#include <sot/talos_balance/sdk_qualisys/RTProtocol.h>

Classes
struct	SComponentOptions

struct	SDiscoverResponse

struct	SPoint

struct	SSettingsSkeleton

struct	SSettingsSkeletonSegment

Public Types
enum	EAxis { XPos = 0, XNeg = 1, YPos = 2, YNeg = 3, ZPos = 4, ZNeg = 5 }

enum	ECameraMode { ModeMarker = 0, ModeMarkerIntensity = 1, ModeVideo = 2 }

enum	ECameraModel { ModelMacReflex = 0, ModelProReflex120 = 1, ModelProReflex240 = 2, ModelProReflex500 = 3, ModelProReflex1000 = 4, ModelOqus100 = 5, ModelOqus300 = 6, ModelOqus300Plus = 7, ModelOqus400 = 8, ModelOqus500 = 9, ModelOqus200C = 10, ModelOqus500Plus = 11, ModelOqus700 = 12, ModelOqus700Plus = 13, ModelOqus600Plus = 14, ModelMiqusM1 = 15, ModelMiqusM3 = 16, ModelMiqusM5 = 17, ModelMiqusSyncUnit = 18, ModelMiqusVideo = 19, ModelMiqusVideoColor = 20 }

enum	ECameraSystemType { Unknown = 0, Oqus = 1, Miqus = 2 }

enum	EProcessingActions { ProcessingNone = 0x0000, ProcessingTracking2D = 0x0001, ProcessingTracking3D = 0x0002, ProcessingTwinSystemMerge = 0x0004, ProcessingSplineFill = 0x0008, ProcessingAIM = 0x0010, Processing6DOFTracking = 0x0020, ProcessingForceData = 0x0040, ProcessingGazeVector = 0x0080, ProcessingExportTSV = 0x0100, ProcessingExportC3D = 0x0200, ProcessingExportMatlabFile = 0x0800, ProcessingExportAviFile = 0x1000, ProcessingPreProcess2D = 0x2000 }

enum	ESignalSource { SourceControlPort = 0, SourceIRReceiver = 1, SourceSMPTE = 2, SourceVideoSync = 3, SourceIRIG = 4 }

enum	EStreamRate { RateNone = 0, RateAllFrames = 1, RateFrequency = 2, RateFrequencyDivisor = 3 }

enum	ESyncOutFreqMode { ModeShutterOut = 1, ModeMultiplier, ModeDivisor, ModeActualFreq, ModeMeasurementTime, ModeFixed100Hz }

enum	EVideoAspectRatio { VideoAspectRatio16x9 = 0, VideoAspectRatio4x3 = 1, VideoAspectRatio1x1 = 2, VideoAspectRatioNone = 3 }

enum	EVideoResolution { VideoResolution1080p = 0, VideoResolution720p = 1, VideoResolution540p = 2, VideoResolution480p = 3, VideoResolutionNone = 4 }

Public Member Functions
	CRTProtocol ()

	~CRTProtocol ()

bool	CheckLicense (const char *pLicenseCode)

bool	CloseMeasurement ()

bool	Connect (const char pServerAddr, unsigned short nPort, unsigned short pnUDPServerPort=nullptr, int nMajorVersion=MAJOR_VERSION, int nMinorVersion=MINOR_VERSION, bool bBigEndian=false)

bool	Connected () const

void	Disconnect ()

bool	DiscoverRTServer (unsigned short nServerPort, bool bNoLocalResponses, unsigned short nDiscoverPort=DEFAULT_AUTO_DESCOVER_PORT)

unsigned int	Get3DBoneCount () const

const char *	Get3DBoneFromName (unsigned int boneIndex) const

const char *	Get3DBoneToName (unsigned int boneIndex) const

const char *	Get3DCalibrated () const

unsigned int	Get3DLabelColor (unsigned int nMarkerIndex) const

unsigned int	Get3DLabeledMarkerCount () const

const char *	Get3DLabelName (unsigned int nMarkerIndex) const

EAxis	Get3DUpwardAxis () const

unsigned int	Get6DOFBodyColor (unsigned int nBodyIndex) const

unsigned int	Get6DOFBodyCount () const

const char *	Get6DOFBodyName (unsigned int nBodyIndex) const

bool	Get6DOFBodyPoint (unsigned int nBodyIndex, unsigned int nMarkerIndex, SPoint &sPoint) const

unsigned int	Get6DOFBodyPointCount (unsigned int nBodyIndex) const

void	Get6DOFEulerNames (std::string &first, std::string &second, std::string &third) const

bool	GetAnalogDevice (unsigned int nDeviceIndex, unsigned int &nDeviceID, unsigned int &nChannels, char &pName, unsigned int &nFrequency, char &pUnit, float &fMinRange, float &fMaxRange) const

unsigned int	GetAnalogDeviceCount () const

const char *	GetAnalogLabel (unsigned int nDeviceIndex, unsigned int nChannelIndex) const

const char *	GetAnalogUnit (unsigned int nDeviceIndex, unsigned int nChannelIndex) const

bool	GetByteOrder (bool &bBigEndian)

bool	GetCameraAutoExposureSettings (const unsigned int nCameraIndex, bool autoExposureEnabled, float autoExposureCompensation) const

bool	GetCameraAutoWhiteBalance (const unsigned int nCameraIndex, bool *autoWhiteBalanceEnabled) const

unsigned int	GetCameraCount () const

bool	GetCameraFOV (unsigned int nCameraIndex, unsigned int &nMarkerLeft, unsigned int &nMarkerTop, unsigned int &nMarkerRight, unsigned int &nMarkerBottom, unsigned int &nVideoLeft, unsigned int &nVideoTop, unsigned int &nVideoRight, unsigned int &nVideoBottom) const

bool	GetCameraLensControlSettings (const unsigned int nCameraIndex, float focus, float aperture) const

bool	GetCameraMarkerSettings (unsigned int nCameraIndex, unsigned int &nCurrentExposure, unsigned int &nMinExposure, unsigned int &nMaxExposure, unsigned int &nCurrentThreshold, unsigned int &nMinThreshold, unsigned int &nMaxThreshold) const

bool	GetCameraOrientation (unsigned int nCameraIndex, int &nOrientation) const

bool	GetCameraPosition (unsigned int nCameraIndex, SPoint &sPoint, float fvRotationMatrix[3][3]) const

bool	GetCameraResolution (unsigned int nCameraIndex, unsigned int &nMarkerWidth, unsigned int &nMarkerHeight, unsigned int &nVideoWidth, unsigned int &nVideoHeight) const

bool	GetCameraSettings (unsigned int nCameraIndex, unsigned int &nID, ECameraModel &eModel, bool &bUnderwater, bool &bSupportsHwSync, unsigned int &nSerial, ECameraMode &eMode) const

bool	GetCameraSyncOutSettings (unsigned int nCameraIndex, unsigned int portNumber, ESyncOutFreqMode &eSyncOutMode, unsigned int &nSyncOutValue, float &fSyncOutDutyCycle, bool &bSyncOutNegativePolarity) const

