vicon::Driver Class Reference

#include <ViconDriver.hpp>

Public Types
enum	GetResult { UNKNOWN, SUCCESS, INVALID_SUBJECT_NAME, INVALID_SEGMENT_NAME }

Public Member Functions
	Driver ()
bool	connect (const std::string &hostname, const unsigned int port=801)
bool	isConnected ()
void	disconnect ()
bool	getFrame (const base::Time &timeout=base::Time::fromSeconds(1.0))
base::Time	getTimestamp ()
Eigen::Affine3d	getSegmentTransform (const std::string &subjectName, const std::string &segmentName, bool &inFrame)
Eigen::Affine3d	getSegmentTransform (const std::string &subjectName, const std::string &segmentName)
GetResult	getLastResult ()
std::vector< base::Vector3d >	getUnlabeledMarkers ()
void	getAxesDir (int &x_dir, int &y_dir, int &z_dir)
	Get axes direction. More...
void	setAxesDir (int x_dir, int y_dir, int z_dir)
	Set axes directions. More...

Detailed Description

Definition at line 32 of file ViconDriver.hpp.

Member Enumeration Documentation

enum vicon::Driver::GetResult

Enumerator
UNKNOWN
SUCCESS
INVALID_SUBJECT_NAME
INVALID_SEGMENT_NAME

Definition at line 35 of file ViconDriver.hpp.

{ UNKNOWN, SUCCESS, INVALID_SUBJECT_NAME, INVALID_SEGMENT_NAME};

Constructor & Destructor Documentation

Driver::Driver

(

)

Definition at line 48 of file ViconDriver.cpp.

    : impl( new DriverImpl() ), mLastResult(UNKNOWN)
{
}

Member Function Documentation

bool Driver::connect	(	const std::string &	hostname,
		const unsigned int	port = 801
	)

Open a connection to the Vicon DataStream host

Parameters

hostname	name of the network host
port	port numer

Returns

true of the connection was successful, false otherwise

Definition at line 53 of file ViconDriver.cpp.

{
    std::ostringstream host;
    host << hostname << ":" << port;
    LOG_INFO_S << "connecting to " << host.str();

    impl->client.Connect( host.str() );

    if( isConnected() )
    {
    impl->client.EnableSegmentData();
    impl->client.EnableUnlabeledMarkerData();

    //impl->client.SetStreamMode( ViconDataStreamSDK::CPP::StreamMode::ClientPull );
    impl->client.SetStreamMode( ViconDataStreamSDK::CPP::StreamMode::ClientPullPreFetch );
    // MyClient.SetStreamMode( ViconDataStreamSDK::CPP::StreamMode::ServerPush );

    // Set the global up axis
    impl->client.SetAxisMapping( 
        Direction::Forward, 
        Direction::Left, 
        Direction::Up ); // Z-up

    return true;
    }
    else
    return false;
}

void Driver::disconnect

(

)

disconnect from the server

Definition at line 87 of file ViconDriver.cpp.

{
    LOG_INFO_S << "disconnecting";
    impl->client.Disconnect();
}

void Driver::getAxesDir	(	int &	x_dir,
		int &	y_dir,
		int &	z_dir
	)

Get axes direction.

Definition at line 188 of file ViconDriver.cpp.

{
    Output_GetAxisMapping vicon_axes = impl->client.GetAxisMapping ();
    x_dir = axesMap( vicon_axes.XAxis );
    y_dir = axesMap( vicon_axes.YAxis );
    z_dir = axesMap( vicon_axes.ZAxis );
}

bool Driver::getFrame

(

const base::Time &

timeout = base::Time::fromSeconds(1.0)

)

Step to the next frame in the data stream. Always call this method before accessing any of the data methods.

Parameters

timeout

time in milliseconds to wait for a new frame

Returns

true if a frame has been received

Definition at line 93 of file ViconDriver.cpp.

{
    base::Time start = base::Time::now();
    Result::Enum result;
    while( ((result=impl->client.GetFrame().Result) == Result::NoFrame) && (start+timeout > base::Time::now()) )
    {
    const unsigned long wait_ms = 10;
#ifdef WIN32
    Sleep( wait_ms );
#else
    usleep( wait_ms );
#endif
    }
    
    if( result == Result::Success )
    {
        LOG_DEBUG_S << "Got Frame!";
        return true;
    }
    else
    {
        if ( timeout.toSeconds() > 0 ) LOG_ERROR_S << "No Frame received!";
        return false;
    }
}

GetResult vicon::Driver::getLastResult ( )

inline

Get the result o the last getSegmentTransform operation.

Definition at line 90 of file ViconDriver.hpp.

