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Cortex Manual

1. Top Head Head Top TopHead Front Head HeadTop Head Front FrontHead Rear Head Front Head HeadFront Head Rear j Head Front RearHead FrontHead HeadRear v af HeadFront 5 pr pi R Shoulder R Shoulder S R Elbow Medial L Elbow Medial t R Elbow Med en L ELbow Med R Elbow R Elbow Lateral L Elbow R Elbow L Elbow Lateral V Sacral R Elbow Lateral Sacral L ASIS Sacral V Sacrum C R ASIS R ASIS it L Wrist Sacrum L Wrist Lateral R Wrist R Wrist R Wrist Lateral L Hand R Wrist Lateral 9 rist Latera A Hand L Wrist Medial R Hand R Knee R Wrist Medial L Wrist Med R Knee Lateral R Wrist Med nergy R Knee L Knee Medial Knee Me R Knee Lateral L Knee Med R Knee Medial R Knee Med L Ankle Medial R Ankle Ankle Med R Ankle Lateral R Ankle L Ankle Medial loe R Ankle Lateral L Ankle Med L Heel 2 R Ankle Medial L Toe R Ankle Med R Heel R Toe R Toe em Critical lower extremity markers Critical upper extremity markers Semi critical lower extremity markers that improve joint center calculations Semi critical upper extremity markers that improve joint center calculations Semi critical upper extremity markers that allow for additional degre
2. 0 885 50 3 Panels 0 193 33 0 261 32 0 335 37 4 Ey pat k N ey g 0 278 38 0 217 35 0 266 30 7 8 ie Aaen i f W an 0 438 32 0 265 30 ee O Connect To Cameras Disconnect Use Raw Files I Reset IDs a BY identifying C Join virtual Ru ea e El nea ca GolfTempert vel 00 00 03 060 New Subject J ho Ss Saas 964 Frames 120FPS 2 Up Unitsimm Analog 600 00H2 Status Bar Messages Real Time Dashboard Information Center Cells 1 through 5 6 2 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Menu Bar The Menu Bar selects the primary items for Cortex functionality These include file management layout control data views tools and help Figure 6 2 Menu Bar File Layouts Data Views Tools Help About Cortex Hints and Tips Panel Help On Line Manual Tutorials Load Project Save Project Save Project As Select Raw Video File Load Tracks File Save Tracks Save Tracks As Trim Capture W Options Export HTR File Export C3D File Export CRC File Export Kinetics File Export Forces File Convert ANC File Skeleton Definitions Load MarkerSet Load Calibration Load Analog Setup Import C3D File Profile Manager Exit y
3. 194 0 0000000 000000 0 000000 1 948793 0 402037 3 829116 1 000000 195 0 0000000 000000 0 000000 1 872437 0 383394 3 696403 1 000000 196 0 0000000 000000 0 000000 2 747322 0 820163 3 692526 1 000000 EndofFile G 13 Appendix G Import and Export File Formats Cortex 1 0 User s Manual Figure G 5 An Example of a HTR2 File Hierarchical Translation and Rotation htr file Generated by Cortex Header Header keywords are followed by a single value FileType htr single word string DataType HTRS Hierarchical translations followed by rotations and Scale FileVersion 2 integer NumSegments 20 integer NumFrames 511 integer DataFrameRate 60 integer EulerRotationOrder ZYX one word string CalibrationUnits mm one word string RotationUnits Degrees one word string GlobalAxisofGravity Y character X or Y or Z BoneLengthAxis Y ScaleFactor 1 SegmentNames amp Hierarchy CHILDPARENT HeadNeck NeckUpperTorso UpperTorsoLowerTorso LCollarBoneUpperTorso RCollarBoneUpperTorso LUpArmLCollarBone RUpArmRCollarBone LLowArmLUpArm RLOwArmRUpArm LHandLLowArm RHandRLowArm LowerTorsoGLOBAL LPelvisLowerTorso RPelvisLowerTorso LThighLPelvis RThighRPelvis LLowLegLThigh RLowLegRThigh LFootLLowLeg RFootRLowLeg BasePosition SegmentNameTxTyTz Rx Ry RzBoneLength Head 0 0 1 0 0 0 0 0 0 0 0 0 1 0 Neck UpperTorso LCollarBone RCollarBone LUpArm 0 RUpArm 0 x s LLowArm 0 0 1 0 0 0 0 0 0 0 0 0
4. 2 1000 1100 1200 1300 434 i434 Frames 120 FPS Up Unitsimm 12 6 Chapter13 Skeleton Types Overview Overview Skeleton Builder SkB Skeletons Calcium Solver Skeletons Which Skeleton Engine Should Use Cortex Skeleton Engine Selection Skeleton Option Details as selected from Tree View Exporting the Skeleton Data Into an HTR File Multiple Characters and Multiple Skeletons 13 8 Cortex supports two kinds of skeleton calculations Skeleton Builder SkB skeletons and Calcium Solver type skeletons Either kind is calcu lated in the Cortex software and either can be calculated from live camera data simulated Real Time with VC files or from XYZ data in Post Pro cessing Both the marker data and the skeleton data are available to the Talon streaming plugins such as the Maya and Kaydara Talon streaming plugins The user can write their own plugin with the Talon SDK Soft ware Development Kit available from Motion Analysis Figure 13 1 Calcium Solver Integrated with Cortex el PEASE HAO T wo as ae ps e oo Ser zoea E fee i ansaan 13 1 Chapter 13 Skeleton Types Cortex 1 0 User s Manual Skeleton Builder SkB Skeletons Skeleton Builder SkB skeletons are relatively simple direct and fast cal culations of segments bones that are defined and calculated from one marker center to another The markers can be real or virtual
5. 1Kyowa 1 0 60 2000 500 3 2 1600 1608 0 00103 0 00071 22 5017 54 9477 23 35 90 0 0 0000 1 0000 0 0000 2Kyowa 1 0 2000 500 8 5 1609 1608 0 00101 0 00079 22 5648 54 8645 60 23 35 51 90 0 0 0000 1 0000 0 0000 3Kyowa 1 0 2000 500 21 1613 1610 0 00102 0 00072 22 5481 55 2674 55 6732 60 25 23 35 51 1601 1609 1606 1607 1606 1605 180 2000 500 4 3 1602 1599 1608 1608 0 00104 0 001 2000 0 00071 22 3307 54 5368 22 8 51 00 30 Oo 0 00 1 0000 0 00 0 0000 0 0000 1 00 180 2000 500 6 3 1606 1607 1605 1607 0 00102 0 00072 22 3288 55 3299 00 30 0 1 0000 0 0000 0 0000 2000 180 2000 500 24 1605 1607 1601 1606 0 00103 0 00072 22 3083 54 6867 55 1962 00 2000 22 2000 6 6 803 802 805 804 03 0 00103 603 22 1836 00 0 0000 00 2000 22 803 803 802 804 0 00101 0 00074 22 3755 55 3140 26 0 0 0000 0 0000 1 0000 2000 18 805 806 803 806 0 00101 0 00075 22 3729 21 500 5 6 800 804 0 00073 55 7321 500 8 805 803 0 00101 0 00075 22 7563 55 7631 500 10 800 808 0 00104 0 00075 22 7725 15 802 805 11 803 802 804 804 500 0 00073 55 2022 500 500 E 15 Appendix E Forcepla cal File Format Cortex 1 0 User s Manual 90 0 30 0 0 0000 1 0000 1 0000 0 0000 0 0
6. AutoFit Zero Pose Directly AutoFit New Segment AutoFit Using Global Scale Refit the Identifying Template When the subject is correctly identified and near the displayed pose then PAUSE the system The update will use the current Update the Model frame of data on the screen At this point the old Template ID feature is not working but instead the generalized automatic Pose ID feature is looking to identify the unnamed markers As soon as the ID is recognized and catches you will see two stick figures the static one from the Model Pose and one that is the newly ID ed person that is moving If the person is not ID ed right away have them face the same direction and assume the same general posture as seen in the Model Pose The Auto ID feature works as long as the person is facing within about 45 of where the Model Pose was recorded The status display in the lower left tells you how fast the ID process took A small number is a fast ID a bigger number would be slower but still working Using the Reset IDs button on the lower right will force the soft ware back to the Pose ID if something gets switched and you want to cor rect it 6 45 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Figure 6 40 Pose ID in Message Center and Reset IDs Button 2 TERE Hion urtua O Comeet To Cameras Disconn
7. Marker Names Trajectories Virtual Markers Unnamed Markers Skeleton Skin Skeleton Axes Forces BackCalc Model Pose Kinetics Segment Center of Mass Linear Velocity Linear Acceleration Angular Velocity Angular Acceleration Gravity Vector 3D Display Show Properties World Cameras Camera Rays Cam Field Of View Floor Volume Video Camera Coverage View Center Keep Centered Mirrored Auto Rotate Relative Perspective View Orthographic View Joint Forces Moments Global Center of Mass Down Events EEk MotionAnalysi Cameras Analog o Frame Rate 60 Shutter Speed 1000 1 sec Using Hardware Sync Using Sunlight Fiter Genlocking Master Camera Current Camera Number 8 Modet Unknown Serial Unknown Unknown Unknown 0000 Brightness 100 ca Threshold 331 New Camera Software Camera Network IP 0000 Reboot All Cameras Version Date IP Addr II Additional Settings 0 000 0 E g m E tracking Connect To Cameras Disconnect Use Raw Files i Reset os m W v Identifying 7 Join virtual Run g E O Skeleton x 0
8. Cortex 1 0 User s Manual Appendix D Capturing Facial Motion Marker Stabilization Sync to Body Capture Motion Capture of Hands Limitations Sometimes the facial animation techniques require working with the data in a simple reference frame as though the head were an object by itself sit ting on a table top If the facial motion capture data is captured as part of a full body and face capture then the facial markers have to be segregated and recalculated relative to the motion of the head segment of the body This process is known as stabilization This is a vital tool for keeping the facial data under control It is particularly important to have good solid head motion in your char acter skeleton if you use this technique Any amount of slippage in the motion of the head relative to the facial markers will result in jittery noisy face data Ideally the face and body are captured simultaneously so that the data is automatically synchronized because it s all part of the same data set The good news is the latest motion capture systems allow for this Global time information needs to be encoded in all motion files so that they can be later synchronized if they re not captured simultaneously Time stamp in formation is always useful to have in any case The motion capture of hand motion and the fingers to be more specific presents many of the same issues as facial animation The capture volume limitations are about t
9. Settings Hot Keys Sa x Time Lines Virtual Marker Definitions New Subject ForcePlate Forces Mass Model Editor Colors Misc gt QuickFiles 1 Pane Color Video Fi 2 Panes Top Bottom 2 D Camera View F2 2 Panes Left Right 3 D View F3 3 Panes Split Top Marker XYZ Graphs F4 3 Panes Split Bottom Analog Graphs FS 3 Panes Split Left Skeleton Graphs F6 3 Panes Split Right Analysis Graphs F7 4 Panes Doc View FS Toggle One Pane Web View F9 Preserve Layouts Empty Wie F10 Graphics Only Ctrl G gt Kinematics and Kinetics Kinetics Only gt Import Skeleton mod file Export Skeleton mod file Create Skeleton From HTR file Create SIMM Calcium Skeleton JNT file File Menu Load Project Replace Loaded Analog Channel Names Record Load Capture Make Slide Shift F11 Loads a project file prj from the current working directory Save Project Saves a project file prj to the current working directory Save Project As Provides a method to save the current project PRJ file under a different name Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Select Raw Video File Live Loads the VC Raw Video files from a capture session Load Tracks Loads the TRB or TRC Tracks files from a capture session Save Tracks Allows the user to save the current Tracks TRB or TRC f
10. Export ts Time Series File There is a Frames Factor which can be set to 3 5 7 or 9 frames This se lects the number of frames to use for the velocity and acceleration calcu lations If the Frames Factor is set to 3 frames velocity data for the 5 th frame is calculated exclusively from frame 4 and frame 6 Velocity Data for frame 1 does not exist velocity and frame data starts at frame 2 If the Frame Factor is set to 5 the velocity data comes exclusively from 2 frames to 2 frames from the i th frame Larger Frame Factors have the effect of smoothing the data X1 Y1 Z1 Positional data is determined from the marker locations Velocity Calculation is done with a central difference Let FR represent the Frame Rate of the camera Time difference between frames 1 FR in the below calculations Velocity Calculation for frame i with a Frames Factor of 3 vX1 i FR X itl X i 1 2 vY1 i FR Y itl Y i 1 2 vZ1 i FR Z itl1 Z i 1 2 Velocity Calculation for frame i with a Frames Factor of 5 vX1 i FR X i 2 X i 2 4 vY1 i FR Y i 2 Y i 2 4 vZ1 i FR Z it2 Z i 2 4 G 16 Cortex 1 0 User s Manual Appendix G Import and Export File Formats Velocity Calculation for frame i with a Frames Factor of 7 vX1 i FR X i 3 X i 3 6 vY1 i FR Y i 3 Y G 3 6 vZ1 i FR Z i 3 Z i 3 6 Velocity Calculation for frame i with a Frames F
11. WebCams as a counter example tend to deliver compressed Mpeg 2 streams So it would not matter if the WebCam used USB or Firewire If it delivers Mpeg 2 streams over Firewire then it currently would not be rec ognized by EVaRT When evaluating a suitable camera Firewire with DV25 is recommended More types of cameras are scheduled for inclusion into the Reference Video option in the future Please check with support motionanaly sis com for an updated list K 6 Appendix L Useful Blank Forms Motion Capture Log Human Body Outline Front Human Body Outline Side Human Body Outline Back The following blank forms may be useful to prepare for and document a motion capture session Feel free to make copies as needed L 1 Appendix L Useful Blank Forms Cortex 1 0 User s Manual Motion Capture Log Date Client Ref Take Cortex Video Filename Seconds Counter Comments Results L 2 Cortex 1 0 User s Manual Appendix L Useful Blank Forms Human Body Outline Front Project Date L 3 Appendix L Useful Blank Forms Cortex 1 0 User s Manual Human Body Outline Side Project Date Cortex 1 0 User s Manual Appendix L Useful Blank Forms Human Body Outline Back Project Cate L 5 Appendix L Useful Blank
12. swPopups SetQuietMode 1 iHi swLoadedTracks GetNumberOfFrames 1 for i 0 to iHi swLoadedTracks SetFrameNumber i swPost_AutoID iResult swContext GetMarkerPosition 0 x y 2Z if iResult 0 then Message AutoID found at frame CStr i exit sub end if if swCancelled then Exit Sub end if next swPopups SetQuietMode 0 end sub 14 3 Chapter 14 Sky Scripting Interface Cortex 1 0 User s Manual The advantage of this technique is that the function is guaranteed to run the exact same way However it could also be modified to remove the function call completely and just execute the operations in line For ex ample 1 FindAutoIDFrame 1 Increment frames and keep calling AutoID until a marker gets identified This assumes no markers were identified before being called 1 swPopups SetQuietMode 1 iHi swLoadedTracks GetNumberOfFrames 1 for i 0 to iHi swLoadedTracks SetFrameNumber i swPost_AutoID iResult swContext_GetMarkerPosition 0 x y 2Z if iResult 0 then Message AutoID found at frame CStr i exit for end if if swCancelled then Exit for end if next swPopups SetQuietMode 0 Note the difference in how the swCancelled function is used Not all the Sky functions that were in the EvaRT are in Cortex But all the same functionality exists so you should be able to update the script with no difficulty by finding the replacement function
13. Change the frame rate to the desired level Leave the Shutter Speed set to the default for normal data collection Click Connect to Cameras on the Real Time Dashboard if your cameras and connections are fully operational The system is now ready to go live with the Run button 7 1 Chapter 7 System Tab Cortex 1 0 User s Manual Cameras Panel To connect to the cameras successfully you must have the Eagle Sup port item in your mac_lic dat file Figure 7 1 Cameras Panel Frame Rate 60 Shutter Speed 1000 1 sec C Using Hardware Sync C Using Sunlight Fitter C Genlocking Master Camera Current Camera Number 1 Model Unknown Serial Unknown Version Unknown Date Unknown IP Addr 0 0 0 0 Set As Master Brightness 100 Threshold 326 New Camera Software Camera Network IP 0 0 0 0 vi Reboot All Cameras Frame Rate Sets the frame rate of the Eagle digital camera to any number ranging from 0 1 to the maximum frame rate The number does not have to be an integer it may be set to 59 97 for example Note The maximum supported frame rate for the Eagle digital camera system is 500 Hz Please contact Motion Analysis Customer Support for informa tion and technical advice for using frame rates higher than 500 Hz Shutter Speed Sets the shutter speed of the Eagle digital camera ranging from 0 to 2000us This pulse is issued is in conjunction with the timing of the strobe ring ligh
14. Chapter 7 System Tab Cortex 1 0 User s Manual 3 Ifthe camera is not turned on or working select another camera in the Real Time Dashboard and then press Set Master Camera again 4 If you have an analog sub system the A D sync cable must be con nected from the master camera to the A D Interconnect box See Fig ure B 3 on page B 6 Any camera may be designated as a master camera but only one at a time Edit Button This button opens the Tools gt Settings gt Cameras interface which fea tures adjustment sliders for Threshold and Brightness settings Min Hori zontal Lines per Marker and Max Horizontal Lines per Marker Figure 7 2 Edit Button Tools gt Settings gt Cameras Interface Settings DER 50 Brightness 100 4 Min Horizontal Lines per Marker 2 g Max Horizontal Lines per Marker 30 4 J Edit These Cameras O All Selected Changing the You can change the IP address in this box for any camera at any time You Camera s IP need to make sure that you do not use duplicate numbers though It is rec Address ommended that you use the same IP address number scheme as used when the cameras are first shipped 10 1 1 xxx The last three digits should be any number between 1 and 250 In the event that your local area network is set to a 10 1 1 xxx IP scheme you can also use 10 1 2 xxx for the Eagle camera network Eagle Host computer EagleHubs Eagle cam eras etc 7 4 Cor
15. Help Menu Mode Tab Buttons The Help menu provides information about the software along with shortcuts interface panel information a searchable on line manual and access to the video tutorials These buttons are arranged to guide you through a motion capture session in a phase oriented order Refer to Figure 6 25 The first three mode but tons System Calibration and Motion Capture activate Real Time mode and present you the necessary tools to successfully capture motion data Figure 6 25 Mode Tab Buttons Mode Tab Buttons Cortex 1 4 0 Body Club_Mergea prj Golffemper1 trb Golffemper1 vc1 File System Calibration Motion Capture Post Process Model Edit Plugins K ky Layouts Data Views Tools Help The fourth button Post Process activates Post Process mode and trans forms Cortex into a tracked data editing tool The final two buttons Model Edit and Plugins are mode less function buttons that present various tools without switching the program between the Real Time mode and Post Process mode Model Edit is used to define markers to create linkages 6 28 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Panel Tab These buttons give you access to the various tools specific to the different Buttons phases of the motion capture session Figure 6 26 Panel Tab Buttons Panel Tab Buttons Cortex 1 0 0 Body Club _Merged prj Golffemper1 trb Golffemper1 vc
16. SIMM also uses another configuration file importVariables txt to map forceplate channels to SIMM variables This file is located in SIMM Re sources mocap misc and contains mappings for typical channel names for up to six forceplates You will only need to change this file if you use more than six forceplates or use forceplates that have exotic channel con H 6 Cortex 1 0 User s Manual Appendix H SIMM Motion Module EMG Data Other Data Real time Import First time setup only figurations This file is used when loading ANB ANC files and when loading C3D files SIMM displays EMG data by varying the sizes and colors of the corre sponding muscles in the SIMM model EMG data in an analog file are voltages measured by the EMG system SIMM rectifies and smooths these data and then scales them based on an MVC value maximum vol untary contraction resulting in a smooth muscle excitation level that var ies between 0 0 and 1 0 If MVC values are located in the configuration file importVariables txt SIMM will use them to scale the EMG data If MVC values are not present SIMM will use each muscle s maximum voltage in the analog file to scale that muscle s EMG data thus each mus cle s excitation will peak at 1 0 sometime during the motion The file im portVariables txt located in SIMM Resources mocap misc contains mappings between typical EMG channel names and the muscle names in the mocap model It does not c
17. can help make double stick tape adhere better These products must be applied to dry skin and al lowed to set for a minute or two before the marker is attached Rubberbands looped around the marker and limb also work well to stabi lize the markers Rubberbands can be looped together to increase diame ter and prevent restriction of blood flow Rubberbands can be used around the elbows wrists hands knees ankles and toes Spare CD ROMs Zip disks or some other backup medium should be available for backups and data transfers 4 4 Cortex 1 0 User s Manual Chapier 4 Planning a Motion Capture Session Motion Capture Body Suit Camcorder Tapes Music Player Stop Watch Sample Form A motion capture body suit with Velcro attachments for markers provides a quick way to prepare a subject for motion capture The use of the body suit is especially effective when subjects are involved in rough or contact type motion capture sessions common in animation applications Depending on the length of the capture session spare video tapes should be on hand Either a CD or tape player can provide musical accompaniment Music helps calm and smooth out the subject s performance not only with dance but athletic moves as well A stop watch is handy for calculating the duration of each new move You should decide at the outset whether you will build a hierarchical skel eton If you decided to there are two software methods
