OptiTrack

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

After this you only need to run the start.bat file and object's data will be sent to a Yarp Port named "/optitrack/trackable_objects". The data sent to this port is a bottle containing:

Data: Time Stamp | Number of Trackable Objects | Trackable ID_1 | x_1 | y_1 | z_1 | Quaternion_1 | Euler_1 | ... | Trackable ID_n | x_n | y_n | z_n | Quaternion_n | Euler_n

Create New Trackable Object

The file "project.ttp" has already defined one trackable object. However it is possible to add new trackable objects to the project so we can detect them in the future. 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)