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 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.

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

Function Input

None

Function Output

eMotiveAPIResult

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

Function Input

None

Function Output

eMotiveAPIResult

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 eMotiveAPIResult integer value, depending on whether the operation was successful or not. Returns kApiResult_Success when it successfully updates the frame data.

Function Input

None

Function Output

eMotiveAPIResult

TT_UpdateSingleFrame

Updates a single frame of camera data.

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

Function Input

None

Function Output

eMotiveAPIResult

TT_LoadCalibration, TT_LoadCalibrationW

Loads a Motive camera calibration file.

Description

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

Function Input

Filename (const char, const wchar_t)

Function Output

eMotiveAPIResult

TT_LoadRigidBodies, TT_LoadRigidBodiesW

Imports the profile file (.motive) and loads Rigid Body assets from it.

Description

This function imports and loads Rigid Body assets from a saved profile file.
Profile files (.motive) contain exported Rigid Body asset definitions from Motive.
All existing assets in the project will be replaced with the Rigid Body assets from the profile 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 eMotiveAPIResult integer value. It returns kApiResult_Success when the file is successfully loaded.

Function Input

Filename (const char, const wchat_t)

Function Output

eMotiveAPIResult

TT_SaveRigidBodies, TT_SaveRigidBodiesW

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

Description

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

Function Input

Filename (const char, const wchar_t)

Function Output

eMotiveAPIResult

TT_AddRigidBodies, TT_AddRigidBodiesW

Loads a profile file (MOTIVE) and adds its Rigid Body assets onto the project.

Description

This function adds Rigid Body assets from the imported profile file onto the existing list.
Adds Rigid Bodies from imported profile files onto the asset list of the current project.
Returns an eMotiveAPIResult integer value. If the Rigid Bodies have been added successfully, it returns 0 or kApiResult_Success.

Function Input

Filename (const char, const wchat_t)

Function Output

eMotiveAPIResult

TT_LoadProfile, TT_LoadProfileW

Loads a Motive User Profile (.MOTIVE).

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.
Returns an eMotiveAPIResult integer value. If the project file was successfully loaded, it returns 0 (kApiResult_Success).

Function Input

Filename (const char, const wchar_t)

Function Output

eMotiveAPIResult

TT_SaveProfile, TT_SaveProfileW

Saves current application setting into a Profile XML file.

Description

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

Function Input

Filename (const char, const wchar_t)

Function Output

eMotiveAPIResult

TT_LoadCalibrationFromMemory

Loads calibration from memory.

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

eMotiveAPIResult

TT_CameraExtrinsicsCalibrationFromMemory

Gets camera extrinsics from a calibration file in memory.

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

eMotiveAPIResult

Calibration

TT_StartCalibrationWanding

Start a new calibration wanding for all cameras.

Description

This will cancel any existing calibration process.

Function Input

None

Function Output

eMotiveAPIResult

TT_CalibrationState

Returns the current calibration state.

Description

Returns the current calibration state.

Function Input

None

Function Output

eMotiveAPIResult

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.

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)

TT_CameraCalibrationSamples

During calibration wanding.

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)

TT_CancelCalibration

Cancels wanding or calculation and resets calibration engine.

Description

Cancels wanding or calculation
Resets calibration engine

Function Input

none

Function Output

Exits either TT_StartCalibrationWanding() or TT_StartCalibratoinCalculation()

TT_StartCalibrationCalculation

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

Description

Starts calibration calculations after wanding.

Function Input

Boolean value

Function Output

Starts calculation

TT_CurrentCalibrationQuality

During calibration calculation.

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)

TT_ApplyCalibrationCalculation

Run once TT_CalibrationState() returns "Complete".

Description

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

Function Input

none

Function Output

Apply calibration results

TT_SetGroundPlane

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

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.

TT_TranslateGroundPlane

Translate the existing ground plane (in mm).

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

TT_StreamNP

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

Description

This function enables/disables NaturalPoint data stream.
This is equivalent to the Broadcase Frame Data in the Data Streaming panel in Motive.
Returns an eMotiveAPIResult integer value. If the operation was successful, it returns 0 (kApiResult_Success).

Function Input

Boolean argument enabled (true) / disabled (false)

Function Output

eMotiveAPIResult

TT_StreamTrackd

Enables/disables streaming frame data into trackd.

Description

This function enables/disables streaming data into trackd.
Returns an eMotiveAPIResult integer value. If the operation was successful, it returns 0 (kApiResult_Success).

Function Input

True for enabling and false for disabling (bool)

Function Output

eMotiveAPIResult

TT_StreamVRPN

Enables/disables data stream into VRPN.

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 eMotiveAPIResult integer value. If streaming was successfully enabled, or disabled, it returns 0 (kApiResult_Success).