18. e Calculate the three rotation values for each segment using the values from the desired frame and the base position for that segment For the root also calculate each of the three translation values Be careful to use the correct rotation order as indicated in the header of the htr file e Using the positions and rotation of the root segment as a starting point calculate the global positions of the origin of the first child s coordinate system in the hierarchy e Using this calculated global position calculate the global position of the origin of the next child s coordinate system e Continue until you have reached the desired segment In the abbreviated example shown in Figure G 4 only the first and last four frames are shown for the first three segments In the actual file all 196 frames for each of the 20 segments would appear After all the seg ments an EndOfFile section terminates the file The example of a HTR2 file shown in Figure G 5 on page G 14 was gen erated using Motion Analysis SkB and therefore does not have fixed bone lengths The information in the Header SegmentName amp Hierarchy and BasePosition is very similar to the first example However note that the FileVersion is 2 instead of 1 Also notice that the use of scale factor and bone lengths are reversed from the usage in version files The bone lengths given in the base position are all 1 0 The actual bone length for each segment in each frame
19. 5 The director should ask if everybody is ready and then say Roll video Slate video 6 The Cortex operator presses the event trigger button and the subject begins the trial When the trial is finished the event trigger button is pressed again to complete the capture 7 Comments on the quality of the trial should be entered into the Motion Capture Log and on the audio of the camcorder 8 The Cortex operator quickly reviews the raw data and looks for any problems 9 This process is usually repeated for 3 trials of each move that is scheduled Usually only one trial is tracked The other trials are there for insur ance and to allow the end user to pick the best trial For insurance it is a good idea to periodically collect raw calibration data whenever there is down time As the number of people increases in the capture studio the chance for bumping a camera if tripods are being used increases and insurance calibration data suddenly becomes very valuable After all the trials have been collected perform the following to wrap up the process 1 Collect the last calibration trial 2 Backup all the Cortex trials on a CD ROM Zip disk or other backup medium Label and store the tape in a safe place 4 8 Cortex 1 0 User s Manual Chapier 4 Planning a Motion Capture Session Remove the video tape from the camcorder and set the safety tabs on the tape to prevent being recorded over Consoli
20. Default Icons The following are the default icons as set by the initial installation of the Cortex software Quick ID Identifies the selected marker identifying all markers one by one accord ing to the list It will normally select with auto incrementation auto incre ment The user identifies the markers in the MarkerSet list one marker at a time from the top of the list The marker list will auto increment after a marker is identified 10 12 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Rectify oo Template Create Re identifies missing markers gaps in a determined frame range For more information on the Rectify functions refer to Rectify Functions What They Do and When To Use Them on page 10 19 It is also used for cleaning up the Initial Pose for making a template when you have no template to start with Takes ALL markers on the current frame regardless of the All vs Selected radial button measures the link ages on the current frame and uses those measures to automatically sort markers into the correct marker slots Characteristics of Rectify e Uses all markers Named and Un named e Works only on the Highlighted XYZ Selected Time Range e Uses the Named marker linkages and XYZ path continuity e It will switch Named markers Named markers are not automatically locked e Adjusts Linkage lengths dynamically to fit the data including mis takes e Uses the Tools gt
21. If more than one subject will be performing in a capture session it is a good idea to mark out a capture volume practice area away from the ac tual capture area This will allow the next subject to practice before mo tion capture On the Cortex host workstation create the appropriate directories and project files For batch edit work in Post Processing a separate file folder for each project and its associated capture files is strongly suggested Make sure there is enough room on the Cortex workstation s hard disk If you know the number of trials you are going to capture and the approxi mate length of each trial you can estimate the amount of hard disk space you will need Use some form of backup medium e g CD ROM Zip disk to back up previous data and clear space on the hard disk for the new trials Prior to the Capture Session Several days prior to the capture session schedule a visit by the subject and any producers or directors involved in the motion capture session If the subject has not worked with reflective markers this will allow time to become familiar with marker placement and to practice in the marked out capture area You will want to specify the most desirable type of clothing for the ses sion Remember your goal is to capture the fine details of the movement of the body not the movements of clothing on the body The rule is to apply markers to skin whenever possible The areas on the body that present the g
22. Motion Analysis Corporation Software License Agreement Terms and Conditions Definitions The following terms are defined for the purpose of this Agreement as follows a Designated System means the specified computer system described on the facing of this agreement which Licensee has purchased from the Licensor b Licensed Program means the software program described on the facing page of this Agreement in object code form only any updates subsequently provided by License all permitted copies made by Licensee and all basic or related materials pertinent to such programs License Under a license granted under this Agreement License is authorized on a non exclusive basis to use the Licensed Program on the Designated System License shall refrain from taking any action such as reverse assembly or reverse compilation to derive a source code equivalent of the Licensed Program A license shall be valid until terminated under this Agreement The license fee is part of the purchase price of the Designated System Title The original and any copies of the Licensed Program in whole or in part which are made by Licensee are the property of Licensor Copies With each license Licensee may make one 1 copy of the Licensed Program in object code form only for use by Licensee with the Designated System for backup or archive purposes Licensee agrees to maintain records of each copy of the Licensed Program and the serial number o
23. Playback Tab on page 6 13 The Run button will start the streaming of live camera data or start the simulation of a motion capture session from existing raw VC files The Run button has the following functions 1 If you are connected to the cameras it starts the data steaming from the cameras You are able to record the Raw Video VC files as set in the motion capture Output panel Check your 2D views to be sure the cameras masks and thresholds are all set properly 6 48 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Time Code Counter Frame Counter Camera Buttons Right Click Camera Buttons 2 If Enable Tracking is checked you will see the marker data appear in the 3D View This requires that the system has been calibrated You are then able to record VC files and TRC or TRB files 3 If Enable Identifying is checked you will see the colored markers and the stick figures in the 3D View This requires that the system is calibrated and a template is defined and operating You are then able to record VC files and TRB or TRC files 4 Tracking from Raw Video files If you are not connected to the cam eras you have the full range of option 2 or option 3 above from your previously collected Raw Video VC file The Time Code Counter displays the frame number in HH MM SS Frame hour minute second frame format If you have the optional Time Code Reader card installed in your computer this
24. Post Process mode allows you to edit tracked data The XYZ Graphs dis plays the positions of each marker in each frame It also lets you select and edit those markers in any frame A complete discussion of editing tracked data can be found in Chapter 10 Post Processing Panel To see the XYZ Graphs and the pop up menu of tools and view options 1 Press F4 on the keyboard or choose View gt XYZ Graphs 2 When in Post Process mode right click on the XYZ Graphs Figure 6 34 Post Process XYZ Graphs With Pop Up View Options and Tools Zoom Frames In Zoom Frames Out UnZzoom Auto Scale Uniform Scale Select All Named Data Zoom into the current frame range Zoom out from the current frame range Reset the amplitude display Auto scale to visible channels Applies uniform scale to all three X Y and Z panels Select all frames in the data set Show Residuals Camera Show Residuals and Cameras plots Quick ID MarkerID Template ID Rectify Hide Markers Unhide Markers Make Unnamed Create Template Quick ID the markers sequentially Marker ID the selected marker ID marker s based on current template Rectify marker s over the selected frame range Hide selected marker s from view Show selected marker s Make selected marker s unnamed Create Template Cut Cut Outside Exchange Smooth Join Cubic Join Linear Join Virtual Cut data in selected frames from the selected marker s Cu
25. SIMM Re sources mocap mocap jnt with this new file This is because the model file contains many comments and special parameters that enable SIMM to automatically modify it for a particular static trial as described above However when this file is loaded into SIMM and then written back out these comments and parameters are lost Thus after saving your new joint file you should use a text editor to copy the new marker definitions from the file and paste them into the existing model file Shown in Figure H 4 on page H 21 are the critical and semi critical mark ers for upper body and lower body motion recording If any of the lower body critical markers is missing from the static trial the legs will not be loaded with the Mocap Model Similarly if any of the upper body critical markers is missing from the static trial the torso head and arms will not be loaded Note that the sacral left ASIS and right ASIS markers are crit ical for both upper and lower body motion recording If any of these markers is missing the Motion Module will print an error and not load the Mocap Model The head and hand markers are semi critical If used they allow the Motion Module to track motion at the neck and wrist If not used these joints will remain fixed during animation of motion trials in SIMM H 20 Cortex 1 0 User s Manual Appendix H SIMM Motion Module Figure H 4 Critical and Semi Critical Markers
26. and muscle activ ity EMG Data can be exported as industry standard XLS data sets which can easily be imported into Microsoft Excel or other graphics and analysis packages Figure 1 9 OrthoTrak Interface amp Stm vi Ele Edit Operate Tools Window Help gt sg MotionAnalysis ORTHOTRAK 6 5 Clinical Gait Analysis Software Single Trial Processing Module General Information Anthropometrics Htm fi700 Name Rt Ankle Diam cm 0 Rt Foot Len em Patient ID D00000 Rt Knee Diam cm 11 0 Lt Foot Len cm Lt Ankle Diam cm BO Rt Foot Wth em po a b Lt Knee Diam cm O0 Lt Foot Wth cm po ti Seti Alte a E Events ___Events ON Data Format Raw Curves T AutoZero Forces ON Original Knee Axis Norm Format 25D w VRML Model Male w Stride Cycle for Trunk E Hip Center Constants Adj Kinetics to Wt w Gi fle ath a SS h E g Bew Save Printout Settings Midline Foot Markers J Markers Helen Hayes Static w Walk Direction Automatic w Active Fo re Copel ENG Tk Ont EMG By Cycle nikle Angles o EMG Scaling SAME PATIENT NEXT TRIAL Cortex 1 0 User s Manual Chapier 1 Introduction KinTrak Director Sequencer KinTrak is a movement analysis system that enables you to import and analyze thr
27. ciently Are you using an overlapping volume setup If not you may have too many cameras seeing the same area Over coverage can result in an over abundance of data slowing the system down Try to have no more than three cameras see any given area of the capture volume from one direction and 10 to 12 cameras total 2 Calibration Tracking residuals should be below 2 0 mm If not try raising the Max Residual value Too low a value may cause ghost markers to appear 3 Template Verify that marker identity is being performed quickly Click the Reset IDs button several times while the actor is in the cap ture space and see if there is a lag in acquiring marker identification If there is a lag you may need to create a better template Verify that the first three markers are the head markers and that the first three links form a rigid triangle Finally verify that remaining link defini tions flow down the body following the marker definitions 4 Frame to Frame Rectifying This is mainly influenced by your 3D data quality and tracking parameters Too many extra stretchy link ages can cause problems here Can I use MoCap Solver Si 2 0 or Calcium in Cortex Yes Export a MOD file from Si Calcium and name it the same as the project file Select Model Edit gt Tree View and then select Calcium Solver in the Skeleton Engine field What is the order of the data in the TRC or TRB files when you use MTOs for tracking The resultin
28. 100 Threshold 326 New Camera Software Camera Network IP 0 0 0 0 v Reboot All Cameras If nothing has been changed this should have a network address of 10 1 1 199 Try and connect to cameras again If this does not fix the issue please move on to the next step 5 24 Cortex 1 0 User s Manual Chapter 5 Camera Setup Make sure that the Network cable going from the back of the com puter to the EagleHub is securely installed Motion Analysis uses the on board network port for the Eagle Network If you purchased a computer from another source this may not be how your system is setup Please take note of this when checking the connections as it will be useful when talking to Motion Analysis Customer Support staff a Unplug the network cable from the back of the computer and plug it back in b Do the same for the connectors on the EagleHub You should hear an audible Click when inserting it back into the jack If Windows Updates has been recently run they may be running in the background there may be a possibility that the Microsoft Win dows Firewall was either installed or turned on This will need to be turned off as well as any other Firewall software installed on your motion capture computer Because of the nature of the digital cam eras it is required that the network coming in to the computer on a particular IP address is open for streaming data If your facility requires a Firewall to be install
29. From the Menu Bar select Layouts gt 4 Panes Left click on the empty lower left pane This action will select this pane 3 Press F1 on the keyboard or choose View gt Color Video Note If you are interested in the Color Video option contact your Motion Analysis sales representative Left click on the empty upper right pane Press F2 on the keyboard or choose View gt 2D Display Left click on the empty lower right pane 7 Press F5 on the keyboard or choose View gt Analog Display oo The displays can be controlled by hand if you click Pause click on the FIFO slider on the Real Time Dashboard and then drag from side to side The First In First Out FIFO slider can only manipulate the 256 frames of data that are currently stored in the FIFO memory space but not all of the data in the data set Figure 6 28 should be similar to what you see on your screen 6 31 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Figure 6 28 Viewing the Pre Recorded Data Cortex 1 0 0 Body Club_Merged prj Golffemper1 trb Golffemper1 vc1 EEk I Fie Layouts DataViews Tools Help 2 MotionAnalysis System Calibration Motion Capture Post Process Model Edit Plugins Markers Segments o n Click AlNone Ctrl Click Togge 8 w Ow Poy S OewAH Tice QuickID Rectify Template Template Template Marker ID Exchange Bg Virtual a Smooth Make Rectify Delete Cut eS Search PP 2 M_L_Head Creat
30. M_B_Head 4 M_R_head Snap to this Marker optional Tong Axis mm 0 00 Plane mm 0 00 Perpendicular mm NT M TT Calculate Virtual Markers New V Marker Detintion Delete V Marker Definition undo A Virtual Marker is created Origin Marker has a fixed Long Axis Marker and Plane Long Axis and Origin relative to other markers distance to the Virtual Marker Origin Marker define a line Markers define a plane This form helps you define a Virtual Marker based on other markers The definition becomes a permanent part of the project once you Save Project A Virtual Marker s definition is used to calculate the Virtual Marker s position in each frame of a data set The Ratio relationships treat the offsets as a percentage of the distance between the defining markers The Value relationships treat the offsets as a distance from the defining markers When running live the Join Virtual tool only uses the first VM Join defi nition of the two that you are allowed However 4 passes are made over the list on each frame so that if a definition depends on another then after the first pass the second marker is reconstructed so that the first marker can be reconstructed on the second pass It also works this way in Post 6 42 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Process mode when you have multiple markers selected and do a Join Vir tual function Streaming vs Pos
31. O Simeon Oee EE gt 5T_U_6 Engty et J 53 UJ lt Emotys 53 U_0 lt Ergty pan Bd ER Enns w T roo s ski ey CIES Ce Carte 20 Marker 3O A Frames 120 FPS zup Unisemes Analog 600 00 He I 10 30 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Distance The Distance Between Markers tab shows the distance between two se lected markers for each frame throughout the tracked data You may se Between Two lect any two markers in the tracked data to be analyzed by clicking those Markers Tab markers in the 3D View or on the marker list grids To delete a pair of markers from the grid click on the row and press the Delete key You may select and delete several rows at once by pressing shift click on the rows and pressing Delete Figure 10 22 Distance Between Two Markers Tab Cortex 1 0 0 Body _Club_Merged prj Golffemper1 trb Golffempert vc1 E Fle Laot Osteo Views Took Hep System Calbration Motion Capture Post Process Model Edt AI OW Quek ID Rectfy Temglate Tenglate Template Marker ID Exchange Create 1D Recttly Posveunce Distances anges Distances Between Markers 600 0 PI eer emea 4 Plo 4 e sea Frames 1206S 2 Up Unesma Janso 600 000 10 31 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Included Angles The Included Angles tab allows you to select grou
32. Settings gt Identifying Parameters function typi cal A template for identification can be created which will be used to auto ID markers in Real Time for Template ID and Template Rectify For more information refer to Building a Template on page 9 5 Figure 10 12 Create Template Interface Create Template Template Prop Definition Frames Range Frames Used Current Frames with complete 1434 Selected Total frames to use 1434 Visible O All Include current frame as the Model Pose Show Template Linkages Create Template Show Template Linkages This option selects all linkages and displays them in the following man ner 10 13 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Black parts represent measured linkage information for use with the Identifying Template for Template ID and Template Rectify This is set or extended when you Create or Extend the Template Grey Parts represent the Extra Stretch used by the Template ID and Template Rectify This is set in the Model Edit gt TreeView Links You can set individual links or groups of links When you create a new link in the Model Edit gt Markers Panel the default values for the Extra Stretch is 15 can be changed in Model Edit gt TreeView For compatibility with previous versions of EVaRT software project files with undefined templates were always given extra stretch values of 0 30 30 which is larg
33. Starting Cortex 2 1 Project Initialization System Calibration Setup Analog Marker Placement Data Capture Overview This chapter provides a quick reference to begin using your motion cap ture system for Movement Analysis applications and is intended for the more advanced motion capture system user For Animation Production applications refer to Chapter 3 Quick Start Tutorial for Animation Pro duction Applications Note This Quick start Guide uses a Helen Hayes marker set and starts with a Starting Cortex project file that is located in the C Program Files Motion Analysis Cor tex Samples Helen Hayes Markers folder The basic methodology out lined here can be generalized to other marker sets Please be aware that this data set is more complex since it utilizes two different marker sets Static and Dynamic and captures three different sets of data Static Dy namic Template and Dynamic movements Turn on the Host computer and login Turn on the Ethernet switch and CP 8 Power Hub The cameras will automatically power up 3 Turn on the Forceplate and EMG Amplifiers if applicable Make sure to zero the force plate s see the manufacturer manual for more information 4 Launch the Cortex software by double clicking the icon located on your computer s desktop ND 2 1 Chapter 2 Quick Start Tutorial for Movement Analysis Applications Cortex 1 0 User s Manual Project Initialization 1 Note Load a
