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Table of Contents
Optitrack Motion Capture Tutorial
Author: <Dongbin Kim> Email: akdba0207@gmail.com
Date: Last modified on <06/07/16>
Keywords: <Motion capture, calibration, streaming data, Optitrack>
The photo above depicts Optitrack Motion Capture System which allows you to set up the virtual coordinates. The big picture problem is that GPS probably gives you the wrong flight data because you mostly do experiment inside the lab. Solving this partially or completely is important because it will help you do the mission with given virtual coordinates so you won't necessarily need GPS. This tutorial shows you how to run Optitrack Motion Capture System and takes approximately 15 hours to complete.
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)
* Know a little knowledge of C++, MatLab.
* Perhaps also know how to check your own TCP/IP address.
* Perhaps additional background needed may include building up a solid structure.
* This tutorial may also attract readers who want to apply automotive motion on any Unmanned Vehicle.
The rest of this tutorial is presented as follows:
- Programming <!- delete this line if not applicable →
- Final Words
Parts List and Sources
US-based vendors to obtain material to complete this tutorial include <list relevant hyperlinks or phone numbers and addresses>.
To complete this tutorial, you'll need the following items
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 |
Camera Stand : 10ft | Natural Point | www.naturalpoint.com | 79 | 4 |
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 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 |
Motion Capture Suit(M) | Natural Point | www.naturalpoint.com | 279 | 1 |
Optihub | Natural Point | www.naturalpoint.com | 299 | 3 |
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 |
OptiWand Kit | Natural Point | www.naturalpoint.com | 249 | 1 |
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 High Grade, Left | Natural Point | www.naturalpoint.com | 10 | 18 |
Here is the list as a Google XLS document
Here is the list as a PDF file
Construction
This section gives step-by-step instructions along with photos to <fill in the blank>. (If a circuit-building tutorial:) A schematic to construct <fill in the blank> is shown here <add image>. <Add hyperlink to PDF of schematic> is the Acrobat file of the same schematic.
Step 1
<Add photos to make step easier to understand>
Step 2
<Additional steps like Step 3, Step 4, etc>
Programming
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
<!- 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>.
<!- Insert another snippet of your code here. Try to keep to less than 0.5 page long –>
Next, the code does <fill in the blank>. It does this by <fill in the blank>.
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>.
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.
For questions, clarifications, etc, Email: paul.oh@unlv.edu