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.

TT_RigidBodyRefineState

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

TT_RIgidBodyRefineStates     TT_RigidBodyRefineState();

Description

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

<source> enum TT_RigidBodyRefineStates {

   TT_RigidBodyRefine_Initialized = 0,
   TT_RigidBodyRefine_Sampling,
   TT_RigidBodyRefine_Solving,
   TT_RigidBodyRefine_Complete,
   TT_RigidBodyRefine_Uninitialized

};

</source>

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.

float     TT_RigidBodyRefintProgress();

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 completness 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.

float     TT_RigidBodyRefineInitialError();
float     TT_RigidBodyRefineResultError();

Description

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

Function Input

• None.

Function Output

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

TT_RigidBodyRefineApplyResult

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

bool     TT_RigidBodyRefineApplyResult();

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.

bool     TT_RigidBodyRefineReset();

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 resetted.

Camera Group

TT_GetCameraManager

Returns pointer to the CameraManager instance.

CameraLibrary::CameraManager*		TT_GetCameraManager();

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*)

C++ Example

CameraLibrary::CameraManager *cman = TT_GetCameraManager();
// cman is declared as a pointer to a camera manager used in conjuction with the Camera SDK

TT_BuildNumber

Returns Motive build number.

Description

• This function returns corresponding Motive build number.

Function Input

• None

Function Output

• Build number (int)

C++ Example

//== Printing Motive Build Number ==//
printf("Motive Build: %d\n", TT_BuildNumber());

TT_CameraGroupCount

Returns camera group count.

int		TT_CameraGroupCount();

Description

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

Function Input

• None

Function Output

• Camera group count (int)

C++ Example

int groupcount = TT_CameraGroupCount();

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

TT_CreateCameraGroup

Creates a new camera group.

bool		TT_CreateCameraGroup();

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)

C++ Example

//== Creating a new camera group ==//
TT_CreateCameraGroup();

TT_RemoveCameraGroup

Removes a camera group.

bool		TT_RemoveCameraGroup(groupIndex);

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)

C++ Example

//== For projects with multiple camera groups ==//
int cameracount = TT_CameraCount();
int groupcount = TT_CameraGroupCount();

if(groupcount  > 1)
{
	//== Moving all cameras to the first camera group (index = 0) ==//
	for(int i = 0; i < cameracount; i++)
	{
		TT_SetCameraGroup( i, 0);
	}
	
	//== Removing all other camera groups==//
	for(int j = 1; j < groupcount; j++)
	{
		TT_RemoveCameraGroup(j);
	}
}

TT_CamerasGroup

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

int		TT_CamerasGroup(int cameraIndex);

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)

C++ Example

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

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

TT_SetGroupShutterDelay

Introduces shutter delay to a camera group.

void		TT_SetGroupShutterDelay(int groupIndex, int microseconds);

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

C++ Example

//== Setting one second shutter delay for all camera groups ==//
for(int i = 0; i < TT_CameraGroupCount() ; i++)
{
	TT_SetGroupShutterDelay(i, 1000000);
}

TT_SetCameraGroup

Moves a camera to a different camera group.

void		TT_SetCameraGroup(int cameraIndex, int groupIndex);

Description

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

Function Input

• Camera index (int)

• Camera group index (int)

Function Output

• Void

C++ Example

//== For projects with multiple camera groups ==//
int cameracount = TT_CameraCount();
int groupcount = TT_CameraGroup();

if(groupcount > 1)
{
	//== Moving all cameras to the first camera group ==//
	for(int i = 0; i < cameracount; i++)
	{
		//== Assigning all cameras to the first camera group (index = 0) ==//
		TT_SetCameraGroup(i, 0);
	}
	
	//== Removing all other camera groups==//
	for(int j = 1; j < groupcount; j++)
	{
		TT_RemoveCameraGroup(j);
	}
}

TT_CameraGroupFilterSettings

Obtains the camera group's filter settings.

NPRESULT		TT_CameraGroupFilterSettings(int groupIndex, cCameraGroupFilterSettings &settings);

Description

• This function fetches configured 2D filter settings from a camera group and saves the settings in the declared cCameraGroupFilterSettings instance.

• Returns a NPRESULT integer value. When the function successfully assigns the filter settings, it returns 0 (or NPRESULT_SUCCESS).

Function Input

• Camera group index (int)

• Group filter settings instance (cCameraGroupFilterSettings)

Function Output

• NPRESULT

C++ Example

//== Declaring cCameraGroupFilterSettings object==//
cCameraGroupFilterSettings	filterSettings;
int groupcount = TT_CameraGroupCount();

//== Obtaining filter settings for all of the camera groups ==//
for (int i = 0; i < groupcount; i++)
{
	TT_CameraGroupFilterSettings(i, filterSettings);

	//== Printing ==//
	printf("GroupFilterSettings (group #%d):\n",i);
	printf("\tMinMarkerSize: %d\n", filterSettings.MinMarkerSize);
	printf("\tMaxMarkerSize: %d\n", filterSettings.MaxMarkerSize);
	printf("\tMinRoundness:  %f\n", filterSettings.MinRoundness);

	if (filterSettings.FilterType == filterSettings.FilterNone)
	{
		printf("\tFilter: Filter None\n");
	}
	printf("\n");
}

TT_SetCameraGroupFilterSettings

Assigns camera group filter settings to a camera group.