34. Unload Tracks Button S MotionAnalysis peren Markers Segments PA Ez Click AllNone Ctri Click Toggle n L 6 Q gt 1 M_TopHead th Make Rectify Delete Cut Cut Search PP Undo 2 M_L_Head Unnamed Unnamed Unnamed Outside Settings 31M B Head Ge 4 MR head d 5 M_F_Head 6 M_RShoulder 7 M_LShoulder 5 IM f_Topspine 10 m _FLShoulder 11 M_FChest 12 M_RBicep 13 M_RElbow 14 M_RForearm 15 M_Rvtist 16 M_RPinky 17 M_RThumb 18 M_LBicep 19 M_LElbow 20 M_LForearm 21 M_LWrist 22 M_LPinky 23 M_LThumb 24 M_Midback 25 lM Shouilderttcet 6 55 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual 6 56 Chapter 7 System Tab Getting Started Cameras Panel Eagle and Hawk Camera Display Codes Creating and Clearing Masks Going Live Adjusting Thresholds Analog Panel Getting Started Before using Cortex you must configure your software to match the o ti b 1 2 3 4 5 6 verall system The System tab provides tools to do this The camera set ngs do not need to be reset before each and every motion capture session ut they do need to be reset after changes are made to the cameras Choose File gt Load Project from the Menu Bar and load a recent or sample project Choose System from the Mode Buttons Choose the Cameras panel from the panel buttons if it is not already open
35. Video vc Tracked Binary trb and Analog Binary anb check boxes Type in a filename e g Static Do not use a number at the end of the filename The trial number gets appended to the filename If you need to have a number in the filename make sure you follow it with an underscore Staticl_ otherwise your first trial will be interpreted by the software as trial 11 not 1 Set the duration to be 1 second Have the patient stand in the center of capture volume with arms raised parallel to the floor thumbs facing forward Press the Record button This will produce a Static1 trb file and an analog and raw video file of the same name Load Static1 trb e Do this either by pressing the Load Last Capture button on the Motion Capture gt Output panel or go to File gt Load Tracks File then select and load it Figure 2 7 Motion Capture gt Output Panel Load Last Capture Button Tracking Objects Output Output files C Raw video vc C Analog anb C ColorVideo avi C Tracked ASCII tre C Tracked binary trb Settings Name Wal Trial Auto increment Duration seconds 60 00 00 00 000 C Enable COM1 trigger Post Trigger Mode Load Last Capture 2 10 Cortex 1 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications 2 Loading a file will automatically bring you under the Post Process interface Select the I
36. but not as fast This should only be used in PP mode This is the accuracy parameter for the solve It is generally set to 0 0001 and then left alone It can be useful to debug and troubleshoot the Cal cium segment This is the number of iterations the solver goes through to solve When the solver gets stuck it can potentially iterate forever Usually the solve happens in a very small number of iterations 1 5 Setting it to 100 is more than enough Enables or disables the use of joint limits in the Calcium model Gener ally it is recommended to be turned off for animation applications If the solution has joints flipping around turn it off Any model created from a joint file should have the limits enabled This is important on the first frame of any solve First orient the root bone to the root bone markers then do the solve This helps to eliminate some first frame errors when bones get oriented incorrectly There is still a bug where joints get turned around on the first frame The solve changes randomly whenever these last two flags are changed User beware It is recommended that Orient Body is set to False when Real Time opera tion performance is a factor For complete information on Calcium software and Calcium segment def initions please reference the Calcium for Cortex Quick Start Guide p n 651 1920 010 11 16 Cortex 1 0 User s Manual Chapter 11 Model Edit Tab Virtual Markers Virtual Marker
37. it should be used with care Figure 10 19 Data Painting 10 28 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Time Lines In the Menu Bar select Tools gt Time Lines Time Lines provide a gen eral overview of the quality of the data in the marker slots showing any breaks in the stream of data for all markers Figure 10 20 Time Lines i lt lt lt Time Lines 1 L ASIS 2 V Sacral 3 RASIS 4 R Thigh 5 RKnee 6 R Shank 7 RHeel 8 R Toe 9 L Thigh 10 L Knee 41 L Shank 12 L Heel 43 L Toe 14 L Wrist 15 L Elbow 46 L Shoulder 47 R Scapula 18 R Shoulder 19 RElbow 20 R Wrist 21 Front Head 22 Top Head 23 Rear Head 24 01 25 U_2 26 U_3 27 U_4 28 U_5 29 U6 30 U_7 31 U_8 lt Empty gt 32 U_9 lt Empty gt 33 U_10 lt Empty gt 34 U_11 lt Empty gt 36 U_12 lt Empty gt 36 U_13 lt Empty gt 37 U_14 lt Empty gt 38 U_15 lt Empty gt 39 U_16 lt Empty gt 40 U_17 lt Empty gt M1 U_18 lt Empty gt 42 U_19 lt Empty gt 43 U_20 lt Empty gt 44 U_21 lt Empty gt 45 U_22 lt Empty gt 46 U_23 lt Empty gt 47 U_24 lt Empty gt 48 U_25 lt Empty gt 49 U_26 lt Empty gt 50 U_27 lt Empty gt 10 29 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Analysis Graphs Position Velocity and Acceleration Tab Note The Analysis graphs and their related control panel provide tools
38. marker sets The theory may be extended to different marker sets 1 Attach the reflective markers that are listed in Figure 2 5 and shown in Figure 2 6 Placement on bony points is ideal if available Consult an anatomy book as reference for palpating these points Figure 2 5 Helen Hayes Marker Set List jim Marker Names a 1 Top Head 2 Front Head 3 Rear Head 4 R Shoulder 5 Offset 6 L Shoulder 7 R Elbow 8 R Wrist 12 Sacral 13 LASIS 14 RF Thigh 15 R Knee 16 R Shank 17 F Ankle 19 R Toe 20 L Thigh 21 L Knee 22 L Shank 23 L Ankle 24 L Heel 25 L Toe 26 R Knee Medial 27 R Ankle Medial 28 L Knee Medial 29 L Ankle Medial x Cortex 1 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications Figure 2 6 Helen Hayes Marker Set Placement A i Front Head Rear Head f x j a L Shoulder g R Shoulder Za Offset Q i L Elbow t R Elbow L Asis V Sacral Prone R Asi e i L Wrist F R Wrist a R Thigh et Thigh oO R Knee R Knee Medial L Knee Medial L Shank O R Shank i R Ankle on L Toe R Heel SS L Ankle Medial R Ankle Medial 2 9 Chapter 2 Quick Start Tutorial for Movement Analysis Applications Cortex 1 0 User s Manual Data Capture Capture a Static Trial Identify a Static File Go to the Motion Capture gt Output panel and activate the Raw
39. refer to Tem plate Create on page 10 13 e Extending the template works exactly as if you took all the TRB data used to create the template and put it end to end and did a Create Template with the whole works at once e If the ES factors are too large you get misidentified markers e If the ES factors are too small and your template isn t complete enough you will get unidentified markers e The template is a pair of Min Max values for each link These values only get farther apart as you extend the template If this value becomes too great as might happen if you had bad data to create the template you must start the template creation process over from the beginning There is no function to revalue the numbers hence this is why there is a Sky script for this It makes it trivial to redo the tem plate creation process 11 13 Chapter 11 Model Edit Tab Cortex 1 0 User s Manual SkB Segments Name Displays and edits the name of the selected SkB segment Index Displays the SkB segment number in the order the segment appears in the list for the project This is not editable Parent Displays the parent segment of the selected SkB segment To edit click on the property and select from the drop down menu Origin Marker Allows you to select and edit which marker is the Origin Marker of the SkB segment definition To edit click on the property and select from the drop down menu Long Axis Y Allows you to sele
40. s Manual Chapter 10 Post Processing Tab Join Virtual Guidelines Note Head Upper Arm or Upper Leg Hand or Foot Both the streaming and the post process Join Virtual use a two pass pro cess to virtually join data across gaps The data passes through the Virtual Marker Join function twice with the second pass using filled or partially filled gaps that were not filled the first time These guidelines are intended for an audience with a good knowledge of motion capture theory and practice These are generalized guidelines only Individuals may find that different definitions may work better for their particular applications For best results it is recommended that you have at least three markers per effected segment Ideally for markers that have the possibility to be come obscured i e being covered up or lost between the ground and the subject s body you will need to place markers on the opposite side of the appendage or body For example if a subject is laying prone on the floor the back markers become obscured If you anticipate this you can apply more markers to the chest or front torso area For defining virtual markers when possible define and use markers that are always seen on that segment or neighboring segments If any data is missing from other markers in that segment the original data will improve but only if the dependent markers are present A subject s head usually will have four or five ma
41. system This is useful for tracking and identifying props such as swords baseball bats and other sport accessories To use this feature 1 Create a project file with just the marker names of the prop Each prop should have its own marker set and associated project file There must be three or more markers for rigid bodies to work five or more markers is recommended Marker names do not matter when they become tracked as Rigid Objects Linkages are not needed as Rigid Objects have implicit linkages between all markers on the object You can create linkages to help you visualize the prop when it is tracked if you wish but when a rigid object is identified as such both the mark ers and the linkages are shown as a purple color 2 Create a Prop file Record some number of frames of the prop maybe 2 5 seconds and then load the Tracks into Post Processing Identify the markers and click the Create Template button Select Rigid Object as the template type The Create Template changes words to Create Prop File A message pops up telling you that you created a prop file in your current project folder A second message informs you that The type will become rigid when selected on the Objects panel and that a Rigid Object Template has been created 3 Using the prop file in you local folder the prop file can be selected as any Tracking Object in the Motion Capture gt Objects panel Props can be selected as normal tracking objects and they take
42. 0 Body _Club_Merged prj Golffemper1 trb Golffemper1 vc1 Quick Files Icon E Fie Layouts DataYiews Tools Help System Calibration Motion Capture Post Process Model Edit Plugins K ky A The Quick Files window will automatically open upon launch of the Cor tex software if the Auto Open check box is active Figure 6 24 Quick Files Interface C Program Files Motion Analysis Cortex Samples Golf Swing with Temper DAR C Program Files Motion Analysis Cortex S amples G olf Swing with Temper i v Samples All Name Size Type Filter 8 Eagles On Ice E Body_Club_Merged prj 20KB PRJFile Pri i Oo Animation Calibration E BodyOnly pri 19KB PRJFile Tre w BioFeedTrak E Calibration Only pri 11KB PRJFile Tib Biomech Solver Zup 3 H Calcium Tutorial E ClubOny pr 12KB PRJFile ye H Dave Face n Body O Cal 5 Dave Face Stabilization Ome Example Forcepla cal files Five Person Tracking O All ER Golf Swing with Temper O GolfTemperl_Cortex Helen Hayes Markers Project JACK data Large Volumes Tracks H Skeleton Builder HO Sky Examples E a Talon Streaming Calcium and SkB Auto Open Herein UNC_Face_Data_Trotman_Lab H Virtual Markers Tutorial SentinelDrivers lt Auto Open C Program Files Motion Analysis Cortex S amples Golf Swing with Temper Current folder 6 27 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual
43. 0 0 0 0 0 0 0 0 0 0 1 0 LPelvis 0 0 0 0 0 0 0 0 0 0 0 0 1 0 RPelvis 0 0 0 0 0 0 0 0 0 0 0 0 1 0 LThigh 0 0 0 0 0 0 0 0 0 0 0 0 1 0 RThigh 0 0 0 0 0 0 0 0 0 0 0 0 1 0 LLowLeg 0 0 0 0 0 0 0 0 0 0 0 0 1 0 RLowLeg 0 0 0 0 0 0 0 0 0 0 0 0 1 0 LFoot 0 0 0 0 0 0 0 0 0 0 0 0 1 0 RFoot 0 0 0 0 0 0 0 0 0 0 0 0 1 0 Beginning of Data eLength G 7 Appendix G Import and Export File Formats Cortex 1 0 User s Manual Frame 1 0 265 65848 5 56661 2 6 64226 3 5 68993 4 0 21077 5 2 91121 4 7 62039 4 45230 0 27224 10 70936 10 5 60677 11 7 93797 12 7 92266 13 17 83143 14 5 29669 15 3 41580 16 0 59471 17 6 65161 18 8 69699 19 56 16376 20 69 34235 Frame 2 0 265 98917 T 4 76026 6 24591 5 45918 4 0 25053 2 74117 6 7 56453 3 4 44328 0 13121 10 54723 10 6 09020 11 7 83955 12 7 76307 13 17 85974 14 5 44536 15 3 05847 16 0 34028 17 6 65867 18 8 45317 19 56 25188 20 69 34779 EndofFile 958 52289 1 03833 10 44067 4 37941 8 22242 14 64063 4 41526 6 92158 1 42203 0 37209 0 99909 1 63432 6 08590 2 88770 4 26448 26 21330 18 20674 0 51561 2 51242 3 45440 4 62345 958 55890 0 93315 10 44039 4 48315 8 10135 14 49931 4 56852 6 91024 1 30640 1 02512 1 13973 2 10847 6 08555 3 07533 3 99245 26 22045 16 47090 0 44105 4 60744 3 41367 4 49733 171 77657 3 08909 1 80951 2 25734 101 23232 98 93079 6 5
44. 000000 3 1262 367920 15 051557 2245 3151860 5882480 707301 1 1631961 000000 4 1261 811279 15 027791 2245 1335450 6069780 696131 1 3261221 000000 93 25 763012 11 505680 116 749229 85 78657582 456894 104 4607321 000000 94 31 705627 12 149048 131 977005 81 80329980 946663 100 7663191 000000 95 40 086079 12 445135 144 204391 77 85765879 605011 97 4399491 000000 96 49 986629 12 544500 152 518951 74 27449278 596512 94 2411671 000000 UpperTorso Fr Tx Ty Tz RX Ry RX SF 0 0000000 000000 0 000000 2 259649 2 946399 0 475843 1 000000 2 0 0000000 000000 0 000000 2 341502 2 767608 0 420984 1 000000 3 0 0000000 000000 0 000000 2 331526 2 552349 0 414928 1 000000 4 0 0000000 000000 0 000000 2 328715 2 410058 0 305621 1 000000 93 0 0000000 000000 0 000000 2 688713 0 354111 4 239368 1 000000 94 0 0000000 000000 0 000000 0 312819 2 503460 6 899297 1 000000 95 0 0000000 000000 0 000000 1 617305 3 427358 9 416446 1 000000 96 0 0000000 000000 0 000000 2 357207 3 05734110 941742 1 000000 LCollarBone Fr Tx Ty Tz RX Ry RX SF 0 0000000 000000 0 000000 2 648904 1 239630 0 547259 1 000000 2 0 0000000 000000 0 000000 2 753487 1 291442 0 549240 1 000000 32 0 0000000 000000 0 000000 2 832925 1 339503 0 493109 1 000000 4 0 0000000 000000 0 000000 2 839463 1 330919 0 571445 1 000000 193 0 0000000 000000 0 000000 2 837519 0 820427 3 997483 1 000000 G 12 Cortex 1 0 User s Manual Appendix G Import and Export File Formats
45. 1 0 RLowArm 0 0 1 0 0 0 0 0 0 0 0 0 1 0 LHand 0 RHand 0 LowerTorso 0 0 0 0 0 0 0 0 0 0 0 0 1 0 01 0 0 0 0 0 0 0 0 0 1 0 01 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 AE h E EAE a BE 03 0 02 00 0 0 0 1 0 LPelvis 0 0 0 0 0 0 0 0 0 0 0 0 1 0 G 14 Cortex 1 0 User s Manual Appendix G Import and Export File Formats ANC Analog ASCII Row Column ANC anc files contain ASCII analog data in row column format The data is derived from anb analog binary files These binary anb files are generated simultaneously with video ve files if an optional analog input board is used in conjunction with video data capture To create an anc file from an anb file from the main menu select File gt Export ANC The data in ANC files is raw analog data in ASCII form and can be read and manipulated by a spreadsheet program Shown in Figure G 6 is the beginning portion of an anc file Figure G 6 Example of an ANC File File Type Analog R C ASCII Generation 1 Board Type National AT MIO 64F 5 Polarity Bipolar Trial Name 1ndbfw Trial 8 Duration Sec 6 000000 Channels 30 Name fix fly flz mix mly miz f2x f2y f2z m2x m2y m2zL tibialis ant Rate 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 Range 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 10000 2500 0000 0 29 1 2 1 0 13 11 550 0010 1 29 1 2 2 1 13 10 392 0020 1 29 1 3 2 1 13 10 369 00
46. 219 7480 144 7296 1597 8043 274 3916 232 2152 316 5659 1607 9659 219 6344 144 7652 1597 5711 274 4420 232 2152 316 7533 1608 3785 218 5500 144 7296 1597 8043 274 3916 232 2152 316 2800 1608 3460 219 1676 144 7963 1597 3691 274 4994 232 3085 316 4539 1608 1409 219 6402 144 7963 1597 3691 274 4994 232 4143 316 4539 1608 1409 219 6402 145 1222 1597 3621 274 3569 232 7111 316 1265 1608 1984 219 7480 144 7963 1597 3691 274 4994 233 0335 315 9777 1608 3370 220 0773 144 6867 1597 5786 274 4743 233 4352 316 4172 1608 1043 219 9638 144 7963 1597 3691 274 4994 233 5973 315 9770 1608 0798 220 2932 144 7963 1597 3691 274 4994 HTR2 Hierarchical Translations and Rotations The HTR2 htr2 file contains rotations about X Y and Z axis for the body segments defined in the Cortex Project and translations and rota tions for the root segment Rotations are calculated relative to a local co ordinate system of each segment s designated parent The HTR files translation are expressed in the units used for Cortex sys tem calibration and the rotations are calculated as Euler angles expressed in degrees These Euler angles are either bounded or continuous e Bounded indicates that when the angles are extracted they are bounded or constrained between 180 degrees for the X and Z directions and 90 degrees for the Y direction e Continuous means that the angles will be continuous i e the angles are not bounded With unbounded angl
47. 6 10 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Tools Menu The Tools menu gives access to various functions within the Cortex soft ware Many of these functions are also available in other sections of the user interface Tools gt Settings Calibration Tab Figure 6 6 Settings gt Calibration Tab Settings Calibration Up Axis Z Calibration Units milimeters Measurements Origin 0 0 0 The Calibration Setup defines the parameters for the system calibration e g capture volume up axis calibration units etc For complete infor mation refer to Details Button Calibration Settings Window Tabs on page 8 4 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Cameras Tab Figure 6 7 Settings gt Cameras Tab Settings Min Horizontal Lines per Marker 2 Bia Max Horizontal Lines per Marker 2 ge J Edit These Cameras O All Selected SEN This tab provides the adjustment sliders for Threshold used to block out excessive noise in the 2D camera view and Brightness ringlight set tings Min Horizontal Lines per Marker and Max Horizontal Lines per Marker For more information on Thresholds refer to Adjusting Thresholds on page 7 9 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Playback Tab Figure 6 8 Settings gt Playback Tab Settings Calibration Cameras Playback 3D
48. Acquisition Device Interface gt New Data Acquisition Device NI DAQms has detected a new data acquisition device USB 6218 What would you like to do Ey Run Test Panels x Configure and Test This Device Run YI Logger Take No Actio Cancel B 7 Appendix B Analog Input Hardware and Software Cortex 1 0 User s Manual Notes You will get two message sequences for EACH USB A D device that you plug in and you may get it again if you plug it into a different USB port so it is simpler to plug into the same port each time Run Test Panels Setting the NI software to Referenced Single Ended To get the correct looking signals on the Test Panels display you need to set the Analog Input gt Input Configuration to RSE Referenced Single Ended The Cortex software sets this mode as part of its analog setup procedures Also to have more than 8 chan nels displayed in the Test Panels 0 7 you must change this setting to Referenced Single Ended from its Differential Mode default Cortex starts numbering the analog channels starting at 1 whereas the Test Panels and chart Table B 3 on page B 14 starts numbers at channel 0 Figure B 6 NI USB 6218 Configuration Interface X NI USB 6218 Dey1 Measurement amp Automation Explorer Eile Edit Yiew Tools Help Configuration E fx My System Data Neighborhood Devices and Interfaces DoR bSelf Test Y Test Panels rid
49. Angles in the columns of HTR data are absolute angles according to the Options coordinate systems defined This is typically used by biomechanics and research customers Current Frame The absolute angles in the currently selected frame are written out in the file header of the HTR file The angles in the columns are zero referenced to the angles in the file header Use this method option if you are going to read the htr files into an animation package with the Motion Analysis File IO plugins 13 7 Chapter 13 Skeleton Types Cortex 1 0 User s Manual Licensing Notes SkB skeletons are defined and edited within the Cortex software and re quire a separate license item but they can be run and the skeletons data generated without additional licenses in Cortex There is separate docu mentation provided with the Skeleton Builder that shows how to set up and edit SkB skeletons Calcium Solver skeletons are imported or created in the Calcium soft ware Calcium software requires a separate license to edit or create the skeletons but they too can be run and the skeleton data created from Cor tex without a separate license Calcium also can create the HTR skeleton data using the same Solver engine as Cortex and the SIMM Motion Mod ule Multiple Characters and Multiple Skeletons When you specify additional marker sets the skeleton engine needs to be in each of the project files that you select The skeleton type is stored in the proj
