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optitrack_mo-cap_system_manual

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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:

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 capture the motion in Optitrack. A schematic to construct Optitrack is shown here. mocap_tutorial_1_install.pdfmocap_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!

Step 1

Let's do calibration with cameras first. Vidio link is here : https://youtu.be/6Swvm3Ovhh0

Step 2

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/gkofO6oSEH4

Step 3

Setting up Rigid Body with the recorded data. This Video : https://youtu.be/J2HEsIdODV8, describes how to get the rigid body.



Step 4

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

optitrack_mo-cap_system_manual.1465769797.txt.gz · Last modified: 2016/06/12 15:16 by dongbinkim