def test_parse_echorequest_packet_v3():
"""Test parsing a NatNet 3.0 packet containing an EchoRequest message."""
data = open('test_data/echorequest_packet_v3.bin', 'rb').read()
echo_request = deserialize(data, Version(3),
strict=True) # type: EchoRequestMessage
assert echo_request.timestamp == 278554190
def test_parse_echoresponse_packet_v3():
"""Test parsing a NatNet 3.0 packet containing an EchoResponse message."""
packet = open('test_data/echoresponse_packet_v3.bin', 'rb').read()
echo_response = deserialize(packet, Version(3),
strict=True) # type: EchoResponseMessage
assert echo_response.request_timestamp == 278554190
assert echo_response.received_timestamp == 1416498545924
def test_parse_connect_packet_v3():
"""Test parsing a NatNet 3.0 packet containing a Connect message."""
data = open('test_data/connect_packet_v3.bin', 'rb').read()
info = deserialize(data, Version(3), strict=True) # type: ConnectMessage
assert info.payload == 'NatNetLib'
assert info.version1 == Version(3)
assert info.version2 == Version(3)
def test_parse_serverinfo_packet_v2():
"""Test parsing a NatNet 2.10 packet containing a ServerInfo message."""
packet = open('test_data/serverinfo_packet_v2.bin', 'rb').read()
info = deserialize(packet, Version(3), strict=True) # type: ServerInfoMessage
# These values are verified against SampleClient
assert info.app_name == u'Motive'
assert info.app_version == Version(1, 10)
assert info.natnet_version == Version(2, 10)
assert info.high_resolution_clock_frequency is None
assert info.connection_info is None
def test_parse_serverinfo_packet_v3():
"""Test parsing a NatNet 3.0 packet containing a ServerInfo message."""
packet = open('test_data/serverinfo_packet_v3.bin', 'rb').read()
info = deserialize(packet, Version(3), strict=True) # type: ServerInfoMessage
# These values are verified against SampleClient where easy
assert info.app_name == u'Motive'
assert info.app_version == Version(2, 1)
assert info.natnet_version == Version(3)
assert info.high_resolution_clock_frequency == 3312787
assert info.connection_info.data_port == 1511
assert info.connection_info.multicast == True # noqa: E712
assert info.connection_info.multicast_address == u'239.255.42.99'
def test_parse_modeldef_packet_skeleton_v3():
"""Test parsing a NatNet 3.0 packet containing a ModelDefinitions message with skeletons."""
packet = open('test_data/modeldef_packet_skeleton_v3.bin', 'rb').read()
modeldef = deserialize(packet, Version(3),
strict=True) # type: ModelDefinitionsMessage
# TODO: Verify against SampleClient
assert len(modeldef.models) == 3
# Skeleton description
sd = modeldef.models[0] # type: SkeletonDescription
assert type(sd) == SkeletonDescription
assert sd.name == 'Skeleton 002'
assert sd.id_ == 3
assert len(sd.rigid_bodies) == 21
assert [body.name for body in sd.rigid_bodies] == [
'Skeleton 002_Hip', 'Skeleton 002_Ab', 'Skeleton 002_Chest',
'Skeleton 002_Neck', 'Skeleton 002_Head', 'Skeleton 002_LShoulder',
'Skeleton 002_LUArm', 'Skeleton 002_LFArm', 'Skeleton 002_LHand',
'Skeleton 002_RShoulder', 'Skeleton 002_RUArm', 'Skeleton 002_RFArm',
'Skeleton 002_RHand', 'Skeleton 002_LThigh', 'Skeleton 002_LShin',
'Skeleton 002_LFoot', 'Skeleton 002_RThigh', 'Skeleton 002_RShin',
'Skeleton 002_RFoot', 'Skeleton 002_LToe', 'Skeleton 002_RToe'
]
# Skeleton markerset description
ms = modeldef.models[1] # type: MarkersetDescription
assert type(ms) == MarkersetDescription
assert ms.name == 'Skeleton 002'
assert ms.marker_names == [
'WaistLFront', 'WaistRFront', 'WaistLBack', 'WaistRBack', 'BackTop',
'Chest', 'BackLeft', 'BackRight', 'HeadTop', 'HeadFront', 'HeadSide',
'LShoulderBack', 'LShoulderTop', 'LElbowOut', 'LUArmHigh', 'LHandOut',
'LWristOut', 'LWristIn', 'RShoulderBack', 'RShoulderTop', 'RElbowOut',
'RUArmHigh', 'RHandOut', 'RWristOut', 'RWristIn', 'LKneeOut', 'LThigh',
'LAnkleOut', 'LShin', 'LToeOut', 'LToeIn', 'RKneeOut', 'RThigh',
'RAnkleOut', 'RShin', 'RToeOut', 'RToeIn'
]
# 'all' markerset definition
ms2 = modeldef.models[2] # type: MarkersetDescription
assert type(ms2) == MarkersetDescription
assert ms2.name == 'all'
assert ms2.marker_names == ms.marker_names
def test_parse_modeldef_packet_v3():
"""Test parsing a NatNet 3.0 packet containing a ModelDefinitions message."""