NPRESULT		TT_SetCameraGRoupFilterSettings(int groupIndex, cCameraGroupFilterSettings &settings);

Description

• This function assigns inputted filter settings (cCameraGroupFilterSettings) instance to a camera group designated by its index number.

• Returns a NPRESULT integer value. When the function successfully assigns the filter settings, it returns 0 (or NPRESULT_SUCCESS).

Function Input

• Camera group index (int)

• Filter settings instance (cCameraGroupFilterSettings)

Function Output

• NPRESULT

C++ Example

int groupcount = TT_CameraGroupCount();

//== Settings MinMarkerSize threshold settings to 20 pixels for all camera groups==//
for (int i = 0; i < groupcount; i++)
{
	cCameraGroupFilterSettings new_settings;
	TT_CameraGroupFilterSettings(i, new_settings);
	
	// For size and roundness filters
	if (new_settings.FilterType == new_settings.FilterSizeRoundness)
	{
		//== Changing MinMarkerSize setting and reassigning it to the camera group.
		filterSettings.MinMarkerSize = 20;
		TT_SetCameraGroupFilterSettings(i, new_settings);

		printf("\tFilter settings changed");
	}
}

TT_CameraGroupPointCloudSettings / TT_SetCameraGroupPointCloudSettings

TT_CameraGroupMarkerSize

Obtains marker size settings of a camera group

NPRESULT		TT_CameraGroupMarkerSize(int groupIndex, cCameraGroupMarkerSizeSettings &settings);

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 a NPRESULT integer value. When the function successfully obtains the settings, it returns 0 (or NPRESULT_SUCCESS).

Function Input

• Camera group index (int)

• Marker size settings (cCameraGroupMarkerSizeSettings)

Function Output

• NPRESULT

C++ Example

int groupcount = TT_CameraGroupCount();

for (int i = 0; i < groupcount; i++)
{
	//== Obtaining marker size settings ==//
	cCameraGRoupMarkerSizeSettings mSettings;
	TT_CameraGroupMarkerSize(i, mSettings);
	
	//== Outputting the settings==//
	printf("Camera Group #%d:\n", i);
	printf("\tMarker Size: %f\n", mSettings.MarkerSize);

	if (mSettings.MarkerSizeType == cCameraGroupMarkerSizeSettings::MarkerSizeCalculated) {
		printf("\tMarkerSizeCalulated\n");
	}
	else if (mSettings.MarkerSizeType == cCameraGroupMarkerSizeSettings::MarkerSizeFixed)
	{
		printf("\tMarkerSizeFixed\n");
		mSettings.MarkerSize = 20.0
	}
}

TT_SetCameraGroupMarkerSize

Applies given marker size settings to a camera group.

NPRESULT		TT_SetCameraGroupMarkerSize(int groupIndex, cCameraGroupMarkerSizeSettings &settings);

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 a NPRESULT integer value. When the function successfully applies the settings, it returns 0 (or NPRESULT_SUCCESS).

Function Input

• Camera group index (int)

• Marker size settings (cCameraGroupMarkerSizeSettings)

Function Output

• NPRESULT

C++ Example

int groupcount = TT_CameraGroupCount();

//== Setting all camera groups to share a fixed marker size ==//
for (int i = 0; i < groupcount; i++)
{
	cCameraGroupMarkerSizeSettings mSettings;
	TT_CameraGroupMarkerSize(i, settings);

	//== Modify and reapply the settings ==//
	mSettings.MarkerSizeType = cCameraGroupMarkerSizeSettings::MarkerSizeFixed;
	mSettings.MarkerSize = 10.0;

	TT_SetCameraGroupMarkerSize(i, settings);
}

TT_SetCameraGroupReconstruction

Enables or disables marker reconstruction contribution from a camera group.

NPRESULT		TT_SetCameraGroupReconstruction(int groupIndex, bool enable);

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 a NPRESULT integer value. When the function successfully enables/disables the reconstruction, it returns 0 (or NPRESULT_SUCCESS).

Function Input

• Camera group index (int)

• Boolean argument for enabling (true) and disabling (false) the mode.

Function Output

• NPRESULT

C++ Example

//== Disabling all camera groups ==//
int groupcount = TT_CameraGroupCount();
bool	enabled = false;

for (int i = 0; i < groupcount; i++)
{
	TT_SetCameraGroupReconstruction(i, enabled);
}

TT_SetEnabledFilterSwitch

Enables or disables filter switchers.

NPRESULT		TT_SetEnabledFilterSwitch(bool enabled);

Description

• This function enables or disables filter switches for all of the connected cameras.

• Returns a NPRESULT integer value. When the function successfully changes the setting, it returns 0 (or NPRESULT_SUCCESS).

Function Input

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

Function Output

• NPRESULT

C++ Example

//== Disabling Filter Switches ==//
bool	enabled = false;
TT_SetEnabledFilterSwitch(enabled);

TT_IsFilterSwitchEnabled

Checks whether filter switches are enabled or not.

bool		TT_IsFilterSwitchEnabled();

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)

C++ Example

//== Enabling disable filter switches ==//
if (!TT_IsFilterSwitchEnabled())
{
	printf("Enabling all disabled switches\n");
	TT_SetEnabledFilterSwitch(true);
}

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)

C++ Example

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

TT_CameraXLocation

Returns x-position of a camera.

int		TT_CameraXLocation(int cameraIndex);

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)