Function Input

True for enabling and false for disabling (bool)
Streaming port address (int)

Function Output

eMotiveAPIResult

3D Frame Data

TT_FrameMarkerCount

Gets total number of reconstructed markers in a frame.

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)

TT_FrameMarkerX

Returns x-position of a reconstructed marker.

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)

TT_FrameMarkerY

Returns y-position of a reconstructed marker.

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)

TT_FrameMarkerZ

Returns z-position of a reconstructed marker.

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)

TT_FrameMarkerResidual

Returns residual value of a marker.

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.

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)

TT_FrameTimeStamp

Returns a timestamp value for the current frame.

Description

This function returns a timestamp value of the current frame.

Function Input

None

Function Output

Frame timestamp (double)

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.

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)

TT_FlushCameraQueues

Flushes out the camera queues.

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 kApiResult_Success is returned.

Function Input

None

Function Output

Void

Rigid Bodies

TT_IsRigidBodyTracked

Checks whether Rigid Body is tracked or not.

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)

TT_RigidBodyLocation

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

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

TT_ClearRigidBodyList

Clears and removes all Rigid Body assets.

Description

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

Function Input

None

Function Output

Void

TT_RemoveRigidBody

Removes a Rigid Body from the project

Description

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

Function Input

Rigid body index (int)

Function Output

eMotiveAPIResult

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)

TT_RigidBodyUserData

Returns the User Data ID value of a Rigid Body.

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)

TT_SetRigidBodyUserData

Assigns a User Data ID number to a Rigid Body.

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

TT_RigidBodyMeanError

Returns a mean error of the Rigid Body tracking data.

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.

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*)

TT_SetRigidBodyEnabled

Enables/disables tracking of a Rigid Body.

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

TT_RigidBodyEnabled

Checks whether a Rigid Body is enabled.

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)

TT_RigidBodyTranslatePivot

Translates the pivot point of a Rigid Body.

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 eMotiveAPIResult integer value. If the operation was successful, it 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

eMotiveAPIResult

TT_RigidBodyResetOrientation

Resets orientation of a Rigid Body.

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)

TT_RigidBodyMarkerCount

Gets total number of markers in a Rigid Body.

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)

TT_RigidBodyMarker

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

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

TT_RigidBodyUpdateMarker

Changes and updates the Rigid Body marker positions.

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.

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

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.

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

TT_RigidBodyID

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

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.

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. If this is not done, created Rigid Body will have its pivot point at the global origin.
Returns an eMotiveAPIResult integer value. If the Rigid Body was successfully created, it returns 0 or kApiResult_Success.

Function Input

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

Function Output

eMotiveAPIResult

TT_RigidBodySettings

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

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 MotiveAPI.h header file.
Returns an eMotiveAPIResult integer value.

Function Input

Rigid body index (int)
declared instance address (cRigidBodySettings)

Function Output

eMotiveAPIResult

TT_SetRigidBodySettings

Changes property settings of a Rigid Body.

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 an eMotiveAPIResult integer value. If the marker was successfully created, it returns 0 (kApiResult_Success).

Function Input

Rigid body index (int)

Function Output

eMotiveAPIResult

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.

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 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.

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.

TT_RigidBodyRefineState

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

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.

Function Input

None. Checks the state on the ongoing refinement process.

Function Output

Returns TT_RigidBodyRefineStates enum value.

TT_RigidBodyRefineProgress

This function inquiries the progress of the refinement sampling process.

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 in respect to the total number of samples given in the TT_RigidBodyRefineStart parameter.

Function Input

None. Checks the progress on the ongoing refinement process.

Function Output

Returns percentage completeness of the sampling process (float).

TT_RigidBodyRefineInitialError / TT_RigidBodyRefineResultError

These two functions returns error values of the Rigid Body definition before and after the refinement.

Description

Once the refinement process has reached complete stage, these two functions can be called to compare the error values from corresponding Rigid Body definition before and after the refinement.

Function Input

None.

Function Output

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

TT_RigidBodyRefineApplyResult

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

Description

This function applies the refined Rigid Body definition. After comparing the error values before and after the refinement using TT_RigidBodyRefineInitialError and TT_RigidBodyRefineResultError functions, use this function to apply if the results are satisfying.

Function Input

None.

Function Output

Returns true if the refined results have been successfully applied.

TT_RigidBodyRefineReset

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

Description

If the final refinement result from the TT_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

TT_GetCameraManager

Returns pointer to the CameraManager instance.

Description

This function returns a pointer to the CameraManager instance from the Camera SDK.
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*)

TT_BuildNumber

Returns Motive build number.

Description

This function returns corresponding Motive build number.