50. Channels 33 64 NI D4Qmx Driver Version 8 1 0 2 2 Cortex 1 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications System Calibration Note System calibration should be done at a camera speed of 60 Hz regardless of the data capture speed Start the 1 Place the calibration L frame device or four markers L shaped on Calibration Process the floor or on the forceplate ina the 4 Poin e The calibration L frame markers are set under Tools gt Settings gt reat L olny Calibration tab These markers have been placed in a particular orientation and precise distances apart in order to tell the software Frame the origin and coordinate XYZ system of the lab room 2 Under the Calibration gt Calibrate panel activate the Camera Aiming check box Note that this will erase any previous calibration files 3 Press the Run button e All the number buttons on the bottom of the Cortex interface should turn yellow if all of them can see the L frame 4 Select Layouts gt 2 Panes Top Bottom e We want the 3 D Display window and 2 D Display window showing These can be set by left clicking in the window to make it active and then select Data Views gt 3D View or 2D View 5 Check the 2 D views for each camera e Generally there should only be four markers in each camera view If there are less you may need to adjust the view of the camera or you can also adjust the threshold to see more marker
51. Cortex folder If the operating system you are using on your tracking or post processing computer is a non English version some characters may not be recog nized and you may experience installation problems If you are experiencing this you will need to go into the computer and set it to allow for English Unicode characters In Windows XP you can do this by going to Start gt Control Panel gt Regional and Language Set tings This brings up a window that has 3 tabs and the second one is the Language Tab Under the Text Services and Input Languages tab you need to click on the Details button and add the setting for English United States This will add the necessary text characters to the computer Alternatively you can install an English language OS on your computer 1 6 Cortex 1 0 User s Manual Chapter 1 Introduction Software Packages within Cortex The following are software products offered by Motion Analysis that are integrated within the Cortex user interface These files will require a li cense file and a dll file to use Calcium Calcium is the graphical user interface to the Solver engine Solver is a powerful numerical tool for calculating skeleton motion from marker data The Calcium interface in Cortex is what allows you to correlate the positions of a marker pose to the initial pose of a skeleton The skeleton is usually created in an outside animation package such as Maya 3D Studio Max or Kaydara and th
52. Definitions Virtual markers are markers that get their position from a combination of the position of two or three actual markers in the motion capture data Typically a virtual marker is used to generate the actual joint center posi tion of the performer or subject being motion captured This is neces sary since the actual markers lie on the outside of the performer Joint center markers are desirable for use with analytical and skeleton recon struction tools There are two methods for defining Virtual Markers VM 1 2 Marker Two markers are used to define a line in space A new vir tual marker can be calculated anywhere on this line 2 3 Marker Three markers are used to define a plane in space A new virtual marker can be calculated anywhere in space relative to the ori gin of this plane The placement of the virtual marker along a line or relative to a plane can be accomplished in real world measured values using the units of calibra tion as the units of measurement or as a ratio In the case of a line the ratio is based on the distance between the two markers defining the line In the case of the plane the ratio is based on the distance between the two markers defining the Y axis of the plane Figure 11 11 Example Virtual Marker Setup Virtual Marker Definitions Three Marker Value Three Marker Ratio Two Marker Value Two Marker Ratio EMR Enter Name of Virtual Marker enterHead Origin Marker Long
53. Foot 0 0137 0 4415 0 257 0 245 0 124 Torso 0 3229 0 5047 0 294 0 342 0 233 Head 0 0694 0 5976 0 362 0 376 0 312 R Upper rm 0 0271 0 5772 0 285 0 269 0 158 L Upper rm 0 0271 0 5772 0 285 0 269 0 158 Banas amea acts ane nace nam Segment Sum 1 Normalize _ Load _ Save Calculate Kinetics 0 368 41 Ts T T T T T T T T T T T T T T Sl sak 10 20 30 40 50 60 70 80 30 100 110 120 130 140 151 eleton 1 1 74 ee 151 A Kinetics rer q gt ATAT x pe fie bt EZTA 4 BK g moe Calculate 6 Calculate 151 Frames 60 FPS 2 Up Unitsimm Analog 960 00 He _ Chapter 1 Introduction Cortex 1 0 User s Manual For More Information Please contact Motion Analysis Customer Support with any questions problems or feedback about the Motion Analysis Cortex software We can be reached at Motion Analysis Corporation 3617 Westwind Blvd Santa Rosa CA USA 95403 Phone 707 579 6500 Fax 707 526 0629 http www motionanalysis com For technical support and licensing information please contact support motionanalysis com For information about sales please contact info motionanalysis com Acknowledgments Logo and cover artwork Kristopher Evans Motion Analysis Studios Also many thanks to the users and Beta testers listed in Help gt About Cortex Quick Start Tutorial for Chapter 2 Overview 2 1
54. Forms Cortex 1 0 User s Manual L 6 Index Numerics 10 Camera Setup Typical 5 7 12 Camera Setup Typical 5 8 14 Camera Setup Typical 5 8 16 Camera Setup Two Tier 5 4 Typical 5 9 2 Markers 11 17 2 Panes Top Bottom 6 32 28 Camera 3 Tier Setup 5 5 2D Display 6 9 6 31 6 37 options 6 37 pop up menu 6 37 3 Markers 11 17 3 Point Average Filter 10 10 32 Camera Setup Typical 5 10 3D Display Tab 6 14 3D Studio Max D 1 3D View options 6 34 pop up menu 6 34 4 Panes Layout 6 31 5 Point Average Filter 10 10 6 Camera Setup Typical 5 6 8 Camera Setup Typical 5 7 8 Eagle Camera Setup Typical 5 11 A Accuracy 11 16 Additional Tracking Objects 9 9 Adjusting Thresholds 7 12 Aiming Cameras 8 9 All Markers Radial Button 10 15 All On Button 8 11 Amplitude Zoom 6 52 AMTI Forceplates Calibration Matrix E 6 forcepla cal E 2 Using E 6 coRTex 1 0 User s Manual AMTI Gain Setting E 6 AMTI or Bertec Forceplates B 4 Analog Acquisition Rate 7 16 B 13 Analog ASCII Row Column G 15 Analog Channel Names Replace 6 26 Analog Data Bit Depth 6 7 analog data files opening H 6 Analog data graphs 6 9 Analog Display 6 31 6 38 analog forceplate data 6 31 Analog Graphs pop up menu 6 38 Analog Input Channel Connections B 12 B 14 Analog Input Hardware Connections B 1 Overview B 1 Analog Panel 7 13 Analog Setup 7 13 Analysis J 1 Exporting Information 10 32 graphs 10 30 Analys
55. Frame Offset input dialog 3 Set the value to 48 This properly aligns the video data with the motion capture data This directory also contains a set of example files demonstrating how to use the marker stabilization tool in Cortex The file Head prj defines a marker set of just the head markers for the performer these markers are separate from the face markers These head markers were tracked and ex ported to a TRC file Head tre This TRC file was then used with Cal cium and a single segment skeleton was created with the only segment being called Head This creates a DOF segment which exactly tracks the motion of the head of the performer Figure 14 2 Head Segment and its Driving Markers D 7 Appendix D Capturing Facial Motion Cortex 1 0 User s Manual The project file is called Head prj and it contains the Calcium setup infor mation In Cortex the Head prj file is loaded and the skeleton generating tools are turned on In addition the selection of the Streaming Option Make ob ject A relative to segment named Head of Main object is turned on For each TRC file that you capture you calculate then export the HTR skeleton to an HTR file The TRC file and HTR file are used by a stand alone command line program called Stabilizer from the Mocap Tool kit to generate a stabilized TRC file from the original TRC file The sta bilizer command would look as shown in Figure 14 3 Figure 14 3 Stabili
56. GND 45 NOT USED 93 PFI 14 46 Al GND 94 D GND 47 NOT USED 95 PFI 15 48 Al GND 96 5 V 4 7 kQ Resistor A Jumper Cable is required if multiple NI USB 6259 units are being used together gt 64 channels Appendix C Marker Sets Overview Animation Biomechanics Examples Developing Optimum Markers Sets Overview Animation Note When deciding how to place markers for Cortex it is important to realize that asymmetry is used by the software to distinguish left from right on the subject Therefore thigh markers may not be placed symmetrically left to right and a single marker might be placed on one shoulder to dis tinguish left from right Also asymmetry is used to distinguish 3 markers linked together in a tri angle Therefore the hand and thumb marker should not be the same dis tance from the wrist marker and should be well separated Another limit is the actual number of markers used For a very detailed skeleton you may be tempted to use a large number of markers However since each marker requires computation time there is a practical limit to the number of markers used before the speed of real time tracking is im pacted Specific examples of marker sets suited for both animation and biome chanics are given in the following figures Figure C 1 is an example of a typical marker set using 35 markers This example also shows suggested naming conventions Howe
57. Genlocking Master Camera Current Camera Number 8 Model Unknown Serial Unknown Version Unknown Date Unknown 0 0 0 0 Set As Master Brightness 100 Threshold 331 ia New Camera Software carers Hoke o000 x Reboot All Cameras IP Addr Jeo Fps z Up Unitsimm Analog 1200 00 H2 10 Set the shutter speed in the Cortex software so the markers are bright and have a good threshold setting usually about 500 11 Place the calibration L frame in the center of the taped area The cameras need at least 20 minutes to warm up before collecting cali bration or trial data As the subject moves from one region to the next in a multiple region cap ture volume Cortex has no problem as the subject leaves the view of some cameras while entering the view of others The only requirement is that at least two preferably three or four cameras can see the subject at all times 5 14 Cortex 1 0 User s Manual Chapter 5 Camera Setup For additional cameras to be effective they must be sufficiently far apart so that the rays from a given marker to the two adjacent cameras subtend a large enough angle to yield good positioning data Using Many It is possible to use eight or more cameras effectively in a relatively small Cameras in a Small volume if there is sufficient height We suggest placing half the cameras Volume at a moderate height and the other half as high as possible You may need t
58. L ASIS LASIS LASI Posterior pelvis a Sacrum acceptable names V SACRAL V SACRUM SACRAL SACRUM SACR VSAC or b Right PSIS acceptable names R PSIS RPSIS RPSI and Left PSIS acceptable names L PSIS LPSIS LPSI Right lateral knee acceptable names R KNEE R KNEE LAT ERAL R KNEE LAT RKNE Left lateral knee acceptable names L KNEE L KNEE LATERAL L KNEE LAT LKNE Right lateral ankle acceptable names R ANKLE R ANKLE LATERAL R ANKLE LAT RANK Left lateral ankle acceptable names L_ANKLE L ANKLE LAT ERAL L ANKLE LAT LANK Right heel acceptable names R HEEL RHEE Left heel acceptable names L HEEL LHEE Right toe acceptable names R TOE RTOE Left toe acceptable names L TOE LTOE Right medial knee acceptable names R KNEE MEDIAL R KNEE MED Left medial knee acceptable names L KNEE MEDIAL L KNEE MED Right medial ankle acceptable names R ANKLE MEDIAL R ANKLE MED Left medial ankle acceptable names L ANKLE MEDIAL L ANKLE MED H 25 Appendix H SIMM Motion Module Cortex 1 0 User s Manual Upper Body Critical Markers Semi critical Markers The upper body portion of the Mocap Model will be loaded if the critical markers listed below are present in the static trial The upper arm and lower arm segments will each be scaled separately based on measure ments made from the static trial Each of these segments will be scaled uniformly in the X Y and Z dimensions The torso segment will be scaled ind
59. Lips D 5 MA Quickstart 2 8 NM Quickstart 3 7 Nose D 5 Nose Bridge D 5 Marker Sets C 1 Animation C 1 Biomechanics C 3 Developing C 5 Examples C 4 Overview C 1 Marker Size 5 29 9 3 Marker Slots 6 18 Marker XYZ Graphs 6 9 Markers Identifying 10 12 Selecting 6 52 Unnamed 10 11 Markers Panel 11 2 Clear Marker Set Button 11 3 coRTex 1 0 User s Manual Create Linkages Button 11 3 Masks Clearing 7 11 Creating 7 11 Matrix Method 11 15 Max Acceptable 6 21 9 4 Max Horizontal Lines per Marker 9 2 Max Prediction Error 9 3 Max Residual 9 3 Max Speed mm frame 10 23 Max Target Speed 9 3 Max Prediction Error mm 10 23 Maya D 1 Menu Bar 6 3 Merge Marker Sets 9 10 Mesh Deformation D 9 Min Cameras To Use 9 3 Min Horizontal Lines per Marker 9 2 Misc Tab 6 18 mocap model H 15 joint center calculations H 13 marker set H 14 scaling H 13 static pose H 10 Mode Panel Buttons 6 28 Model Adjustments 12 4 Model Edit 6 28 11 1 Overview 11 1 Morphing D 10 Motion Analysis Corp Contact Information 1 18 Motion Analysis License File Example G 2 Motion Capture 6 28 Overview 9 1 Motion Capture Laboratory Setting Up 5 1 Motion Capture of Hands D 15 Motion Capture Panel 9 1 Motion Capture Terminology 4 5 Motion Composer 1 9 Motion Module H 1 H 17 opening analog data files H 6 opening C3D files H 2 opening TRB C files H 2 opening XLS files H 6 real time import H 7 Motion
60. Manual Overview of the System Calibrating Process System Calibration is performed in two stages a seed and a wand calibra tion A relationship must be established between real world positions ob ject coordinates and the corresponding image coordinates from the cam era view This is called calibrating the system When a target is visible in two or more camera views there is sufficient information available to track the targets in three dimensional space The calibration of a given camera s view is completely dependent on the camera lens focal length and the position and orientation of the camera with respect to an arbitrary reference frame called the object reference frame A change of any sort which alters the relationship between the ob ject coordinates and image coordinates must be followed by a fresh cali bration This includes accidently bumping a camera tripod The calibration process calculates eleven calibration coefficients which implicitly define the configuration of a particular view The calibration coefficients together with the image coordinates of a single target are sufficient to define the path of an optical ray from the target to the camera through the object space If rays from two cameras intersect in space at a specific time they define the 3D position of a target at that time There fore the tracking process is one of intersecting optical rays generated from different views of the same event Cortex empl
61. Se v 33 Model Edt Plugins egme Click Alione CbleCick Toge Current Frame Indicator Line NINNE 1071 80 Chek aatione Cuiecick Toye Rul 53 U2 Empty S4 U_3 lt Engty gt SS U 4 lt tirety gt SS 56 US lt frety gt 57 U_6 lt Emgty gt BU Erp 2 user a E Clete prem Ree D0 2I0 0 00 comm am E b gt gt e SeA Frames 120s Zp Urtssom Anay 600 00H Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual ID Params Tab Figure 6 15 Settings gt ID Params Tab Settings Calibration Cameras Playback 3D Display Post Process Tools Misc Id Params Plugins These parameters only affect Post Process s Boot Strap rectification algorithm This is the non template non rigid body rectify Identifying Parameters Linkage Stretch Parameters To Reconsider std dev Max Acceptable std dev This is used to automatically identify markers based on a Model Pose that you create when you make a template The result is that if you use the same marker set repeatedly you will not have to ID the new person each time the marker set is used This is the same function as using the New Subject button that is found on the Real Time dashboard For complete information refer to New Subject Button on page 6 43 To Reconsider If a link stretches more than the set amount the path is snipped into two paths w
62. Seeded 8 10 Setting Up 5 11 Square Seed Calibration 8 8 Index 2 Cameras Panel 7 1 Cameras Tab 6 12 Capture Volume Sizes 5 5 Capture Volume and Marker Size Relationship 5 29 Capturing Facial Motion D 1 Accessory Kit D 1 Cheeks Marker Placement D 5 Chin Marker Placement D 5 Examples D 7 Eyebrows Marker Placement D 4 Eyelids Marker Placement D 5 Four Camera D 3 Head Marker Placement D 4 Jaw Marker Placement D 5 Lips Marker Placement D 5 Marker Placement D 4 Nose Bridge Marker Placement D 5 Nose Marker Placement D 5 Overview D 1 Setup D 1 System Configuration D 1 Three Camera D 3 Centroid Parameters 9 2 Channels Table 6 38 Clear Entry 9 9 Clear Marker Set Button 11 3 Clearing Masks 7 11 Collect and Calibrate Button 8 10 Color Video 6 9 Color Video option 6 31 Colors 6 25 Colors Form 6 25 Connect Cameras Button 6 48 Connect to Cameras 7 1 Connections Analog Input Channel B 12 B 14 Analog Input Hardware B 1 EagleHub2 A 6 Control Points 5 21 Convert anc File 6 5 Coordinate System Calibration 5 20 Copy 10 18 CP 8 Power Hub Connections A 5 Create anb file 6 7 Create prj file 6 7 Create trc file 6 7 Create folder for files 6 7 Create forcepla cal file 6 7 Create Linkages Button 11 3 Create Template 9 6 Creating Masks 7 11 Current Camera Information 7 3 Cut 10 17 Cut Inside 10 17 Cut Outside 10 17 Data Viewing 10 2 Dat
63. Starting Cortex project file that is located in the C Program Files Motion Analysis Cor tex Samples Animation Calibration folder The basic methodology out lined here can be generalized to other marker sets Turn on the Host computer and login Turn on the Ethernet switch and CP 8 Power Hub The cameras will automatically power up 3 Launch the Cortex software by double clicking the icon located on your computer s desktop N 3 1 Chapter 3 Quick Start Tutorial for Animation Production Applications Cortex 1 0 User s Manual Project Initialization Note Load a previous project File gt Load Project that has an animation marker set e Project files contain information about calibration thresholds masks tracking parameters marker sets and templates e By loading a previous project that contains all of this information you will not have to re enter it all each time you start a new cap ture session You will only need to update the calibration if nec essary Immediately save the project file in a new folder File gt Save Project As e Create a new folder for the subject and save your project there This directory now becomes the default Cortex directory Make sure that you do not write over previous projects Separate projects are needed in order to run trials for that particular day If cal ibration VC files are written over then recreating the calibration pa rameters in Post Process mode w
64. The advantage to this method is the fast and direct calculations from markers to joint centers to bone seg ments The disadvantage is primarily for high resolution animation use since the joint centers are calculated directly from real and virtual marker locations Bone lengths will vary slightly from frame to frame due to marker skin motion which can cause the animated character s skin to dis tort and not look as good as expected This is a very different method of calculating the skeleton motion from marker locations Typically the skeleton is defined within one of the sev eral animation packages and exported and saved in an HTR and a MOD model file This skeleton is not allowed to change size to fit the motion data but the Solver engine software uses a best fit Global Optimization of the marker data to conform to the rigid underlying skeleton This results in the very best way of animating characters from mocap data but to use it in Cortex you need to save a mod file with the same name as your prj file The Calcium software allows you to export a mod file The Solver Global Optimization method is resident in three of Motion Analysis Cor poration s software products Cortex Calcium and the SIMM modeling package This uses the Solver engine with the same advantages as the Calcium Solver method above but with a known and fixed marker set that was de veloped for biomechanics use To use it you must use some variation of the OrthoTr
65. This causes the dynamic template to perform poorly and it needs to be reset back to the original user created template For the Reset IDs function to be successful all of the markers used when creating the template must be present When the markers are un identi fied the software keeps looking in the current dynamic template to iden tify the markers The software will also continue to identify the markers whose history it knows about so you can see frames where some markers are correctly identified and other markers are shown as the black un named marker crosses When about 1 3 or more of the markers become un identified the software tries to apply the dynamic template over the entire marker set to re identify the markers All of the markers in the marker set must be present before they can be identified These are parameters that affect how much stretch the dynamic template is allowed to change which are set with in the Motion Capture gt Track ing gt Identifying Parameters Linkage Stretch Parameters To Re consider std dev and Max Acceptable std dev This does not apply to the Post Processing Template Rectify feature but only to the Mo tion Capture mode of tracking To Reconsider is a unit less measure of linkage stretch checks which the current frame marker identifies against the current dynamic template The dynamic template is a measure of the minimum and maximum of each of the linkages which is updated as the person mo