C++ Example

for(int i = 0; i < TT_CameraCount(); i++)
{
	float camX = TT_CameraXLocation(i);
	float camY = TT_CameraYLocation(i);
	float camZ = TT_CameraZLocation(i);
	
	printf("Camera #%d: (%f, %f, %f)", camX, camY, camZ);
}

TT_CameraYLocation

Returns y-position of a camera.

int		TT_CameraYLocation(int cameraIndex);

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)

C++ Example

for(int i = 0; i < TT_CameraCount(); i++)
{
	float camX = TT_CameraXLocation(i);
	float camY = TT_CameraYLocation(i);
	float camZ = TT_CameraZLocation(i);
	
	printf("Camera #%d: (%f, %f, %f)", camX, camY, camZ);
}

TT_CameraZLocation

Returns z-position of a camera.

int		TT_CameraZLocation(int cameraIndex);

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)

C++ Example

for(int i = 0; i < TT_CameraCount(); i++)
{
	float camX = TT_CameraXLocation(i);
	float camY = TT_CameraYLocation(i);
	float camZ = TT_CameraZLocation(i);
	
	printf("Camera #%d: (%f, %f, %f)", camX, camY, camZ);
}

TT_CameraOrientationMatrix

Gets a components of the camera's orientation matrix.

float		TT_CameraOrientationMatrix(int cameraIndex, int matrixIndex);

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)

C++ Example

printf("Orienation Matrix: \n");

for (int j = 0; j < 3; j++)
{

	for (int k = 0; k < 3; k++)
	{
		//===== Rotation Matrix =====//
		printf("\t%f (index %d)", TT_CameraOrientationMatrix(i, k + (3 * j)), k + (3 * j));
	}
	printf("\n\n");
}

TT_CameraName

Returns coresponding camera's model name and serial number

const char*		TT_CameraName(int cameraIndex);

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)

C++ Example

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

printf("Detected Cameras:\n"); 
for (int i = 0; i < totalCamera; i++)
{
	printf("\t%s\n", TT_CameraName(i));
}

TT_CameraSerial

Returns coresponding camera's serial number as an integer.

int		TT_CameraSerial(int cameraIndex);

Description

• This function returns corresponding camera's serial number.

Function Input

• Camera index (int)

Function Output

• Camera serial number (int)

C++ Example

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

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

TT_CameraMarkerCount

Returns a total number of centroids detected by a camera.

int		TT_CameraMarkerCount(int cameraIndex);

Description

• This function returns a total number of centroids detected by a camera.

• A centroid is defined for every group of contiguous pixels that forms a shape that encloses the thresholded pixels.

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

Function Input

• Camera index (int)

Function Output

• Number of centroids (int)

C++ Example

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

TT_CameraMarker

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

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

Description

• This function saves 2D location of the centroid as detected by a camera's imager.

• Returns true if the function successfully saves the x and y locations.

Function Input

• Camera index (int)

• Centroid index (int)

• Declared variables for saving x and y (float)

Function Output

• True/False (bool)

C++ Example

int cameracount = TT_CameraCount();

for (int i = 0; i < cameracount; i++)
{
	float x, y;
	int centroidcount = TT_CameraMarkerCount(i);
	printf("Camera #%d detected centroids: %d\n", i, centroidcount);

	for (int j = 0; j < centroidcount; j++)
	{
		TT_CameraMarker(i, j, x, y);
		printf("\t#%d\t(%.2f, %.2f)\n", j, x, y);
	}
}

TT_CameraPixelResolution

Saves camera's pixel resolution.

bool		TT_CameraPixelResolution(int cameraIndex, int &width, int&height);

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)

C++ Example

//== Obtaining Camera Resolutions ==//
int width = 0;
int height = 0;

for (int i = 0; i < TT_CameraCount(); i++)
{
	TT_CameraPixelResolution(i, width, height);
	printf("Camera #%d Resolution:\t%d\t%d\n", i, width, height);
}

TT_CameraMarkerPredistorted

Saves predistorted 2D location of a centroid.

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

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)

C++ Example

for (int i = 0; i < TT_CameraCount(); i++)
{
	float x, y, pdx, pdy;

	int centroidcount = TT_CameraMarkerCount(i);
	printf("Camera #%d detected centroids: %d\n", i, centroidcount);

	for (int j = 0; j < centroidcount; j++)
	{
		TT_CameraMarker(i, j, x, y);
		TT_CameraMarkerPredistorted(i, j, pdx, pdy);
		printf("\t#%d\t(%.2f, %.2f)\tPredistorted:\t(%.2f, %.2f)\n", j, x, y, pdx, pdy);
	}
}

TT_SetCameraSettings

Configures camera settings.

bool		TT_SetCameraSettings(int cameraIndex, int videoType, int exposure, int threshold, int intensity);

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)

C++ Example

//== Changing exposure and threshold settings for all of the cameras ==//
int intensity = 10;
int exposure = 200;
int totalCamera = TT_CameraCount();

for (int i = 0; i < totalCamera; i++)
{
	TT_SetCameraSettings(i, TT_CameraVideoType(i), exposure, TT_CameraThreshold(i), intensity);
	printf("Camera #%d: \tIntensity: %d\t Exposure: %d\tThreshold: %d\n",
		i, TT_CameraIntensity(i), TT_CameraExposure(i), TT_CameraThreshold(i));
}

TT_SetCameraFrameRate

Sets camera frame rate.

bool		TT_SetCameraFrameRate(int cameraIndex, int framerate);

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).