packet = open('test_data/modeldef_packet_v3.bin', 'rb').read()
modeldef = deserialize(packet, Version(3),
strict=True) # type: ModelDefinitionsMessage
# These values are verified against SampleClient where easy
assert len(modeldef.models) == 3
# RaceQuad rigid body description
rb = modeldef.models[0] # type: RigidBodyDescription
assert type(rb) == RigidBodyDescription
assert rb.name == 'RaceQuad'
assert rb.id_ == 2
assert rb.parent_id == -1
assert rb.offset_from_parent == (0.0, 0.0, 0.0)
assert rb.marker_positions[0] == pytest.approx(
(0.16115899, 0.0350516, -0.0321813))
assert rb.marker_positions[1] == pytest.approx(
(-0.030819, 0.0397819, -0.0219901))
assert rb.marker_positions[2] == pytest.approx(
(0.18753099, -0.0333833, 0.148081))
assert rb.marker_positions[3] == pytest.approx(
(-0.0748715, 6.68607e-05, 0.0329233))
assert rb.marker_positions[4] == pytest.approx(
(-0.0580382, -0.0319419, -0.136807))
# RaceQuad markerset definition
ms1 = modeldef.models[1] # type: MarkersetDescription
assert type(ms1) == MarkersetDescription
assert ms1.name == 'RaceQuad'
assert ms1.marker_names == [
'Marker1', 'Marker2', 'Marker3', 'Marker4', 'Marker5'
]
# 'all' markerset definition
ms2 = modeldef.models[2] # type: MarkersetDescription
assert type(ms2) == MarkersetDescription
assert ms2.name == 'all'
assert ms2.marker_names == [
'RaceQuad_1', 'RaceQuad_2', 'RaceQuad_3', 'RaceQuad_4', 'RaceQuad_5'
]
def test_parse_modeldef_packet_v3_2():
"""Test parsing a NatNet 3.0 packet from Motive 2.1 containing mystery id=5 models."""
packet = open('test_data/modeldef_packet_v3_2.bin', 'rb').read()
modeldef = deserialize(packet, Version(3),
strict=True) # type: ModelDefinitionsMessage
assert len(modeldef.models) == 7
# Crossbow rigid body description
rb = modeldef.models[0] # type: RigidBodyDescription
assert type(rb) == RigidBodyDescription
assert rb.name == 'crossbow'
# Crossbow markerset definition
ms1 = modeldef.models[1] # type: MarkersetDescription
assert type(ms1) == MarkersetDescription
assert ms1.name == 'crossbow'
# 'all' markerset definition
ms2 = modeldef.models[2] # type: MarkersetDescription
assert type(ms2) == MarkersetDescription
assert ms2.name == 'all'
# Camera definitions
cam1 = modeldef.models[3] # type: CameraDescription
assert type(cam1) == CameraDescription
assert cam1.name == "Prime 13 #28108"
cam2 = modeldef.models[4] # type: CameraDescription
assert type(cam1) == CameraDescription
assert cam2.name == "Prime 13 #28107"
cam3 = modeldef.models[5] # type: CameraDescription
assert type(cam1) == CameraDescription
assert cam3.name == "Prime 13 #28105"
cam4 = modeldef.models[6] # type: CameraDescription
assert type(cam1) == CameraDescription
assert cam4.name == "Prime 13 #28106"
def test_parse_requestmodeldef_packet_v3():
"""Test parsing a NatNet 3.0 packet containing a RequestModelDefinitions message."""
data = open('test_data/requestmodeldef_packet_v3.bin', 'rb').read()
deserialize(data, Version(3), strict=True)
def test_parse_modeldef_packet_v2():
"""Test parsing a NatNet 2.10 packet containing a ModelDefinitions message."""
