NatNet SDK version 3.1.0 (September 11, 2018)

Readme.md

@@ -7,6 +7,23 @@ See also [mje-nz/python_natnet](https://github.com/mje-nz/python_natnet) and [mj
 
 ## Changelog
 
+__3.1.0__ _(September 11, 2018)_
+
+* Updated the sample projects for the Apache Software License. This gives greater open source freedom with the NatNet redistributable.
+* Included additional timing metrics and recording to the WinForms application.
+* Updated the python depacketizer sample to match the correct rigid body descriptions.
+* Updated the SampleClient and SampleClient3D projects, so that they may be used exclusively with unlabeled markers.
+* Updated the explanation of labeled markers in the PacketClient.cpp to be more descriptive.
+* Improved clarity of the version and compilation information for sample applications.
+* Added a broadcast option to the multicast data channel.
+* Fixed a crash when attempting to stream over 99 rigid bodies at one time.
+* Fixed a crash with the WinForms test app by removing the ability to edit text in the IP address combo box.
+* Fixed an issue where the labeled marker list did not report the flags when a labeled marker was occluded.
+* Fixed a bug with automatically determining the IP address on start.
+* Fixed a bug in the WinForms test app that caused it to report incorrect rigid body data in some cases.
+* Fixed a bug in the WinForms test app where it would not refresh when switching between multicast and unicast.
+* Renamed "Labeled Markers" to just "Markers" in the WinForms application.
+
 __3.0.1__ _(November 7, 2017)_
 
 * Cleaned up the SampleClient by removing OtherMarkers sample and refactoring some other code.

Samples/BroadcastSample/BroadcastSample/BroadcastSample.cpp

@@ -1,17 +1,17 @@
-//=============================================================================
-// Copyright © 2014 NaturalPoint, Inc. All Rights Reserved.
-// 
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall NaturalPoint, Inc. or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//=============================================================================
+/* 
+Copyright © 2014 NaturalPoint Inc.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License. */
 
 /*
 BroadcastClient.cpp

Samples/Matlab/NatNetEventHandlerSample.m

@@ -1,3 +1,17 @@
+%Copyright © 2018 Naturalpoint
+%
+%Licensed under the Apache License, Version 2.0 (the "License");
+%you may not use this file except in compliance with the License.
+%You may obtain a copy of the License at
+%
+%http://www.apache.org/licenses/LICENSE-2.0
+%
+%Unless required by applicable law or agreed to in writing, software
+%distributed under the License is distributed on an "AS IS" BASIS,
+%WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+%See the License for the specific language governing permissions and
+%limitations under the License.
+
 % Optitrack Matlab / NatNet Event Handler Sample
 %  Requirements:
 %   - OptiTrack Motive 2.0 or later

Samples/Matlab/NatNetPollingSample.m

@@ -1,3 +1,17 @@
+%Copyright © 2018 Naturalpoint
+%
+%Licensed under the Apache License, Version 2.0 (the "License");
+%you may not use this file except in compliance with the License.
+%You may obtain a copy of the License at
+%
+%http://www.apache.org/licenses/LICENSE-2.0
+%
+%Unless required by applicable law or agreed to in writing, software
+%distributed under the License is distributed on an "AS IS" BASIS,
+%WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+%See the License for the specific language governing permissions and
+%limitations under the License.
+
 % Optitrack Matlab / NatNet Polling Sample
 %  Requirements:
 %   - OptiTrack Motive 2.0 or later

Samples/NatCap/App.xaml.cs

@@ -1,4 +1,19 @@
-using System;
+/* 
+Copyright © 2013 NaturalPoint Inc.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License. */
+
+using System;
 using System.Collections.Generic;
 using System.Configuration;
 using System.Data;

Samples/NatCap/MainWindow.xaml.cs

@@ -1,4 +1,19 @@
-using System;
+/* 
+Copyright © 2013 NaturalPoint Inc.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License. */
+
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;