C++ Example

//== Changing frame rate of all cameras ==//
int framerate = 120;

for (int i = 0; i < TT_CameraCount(); i++)
{
	TT_SetCameraFrameRate(i, framerate);
	printf("\t%s\tFrame Rate: %d", TT_CameraName(i), TT_CameraFrameRate(i));
}

TT_CameraFrameRate

Gets configured frame rate of a camera.

int		TT_CameraFrameRate(int cameraIndex);

Description

• This function returns frame rate of a camera.

Function Input

• Camera index (int)

Function Output

• Camera frame rate (int)

C++ Example

//== Checking camera settings ==//
int totalCamera = TT_CameraCount();

for (int i = 0; i < totalCamera; i++)
{
	printf("Camera #%d:\tFPS: %d\tIntensity: %d\tExposure: %d\tThreshold: %d\n",
		i, TT_CameraFrameRate(i), TT_CameraIntensity(i), TT_CameraExposure(i),
		TT_CameraThreshold(i));
}

TT_CameraVideoType

Gets configured video type of a camera.

int		TT_CameraVideoType(int cameraIndex);

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:

#define 	NPVIDEOTYPE_SEGMENT		0
#define 	NPVIDEOTYPE_GRAYSCALE		1
#define 	NPVIDEOTYPE_OBJECT		2
#define 	NPVIDEOTYPE_PRECISION		4
#define 	NPVIDEOTYPE_MJPEG		6

Function Input

• Camera index (int)

Function Output

• Video type (int)

C++ Example

//== Checking if any of the cameras are in grayscale mode. ==//
for (int i = 0; i < TT_CameraCount(); i++)
{
	int videoType = TT_CameraVideoType(i);

	if (videoType == 1 || videoType == 6) {
		printf("Camera #%d is in grayscale mode.\n");
	}
}

TT_CameraExposure

Gets exposure setting of a camera.

int		TT_CameraExposure(int cameraIndex);

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)

C++ Example

//== Checking camera settings ==//
int totalCamera = TT_CameraCount();

for (int i = 0; i < totalCamera; i++)
{
	printf("Camera #%d:\tFPS: %d\tIntensity: %d\tExposure: %d\tThreshold: %d\n", 
		i, TT_CameraFrameRate(i), TT_CameraIntensity(i), TT_CameraExposure(i),
		TT_CameraThreshold(i));
}

TT_CameraThreshold

Gets configured threshold (THR) setting of a camera.

int		TT_CameraThreshold(int cameraIndex);

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)

C++ Example

//== Checking camera settings ==//
int totalCamera = TT_CameraCount();

for (int i = 0; i < totalCamera; i++)
{
	printf("Camera #%d:\tFPS: %d\tIntensity: %d\tExposure: %d\tThreshold: %d\n", 
		i, TT_CameraFrameRate(i), TT_CameraIntensity(i), TT_CameraExposure(i),
		TT_CameraThreshold(i));
}

TT_CameraIntensity

Gets configured intensity (LED) setting of a camera.

int		TT_CameraIntensity(int cameraIndex);

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)

C++ Example

//== Checking camera settings ==//
int totalCamera = TT_CameraCount();

for (int i = 0; i < totalCamera; i++)
{
	printf("Camera #%d:\tFPS: %d\tIntensity: %d\tExposure: %d\tThreshold: %d\n", 
		i, TT_CameraFrameRate(i), TT_CameraIntensity(i), TT_CameraExposure(i),
		TT_CameraThreshold(i));
}

TT_CameraTemperature

Measures image board temperature of a camera.

float		TT_CameraTemperature(int cameraIndex);

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)

C++ Example

//== Temperature settings ==//
for (int i = 0; i < TT_CameraCount(); i++)
{
	printf("Camera #%d:\n",i);
	printf("\tImage Board Temperature: %.2f\n", TT_CameraTemperature(i));
	printf("\tIR Board Temperature: %.2f\n", TT_CameraRinglightTemperature(i));
	printf("\n");
}

TT_CameraRinglightTemperature

Measures IR LED board temperature of a camera.

float		TT_CameraRinglightTemperature(int cameraIndex);

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)

C++ Example

//== Temperature settings ==//
for (int i = 0; i < TT_CameraCount(); i++)
{
	printf("Camera #%d:\n",i);
	printf("\tImage Board Temperature: %.2f\n", TT_CameraTemperature(i));
	printf("\tIR Board Temperature: %.2f\n", TT_CameraRinglightTemperature(i));
	printf("\n");
}

TT_CameraGrayscaleDecimation

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

int		TT_CameraGrayscaleDecimation(int cameraIndex);

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)

C++ Example

//== Checking grayscale decimation ==//
for (int i = 0; i < TT_CameraCount(); i++)
{
	if (TT_CameraVideoType(i) == 1 ||TT_CameraVideoType(i) == 6)
	{
		printf("Camera #%d grayscale video frame decimation: %d\n",
					i, TT_CameraGrayscaleDecimation(i));
	}
}

TT_SetCameraGrayscaleDecimation

Sets frame rate decimation ratio for processing grayscale images.

bool		TT_SetCameraGrayscaleDecimation(int cameraIndex, int value);

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)

C++ Example

//== Introducing frame decimation to reference cameras ==//
for (int i = 0; i < TT_CameraCount(); i++)
{
	if (TT_CameraVideoType(i) == 1 ||TT_CameraVideoType(i) == 6)
	{
		TT_SetCameraGrayscaleDecimation(i, 2);
		printf("Camera #%d grayscale video frame decimation: %d\n",
					i, TT_CameraGrayscaleDecimation(i));
	}
}