66. Tool Strip Options For information on the Post Process Tool Strip reference Post Process Tool Strip on page 6 50 6 15 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Search Tab Figure 6 11 Settings gt Post Process Tools gt Search Tab Settings Calibration Cameras Playback 3D Display Post Process Tools Misc Search For Markers Gaps All Spikes one Spikes and Gaps Auto Center 3D Display while Searching Gaps Acceleration at Spikes Gs ES 7 Post Process Tool Strip Settings Id Params Plugins This tab sets the search parameters for finding specific discontinuing and inconsistent post process data User s can set the search for gaps and or spikes within the data for all and individually selected markers There is also an adjustment slider for the acceleration spikes Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Undo Tab Figure 6 12 Settings gt Post Process Tools gt Undo Tab Settings Smoothing Search Undo Undo Buffer Options Enable Undo Disable Undo Clear Undo Buffer Past Process Tool Strip Settings This tab allow the user to turn on and off the Undo function The Undo function can use high levels of memory and this provides the option to turn it off The Undo Buffer can also be cleared out to lower memory usage by selecting the Clear Undo Buffe
67. _ vi 444 Figure 10 5 The Curve After an Application of the Butterworth Filter with an Input Freq of 3 1446 i i 447l e ls igas F K bS 1 145 gt Pa N 3 p x ja JA j ed t44 L i 443 N i 81 82 88 84 85 86 a7 88 89 90 a 92 93 9495 96 oF 98 99 100 10 7 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Figure 10 6 The Curve After an Application of the Butterworth Filter with an Input Freq of 6 448 mo A y 147 i ie i l F y 6 y i A 445 he ai 444 81 82 83 o4 85 86 ov 88 89 g0 Eil g2 93 od a 95 98 oF 98 99 100 Figure 10 7 The Curve After an Application of the Butterworth Filter with an Input Freq of 12 448 447 a A 3446 l i a ws 145 pT o 444 10 8 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Figure 10 8 The Curve After an Application of the Butterworth Filter with an Input Freq of 18 448 ot N A j 444 443 w 81 82 88 84 85 8B a7 s8 90 Ei 92 so ag 98 oF 9B 99 100 As the previous sequence of images shows the input value to the Butter worth filter noticeably changes the result The first example a frequency input of 3 shows a lot of smoothing applied to the curve while the last ex ample shows very little change to the curve Depending on your needs these might be appropriate levels of change For most purposes however values between
68. all information re garding Join Virtual refer to See Join Virtual on page 10 24 This calculates the locations for all assigned virtual markers over the se lected frames For more information refer to Virtual Markers on page 11 17 Smooths data within the set frames with the selected filter type A Butter worth 3 pt moving average or 5 pt moving average filter can be applied to the selected markers over the selected frames Filter selection is found in the Tools gt Settings gt Post Process Tools gt Smoothing form For more information refer to Filters on page 10 5 The selected marker s will become unidentified over the selected frames When selected the marker s data will be moved to the first available uni dentified marker slot Makes all unnamed unidentified markers into contiguous paths to follow through the capture sequence For more information on the Rectify func tions refer to Rectify Functions What They Do and When To Use Them on page 10 19 Deletes all unnamed markers over all frames 10 16 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Cut Cut Outside 20 Search Q PP Settings Undo EE a Additional Icons Hide Markers XYZ marker data within the selected frames including endpoints will be cut out and is available for Paste Cuts the data outside of the selected frames exclusive of the endpoints Finds gaps and or spi
69. appropriate marker set exists follow these steps to create a template 1 Choose Motion Capture from the Mode Buttons 2 Choose Output from the panel buttons 3 Check the Tracked ASCII TRC or Tracked Binary TRB check box on the Output panel 4 Type a file name in the name box and press Enter Set the Duration seconds between 10 and 20 6 Start collecting the range of motion data of the subject by having the person stand in the middle of the capture volume with arms extended palms parallel to the floor with thumbs facing forward and all mark ers in full view 7 Click Record on the Output panel 8 The subject must stay in an initial frozen position for two or three sec onds 9 After standing frozen in this initial position for up to five seconds the person must move through a complete range of motion by moving and twisting ensuring that each linkage exhibits the full extent of stretch that will be experienced during subsequent motion capture sessions Exaggerated motion must be avoided and all markers should remain in full view This step should not require more than fifteen seconds 10 After ten seconds passes from the moment Record was clicked the system will automatically stop collecting and tracking marker data oi At this point a Tracked ASCII TRC or Tracked Binary TRB file has been generated in the current directory and is ready for editing Next the markers must be hand identified according to the mar
70. available SkB Skeleton Builder and Calcium Si Blank forms to help you define skeleton parameters for each of these methods can be found in Appendix M Useful Blank Forms You may want to copy one of these forms for recording your project measurements Motion Capture Terminology Move Trial Take Some terms that are useful to a motion capture session are moves trials and takes A move is an event or routine performed by the motion capture subject A move can be as simple as a neutral stance position or as complex as a 2 person 30 second dance routine The director and subject will work from a move list Multiple trials of a move should be taken The number of trials depends on the complexity of the move the subject s performance and quality of the Cortex raw data Usually three trials per move is adequate It is im portant that the director or subject s comments about the quality of the trial which trial was the best be recorded on the Motion Capture Log Knowing which trial of a move is the best will allow the Cortex user to track only the best trial A take is the master number used to relate what is on the camcorder s video tape to the Cortex filenames and trial numbers The take number is displayed on the slate board and on the Motion Capture Log Every new image recorded on the video tape should have a new take number This should include calibration collection initialization and T pose Init pose stance posi
71. be present in the static trial in order for the Motion Module to load and scale the mocap model For the lower body these markers are V Sacral R ASIS L ASIS R Knee or R Knee Lateral R Ankle or R Ankle Lateral R Heel R Toe L Knee or L Knee Lateral L Ankle or L Ankle Lateral L Heel and L Toe If any of these markers is missing from the static trial the SIMM model of the lower body will not be loaded For the upper body the critical markers are V Sacral R ASIS L ASIS R Shoulder R Elbow R Wrist L Shoul der L Elbow L Wrist Note that the ASIS and sacral markers are critical for both portions of the body If one of these markers is missing from the static trial you will get an error when trying to load the mocap model Non critical markers are all other markers in the set Once the Motion Module has determined the locations of the joint centers and the orientations of the segment reference frames from the static pose it calculates the proper offsets for all of the critical markers plus the static only medial markers For example once the right thigh reference frame has been oriented within the static pose marker cloud the exact po sitions of the critical markers attached to the right thigh can be measured directly from the static pose and entered into the mocap model thus over writing whatever offsets were in the model input file After the offsets of all the critical markers have been determined in this fashion th
72. calculated and are typically from one virtual joint center to a second virtual joint center A 3D local coordinate system is defined with 3 markers 1 One marker defines the origin 2 A second marker defines the bone axis 3 The third marker defines the plane The advantage of the SKB type skeleton is that they compute very quickly and they represent the method of how most biomechanical models have been computed for many years The disadvantage is seen when viewed on a skinned character in an animation package The bones segments change length as a result of the calculation method This is due primarily to the motion of the markers on the skin which change from frame to frame An animated character can be set up so that the character keeps a fixed length skeleton and the skeleton is driven only by the angles mea sured from the skeleton This has the visually undesirable artifact that the character s feet will appear to slide on the floor and possibly raise above or protrude below the floor Calcium Solver Skeletons Solver type skeletons are calculated quite differently than SkB skeletons Solver uses the Global Optimization method of calculating the best fit of the marker data to the underlying fixed bone length skeleton This tech nology was pioneered by Motion Analysis in 1990 The early version model setup was somewhat cumbersome and required physically measur ing from a person s joint centers to the marker locations before th
73. cation without these restrictions Cortex these names can be preserved in the marker description field of the c3d file Analog Data Bit Depth This setting specifies the bit depth of the analog to digital converter used in capturing the original analog data Marker Data Up Axis This setting specifies the up axis of the global coordinate system that was used when the motion data was captured in the original c3d project Channel Settings These settings are used to specify the voltage ranges of the analog chan nels that captured the analog data in the original c3d project 6 7 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Profile Manager The Profile Manager opens a dialog which manages the customized set tings for individual users These customized settings include the follow ing e Hotkeys e Colors e Layouts and Data Views e Post Process Tool Strip The Profile Manager dialog has three main components e Current profile set for manipulation top e List of all available profiles left side e Profile manipulation buttons right side Figure 6 5 Profile Manager Profile Manager Current Profile Profile2 CortexUser Create New Profilet Profile2 Load Selected Create New A prompt to enter a profile name will be displayed A profile with that name and the default settings will be created This will be set as the cur rent profile Load Selected This will load whatever p
74. center of the top surface of the forceplate Each manufac turer provides this offset value XYZ Location in This tells the Cortex system where the center of the top surface of the for y p Video Coordinate ceplate is located relative to the Cortex video coordinate system Once System this is established the video calibration frame must be placed in the same location each time you calibrate The center of the top surface can be found by measurement or drawing diagonal lines from opposite corners The units of measurement are centimeters cm 3x3 Orientation This matrix describes the orientation of the forceplate relative to the labo Matrix ratory or room coordinate system It is a matrix of direction cosines of the angles between the forceplate coordinate system and the laboratory coor dinate system Using the terminology cos Xplate Xlab to indicate the angle between the forceplate X axis and the laboratory X axis the matrix takes the following form Xplate Yplate Zplate Xlab cos Xplate Xlab cos Yplate Xlab cos Zplate Xlab Ylab cos Xplate Ylab cos Yplate Ylab cos Zplate Ylab Zlab cos Xplate Zlab cos Yplate Zlab cos Zplate Zlab Since in real situations the forceplate should be aligned with the room coordinate system the numbers in this matrix will always have one of three values Angle 0 cos 1 Angle 90 cos 0 Angle 180 cos 1 Example matrices are shown in the following figure E 3 App
75. colored box and a color palette window opens up This lets you choose the color blend for that marker The colors are stored in the Colors xml file that is part of the user s profile 6 25 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Misc Replace Loaded Analog Channel Names Occasionally there are situ ations where an incorrect analog channel name can occur Examples of this can be seen when analysis software like OrthoTrak requires specific muscle names for the analysis In these cases the ability to go back and re name the problem analog channel is required To Rename Analog Channels follow these steps Load a Project file Load a Tracks trb trc file Select Data Views gt Analog Display In the existing project file go to System gt Analog and change the name of the analog channel you wish to modify Save the project You may want to save it as a different project name Go to the Tools menu and select Misc gt Replace Loaded Analog Channel Names 7 To see the replaced name reload the project file you are working with This will show the changed name in the Analog display sidebar BONS D g Note To save this change to the analog file you must follow the next steps ex actly 8 Select File gt Trim Capture W Options Figure 6 22 Trim Capture W Options Interface Trim Capture Options S x Default Directory File s Original Directory E Program Files Moti
76. connected directly to one of the remaining open port son the NIC using a patch cable K 3 Appendix K Questions and Answers for Specific Applications Cortex 1 0 User s Manual Question Answer Question Answer Question Answer Is there a way to have two templates for two people in the project that identify them both in real time at once rather than using one huge tem plate that includes everything This is the MTO Multiple Tracking Object item Refer to Multiple Tracking Objects on page 9 7 What does the extend template option do Extend Template adds new linkage stretch to the existing template if you need it For example you can make a one frame template ID some mo tion then you can extend the template so that it knows about the new mo tion linkage stretches as well as the old ones What are the latest specifications for the Eagle system performance From the 5 person Eagle camera data included in the Cortex release pack age under the Samples folder e Trial FivestarsAgainandAgain VCX 1800 Frames 120 Frames sec per the Cortex software e Biggest VC file 3900 KB highest data rate Smallest VC File 1100 KB Avg VC size about 2500 KBytes e Data rate per Eagle camera Max size file 3900 KBytes X 120 Frames sec X 1 1800 Frames 260 KBytes sec or about 2600 Kbps kilobits sec or 2 6 Mbps or about 2 6 of the 100 Mbps Ethernet or about 0 26 of the 1000 Mbps Ethernet e Avg size fil
77. critical for obtaining the best marker data 4 With the markers in place take still photos of the subject from the front side and rear view If you are taking photographs do not use the flash attachment on the still camera while you are collecting data A flash during data collec tion can corrupt the data Allow the subject to practice in the capture volume with the markers on Prepare for the calibration collection Explain to everyone the impor tance of not bumping the camera tripods 4 6 Cortex 1 0 User s Manual Chapier 4 Planning a Motion Capture Session Capturing the Data Calibration Note Collect the Square Seed Calibration Collect the Wand Calibration Collecting Trial Data Subject Initialization This section provides a general overview of the calibration process For complete calibration information refer to Chapter 8 Calibration Panel 1 Fill out the Motion Capture Log and slate board for the first square seed calibration This would be Take 1 and an Cortex filename for example CalSeed 2 Prepare the Cortex system for data collection Press the Collect and Calibrate button to trigger the event button 3 Verify that the camera buttons turn yellow after the Seed calibration is complete 4 Remove the calibration seed device calibration L frame from the capture volume For best results it is recommended that you collect and use wand calibra tion data Pre
78. data editing ses sion It controls the range of visible frames and the range of selected frames to be edited It also provides several controls for playing through the tracked data and choosing a current frame This dashboard is de scribed further in Chapter 10 Post Processing Panel Figure 6 43 Post Process Dashboard Move to Active Play Pause Play Speed Frame Lowest Highest Frame Frame Selectors eb obo Sia iui sdo mo ado ado ca 4 e e 00 00 03 08 Selected Frames Low Move 1 Frame Selected Frames High Visible Frames Low Time Code Visible Frames High Post Process Tool Strip Figure 6 44 Post Process Tool Strip Cortex 1 0 0 Body_Club_Merged prj GolfTempert trb GolfTempert ve1 I fie Layoats DzoVews Tods Hep System Calbrabon Motion Capture _ Post Process Model Edt Plugns a MON T T e a h FCORKAB auan ey puins ie ee Me Delanoe Ome aet teh Ma Rede Ga oa p a O oeide KS amp R E O a O WANS 7 2 ee a a QuickID Rectify Template Template Template Marker ID Exchange Cubic Virtual Calc Smooth Make Rectify Delete Cut Cut Search PP Create ID Rectify Join Join VMs Unnamed Unnamed Unnamed Outside Settings Post Process For a listing and description of all Post Process Tool Strip Icons reference Tool Strip Icons Post Process Tool Strip on page 10 12 6 50 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interfac
79. down 2 Hold both the left mouse and middle mouse buttons down 3 Move the mouse forward and backward In the XYZ Graphs translating is accomplished if you 1 Hold the Alt key down Hold the middle mouse button down 3 Move the mouse in any direction Selecting Markers Virtual Markers Linkages and Segments Note Markers can be selected by the following 1 Clicking on the markers seen on the 3D View Double clicking on the markers seen in the XYZ Graphs 3 Clicking on the markers listed on the Marker Grids which are a part of the Post Process tab the Model Edit gt Markers panel and the Model Edit gt Tree View All of the conventional Shift click and Ctrl click techniques to select multiple items are supported in this software 6 52 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Time Code SMPTE Time Code and Cortex Overview Using the Time Code Reader Option with Eagle and Hawk Cameras Using the Time Code in Post Processing Time Code and the Digital Video EVaDV Option SMPTE Code reads as HH MM SS FF which is Hours Minutes Sec onds Frame Frame numbers are 0 to 29 in NTSC and 0 to 24 in PAL When you capture at a higher motion capture rate such as 60 or 120 Hz there are multiple motion capture VC frames per color video frame The software takes care of that so if you record your VC files at 60 Hz the VC frame advances twice for every single frame advance in th
80. drag a square over the bad data to mask e To cover all areas in a large capture volume you may need to aim some of the cameras where they will not see the Calibration L frame The Cortex software will then calibrate these cameras dur ing the wand calibration procedure Check the 3 D display and camera locations e If it is not already set right click and select Show Cameras All of the cameras should be in the correct place Optimize the camera positions and their orientation e New camera positioning should be done at this point if needed e Right click in the 3 D view and select Show Camera Field of View You will probably have to change the length of the field of view to more than the default value of 4000 4 meters This adjustment slider is found in the Tools gt Settings gt 3D Display tab Try 9000 9 meters e Turn the capture volume on by right clicking your mouse in the 3 D view and selecting Show Volume This volume is a visual aid helpful in this process of aiming the cameras properly The volume dimensions are entered under Tools gt Settings gt Cali bration gt Capture Volume tab in the window e You camera field of view should cover the desired volume Try and align edges of the volume box with edges of the camera field of view This may require that one person moves the camera on 3 axes while another person directs the movements Once the camera position is optimized press the Collect and Cali brate button
81. image This is then turned into rotation information to rotate the eyeball of the character Waldos are physical input devices use as puppeteering controls for char acters Each input type is given a high level meaning such as head rota tion eye blink or a particular facial expression For this reason waldos and morph target facial animation systems work well together A miscellaneous collection of issues which affect or are related to facial motion capture are detailed in the following sub sections Marker size camera resolution and capture volume calibration are all key elements to determining how large the capture volume can be and how much of the performer can be captured at once Camera refresh rates and the number of markers can affect this too although they re not as impor tant The latest camera systems have higher resolutions and the latest soft ware has easy to use techniques for handling lens distortion and capture volume calibration This adds up to the ability to have smaller markers and more of them which allows for full body and face motion capture si multaneously Having face and body data at the same time is an important technological hurdle It simplifies a great number of face body coordination issues and allows for real time processing of the data so that live motion capture sets can be created a live set is when the data is acquired processed applied to a virtual character and rendered at 30 frames a second
