cRigidBodySettings::cRigidBodySettings()	{};

RigidBodySolver::cRigidBodySettings	settings;

for(int i = 0; i < rbcount; i++)
{

	//== Obtaining configured settings for each Rigid Body ==//
	TT_RigidBodySettings(i, settings);

	if(settings.Unique){
		printf("Rigid Body #%d is already set to Unique", i);
	}
	else
	{
 		//== Setting/assigning all Rigid Bodies to Unique ==//
		settings.Unique = TRUE;
 		TT_SetRigidBodySettings(i,settings);

		printf("Rigid Body #%d has been set to Unique", i);
}

TT_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, TT_RigidBodyRefineSample bust be called on everyframe in order to collect samples.

bool     TT_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.

TT_RigidBodyRefineSample

This function collects samples for Rigid Body refinement started by calling the TT_RigidBodyRefineStart function. Call this function for every frame; within the update loop. You can check the progress of calibration by calling the TT_RigidBodyRefineProgress function.

bool     TT_RigidBodyRefineSample();

Description

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

Function Input

  • None. Samples frames for the initialized refine process.

Function Output

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