Samples/NatCap/Properties/AssemblyInfo.cs

@@ -1,4 +1,19 @@
-using System.Reflection;
+/* 
+Copyright © 2013 NaturalPoint Inc.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License. */
+
+using System.Reflection;
 using System.Resources;
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;

Samples/PacketClient/PacketClient.cpp

@@ -1,17 +1,17 @@
-//=============================================================================
-// Copyright © 2014 NaturalPoint, Inc. All Rights Reserved.
-// 
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall NaturalPoint, Inc. or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//=============================================================================
+/* 
+Copyright © 2012 NaturalPoint Inc.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License. */
 
 /*
 
@@ -777,7 +777,8 @@ void Unpack(char* pData)
             } // next skeleton
         }
 
-		// labeled markers (NatNet version 2.3 and later)
+        // labeled markers (NatNet version 2.3 and later)
+        // labeled markers - this includes all markers: Active, Passive, and 'unlabeled' (markers with no asset but a PointCloud ID)
 		if( ((major == 2)&&(minor>=3)) || (major>2))
 		{
 			int nLabeledMarkers = 0;
@@ -821,9 +822,9 @@ void Unpack(char* pData)
                     bool bModelSolved = (params & 0x04) != 0;  // position provided by model solve
                     if ((major >= 3) || (major == 0))
                     {
-                        bool bHasModel = (params & 0x08) != 0;     // marker has an associated model
-                        bool bUnlabeled = (params & 0x10) != 0;    // marker is an unlabeled marker
-                        bool bActiveMarker = (params & 0x20) != 0; // marker is an active marker
+                        bool bHasModel = (params & 0x08) != 0;     // marker has an associated asset in the data stream
+                        bool bUnlabeled = (params & 0x10) != 0;    // marker is 'unlabeled', but has a point cloud ID
+                        bool bActiveMarker = (params & 0x20) != 0; // marker is an actively labeled LED marker
                     }
 
                 }

Samples/PacketClient/PacketClientUDPBroadcast.cpp

@@ -1,17 +1,17 @@
-//=============================================================================
-// Copyright © 2010 NaturalPoint, Inc. All Rights Reserved.
-// 
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall NaturalPoint, Inc. or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//=============================================================================
+/* 
+Copyright © 2013 NaturalPoint Inc.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License. */
 
 /*
 

Samples/PythonClient/NatNetClient.py

@@ -1,4 +1,20 @@
-import socket
+#Copyright © 2018 Naturalpoint
+#
+#Licensed under the Apache License, Version 2.0 (the "License");
+#you may not use this file except in compliance with the License.
+#You may obtain a copy of the License at
+#
+#http://www.apache.org/licenses/LICENSE-2.0
+#
+#Unless required by applicable law or agreed to in writing, software
+#distributed under the License is distributed on an "AS IS" BASIS,
+#WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#See the License for the specific language governing permissions and
+#limitations under the License.
+
+# OptiTrack NatNet direct depacketization library for Python 3.x
+
+import socket
 import struct
 from threading import Thread
 
@@ -14,7 +30,10 @@ def trace( *args ):
 class NatNetClient:
     def __init__( self ):
         # Change this value to the IP address of the NatNet server.
-        self.serverIPAddress = "169.254.201.120"
+        self.serverIPAddress = "127.0.0.1" 
+
+        # Change this value to the IP address of your local network interface
+        self.localIPAddress = "127.0.0.1"
 
         # This should match the multicast address listed in Motive's streaming settings.
         self.multicastAddress = "239.255.42.99"
@@ -49,11 +68,12 @@ def __createDataSocket( self, port ):
         result = socket.socket( socket.AF_INET,     # Internet
                               socket.SOCK_DGRAM,
                               socket.IPPROTO_UDP)    # UDP
-        result.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
-        result.bind( ('', port) )
 