82. in the mocap model contains the line gait_scale R_THIGH 0 3960 0 3960 0 3960 This tells the Motion Module that the unscaled femur is 0 3960 meters long Once the length of the corresponding OrthoTrak segment is known R_THIGH the femur can be scaled accordingly If the R_THIGH seg ment were 0 35 meters long then the femur would be scaled by a factor of 0 35 0 396 In most cases the three reference values are the same number indicating that the segment should be scaled uniformly in X Y and Z The two exceptions are the TORSO and PELVIS which are scaled differ ently in two dimensions For SIMM segments that do not map directly to an OrthoTrak segment their scaling information is copied from the most relevant segment For example the right hand in the mocap model copies the scaling information from the right lower arm so that the hand is scaled the same amount as the lower arm The marker set in the mocap model that comes with SIMM includes every marker used in all six marker sets that OrthoTrak recognizes plus the me dial knee and ankle markers In addition many other markers have been added such as medial elbow and wrist markers For a complete list of the markers in the model as well as information on when they should be used and where they should be placed on the subject read the Guide to Mocap Model Markers document The mocap model contains over 80 markers which is more than the number used in most applications When the st
83. in the Calibration with Square field If sound is enabled and you have speakers turned on you will hear a sound Remove the L frame from the capture area It will need to be com pletely out of view from all cameras Set the wand length in the Calibration with Wand field e Make sure the wand length is set at 200mm or 500mm depending on the wand used Set the capture duration e The wand capture duration should be around 60 seconds or long enough to cover the capture volume During the 60 seconds 1 3 of the time should be spent waving the wand parallel to each axis x y and zZ Press the Collect and Calibrate button in the Calibration with Wand field Begin waiving the wand to cover the capture volume as much as pos sible e The object of this exercise is to cover the entire capture volume by waving the wand both horizontally and vertically through the cameras field of view If you look at the 2 D fields of view you should have only a small amount of white space The better the coverage the better the calibration 3 4 Cortex 1 0 User s Manual Chapter 3 Quick Start Tutorial for Animation Production Applications Figure 3 3 Proper Wand Calibration Coverage ec Ses Frames Used 1870 Frames Used 432 Frames Used 331 6 Frames Used 1789 Frames Used 384 When finished and the Wand Processing Status window appears you can select the Run Again button This will rec
84. in the system is included in one force pla cal file see Figure E 4 The forcepla cal file must be in the same directory as either the Cortex50 exe file or the prj file Otherwise the forceplate outlines will not appear in the 3D collection view Forcepla cal files in the past have been named with a t as forceplate Be sure to check that there is no t in forcepla cal Example Forcepla cal files for each type of forceplate AMTI Bertec and Kistler can be found in the directory C Program Files Motion Analysis Cortex5 Samples Example Forcepla cal Files E 1 Appendix E Forcepla cal File Format Cortex 1 0 User s Manual Figure E 1 Forcepla cal File Structure for Bertec and AMTI Forceplates Line Description Forceplate number 1 through 8 Forceplate scaling factor and optional length and width of forceplate 25 for AMTI setup with amplifier gain switches set to 4000 6x6 forceplate calibration matrix Inverted Sensitivity provided by the manu facturer Xo Yo Zo True XYZ origin relative to the geometric center of the forceplate in cm provided by the manufacturer 10 Xc Ye Zc XYZ location of the geometric center of the plate with respect to your video coordinate system the video calibration system s origin measured in cm it 3x3 forceplate orientation matrix to make the forceplate 13 coordinate system match the laboratory coordinate system Figure E 2 Forcepla cal File Structure For
85. in what volume is the dis tance the marker is viewable and usable from the camera Min 3 lines below is the minimum number of scan lines or pixels to allow in calculating a 2D centroid As a rule the more lines the cleaner the 2D data and resulting 3D data But once you get above 3 lines the data is very clean and going more lines per centroid does not generally make the data any better This setting is found in the Tools gt Settings gt Cameras tab Table 5 2 Marker Size and Maximum Distance for Eagle Digital Cameras Eagle Camera Distance m Marker Size Min 3 Lines Min 2 Lines 6 mm 1 4 in 4 2m 7 0m 12 mm 1 2 in 8 0m 12 0m 19 mm 3 4 in 10 7 m 15 0 m 25 mm 1 in 12 1m 16 0m These are empirical tests taken from an Eagle camera with the 18 55 mm zoom lens at a capture rate of 60 Hz 100 brightness and a threshold 500 Note Hawk cameras will require markers that are approximately 50 to 100 larger than those listed in Table 5 2 When using 1 2 inch markers the useful distance for VERY CLEAN data Min 3 lines per centroid is about 8 meters Going to a minimum of 2 lines per centroid takes the usable distance to 12 meters Going to the 3 4 inch marker gains another 3 meters to 15 meters A note of interest is that going to a one inch marker does not give a big boost in distance Other factors come into play such as the inverse square law about light falling off as we get fur
86. left side The Directory List below the Menu Bar The Mode Buttons along the top left of the screen The Panel Buttons along the top right of the screen The Panels on the right side of the screen The Real Time Dashboard along the bottom of the screen The Post Processing Dashboard replaces the Real Time Dashboard while the program is in Post Processing mode 9 The Status Bar Messages in the lower left corner 10 The Information Center in the lower right corner ONO PHN 6 1 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual An image of the interface is shown in Figure 6 1 Note that multiple 3D views can be rendered simultaneously Figure 6 1 Cortex Interface in Real Time Mode Menu Bar Quick Files Icon Mode Tab Buttons Cortex 1 0 0 Body Club_Merged prj Golffempert trb GolfTernpert yc1 Panel Tab Buttons aog I Fie Layouts DataViews Tools Help S87 MotionAnalysis System Calibration Motion Capture Post Process Model Edit Plugins Tracking Objects Output o LS s Centroid Parameters Min Horizontal Lines per 2 5 Marker Max Horizontal Lines per 30 5 Marker Use Per Camera Settings Shape Analysis OnNone Normal O Weak Tracking Parameters Max Residual mm 4 Max Speed mmiframey 30 Marker Size mm 20 _ Max Prediction Error mm 75 _ Min Cameras to use 2
87. marker plus any base pad thickness would be entered into this box Refer to Appendix D Capturing Facial Motion After you calibrate the system you can use the Refine panel to either im prove your calibration or to fix the calibration if a camera gets bumped or the cameras have moved slowly over time When performed well the Re fine Cameras function can greatly improve the accuracy of the system and will fix a bumped camera all within 60 seconds It is one of the most powerful tools in Cortex To use it check the Refine Camera Positions check box press the Run button when connected to your cameras Have a subject move about in the capture volume Like with wand calibration you must cover the entire capture volume and field of view for each cam era with any marker data If you get good coverage then refined calibra 8 14 Cortex 1 0 User s Manual Chapter 8 Calibration Tab Camera Position and Properties tion will be very good If you get only partial coverage then you the re sults may be worse than not doing the refine The panel on the bottom of the Calibrate panel displays the details of the selected camera in the 2D view You can move and rotate the cameras in the 3D View by changing the X Y Z coordinates and the Elevation Azi muth and Roll angles This can be helpful to see if moving the cameras will help with seeing the volume better Figure 8 10 Selected Camera Information Refine Procedure Pr
88. need to add rename or move markers in your SIMM model before loading a tracked marker file you can use the Marker Editor to do so See Section 2 12 Marker Editor for more details To import a tracked marker file into SIMM first make sure that the model you want to apply it to is the current model the topmost window in SIMM Then select File gt Open from the menu bar When the Win dows file browser appears change the Files of Type popup menu at the H 2 Cortex 1 0 User s Manual Appendix H SIMM Motion Module bottom of the browser to MAC Files or to C3D Files then navigate to the folder containing the tracked marker file s you want to import Figure H 1 Windows File Browser Tracked Marker Options Dialog Import Frames To Increment SIMM 3 2 3 File Model Plot Help Look in E Simm323 gt amp el BI Documentation J Resources EVaRT Extras Models Motions J PipelineDemo File name Files of type Next select the appropriate marker file s in the file browser Click the Open button to import the file s At this point SIMM will display a dia log box allowing you to specify several options for importing each data file into SIMM Note If your analog data files have the same base name as your TRB TRC file e g subject14 trc subject14 anb and subject14 xls then it is not necessary to select analog files in the file browser SIMM will au tomatically open any analog or XLS fi
89. of the following considerations 1 The maximum throughput of the National Instruments NI A D product 2 The video sample rate multiplied by 255 The NI USB 6218 A D unit which is often supplied with Motion Analy sis systems has a maximum throughput of 250 000 samples sec per unit So two units with 64 channels would have the ability to collect up to 500 000 samples sec Either way it is 250 000 32 channels or about 7500 samples sec per channel with all channels collecting data If you cut down to 16 channels you can have 15 000 samples sec per channel You can also connect up to 6 devices and use only 16 channels from each device For increased speed use the faster USB 6259 A D unit from NI This unit is 32 channels 16 bits same as USB 6218 but has a throughput of 1 25 Million samples sec or 5 times greater than the throughput of the USB 6218 The video sample rate multiplied by 255 limitation comes into play mainly if a slow mocap video rate e g 60 Hz is being used The max an alog rate in this case is 15 300 60 X 255 Under normal conditions cus tomers using higher analog rates would also be using higher mocap video rates With a mocap video rate of 200 Hz the max analog setting is 200 multiplied by 255 or 51 000 Hz Note that you can do this with the USB 6218 with fewer channels turned on 250 000 51 000 4 9 or 4 chan nels NI USB 6259 Analog Channel Connections The following table Table B 3 provides t
90. of the offsets are not important they are used only for display of the marker while creating it The offsets will be overwritten with values calculated by the Motion Module when the static trial is pro cessed and the model is scaled to fit the subject This process is described in more detail in Chapter 5 of the SIMM User Guide but here is a brief summary After loading the static trial the Motion Module places all of the critical markers that are in the trial on the Mocap Model in their corre sponding locations The Mocap Model is then scaled to match the subject and then a least squares optimization fits the model within the cloud of static trial markers considering only the critical markers This positions the model within the marker cloud so that the Motion Module can then di rectly calculate the offsets from the optional markers to the model seg ments to which they are attached If you do not want the offsets for a marker to be calculated in this manner then you must turn on the fixed button for that marker in the Marker Editor and enter accurate X Y Z offsets into the number fields This tells the Motion Module to scale the marker s offsets when the model is scaled but not to recalculate their val ues as it does for the other optional markers Note on adding markers You can create new markers using the Marker Editor and then save the model by writing out a joint file but you should not replace the original model file e g
91. one used for EVaRT but there are a few small differences based on how Sky invokes the VB Script object The most important difference is that the Main subroutine declaration in a Sky script is no longer required In fact it is recommended that you not use it any more although Sky will correctly run a script with such a declaration The easiest way to update an old script is to rename the Main subroutine to something appropriate such as the name of the Sky script Then add a line to the script to call the sub routine 14 2 Cortex 1 0 User s Manual Chapter 14 Sky Scripting Interface For example 1 FindAutoIDFrame Old version 1 Increment frames and keep calling AutoID until a marker gets identified This assumes no markers were identified before being called 1 sub Main swPopups SetQuietMode 1 iHi swLoadedTracks_ GetNumberOfFrames 1 for i 0 to iHi swLoadedTracks SetFrameNumber i swPost_AutoID iResult swContext GetMarkerPosition 0 x y 2Z if iResult 0 then Message AutoID found at frame CStr i exit sub end if if swCancelled then Exit Sub end if next swPopups SetQuietMode 0 end sub Would be modified to look like this 1 FindAutoIDFrame New Version 1 Increment frames and keep calling AutoID until a marker gets identified This assumes no markers were identified before being called 1 FindAutoIDFrame sub FindAutoIDFrame
92. previous project File gt Load Project that has a Helen Hayes static marker set e g Static prj e Project files contain information about calibration thresholds masks tracking parameters marker sets and templates e By loading a previous project that contains all of this information you will not have to re enter it all each time you start a new cap ture session You will only need to update the calibration if nec essary Immediately save the project file in a new folder File gt Save Project As e Create a new folder for the subject and save your project there This directory now becomes the default Cortex directory Make sure that you do not write over previous projects Separate projects are needed in order to run trials for that particular day If cal ibration VC files are written over then recreating the calibration pa rameters in Post Process mode will not be possible Choose Frame Rate and set the shutter speed brightness and thresh old Press Connect to Cameras e The first time you do this step a message indicating that X num ber of cameras were found existing project has 2 Do you want to modify project may appear See Figure 2 1 Press the OK but ton Figure 2 1 Connect to Cameras Status Pop Up Example Capture Devices Found 9 Cameras 6 Eagle 4 Cameras 2 Eagle Cameras 1 hawk i Camera 2 4 D Devices National USB 6259 16 Bit 32 Channels 1 32 National PCI 6254 16 Bit 32
93. rithms which underlay the facial animation need to be present in the game engine so it can reproduce the facial animation interactively Appendix E Forcepla cal File Format General Information Forceplate File Data Forceplate Scaling Factor X Width and Y Length Using AMTI and Bertec Forceplates Using Kistler Forceplates Using Kyowa Dengyo Forceplates General Information Note Note Up to eight forceplates may be placed within the video capture space to measure gait forces While Cortex gathers video data it simultaneously acquires forceplate data To accomplish this the forceplate output is connected to an analog input card in the Cortex system The forceplate data is interpreted using a file called forcepla cal When Cortex reads in the trial data it first searches the current directory where the project resides for the forcepla cal file If none is found it then searches in the directory C Program Files Motion Analysis Cortex5 Samples Example Force pla cal Files The forcepla cal file contains information describing the location orien tation and calibration of each forceplate used The exact form of the file will depend on the forceplate manufacturer Figure E 1 shows the file form for Bertec and AMTI forceplates Figure E 2 shows the file form for Kistler forceplates The forcepla cal file contains no text only numbers For multiple force plates the data for each forceplate
94. same marker set repeatedly you will not have to ID the new person each time the marker set is used The marker identification is automatic and instant saving you time The Model Pose has its own kind of generalized template that is used to automatically identify a new person when they appear in the field of view This generalized template depends on the person facing the same direc tion as the stored Pose ID and having the markers in the same general lo cations with respect to each other You save the Pose ID from one frame of data and is saved in your project file It saves you the steps of using the Quick ID feature to identify a new person in order to make a template for them The Auto ID feature works in the RealTime mode when you are connected to cameras or it works when you are tracking the data from VC files after the collection The following are basic steps on how to use the Pose ID function The Connect Cameras button will activate all the cameras used in a mo tion capture session A pop up message announces the number and type of cameras A D units color video cameras and time code reader if present The Raw Video button will tell the program to simulate a live motion cap ture session from previously captured Video Camera VC files It also al lows you to tack and record to TRB or TRC trials for which you have raw VC files This button opens the Settings gt Playback interface For more informa tion please reference
95. static trial you can remove any of the markers from the subject before recording motion trials Generally how ever you will want to keep all of the markers on the subject for the mo tion trials with the possible exception of the medial joint markers Also once the static trial has been recorded you must be careful not to move any of the markers on the subject except for removing them completely SIMM uses the static trial to calculate the coordinates of each marker rel ative to its body segment so if you move a marker or add additional markers you must re record the static trial and re load the Mocap Model All of the markers described in this document are already part of the pri mary Mocap Model located in SIMM Resources mocap mocap jnt To use any of them you do not need to make any changes to the file just place the markers on the appropriate locations on the subject and make sure the marker names in the static trial match the names shown in the fig ures below Many of the markers can have one of several names as listed Appendix H SIMM Motion Module Cortex 1 0 User s Manual in the box pointing to each marker in the figures These names are case insensitive and may contain spaces If you want to add markers to the Mocap Model you can do so with the Marker Editor in SIMM This tool allows you to create new markers at tach them to the appropriate body segments and specify their X Y Z off sets The exact values
96. strongly coupled marker to the problem marker to Join It defines only the rotation of the coordinate system lo cated at the origin Join Virtual and Virtual Marker calculations use the 3D offsets from the problem marker to the coordinate system s Origin Marker and apply that throughout the Join Virtual The results are often astoundingly good and can be used directly to speed up your animation pipelines More study is recommended before applying these results to Biomechanics research and medical applications In short e The Problem Marker is the marker with the gap to be filled e The Origin Marker maintains a fixed distance to the problem marker e The Long Axis Marker defines a line to the origin marker e The Plane Marker defines a plane with the Origin and Long Axis Markers Figure 10 18 TRC File vs TRB File With Join Virtual TRC file no Join Virtual TRB file from same data set with Join Virtual To test the operation of this feature define a Virtual Marker Join for the RHip marker based on 3 others that will remain visible Cover the RHip marker for example and see if it appears in the 3D view This can be done with a live person very easily but if you do not have a setup avail able go to the 2D view of a trial mask out enough regions and cameras so that the RHip is no longer visible It should appear in the 3D view if you turn on the Join Virtual feature 10 26 Cortex 1 0 User