ECameraSystemType	GetCameraSystemType () const

bool	GetCameraVideoSettings (unsigned int nCameraIndex, EVideoResolution &eVideoResolution, EVideoAspectRatio &eVideoAspectRatio, unsigned int &nVideoFrequency, unsigned int &nCurrentExposure, unsigned int &nMinExposure, unsigned int &nMaxExposure, unsigned int &nCurrentFlashTime, unsigned int &nMinFlashTime, unsigned int &nMaxFlashTime) const

bool	GetCapture (const char *pFileName, bool bC3D)

bool	GetCurrentFrame (unsigned int nComponentType, const SComponentOptions &componentOptions={})

bool	GetDiscoverResponse (unsigned int nIndex, unsigned int &nAddr, unsigned short &nBasePort, std::string &message)

char *	GetErrorString ()

void	GetExtTimeBaseSettings (bool &bEnabled, ESignalSource &eSignalSource, bool &bSignalModePeriodic, unsigned int &nFreqMultiplier, unsigned int &nFreqDivisor, unsigned int &nFreqTolerance, float &fNominalFrequency, bool &bNegativeEdge, unsigned int &nSignalShutterDelay, float &fNonPeriodicTimeout) const

bool	GetForcePlate (unsigned int nPlateIndex, unsigned int &nID, unsigned int &nAnalogDeviceID, unsigned int &nFrequency, char &pType, char &pName, float &fLength, float &fWidth) const

bool	GetForcePlateCalibrationMatrix (unsigned int nPlateIndex, float fvCalMatrix[12][12], unsigned int rows, unsigned int columns) const

bool	GetForcePlateChannel (unsigned int nPlateIndex, unsigned int nChannelIndex, unsigned int &nChannelNumber, float &fConversionFactor) const

unsigned int	GetForcePlateChannelCount (unsigned int nPlateIndex) const

unsigned int	GetForcePlateCount () const

bool	GetForcePlateLocation (unsigned int nPlateIndex, SPoint sCorner[4]) const

bool	GetForcePlateOrigin (unsigned int nPlateIndex, SPoint &sOrigin) const

void	GetForceUnits (char &pLength, char &pForce) const

unsigned int	GetGazeVectorCount () const

float	GetGazeVectorFrequency (unsigned int nGazeVectorIndex) const

const char *	GetGazeVectorName (unsigned int nGazeVectorIndex) const

bool	GetImageCamera (unsigned int nCameraIndex, unsigned int &nCameraID, bool &bEnabled, CRTPacket::EImageFormat &eFormat, unsigned int &nWidth, unsigned int &nHeight, float &fCropLeft, float &fCropTop, float &fCropRight, float &fCropBottom) const

unsigned int	GetImageCameraCount () const

int	GetNumberOfDiscoverResponses ()

bool	GetQTMVersion (char *pVersion, unsigned int nVersionLen)

CRTPacket *	GetRTPacket ()

bool	GetSkeleton (unsigned int skeletonIndex, SSettingsSkeleton *skeleton)

unsigned int	GetSkeletonCount () const

const char *	GetSkeletonName (unsigned int skeletonIndex)

bool	GetSkeletonSegment (unsigned int skeletonIndex, unsigned int segmentIndex, SSettingsSkeletonSegment *segment)

unsigned int	GetSkeletonSegmentCount (unsigned int skeletonIndex)

bool	GetState (CRTPacket::EEvent &eEvent, bool bUpdate=true, int nTimeout=WAIT_FOR_DATA_TIMEOUT)

void	GetSystemSettings (unsigned int &nCaptureFrequency, float &fCaptureTime, bool &bStartOnExtTrig, bool &trigNO, bool &trigNC, bool &trigSoftware, EProcessingActions &eProcessingActions, EProcessingActions &eRtProcessingActions, EProcessingActions &eReprocessingActions) const

unsigned short	GetUdpServerPort ()

bool	GetVersion (unsigned int &nMajorVersion, unsigned int &nMinorVersion)

bool	IsControlling ()

bool	LoadCapture (const char *pFileName)

bool	LoadProject (const char *pFileName)

bool	NewMeasurement ()

bool	Read3DSettings (bool &bDataAvailable)

bool	Read6DOFSettings (bool &bDataAvailable)

bool	ReadAnalogSettings (bool &bDataAvailable)

bool	ReadCameraSystemSettings ()

bool	ReadForceSettings (bool &bDataAvailable)

bool	ReadGazeVectorSettings (bool &bDataAvailable)

bool	ReadImageSettings (bool &bDataAvailable)

bool	ReadSkeletonSettings (bool &bDataAvailable, bool skeletonGlobalData=false)

bool	ReadXmlBool (CMarkup *xml, const std::string &element, bool &value) const

int	ReceiveRTPacket (CRTPacket::EPacketType &eType, bool bSkipEvents=true, int nTimeout=WAIT_FOR_DATA_TIMEOUT)

bool	ReleaseControl ()

bool	Reprocess ()

bool	SaveCapture (const char pFileName, bool bOverwrite, char pNewFileName=nullptr, int nSizeOfNewFileName=0)

bool	SendTrig ()

bool	SetCameraAutoExposureSettings (const unsigned int nCameraID, const bool autoExposure, const float compensation)

bool	SetCameraAutoWhiteBalance (const unsigned int nCameraID, const bool enable)