packet = open('test_data/modeldef_packet_v2.bin', 'rb').read()
modeldef = deserialize(packet, Version(2, 10),
strict=True) # type: ModelDefinitionsMessage
# TODO: Verify against SampleClient
assert len(modeldef.models) == 5
# RigidBody 1 rigid body description
rb = modeldef.models[0] # type: RigidBodyDescription
assert type(rb) == RigidBodyDescription
assert rb.name == 'RigidBody 1'
assert rb.id_ == 1
assert rb.parent_id == -1
assert rb.offset_from_parent == (0.0, 0.0, 0.0)
# RigidBody 1 markerset description
ms1 = modeldef.models[1] # type: MarkersetDescription
assert type(ms1) == MarkersetDescription
assert ms1.name == 'RigidBody 1'
assert ms1.marker_names == ['Marker1', 'Marker2', 'Marker3']
# Karlie skeleton description
sd = modeldef.models[2] # type: SkeletonDescription
assert type(sd) == SkeletonDescription
assert sd.name == 'Karlie'
assert sd.id_ == 4
assert len(sd.rigid_bodies) == 21
assert [body.name for body in sd.rigid_bodies] == [
'Karlie_Hip', 'Karlie_Ab', 'Karlie_Chest', 'Karlie_Neck',
'Karlie_Head', 'Karlie_LShoulder', 'Karlie_LUArm', 'Karlie_LFArm',
'Karlie_LHand', 'Karlie_RShoulder', 'Karlie_RUArm', 'Karlie_RFArm',
'Karlie_RHand', 'Karlie_LThigh', 'Karlie_LShin', 'Karlie_LFoot',
'Karlie_RThigh', 'Karlie_RShin', 'Karlie_RFoot', 'Karlie_LToe',
'Karlie_RToe'
]
# Karlie markerset description
ms2 = modeldef.models[3] # type: MarkersetDescription
assert type(ms2) == MarkersetDescription
assert ms2.name == 'Karlie'
assert ms2.marker_names == [
'Karlie_WaistLFront', 'Karlie_WaistRFront', 'Karlie_WaistLBack',
'Karlie_WaistRBack', 'Karlie_BackTop', 'Karlie_Chest',
'Karlie_BackLeft', 'Karlie_BackRight', 'Karlie_HeadTop',
'Karlie_HeadFront', 'Karlie_HeadSide', 'Karlie_LShoulderBack',
'Karlie_LShoulderTop', 'Karlie_LElbowOut', 'Karlie_LUArmHigh',
'Karlie_LHandOut', 'Karlie_LWristOut', 'Karlie_LWristIn',
'Karlie_RShoulderBack', 'Karlie_RShoulderTop', 'Karlie_RElbowOut',
'Karlie_RUArmHigh', 'Karlie_RHandOut', 'Karlie_RWristOut',
'Karlie_RWristIn', 'Karlie_LKneeOut', 'Karlie_LThigh',
'Karlie_LAnkleOut', 'Karlie_LShin', 'Karlie_LToeOut', 'Karlie_LToeIn',
'Karlie_RKneeOut', 'Karlie_RThigh', 'Karlie_RAnkleOut', 'Karlie_RShin',
'Karlie_RToeOut', 'Karlie_RToeIn'
]
# 'all' markerset definition
ms3 = modeldef.models[4] # type: MarkersetDescription
assert type(ms3) == MarkersetDescription
assert ms3.name == 'all'
assert ms3.marker_names == [
'RigidBody 1_1', 'RigidBody 1_2', 'RigidBody 1_3',
'Karlie_WaistLFront', 'Karlie_WaistRFront', 'Karlie_WaistLBack',
'Karlie_WaistRBack', 'Karlie_BackTop', 'Karlie_Chest',
'Karlie_BackLeft', 'Karlie_BackRight', 'Karlie_HeadTop',
'Karlie_HeadFront', 'Karlie_HeadSide', 'Karlie_LShoulderBack',
'Karlie_LShoulderTop', 'Karlie_LElbowOut', 'Karlie_LUArmHigh',
'Karlie_LHandOut', 'Karlie_LWristOut', 'Karlie_LWristIn',
'Karlie_RShoulderBack', 'Karlie_RShoulderTop', 'Karlie_RElbowOut',
'Karlie_RUArmHigh', 'Karlie_RHandOut', 'Karlie_RWristOut',
'Karlie_RWristIn', 'Karlie_LKneeOut', 'Karlie_LThigh',
'Karlie_LAnkleOut', 'Karlie_LShin', 'Karlie_LToeOut', 'Karlie_LToeIn',
'Karlie_RKneeOut', 'Karlie_RThigh', 'Karlie_RAnkleOut', 'Karlie_RShin',
'Karlie_RToeOut', 'Karlie_RToeIn'
]
def test_parse_mocapframe_packet_v3():
"""Test parsing a NatNet 3.0 packet containing a MocapFrame."""
