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--- optitrack_mo-cap_system_manual [2016/06/12 14:25] – dongbinkim
+++ optitrack_mo-cap_system_manual [2018/05/16 08:48] (current) – blakehament
@@ Line 15: / Line 15: @@
 ===== Motivation and Audience =====
-This tutorial's motivation is to point-to-point navigation without GPS. Readers of this tutorial assumes the reader has the following background and interests: Computer Vision, UAV automation, Navigation with coding software(C++, Matlab, ROS)
+This tutorial's motivation is to point-to-point navigation without GPS. Readers of this tutorial assumes the reader has the following background and interests: Computer Vision, UAV automation, Navigation with coding software(Cpp, Matlab, ROS)
 <fc blue>
-  * Know a little knowledge of C++, MatLab.
+  * Know a little knowledge of Cpp, MatLab.
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   * Perhaps also know how to check your own TCP/IP address.
@@ Line 30: / Line 30: @@
   * [[tutorialTemplate#partsListAndSources|Parts List and Sources]]
   * [[tutorialTemplate#construction|Construction]]
-  * Programming <!- delete this line if not applicable ->
   * Final Words
@@ Line 45: / Line 44: @@
 ^PART NAME/DESCRIPTION             ^VENDOR              ^ VENDOR Number or URL       ^ PRICE($)     ^ QTY       ^
 | Arena Motion Capture Software   |Natural Point         |www.naturalpoint.com    | 1999         | 1 |
-| Calibration Square              |Natural Point         |www.naturalpoint.com       | 99     | 1 |
+| Calibration Square              |Natural Point         |www.naturalpoint.com       | 99     |1|
-| Camera Stand : 10ft       | Natural Point    | www.naturalpoint.com | 79   |  4   |
+| Camera Stand : 10ft       | Natural Point    | www.naturalpoint.com | 79   |4|
-| Hardware Key           | Natural Point     | www.naturalpoint.com | 99   |  1   |
+| Hardware Key           | Natural Point     | www.naturalpoint.com | 99   |1|
-| Manfrotto Super Clamp with 3-way Head(#056,#035,#037)| Natural Point    | www.naturalpoint.com | 69   |  4  |
+| Manfrotto Super Clamp with 3-way Head(#056,#035,#037)| Natural Point    | www.naturalpoint.com | 69   |4|
-| Manfrotto Wall Mount with Swivel-Tilt Head| Natural Point        | www.naturalpoint.com | 49   | 15 |
+| Manfrotto Wall Mount with Swivel-Tilt Head| Natural Point        | www.naturalpoint.com | 49   |15|
-| Marker Set : 5/8" Semi-soft| Natural Point  | www.naturalpoint.com | 249   |  2   |
+| Marker Set : 5/8" Semi-soft| Natural Point  | www.naturalpoint.com | 249   |2|
-| Motion Capture Suit(M)      | Natural Point   | www.naturalpoint.com | 279   |  1   |
+| Motion Capture Suit(M)      | Natural Point   | www.naturalpoint.com | 279   |1|
-| Optihub        | Natural Point  | www.naturalpoint.com | 299   | 3   |
+| Optihub        | Natural Point  | www.naturalpoint.com | 299   |3|
-| Optitrack FLEX:V100R2 Red,46.2ºFOV(4.5mm)   | Natural Point           | www.naturalpoint.com | 599   |  18   |
+| Optitrack FLEX:V100R2 Red,46.2ºFOV(4.5mm)   | Natural Point           | www.naturalpoint.com | 599  |18|
-| Optitrack Sync Cable : 30ft| Natural Point     | www.naturalpoint.com | 10  |  2   |
+| Optitrack Sync Cable : 30ft| Natural Point     | www.naturalpoint.com | 10  |2|
-| OptiWand Kit      | Natural Point          | www.naturalpoint.com | 249   |  1   |
+| OptiWand Kit      | Natural Point          | www.naturalpoint.com | 249   |1|
-| USB 2.0 Active Extension Cable : 5m    | Natural Point              | www.naturalpoint.com | 20   | 3   |
+| USB 2.0 Active Extension Cable : 5m    | Natural Point              | www.naturalpoint.com | 20   |3|
-| USB Cable : 16ft A to B       | Natural Point              | www.naturalpoint.com | 5   | 3   |
+| USB Cable : 16ft A to B       | Natural Point              | www.naturalpoint.com | 5   |3|
-| USB Cable High Grade, Left      | Natural Point        | www.naturalpoint.com | 10   |  18   |
+| USB Cable High Grade, Left      | Natural Point        | www.naturalpoint.com | 10   |18|
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@@ Line 67: / Line 66: @@
 Here is the {{:mo-cap_bom.pdf| list as a PDF file}}
 \\
+**License Information:** Optitrack licenses never expire, but they are only good for software that was already released at the time of purchase. Our most recent license renewal was in December 2016, so any software that was released up until that time is available (i.e. up to Motive 1.10). Every license is associated with a unique USB dongle that must be plugged into the PC while using the software. Please see below for the information associated with our most current license.
