OptiTrack

https://docs.optitrack.com/
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OptiTrack is a motion capture and asset tracking system that provides hardware, software, and...
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### GET /hardware/usb-camera-system-setup.md

Source: https://docs.optitrack.com/hardware/usb-camera-system-setup.md

Queries the documentation for specific information related to the USB Camera System Setup using natural language.

```APIDOC
## GET /hardware/usb-camera-system-setup.md

### Description
Performs a dynamic query against the documentation to retrieve answers, excerpts, and sources based on a natural language question.

### Method
GET

### Endpoint
https://docs.optitrack.com/hardware/usb-camera-system-setup.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained natural language question.
- **goal** (string) - Optional - The broader end goal to help tailor the response context.
```

--------------------------------

### GET /virtual-reality/vr-hmd-setup.md

Source: https://docs.optitrack.com/virtual-reality/vr-hmd-setup.md

Queries the documentation for specific information regarding VR HMD setup by providing a question and an optional goal.

```APIDOC
## GET /virtual-reality/vr-hmd-setup.md

### Description
Queries the documentation dynamically to retrieve answers, excerpts, and sources based on a specific question and an optional broader goal.

### Method
GET

### Endpoint
https://docs.optitrack.com/virtual-reality/vr-hmd-setup.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained question to ask the documentation.
- **goal** (string) - Optional - The broader end goal to help tailor the retrieved information.

### Request Example
GET https://docs.optitrack.com/virtual-reality/vr-hmd-setup.md?ask=How do I calibrate the HMD pivot point?&goal=Setting up a new VR headset

### Response
#### Success Response (200)
- **answer** (string) - A direct answer to the question.
- **excerpts** (array) - Relevant text excerpts from the documentation.
- **sources** (array) - Links to the source documentation pages.
```

--------------------------------

### Enable All Cameras

Source: https://docs.optitrack.com/developer-tools/motive-api/motive-api-function-reference.md

Example demonstrating how to iterate through all cameras and set them to an enabled state.

```cpp
int totalCamera = CameraCount();

//== Disabling all of the cameras from contributing to reconstruction ==//
for (int i = 0; i < totalCamera; i++)
{
	SetCameraState(i, Camera_Enabled);
}
```

--------------------------------

### Install Dependencies on Ubuntu

Source: https://docs.optitrack.com/developer-tools/camera-sdk-linux.md

Install required packages including libjpeg, cmake, and Qt6 on Ubuntu systems.

```bash
ubuntu: sudo apt update && sudo apt install -y libjpeg-dev cmake qt6-base-dev
```

--------------------------------

### GET /whats-new/changelogs.md

Source: https://docs.optitrack.com/whats-new/changelogs.md

Queries the documentation page for specific information using a natural language question.

```APIDOC
## GET /whats-new/changelogs.md

### Description
Performs a dynamic query on the documentation page to retrieve answers, excerpts, and sources based on a provided question.

### Method
GET

### Endpoint
https://docs.optitrack.com/whats-new/changelogs.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained natural language question to ask.
- **goal** (string) - Optional - Describes the broader end goal to help tailor the response context.
```

--------------------------------

### GET /quick-start-guides/quick-start-guide-getting-started.md

Source: https://docs.optitrack.com/quick-start-guides/quick-start-guide-getting-started.md

Queries the documentation for specific information by providing a question and an optional goal.

```APIDOC
## GET /quick-start-guides/quick-start-guide-getting-started.md

### Description
Queries the documentation dynamically by asking a question. The response provides a direct answer along with relevant excerpts and sources.

### Method
GET

### Endpoint
https://docs.optitrack.com/quick-start-guides/quick-start-guide-getting-started.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained question to ask.
- **goal** (string) - Optional - The broader end goal to help tailor the answer.
```

--------------------------------

### GET /movement-sciences/movement-sciences-hardware.md

Source: https://docs.optitrack.com/movement-sciences/movement-sciences-hardware.md