97. swCoordaya siy Displays a folder chooser dialog for the user and returns the users selection Swosmera_Getpossin swExport_to_Link sky swCamera_GetPrincipalPtu swKinetics sky Breen ents swCamera_GetPrincipalPtv swLoad sky _ swCamera_GetX swlainDisplay sky oe haat E swCcamera_Gety swMarker sky String The full folder path selected by the user swCamera_GetZ swModel sky swCamera_IsSelected swPost sky input Values swCamera_SetAsSelected swProject sky J swCamera_SetPosition VRAA szStartingfolder String The starting folder for the browser BAN scarna SetSelected swSegro sky swCamera_ToggleSelected swSet sky see Also swCancelled swSolver sky swContext_GetAnalogChannelName swStart_to_Version sky BrowseForFileByPath swContext_GetAnalogSampleRate swContext_GetAnalogSampleRatef Example _ swContext_GetFrameNumber BatchTRBFolddrsky Loaded Ln14 Col23 Global Sky Scripts Network Sky Scripts Output Status Bar 14 5 Chapter 14 Sky Scripting Interface Cortex 1 0 User s Manual Toolbar Copy Per Project Copies Sky files from the folder MAC_DIR UserFiles SkyFiles CopyPerProject to the current working project directory This makes it easy to initialize a new project with your favorite scripts This will not overwrite existing scripts of the same name New Script Clears the script text editor and starts editing a new script Open Script Brings up a file browser to find a Sky file not in
98. tabs File Header The tre file header occurs on the first three rows e Row one contains the path file type label string path file type number int path file type descriptor string and original direc tory path and file name string G 3 Appendix G Import and Export File Formats Cortex 1 0 User s Manual Data Header Position Data Empty Fields Example Row two contains the data rate label string the camera rate label string the number of frames label string and the units label string Row three contains the data rate value real the camera rate value real the number of frames int and data units string The data header occupies rows four and five Row four contains the frame number label string the time label string and followed by the marker name labels string There are three horizontal tab characters between each marker name label These names usually correspond to the location where a reflective marker was placed on the subject Row five contains the column labels string for the position data starting on row six For each marker name there is an X Y and Z column These axes labels have the trajectory numbers appended to them Position data begins at row six Column one of the data fields contain the frame number int Column two contains the time real and columns from three on contain the X Y and Z position data real for each trajec tory There are three columns for e
99. that its maximum value is 1 0 EMG scaling is performed after the EMG channel s data has been smoothed and resampled to the motion s frequency This keyword specifies a data channel that exists simply to be included in SIMM plots This keyword may be optionally followed by a single word that will be used to label this channel in SIMM plots If no name follows the other_data keyword then the name of the imported variable will be used forcepla cal When importing analog data from ANB ANC files SIMM uses the same calibration file as Cortex and OrthoTrak for processing forceplate data Therefore you can simply copy the forcepla cal file from your Cortex folder into the Resources mocap misc folder For users who need to create a forcepla cal file to describe their forceplate s refer to Appendix C of the OrthoTrak manual Note forcepla cal is not used for C3D import since C3D files contain the nec essary calibration information for the force plates SIMM Motion Module Guide to Mocap Model Markers This guide describes the markers used by the Motion Module in SIMM to load each Mocap Model scale it to fit the subject and import recorded motions For details on how the Motion Module processes the marker data and the model see Chapter 5 of the SIMM User Guide For a tutorial of the Motion Module click on Help gt SIMM Tutorials gt Motion Mod ule Demo in the SIMM menu bar This document focuses on the names and locations of the markers a
100. that one person moves the camera on 3 axes while another person directs the movements e Verify or set the focal length of the lenses under Tools gt Settings gt Calibration gt Lenses Orientation 2 3 Chapter 2 Quick Start Tutorial for Movement Analysis Applications Cortex 1 0 User s Manual Continue the Calibration Process Using the Calibration Wand Once the camera position is optimized press the Collect and Cali brate button in the Calibration with Square field If sound is enabled and you have speakers turned on you will hear a sound Remove the L frame from the capture area It will need to be com pletely out of view from all cameras Set the wand length in the Calibration with Wand field e Make sure the wand length is set at 200mm or 500mm depending on the wand used Set the capture duration e The wand capture duration should be around 60 seconds or long enough to cover the capture volume During the 60 seconds 1 3 of the time should be spent waving the wand parallel to each axis x y and Z Press the Collect and Calibrate button in the Calibration with Wand field Begin waiving the wand to cover the capture volume as much as pos sible e The object of this exercise is to cover the entire capture volume by waving the wand both horizontally and vertically through the cameras field of view If you look at the 2 D fields of view you should have only a small amount of white space for each
101. the current directory Save Script As Saves the script text to a new Sky file Run Executes the text in the script edtor Cancel Cancels the currently executing script This works only if the script was written to use the swCancelled Function Refresh Causes Sky to refresh the Local Sky Files Global Sky Files Network Sky Files and clears the Input Text area by re reading the appropriate directory Options e Script Edit Mode Enables editing in the Input Text window To run the script the Run button must be selected or the menu short cut Ctrl R This is the default mode This mode is the opposite of One Touch Execution mode e One Touch Execution Disables the editing in the Input Text window In this mode Sky scripts are loaded and run immediately when selected from any of the Sky file lists e Set Network Folder Sets the folder location for the Network Sky Scripts file list This value is saved in the registry e Autosave When on checked this mode causes the Sky inter face to auto save the currently selected Sky file when ever the Sky file is changed refreshed or run This is the default mode When off the file is not saved at any time so the user must use Save Script As to save the file e Reset Sky Script Object This clears the VB Script object of all variables and functions so it is just like when the Sky interface was first opened e Colorize Text When on checked the text in the Input Text
102. the top slots Done this way it is less likely for the props to be embedded into one of the other human objects This provides the option to add prefix designations to marker names for better organization when merging multiple marker sets The A_ B_ etc option will place an alphabetic prefix and underscore at the front of the marker names This will only apply to those markers listed in the Additional Tracking Objects A through J The Marker Set Name Property option will put the project name in front of the marker names This will only apply to those markers listed in the Additional Tracking Objects A through J Merges the marker sets of the MTOs to become one merged project This example data set found in C Program Files Motion Analysis Cor tex Samples Five Person Tracking shows a five person capture of 1200 frames of data Each person has their own project file which defines the marker set template for that person The TRB file creation process was done as follows 1 The FiveStars1 trb was generated from the VC files All markers are unnamed This was done while using the All_Five prj project file 2 For each person a Load their project file for example load the GreavesTem plate prj file You may need to increase the number of cameras in the Tools gt Settings gt Misc tab b Read in the Unnamed marker file in this case it is the file FivesStars irb c Saved out to anew TRB file in this case FiveStarsG
103. the Motion Capture gt Ob jects panel 9 6 Cortex 1 0 User s Manual Chapter 9 Motion Capture Tab Multiple Tracking Objects The problem with tracking many people and props all Tracking Objects is that you need a unique project file and template for every combination of things you want to track The project file has to have exactly the right number and names for the combination of markers that you want to use You then create a template for these combinations and load that project when that combination of objects is to be tracked With the Multiple Tracking Objects MTO architecture you need to have one project and template for each object You record the range of motion for each object separately and create a template for each object and save it in each object s prj file For example when Subjectl and Subject2 and the Subject3 are to be brought into the volume to track you select the Tracking Objects Subject1 prj Subject2 prj and Subject3 prj files The base project file entered into the Main Marker Set text box that you load can be a Cali bration Only project file recommended for a higher number of objects that are entering and exiting the data set or a project file with one marker set You can then place projects with multiple pre defined subjects in the Additional Tracking Objects text boxes These text boxes can hold up to 5 additional objects For more information see the Objects Panel sec tion on the fo
104. the SIMM computer If the same mocap model is loaded into SIMM these generalized coordinates will drive the anima tion of the model in real time with a small delay whose length depends on the network speed and the graphics speed of the SIMM computer Follow these steps to use the real time connection between Cortex and SIMM 1 Find the folder SIMM Cortex on your SIMM computer and look for mocap jnt and solver dll solver dll may be hidden in the folder view because it is a system file Copy both files to the folder on the Cortex machine you ll need to exit Cortex first if it is running This will guarantee that Cortex is using the same mocap model and the same scaling algorithms as SIMM uses H 7 Appendix H SIMM Motion Module Cortex 1 0 User s Manual Each motion capture session Note 10 Open the Model Viewer window 12 11 13 14 Open the text file SIMM Resources preferences in a text editor such as Notepad or Wordpad Locate the line that reads Cortex MACHINE lt hostname gt and change the hostname to the name of your Cortex machine Save and close the preferences file make sure that the file is saved as ASCII text with the name prefer ences Wordpad likes to surreptitiously append a txt extension when it saves files that don t already have a filename extension If your motion capture system includes forceplates copy the file for cepla cal from your Cortex computer onto your SIMM co
105. the file length in time If necessary set the external trigger mechanism ONS Tracking Objects Output 2 Output files C Raw video vc C Analog anb C Colorvideo avi C Tracked ASCII tre C Tracked binary trb Settings Name alk Trial Auto increment Duration seconds 60 00 00 00 000 C Enable COM1 trigger C Post Trigger Mode Load Last Capture 9 12 Cortex 1 0 User s Manual Chapter 9 Motion Capture Tab Output Files Settings Note OK to Overwrite Enable COM1 Trigger Post Trigger Mode Load Last Capture The Output files are the files generated during a motion capture session This section of the Output panel allows you to choose which files are to be produced and saved in the project file directory Settings allows you to provide the specifics for your generated output files This includes the name of your files the trial number and the dura tion of the trial The duration lets you set the length of the motion capture so there is little wasted time in the session VC TRB TRC ANB AVI and TC files are all associated in the project by file name If you rename the output files they may not be recognized and they will lose their association to the project This allows you to redo an existing file once it has been saved When using an external trigger mechanism you will need to check this box for the software to recognize it You ca
106. the four character names stored in the POINT LABELS field H 5 Appendix H SIMM Motion Module Cortex 1 0 User s Manual Save HTR File Save Motion File Analog Data Forceplate Data Note This option allows you to save an HTR file containing the motion that SIMM calculates from the marker data This HTR file cannot be read back into SIMM but is useful if you want to import the motion into an other software package If this box is checked a browse button is enabled that allows you to specify the name and location of the HTR file This option allows you to save a SIMM motion file containing the motion that SIMM calculates from the marker data This file contains exactly the same data that is in the motion that SIMM loads onto the model You can load this motion file into SIMM at a later time rather than re importing the marker file If this box is checked a browse button is enabled that al lows you to specify the name and location of the motion file Analog data files contain forceplate and EMG data that was collected in sync with motion data When loading C3D files there are no separate an alog files all of the analog data is contained in the C3D file When load ing TRB TRC files you can load analog files only if they correspond to the chosen TRB TRC files If the analog file has the same base name as the TRB TRC file then the Motion Module will load it automatically when you select the marker file Otherwise you
107. view window parameters Setting Up 1 In the MotionAnalysis Calcium dialog click the pick button and Collision select the subject from the scene Detecti 2 Click on the Collision tab Check the required segments and select an OPTIONAL algorithm for the collision check Then click Apply Note You should have a scene loaded before you setup the collision detection J 3 Appendix J Using Cortex with Jack Software Cortex 1 0 User s Manual List of Segments Root Required by Head Jack Net 1 2 3 4 Spinel Spine2 Spine3 Spine4 5 LClavicle RClavicle 6 LUpperArm RUpperArm 7 LLowerArm RLowerArm 8 LHand RHand 9 LHip RHip 10 LUpperLeg RUpperLeg 11 LLowerLeg RLowerLeg 12 LFoot RFoot 13 LToes RToes Figure J 2 Jack Interface EE TJ_Window computation graphics ui other 32ms 30 9fisec J 4 Cortex 1 0 User s Manual Appendix J Using Cortex with Jack Software Jack5 0a Required amp Recommended Marker Sets in Cortex for Calcium Skeleton Generation Table J 1 Required markers for Jack 5 SIMM OrthoTrak Model 22 absolute minimum Markers Location R Shoulder L Shoulder markers on top of shoulder above shoulder joint R Elbow L Elbow lateral side of elbow on elbow hinge axis On top of elbow with arms in T pose position Wrist has 2 options R Radius L Radius REC OMMENDED on distal radius thumb side of your hand and R Ulna L UlIna on distal uln
108. with Template Rectify it may be best to Make Unnamed all markers on all frames if there are any mistakes in the D ed data If one of the head markers is incorrectly ID ed as a neck marker then Rigid Body Rectify will not see that as a candidate since it only looks in the Unnamed markers list Process the data from both ends towards the difficult part assuming there is a crash in the middle and clean data on both ends After doing Rigid Body Rectify from the starting frames to the middle then from the ending frames to the middle use Template Rectify to go it again For difficult data trials this 1 2 3 4 combination will get you a lot of named markers for very little work In the Post Process tab the data is identified or re identified by press ing the Template Identify button This affects the current frame only and it is successful if 1 The template is good and the data fits 2 All markers are present To continue the correct identification to successive frames you need to have the Max Speed and Max Prediction Error settings correctly set for your data This applies to when a marker first appears and is identified with the cur rent template To keep the correct identity into the next frame the soft ware checks to see if it has moved too much to be the same marker It can move in any direction The Max Speed parameter tells how much move ment is allowed It is measured in mm from the first frame hence the units of mm
109. with Wand box You will see the wand results see the cameras move to their final place and see the measured focal distances 8 19 Chapter 8 Calibration Tab Cortex 1 0 User s Manual Extending the Seed Calibration If one or more cameras are not seeing the four point calibration L frame device for any reason they have not been properly calibrated and it shows up as a white camera button The camera is shown on the floor at the ori gin point down as shown in Figure 8 6 on page 8 9 This will result when you have a large capture volume and only some cameras see the calibra tion L frame or a camera threshold may be set incorrectly This is not a problem You can use the wand data to get the camera calibration seeded then process the wand data again so the camera or cameras get both square and wand processing The steps for this are as follows 1 Calibrate using the calibration L frame as described in Calibration Frame Tab on page 8 5 Cameras that are Yellow are seeded Those that remain White are unseeded and show up on the floor at the origin pointing down 2 Process the wand data The cameras that saw the calibration L frame will show as Green camera buttons the unseeded cameras remain White 3 Extend the calibration seed by clicking Extend Seed This will then seed those cameras previously unseeded 4 Click on Run Again This runs the wand data again for all cameras After this all cameras should be Green c
110. yellow Click Run Again to complete the wand calibration for all cameras Run Again Button This button continues the refinement of the wand calibration If the num bers in Figure 8 9 continue to change click Run Again for a more precise calibration Accept Button Click this button if the calibration numbers look sufficient Reject Button Click this button if the calibration numbers are unacceptable Fix the problem then select Run Again A typical fix without having to recollect the data is that you can create a mask in one of the Raw Video Cal Wand vexX files Stop Button If you need to stop in the middle of a calibration or the numbers are not improving during a lengthy calibration click the Stop button Note The Stop button is not a cancel button You can click Stop and then Ac cept if you wish to keep the calibration numbers 8 13 Chapter 8 Calibration Tab Cortex 1 0 User s Manual Floor Calibration Floor Calibration Procedure Optional From VC Files CalFloor vcX optional Note Marker Center to Floor Face Calibration Refine Camera Positions Button It is necessary to perform a floor calibration if your floor is uneven 1 After the Seed and the Wand calibration is processed place several markers on to the floor 2 Press the Connect button and then the Run button You should see the unidentified markers on the floor 3 Enter the distance from the floor your y 0 plane for Y up
111. 0 00 00 00 New Subject if Al On M E SS ES E f WARNING The kinetics segments do not match the skeleton segments in this project file JF Jeares 2 Up Unitsimm Analog 1200 00 Hz 8 17 Chapter 8 Calibration Tab Cortex 1 0 User s Manual Calibration Files Calseed vcX Calwand vcX TrialN cal Note The following are the types of calibration files generated in your selected capture folder Calseed vexX files one for each camera get written when you press the Calibrate button in the Calibration with L Frame box and when you are connected to the cameras If you are not connected to the cameras you can use the Disconnect Use Raw Files item and select the Calseed vc1 file to re process the Calseed files This is a kind of simulated realtime mode that allows you go back and process the Calseed vcX files and evaluate your data files When you press the Calibrate button in the Cali brate with Square box it completely removes all of your calibration infor mation and replaces it with the seed or approximate calibration for each camera vcX means the set of files that end in vcl vc2 vcN if you have N cam eras Calwand vcxX files get written when you press the Calibrate button in the Calibration with Wand box and when you are connected to the cameras If you are not connected to the cameras you can process the data in the simulated real time mode as above The software uses the current system cali
112. 000 0 0000 4Kyowa 1 0 60 180 2000 2000 2000 500 500 0 2 2 4 1602 1607 1604 1603 1608 1614 1612 1610 0 00104 0 00104 0 00072 0 00073 22 3702 22 5673 55 3667 55 2103 23 35 51 00 90 0 30 0 0 0000 1 0000 1 0000 0 0000 0 0000 0 0000 00 0000 0000 0000 eE O OO 2000 10 3 801 805 805 808 0 00102 0 00071 22 6288 54 9972 00 0000 0000 0000 eE OOO 500 500 6 5 803 803 807 806 0 00103 0 00072 22 4559 55 2328 E 16 Appendix F SDK Software Developers Kit SDK Overview F 1 SDK Programming Example Write your own Streaming F 1 Plugin SDK Overview The SDK is available for the advanced user who wishes to incorporate the output data stream from Cortex into a software application The Software Developers Kit which provides the tools for interfacing your program with Cortex is available by special request from Motion Analysis Corp at Support MotionAnalysis com SDK Programming Example Write your own Streaming Plugin There is a Software Development Kit SDK which is written in the Vi sual C Visual C language and an example C program that is available at no charge that demonstrates how to use the SDK This allows our cus tomers to use this as a starting point and creating their own program The sample program shows you how to connect to the Cortex software and request that the kind of data that you want be transferred Marker XYZ data and or Ske