Function Input

None

Function Output

Build number (int)

TT_CameraGroupCount

Returns camera group count.

Description

This function returns total count of camera groups that are involved in the project.

Function Input

None

Function Output

Camera group count (int)

TT_CreateCameraGroup

Creates a new camera group.

Description

This function adds an additional camera group (empty) to a project.
Note: Creating an additional camera group is unnecessary for most applications. Most common case is to group cameras to set them as a reference group for recording grayscale videos.

Function Input

None

Function Output

True/False (bool)

TT_RemoveCameraGroup

Removes a camera group.

Description

This function removes a camera group, specified by its index number.
The camera group must contain no cameras in order to be removed.
Returns true if the group was successfully removed.

Function Input

Camera group index (int)

Function Output

True/False (bool)

TT_CamerasGroup

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

Description

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

Function Input

Camera index (int)

Function Output

Camera group index (int)

TT_SetGroupShutterDelay

Introduces shutter delay to a camera group.

Description

This function sets a shutter delay (in microseconds) to a camera group, which is designated by its index number.
After assigning the delay, all of the cameras involved in the camera group will shutter at a delayed timing when recording.

Function Input

Camera group index (int)
Delay in microseconds (int)

Function Output

Void

TT_SetCameraGroup

Moves a camera to a different camera group.

Description

This function assigns/moves a camera to a different camera group

Function Input

Camera index (int)
Camera group index (int)

Function Output

Void

TT_CameraGroupFilterSettings

Obtains the camera group's filter settings.

Description

This function fetches configured 2D filter settings from a camera group and saves the settings in the declared cCameraGroupFilterSettings instance.
Returns an eMotiveAPIResult integer value. When the function successfully assigns the filter settings, it returns 0 (or kApiResult_Success).

Function Input

Camera group index (int)
Group filter settings instance (cCameraGroupFilterSettings)

Function Output

eMotiveAPIResult

TT_SetCameraGroupFilterSettings

Assigns camera group filter settings to a camera group.

Description

This function assigns inputted filter settings (cCameraGroupFilterSettings) instance to a camera group designated by its index number.
Returns an eMotiveAPIResult integer value. When the function successfully assigns the filter settings, it returns 0 (or kApiResult_Success).

Function Input

Camera group index (int)
Filter settings instance (cCameraGroupFilterSettings)

Function Output

eMotiveAPIResult

TT_CameraGroupPointCloudSettings / TT_SetCameraGroupPointCloudSettings

TT_CameraGroupMarkerSize

Obtains marker size settings of a camera group

Description

This function fetches currently configured marker size settings from a camera group, and saves them onto a declared cCameraGroupMarkerSizeSettings class instance.
The marker size settings determine display properties of the 3D markers reconstructed from a specific group of cameras.
Returns an eMotiveAPIResult integer value. When the function successfully obtains the settings, it returns 0 (or kApiResult_Success).

Function Input

Camera group index (int)
Marker size settings (cCameraGroupMarkerSizeSettings)

Function Output

eMotiveAPIResult

TT_SetCameraGroupMarkerSize

Applies given marker size settings to a camera group.

Description

This function applies an instance cCameraGroupMarkerSizeSettings to a camera group.
The marker size settings determine display properties of 3D markers reconstructed from a specific group of cameras.
Marker sizes are represented by corresponding diameter in millimeters.
Returns an eMotiveAPIResult integer value. When the function successfully applies the settings, it returns 0 (or kApiResult_Success).

Function Input

Camera group index (int)
Marker size settings (cCameraGroupMarkerSizeSettings)

Function Output

eMotiveAPIResult

TT_SetCameraGroupReconstruction

Enables or disables marker reconstruction contribution from a camera group.

Description

Enables or disables marker reconstruction contribution from a camera group.
Input TRUE for enable argument in order to allow the camera group to reconstruct markers.
Returns an eMotiveAPIResult integer value. When the function successfully enables/disables the reconstruction, it returns 0 (or kApiResult_Success).

Function Input

Camera group index (int)
Boolean argument for enabling (true) and disabling (false) the mode.

Function Output

eMotiveAPIResult

TT_SetEnabledFilterSwitch

Enables or disables filter switchers.

Description

This function enables or disables filter switches for all of the connected cameras.
Returns an eMotiveAPIResult integer value. When the function successfully changes the setting, it returns 0 (or kApiResult_Success).

Function Input

Boolean argument for enabling (true) or disabling (false) the filter.

Function Output

eMotiveAPIResult

TT_IsFilterSwitchEnabled

Checks whether filter switches are enabled or not.

Description

This function checks whether filter switch is enabled in all of the cameras,
It returns true if the switches are enabled.