TT_SetCameraFilterSwitch

Enables or disables IR filter switch of a camera.

bool		TT_SetCameraFilterSwitch(int cameraIndex, bool enableIRFilter);

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)

C++ Example

//== Setting Camera Filter Switch ==//
int totalCamera = TT_CameraCount();

for (int i = 0; i < totalCamera; i++) {
	if (TT_SetCameraFilterSwitch(i, true))
	{
		printf("Camera #%d filter switch enabled\n", i);
	}
}

TT_SetCameraAGC

Enables and disables automatic gain control.

bool		TT_SetCameraAGC(int cameraIndex, bool enableIRFilter);

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)

C++ Example

//== Setting the Automatic Exposure Control ==//
int totalCamera = TT_CameraCount();

for(int i = 0; i < totalCamera; i++)
{
	if(TT_SetCameraAGC(i, true))
	{
		printf("Camera #%d AGC enabled");
	}
	else
	{
		printf("AGC not set properly. Check if this is supported.");
	}
}

TT_SetCameraAEC

Enables or disables automatic exposure control.

bool		TT_SetCameraAEC(int cameraIndex, bool enabeledAutomaticExposureControl);

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)

C++ Example

//== Setting the Automatic Exposure Control ==//
int totalCamera = TT_CameraCount();

for(int i = 0; i < totalCamera; i++)
{
	if(TT_SetCameraAEC(i, true))
	{
		printf("Camera #%d AEC enabled");
	}
	else
	{
		printf("AEC not set properly. Check if this is supported.");
	}
}

TT_SetCameraHighPower

Enables or disables the high power IR illumination mode.

bool		TT_SetCameraHighPower(int cameraIndex, bool enableHighPowerMode);

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)

C++ Example

//== Enabling high power mode ==//
int totalCamera = TT_CameraCount();

for (int i = 0; i < totalCamera; i++)
{
	TT_SetCameraHighPower(i, true);
}

TT_SetCameraMJPEGHighQuality

Sets compression quality of MJPEG images.

bool		TT_SetCameraMJPEGHighQuality(int cameraIndex, int mjpegquality);

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)

C++ Example

//== Adjusting MJPEG compression quality to 10==//
int totalCamera = TT_CameraCount();

for (int i = 0; i < TT_CameraCount(); i++) {
	if (TT_CameraVideoType(i) == 6)
	{
		//== For cameras in MJPEG mode ==//
		if (TT_SetCameraMJPEGHighQuality(i, 10))
		{
			printf("Camera Set to Low MJPEG Quality\n");
		}
	}
}

TT_CameraImagerGain

Gets configured imager gain setting of a camera.

int		TT_CameraImagerGain(int cameraIndex);

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)

C++ Example

//== 
for (int i = 0; i < TT_CameraCount(); i++)
{
	printf("Camera #%d gain setting: %d\n",i, TT_CameraImagerGain(i));
}

TT_CameraImagerGainLevels

Gets total number of gain levels available in a camera.

int		TT_CameraImagerGainLevels(int cameraIndex);

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)

C++ Example

//== Checking number of gain levels ==//
for (int i = 0; i < TT_CameraCount(); i++)
{
	printf("%s camera has %d gain levels\n", TT_CameraName(i),TT_CameraImagerGainLevels(i));
}

TT_SetCameraImagerGain

Sets the imager gain level.

void		TT_SetCameraImagerGain(int cameraIndex);

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

C++ Example

//== Setting the imager gain level to medium ==//
for (int i = 0; i < TT_CameraCount(); i++)
{
	int availableGain = TT_CameraImagerGainLevels(i);
	int mediumGain = availableGain / 2;

	TT_SetCameraImagerGain(i, mediumGain);
	printf("%s camera's gain level set to %d (medium)\n", TT_CameraName(i), mediumGain);
}

TT_IsContinuousIRAvailable

Checks if the continuous IR mode is supported.

bool		TT_IsContinuousIRAvailalbe(int cameraIndex);

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)

C++ Example

//== Configuring Continuous IR ==//
int totalCamera = TT_CameraCount();

for (int i = 0; i < totalCamera; i++)
{
	//== Checking if the mode is available ==//
	if (TT_IsContinuousIRAvailable(i))
	{
		if (TT_ContinuousIR(i))
		{
			printf("Coninuous IR enabled already\n");
		}
		else
		{
			printf("Enabling continuous IR\n");
			TT_SetContinuousIR(i, true);
		}
	}
	else
	{
		printf("Continuous IR is not available\n");
	}
}

TT_ContinuousIR

Checks if the continuous IR mode is enabled.

bool		TT_ContinuousIR(int cameraIndex);

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)

C++ Example

int totalCamera = TT_CameraCount();

//== Configuring Continuous IR ==// 
for (int i = 0; i < totalCamera; i++)
{
	if (TT_IsContinuousIRAvailable(i))
	{
		//== Checking if already enabled ==//
		if (TT_ContinuousIR(i))
		{
			printf("Coninuous IR enabled already\n");
		}
		else
		{
			printf("Enabling continuous IR\n");
			TT_SetContinuousIR(i, true);
		}
	}
	else
	{
		printf("Continuous IR is not available\n");
	}
}

TT_SetContinuousIR

Enables/disables continuous IR.

void		TT_SetContinuousIR(int cameraIndex, bool enable);

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

C++ Example

int totalCamera = TT_CameraCount();