-        mreq = struct.pack("4sl", socket.inet_aton(self.multicastAddress), socket.INADDR_ANY)
-        result.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, mreq)
+        result.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)        
+        result.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, socket.inet_aton(self.multicastAddress) + socket.inet_aton(self.localIPAddress))
+
+        result.bind( (self.localIPAddress, port) )
+
         return result
 
     # Create a command socket to attach to the NatNet stream
@@ -87,7 +107,7 @@ def __unpackRigidBody( self, data ):
             self.rigidBodyListener( id, pos, rot )
 
         # RB Marker Data ( Before version 3.0.  After Version 3.0 Marker data is in description )
-        if( self.__natNetStreamVersion[0] < 3 ) :
+        if( self.__natNetStreamVersion[0] < 3  and self.__natNetStreamVersion[0] != 0) :
             # Marker count (4 bytes)
             markerCount = int.from_bytes( data[offset:offset+4], byteorder='little' )
             offset += 4
@@ -113,9 +133,6 @@ def __unpackRigidBody( self, data ):
                     offset += 4
                     trace( "\tMarker Size", i, ":", size[0] )
 
-        # Skip padding inserted by the server
-        offset += 4
-
         if( self.__natNetStreamVersion[0] >= 2 ):
             markerError, = FloatValue.unpack( data[offset:offset+4] )
             offset += 4
@@ -344,7 +361,7 @@ def __unpackRigidBodyDescription( self, data ):
         if( self.__natNetStreamVersion[0] >= 2 ):
             name, separator, remainder = bytes(data[offset:]).partition( b'\0' )
             offset += len( name ) + 1
-            trace( "\tMarker Name:", name.decode( 'utf-8' ) )
+            trace( "\tRigidBody Name:", name.decode( 'utf-8' ) )
 
         id = int.from_bytes( data[offset:offset+4], byteorder='little' )
         offset += 4
@@ -355,6 +372,20 @@ def __unpackRigidBodyDescription( self, data ):
         timestamp = Vector3.unpack( data[offset:offset+12] )
         offset += 12
 
+        # Version 3.0 and higher, rigid body marker information contained in description
+        if (self.__natNetStreamVersion[0] >= 3 or self.__natNetStreamVersion[0] == 0 ):
+            markerCount = int.from_bytes( data[offset:offset+4], byteorder='little' ) 
+            offset += 4
+            trace( "\tRigidBody Marker Count:", markerCount )
+
+            markerCountRange = range( 0, markerCount )
+            for marker in markerCountRange:
+                markerOffset = Vector3.unpack(data[offset:offset+12])
+                offset +=12
+            for marker in markerCountRange:
+                activeLabel = int.from_bytes(data[offset:offset+4],byteorder = 'little')
+                offset += 4
+
         return offset
 
     # Unpack a skeleton description packet

Samples/PythonClient/PythonSample.py

@@ -1,4 +1,24 @@
-from NatNetClient import NatNetClient
+#Copyright © 2018 Naturalpoint
+#
+#Licensed under the Apache License, Version 2.0 (the "License");
+#you may not use this file except in compliance with the License.
+#You may obtain a copy of the License at
+#
+#http://www.apache.org/licenses/LICENSE-2.0
+#
+#Unless required by applicable law or agreed to in writing, software
+#distributed under the License is distributed on an "AS IS" BASIS,
+#WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#See the License for the specific language governing permissions and
+#limitations under the License.
+
+
+# OptiTrack NatNet direct depacketization sample for Python 3.x
+#
+# Uses the Python NatNetClient.py library to establish a connection (by creating a NatNetClient),
+# and receive data via a NatNet connection and decode it using the NatNetClient library.
+
+from NatNetClient import NatNetClient
 
 # This is a callback function that gets connected to the NatNet client and called once per mocap frame.
 def receiveNewFrame( frameNumber, markerSetCount, unlabeledMarkersCount, rigidBodyCount, skeletonCount,