Function Input

Void

Function Output

Enabled/disabled (bool)

Camera

TT_CameraCount

Returns a total number of cameras connected to the system.

Description

This function returns a total camera count.

Function Input

None

Function Output

Total number of cameras (int)

TT_CameraXLocation

Returns x-position of a camera.

Description

This function returns camera's X position in respect to the global coordinate system

Function Input

Camera index (int)

Function Output

Camera's X position. Measured in meters with reference to global coordinate system. (float)

TT_CameraYLocation

Returns y-position of a camera.

Description

This function returns camera's Y position in respect to the global coordinate system

Function Input

Camera index (int)

Function Output

Camera Y-position. Measured in meters with reference to global coordinate system. (float)

TT_CameraZLocation

Returns z-position of a camera.

Description

This function returns camera's Z position in respect to the global coordinate system

Function Input

Camera index (int)

Function Output

Camera's Z position. Measured in meters with reference to global coordinate system. (float)

TT_CameraOrientationMatrix

Gets a components of the camera's orientation matrix.

Sample output from a program displaying the rotation matrix.

Description

This function returns a single constant from camera's orientation matrix in respect to the global coordinate axis.
The camera index input (int) determines which camera to obtain the matrix from.
The matrix index determines which component of the rotation matrix to return.

Function Input

Camera index (int)
Matrix index (int)

Function Output

Single component of the rotation matrix (float)

TT_CameraName

Returns corresponding camera's model name and serial number

Description

This function returns corresponding camera's name and serial number.

Function Input

Camera index (int)

Function Output

Camera name and serial number (const char)

TT_CameraSerial

Returns corresponding camera's serial number as an integer.

Description

This function returns corresponding camera's serial number.

Function Input

Camera index (int)

Function Output

Camera serial number (int)

TT_CameraMarkerCount

Returns a total number of centroids detected by a camera.

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.
Size and roundness filter (cCameraGroupFilterSettings) is not applied in this data.

Function Input

Camera index (int)

Function Output

Number of centroids (int)

TT_CameraMarker

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

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

Function Output

True/False (bool)

TT_CameraPixelResolution

Saves camera's pixel resolution.

Description

This function saves camera's pixel resolutions (width x height) into declared integer variables.
Returns true when successfully saving the values.

Function Input

Camera index (int)
Declared integer variable for saving width (int)
Declared integer variable for saving height (int)

Function Output

True/False (bool)

TT_CameraMarkerPredistorted

Saves predistorted 2D location of a centroid.

Description

This function saves predistorted 2D location of a centroid.
This data is basically where the camera would see a marker if there were no effects from lens distortions. For most of our cameras/lenses, this location is only a few pixels different from the distorted position obtained by the TT_CameraMarker function.
Returns true when successfully saving the values.

Function Input

Camera index (int)
Marker (centroid) index (int)
Declared variable for saving x location (float)
Declared variable for saving y location (float)

Function Output

True/False (bool)

TT_SetCameraSettings

Configures camera settings.

Description

This function sets camera settings for a camera device specified by its index number.
Input setting parameters must agree with the supported ranges (or video types) of the camera model.
A negative return value indicates the function did not complete the task.
Each of the video types is indicated with the following integers. Supported video types may vary for different camera models. Please check the Data Recording page for more information on which image processing modes are available in different models.
Segment Mode: 0
Raw Grayscale Mode: 1
Object Mode: 2
Precision Mode: 4
MJPEG Mode: 6
Valid exposure ranges depend on the framerate settings:
Prime series and Flex 13: 1 ~ maximum time gap between the frames, which is approximately (1 / framerate) - 200 microseconds with about 200 microseconds gap for protection.
Flex3 and Duo/Trio tracking bars: 1 ~ 480 scanlines.
Valid threshold ranges: 0 - 255
Valid intensity ranges: 0 - 15

Function Input

Camera index (int)
Video type (int)
Camera exposure (int)
Pixel threshold (int)
IR light intensity (int)
For more information on the camera settings, refer to the Devices pane page.

Function Output

True/False (bool)

TT_SetCameraFrameRate

Sets camera frame rate.

Description

This function sets the frame rate of a camera.
Returns true if it successfully adjusts the settings.
Note that this function may assign a frame rate setting that is out of the supported range. Check to make sure inputted frame rates are supported.

Function Input

Camera index (int)
Frame rate (int)

Function Output

True/False (bool).

TT_CameraFrameRate

Gets configured frame rate of a camera.

Description

This function returns frame rate of a camera.

Function Input

Camera index (int)

Function Output

Camera frame rate (int)

TT_CameraVideoType

Gets configured video type of a camera.

Description

This function checks and returns configured video type (image processing mode) of a camera.
It returns an integer value which represents a video type.

