YEI Skeleton API Quick Start Guide
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1. Male Female age 2007 2014 YEI Corporation 3 9 Once the skeleton has been created we will need to get names of the bones we want to get information from Using yeiskel_getStandardBoneName we can retrieve the YEI standard bone name for the head bone When using an alternate naming convention the YEI Skeleton API allows for alias naming of bones char head_bone 32 YEI_SKELETON_ERROR error error yeiskel_getStandardBoneName YEI_SKELETON_STANDARD_BONE_HEAD head_bone 32 error yeiskel_addBoneAlias skel_id Head head_bone Using the bone or alias name we may now find out information about the specified bone float quat 4 float vel 3 float pos 3 error yeiskel_getBoneOrientation skel_id head_bone quat if error YEI_SKELETON_NO ERROR printf Quat f f Ff f n quat quat 1 quat 2 quat 3 error yeiskel_getBoneVelocity skel_id head_bone vel if error YEI_SKELETON_NO_ERROR printf Vel f Ff f n vel vel 1 vel 2 error yeiskel_getBonePosition skel_id head_bone pos if error YEI_SKELETON_NO_ERROR printf Pos Ff f Ff n pos pos 1 pos 2 Once finished gathering data from the skeleton remember to destroy the skeleton and reset the API Doing so will properly clean up the memory the API has allocated yeiskel_destroySkeleton skel_id error yeiskel_resetSkeletalApi if error YEI_SKELETON_NO_ ERROR printf ERROR2. yeiskel_setSkeletonToStandardTPose skel_id if error YEI_SKELETON_NO_ERROR printf ERROR s n yei_skeleton_error_string error printi ee ee Once the skeleton is set up we will create the PrioConnection processor and add it to the skeleton s list of processors By calling yeiskel_createPrioProcessor the API will automatically establish a connection with the Prio Base Station based on the com_ offset parameter then enumerate and set up the paired Prio Hub The return value will be a yei_skeleton_id that we be used to call functions on the processor printf Creating a Prio Processor n yei_skeleton_id prio_id yeiskel_createPrioProcessor if prio_id YEI_SKELETON_INVALID_ID printf Failed to create Prio Processor n lean EN 2007 2014 YEI Corporation 5 9 Adding a processor to the skeleton allows the processor to manipulate the bones in the skeleton When adding the processor to the skeleton there is an index parameter that tells the skeleton what priority the processor should have when running The priority runs in ascending order with zero having the highest priority For convenience users can use YET SKELETON _PROCESSOR_LIST_END to ensure lowest priority printf Adding the Prio Processor to the Skeleton n error yeiskel_addProcessorToSkeleton skel_id prio_id if error YEI_SKELETON_NO ERROR printf ERROR s n yei_skeleton_error_string error pra
3. WEI Technology www Y ei lechnology com 1 888 395 9029 YEI Skeleton API Quick Start Guide Purpose The purpose of this document is to help users integrate the YEI Skeleton Application Programming Interface APT into a Visual Studio project After reading this document users will be able to integrate the API into various projects and interact with the internal skeleton Overview The YEI Skeleton API is a collection of convenience functions for creating and using skeletons with YEI Prio and 3 Space Sensor devices or any other kind of device for use in a program written in C C or any language that can import a compiled library dll so etc Software Requirements Operating System Windows 7 32 Bit 64 Bit Windows XP 32 Bit 64 Bit Windows Vista 32 Bit 64 Bit Windows 8 and Unix are untested Getting Started with the Skeleton API When creating and communicating with an internal skeleton via the API there are a few common steps that must be taken before full communication may take place These steps are as follows l Link to the API library 2 Include the API header in your file 3 Create a skeleton If guidance is required for linking the library to the user s development environment please refer to one of the following Quick Starts YEI Skeleton API Quick Start Guide Setup Environment for Visual Studio The next section will go over the last step using code snippets from the example creating_instances c and e
