Template:NatNet Update

Update Notes

With NatNet 3.0 release, the following components of the rigid body frame data (sRigidBodyData) have been moved onto the description packets (sRigidBodyDescription & sMarker).

  • sRigidBodyData.nMarkers --> sRigidBodyDescription.nMarkers
  • sRigidBodyData.Markers --> sRigidBodyDescription.MarkerPositions
  • sRigidBodyData.MarkerIDs --> Deprecated: sMarker.ID
  • sRigidBodyData.MarkerSizes --> Deprecated: sMarker.sizes

They used to represent model-solved location of rigid body markers. If any of the client program was querying for the above rigid body marker data, they will need to be updated to be used with Motive 2.0.


NatNet 3.0

// Rigid Body Data (single frame of one rigid body)
typedef struct sRigidBodyData
{
    int ID;                                 // RigidBody identifier
    float x, y, z;                          // Position
    float qx, qy, qz, qw;                   // Orientation
    float MeanError;                        // Mean measure-to-solve deviation
    short params;                           // Host defined tracking flags
    sRigidBodyData()
    {
        ID = 0; params = 0;
    }
} sRigidBodyData;


NatNet 2.10

// Rigid Body Data (single frame of one rigid body)
typedef struct sRigidBodyData
{
    int ID;                                 // RigidBody identifier
    float x, y, z;                          // Position
    float qx, qy, qz, qw;                   // Orientation
    int nMarkers;                           // Number of markers associated with this rigid body
    MarkerData* Markers;                    // Array of marker data ( [nMarkers][3] )
    int* MarkerIDs;                         // Array of marker IDs
    float* MarkerSizes;                     // Array of marker sizes
    float MeanError;                        // Mean measure-to-solve deviation
    short params;                           // Host defined tracking flags
    sRigidBodyData()
    {
        Markers = 0; MarkerIDs = 0; MarkerSizes = 0; params=0;
    }
} sRigidBodyData;