Function Input

Camera index (int)

Function Output

Video type (int)

TT_CameraExposure

Gets exposure setting of a camera.

Description

This function returns exposure setting of a camera.
Exposure values are measured in microseconds in Prime series and Flex 13 camera models, and they are measured in scanlines for the Duo/Trio tracking bars and Flex 3 cameras.
To change exposure setting, use the TT_SetCameraSettings function.
For more information on camera settings in Motive, read through the Devices pane page.

Function Input

Camera index (int)

Function Output

Camera exposure (int)

TT_CameraThreshold

Gets configured threshold (THR) setting of a camera.

Description

This function returns pixel brightness threshold setting of a camera.
When processing the frames, pixels with brightness higher than the configured threshold will be processed, and pixels with lower brightness will be discarded.
To change the threshold setting, use the TT_SetCameraSettings function.
For more information on camera settings in Motive, read through the Devices pane page.
Valid range: 1 - 255.

Function Input

Camera index (int)

Function Output

Pixel brightness threshold (int)

TT_CameraIntensity

Gets configured intensity (LED) setting of a camera.

Description

This function returns configured IR illumination intensity setting of a camera.
To change the intensity setting, use the TT_SetCameraSettings function.
For more information on camera settings in Motive, read through the Devices pane page.
Valid range: 1 - 15.

Function Input

Camera index (int)

Function Output

Camera IR intensity (int)

TT_CameraTemperature

Measures image board temperature of a camera.

Description

This function returns temperature (in Celsius) of a camera's image board.
Temperature sensors are featured only in Prime series camera models.

Function Input

Camera index (int)

Function Output

Image board temperature (float)

TT_CameraRinglightTemperature

Measures IR LED board temperature of a camera.

Description

This function returns temperature (in Celsius) of a camera's IR LED board.
Temperature sensors are featured only in Prime series camera models.

Function Input

Camera index (int)

Function Output

IR LED board temperature (float)

TT_CameraGrayscaleDecimation

Gets configured grayscale image frame rate decimation ratio of a camera.

Description

This feature is available only in Flex 3 and Trio/Duo tracking bars, and it has been deprecated for other camera models.
This function returns grayscale frame rate decimation ratio of a camera.
Valid decimation ratios are 0, 2, 4, 8. (e.g. When the decimation setting is set to 4, a camera will capture one grayscale frame for four frames of the tracking data)
To set the decimation ratio, use the TT_SetCameraGrayscaleDecimation function.
Grayscale images require more load on data processing. For this reason, you may want to decimate the grayscale frame images and capture the frames at a lower frame rate.

Function Input

Camera index (int)

Function Output

Decimation ratio (int)

TT_SetCameraGrayscaleDecimation

Sets frame rate decimation ratio for processing grayscale images.

Description

This feature is available only in Flex 3 and Trio/Duo tracking bars, and it has been deprecated for other camera models.
This functions sets the frame decimation ratio for processing grayscale images in a camera.
Depending on the decimation ratio, a fewer number of grayscale frames will be captured. This can be beneficial when reducing the processing loads.
Supported decimation ratios: 0, 2, 4, 6, 8. (e.g. When the decimation setting is set to 4, a camera will capture one grayscale frame for 4 frames of the tracking data)
Returns true when it successfully sets the decimation value

Function Input

Camera index (int)
Decimation value (int)

Function Output

True/False (bool)

TT_SetCameraFilterSwitch

Enables or disables IR filter switch of a camera.

Description

This function enables, or disables, integrated camera filter switch for detecting IR lights.
Different camera models may have different filter switches. Refer to the camera model specifications for detailed information on the type and allowed wavelengths for the filter switch.
Returns true when it successfully enables/disables the filter switch.

Function Input

Camera index (int)
A boolean argument for enabling (true) or disabling (false) the filter.

Function Output

True/False (bool)

TT_SetCameraAGC

Enables and disables automatic gain control.

Description

This function enables/disables automatic gain control (AGC).
Automatic Gain Control feature adjusts the camera gain level automatically for best tracking.
AGC is only available in Flex 3's and Duo/Trio tracking bars.
Returns true when the operation was done successfully.

Function Input

Camera index (int)
Enabled (true) / disabled (false) status (bool)

Function Output

True/False (bool)

TT_SetCameraAEC

Enables or disables automatic exposure control.

Description

This function enables, or disables, Automatic Exposure Control (AEC) for featured camera models.
This feature is only available in Flex 3 and Duo/Trio tracking bars.
It allows cameras to automatically adjust its exposure setting by looking at the properties of the incoming frames.
Returns true if the operation was successful.

Function Input

Camera index (int)
A boolean argument for enabling (true) or disabling (false) the filter.