4. etStandardBoneName YEI_SKELETON_STANDARD_BONE_LEFT_LOWER_ARM names 4 32 yeiskel_getStandardBoneName YEI_SKELETON_STANDARD_BONE_LEFT_HAND names 5 32 yeiskel_getStandardBoneName YEI_SKELETON_STANDARD_BONE_RIGHT_UPPER_ARM names 6 32 yeiskel_getStandardBoneName YEI_SKELETON_STANDARD_BONE_RIGHT_LOWER_ARM names 7 32 yeiskel_getStandardBoneName YEI_SKELETON_STANDARD_BONE_RIGHT_HAND names 8 32 printf ERROR s n yei_skeleton_error_string error 2007 2014 YEI Corporation 6 9 With the id for the PrioConnection processor we can now make calls to the API and set up the connected Prio device for streaming printf Calibrating the Prio Suit n error yeiskel_calibratePrioProcessor prio_id 0 0f if error YEI_SKELETON_NO_ERROR printf ERROR s n yei_skeleton_error_string error peiner eeN printf Setting up the Standard Prio Streaming n error yeiskel_setStandardStreamPrioProcessor prio_id if error YEI_SKELETON_NO ERROR printf ERROR s n yei_skeleton_error_string error printf ee SSeS eS See SS 2 SSS SSS eee Seesee in Now that everything is set up we can start streaming to the processor with yeiskel_startPrioProcessor To get data on the needed bones we will simply set up a loop that runs for 10 seconds printf Start Streaming n error yeiskel_startPrioProcessor prio_id if error YEI_SKELETON_NO ERROR printf St
5. id printf VES SSS SSS SS SS SS SS SS SS SS SSS Vn Once finished with the YEI Skeleton API and before quitting from your code it is best to call the yeiskel_resetSkeletonApi function to properly clean up the memory the API has allocated This also helps assure the API will work properly the next time it is used The yeiskel_resetSkeletonApi function as with many other YEI Skeleton API functions will return a YET SKELETON ERROR Checking this error to see if the command succeeded is always best This will help when debugging to see what went wrong YEI_ SKELETON _ERROR error yeiskel_resetSkeletalApi if error YEI_SKELETON_NO_ERROR printf ERROR s n yei_skeleton_error_string error return printf nFinished press Enter to continue getchar return Getting Data This example shows how to use the API to get information from the internal skeleton First a skeleton must be generated include lt stdio h gt include lt stdlib h gt include yei_skeleton_api h int main yei_skeleton_id skel_id uint8_t is_male lt Edit this to your user s sex uint32_t age 24 lt Edit this to your user s age printf Creating Skeleton for a s d Years Old n is_male Male Female age skel_id yeiskel_createStandardSkeletonWithAge is_male age if skel_id YEI_SKELETON_INVALID_ID printf Failed to create a skeleton for a s d years old n is_male
6. is_male Male Female age else printf Created a skeleton for a s d years old n is_male Male Female age yeiskel_destroySkeleton skel_id printi Gi EN Another method of generating a skeleton is to using the user s sex and height in meters float height 1 8f lt Edit this to your user s height printf Creating Skeleton for a s f Meters Tall n is_male Male Female height skel_id yeiskel_createStandardSkeletonWithHeight is_male height if skel_id YEI_SKELETON_INVALID_ID printf Failed to create a skeleton for a s d years old n is_male Male Female age else printf Created a skeleton for a s d years old n is_male Male Female age yeiskel_destroySkeleton skel_id printu esse E EEEN 2007 2014 YEI Corporation 2 9 If a user prefers not to use a generated skeleton the API also allows users to load in skeletons hierarchies in XML format const char xml_file YEI_Skeleton_Hierarchy xml lt Edit to user s profile file printf Creating Skeleton from File n skel_id yeiskel_createSkeletonFromFile xml_file if skel_id YEI_SKELETON_INVALID_ID printf Failed to create a skeleton for a s d years old n is_male Male Female age else printf Created a skeleton for a s d years old n is_male Male Female age yeiskel_destroySkeleton skel_
7. nier aee a E Alternatively to adding bones manually to the skeleton the YEI Skeleton API can build skeletons by reading skeleton XML files The API includes several methods to generate XML strings to match the standard Prio Lite Core and Pro layouts Calling yeiskel_setStandardDeviceXmlMapPrioLiteLayout will set up the skeleton s bones to match the standard Prio Lite layout printf Mapping the Skeleton to Match the Prio Lite Suit n error yeiskel_setStandardDeviceXmlMapPrioLiteLayout skel_id if error YEI_SKELETON_NO ERROR printf ERROR s n yei_skeleton_error_string error prine eee ii 9 Now that the skeleton is set up and linked to the processor we need to gather the bone names to retrieve the information Placing the needed bone names into an array allows us to easily loop over all the bones to get information about each one printf Setting up skeleton bones n char name_buff 256 error yeiskel_getRootBoneName skel_id name_buff 256 if error YEI_SKELETON_NO ERROR printf Getting standard bone names for Prio Lite suit n char names 9 32 yeiskel_getStandardBoneName YEI_SKELETON_ STANDARD _BONE_HIPS names 32 yeiskel_getStandardBoneName YEI_SKELETON_STANDARD_BONE_SPINE names 1 32 yeiskel_getStandardBoneName YEI_SKELETON_STANDARD_BONE_HEAD names 2 32 yeiskel_getStandardBoneName YEI_SKELETON_STANDARD_BONE_LEFT_UPPER_ARM names 3 32 yeiskel_g