bool	SetCameraLensControlSettings (const unsigned int nCameraID, const float focus, const float aperture)

bool	SetCameraSettings (const unsigned int nCameraID, const ECameraMode peMode, const float pfMarkerExposure, const float pfMarkerThreshold, const int pnOrientation)

bool	SetCameraSyncOutSettings (const unsigned int nCameraID, const unsigned int portNumber, const ESyncOutFreqMode peSyncOutMode, const unsigned int pnSyncOutValue, const float pfSyncOutDutyCycle, const bool pbSyncOutNegativePolarity)

bool	SetCameraVideoSettings (const unsigned int nCameraID, const EVideoResolution eVideoResolution, const EVideoAspectRatio eVideoAspectRatio, const unsigned int pnVideoFrequency, const float pfVideoExposure, const float *pfVideoFlashTime)

bool	SetExtTimeBaseSettings (const bool pbEnabled, const ESignalSource peSignalSource, const bool pbSignalModePeriodic, const unsigned int pnFreqMultiplier, const unsigned int pnFreqDivisor, const unsigned int pnFreqTolerance, const float pfNominalFrequency, const bool pbNegativeEdge, const unsigned int pnSignalShutterDelay, const float pfNonPeriodicTimeout)

bool	SetForceSettings (const unsigned int nPlateID, const SPoint psCorner1, const SPoint psCorner2, const SPoint psCorner3, const SPoint psCorner4)

bool	SetImageSettings (const unsigned int nCameraID, const bool pbEnable, const CRTPacket::EImageFormat peFormat, const unsigned int pnWidth, const unsigned int pnHeight, const float pfLeftCrop, const float pfTopCrop, const float pfRightCrop, const float pfBottomCrop)

bool	SetQTMEvent (const char *pLabel)

bool	SetSystemSettings (const unsigned int pnCaptureFrequency, const float pfCaptureTime, const bool pbStartOnExtTrig, const bool trigNO, const bool trigNC, const bool trigSoftware, const EProcessingActions peProcessingActions, const EProcessingActions peRtProcessingActions, const EProcessingActions *peReprocessingActions)

bool	SetVersion (int nMajorVersion, int nMinorVersion)

bool	StartCapture ()

bool	StartRTOnFile ()

bool	StopCapture ()

bool	StreamFrames (EStreamRate eRate, unsigned int nRateArg, unsigned short nUDPPort, const char *pUDPAddr, unsigned int nComponentType, const SComponentOptions &componentOptions={})

bool	StreamFramesStop ()

bool	TakeControl (const char *pPassword=nullptr)

Static Public Member Functions
static unsigned int	ConvertComponentString (const char *pComponentType)

static bool	ConvertRateString (const char *pRate, EStreamRate &eRate, unsigned int &nRateArg)

static bool	GetComponentString (char *pComponentStr, unsigned int nComponentType, const SComponentOptions &options=SComponentOptions())

static bool	GetEventString (CRTPacket::EEvent eEvent, char *pStr)

Static Public Attributes
static const unsigned int	cComponent2d = 0x000040

static const unsigned int	cComponent2dLin = 0x000080

static const unsigned int	cComponent3d = 0x000001

static const unsigned int	cComponent3dNoLabels = 0x000002

static const unsigned int	cComponent3dNoLabelsRes = 0x000200

static const unsigned int	cComponent3dRes = 0x000100

static const unsigned int	cComponent6d = 0x000010

static const unsigned int	cComponent6dEuler = 0x000020

static const unsigned int	cComponent6dEulerRes = 0x000800

static const unsigned int	cComponent6dRes = 0x000400

static const unsigned int	cComponentAnalog = 0x000004

static const unsigned int	cComponentAnalogSingle = 0x001000

static const unsigned int	cComponentForce = 0x000008

static const unsigned int	cComponentForceSingle = 0x004000

static const unsigned int	cComponentGazeVector = 0x008000

static const unsigned int	cComponentImage = 0x002000

static const unsigned int	cComponentSkeleton = 0x020000

static const unsigned int	cComponentTimecode = 0x010000

Detailed Description

Definition at line 26 of file RTProtocol.h.

Member Enumeration Documentation

◆ EAxis

enum EAxis

Enumerator
XPos
XNeg
YPos
YNeg
ZPos
ZNeg

Definition at line 121 of file RTProtocol.h.

◆ ECameraMode

enum ECameraMode

Enumerator
ModeMarker
ModeMarkerIntensity
ModeVideo

Definition at line 87 of file RTProtocol.h.

◆ ECameraModel

enum ECameraModel

Enumerator
ModelMacReflex
ModelProReflex120
ModelProReflex240
ModelProReflex500
ModelProReflex1000
ModelOqus100
ModelOqus300
ModelOqus300Plus
ModelOqus400
ModelOqus500
ModelOqus200C
ModelOqus500Plus
ModelOqus700
ModelOqus700Plus
ModelOqus600Plus
ModelMiqusM1
ModelMiqusM3
ModelMiqusM5
ModelMiqusSyncUnit
ModelMiqusVideo
ModelMiqusVideoColor

Definition at line 61 of file RTProtocol.h.

◆ ECameraSystemType

enum ECameraSystemType

Enumerator
Unknown
Oqus
Miqus

Definition at line 85 of file RTProtocol.h.

◆ EProcessingActions

enum EProcessingActions

Enumerator
ProcessingNone
ProcessingTracking2D
ProcessingTracking3D
ProcessingTwinSystemMerge
ProcessingSplineFill
ProcessingAIM
Processing6DOFTracking
ProcessingForceData
ProcessingGazeVector
ProcessingExportTSV
ProcessingExportC3D
ProcessingExportMatlabFile
ProcessingExportAviFile
ProcessingPreProcess2D

Definition at line 123 of file RTProtocol.h.

◆ ESignalSource

enum ESignalSource

Enumerator
SourceControlPort
SourceIRReceiver
SourceSMPTE
SourceVideoSync
SourceIRIG

Definition at line 113 of file RTProtocol.h.

◆ EStreamRate

enum EStreamRate

Enumerator
RateNone
RateAllFrames
RateFrequency
RateFrequencyDivisor

Definition at line 54 of file RTProtocol.h.