Function Output

True/false (bool)

TT_SetCameraHighPower

Enables or disables the high power IR illumination mode.

Description

This function enables or disables, the high power mode for featured cameras.
The high power mode allows brighter IR LED illumination using more power source.
Returns true if the function successfully enables/disables the feature.

Function Input

Camera index (int)
A boolean argument for enabling (true) or disabling (false) the filter.

Function Output

True/False (bool)

TT_SetCameraMJPEGHighQuality

Sets compression quality of MJPEG images.

Description

This function sets the quality of MJPEG images captured by a camera. More specifically, it changes the compression quality of MJPEG frames.
Compression quality is indicated by an integer number between 0 - 100 (no loss).
Lower MJPEG compression quality setting can reduce the processing load for the cameras and reduce latency, but doing so will result in low-quality images.
Returns true when the function successfully enables or disables, the mode.

Function Input

Camera index (int)
MJPEG compression quality (int)

Function Output

True/false (bool)

TT_CameraImagerGain

Gets configured imager gain setting of a camera.

Description

This function is used to check the imager gain setting of a camera.
It returns configured gain setting as an integer value.

Function Input

Camera index (int)

Function Output

Gain setting (int)

TT_CameraImagerGainLevels

Gets total number of gain levels available in a camera.

Description

This function returns a total number of available gain levels in a camera.
Different camera models may have different gain level settings. This function can be used to check the number of available gain levels.

Function Input

Camera index (int)

Function Output

Number of gain levels available (int)

TT_SetCameraImagerGain

Sets the imager gain level.

Description

This function sets the gain level of a camera's imager.
Using high gain levels may be beneficial for long range tracking. However, note that increasing gain levels may also result in amplified noise signal, which can result in false reconstructions.
Check available gain levels for the camera model using the TT_CameraImagerGainLevels function.

Function Input

Camera index (int)

Function Output

Void

TT_IsContinuousIRAvailable

Checks if the continuous IR mode is supported.

Description

This function checks whether the continuous IR illumination mode is available in the camera model.
In the continuous IR mode, the IR LEDs will not strobe but will illuminate continuously instead.
Continuous IR modes are available only in the Flex 3 camera model and the Duo/Trio tracking bars.
Returns true if continuous IR mode is available.

Function Input

Camera index (int)

Function Output

True / False (bool)

TT_ContinuousIR

Checks if the continuous IR mode is enabled.

Description

This function checks if the continuous IR mode is enabled or disabled in a camera.
Returns true if the continuous IR mode is already enabled.

Function Input

Camera index (int)

Function Output

True / False (bool)

TT_SetContinuousIR

Enables/disables continuous IR.

Description

This function enables, or disables, continuous IR illumination in a camera.
Continuous IR mode outputs less light when compared to Strobed (non-continuous) illumination, but this mode could be beneficial in situations where there are extraneous IR reflections in the volume.
Use TT_IsContinuousIRAvailable function to check whether if this mode is supported.

Function Input

Camera index (int)
A Boolean argument for enabling (true) or disabling (false)

Function Output

Void

TT_ClearCameraMask

Clears masking from camera's 2D view.

Description

This function clears existing masks from the 2D camera view.
Returns true when it successfully removes pixel masks.

Function Input

Camera index (int)

Function Output

True / False (bool)

TT_SetCameraMask

Description

This function allows a user-defined image mask to be applied to a camera.
A mask is an array of bytes, one byte per mask pixel block.
Returns true when masks are applied.

Function Input

Camera index (int)
Buffer
BufferSize

Function Output

True / False (bool)

TT_CameraMask

Description

This function returns memory block of the mask.
One bit per a pixel of the mask.
Masking pixels are rasterized from left to right and from top to bottom of the camera's view.

Function Input

Camera index (int)
Buffer
Buffer size

Function Output

True / False (bool)

TT_CameraMaskInfo

Description

This function retrieves the width, height, and grid size of the mask for the camera at the given index.
One byte per pixel of the mask. Masking width * masking height gives the required size of the buffer.
Returns true when the information is successfully obtained and saved.

Function Input

Camera index (int)
Declared variables:
Masking width (int)
Masking height (int)
Masking grid (int)

Function Output

True / False (bool)

TT_AutoMaskAllCameras

Description

Auto-mask all cameras.
This is additive to any existing masking.
To clear masks on a camera, call TT_ClearCameraMask prior to auto-masking.

Function Input

none

Function Output

Auto masks all cameras

TT_SetCameraState

Sets camera state of a camera.

Description

This function configures camera state of a camera. Different camera states are defined in the eCameraStates enumeration.
Returns true when it successfully sets the camera state.

Function Input

Camera index (int)
Camera state (eCameraStates)

Function Output

True / False (bool)

TT_CameraState

Checks camera states.