{ return mLastResult; }

Eigen::Affine3d Driver::getSegmentTransform	(	const std::string &	subjectName,
		const std::string &	segmentName,
		bool &	inFrame
	)

Get the transformation which transforms the given segment from the local to the global coordinate frame.

Parameters

subjectName	name of the subject
segmentName	name of the segment in the subject
inFrame	is true if segment is present in the current frame (not occluded).

Returns

transformation from the segments local to the global reference frame

Definition at line 125 of file ViconDriver.cpp.

{
    
     // Get the segment name
    std::string SegmentName = impl->client.GetSubjectRootSegmentName(subjectName).SegmentName;
    
    LOG_DEBUG_S << "          Name: " << SegmentName;
    
    LOG_DEBUG_S << "get transform: " << subjectName << "." << segmentName;
    Output_GetSegmentGlobalTranslation trans = 
    impl->client.GetSegmentGlobalTranslation( subjectName, segmentName );

    Output_GetSegmentGlobalRotationQuaternion quat = 
    impl->client.GetSegmentGlobalRotationQuaternion( subjectName, segmentName );

    Eigen::Vector3d trans_m( trans.Translation[0], trans.Translation[1], trans.Translation[2] );

    // vicon data is in mm, but we prefer standard si units...
    Eigen::Affine3d result = Eigen::Translation3d( trans_m * 1e-3 ) * 
    Eigen::Quaterniond( quat.Rotation[3], quat.Rotation[0], quat.Rotation[1], quat.Rotation[2] );

    inFrame = !trans.Occluded;

    switch(trans.Result) {
        case(Result::InvalidSubjectName):
            mLastResult = INVALID_SUBJECT_NAME;
            break;
        case(Result::InvalidSegmentName):
            mLastResult = INVALID_SEGMENT_NAME;
            break;
        case(Result::Success):
            mLastResult = SUCCESS;
            break;
        default:
            mLastResult = UNKNOWN;
            break;
    }

    return result;
}

Eigen::Affine3d vicon::Driver::getSegmentTransform ( const std::string &  subjectName, const std::string &  segmentName  )

inline

For backcompatibility.

Definition at line 84 of file ViconDriver.hpp.

                                                                                                   { 
        bool lin_frame; 
        return getSegmentTransform ( subjectName, segmentName, lin_frame );
    }

base::Time Driver::getTimestamp

(

)

Returns

the timestamp of the current frame

Definition at line 119 of file ViconDriver.cpp.

{
    // for now, just return the current time
    return base::Time::now();
}

std::vector< base::Vector3d > Driver::getUnlabeledMarkers

(

)

Returns a list of unlabeled markers found by the system in global coordinates.

Returns

a vector of unlabeled markers

Definition at line 166 of file ViconDriver.cpp.

{
    std::vector<base::Vector3d> result;

    unsigned int UnlabeledMarkerCount = impl->client.GetUnlabeledMarkerCount().MarkerCount;
    for( unsigned int UnlabeledMarkerIndex = 0 ; UnlabeledMarkerIndex < UnlabeledMarkerCount ; ++UnlabeledMarkerIndex )
    { 
    Output_GetUnlabeledMarkerGlobalTranslation _Output_GetUnlabeledMarkerGlobalTranslation =
        impl->client.GetUnlabeledMarkerGlobalTranslation( UnlabeledMarkerIndex );

        Eigen::Vector3d marker_pos( 
                    _Output_GetUnlabeledMarkerGlobalTranslation.Translation[ 0 ],
            _Output_GetUnlabeledMarkerGlobalTranslation.Translation[ 1 ],
            _Output_GetUnlabeledMarkerGlobalTranslation.Translation[ 2 ] );

    result.push_back( marker_pos * 1e-3 ); 
    }

    return result;
}

bool Driver::isConnected

(

)

Returns

true if there is a connection to the server

Definition at line 82 of file ViconDriver.cpp.

{
    return impl->client.IsConnected().Connected;
}

void Driver::setAxesDir	(	int	x_dir,
		int	y_dir,
		int	z_dir
	)

Set axes directions.

Mapping is as follows: Forward=1, Backward=-1, Left=2, Right=-2, Up=3, Down=-3

Definition at line 196 of file ViconDriver.cpp.

{
    impl->client.SetAxisMapping( axesMap(x_dir), axesMap(y_dir), axesMap(z_dir) );

}

---

The documentation for this class was generated from the following files:

• /build/rock-master-18.09-drivers-vicon-0.20160818/ViconDriver.hpp
• /build/rock-master-18.09-drivers-vicon-0.20160818/ViconDriver.cpp