Merge pull request #30 from qualisys/rtsdk_1.24_update

Capelliexp · web-flow · commit 329daf1dc500 · 2022-12-01T10:15:47.000+01:00
Update to RTSDK 1.24
diff --git a/QTMSettings.cs b/QTMSettings.cs
@@ -1040,7 +1040,7 @@ public struct Settings6DOF_V1
     {
         internal static Settings6DOF ConvertToSettings6DOF(Settings6DOF_V1 settings6DOF)
         {
-            return new Settings6DOF(settings6DOF.Name, settings6DOF.ColorRGB, 0, 0, 0, new Settings6DOFFilter(), new Settings6DOFMesh(),
+            return new Settings6DOF(settings6DOF.Name, true, settings6DOF.ColorRGB, 0, 0, 0, new Settings6DOFFilter(), new Settings6DOFMesh(),
                 settings6DOF.Points.ConvertAll<Settings6DOFPoint>(Settings6DOFPoint_V1.ConvertToSettingsPoint), new Settings6DOFDataOrigin(), new Settings6DOFDataOrientation());
         }
         /// <summary>Name of 6DOF body</summary>
@@ -1160,6 +1160,7 @@ public struct Settings6DOF_V2
         internal Settings6DOF_V2(Settings6DOF settings)
         {
             Name = settings.Name;
+            Enabled = settings.Enabled;
             Color = new Settings6DOFColor_V2(settings.ColorRGB);
             MaximumResidual = settings.MaximumResidual;
             MinimumMarkersInBody = settings.MinimumMarkersInBody;
@@ -1173,12 +1174,15 @@ internal Settings6DOF_V2(Settings6DOF settings)
         internal static Settings6DOF ConvertToSettings6DOF(Settings6DOF_V2 settings6DOF)
         {
             int colorRGB = (settings6DOF.Color.R & 0xff) | ((settings6DOF.Color.G << 8) & 0xff00) | ((settings6DOF.Color.B << 16) & 0xff0000);
-            return new Settings6DOF(settings6DOF.Name, colorRGB, settings6DOF.MaximumResidual, settings6DOF.MinimumMarkersInBody, settings6DOF.BoneLengthTolerance,
+            return new Settings6DOF(settings6DOF.Name, settings6DOF.Enabled, colorRGB, settings6DOF.MaximumResidual, settings6DOF.MinimumMarkersInBody, settings6DOF.BoneLengthTolerance,
                 settings6DOF.Filter, settings6DOF.Mesh, settings6DOF.Points, settings6DOF.DataOrigin, settings6DOF.DataOrientation);
         }
         /// <summary>Name of 6DOF body</summary>
         [XmlElement("Name")]
         public string Name;
+        /// <summary>Availability of 6DOF body</summary>
+        [XmlElement("Enabled")]
+        public bool Enabled;
         /// <summary>Color of 6DOF body</summary>
         [XmlElement("Color")]
         public Settings6DOFColor_V2 Color;
@@ -1240,10 +1244,11 @@ internal static Settings6DOF_V2 ConvertToSettings6DOF_V2(Settings6DOF settings)
         {
             return new Settings6DOF_V2(settings);
         }
-        public Settings6DOF(string name, int colorRGB, float maxResidual, int minimumMarkersInBody, float boneLengthTolerance, Settings6DOFFilter filter, Settings6DOFMesh mesh,
+        public Settings6DOF(string name, bool enabled, int colorRGB, float maxResidual, int minimumMarkersInBody, float boneLengthTolerance, Settings6DOFFilter filter, Settings6DOFMesh mesh,
             List<Settings6DOFPoint> points, Settings6DOFDataOrigin dataOrigin, Settings6DOFDataOrientation dataOrientation)
         {
             Name = name;
+            Enabled = enabled;
             ColorRGB = colorRGB;
             MaximumResidual = maxResidual;
             MinimumMarkersInBody = minimumMarkersInBody;
@@ -1256,6 +1261,8 @@ public Settings6DOF(string name, int colorRGB, float maxResidual, int minimumMar