Queries the documentation for specific information regarding hardware setup using natural language.

```APIDOC
## GET /movement-sciences/movement-sciences-hardware.md

### Description
Performs a natural language query against the documentation to retrieve information or context regarding hardware integration.

### Method
GET

### Endpoint
https://docs.optitrack.com/movement-sciences/movement-sciences-hardware.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific question to ask the documentation.
- **goal** (string) - Optional - The broader end goal to help tailor the response.

### Response
#### Success Response (200)
- **response** (string) - A direct answer to the question with relevant excerpts and sources.
```

--------------------------------

### GET /quick-start-guides/quick-start-guide-prime-color-camera-setup.md

Source: https://docs.optitrack.com/quick-start-guides/quick-start-guide-prime-color-camera-setup.md

Queries the documentation for specific information by providing a question and an optional goal.

```APIDOC
## GET /quick-start-guides/quick-start-guide-prime-color-camera-setup.md

### Description
Queries the documentation dynamically to retrieve answers, excerpts, and sources based on a natural language question.

### Method
GET

### Endpoint
https://docs.optitrack.com/quick-start-guides/quick-start-guide-prime-color-camera-setup.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained question to ask.
- **goal** (string) - Optional - The broader end goal to help tailor the response.
```

--------------------------------

### GET /quick-start-guides/quick-start-guide-outdoor-tracking-setup.md

Source: https://docs.optitrack.com/quick-start-guides/quick-start-guide-outdoor-tracking-setup.md

Queries the documentation page for specific information using natural language questions.

```APIDOC
## GET /quick-start-guides/quick-start-guide-outdoor-tracking-setup.md

### Description
Queries the documentation dynamically to retrieve answers, excerpts, and sources based on a specific question and an optional end goal.

### Method
GET

### Endpoint
https://docs.optitrack.com/quick-start-guides/quick-start-guide-outdoor-tracking-setup.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained question to ask.
- **goal** (string) - Optional - The broader end goal to help tailor the response.

### Response
#### Success Response (200)
- **answer** (string) - A direct answer to the question.
- **excerpts** (array) - Relevant excerpts from the documentation.
- **sources** (array) - Sources used to generate the answer.
```

--------------------------------

### GET /hardware/prepare-setup-area.md

Source: https://docs.optitrack.com/hardware/prepare-setup-area.md

Queries the documentation page for information using a natural language question and an optional goal.

```APIDOC
## GET /hardware/prepare-setup-area.md

### Description
Queries the current documentation page dynamically to retrieve answers, excerpts, and sources based on a specific question.

### Method
GET

### Endpoint
https://docs.optitrack.com/hardware/prepare-setup-area.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained question to ask the documentation.
- **goal** (string) - Optional - The broader end goal to help tailor the response context.
```

--------------------------------

### Set Playback Start Frame

Source: https://docs.optitrack.com/developer-tools/natnet-sdk/natnet-remote-requests-commands.md

Sets the start frame for playback.

```C#
string command = "SetPlaybackStartFrame," + stringFrameNumber;
```

--------------------------------

### GET /quick-start-guides.md

Source: https://docs.optitrack.com/quick-start-guides.md

Performs a dynamic query against the documentation to retrieve answers, excerpts, and sources based on a specific question and optional goal.

```APIDOC
## GET /quick-start-guides.md

### Description
Performs an HTTP GET request on the documentation page to retrieve information dynamically. This is used when the answer is not explicitly present in the current page or to retrieve related documentation sections.

### Method
GET

### Endpoint
https://docs.optitrack.com/quick-start-guides.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The immediate question to ask, written in natural language.
- **goal** (string) - Optional - Describes the broader end goal to help tailor the answer.
```

--------------------------------

### NatNet Remote Command Examples

Source: https://docs.optitrack.com/developer-tools/natnet-sdk/natnet-remote-requests-commands.md

