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B Technical Appendix
Flysticks, Measurement Tools . . . ). Bodies, that are not tracked by the system at that
moment, don’t appear in the output.
• The first number gives the number of tracked bodies (less or equal to the number of
calibrated bodies).
•
The data of each tracked body show up in blocks (three consecutive
[]
) like:
[id qu][
s
x
s
y
s
z
η θ φ
][
b
0
b
1
b
2
b
3
b
4
b
5
b
6
b
7
b
8
]
They contain:
1. ID number (
id
, starting with
0
), quality value (
qu
, unused),
2. Position (
s
i
), orientation angles (
η θ φ
) and
3. Rotation matrix (
b
i
) of the Body’s orientation.
All numbers are separated by spaces (hex
20
). Nine values b
0
. . . b
8
form the rotation
matrix R :
R =


b
0
b
3
b
6
b
1
b
4
b
7
b
2
b
5
b
8


Z
Note: to avoid problems with different definitions of the angles, we
recommend to use only rotation matrices.
Example (one line):
6d 1 [0 1.000][326.848 -187.216 109.503 -160.4704 -3.6963
-7.0913][-0.940508 -0.339238 -0.019025 0.333599 -0.932599 0.137735
-0.064467 0.123194 0.990286]
B.2.4 Standard 6DOF Bodies (extended format)
Identifier
6di
.
Measurement data of all tracked standard 6DOF bodies (i.e. all 6DOF bodies except
Flysticks, Measurement Tools . . . ) and all hybrid bodies. The output data contain values
especially for hybrid bodies (tracking status, drift error), but can be used for any standard
6DOF body. Bodies, that are not tracked by the system at that moment, do appear in the
output.
•
The first number gives the number of tracked bodies.
•
The data of each tracked body show up in blocks (three consecutive
[]
) like:
260