Enumerator

Value

Camera_Enabled

Camera_Disabled_For_Reconstruction

Camera_Disabled

CameraStatesCount

Description

This function obtains and saves the camera state of a camera onto the declared variables.
Returns true if it successfully saves configured state.

Function Input

Camera index (int)
Declared variable for camera state (eCameraState)

Function Output

True / False (bool)

TT_CameraID

Returns the Camera ID.

Description

This function takes in a camera index number and returns the camera ID number.
Camera ID numbers are the numbers that get displayed on the devices.
The Camera ID number is different from the camera index number. On Prime camera systems, Camera IDs are assigned depending on where the cameras are positioned within the calibrated volume. On Flex camera systems, Camera IDs are assigned according to the order in which devices connected to the OptiHub(s).

Function Input

Camera index (int)

Function Output

Camera ID (int)

TT_CameraFrameBuffer

Fills a buffer with image from camera's view.

Description

This function fetches raw pixels from a single frame of a camera and fills the provided memory block with the frame buffer.
The resulting image depends on what video mode the camera is in. For example, if the camera is in grayscale mode, a grayscale image will be saved from this function call.
For obtaining buffer pixel width and height, you can use TT_CameraPixelResolution function to obtain respective camera resolution.
Byte span: Byte span is the number of bytes for each row of the frame. In a case of 8-bit pixel images (one byte per pixel), the number of pixels in the frame width will equal to the byte size of the span.
Buffer pixel bit depth: Pixel bit size for the image buffer that will be stored in the memory. If the imagers on the OptiTrack cameras capture 8-bit grayscale pixels, you will need to input 8 for this input.
Buffer: make sure enough memory is allocated for the frame buffer. A frame buffer will require memory of at least (Byte span * pixel height * Bytes per pixel) bytes. For example, on a 640 x 480 image with 8-bit black and white pixels, you will need (640 * 480 * 1) bytes allocated for the frame buffer.
Returns true if it successfully saves the image in the buffer.

Function Input

Camera index (int)
Buffer pixel width (int)
Buffer pixel height (int)
Buffer byte span (int)
Buffer pixel bit depth (int)
Buffer address (unsigned char*)

Function Output

True / False (bool)

TT_CameraFrameBufferSaveAsBMP

Saves image buffer of a camera into a BMP file.

Description

This function saves image frame buffer of a camera into a BMP file.
Video type of the saved image depends on configured camera settings
Attach *.bmp at the end of the filename.
Returns true if it successfully saves the file.

Function Input

Camera index (int)
Filename (const char*)

Function Output

True / False (bool)

TT_CameraBackproject

Obtains 2D position, of a 3D marker as seen by one of the cameras.

Description

This function reverts 3D data into 2D data. If you input a 3D location (in meters) and a camera, it will return where the point would be seen from the 2D view of the camera (in pixels) using the calibration information. In other words, it locates where in the camera's FOV a point would be located.
If a 3D marker is reconstructed outside of the camera's FOV, saved 2D location may be beyond the camera resolution range.
Respective 2D location is saved in the declared X-Y address, in pixels.

Function Input

Camera index (int)
3D x-position (float)
3D y-position (float)
3D z-position (float)
Declared variable for x and y location from camera's 2D view (float)

Function Output

Void

TT_CameraUndistort2DPoint

Removes lens distortion.

Description

This function removes the effect of the lens distortion filter and obtains undistorted raw x and y coordinates (as seen by the camera) and saves in the declared variables.
Lens distortion is measured during the camera calibration process.
If you want to apply the lens distortion filter back again, you can use the TT_CameraDistort2DPoint.

Function Input

Camera index (int)
Declared variables for x and y position in respect to camera's view (float)

Function Output

Void

TT_CameraDistort2DPoint

Reapplies lens distortion model.

Description

This function restores the effect of default model for accommodating effects of the camera lens.
Note all reported 2D coordinates are already distorted to accommodate for effects of the camera lens. Apply this function to coordinates that are undistorted by using the TT_CameraUndistort2DPoint function.
This can be used to obtain raw data for 2D points that have been undistorted using the TT_CameraUndistort2DPoint function.

Function Input

Camera index (int)
Declared variables for x and y position in respect to camera's view (float)

Function Input

Void

TT_CameraRay

Obtains 3D vector from a camera to a 3D point.

Description

This function takes in an undistorted 2D centroid location seen by a camera's imager and creates a 3D vector ray connecting the point and the camera.
Use TT_CameraUndistort2DPoint to undistort the 2D location before obtaining the 3D vector.
XYZ locations of both the start point and end point are saved into the referenced variables.
Returns true when it successfully saves the ray vector components.