+License Serial Number: MCL2149
+License Hash: 9C0C8CE225DE600F
+Hardware Key Serial Number: 102845
 ==== Construction ====
-This section gives step-by-step instructions along with photos to capture the motion in Optitrack. A schematic to construct Optitrack is shown here. {{:mocap_tutorial_1_install.pdf|}}{{:mocap_tutorial_2_execution.pdf|}} are the Acrobat file of the same schematic. You should read and follow PDF&Video from (https://www.naturalpoint.com/optitrack//products/arena/tutorials.html) to run ARENA Optitrack software).
+This section gives step-by-step instructions along with photos to capture the motion in Optitrack. A schematic to construct Optitrack is shown here. {{:mocap_tutorial_1_install.pdf|}}{{:mocap_tutorial_2_execution.pdf|}} are the Acrobat file of the same schematic. You should read and follow PDF&Video from (https://www.naturalpoint.com/optitrack//products/arena/tutorials.html) to run ARENA Optitrack software). Following steps are that you can do after you fully understand the PDF and Videos. Let's get the mo-cap data! Make sure all the camera don't have to get any shake effect by being touched or hit because you would definitely have to do calibration again.
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@@ Line 76: / Line 81: @@
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-<Add photos to make step easier to understand>
+Let's do calibration with cameras first. Vidio link is here : https://youtu.be/6Swvm3Ovhh0
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@@ Line 82: / Line 87: @@
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-<Additional steps like **Step 3**, **Step 4**, etc>
+{{ :mocap_2_.jpg?300 |}}
+Put at least 3~4 markers on the object that you are going to test for. I used ARDrone for this tutorial.
+and Do record the motion. It's described on this video : https://youtu.be/BJmZwQQWzvQ?list=PLp_bi4zsq-LxO9RDCDbX2vQdecQg5kKfy
+\\
+\\
+**Step 3**
+\\
 \\
-==== Programming ====
+{{:mocap_3_.jpg?300|}}{{:mocap_5_.jpg?300|}}
+Setting up Rigid Body with the recorded data. This Video : https://youtu.be/J2HEsIdODV8, describes how to get the rigid body.
-A link to the source code can be found <provide URL to your code, probably saved in this DASL Wiki>.
 \\
-The goal of the code is <brief explanation>.  It works in the following way
 \\
-----
+**Step 4**
-<!- Insert a snippet of your code here.  Try to keep to less than 0.5 page long -->
-----
 \\
-The snippet above serves to <fill in the blank>. It does this by <fill in the blank>.
 \\
-----
+{{:mocap_6_.jpg?200|}}{{:mocap_7_.jpg?200|}}{{:mocap_8_.jpg?200|}}{{:mocap_9_.jpg?200|}}
-<!- Insert another snippet of your code here.  Try to keep to less than 0.5 page long -->
-----
+Prepare to Stream Data : Find your IP Address from Mo-Cap PC. and Multicast Address from NatNet SDK PDF file. Then, put those numbers on Stream Tap of Arena Software.
-Next, the code does <fill in the blank>.  It does this by <fill in the blank>.
+\\
-<!-- Keep entering snippets of code and descriptions until you've given enough for a reader to understand how it works -->
+\\
-//
+**Step 5.1 - Stream Data with MatLab**
-//
+\\
+\\
+{{:mocap_11_.jpg?200|}}{{:mocap_10_.jpg?200|}}
+Go to your NatNet_SDK_2.9 folder->NatNetSDK->Samples->Matlab, then open NatNetMatlabSample file via Matlab.
+Then, Find "HostIP = Char()" part, put the PC IP address. Click Save and Run button.
+This Video : https://youtu.be/hM92SEKKja4, describes the details.
+\\
+\\
+**Step 5.2 - Stream Data with Visual Studio(Cpp)**
+\\
+\\
+{{:mocap_12_.jpg?200|}}{{:mocap_13_.jpg?200|}}{{:mocap_14_.jpg?200|}}{{:mocap_15_.jpg?200|}}
+Go to your NatNet_SDK_2.9 folder->NatNetSDK->Samples, then open NatNetSamplesVS2010. It's a solution file, you will get header,cpp files automatically as long as you don't move them to the another folder.
+At PacketClient.cpp, Find MULTICAST_ADDRESS line, then put the correct Muticast address ip address.
+Run the code.
+This Video : https://youtu.be/J_UZ7nzjsiY, describes the details.
+\\
 ==== Final Words ====
-This tutorial's objective was to <fill in the blank>. Complete <choose: construction details, source code and program descriptions> for <fill in the blank>. Once the concepts were conveyed the reader could <fill in the blank>.
+This tutorial's objective was to run Optitrack to get Motion capture data. Complete Steps for running the Optitrack Arena software perfectly. Once the concepts were conveyed the reader could set up virtual volume to do any experiment regarding point-to-point and automation movement with software coding.
 \\
 \\
-Speculating future work derived from this tutorial, includes <fill in the blank>. In the big picture, the problem of <fill in the blank> can be solved with this tutorial.
+Speculating future work derived from this tutorial. In the big picture, the problem of the motion error from GPS can be solved with this tutorial because you will get exact coordinate data from the software.
 \\
 \\
-For questions, clarifications, etc, Email: <paul.oh@unlv.edu>
+For questions, clarifications, etc, Email: Dongbin Kim, akdba0207@gmail.com