◆ ESyncOutFreqMode

enum ESyncOutFreqMode

Enumerator
ModeShutterOut
ModeMultiplier
ModeDivisor
ModeActualFreq
ModeMeasurementTime
ModeFixed100Hz

Definition at line 104 of file RTProtocol.h.

◆ EVideoAspectRatio

enum EVideoAspectRatio

Enumerator
VideoAspectRatio16x9
VideoAspectRatio4x3
VideoAspectRatio1x1
VideoAspectRatioNone

Definition at line 97 of file RTProtocol.h.

◆ EVideoResolution

enum EVideoResolution

Enumerator
VideoResolution1080p
VideoResolution720p
VideoResolution540p
VideoResolution480p
VideoResolutionNone

Definition at line 89 of file RTProtocol.h.

Constructor & Destructor Documentation

◆ CRTProtocol()

CRTProtocol ( )

Definition at line 45 of file RTProtocol.cpp.

◆ ~CRTProtocol()

~CRTProtocol ( )

Definition at line 61 of file RTProtocol.cpp.

Member Function Documentation

◆ CheckLicense()

bool CheckLicense ( const char * pLicenseCode )

Definition at line 242 of file RTProtocol.cpp.

◆ CloseMeasurement()

bool CloseMeasurement ( )

Definition at line 608 of file RTProtocol.cpp.

◆ Connect()

bool Connect	(	const char *	pServerAddr,
		unsigned short	nPort,
		unsigned short *	pnUDPServerPort = `nullptr`,
		int	nMajorVersion = `MAJOR_VERSION`,
		int	nMinorVersion = `MINOR_VERSION`,
		bool	bBigEndian = `false`
	)

Definition at line 72 of file RTProtocol.cpp.

◆ Connected()

bool Connected ( ) const

Definition at line 181 of file RTProtocol.cpp.

◆ ConvertComponentString()

unsigned int ConvertComponentString ( const char * pComponentType )

static

Definition at line 862 of file RTProtocol.cpp.

◆ ConvertRateString()

bool ConvertRateString	(	const char *	pRate,
		EStreamRate &	eRate,
		unsigned int &	nRateArg
	)

static

Definition at line 835 of file RTProtocol.cpp.

◆ Disconnect()

void Disconnect ( )

Definition at line 171 of file RTProtocol.cpp.

◆ DiscoverRTServer()

bool DiscoverRTServer	(	unsigned short	nServerPort,
		bool	bNoLocalResponses,
		unsigned short	nDiscoverPort = `DEFAULT_AUTO_DESCOVER_PORT`
	)

Definition at line 263 of file RTProtocol.cpp.

◆ Get3DBoneCount()

unsigned int Get3DBoneCount ( ) const

Definition at line 3270 of file RTProtocol.cpp.

◆ Get3DBoneFromName()

const char * Get3DBoneFromName ( unsigned int boneIndex ) const

Definition at line 3274 of file RTProtocol.cpp.

◆ Get3DBoneToName()

const char * Get3DBoneToName ( unsigned int boneIndex ) const

Definition at line 3281 of file RTProtocol.cpp.

◆ Get3DCalibrated()

const char * Get3DCalibrated ( ) const

Definition at line 3248 of file RTProtocol.cpp.

◆ Get3DLabelColor()

unsigned int Get3DLabelColor ( unsigned int nMarkerIndex ) const

Definition at line 3263 of file RTProtocol.cpp.

◆ Get3DLabeledMarkerCount()

unsigned int Get3DLabeledMarkerCount ( ) const

Definition at line 3252 of file RTProtocol.cpp.

◆ Get3DLabelName()

const char * Get3DLabelName ( unsigned int nMarkerIndex ) const

Definition at line 3256 of file RTProtocol.cpp.

◆ Get3DUpwardAxis()

CRTProtocol::EAxis Get3DUpwardAxis ( ) const

Definition at line 3244 of file RTProtocol.cpp.

◆ Get6DOFBodyColor()

unsigned int Get6DOFBodyColor ( unsigned int nBodyIndex ) const

Definition at line 3306 of file RTProtocol.cpp.

◆ Get6DOFBodyCount()

unsigned int Get6DOFBodyCount ( ) const

Definition at line 3295 of file RTProtocol.cpp.

◆ Get6DOFBodyName()

const char * Get6DOFBodyName ( unsigned int nBodyIndex ) const

Definition at line 3299 of file RTProtocol.cpp.

◆ Get6DOFBodyPoint()

bool Get6DOFBodyPoint	(	unsigned int	nBodyIndex,
		unsigned int	nMarkerIndex,
		SPoint &	sPoint
	)		const

Definition at line 3321 of file RTProtocol.cpp.

◆ Get6DOFBodyPointCount()

unsigned int Get6DOFBodyPointCount ( unsigned int nBodyIndex ) const

Definition at line 3313 of file RTProtocol.cpp.

◆ Get6DOFEulerNames()

void Get6DOFEulerNames	(	std::string &	first,
		std::string &	second,
		std::string &	third
	)		const

Definition at line 3288 of file RTProtocol.cpp.

◆ GetAnalogDevice()

bool GetAnalogDevice	(	unsigned int	nDeviceIndex,
		unsigned int &	nDeviceID,
		unsigned int &	nChannels,
		char *&	pName,
		unsigned int &	nFrequency,
		char *&	pUnit,
		float &	fMinRange,
		float &	fMaxRange
	)		const

Definition at line 3362 of file RTProtocol.cpp.

◆ GetAnalogDeviceCount()

unsigned int GetAnalogDeviceCount ( ) const

Definition at line 3358 of file RTProtocol.cpp.

◆ GetAnalogLabel()

const char * GetAnalogLabel	(	unsigned int	nDeviceIndex,
		unsigned int	nChannelIndex
	)		const

Definition at line 3381 of file RTProtocol.cpp.

◆ GetAnalogUnit()

const char * GetAnalogUnit	(	unsigned int	nDeviceIndex,
		unsigned int	nChannelIndex
	)		const

Definition at line 3394 of file RTProtocol.cpp.

◆ GetByteOrder()

bool GetByteOrder ( bool & bBigEndian )

Definition at line 231 of file RTProtocol.cpp.

