com.openinventor.scaleviz.interaction

Class SoTrackerReader

java.lang.Object

com.openinventor.inventor.Inventor

com.openinventor.scaleviz.interaction.SoTrackerReader

public class SoTrackerReader
extends Inventor

Interface to trackdAPI (position, matrix, Euler angles). SoTrackerReader is a class that interfaces to trackdAPI from VRCO. It provides access functions to the coordinate data from the tracking system (position, matrix, and Euler angles). SoTrackerReader can convert the raw data from trackd with a transformation matrix (provided by the user in the application or provided during calibration). SoTrackerReader is instantiated by the SbConfig class, if the configuration file specifies the use of a tracking system (by providing shared memory keys). See SbConfig.getTrackerReader.

NOTE: trackd from VRCO (www.vrco.com) is not included with Open Inventor. If trackd exists on the system, Open Inventor will dynamically load it at run time. See trackd documentation for information about the values returned.

Nested Class Summary

Nested classes/interfaces inherited from class com.openinventor.inventor.Inventor

Inventor.ConstructorCommand

Field Summary

Fields inherited from class com.openinventor.inventor.Inventor

VERBOSE_LEVEL, ZeroHandle

Constructor Summary

Constructors

Constructor and Description
SoTrackerReader(int name_27892) Constructor.

Method Summary

Modifier and Type	Method and Description
SbVec3f	getEulerAngles(int id) Gets the Euler angle values for sensor identified by id.
SbMatrix	getMatrix(int id) Gets the transformation matrix for sensor identified by id.
int	getNumberOfSensors() Returns the number of sensors the tracker daemon is storing.
SbVec3f	getPosition(int id) Gets the position values for the sensor identified by id.
SbMatrix	getTransformMatrix(int id) Returns the transformation matrix applied to the coordinates from the tracking system.
float	getUnitScaleFactor() Returns the unit scale factor.
boolean	isInitSuccess() Returns true if Inventor was able to retrieve all the trackdAPI functions.
boolean	isLoadSuccess() Returns true if libtrackd.so was loaded successfully.
void	setTransformMatrix(int id, SbMatrix RealToWorld) Sets the transformation matrix applied to the coordinates from the tracking system.
void	setUnitScaleFactor(float name_27905) Sets the unit scale factor.

Methods inherited from class com.openinventor.inventor.Inventor

dispose, getAddress, getNativeResourceHandle, startInternalThreads, stopInternalThreads

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SoTrackerReader

public SoTrackerReader(int name_27892)

Constructor. The argument passed to the constructor is the shared memory key used by trackd. The constructor dynamically loads trackdAPI into memory, and gets the necessary function addresses.

Method Detail

setUnitScaleFactor

public void setUnitScaleFactor(float name_27905)

Sets the unit scale factor. The positions from the tracker are multiplied by the unit scale factor. The initial unit is provided by the tracking system. For example, the tracking system gives coordinates in feet. For coordinates in inches, the unit scale factor should be set to 12.0.

getPosition

public SbVec3f getPosition(int id)

Gets the position values for the sensor identified by id.

getUnitScaleFactor

public float getUnitScaleFactor()

Returns the unit scale factor.

getNumberOfSensors

public int getNumberOfSensors()

Returns the number of sensors the tracker daemon is storing.

isInitSuccess

public boolean isInitSuccess()

Returns true if Inventor was able to retrieve all the trackdAPI functions.

getMatrix

public SbMatrix getMatrix(int id)

Gets the transformation matrix for sensor identified by id.

setTransformMatrix

public void setTransformMatrix(int id,
                               SbMatrix RealToWorld)

Sets the transformation matrix applied to the coordinates from the tracking system. The transformation matrix is from raw (real world) coordinates to Inventor (3D world) coordinates.

isLoadSuccess

public boolean isLoadSuccess()

Returns true if libtrackd.so was loaded successfully.

getTransformMatrix

public SbMatrix getTransformMatrix(int id)

Returns the transformation matrix applied to the coordinates from the tracking system.

getEulerAngles

public SbVec3f getEulerAngles(int id)

Gets the Euler angle values for sensor identified by id.