Examples of command strings used to interact with Motive.

```cpp
string command = "LiveMode";
```

```cpp
string command = "UnitsToMillimeters";
```

```cpp
string command = "FrameRate";
```

```cpp
string command = "CurrentMode";
```

```cpp
string command = "StartRecording";
```

```cpp
string command = "StopRecording";
```

```cpp
string command = "LiveMode";
```

```cpp
string command = "EditMode";
```

```cpp
string command = "TimelinePlay";
```

```cpp
string command = "TimelineStop";
```

--------------------------------

### Install FFmpeg for Color Cameras

Source: https://docs.optitrack.com/developer-tools/camera-sdk-linux.md

Install FFmpeg dependencies required for Prime Color Camera functionality.

```bash
sudo apt install ffmpeg -y
```

```bash
sudo dnf install ffmpeg ffmpeg-devel -y
```

--------------------------------

### GET /quick-start-guides/quick-start-guide-precision-capture.md

Source: https://docs.optitrack.com/quick-start-guides/quick-start-guide-precision-capture.md

Queries the documentation dynamically by sending a natural language question to the current page URL.

```APIDOC
## GET /quick-start-guides/quick-start-guide-precision-capture.md

### Description
Performs a dynamic query against the documentation to retrieve answers, excerpts, and sources based on a specific question.

### Method
GET

### Endpoint
https://docs.optitrack.com/quick-start-guides/quick-start-guide-precision-capture.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained question to ask.
- **goal** (string) - Optional - The broader end goal to help tailor the response.
```

--------------------------------

### Install Dependencies on Fedora

Source: https://docs.optitrack.com/developer-tools/camera-sdk-linux.md

Install required packages including libjpeg-turbo, cmake, and Qt6 on Fedora systems.

```bash
sudo dnf update && sudo dnf install -y libjpeg-turbo-devel cmake qt6-qtbase-devel
```

--------------------------------

### GET /hardware/usb-camera-system-setup/duo-3-and-trio-3-setup.md

Source: https://docs.optitrack.com/hardware/usb-camera-system-setup/duo-3-and-trio-3-setup.md

Queries the documentation dynamically by providing a specific question and an optional goal to retrieve relevant information and excerpts.

```APIDOC
## GET /hardware/usb-camera-system-setup/duo-3-and-trio-3-setup.md

### Description
Perform a query against the documentation to receive a direct answer, relevant excerpts, and sources based on a specific question.

### Method
GET

### Endpoint
https://docs.optitrack.com/hardware/usb-camera-system-setup/duo-3-and-trio-3-setup.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained question to ask the documentation.
- **goal** (string) - Optional - The broader end goal to help tailor the response.
```

--------------------------------

### GET /virtual-reality/vr-hmd-setup/unreal-engine-hmd-setup.md

Source: https://docs.optitrack.com/virtual-reality/vr-hmd-setup/unreal-engine-hmd-setup.md

Queries the documentation page for specific information using a natural language question and an optional goal context.

```APIDOC
## GET /virtual-reality/vr-hmd-setup/unreal-engine-hmd-setup.md

### Description
Queries the current documentation page to retrieve answers, excerpts, and sources based on a specific question.

### Method
GET

### Endpoint
https://docs.optitrack.com/virtual-reality/vr-hmd-setup/unreal-engine-hmd-setup.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained question to ask.
- **goal** (string) - Optional - The broader end goal to help tailor the response.
```

--------------------------------

### Capture Start Packet

Source: https://docs.optitrack.com/motive/data-streaming.md

Defines the structure and fields required for the Capture Start Packet used to trigger recording in Motive.

```APIDOC
## Capture Start Packet

### Description
The Capture Start Packet is used to initiate a recording session within Motive. It contains metadata about the take, session, and storage location.

### Parameters
- **Name** (string) - Name of the Take that will be recorded.
- **SessionName** (string) - Name of the session folder.
- **Notes** (string) - Informational note for describing the recorded Take.
- **Description** (string) - Reserved.
- **Assets** (list) - List of assets involved in the Take.
- **DatabasePath** (string) - The file directory where the recorded captures will be saved.
- **Start Timecode** (string) - Timecode values (SMTPE) for frame alignments.
- **PacketID** (integer) - Reserved.
- **HostName** (string) - Reserved.
- **ProcessID** (integer) - Reserved.
```