◆ GetCameraAutoExposureSettings()

bool GetCameraAutoExposureSettings	(	const unsigned int	nCameraIndex,
		bool *	autoExposureEnabled,
		float *	autoExposureCompensation
	)		const

Definition at line 3219 of file RTProtocol.cpp.

◆ GetCameraAutoWhiteBalance()

bool GetCameraAutoWhiteBalance	(	const unsigned int	nCameraIndex,
		bool *	autoWhiteBalanceEnabled
	)		const

Definition at line 3233 of file RTProtocol.cpp.

◆ GetCameraCount()

unsigned int GetCameraCount ( ) const

Definition at line 3051 of file RTProtocol.cpp.

◆ GetCameraFOV()

bool GetCameraFOV	(	unsigned int	nCameraIndex,
		unsigned int &	nMarkerLeft,
		unsigned int &	nMarkerTop,
		unsigned int &	nMarkerRight,
		unsigned int &	nMarkerBottom,
		unsigned int &	nVideoLeft,
		unsigned int &	nVideoTop,
		unsigned int &	nVideoRight,
		unsigned int &	nVideoBottom
	)		const

Definition at line 3187 of file RTProtocol.cpp.

◆ GetCameraLensControlSettings()

bool GetCameraLensControlSettings	(	const unsigned int	nCameraIndex,
		float *	focus,
		float *	aperture
	)		const

Definition at line 3207 of file RTProtocol.cpp.

◆ GetCameraMarkerSettings()

bool GetCameraMarkerSettings	(	unsigned int	nCameraIndex,
		unsigned int &	nCurrentExposure,
		unsigned int &	nMinExposure,
		unsigned int &	nMaxExposure,
		unsigned int &	nCurrentThreshold,
		unsigned int &	nMinThreshold,
		unsigned int &	nMaxThreshold
	)		const

Definition at line 3072 of file RTProtocol.cpp.

◆ GetCameraOrientation()

bool GetCameraOrientation	(	unsigned int	nCameraIndex,
		int &	nOrientation
	)		const

Definition at line 3159 of file RTProtocol.cpp.

◆ GetCameraPosition()

bool GetCameraPosition	(	unsigned int	nCameraIndex,
		SPoint &	sPoint,
		float	fvRotationMatrix[3][3]
	)		const

Definition at line 3145 of file RTProtocol.cpp.

◆ GetCameraResolution()

bool GetCameraResolution	(	unsigned int	nCameraIndex,
		unsigned int &	nMarkerWidth,
		unsigned int &	nMarkerHeight,
		unsigned int &	nVideoWidth,
		unsigned int &	nVideoHeight
	)		const

Definition at line 3168 of file RTProtocol.cpp.

◆ GetCameraSettings()

bool GetCameraSettings	(	unsigned int	nCameraIndex,
		unsigned int &	nID,
		ECameraModel &	eModel,
		bool &	bUnderwater,
		bool &	bSupportsHwSync,
		unsigned int &	nSerial,
		ECameraMode &	eMode
	)		const

Definition at line 3055 of file RTProtocol.cpp.

◆ GetCameraSyncOutSettings()

bool GetCameraSyncOutSettings	(	unsigned int	nCameraIndex,
		unsigned int	portNumber,
		ESyncOutFreqMode &	eSyncOutMode,
		unsigned int &	nSyncOutValue,
		float &	fSyncOutDutyCycle,
		bool &	bSyncOutNegativePolarity
	)		const

Definition at line 3121 of file RTProtocol.cpp.

◆ GetCameraSystemType()

CRTProtocol::ECameraSystemType GetCameraSystemType ( ) const

Definition at line 3572 of file RTProtocol.cpp.

◆ GetCameraVideoSettings()

bool GetCameraVideoSettings	(	unsigned int	nCameraIndex,
		EVideoResolution &	eVideoResolution,
		EVideoAspectRatio &	eVideoAspectRatio,
		unsigned int &	nVideoFrequency,
		unsigned int &	nCurrentExposure,
		unsigned int &	nMinExposure,
		unsigned int &	nMaxExposure,
		unsigned int &	nCurrentFlashTime,
		unsigned int &	nMinFlashTime,
		unsigned int &	nMaxFlashTime
	)		const

Definition at line 3095 of file RTProtocol.cpp.

◆ GetCapture()

bool GetCapture	(	const char *	pFileName,
		bool	bC3D
	)

Definition at line 427 of file RTProtocol.cpp.

◆ GetComponentString()

bool GetComponentString	(	char *	pComponentStr,
		unsigned int	nComponentType,
		const SComponentOptions &	options = `SComponentOptions()`
	)

static

Definition at line 928 of file RTProtocol.cpp.

◆ GetCurrentFrame()

bool GetCurrentFrame	(	unsigned int	nComponentType,
		const SComponentOptions &	componentOptions = `{}`
	)

Definition at line 330 of file RTProtocol.cpp.

◆ GetDiscoverResponse()

bool GetDiscoverResponse	(	unsigned int	nIndex,
		unsigned int &	nAddr,
		unsigned short &	nBasePort,
		std::string &	message
	)

Definition at line 318 of file RTProtocol.cpp.

◆ GetErrorString()

char * GetErrorString ( )

Definition at line 4155 of file RTProtocol.cpp.

◆ GetEventString()

bool GetEventString	(	CRTPacket::EEvent	eEvent,
		char *	pStr
	)

static

Definition at line 779 of file RTProtocol.cpp.

◆ GetExtTimeBaseSettings()

void GetExtTimeBaseSettings	(	bool &	bEnabled,
		ESignalSource &	eSignalSource,
		bool &	bSignalModePeriodic,
		unsigned int &	nFreqMultiplier,
		unsigned int &	nFreqDivisor,
		unsigned int &	nFreqTolerance,
		float &	fNominalFrequency,
		bool &	bNegativeEdge,
		unsigned int &	nSignalShutterDelay,
		float &	fNonPeriodicTimeout
	)		const

Definition at line 3034 of file RTProtocol.cpp.

