https://github.com/qualisys/qualisys_dotnet_sdk
C# (.NET) implementation of the real-time protocol for Qualisys Track Manager
https://github.com/qualisys/qualisys_dotnet_sdk
c-sharp dot-net motion-capture motion-tracking position-tracking qtm qualisys realtime
Last synced: 3 months ago
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C# (.NET) implementation of the real-time protocol for Qualisys Track Manager
- Host: GitHub
- URL: https://github.com/qualisys/qualisys_dotnet_sdk
- Owner: qualisys
- License: mit
- Created: 2015-07-16T09:04:00.000Z (about 10 years ago)
- Default Branch: master
- Last Pushed: 2024-11-22T12:21:23.000Z (11 months ago)
- Last Synced: 2025-06-07T16:31:13.274Z (4 months ago)
- Topics: c-sharp, dot-net, motion-capture, motion-tracking, position-tracking, qtm, qualisys, realtime
- Language: C#
- Homepage:
- Size: 684 KB
- Stars: 8
- Watchers: 3
- Forks: 5
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# [Qualisys](http://www.qualisys.com) Realtime SDK for .Net
This is C# package with SDK and examples that can help Qualisys users connect and stream data from [Qualisys Track Manager](http://www.qualisys.com/products/software/qtm) in realtime.
This handles all kind of data that QTM can capture. This includes marker data, 6dof objects, user bones, analog, force and gaze vector settings and data.
* Use RTProtocol::DiscoverRTServers to find out which QTM servers that you can connect to on a network.
* Use RTProtocol::IsConnected method to check if a connection to QTM already exists.
* Use RTProtocol::Connect method to connect to QTM.
* Use RTProtocol::StreamFrames to setup streaming from QTM (this lets you decide what to stream).
* Use RTProtocol::ReceiveRTPacket to get data/event/error packets.
* Use RTProtocol::StreamFramesStop to stop streaming data.
* Use RTProtocol::Disconnect to disconnect.
Below is a c# console application example on how to discover all QTM servers on the network. Connect to localhost, stream 6DOF position+euler+residual data.
```csharp
using System;
using System.Collections.Generic;
using System.Threading;
using QTMRealTimeSDK;
using QTMRealTimeSDK.Data;
namespace RTSDKExample
{
class Program
{
static void Main(string[] args)
{
Example example = new Example();
example.DiscoverQTMServers(4547);
Console.WriteLine("Press key to continue");
Console.ReadKey();
while (true)
{
example.HandleStreaming("127.0.0.1");
if (Console.KeyAvailable)
{
if (Console.ReadKey(false).Key == ConsoleKey.Escape)
break;
}
}
}
}
class Example
{
RTProtocol rtProtocol = new RTProtocol();
public List DiscoverQTMServers(ushort discoveryPort)
{
if (rtProtocol.DiscoverRTServers(discoveryPort))
{
var discoveryResponses = rtProtocol.DiscoveryResponses;
foreach (var discoveryResponse in discoveryResponses)
{
Console.WriteLine("Host:{0,20}\tIP Address:{1,15}\tInfo Text:{2,20}\tCamera count:{3,3}", discoveryResponse.HostName, discoveryResponse.IpAddress, discoveryResponse.InfoText, discoveryResponse.CameraCount);
}
}
return null;
}
~Example()
{
if (rtProtocol.IsConnected())
{
rtProtocol.StreamFramesStop();
rtProtocol.Disconnect();
}
}
public void HandleStreaming(string ipAddress)
{
// Check if connection to QTM is possible
if (!rtProtocol.IsConnected())
{
if (!rtProtocol.Connect(ipAddress))
{
Console.WriteLine("QTM: Trying to connect");
Thread.Sleep(1000);
return;
}
Console.WriteLine("QTM: Connected");
}
// Check for available 6DOF data in the stream
if (rtProtocol.Settings6DOF == null)
{
if (!rtProtocol.Get6dSettings())
{
Console.WriteLine("QTM: Trying to get 6DOF settings");
Thread.Sleep(500);
return;
}
Console.WriteLine("QTM: 6DOF data available");
rtProtocol.StreamAllFrames(QTMRealTimeSDK.Data.ComponentType.Component6dEulerResidual);
Console.WriteLine("QTM: Starting to stream 6DOF data");
Thread.Sleep(500);
}
// Get RTPacket from stream
PacketType packetType;
rtProtocol.ReceiveRTPacket(out packetType, false);
// Handle data packet
if (packetType == PacketType.PacketData)
{
var sixDofData = rtProtocol.GetRTPacket().Get6DOFEulerResidualData();
if (sixDofData != null)
{
// Print out the available 6DOF data.
for (int body = 0; body < sixDofData.Count; body++)
{
var sixDofBody = sixDofData[body];
var bodySetting = rtProtocol.Settings6DOF.Bodies[body];
if (bodySetting.Enabled)
{
Console.WriteLine("Frame:{0:D5} Body:{1,20} X:{2,7:F1} Y:{3,7:F1} Z:{4,7:F1} First Angle:{5,7:F1} Second Angle:{6,7:F1} Third Angle:{7,7:F1} Residual:{8,7:F1}",
rtProtocol.GetRTPacket().Frame,
bodySetting.Name,
sixDofBody.Position.X, sixDofBody.Position.Y, sixDofBody.Position.Z,
sixDofBody.Rotation.First, sixDofBody.Rotation.Second, sixDofBody.Rotation.Third,
sixDofBody.Residual);
}
}
}
}
// Handle event packet
if (packetType == PacketType.PacketEvent)
{
// If an event comes from QTM then print it out
var qtmEvent = rtProtocol.GetRTPacket().GetEvent();
Console.WriteLine("{0}", qtmEvent);
}
}
}
}
```