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The NatNet SDK is shipped in a compressed ZIP file format. Within the unzipped NatNet SDK directory, the following contents are included:
Note that this assembly is derived from the native library, and to use the NatNetML.dll, NatNetLib.dll must be linked as well.
Tip: Code samples are the quickest path to towards getting familiar with the NatNet SDK. Please check out the NatNet samples page.
In streamed NatNet data packets, orientation data is represented in the quaternion format (qx, qy, qz, qw). In contrast to Euler angles, Quaternion orientation convention is order independent, however, it indicates the handedness. When converting quaternion orientation into Euler angles, it is important to consider and decide which coordinate convention that you want to convert into. Some of the provided NatNet samples demonstrate quaternion to Euler conversion routines. Please refer to the included WinFormSample, SampleClient3D, or Matlab samples for specific implementation details and usage examples.
To convert from provided quaternion orientation representation, the following aspects of desired Euler angle convention must be accounted:
For example, Motive uses the following convention to display the Euler orientation of an object:
In situations where the use of the NatNet library is not applicable (e.g. developing on unsupported platforms such as Unix), you can also depacketize the streamed data directly from the raw bit-stream without using the NatNet library. In order to provide the most current bitstream syntax, the NatNet SDK includes a testable working depacketization sample (PacketClient) that decodes NatNet Packets directly without using the NatNet client class.
Important Note: Direct depacketization approach is not recommended. The bit-stream packet syntax is subject to change, requiring an application to update its parsing routines to be compatible with the new format. NatNet packets should be decoded directly only where the use of the NatNet library is not applicable.
Bit-stream Syntax: PacketClient Sample
For the most up-to-date syntax, refer to the PacketClient sample, or use it as a template for depacketizing NatNet data packets.