◆ GetForcePlate()

bool GetForcePlate	(	unsigned int	nPlateIndex,
		unsigned int &	nID,
		unsigned int &	nAnalogDeviceID,
		unsigned int &	nFrequency,
		char *&	pType,
		char *&	pName,
		float &	fLength,
		float &	fWidth
	)		const

Definition at line 3416 of file RTProtocol.cpp.

◆ GetForcePlateCalibrationMatrix()

bool GetForcePlateCalibrationMatrix	(	unsigned int	nPlateIndex,
		float	fvCalMatrix[12][12],
		unsigned int *	rows,
		unsigned int *	columns
	)		const

Definition at line 3482 of file RTProtocol.cpp.

◆ GetForcePlateChannel()

bool GetForcePlateChannel	(	unsigned int	nPlateIndex,
		unsigned int	nChannelIndex,
		unsigned int &	nChannelNumber,
		float &	fConversionFactor
	)		const

Definition at line 3463 of file RTProtocol.cpp.

◆ GetForcePlateChannelCount()

unsigned int GetForcePlateChannelCount ( unsigned int nPlateIndex ) const

Definition at line 3454 of file RTProtocol.cpp.

◆ GetForcePlateCount()

unsigned int GetForcePlateCount ( ) const

Definition at line 3412 of file RTProtocol.cpp.

◆ GetForcePlateLocation()

bool GetForcePlateLocation	(	unsigned int	nPlateIndex,
		SPoint	sCorner[4]
	)		const

Definition at line 3435 of file RTProtocol.cpp.

◆ GetForcePlateOrigin()

bool GetForcePlateOrigin	(	unsigned int	nPlateIndex,
		SPoint &	sOrigin
	)		const

Definition at line 3445 of file RTProtocol.cpp.

◆ GetForceUnits()

void GetForceUnits	(	char *&	pLength,
		char *&	pForce
	)		const

Definition at line 3407 of file RTProtocol.cpp.

◆ GetGazeVectorCount()

unsigned int GetGazeVectorCount ( ) const

Definition at line 3339 of file RTProtocol.cpp.

◆ GetGazeVectorFrequency()

float GetGazeVectorFrequency ( unsigned int nGazeVectorIndex ) const

Definition at line 3351 of file RTProtocol.cpp.

◆ GetGazeVectorName()

const char * GetGazeVectorName ( unsigned int nGazeVectorIndex ) const

Definition at line 3343 of file RTProtocol.cpp.

◆ GetImageCamera()

bool GetImageCamera	(	unsigned int	nCameraIndex,
		unsigned int &	nCameraID,
		bool &	bEnabled,
		CRTPacket::EImageFormat &	eFormat,
		unsigned int &	nWidth,
		unsigned int &	nHeight,
		float &	fCropLeft,
		float &	fCropTop,
		float &	fCropRight,
		float &	fCropBottom
	)		const

Definition at line 3507 of file RTProtocol.cpp.

◆ GetImageCameraCount()

unsigned int GetImageCameraCount ( ) const

Definition at line 3503 of file RTProtocol.cpp.

◆ GetNumberOfDiscoverResponses()

int GetNumberOfDiscoverResponses ( )

Definition at line 314 of file RTProtocol.cpp.

◆ GetQTMVersion()

bool GetQTMVersion	(	char *	pVersion,
		unsigned int	nVersionLen
	)

Definition at line 223 of file RTProtocol.cpp.

◆ GetRTPacket()

CRTPacket * GetRTPacket ( )

Definition at line 1132 of file RTProtocol.cpp.

◆ GetSkeleton()

bool GetSkeleton	(	unsigned int	skeletonIndex,
		SSettingsSkeleton *	skeleton
	)

Definition at line 3547 of file RTProtocol.cpp.

◆ GetSkeletonCount()

unsigned int GetSkeletonCount ( ) const

Definition at line 3528 of file RTProtocol.cpp.

◆ GetSkeletonName()

const char * GetSkeletonName ( unsigned int skeletonIndex )

Definition at line 3532 of file RTProtocol.cpp.

◆ GetSkeletonSegment()

bool GetSkeletonSegment	(	unsigned int	skeletonIndex,
		unsigned int	segmentIndex,
		SSettingsSkeletonSegment *	segment
	)

Definition at line 3558 of file RTProtocol.cpp.

◆ GetSkeletonSegmentCount()

unsigned int GetSkeletonSegmentCount ( unsigned int skeletonIndex )

Definition at line 3539 of file RTProtocol.cpp.

◆ GetState()

bool GetState	(	CRTPacket::EEvent &	eEvent,
		bool	bUpdate = `true`,
		int	nTimeout = `WAIT_FOR_DATA_TIMEOUT`
	)

Definition at line 397 of file RTProtocol.cpp.

◆ GetSystemSettings()

void GetSystemSettings	(	unsigned int &	nCaptureFrequency,
		float &	fCaptureTime,
		bool &	bStartOnExtTrig,
		bool &	trigNO,
		bool &	trigNC,
		bool &	trigSoftware,
		EProcessingActions &	eProcessingActions,
		EProcessingActions &	eRtProcessingActions,
		EProcessingActions &	eReprocessingActions
	)		const

Definition at line 3015 of file RTProtocol.cpp.

◆ GetUdpServerPort()

unsigned short GetUdpServerPort ( )

Definition at line 164 of file RTProtocol.cpp.

◆ GetVersion()

bool GetVersion	(	unsigned int &	nMajorVersion,
		unsigned int &	nMinorVersion
	)

Definition at line 211 of file RTProtocol.cpp.

◆ IsControlling()

bool IsControlling ( )

Definition at line 589 of file RTProtocol.cpp.

◆ LoadCapture()

bool LoadCapture ( const char * pFileName )

Definition at line 678 of file RTProtocol.cpp.

◆ LoadProject()

bool LoadProject ( const char * pFileName )

Definition at line 740 of file RTProtocol.cpp.

◆ NewMeasurement()

bool NewMeasurement ( )

Definition at line 591 of file RTProtocol.cpp.

◆ Read3DSettings()

bool Read3DSettings ( bool & bDataAvailable )

Definition at line 2032 of file RTProtocol.cpp.

◆ Read6DOFSettings()

bool Read6DOFSettings ( bool & bDataAvailable )

Definition at line 2151 of file RTProtocol.cpp.

