package robotics.infrastructure.motion_capture.phasespace

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• rpc TrackMarkers (MarkerTrackerParams, stream MarkersData)

  marker_data.proto:98

  Streams MarkerData protobufs.

• rpc GetLatestMarkerData (MarkerTrackerParams, MarkersData)

  marker_data.proto:101

  Retrieves the latest singular instance of MarkerData.

Used in: MarkersData

• int32 marker_id = 2

  The marker ID provided by the Phasespace SDK as set in the marker profile.

• optional Vector3f position_mm = 3

  x, y, z positions in mm

• uint32 internal_flags = 4

  Internal fields provided by the Phasespace SDK. See https://drive.google.com/open?id=1_FYo8lRkwee8O1nWhRotDdVai0sTeLSv for details

• int64 internal_time = 5

• float internalcond = 6

Parameters for the MarkerTracker service. Intentiionally left empty for now.

Used as request type in: MarkerTracker.GetLatestMarkerData, MarkerTracker.TrackMarkers

(message has no fields)

This proto contains motion capture marker data and a timestamp. There is one MarkerData OR RigidData object per marker that was detected by the motion capture system during the current frame. Iterate over the markers & rigid field and read the marker_id field to check if a specific marker was detected.

Used as response type in: MarkerTracker.GetLatestMarkerData, MarkerTracker.TrackMarkers

• optional Timestamp timestamp = 1

  The time at which this reading was received on the gLinux system This is supposed to be within less than 1ms of the original acquisition time on the Phasespace server. The camera delay (delay between exposure and the server receiving the data) is approx. 3ms (data provided by Phasespace). Hence, the timestamp in this proto is approx. 3-4ms later than the exposure. This delay has low jitter, but is tricky to measure.

• repeated MarkerData markers = 2

• repeated RigidData rigids = 4

• int64 internal_time = 3

  Internal fields provided by the Phasespace SDK.

Used in: MarkersData

• int32 tracker_id = 2

  Still calling this marker_id for consistency

• optional Vector3f position_mm = 3

  x, y, z positions in mm

• optional Vector4f quat = 7

  x, y, z, s quaternion

• uint32 internal_flags = 4

  Internal fields provided by the Phasespace SDK. See https://drive.google.com/open?id=1_FYo8lRkwee8O1nWhRotDdVai0sTeLSv for details

• int64 internal_time = 5

• float internalcond = 6

Used in: MarkersData

• int64 seconds = 1

  Represents seconds of UTC time since Unix epoch 1970-01-01T00:00:00Z. Must be from 0001-01-01T00:00:00Z to 9999-12-31T23:59:59Z inclusive.

• int32 nanos = 2

  Non-negative fractions of a second at nanosecond resolution. Negative second values with fractions must still have non-negative nanos values that count forward in time. Must be from 0 to 999,999,999 inclusive.

A three-dimensional single precision vector.

Used in: MarkerData, RigidData

• float x = 1

• float y = 2

• float z = 3

A four-dimensional single precision vector.

Used in: RigidData

• float x = 1

• float y = 2

• float z = 3

• float w = 4