--------------------------------

### GET /markersets/glove-device-setup/rokoko-smartglove-setup.md

Source: https://docs.optitrack.com/markersets/glove-device-setup/rokoko-smartglove-setup.md

Queries the documentation for specific information by providing a question and an optional goal context.

```APIDOC
## GET /markersets/glove-device-setup/rokoko-smartglove-setup.md

### Description
Performs a dynamic query against the documentation to retrieve answers, excerpts, and sources based on a natural language question.

### Method
GET

### Endpoint
https://docs.optitrack.com/markersets/glove-device-setup/rokoko-smartglove-setup.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained natural language question.
- **goal** (string) - Optional - The broader end goal to help tailor the response context.
```

--------------------------------

### Install Jetson Expansion Board Access Package

Source: https://docs.optitrack.com/robotics/mocap4ros2-setup.md

Clones and installs the necessary drivers for the Jetson expansion board on the JetMax robot.

```bash
git clone https://github.com/JetMaxRoboticArm/jetmax_ebap.git
cd jetmax_ebap
python3 setup.py install
```

--------------------------------

### Querying Documentation via HTTP GET

Source: https://docs.optitrack.com/activeio/activeio-hardware/activeio-basestation.md

Perform an HTTP GET request to the documentation URL to retrieve answers to specific questions.

```http
GET https://docs.optitrack.com/activeio/activeio-hardware/activeio-basestation.md?ask=<question>&goal=<endgoal>
```

--------------------------------

### Calibration State and Sample Monitoring Example

Source: https://docs.optitrack.com/developer-tools/motive-api/motive-api-function-reference.md

Demonstrates checking the calibration state and identifying cameras that need more samples during the wanding process.

```cpp
// If calibrating, print out some state information.
eCalibrationState state = CalibrationState();
if( state == eCalibrationState::Wanding )
{
	std::vector<int> neededCameras( CalibrationCamerasLackingSamples() );
	if( !neededCameras.empty() )
	{
		printf( "\nNeed more samples for %d cameras:", (int) neededCameras.size() );
		for( int cameraIndex:neededCameras )
		{
			int cameraSamples = CameraCalibrationSamples( cameraIndex );
			printf( "\n%d (%d)", CameraID( cameraIndex ), cameraSamples );
		}
		printf( "\n" );
	}
}
// If completed calibration wanding, print the quality
else if( state >= eCalibrationState::PreparingSolver && state <= eCalibrationState::Complete )
{
	PrintCalibrationQuality();
}
```

--------------------------------

### CameraNicFilter.xml Configuration Example

Source: https://docs.optitrack.com/hardware/cabling-and-wiring/white-blacklisting-cameras.md

An example configuration showing specific camera serial numbers and the use of a wildcard character to blacklist all color cameras.

```xml
<?xml version="1.0" ?>
<MotiveNicFilter>
	<NIC IPAddress="192.168.1.3">
		<Whitelist>
			<Serial>M18883</Serial>			
			<Serial>M18885</Serial>
		</Whitelist>
		<Blacklist>
			<Serial>C</Serial>
		</Blacklist>
	</NIC>
</MotiveNicFilter>
```

--------------------------------

### GET /quick-start-guides/quick-start-guide-active-marker-tracking.md

Source: https://docs.optitrack.com/quick-start-guides/quick-start-guide-active-marker-tracking.md

Queries the documentation page for specific information using a natural language question and an optional goal context.

```APIDOC
## GET /quick-start-guides/quick-start-guide-active-marker-tracking.md

### Description
Queries the documentation page dynamically to retrieve answers, excerpts, and sources based on a specific question.

### Method
GET

### Endpoint
https://docs.optitrack.com/quick-start-guides/quick-start-guide-active-marker-tracking.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained natural language question.
- **goal** (string) - Optional - The broader end goal to help tailor the response.

### Response
#### Success Response (200)
- **answer** (string) - The direct answer to the question.
- **excerpts** (array) - Relevant excerpts from the documentation.
- **sources** (array) - Sources used to generate the answer.
```

