OptiTrack: Difference between revisions
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The OptiTrack System will detect and track pre-defined objects equipped with IR markers. This system only works on Windows so a Yarp Module was implemented to send the object's data to a Yarp Port, that can be accessed from every PC containing Yarp. To run this Software you need to download this '''ZIP''' file and extract it to a '''ZIP_FOLDER'''. | The OptiTrack System will detect and track pre-defined objects equipped with IR markers. This system only works on Windows so a Yarp Module was implemented to send the object's data to a Yarp Port, that can be accessed from every PC containing Yarp. To run this Software you need to download this '''ZIP''' file and extract it to a '''ZIP_FOLDER'''. | ||
'''SOFTWARE - http://users.isr.ist.utl.pt/~nmoutinho/OptiTrack/OptiTrack.zip''' | '''SOFTWARE - http://users.isr.ist.utl.pt/~nmoutinho/OptiTrack/OptiTrack.zip''' | ||
Then you need to install '''Tracking Tools''' so Windows can recognize the OptiTrack and install the correct drivers: | |||
''' | - 32 bits: '''http://users.isr.ist.utl.pt/~nmoutinho/OptiTrack/TrackingTools.2.5.1.Final_x32.exe''' | ||
- 64 bits: '''http://users.isr.ist.utl.pt/~nmoutinho/OptiTrack/TrackingTools.2.5.1.Final_x64.exe''' | |||
These versions were tested and they work. | |||
After this you only need to run the '''start.bat''' file located on the '''ZIP_FOLDER''' and all the object's data will be sent to a Yarp Port named '''"/optitrack/trackable_objects"'''. The data sent to this port is a Yarp Bottle containing: | |||
'''DATA: [Time Stamp , Number of Trackable Objects , Trackable ID_1 , Position_1 , Quaternion_1 , Euler_1 , ... , Trackable ID_n , Position_n , Quaternion_n , Euler_n]''', considering we have '''n''' objects. | |||
'''NOTE:''' Only visible object's data will be send to the Yarp Port. | |||
---------------------------- | |||
'''Create New Trackable Object''' | '''Create New Trackable Object''' | ||
The file "project.ttp" has already defined one trackable object. To add a new object to the project: | The file "project.ttp" has already defined one trackable object. To add a new object to the project: | ||
- Run the '''Tracking Tools''' program | - Run the '''Tracking Tools''' program | ||
- Click on '''Open Existing Project''' and choose the project file (located on '''ZIP_FOLDER/src/Data/project.ttp''') | - Click on '''Open Existing Project''' and choose the project file (located on '''ZIP_FOLDER/src/Data/project.ttp''') | ||
- Go to '''View''' -> '''Trackable Properties''' to activate the | - Go to '''View''' -> '''Trackable Properties''' to activate the '''Trackables''' objects properties | ||
On the '''Perspective View''' window you will see white points corresponding to the markers on the scene. | |||
- Press the '''Ctrl''' key and with the left button of the mouse click on each white point you want to be part of your new trackable object | |||
- Click on '''Create From Selection''' on the '''Trackables''' properties window. | |||
- Click on '''Save''' | |||
'''DONE'''! You have created a new object and from now on you will be able to track it everytime it appears on the scene. | |||
This new object will automatically be added to the Yarp data being sent to the Yarp Port. | |||
[[ | [[Category:Vislab]] | ||
Latest revision as of 16:51, 19 February 2013
The OptiTrack System will detect and track pre-defined objects equipped with IR markers. This system only works on Windows so a Yarp Module was implemented to send the object's data to a Yarp Port, that can be accessed from every PC containing Yarp. To run this Software you need to download this ZIP file and extract it to a ZIP_FOLDER.
SOFTWARE - http://users.isr.ist.utl.pt/~nmoutinho/OptiTrack/OptiTrack.zip
Then you need to install Tracking Tools so Windows can recognize the OptiTrack and install the correct drivers:
- 32 bits: http://users.isr.ist.utl.pt/~nmoutinho/OptiTrack/TrackingTools.2.5.1.Final_x32.exe - 64 bits: http://users.isr.ist.utl.pt/~nmoutinho/OptiTrack/TrackingTools.2.5.1.Final_x64.exe
These versions were tested and they work.
After this you only need to run the start.bat file located on the ZIP_FOLDER and all the object's data will be sent to a Yarp Port named "/optitrack/trackable_objects". The data sent to this port is a Yarp Bottle containing:
DATA: [Time Stamp , Number of Trackable Objects , Trackable ID_1 , Position_1 , Quaternion_1 , Euler_1 , ... , Trackable ID_n , Position_n , Quaternion_n , Euler_n], considering we have n objects.
NOTE: Only visible object's data will be send to the Yarp Port.
Create New Trackable Object
The file "project.ttp" has already defined one trackable object. To add a new object to the project:
- Run the Tracking Tools program - Click on Open Existing Project and choose the project file (located on ZIP_FOLDER/src/Data/project.ttp) - Go to View -> Trackable Properties to activate the Trackables objects properties
On the Perspective View window you will see white points corresponding to the markers on the scene.
- Press the Ctrl key and with the left button of the mouse click on each white point you want to be part of your new trackable object - Click on Create From Selection on the Trackables properties window. - Click on Save
DONE! You have created a new object and from now on you will be able to track it everytime it appears on the scene. This new object will automatically be added to the Yarp data being sent to the Yarp Port.