         }
         /// <summary>Name of 6DOF body</summary>
         public string Name;
+        /// <summary>Availability of 6DOF body</summary>
+        public bool Enabled;
         /// <summary>Color of 6DOF body</summary>
         public int ColorRGB;
         /// <summary>Maximum residual of 6DOF body</summary>
diff --git a/README.md b/README.md
@@ -114,12 +114,15 @@ namespace RTSDKExample
                     {
                         var sixDofBody = sixDofData[body];
                         var bodySetting = rtProtocol.Settings6DOF.Bodies[body];
-                        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);
+                        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);
+						}
                     }
                 }
             }
diff --git a/RTClientSDK.Net.Example/Example6d.cs b/RTClientSDK.Net.Example/Example6d.cs
@@ -56,12 +56,15 @@ public override void HandleStreaming()
                     {
                         var sixDofBody = sixDofData[body];
                         var bodySetting = mRtProtocol.Settings6DOF.Bodies[body];
-                        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}",
-                            mRtProtocol.GetRTPacket().Frame,
-                            bodySetting.Name,
-                            sixDofBody.Position.X, sixDofBody.Position.Y, sixDofBody.Position.Z,
-                            sixDofBody.Rotation.First, sixDofBody.Rotation.Second, sixDofBody.Rotation.Third,
-                            sixDofBody.Residual);
+                        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}",
+                                mRtProtocol.GetRTPacket().Frame,
+                                bodySetting.Name,
+                                sixDofBody.Position.X, sixDofBody.Position.Y, sixDofBody.Position.Z,
+                                sixDofBody.Rotation.First, sixDofBody.Rotation.Second, sixDofBody.Rotation.Third,
+                                sixDofBody.Residual);
+                        }
                     }
                 }
             }
diff --git a/RTClientSDK.Net.SimpleExample/TakeControl.cs b/RTClientSDK.Net.SimpleExample/TakeControl.cs
@@ -100,12 +100,15 @@ public void HandleStreaming()
                     {
                         var sixDofBody = sixDofData[body];
                         var bodySetting = rtProtocol.Settings6DOF.Bodies[body];
-                        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);
+                        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);
+                        }
                     }
                 }
             }
diff --git a/RTProtocol.cs b/RTProtocol.cs
@@ -47,7 +47,7 @@ public static class Constants
             /// <summary>Latest major version of protocol</summary>
             public const int MAJOR_VERSION = 1;
             /// <summary>Latest minor version of protocol</summary>
-            public const int MINOR_VERSION = 23;
+            public const int MINOR_VERSION = 24;
             /// <summary>Maximum camera count</summary>
             public const int MAX_CAMERA_COUNT = 256;
             /// <summary>Maximum Analog device count</summary>

Original file line number	Diff line number	Diff line change
`@@ -1040,7 +1040,7 @@ public struct Settings6DOF_V1`
`1040`	`1040`	`{`