//== Configuring Continuous IR ==// 
for (int i = 0; i < totalCamera; i++)
{
	if (TT_IsContinuousIRAvailable(i))
	{
		//== Checking if already enabled ==//
		if (TT_ContinuousIR(i))
		{
			printf("Coninuous IR enabled already\n");
		}
		else
		{
			printf("Enabling continuous IR\n");
			TT_SetContinuousIR(i, true);
		}
	}
	else
	{
		printf("Continuous IR is not available\n");
	}
}

TT_ClearCameraMask

Clears masking from camera's 2D view.

bool		TT_ClearCameraMask(int cameraIndex);

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)

C++ Example

//== Clearing existing masks for all cameras ==//
int totalCamera = TT_CameraCount();

for (int i = 0; i < totalCamera; i++)
{
    TT_ClearCameraMask(i);
}

TT_SetCameraMask

bool		TT_SetCameraMask( int cameraIndex, unsigned char* buffer, int bufferSize );

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)

C++ Example

unsigned char* maskBuffer = nullptr;
int bufferSize = 0;
int cameraCount = TT_CameraCount();

// Retrieve the mask for each camera, perform a simple edit on it, then set it.
for( int i = 0; i < cameraCount; ++i )
{
   int maskWidth;
   int maskHeight;
   int maskGrid;

   // Mask dimensions for the camera.
   TT_CameraMaskInfo( i, maskWidth, maskHeight, maskGrid );

   int newBufferSize = maskWidth * maskHeight;
   if( bufferSize < newBufferSize )
   {
       delete[] maskBuffer;
       maskBuffer = new unsigned char[newBufferSize];
       bufferSize = newBufferSize;
   }

   // Retrieve the mask now that the receiving buffer is correctly sized.
   TT_CameraMask( i, maskBuffer, bufferSize );

   // Add a mask 'pixel' in the approximate center of the image.
   // Each pixel is actually a grid of maskGrid size.
   int pixelIndex = ( maskHeight / 2 ) * maskWidth + ( maskWidth / 2 );
   maskBuffer[pixelIndex] = 1; // Any non-zero value for the byte will do.

   // Set the mask image on the camera.
   TT_SetCameraMask( i, maskBuffer, bufferSize );
}

TT_CameraMask

bool		TT_CameraMask(int cameraIndex, unsigned char * buffer, int bufferSize);

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)

C++ Example

unsigned char* maskBuffer = nullptr;
int bufferSize = 0;
int cameraCount = TT_CameraCount();

// Retrieve the mask for each camera, perform a simple edit on it, then set it.
for( int i = 0; i < cameraCount; ++i )
{
   int maskWidth;
   int maskHeight;
   int maskGrid;

   // Mask dimensions for the camera.
   TT_CameraMaskInfo( i, maskWidth, maskHeight, maskGrid );

   int newBufferSize = maskWidth * maskHeight;
   if( bufferSize < newBufferSize )
   {
       delete[] maskBuffer;
       maskBuffer = new unsigned char[newBufferSize];
       bufferSize = newBufferSize;
   }

   // Retrieve the mask now that the receiving buffer is correctly sized.
   TT_CameraMask( i, maskBuffer, bufferSize );

   // Add a mask 'pixel' in the approximate center of the image.
   // Each pixel is actually a grid of maskGrid size.
   int pixelIndex = ( maskHeight / 2 ) * maskWidth + ( maskWidth / 2 );
   maskBuffer[pixelIndex] = 1; // Any non-zero value for the byte will do.

   // Set the mask image on the camera.
   TT_SetCameraMask( i, maskBuffer, bufferSize );
}

TT_CameraMaskInfo

bool		TT_CameraMaskInfo(int cameraIndex, int &blockingMaskWidth, int &blockingMaskHeight, int &blockingMaskGrid);

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)

C++ Example

unsigned char* maskBuffer = nullptr;
int bufferSize = 0;
int cameraCount = TT_CameraCount();

// Retrieve the mask for each camera, perform a simple edit on it, then set it.
for( int i = 0; i < cameraCount; ++i )
{
   int maskWidth;
   int maskHeight;
   int maskGrid;

   // Mask dimensions for the camera.
   TT_CameraMaskInfo( i, maskWidth, maskHeight, maskGrid );

   int newBufferSize = maskWidth * maskHeight;
   if( bufferSize < newBufferSize )
   {
       delete[] maskBuffer;
       maskBuffer = new unsigned char[newBufferSize];
       bufferSize = newBufferSize;
   }

   // Retrieve the mask now that the receiving buffer is correctly sized.
   TT_CameraMask( i, maskBuffer, bufferSize );

   // Add a mask 'pixel' in the approximate center of the image.
   // Each pixel is actually a grid of maskGrid size.
   int pixelIndex = ( maskHeight / 2 ) * maskWidth + ( maskWidth / 2 );
   maskBuffer[pixelIndex] = 1; // Any non-zero value for the byte will do.

