Pose estimation and localization software » optitrack-genom3

Changes¶

• Update to natnet-3.1 (motive-2.2) that includes camera position in model definition message.

Download¶

optitrack-genom3-2.3.1.tar.gz

Changes¶

• Add set_transform() attribute, to rotate + translate local coordinates
• Make the multicast address subscription optional
• Fix typo in the covariance matrix of the orientation

Download¶

optitrack-genom3-2.3.tar.gz

Changes¶

• Add set_gps_mode attribute, preventing from publishing attitude information.
• Add max_fps attribute, limiting the publishing frequency.

Download¶

optitrack-genom3-2.2.tar.gz

Changes¶

• Support NatNet-3.0 streaming procotol

Download¶

optitrack-genom3-2.1.tar.gz

Changes¶

• Log tranmission delay in the debug log file
• When loosing too many samples, reset the estimated remote timestamp
• Compute the bandwidth usage, and add an attribute to retrieve it
• Switch to openrobots2-idl
• Fix the computation of the variance of the additional noise set by set_noise()
• Document {set,get}_local_port()

Download¶

optitrack-genom3-2.0.tar.gz

Changes¶

• Deal with ARM EABI requiring doubles to be aligned on 8 bytes
• Fix a typo in the optional additionnal gaussian noise (set_noise service)

Download¶

optitrack-genom3-1.6.1.tar.gz

Changes¶

• Implement an optional additive gaussian white noise on the position data
• Output roll, pitch, yaw instead of the quaternion in the log files
• Ignore bodies that have a name too long to be published
• Add a missing transition in the permanent activity

Download¶

optitrack-genom3-1.6.tar.gz

Changes¶

• Make sure that the connect() request closes (replaces) any existing connection
• Allow bigger jitter in data reception before resetting the timestamp
• Provide "fake but hopefully realistic" covariance on position/orientation

Download¶

optitrack-genom3-1.5.tar.gz

Changes¶

• Support Motive-1.9 (natnet 2.9). Make sure to leave the new 'Y UP' streaming option in Motive untouched. (There is now a 'Z UP' option...)

• Support the unicast streaming option of Motive (typically for Wifi connections). Multicast is still supported, and Motive streaming configuration can even be changed online without disrupting clients. Beware that each 'unicast' stream loads the streaming machine, and that unicast streams can only be stopped by stopping the streaming on the server.

• Add an option to export individual marker position (added set_export request to configure what is exported):
  • Individual marker position associated to rigid bodies. This information is exported in the port markers/name, where name is the rigid body name.
  • Anonymous marker position, not associated to a rigid body. Those markers are found in markers/anonymous

  The X,Y,Z coordinates are expressed in the global optitrack frame.

• Timestamp frame data more precisely (using E. Olson algorithm).

• The 'connect' request now returns as soon a a connection is established, so that connection errors are more easily detected.

Download¶

optitrack-genom3-1.4.tar.gz

Changes¶

• Add function body_list, returning the list of currently available bodies
• Use openrobots-idl 1.1

Download¶

optitrack-genom3-1.3.tar.gz (812389 bytes)