`1041`	`1041`	`internal static Settings6DOF ConvertToSettings6DOF(Settings6DOF_V1 settings6DOF)`
`1042`	`1042`	`{`
`1043`		`- return new Settings6DOF(settings6DOF.Name, settings6DOF.ColorRGB, 0, 0, 0, new Settings6DOFFilter(), new Settings6DOFMesh(),`
	`1043`	`+ return new Settings6DOF(settings6DOF.Name, true, settings6DOF.ColorRGB, 0, 0, 0, new Settings6DOFFilter(), new Settings6DOFMesh(),`
`1044`	`1044`	`settings6DOF.Points.ConvertAll<Settings6DOFPoint>(Settings6DOFPoint_V1.ConvertToSettingsPoint), new Settings6DOFDataOrigin(), new Settings6DOFDataOrientation());`
`1045`	`1045`	`}`
`1046`	`1046`	`/// <summary>Name of 6DOF body</summary>`
`@@ -1160,6 +1160,7 @@ public struct Settings6DOF_V2`
`1160`	`1160`	`internal Settings6DOF_V2(Settings6DOF settings)`
`1161`	`1161`	`{`
`1162`	`1162`	`Name = settings.Name;`
	`1163`	`+ Enabled = settings.Enabled;`
`1163`	`1164`	`Color = new Settings6DOFColor_V2(settings.ColorRGB);`
`1164`	`1165`	`MaximumResidual = settings.MaximumResidual;`
`1165`	`1166`	`MinimumMarkersInBody = settings.MinimumMarkersInBody;`
`@@ -1173,12 +1174,15 @@ internal Settings6DOF_V2(Settings6DOF settings)`
`1173`	`1174`	`internal static Settings6DOF ConvertToSettings6DOF(Settings6DOF_V2 settings6DOF)`
`1174`	`1175`	`{`
`1175`	`1176`	`int colorRGB = (settings6DOF.Color.R & 0xff) \| ((settings6DOF.Color.G << 8) & 0xff00) \| ((settings6DOF.Color.B << 16) & 0xff0000);`
`1176`		`- return new Settings6DOF(settings6DOF.Name, colorRGB, settings6DOF.MaximumResidual, settings6DOF.MinimumMarkersInBody, settings6DOF.BoneLengthTolerance,`
	`1177`	`+ return new Settings6DOF(settings6DOF.Name, settings6DOF.Enabled, colorRGB, settings6DOF.MaximumResidual, settings6DOF.MinimumMarkersInBody, settings6DOF.BoneLengthTolerance,`
`1177`	`1178`	`settings6DOF.Filter, settings6DOF.Mesh, settings6DOF.Points, settings6DOF.DataOrigin, settings6DOF.DataOrientation);`
`1178`	`1179`	`}`
`1179`	`1180`	`/// <summary>Name of 6DOF body</summary>`
`1180`	`1181`	`[XmlElement("Name")]`
`1181`	`1182`	`public string Name;`
	`1183`	`+ /// <summary>Availability of 6DOF body</summary>`
	`1184`	`+ [XmlElement("Enabled")]`
	`1185`	`+ public bool Enabled;`
`1182`	`1186`	`/// <summary>Color of 6DOF body</summary>`
`1183`	`1187`	`[XmlElement("Color")]`
`1184`	`1188`	`public Settings6DOFColor_V2 Color;`
`@@ -1240,10 +1244,11 @@ internal static Settings6DOF_V2 ConvertToSettings6DOF_V2(Settings6DOF settings)`
`1240`	`1244`	`{`
`1241`	`1245`	`return new Settings6DOF_V2(settings);`
`1242`	`1246`	`}`
`1243`		`- public Settings6DOF(string name, int colorRGB, float maxResidual, int minimumMarkersInBody, float boneLengthTolerance, Settings6DOFFilter filter, Settings6DOFMesh mesh,`
	`1247`	`+ public Settings6DOF(string name, bool enabled, int colorRGB, float maxResidual, int minimumMarkersInBody, float boneLengthTolerance, Settings6DOFFilter filter, Settings6DOFMesh mesh,`
`1244`	`1248`	`List<Settings6DOFPoint> points, Settings6DOFDataOrigin dataOrigin, Settings6DOFDataOrientation dataOrientation)`
`1245`	`1249`	`{`
`1246`	`1250`	`Name = name;`
	`1251`	`+ Enabled = enabled;`
`1247`	`1252`	`ColorRGB = colorRGB;`
`1248`	`1253`	`MaximumResidual = maxResidual;`
`1249`	`1254`	`MinimumMarkersInBody = minimumMarkersInBody;`
`@@ -1256,6 +1261,8 @@ public Settings6DOF(string name, int colorRGB, float maxResidual, int minimumMar`
`1256`	`1261`	`}`
`1257`	`1262`	`/// <summary>Name of 6DOF body</summary>`
`1258`	`1263`	`public string Name;`