Function Input

Camera index (int)
x location, in pixels, of a centroid (float)
y location, in pixels, of a centroid (float)
Three reference variables for X/Y/Z location, in meters, of the start point (float)
Three reference variables for X/Y/Z location, in meters, of the end point (float)

Function Output

True / False (bool)

TT_CameraModel

Gets camera parameters for the OpenCV intrinsic model.

Description

This function sets camera's extrinsic (position & orientation) and intrinsic (lens distortion) parameters with values compatible with the OpenCV intrinsic model.
For retaining the extrinsic parameters, you can use the TT_CameraXLocation, TT_CameraYLocation, TT_CameraZLocation, and TT_CameraOrientationMatrix functions.
Returns true if the operation was successful.

Function Input

Camera index (int)
Three arguments for camera x,y,z-position, in mm, within the global space (float)
Camera orientation (float)
Lens center location, principleX and principleY, in pixels (float)
Lens focal length, in pixels. (float)
Barrel distortion coefficients: kc1, kc2, kc3 (float)
Tangential distortion (float)

Function Output

True / False (bool)

TT_GetCamera

Gets pointer to the camera object from Camera SDK.

Description

This function returns a pointer to the Camera SDK's camera pointer.
While the API takes over the data path which prohibits fetching the frames directly from the camera, it is still very useful to be able to communicate with the camera directly for setting camera settings or attaching modules.
The Camera SDK must be installed to use this function.
Camera SDK libraries and the camera library header file (cameralibrary.h) must be included.
Returns Camera SDK Camera.

Function Input

Camera index (int)

Function Output

Camera SDK camera pointer (CameraLibrary::Camera*)

Additional Features

TT_OrientTrackingBar

Changes position and orientation of the tracking bars.

Description

This function makes changes to the position and orientation of the tracking bar within the global space.
Note that this function will shift or rotate the entire global space, and the effects will be reflected in other tracking data as well.
By default, center location and orientation of a Tracking bar (Duo/Trio) determines the origin of the global coordinate system. Using this function, you can set a Tracking Bar to be placed in a different location within the global space instead of origin.

Function Input

X position (float)
Y position (float)
Z position (float)
Quaternion orientation X (float)
Quaternion orientation Y (float)
Quaternion orientation Z (float)
Quaternion orientation W (float)

Function Output

eMotiveAPIResult

TT_AttachCameraModule / TT_DetachCameraModule

Attaches/detaches cCameraModule instance to a camera object.

Description

This function attaches/detaches the cCameraModule class to a camera defined by its index number.
This function requires the project to be compiled against both the Motive API and the Camera SDK.
The cCameraModule class is inherited from the Camera SDK, and this class is used to inspect raw 2D data from a camera. Use this function to attach the module to a camera. For more details on the cCameraModule class, refer to the cameramodulebase.h header file from the Camera SDK.
The Camera SDK must be installed.

Function Input

Camera index (int)
cCameraModule instance (CameraLibrary::cCameraModule)

Function Output

Void

TT_AttachRigidBodySolutionTest / TT_DetachRigidBodySolutionTest

Attaches/detaches cRigidBodySolutionTest class to a Rigid Body.

Description

This function attaches/detaches the cRigidBodySolutionTest class onto a Rigid Body.
Once an instance of cRigidBodySolutionTest to a Rigid Body, it will evaluate the Rigid Body solution and return false if the solution does not qualify the provided condition.
The cRigidBodySolutionTest class uses the C++ inheritance design model. Inherit this class into your project with same function and class names, then attach the inherited class.

Function Input

Rigid body index (int)
Rigid body test module (cRigidBodySolutionTest*)

Function Output

Void

TT_AttachListener / TT_DetachListener

Attaches/detaches cTTAPIListener onto a TTAPI project.

Description

This function attaches/detaches a cTTAPIListener inherited class onto a TTAPI project.
The cTTAPIListener class uses the C++ inheritance design model. Inherit this class into your project with the same function and class names, then attach the inherited class.
This listener class includes useful callback functions that can be overrided. Including TTAPIFrameAvailable, TTAPICameraConnected, TTAPICameraDisconnected, InitialPointCloud, ApplyContinuousCalibrationResult.

Function Input

cTTAPIListener

Function Output

Void

TT_GetResultString

Returns plain text message that corresponds to an eMotiveAPIResult value.

Description

Returns plain text message that corresponds to a result that an eMotiveAPIResult value indicates.

Function Input

eMotiveAPIResult

Function Output

Result text (const char)

TT_TestSoftwareMutex

Checks whether there is another OptiTrack software using the devices.

Description

Checks whether there is another OptiTrack software using the devices. Only one software should be occupying the devices at a time.

Function Input

None

Function Output

eMotiveAPIResult

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