packet = open('test_data/mocapframe_packet_v3.bin', 'rb').read()
frame = deserialize(packet, Version(3),
strict=True) # type: MocapFrameMessage
# These values are verified against SampleClient where easy
assert frame.frame_number == 162734
assert len(frame.markersets) == 0
assert len(frame.rigid_bodies) == 1
body = frame.rigid_bodies[0]
assert body.id_ == 2
assert body.position == pytest.approx((0.1744466, 1.4471314, -0.7343040))
assert body.orientation == pytest.approx(
(-0.05459423, 0.5099482, 0.04370357, -0.8573577))
assert body.mean_error == pytest.approx(0.0005152203)
assert body.tracking_valid
assert len(frame.skeletons) == 0
assert len(frame.labelled_markers) == 6
marker0 = frame.labelled_markers[0] # type: LabelledMarker
assert marker0.model_id == 2
assert marker0.marker_id == 1
assert marker0.position == pytest.approx(
(0.1272162, 1.5050275, -0.8858284))
assert marker0.size == pytest.approx(0.02143982)
assert marker0._params == 10
assert not marker0.occluded
assert marker0.point_cloud_solved
assert not marker0.model_solved
assert marker0.has_model
assert not marker0.unlabelled
assert not marker0.active
assert marker0.residual == pytest.approx(0.0002074828)
# Assume markers 1-4 are correct if 0 and 5 are
marker5 = frame.labelled_markers[5]
assert marker5.model_id == 0
assert marker5.marker_id == 50007
assert marker5.position == pytest.approx(
(0.1708117, 1.5076591, -0.8402346))
assert marker5.size == pytest.approx(0.02015734)
assert marker5._params == 18
assert not marker5.occluded
assert marker5.point_cloud_solved
assert not marker5.model_solved
assert not marker5.has_model
assert marker5.unlabelled
assert not marker5.active
assert marker5.residual == pytest.approx(0.0005593782)
assert len(frame.force_plates) == 0
assert len(frame.devices) == 0
assert frame.timing_info.timecode == 0
assert frame.timing_info.timecode_subframe == 0
assert frame.timing_info.timestamp == pytest.approx(1356.117)
assert frame.timing_info.camera_mid_exposure_timestamp == 1416497730518
assert frame.timing_info.camera_data_received_timestamp == 1416497745808
assert frame.timing_info.transmit_timestamp == 1416497748722
assert not frame.is_recording
assert not frame.tracked_models_changed
def test_parse_mocapframe_packet_v2():
"""Test parsing a NatNet 2.10 packet containing a MocapFrame."""
# Packet 778 from Omar's data
packet = open('test_data/mocapframe_packet_v2.bin', 'rb').read()
frame = deserialize(packet, Version(2, 10),
strict=True) # type: MocapFrameMessage
# These values are verified against SampleClient where easy
assert frame.frame_number == 109238
assert len(frame.markersets) == 3
assert frame.markersets[0].name == 'RigidBody 1'
assert frame.markersets[1].name == 'Karlie'
assert frame.markersets[2].name == 'all'
assert len(frame.rigid_bodies) == 1
body = frame.rigid_bodies[0]
assert body.id_ == 1
assert body.position == pytest.approx((1.38, 1.21, 1.62), abs=0.005)
assert body.orientation == pytest.approx((-0.74, 0.51, 0.12, -0.42),
abs=0.005)
assert body.mean_error == pytest.approx(0.0)
assert not body.tracking_valid
assert len(frame.skeletons) == 1
skeleton = frame.skeletons[0]
assert skeleton.id_ == 4
assert len(skeleton.rigid_bodies) == 21
bone0 = skeleton.rigid_bodies[0]
assert bone0.id_ == 262145
assert bone0.position == pytest.approx((0.50, 0.85, 0.43), abs=0.005)
assert bone0.orientation == pytest.approx((0.02, 0.80, 0.01, 0.60),
abs=0.005)
# skip 19 bones
bone20 = skeleton.rigid_bodies[20]
assert bone20.id_ == 262165
assert bone20.position == pytest.approx((-0.00, -0.06, 0.13), abs=0.005)
assert bone20.orientation == pytest.approx((-0.00, 0.00, 0.00, -1.00),
abs=0.005)
assert len(frame.labelled_markers) == 44
marker0 = frame.labelled_markers[0]
assert marker0.model_id == 4
assert marker0.marker_id == 5
assert marker0.position == pytest.approx((0.54, 0.93, 0.28), abs=0.005)
assert marker0.size == pytest.approx(0.02, abs=0.005)
assert not marker0.occluded
assert marker0.point_cloud_solved
assert not marker0.model_solved
# Skip 42 markers
marker43 = frame.labelled_markers[43]
assert marker43.model_id == 0
assert marker43.marker_id == 7637
assert marker43.position == pytest.approx((1.13, 1.48, 1.42), abs=0.005)
assert marker43.size == pytest.approx(0.01, abs=0.005)
# assert marker5._params == 18
assert not marker43.occluded
assert marker43.point_cloud_solved
assert not marker43.model_solved
assert len(frame.force_plates) == 0
assert len(frame.devices) == 0
assert frame.timing_info.timecode == 0
assert frame.timing_info.timecode_subframe == 0
assert frame.timing_info.timestamp == pytest.approx(910.32, abs=0.005)
assert not frame.is_recording
assert not frame.tracked_models_changed