◆ ReadAnalogSettings()

bool ReadAnalogSettings ( bool & bDataAvailable )

Definition at line 2336 of file RTProtocol.cpp.

◆ ReadCameraSystemSettings()

bool ReadCameraSystemSettings ( )

Definition at line 1156 of file RTProtocol.cpp.

◆ ReadForceSettings()

bool ReadForceSettings ( bool & bDataAvailable )

Definition at line 2503 of file RTProtocol.cpp.

◆ ReadGazeVectorSettings()

bool ReadGazeVectorSettings ( bool & bDataAvailable )

Definition at line 2266 of file RTProtocol.cpp.

◆ ReadImageSettings()

bool ReadImageSettings ( bool & bDataAvailable )

Definition at line 2764 of file RTProtocol.cpp.

◆ ReadSkeletonSettings()

bool ReadSkeletonSettings	(	bool &	bDataAvailable,
		bool	skeletonGlobalData = `false`
	)

Definition at line 2887 of file RTProtocol.cpp.

◆ ReadXmlBool()

bool ReadXmlBool	(	CMarkup *	xml,
		const std::string &	element,
		bool &	value
	)		const

Definition at line 1134 of file RTProtocol.cpp.

◆ ReceiveRTPacket()

int ReceiveRTPacket	(	CRTPacket::EPacketType &	eType,
		bool	bSkipEvents = `true`,
		int	nTimeout = `WAIT_FOR_DATA_TIMEOUT`
	)

Definition at line 1011 of file RTProtocol.cpp.

◆ ReleaseControl()

bool ReleaseControl ( )

Definition at line 571 of file RTProtocol.cpp.

◆ Reprocess()

bool Reprocess ( )

Definition at line 763 of file RTProtocol.cpp.

◆ SaveCapture()

bool SaveCapture	(	const char *	pFileName,
		bool	bOverwrite,
		char *	pNewFileName = `nullptr`,
		int	nSizeOfNewFileName = `0`
	)

Definition at line 703 of file RTProtocol.cpp.

◆ SendTrig()

bool SendTrig ( )

Definition at line 499 of file RTProtocol.cpp.

◆ SetCameraAutoExposureSettings()

bool SetCameraAutoExposureSettings	(	const unsigned int	nCameraID,
		const bool	autoExposure,
		const float	compensation
	)

Definition at line 3971 of file RTProtocol.cpp.

◆ SetCameraAutoWhiteBalance()

bool SetCameraAutoWhiteBalance	(	const unsigned int	nCameraID,
		const bool	enable
	)

Definition at line 4007 of file RTProtocol.cpp.

◆ SetCameraLensControlSettings()

bool SetCameraLensControlSettings	(	const unsigned int	nCameraID,
		const float	focus,
		const float	aperture
	)

Definition at line 3934 of file RTProtocol.cpp.

◆ SetCameraSettings()

bool SetCameraSettings	(	const unsigned int	nCameraID,
		const ECameraMode *	peMode,
		const float *	pfMarkerExposure,
		const float *	pfMarkerThreshold,
		const int *	pnOrientation
	)

Definition at line 3745 of file RTProtocol.cpp.

◆ SetCameraSyncOutSettings()

bool SetCameraSyncOutSettings	(	const unsigned int	nCameraID,
		const unsigned int	portNumber,
		const ESyncOutFreqMode *	peSyncOutMode,
		const unsigned int *	pnSyncOutValue,
		const float *	pfSyncOutDutyCycle,
		const bool *	pbSyncOutNegativePolarity
	)

Definition at line 3858 of file RTProtocol.cpp.

◆ SetCameraVideoSettings()

bool SetCameraVideoSettings	(	const unsigned int	nCameraID,
		const EVideoResolution *	eVideoResolution,
		const EVideoAspectRatio *	eVideoAspectRatio,
		const unsigned int *	pnVideoFrequency,
		const float *	pfVideoExposure,
		const float *	pfVideoFlashTime
	)

Definition at line 3792 of file RTProtocol.cpp.

◆ SetExtTimeBaseSettings()

bool SetExtTimeBaseSettings	(	const bool *	pbEnabled,
		const ESignalSource *	peSignalSource,
		const bool *	pbSignalModePeriodic,
		const unsigned int *	pnFreqMultiplier,
		const unsigned int *	pnFreqDivisor,
		const unsigned int *	pnFreqTolerance,
		const float *	pfNominalFrequency,
		const bool *	pbNegativeEdge,
		const unsigned int *	pnSignalShutterDelay,
		const float *	pfNonPeriodicTimeout
	)

Definition at line 3675 of file RTProtocol.cpp.

◆ SetForceSettings()

bool SetForceSettings	(	const unsigned int	nPlateID,
		const SPoint *	psCorner1,
		const SPoint *	psCorner2,
		const SPoint *	psCorner3,
		const SPoint *	psCorner4
	)

Definition at line 4088 of file RTProtocol.cpp.

◆ SetImageSettings()

bool SetImageSettings	(	const unsigned int	nCameraID,
		const bool *	pbEnable,
		const CRTPacket::EImageFormat *	peFormat,
		const unsigned int *	pnWidth,
		const unsigned int *	pnHeight,
		const float *	pfLeftCrop,
		const float *	pfTopCrop,
		const float *	pfRightCrop,
		const float *	pfBottomCrop
	)

Definition at line 4034 of file RTProtocol.cpp.

◆ SetQTMEvent()

bool SetQTMEvent ( const char * pLabel )

Definition at line 515 of file RTProtocol.cpp.

◆ SetSystemSettings()

bool SetSystemSettings	(	const unsigned int *	pnCaptureFrequency,
		const float *	pfCaptureTime,
		const bool *	pbStartOnExtTrig,
		const bool *	trigNO,
		const bool *	trigNC,
		const bool *	trigSoftware,
		const EProcessingActions *	peProcessingActions,
		const EProcessingActions *	peRtProcessingActions,
		const EProcessingActions *	peReprocessingActions
	)

Definition at line 3576 of file RTProtocol.cpp.

◆ SetVersion()

bool SetVersion	(	int	nMajorVersion,
		int	nMinorVersion
	)

Definition at line 183 of file RTProtocol.cpp.