8. o and use skeleton processors you can begin creating your own examples and applications using the API 2007 2014 YEI Corporation 8 9 al Technology YEI Technology 630 Second Street Portsmouth Ohio 45662 Toll Free 888 395 9029 Phone 740 355 9029 www YeiTechnology com www PrioVR com www 3SpaceSensor com 2007 2014 YEI Corporation Printed in USA 2007 2014 YEI Corporation 9 9
9. reaming has started n pramen SSS eee in 8 float quat 9 4 const float RUN_TIME 10 0f in seconds WINS t i clock_t start_time clock printf n Getting Data from Skeleton n while float clock start_time CLOCKS_PER_SEC lt RUN_TIME error yeiskel_update skel_id if error YEI_SKELETON_NO_ERROR for i i lt 9 i printf Bone s n names i error yeiskel_getBoneOrientation skel_id names i quat i if error YEI_SKELETON_NO ERROR il printf Quat fF f f f n quat i quat i 1 quat i 2 quat i 3 primen He eal 2007 2014 YEI Corporation 7 9 When finished retrieving data we can stop the PrioConnection processor from streaming and clean up any used memory by the API printf Stop Streaming n error yeiskel_stopPrioProcessor prio_id if error YEI_SKELETON_NO ERROR i printf ERROR s n yei_skeleton_error_string error else printf ERROR s n yei_skeleton_error_string error EE ER EA E E E A yeiskel_destroySkeleton skel_id printf Resetting API n error yeiskel_resetSkeletalApi if error YEI _SKELETON_NO_ERROR printf ERROR s n yei_skeleton_error_string error printf nFinished press Enter to continue getchar return Now that you are more familiar with the functionality of the YEI Skeleton API and how to connect t
10. s n yei_skeleton_error_string error return printf nFinished press Enter to continue getchar return 2007 2014 YEI Corporation 4 9 Using Skeleton Processors A skeleton processor is an instance that runs a process on a single or many internal skeleton instances The YEI Skeleton API has several built in processors along with a base class that can be inherited from to create custom skeleton processors This example will go over setting up built in PrioConnection processor and using it with a Prio Lite suit As in previous examples first the skeleton must be created include lt stdio h gt include lt stdlib h gt include lt time h gt include lt stdint h gt include yei_skeleton_api h int main yei_skeleton_id skel_id uint8_t is_male lt Edit this to your user s sex uint32_t age 34 lt Edit this to your user s age printf Creating Skeleton for a s d Years Old n is_male Male Female age skel_id yeiskel_createStandardSkeletonwWithAge is_male age if skel_id YEI_SKELETON_INVALID_ID printf Failed to create a skeleton for a s d years old n is_male Male Female age peinent ipl After the skeleton is created we will set the pose of the skeleton to the standard T pose This will allow the user of the Prio suit to know the starting pose printf Setting a Pose for Skeleton n YEI_SKELETON_ERROR error
11. xplain some key components in using the API For a more detailed description of the API and its components please refer to the YET Skeleton API User s Manual or the documentation file for the YEI Skeleton API 2007 2014 YEI Corporation 1 9 Creating a Basic C Code Example This example and more like it can be found on the YEI website www yeitechnology com Creating Instances This example shows how to use the API to create an internal skeleton When a skeleton is created a yei_skeleton_id is returned which is needed to call many functions in the API include lt stdio h gt include lt stdlib h gt include yei_skeleton_api h int main yei_skeleton_id skel_id The API has several methods to automate skeleton creation for the user One such method generates a skeleton based on sex and age of the user uint8_t is_male 1 lt Edit this to your user s sex uint32_t age 26 lt Edit this to your user s age printf Creating Skeleton for a s d Years Old n is_male Male Female age skel_id yeiskel_createStandardSkeletonWithAge is_ male age When a skeleton is created it is always best to check if the yei_skeleton_id is valid If the yei_skeleton_id is valid users can then call methods for the skeleton As this example just covers creating skeletons we will go ahead and destroy it if skel_id YEI_SKELETON_INVALID_ID printf Failed to create a skeleton for a s d years old n
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