--------------------------------

### Query Documentation via HTTP GET

Source: https://docs.optitrack.com/developer-tools/camera-sdk.md

Perform an HTTP GET request to the documentation URL to retrieve answers to specific questions or goals.

```http
GET https://docs.optitrack.com/developer-tools/camera-sdk.md?ask=<question>&goal=<endgoal>
```

--------------------------------

### GET /markersets/glove-device-setup/manus-glove-setup.md

Source: https://docs.optitrack.com/markersets/glove-device-setup/manus-glove-setup.md

Queries the documentation for specific information by providing a question and an optional goal.

```APIDOC
## GET /markersets/glove-device-setup/manus-glove-setup.md

### Description
Queries the documentation dynamically to retrieve answers, relevant excerpts, and sources based on a provided question.

### Method
GET

### Endpoint
https://docs.optitrack.com/markersets/glove-device-setup/manus-glove-setup.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The immediate question to ask.
- **goal** (string) - Optional - The broader end goal to help tailor the response.
```

--------------------------------

### Query Documentation via HTTP GET

Source: https://docs.optitrack.com/virtual-reality/vr-hmd-setup/sync-configuration-with-an-htc-vive-system.md

Perform an HTTP GET request to the documentation URL to retrieve answers or context regarding HTC Vive synchronization.

```http
GET https://docs.optitrack.com/virtual-reality/vr-hmd-setup/sync-configuration-with-an-htc-vive-system.md?ask=<question>&goal=<endgoal>
```

--------------------------------

### Query Documentation via HTTP GET

Source: https://docs.optitrack.com/active-classic/active-classic-hardware/wired-anchorpuck.md

Perform an HTTP GET request to the documentation URL to retrieve answers to specific questions with an optional goal context.

```http
GET https://docs.optitrack.com/active-classic/active-classic-hardware/wired-anchorpuck.md?ask=<question>&goal=<endgoal>
```

--------------------------------

### SetPlaybackStartFrame

Source: https://docs.optitrack.com/developer-tools/natnet-sdk/natnet-remote-requests-commands.md

Sets the playback start frame.

```APIDOC
## SetPlaybackStartFrame

### Description
Sets the start frame for playback.

### Parameters
- **Frame Number** (String) - Required - The frame number.
```

--------------------------------

### Initialize ROS2 Workspace and Build Packages

Source: https://docs.optitrack.com/robotics/mocap4ros2-setup.md

Commands to clone the demo repository, set up the workspace directory, copy necessary packages, and build the workspace using colcon.

```bash
cd ~
git clone https://github.com/OptiTrack/robot_arm_follower_demo.git
mkdir -p ~/optitrack_companion_ws/src
cd ~/optitrack_companion_ws/src
# copy mocap_msgs, mocap4ros2_optitrack, and tf_repub to the src directory
cp -r ~/robot_arm_follower_demo/packages_on_ubuntu_companion/* ~/optitrack_companion_ws/src
cd ~/optitrack_companion_ws
source /opt/ros/<your-ros-distro>/setup.bash
colcon build
```

--------------------------------

### GET /developer-tools/camera-sdk/class-ccameramodule.md

Source: https://docs.optitrack.com/developer-tools/camera-sdk/class-ccameramodule.md

Query the documentation dynamically by asking a question.

```APIDOC
## GET /developer-tools/camera-sdk/class-ccameramodule.md

### Description
Perform an HTTP GET request on the current page URL to query the documentation dynamically.

### Method
GET

### Endpoint
https://docs.optitrack.com/developer-tools/camera-sdk/class-ccameramodule.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The immediate question to ask.
- **goal** (string) - Optional - The broader end goal to accomplish.
```