   // Set the mask image on the camera.
   TT_SetCameraMask( i, maskBuffer, bufferSize );
}

TT_AutoMaskAllCameras

void		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

C++ Example

TT_SetCameraState

Sets camera state of a camera.

bool		TT_SetCameraState(int cameraIndex, eCameraStates state);

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.

enum eCameraStates
{
    Camera_Enabled = 0,
    Camera_Disabled_For_Reconstruction = 1,
    Camera_Disabled = 2,
    CameraStatesCount = 3
};

Function Input

• Camera index (int)

• Camera state (eCameraStates)

Function Output

• True / False (bool)

C++ Example

int totalCamera = TT_CameraCount();

//== Disabling all of the cameras from contributing to reconstruction ==//
for (int i = 0; i < totalCamera; i++)
{
	TT_SetCameraState(i, Camera_Enabled);
}

TT_CameraState

Checks camera states.

bool		TT_CameraState(int cameraIndex, eCameraStates cameraState);

Enumerator	Value
Camera_Enabled	0
Camera_Disabled_For_Reconstruction	1
Camera_Disabled	2
CameraStatesCount	3

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)

C++ Example

//== Checking Camera Status ==//
int totalCamera = TT_CameraCount();
eCameraStates cameraState;

for (int i = 0; i < totalCamera; i++)
{
	//== Checking the Camera Status ==//
	TT_CameraState(i, cameraState);

	if (cameraState == 0) {
		printf("Camera #%d State: Camera_Enabled\n", i);
	}
	else if (cameraState == 1)
	{
		printf("Camera #%d State: Camera_Disabled_For_Reconstruction\n",i );
	}
	else if (cameraState == 2)
	{
		printf("Camera #%d State: Camera_Disabled\n", i);
	}
	else if (cameraState == 3)
	{
		printf("Camera #%d State: CameraStatesCount\n", i);
	}
}

TT_CameraID

Returns the Camera ID.

int		TT_CameraID(int cameraIndex);

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)

C++ Example

int totalCamera = TT_CameraCount();

for(int i = 0; i < totalCamera; i++){
	// Listing Camera Name, index, and ID
	printf("Camera %s:\tIndex:%d\tID:%d\n", TT_CameraName(i), i, TT_CameraID(i)); 
}

TT_CameraFrameBuffer

Fills a buffer with image from camera's view.

bool		TT_CameraFrameBuffer(int cameraIndex, int bufferPixelWidth, int bufferPixelHeight,
					int bufferByteSpan, int bufferPixelBitDepth, unsigned char *buffer);

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)

C++ Example

// Sample code for saving frame buffer from a camera (index 0)
int cameraIndex = 0;
int reswidth;
int resheight;
int bytespan;

// Obtaining pixel resolution
TT_CameraPixelResolution(cameraIndex, reswidth, resheight);
printf("Camera #%d:\tWidth:%d\tHeight:%d\n", i, reswidth, resheight);

// Defining span size of the buffer
bytespan = reswidth;

// Allocating memory block for the buffer
unsigned char* frameBuffer = (unsigned char*)std::malloc(bytespan*resheight*1);

bool result = TT_CameraFrameBuffer(cameraIndex, reswidth, resheight, bytespan, 8, frameBuffer);

if (result == true)
{
	printf("Frame Buffer Saved.");
}

TT_CameraFrameBufferSaveAsBMP

Saves image buffer of a camera into a BMP file.

bool		TT_CameraFrameBufferSaveAsBMP(int cameraIndex, const char* filename);

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)

C++ Example

int cameraCount = TT_CameraCount();
std::vector<std::string> filenames(cameraCount);

for (int i = 0; i < cameraCount; ++i)
{
	filenames[i] = "camera" + std::to_string(i) + ".bmp";
	TT_CameraFrameBufferSaveAsBMP(i, filenames[i].c_str());
}

TT_CameraBackproject

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

void		TT_CameraBackProject(int cameraIndex, float x, float y, float z, float &cameraX, float &cameraY);

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

C++ Example

//== All 2D locations of reconstructed markers seen by camera 1 ==//
int targetcam = 0;

for (int i = 0; i < TT_FrameMarkerCount(); i++)
{
	float markerX = TT_FrameMarkerX(i);
	float markerY = TT_FrameMarkerY(i);
	float markerZ = TT_FrameMarkerZ(i);
	float cam2dx;
	float cam2dy;
	TT_CameraBackproject(targetcam, markerX, markerY, markerZ, cam2dx, cam2dy);
}

TT_CameraUndistort2DPoint

Removes lens distortion.

void		TT_CameraUndistort2DPoint(int cameraIndex, float &x, float &y);

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 Ouput

• Void

C++ Example

// Reflection detected at (125, 213) from 2D view of a camera 1.
int x = 125;
int y = 213;
int cameraIndex = 1;

// Saving raw, undistorted, coordinates as seen by the imager
TT_CameraUndistort2DPoint(cameraIndex, x, y);

TT_CameraDistort2DPoint

Reapplies lens distortion model.

void		TT_CameraDistort2DPoint(int cameraIndex, float &x, float &y);

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

C++ Example

// Reflection detected at (125, 213) from 2D view of a camera 1.
int x = 125;
int y = 213;
int cameraIndex = 1;

// Saving raw, undistorted, coordinates as seen by the imager.
TT_CameraUndistort2DPoint(cameraIndex, x, y);

// Process undistorted x y coordinates..