◆ StartCapture()

bool StartCapture ( )

Definition at line 627 of file RTProtocol.cpp.

◆ StartRTOnFile()

bool StartRTOnFile ( )

Definition at line 643 of file RTProtocol.cpp.

◆ StopCapture()

bool StopCapture ( )

Definition at line 662 of file RTProtocol.cpp.

◆ StreamFrames()

bool StreamFrames	(	EStreamRate	eRate,
		unsigned int	nRateArg,
		unsigned short	nUDPPort,
		const char *	pUDPAddr,
		unsigned int	nComponentType,
		const SComponentOptions &	componentOptions = `{}`
	)

Definition at line 348 of file RTProtocol.cpp.

◆ StreamFramesStop()

bool StreamFramesStop ( )

Definition at line 389 of file RTProtocol.cpp.

◆ TakeControl()

bool TakeControl ( const char * pPassword = nullptr )

Definition at line 543 of file RTProtocol.cpp.

Member Data Documentation

◆ cComponent2d

const unsigned int cComponent2d = 0x000040

static

Definition at line 34 of file RTProtocol.h.

◆ cComponent2dLin

const unsigned int cComponent2dLin = 0x000080

static

Definition at line 35 of file RTProtocol.h.

◆ cComponent3d

const unsigned int cComponent3d = 0x000001

static

Definition at line 28 of file RTProtocol.h.

◆ cComponent3dNoLabels

const unsigned int cComponent3dNoLabels = 0x000002

static

Definition at line 29 of file RTProtocol.h.

◆ cComponent3dNoLabelsRes

const unsigned int cComponent3dNoLabelsRes = 0x000200

static

Definition at line 37 of file RTProtocol.h.

◆ cComponent3dRes

const unsigned int cComponent3dRes = 0x000100

static

Definition at line 36 of file RTProtocol.h.

◆ cComponent6d

const unsigned int cComponent6d = 0x000010

static

Definition at line 32 of file RTProtocol.h.

◆ cComponent6dEuler

const unsigned int cComponent6dEuler = 0x000020

static

Definition at line 33 of file RTProtocol.h.

◆ cComponent6dEulerRes

const unsigned int cComponent6dEulerRes = 0x000800

static

Definition at line 39 of file RTProtocol.h.

◆ cComponent6dRes

const unsigned int cComponent6dRes = 0x000400

static

Definition at line 38 of file RTProtocol.h.

◆ cComponentAnalog

const unsigned int cComponentAnalog = 0x000004

static

Definition at line 30 of file RTProtocol.h.

◆ cComponentAnalogSingle

const unsigned int cComponentAnalogSingle = 0x001000

static

Definition at line 40 of file RTProtocol.h.

◆ cComponentForce

const unsigned int cComponentForce = 0x000008

static

Definition at line 31 of file RTProtocol.h.

◆ cComponentForceSingle

const unsigned int cComponentForceSingle = 0x004000

static

Definition at line 42 of file RTProtocol.h.

◆ cComponentGazeVector

const unsigned int cComponentGazeVector = 0x008000

static

Definition at line 43 of file RTProtocol.h.

◆ cComponentImage

const unsigned int cComponentImage = 0x002000

static

Definition at line 41 of file RTProtocol.h.

◆ cComponentSkeleton

const unsigned int cComponentSkeleton = 0x020000

static

Definition at line 45 of file RTProtocol.h.

◆ cComponentTimecode

const unsigned int cComponentTimecode = 0x010000

static

Definition at line 44 of file RTProtocol.h.

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

include/sot/talos_balance/sdk_qualisys/RTProtocol.h
src/sdk_qualisys/RTProtocol.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Enumeration Documentation

◆ EAxis

◆ ECameraMode

◆ ECameraModel

◆ ECameraSystemType

◆ EProcessingActions

◆ ESignalSource

◆ EStreamRate

◆ ESyncOutFreqMode

◆ EVideoAspectRatio

◆ EVideoResolution

Constructor & Destructor Documentation

◆ CRTProtocol()

◆ ~CRTProtocol()

Member Function Documentation

◆ CheckLicense()

◆ CloseMeasurement()

◆ Connect()

◆ Connected()

◆ ConvertComponentString()

◆ ConvertRateString()

◆ Disconnect()

◆ DiscoverRTServer()

◆ Get3DBoneCount()

◆ Get3DBoneFromName()

◆ Get3DBoneToName()

◆ Get3DCalibrated()

◆ Get3DLabelColor()

◆ Get3DLabeledMarkerCount()

◆ Get3DLabelName()

◆ Get3DUpwardAxis()

◆ Get6DOFBodyColor()

◆ Get6DOFBodyCount()

◆ Get6DOFBodyName()

◆ Get6DOFBodyPoint()

◆ Get6DOFBodyPointCount()

◆ Get6DOFEulerNames()

◆ GetAnalogDevice()

◆ GetAnalogDeviceCount()

◆ GetAnalogLabel()

◆ GetAnalogUnit()

◆ GetByteOrder()

◆ GetCameraAutoExposureSettings()

◆ GetCameraAutoWhiteBalance()

◆ GetCameraCount()

◆ GetCameraFOV()

◆ GetCameraLensControlSettings()

◆ GetCameraMarkerSettings()

◆ GetCameraOrientation()

◆ GetCameraPosition()

◆ GetCameraResolution()

◆ GetCameraSettings()

◆ GetCameraSyncOutSettings()

◆ GetCameraSystemType()

◆ GetCameraVideoSettings()

◆ GetCapture()

◆ GetComponentString()

◆ GetCurrentFrame()

◆ GetDiscoverResponse()

◆ GetErrorString()

◆ GetEventString()

◆ GetExtTimeBaseSettings()

◆ GetForcePlate()

◆ GetForcePlateCalibrationMatrix()

◆ GetForcePlateChannel()

◆ GetForcePlateChannelCount()

◆ GetForcePlateCount()

◆ GetForcePlateLocation()

◆ GetForcePlateOrigin()

◆ GetForceUnits()

◆ GetGazeVectorCount()

◆ GetGazeVectorFrequency()

◆ GetGazeVectorName()

◆ GetImageCamera()