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

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 work.

After this you only need to run the start.bat file located on the ZIP_FOLDER and 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 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. After selecting all the points you want 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.