// Apply the distortion back again
TT_CameraDistort2DPoint(cameraIndex, x, y);

TT_CameraRay

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

bool		TT_CameraRay(int cameraIndex, float x, float y, 
				float &rayStartX, float &rayStartY, float &rayStartZ, 
				float &rayEndX, float &rayEndY, float &rayEndX);

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)

C++ Example

//== Obtaining a 3D vector for centroid detected at (100, 300) on a camera's 2D imager ==//
int targetcam = 0;
float  rayStartX, rayStartY, rayStartZ; //meters
float  rayEndX, rayEndY, rayEndZ; //meters
float x = 100; //pixels
float y = 300; //pixels
TT_CameraUndistort2DPoint(targetcam, x, y);

TT_CameraRay(targetcam, x, y, rayStartX, rayStartY, rayStartZ, rayEndX, rayEndY, rayEndZ);

TT_CameraModel

Gets camera parameters for the OpenCV intrinsic model.

bool		TT_CameraModel(int cameraIndex, float x, float y, float z, float* orientation, 
				float principleX, float principleY, float focalLengthX, float focalLengthY,
				float kc1, float kc2, float kc3, float tangential10, float tangential1);

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)

C++ Example

int index = 0;

//Get the position and orientation of the camera using so it can be retained
float x = TT_CameraXLocation(index);
float y = TT_CameraYLocation(index);
float z = TT_CameraZLocation(index);
float pose(9);
for (int i = 0; i < 9; ++i)
{
    pose[i] = TT_CameraOrientationMatrix(index, i);
}

//Manually modify intrinsic values according to OpenCV model
float px = 0.0;
float py = 0.0;
float fx = 100.0;
float fy = 100.0;
float kc1 = 0.1;
float kc2 = 0.1;
float kc3 = 0.1;
float t1 = 0.1;
float t2 = 0.1;
bool result = TT_CameraModel(index, x, y, z,
                            pose, px, py, fx, fy
                            kc1, kc2, kc3, t1, t2);

TT_GetCamera

Gets pointer to the camera object from Camera SDK.

CameraLibrary::Camera*		TT_GetCamera(int cameraIndex);

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*)

C++ Example

CameraLibrary::Camera *cam = TT_GetCameraManager();
// cam is declared as a pointer to a camera object used in conjuction with the Camera SDK

Additional Features

TT_OrientTrackingBar

Changes position and orientation of the tracking bars.

NPRESULT		TT_OrientTrackingBar(float positionX, float positionY, float positionZ,
					float orientationX, float orientationY, float orientationZ,
					float orientationW);

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

• NPRESULT

C++ Example

//== Changing position and orientation of a tracking bar within the global space. ==//
TT_OrientTrackingBar(10, 10, 10, 0.5, 0.5, 0.5, 0.5);

TT_AttachCameraModule / TT_DetachCameraModule

Attaches/detaches cCameraModule instance to a camera object.

void		TT_AttachCameraModule(int cameraindex, CameraLibrary::cCameraModule *module);

void		TT_DetachCameraModule(int cameraIndex, CameraLibrary::cCameraModule *module);

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

C++ Example

int main(){

	//...

	//Creating and attaching camera module
	myCameraModule *module;
	int cameraIndex = 0;
	TT_AttachCameraModule(cameraIndex, module);

	//...

	TT_DetachCameraModule(cameraIndex, module);
}


// Compile the project against the Camera SDK
class myCameraModule : public cCameraModule
{
	//..override functions implementations here
};

TT_AttachRigidBodySolutionTest / TT_DetachRigidBodySolutionTest

Attaches/detaches cRigidBodySolutionTest class to a Rigid Body.

void		TT_AttachRigidBodySolutionTest(int rbIndex, cRigidBodySolutionTest* test);

void		TT_DetachRigidBodySolutionTest(int rbIndex, cRigidBodySolutionTest* test);

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

C++ Example

int main(){

	// Create a Rigid Body solution test
	// and attach onto a Rigid Body
	mySolutionTest *test;
	int rbIndex = 0;

	TT_AttachRigidBodySolutionTest(rbIndex, test);

	//...

	TT_DetachRigidBodySolutionTest(rbIndex, test);
}

// Create a mySolutionTest class that handles the callback.
class mySolutionTest : public cRigidBodySolutionTest
{
	public:
	bool RigidBodySolutionTest(int markerCount, Core::cMarker *markers, bool *markerExists)
	{
 		//Modify criteria for a successful Rigid Body solution.
	}
};

TT_AttachListener / TT_DetachListener

Attaches/detaches cTTAPIListener onto a TTAPI project.

void		TT_AttachListener(cTTAPIListener* listener);

void		TT_DetachListener(cTTAPIListener* listener);

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

C++ Example

int main()
{
	//...

	//Within the main, attach the Listener
	myListener listener;
	TT_AttachListener(&listener);

	//...

	TT_DetachListener(&listener);
}


// Create a new listener class that inherites from the cTTAPIListner class to handle the callback.
class myListener : public cTTAPIListener
{
	public:
	//overriding TTAPIFrameAvailable function from the cTTAPIListener class

	virtual void TTAPIFrameAvailable() override
	{ 
		// When the Listener is attached.
		// This function will be executed each time a new frame is available. 
		// Process frame
	}
};

TT_GetResultString

Returns plain text message that corresponds to a NPRESULT value.

const char*		TT_GetResultString(NPRESULT result);

Description

• Returns plain text message that corresponds to a result that a NPRESULT value indicates.

Function Input

• NPRESULT

Function Output

• Result text (const char)

C++ Example

//== Sample Check Result Function (marker.cpp) ==//
void CheckResult( NPRESULT result )
{
	if( result!= NPRESULT_SUCCESS)
	{
		//== Treat all errors as failure conditions. ==//
		printf( "Error: %s\n\n(Press any key to continue)\n", TT_GetResultString(result) );
 
		Sleep(20);
		exit(1);
	}
}

TT_TestSoftwareMutex

Checks whether there is another OptiTrack software using the devices.

NPRESULT		TT_TestSoftwareMutex();

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

• NPRESULT