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 , Position_1 , Quaternion_1 , Euler_1 , ... , Trackable ID_n , Position_n , Quaternion_n , Euler_n]

Create New Trackable Object

If you want to create different objects, you will need the Tracking Tools program, that can be installed from this location: http://www.naturalpoint.com/optitrack/downloads/tracking-tools.html

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