--------------------------------

### Launch OptiTrack Driver and TF Republisher

Source: https://docs.optitrack.com/robotics/mocap4ros2-setup.md

Commands to start the OptiTrack driver and the TF republisher on the companion computer.

```bash
# terminal 1
cd ~/optitrack_companion_ws
source install/setup.bash
ros2 launch mocap_optitrack_driver optitrack2.launch.py
```

```bash
# terminal 2
cd ~/optitrack_companion_ws
source install/setup.bash
ros2 run tf_repub transform_republisher
```

--------------------------------

### GET /movement-sciences/prime-color-camera-setup/prime-color-setup-hardware-setup.md

Source: https://docs.optitrack.com/movement-sciences/prime-color-camera-setup/prime-color-setup-hardware-setup.md

Queries the documentation for specific information by providing a question and an optional goal.

```APIDOC
## GET /movement-sciences/prime-color-camera-setup/prime-color-setup-hardware-setup.md

### Description
Queries the documentation dynamically to retrieve answers, relevant excerpts, and sources based on a provided question.

### Method
GET

### Endpoint
https://docs.optitrack.com/movement-sciences/prime-color-camera-setup/prime-color-setup-hardware-setup.md

### Parameters
#### Query Parameters
- **ask** (string) - Required - The specific, self-contained question to ask the documentation.
- **goal** (string) - Optional - The broader end goal to help tailor the response context.
```

--------------------------------

### ClearCameraMask C++ Example

Source: https://docs.optitrack.com/developer-tools/motive-api/motive-api-function-reference.md

Iterates through all cameras to clear existing masks.

```cpp
//== Clearing existing masks for all cameras ==//
int totalCamera = CameraCount();

for (int i = 0; i < totalCamera; i++)
{
    ClearCameraMask(i);
}
```

--------------------------------

### Start Calibration Calculation

Source: https://docs.optitrack.com/developer-tools/motive-api/motive-api-function-reference.md

Initiates the calibration calculation process after wanding is complete.

```cpp
bool		StartCalibrationCalculation();
```

```cpp
// Start calculation and it will return false if it fails (likely due to not wanding first)
if( !StartCalibrationCalculation() )
{
	printf( "ERROR - Please wand the volume first by calling StartCalibrationWanding()\n" );
}
```

--------------------------------

### Create Rigid Body Assets Example

Source: https://docs.optitrack.com/developer-tools/motive-api/motive-api-quick-start-guide.md

Demonstrates calculating the pivot point and creating a Rigid Body asset relative to that pivot.

```cpp
int markerCount = MarkerCount;
vector<float> markerListRelativeToGlobal(3*markerCount);

// add markers to markerListRelativeToGlobal using MarkerXYZ, etc
int x = 0;
int y = 0;
int z = 0;

for (int i = 0; i < markerCount; ++i)
{
        MarkerXYZ(i, x, y, z);
    	markerListRelativeToGlobal.push_back(x);
    	markerListRelativeToGlobal.push_back(y);
	markerListRelativeToGlobal.push_back(z);
}

// then average the locations in x, y and z
for (int i = 0; i < markerCount; ++i)
{
    	float sx += markerListRelativeToGlobal[3*i];
    	float sy += markerListRelativeToGlobal[3*i + 1];
    	float sz += markerListRelativeToGlobal[3*i + 2];
}


float ax = sx/markerCount;
float ay = sy/markerCount;
float az = sz/markerCount;

vector<float> pivotPoint = {ax, ay, az};
vector<float> markerListRelativeToPivotPoint(3*markerCount);

// subtract the pivot point location from the marker location
for (int i = 0; i < markerCount; ++i)
{
    markerListRelativeToPivotPoint.push_back(markerListRelativeToGlobal[3*i] - ax);
    markerListRelativeToPivotPoint.push_back(markerListRelativeToGlobal[3*i + 1] - ay);
    markerListRelativeToPivotPoint.push_back(markerListRelativeToGlobal[3*i + 2] - az);
}

CreateRigidBody("Rigid Body New", 1, markerCount, markerListRelativeToPivotPoint);
```
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