	`1264`	`+ /// <summary>Availability of 6DOF body</summary>`
	`1265`	`+ public bool Enabled;`
`1259`	`1266`	`/// <summary>Color of 6DOF body</summary>`
`1260`	`1267`	`public int ColorRGB;`
`1261`	`1268`	`/// <summary>Maximum residual of 6DOF body</summary>`
Original file line number	Diff line number	Diff line change
`@@ -114,12 +114,15 @@ namespace RTSDKExample`
`114`	`114`	`{`
`115`	`115`	`var sixDofBody = sixDofData[body];`
`116`	`116`	`var bodySetting = rtProtocol.Settings6DOF.Bodies[body];`
`117`		`- 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}",`
`118`		`- rtProtocol.GetRTPacket().Frame,`
`119`		`- bodySetting.Name,`
`120`		`- sixDofBody.Position.X, sixDofBody.Position.Y, sixDofBody.Position.Z,`
`121`		`- sixDofBody.Rotation.First, sixDofBody.Rotation.Second, sixDofBody.Rotation.Third,`
`122`		`- sixDofBody.Residual);`
	`117`	`+ if (bodySetting.Enabled)`
	`118`	`+ {`
	`119`	`+ 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}",`
	`120`	`+ rtProtocol.GetRTPacket().Frame,`
	`121`	`+ bodySetting.Name,`
	`122`	`+ sixDofBody.Position.X, sixDofBody.Position.Y, sixDofBody.Position.Z,`
	`123`	`+ sixDofBody.Rotation.First, sixDofBody.Rotation.Second, sixDofBody.Rotation.Third,`
	`124`	`+ sixDofBody.Residual);`
	`125`	`+ }`
`123`	`126`	`}`
`124`	`127`	`}`
`125`	`128`	`}`
Original file line number	Diff line number	Diff line change
`@@ -56,12 +56,15 @@ public override void HandleStreaming()`
`56`	`56`	`{`
`57`	`57`	`var sixDofBody = sixDofData[body];`
`58`	`58`	`var bodySetting = mRtProtocol.Settings6DOF.Bodies[body];`
`59`		`- 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}",`
`60`		`- mRtProtocol.GetRTPacket().Frame,`
`61`		`- bodySetting.Name,`
`62`		`- sixDofBody.Position.X, sixDofBody.Position.Y, sixDofBody.Position.Z,`
`63`		`- sixDofBody.Rotation.First, sixDofBody.Rotation.Second, sixDofBody.Rotation.Third,`
`64`		`- sixDofBody.Residual);`
	`59`	`+ if (bodySetting.Enabled)`
	`60`	`+ {`
	`61`	`+ 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}",`
	`62`	`+ mRtProtocol.GetRTPacket().Frame,`
	`63`	`+ bodySetting.Name,`
	`64`	`+ sixDofBody.Position.X, sixDofBody.Position.Y, sixDofBody.Position.Z,`
	`65`	`+ sixDofBody.Rotation.First, sixDofBody.Rotation.Second, sixDofBody.Rotation.Third,`
	`66`	`+ sixDofBody.Residual);`
	`67`	`+ }`
`65`	`68`	`}`
`66`	`69`	`}`
`67`	`70`	`}`
Original file line number	Diff line number	Diff line change
`@@ -100,12 +100,15 @@ public void HandleStreaming()`
`100`	`100`	`{`
`101`	`101`	`var sixDofBody = sixDofData[body];`
`102`	`102`	`var bodySetting = rtProtocol.Settings6DOF.Bodies[body];`
`103`		`- 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}",`
`104`		`- rtProtocol.GetRTPacket().Frame,`
`105`		`- bodySetting.Name,`
`106`		`- sixDofBody.Position.X, sixDofBody.Position.Y, sixDofBody.Position.Z,`
`107`		`- sixDofBody.Rotation.First, sixDofBody.Rotation.Second, sixDofBody.Rotation.Third,`
`108`		`- sixDofBody.Residual);`
	`103`	`+ if (bodySetting.Enabled)`
	`104`	`+ {`
	`105`	`+ 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}",`
	`106`	`+ rtProtocol.GetRTPacket().Frame,`
	`107`	`+ bodySetting.Name,`
	`108`	`+ sixDofBody.Position.X, sixDofBody.Position.Y, sixDofBody.Position.Z,`
	`109`	`+ sixDofBody.Rotation.First, sixDofBody.Rotation.Second, sixDofBody.Rotation.Third,`
	`110`	`+ sixDofBody.Residual);`
	`111`	`+ }`
`109`	`112`	`}`
`110`	`113`	`}`
`111`	`114`	`}`