113. 1 G Fie Layouts Data Views Tools Help System Calibration Motion Capture Post Process Model Edit Plugins Presentation Cameras Analog Y Frame Rate 120 Shutter Speed 1000 1 sec Using Hardware Sync Using Sunlight Fitter Genlocking Master Camera Current Camera Number 1 Model Unknown Serial Unknown Version Unknown Status Bar This feature located in the lower left corner of the user interface provides Messages the status and confirmation of the software in its current processing state Real Time Refer to Real Time Dashboard on page 6 40 Dashboard Information The Information Center gives the following information for the current Center motion capture project from left to right e Cell 1 Number of frames in the current data set e Cell 2 Frame rate in frames per second e Cell 3 Up axis e g Y up Z up e Cell 4 Calibration units e g mm e Cell5 Analog sample rate samples sec If you leave the mouse pointer over the message its definition will pop up Figure 6 27 Information Center 500 600 700 800 900 1000 1100 1200 1300 1400 600 700 800 900 1000 1100 1200 1300 12 0 0 00 FLOP 1434 Frames 120 FPS Y Lp Units mm Information Center Cells 1 through 5 6 29 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual PRJ Files Important Note Note PRJ files or project files are the main
114. 1 0 User s Manual 6 7 e Press the Record button This will produce a Walk1 trb file as well as VCX and ANB files of the same name View the data e To view analog data while collecting choose the 2 Panes Top Bottom layout and set the top window to 3D View Then set the bottom window to Analog Display Data Views gt Analog Dis play You can now view one or all of the analog channels in this window Edit the data e Editing is done using the Data Views gt XYZ Graphs Save Tracks File gt Save Tracks This concludes this quick start chapter for Movement Analysis applica tions Helen Hayes OrthoTrak marker set If the Post Processing is to be done in the OrthoTrak software module this requires TRB files for one static and up to several walking trials The walking trials may also have their associated ANB files if analog force and or EMG data has been collected 2 14 Quick Start Tutorial for Chapter 3 Overview Starting Cortex Project Initialization System Calibration Marker Placement Data Capture Overview This chapter provides a quick reference to begin using your motion cap ture system for Animation Production applications and is intended for the more advanced motion capture system user For Movement Analysis ap plications refer to Chapter 2 Quick Start Tutorial for Movement Analy sis Applications Note This Quick start Guide uses an animation marker set and starts with a
115. 2 of the digital I O of the National Instrument A D board to Cal 0 Cal and Cal of the Kyowa Dengyo interface box Figure E 7 Kyowa Connection Block Diagram Ground Pin 25 bit 0 Pin 27 bit 1 Pin 29 bit 2 Cal 0 Cal KYOWA ST 100 BOX CONTROL BOX 3 The Folder containing the Cortex executables must also have a force pla cal file previously created according to the format for force pla cal file for Kyowa Force Plates Load a project file that has the Kyowa forceplates enabled in the Ana log set up panel After making sure all the connections are properly made click on the Cal ibrate Kyowa Force Plates button The following sequence of events are initiated e TTL pulses are sent in sequence to CAL 0 CAL CAL and CAL ZERO terminals of the Kyowa control box as shown on the timing diagram e 100 samples of analog data are collected across all the Kyowa force plate channels 5 seconds after the initiation of the TTL pulses e Approximately 1 minute is required for the calibration E 11 Appendix E Forcepla cal File Format Cortex 1 0 User s Manual e The average of the 100 samples in A D units are computed and data are written into a forcepla cal file in the same folder as the loaded project file The timing sequence of the TTL pulses and the analog data acquisi tion is shown on the next page Figure E 8 Timing Diagram for Kyowa Force Plate Calibration pe
116. 201 with 32 bytes of data Request timed out Request timed out Request timed out Request timed out Ping Statistics for 10 1 1 201 Packets Sent 4 Received 0 Lost 4 100 loss Approximate Round trip times in milliseconds Minimum 0ms Maximum 0ms Average 0ms Then the camera is not responding to Ping requests 6 This last step involves trying to determine if there is a camera cable or connection that may be causing the system to not identify the cam eras The best way to do this is to unplug all of the cameras from the EagleHub and then individually plug each camera in do not connect any other camera cables to the hub It does not matter which RJ45 port you connect the Ethernet switch The same applies to the power connector The only other connection going into the EagleHub is the cable coming from the back of the Host computer Cortex tracking computer After you have plugged in a camera click on the Connect to Cam eras button on the Real Time Dashboard If this works unplug this camera and set it off to the side or label it as good Move on to the next camera doing the same and so on each time remembering that there should only be one camera plugged into the EagleHub at a time This will help you narrow down if there is a conflict After running through each individual camera it is very useful to power down the EagleHub to help clear out any stored data that may be in its memory You may also want to take
117. 218 PFI O PO 0 In PFI 1 P0 1 In PFI 2 P0 2 In PFI PO 3 In D GND PFI 4 P1 0 Out PFI 5 P1 1 Out PFI 6 P1 2 Out PFI 7 P1 3 Out 5V D GND AOO AO 1 A0 GND AlO Al8 2 NI 6122 2 NI 6123 2 NI 6132 NI 6133 2 NI 6143 2 NI 6154 2 NI 6210 2 NI 6211 2 NI 6215 2AE 2 NI 6220 2 NI 6221 37 NI 6221 68 2 NI USB 622 2 NI 6224 2 NI 6225 2 NI 6229 2 NI USB 622 A enan Y ii gt EaR PFI 8 P0 4 In h PFI Q PO 5 In PFI 10 P0 6 In PFI 11 P0 7 in D GND PFI 12 P1 4 Out PFI 13 P1 5 Out PFI 14 P1 6 Out PFI 15 P1 7 Out 5V D GND NC NC Al GND AL16 Al 24 NC No Connect The USB device pinouts are available online after you install the device To find them 1 Launch Measurement amp Automation which was installed when you installed the NIDAQ software 2 Select Devices and Interfaces then NI DAQmx Devices and the page should appear as shown above Note NI Numbering starts at Channel 0 where Cortex channel numbering starts at 1 For example AI 0 above corresponds to Cortex Channel 1 B 10 Cortex 1 0 User s Manual Appendix B Analog Input Hardware and Software Which USB Device is Channels 1 32 which is 33 64 The first device you plug in should be channels 1 32 in your Cortex soft ware The second device should be channels 33 64 and so on for more de vices If you are not sure W
118. 28 Camera 3 Tier For an example of this 28 camera three tier setup open the Setup Spectrum_28Camera_3Tier prj file in the C ProgramFiles MotionAnalysis Cortex50 Samples LargeVolumes directory Also refer to Figure 5 2 Figure 5 2 28 Camera 3 Tier Setup Tier 3 8 Cameras wo Peers Tier 2 8 Cameras P f Pe A ag Tier 1 12 Cameras nie a ahez E gt a Ideal Captu re Calculating the ideal volume size for a specific camera setup can have Volume Sizes many factors involved and it can become a very hard question to answer However a good starting point would be to assume a two person full body capture area in an ideal space no restrictions on camera placement etc For this we suggest the figures listed in Table 5 1 Table 5 1 Ideal Volume Sizes for Specific Eagle and Hawk Camera Setups with standard lenses Number of Cameras Dimensions m Area m 6 5x2 10 10 7x5 35 14 9x6 54 16 13x6 78 32 13x 11 143 a Standard lenses are 18 55 mm Zoom for Eagle cameras and 6 15 mm Zoom for Hawk cameras 5 5 Chapter 5 Camera Setup Cortex 1 0 User s Manual So how is it that 16 cameras give you 4 times the capture area of 8 cam eras you might ask Mostly because when using a small number of cam eras you end up wasting a lot of the usable viewing cone of each camera Using more cameras allows for more efficient usage of each individual camera Figure 5
119. 3 Typical 6 Camera Setup Camera 1 Cameras ee Camera 4 i Capture Volume 2 0 f z 2 5 Pee E Camera 2 Camera 3 Note Capture volumes may vary depending on room size and the distance from the camera to the capture area 5 6 Cortex 1 0 User s Manual Chapter 5 Camera Setup Figure 5 4 Typical 8 Camera Setup J Camera 6 f Camera 2 ERS SEN E Camera 10 a fp A A A A A an fen N i Camera 4 5 7 Chapter 5 Camera Setup Cortex 1 0 User s Manual Figure 5 6 Typical 12 Camera Setup i Camera paranee ee eet tt TT RRR CN o Camera 4 Camera7 Camera14 Camera6 pewceee _ a ceneefneeenberneed a E E d Cortex 1 0 User s Manual Chapter 5 Camera Setup Figure 5 8 Typical 16 Camera Setup Circle of 2nd 8 camera Chapter 5 Camera Setup Cortex 1 0 User s Manual Figure 5 9 Typical 32 Camera Setup ist Circleof Camera 7 Gamera 6 Camera 15 i i Camer 14 2nd Circle of ameras i i E a a ae 78 cameras 8 cameras Fi VAN A T ee oath ile Samora i a ae A SV i 3 8 cameras i 4 Gila 18 Tamera 18 Dana Cima 2 Note The capture volume is divided into 4 overlapping regions each containing 8 cameras The regions are as follows Upper left quadrant Cameras 1 8 Upper right quadrant Cameras 9 16 Lo
120. 30 1 29 2 3 1 1 13 10 440 0040 29 1 2 2 1 13 342 0050 29 1 2 2 0 13 531 0060 29 1 2 2 1 13 803 0070 28 1 2 2 1 12 738 0080 28 1 2 2 1 13 485 0090 1 2 0 0 453 0100 1 2 1 0 876 0110 0 2 1 1401 0120 1 2 1 1 598 0130 3 3 3 3 141 0140 1 2 2 457 0150 1 2 2 446 0160 1 2 1 569 0170 1 2 1 507 0180 1 2 2 689 0190 2 2 2 501 0200 1 2 2 348 0210 0 2 1 209 H oO N w oO 1 OrRFGOGODOOONTDTOOCOCCO OF oo0o0o0o0000 00 0 0P 00 0OBPRO0OO0OO0OO oooooo0oorroOorOocOCOOrRrGQGCC CO oO 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PRPPNPRPNNORPENNBRPEPRHPBREP EE WNNWWNWNNNWRWNWWWWNHNDN Appendix G Import and Export File Formats Cortex 1 0 User s Manual TS Time Series Files from the Cortex Analysis Functions Velocity and Acceleration Calculations Cortex Analysis Functions F7 is a selectable view from the Data Views menu and allows the user to calculate velocity and accelerations of marker data distances between markers and Included Angles The Dis tances and Included angles are assumed to be self documenting and a de scription of the Position Velocity and Acceleration tabs is below These data can be Exported to the ts Time Series files Figure G 7 Analysis Functions Analysis PosiVel Acc Distances Angles Position Velocity Acceleration Position Velocity JA 3 Accel
121. 5 Clicking any one of these buttons sets the Frame Selector mode that you can return to at any time by pressing Esc on the keyboard The Frame Se lector mode is a User Preference The default mode is Select Visible Frames This will also highlight the selected area in blue 10 3 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Zoom In Zoom Out Target Marker Scaling Editing XYZ data is only done in the Selected Frames The frames out side of the Selected Frames are protected The XYZ Graphs right mouse pop up menu includes the time zooming features default hot keys are the I and O keys These features zoom in time frames centering on the Current Frame Zooming occurs more quickly by using the hot keys The best way to zoom into a particular set of frames is to select the frames in the XYZ Graphs by dragging with the middle mouse and then pressing the Zoom In Hot Key Even finer control over zooming can be accom plished by pressing Shift middle clicking to independently set the Low and High Selected Frames and then pressing the Zoom In hot key I The XYZ Graphs also allows you to translate the data vertically and hori zontally This is accomplished by holding the Alt key while clicking and dragging the cursor inside the X Y or Z display It is often helpful to zoom into the data s amplitude Holding the Alt key and simultaneously pressing the left and middle mouse buttons zooms the data s amplitu
122. 50 150 l a Calculate Button Skeleton Check Box cece E Ee Tea raven eors Dun Wem irag 1500 00 he Cortex 1 0 User s Manual Chapter 11 Model Edit Tab Animation Example The following is an example of how to get the 25 Bone skin to show in the 3D View 1 Select File gt Load Project and load the project file Calcium Solver prj located in the Samples Talon Streaming Calcium and SkB directory 2 Select File gt Load Tracks and load DaveUmpOutt1 trb 3 Go to the Model Edit tab and select the project Dave in the Tree view 4 Click on the Skin File in Property Value and select 25 Bones_Male obj 5 Select the Skeleton check box in the lower left of the Cortex inter face and then click on the Calculate button directly below 6 If not already set right click in the 3D View and select Show Skins and Show Skeleton This procedure will produce a subject with a skeleton and skin as shown in Figure 11 5 Figure 11 5 Animation Skeleton and Skin Subjec Project Skin File Calculate Button Skeleton Check Box Chapter 11 Model Edit Tab Cortex 1 0 User s Manual Markers Name Index Size Color Weight X Y and Z Values Selecting Markers in the Treeview allows you to make changes to any of the markers associated with the current project file using the property value selections at the bottom of the panel You can also inser
123. 6 and 12 work very well as can be seen in the middle two images In these two examples the noisy part of the data has been re moved while the overall characteristics of motion have been retained Details of the The Butterworth filter does have that complexity of having to use extra Butterworth data at the end points Implementation in The steps are Cortex P 1 Linearly transform the data to be filtered so that the first and last points are zero 0 2 Double the number of points to be filtered The data goes into the middle 2 4 3 4 3 Mirror image the first half of the data into the first quarter of the expanded points 4 Mirror image the second half of the data into the fourth quarter of the expanded points 5 Finally run the two pass fourth order filtering and then restore the data through the inverse transform done in step 1 10 9 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual 3 Point Average and 5 Point Average Filters Two other filters the 3 Point Average and the 5 Point Average filter are provided as an alternative to the Butterworth filter In some circumstances particularly with facial data these can provide better results The 3 Point Average smooths the data by taking a data point on either side of a given original data point and averaging their values into the original one to cre ate a new data value for that sample This filter provides a moderate amount of smoothing as show
124. 6 ry 5 9 s 27 25 a o e 12 13 14 15 29 40 3a Izi 23 39 gt 4 p24 1 Top Head 2 Back Head 4 L Head_Offset 5 R Shoulder 6 L Shoulder 7 Neck 8 L Back_Offset 9 R Bicep 10 R Elbow 11 R Forearm 12 R Radius 13 R UIna 14 R Thumb 15 R Pinky 16 L Bicep 17 L Elbow 18 L Forearm 19 L Radius 20 L UIna 21 L Thumb 22 L Pinky 25 R Psis 26 L Psis 27 V Sacral 29 R Knee 31 R Ankle 32 R Heel 33 R Toe 34 R Foot 36 L Knee 38 L Ankle 39 L Heel 40 L Toe 41 L Foot J 10 Appendix K Question Answer Question Answer Question Answer Questions and Answers for Specific Applications Does Cortex require a specific order for markers and linkages For the identification of markers to work swiftly in real time the order of marker definitions is important You should follow these rules 1 Markers should be ordered such that each successive marker builds the character top to bottom through linkages i e Head to Neck down one arm then down the other down the torso to the hips down one leg then the other Do not backtrack 2 If the first markers are linked into a stiff triangle marker identifica tion will be swift For this reason the head markers should always be first Linkage order may affect the rectify process For the head a linkage order of 1 2 1 3 and 2 3 works well How can I prevent ghost mark
125. 7253 1 13849 2 06549 6 77907 5 37607 4 66433 0 69348 106 49151 108 76140 60 12212 59 84934 9 07148 6 54966 1 11591 3 69895 171 80534 1 37413 3 43725 2 16439 101 08283 99 00355 6 41734 1 35979 2 05696 6 42520 5 56063 4 52455 0 77588 106 59285 108 62376 60 08476 59 49600 9 10057 7 28953 1 03058 4 24123 222 84282 81 65315 279 37607 148 15902 122 55443 286 27760 273 89803 197 27960 227 77268 160 71960 138 17473 116 27502 122 39289 124 66989 448 80791 469 08647 349 00357 359 40872 184 70566 181 04145 222 40665 81 65838 279 15316 148 41689 122 50407 286 17036 273 86227 196 92114 227 48704 160 93207 138 30477 116 44541 122 55485 124 97174 448 35952 468 76412 349 54976 359 82323 184 85654 181 27314 G 8 Cortex 1 0 User s Manual Appendix G Import and Export File Formats HTR Examples of HTR Files Example of an HTR Version 1 File HTR files provide the same information as HTR2 files but in a segment oriented method which is less suitable for information streaming Refer to HTR2 Hierarchical Translations and Rotations on page G 5 The HTR format cannot created in Cortex This feature will be added to future revisions Information about the structure and motion of hierarchical skeletons is stored in htr files There are two variations of htr files version 1 HTR and version 2 HTR2 The skeleton data is identical in both f
126. 93 to 500 markers the amount of memory used is 750 MBytes From 501 to 1500 markers the amount of memory used is 1000 MBytes 6 18 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Note Note Upon changing the number of marker slots you must quit and relaunch Cortex Number of Cameras This function sets the current number of cameras used with the Cortex software This number determines how much memory is allocated for the host computer and scales the software accordingly The default number is 32 cameras You can reduce the memory usage by lowering the number of cameras in this box Changing from 32 cameras to 8 cameras reduces memory usage by about 200 Mbytes 7 5 to 8 Mbytes per camera If your system is slow or limited by memory usage reduce this number to the actual number of cameras in the system for optimal performance Have Current Frame follow Mouse when selecting With this option selected the current frame indicator line will follow the mouse movement across the graph when selecting a specific frame range The current frame indicator line is the red vertical line in XYZ Skeleton Analysis or Analog graphs see Figure 6 14 Figure 6 14 Current Frame Indicator Line Cortex 1 0 0 Body I Fie Layouts Data Views Toos Help Club_ Merged prj System _ Calbration Motion Capture Post Proces ee 0 873 51 a 1235 72 x 1875 89 Sa L Golf Tempert trh Markers
127. ADFRONT FRONTHEAD H 29 Appendix H SIMM Motion Module Cortex 1 0 User s Manual The following optional markers are already defined in mocap jnt To use them just put their exact names in your Cortex project pelvis R Trochanter L Trochanter thorax Offset Sternum T10 CLAV STRN RBAK cerv7 C7 C7 Spinous Process head R Ear L Ear RBHD RFHD LBHD LFHD HEDO HEDP HEDA HEDL H 30 Cortex 1 0 User s Manual Appendix H SIMM Motion Module clavicle_l L Clavicle scapula_I L Scapula L Scapula Top L Scapula Bottom L Angulus Acromialis L Trigonum Spinae L Angulus Inferior humerus_I L Bicep L Biceps Lateral ulna_l L Forearm femur_l L Thigh L Thigh Upper L Thigh Front L Thigh Rear LTHI tibia_ L Shank L Shank Upper L Shank Front L Shank Rear LTIB foot_l L MedFoot L LatFoot clavicle_r R Clavicle scapula_r R Scapula R Scapula Top R Scapula Bottom R Angulus Acromialis R Trigonum Spinae R Angulus Inferior humerus_r R Bicep R Biceps Lateral ulna_r L Forearm femur_r R Thigh R Thigh Upper R Thigh Front R Thigh Rear RTHI tibia_r R Shank R Shank Upper R Shank Front R Shank Rear RTIB foot_r R MedFoot R LatFoot H 31 Appendix H SIMM Motion Module Cortex 1 0 User s Manual H 32 Appendix Synchronizing Digital Video with Cortex EVaDV Overview System Requirements Installation Using EVaDV Currently Op
128. Axis Marker Plane Marker 5 M_F_Head 3 M_B_Head 4 M_R_head Snap to this Marker optional 0 00 0 00 Perpendicular mm 0 00 SS eee CaS eee Sa eee Calculate Virtual Markers New Marker Definition Delete V Marker Definition eS cat Types of Virtual Hierarchical Translation amp Rotation Data Currently there are two primary methods of exporting the motion of a subject e tre track row column output files e htr2 hierarchical translational rotation output files A tre file contains the X Y and Z translation values for the reflective markers relative to the capture volume s coordinate system To translate this data into a hierarchical segment model requires software having an Inverse Kinematic IK Solver to create joint translations and rotations This I K approach works well when the proportions of the subject are similar to the animation model 11 17 Chapter 11 Model Edit Tab Cortex 1 0 User s Manual Degrees of Freedom An htr2 file contains hierarchical translation and rotation data represent ing the different identified segments bones of the subject s body In this approach you must establish virtual markers at the estimated joint centers and create segment coordinate systems for each segment The virtual markers and segment coordinate systems are defined once for a particular marker set and then stored and recalled from the project file A segment s movement characteristics can be expres
129. B Port Dongles Motion Analysis Flash Drive Installation Using For new users Cortex licensing is now provided and setup using Flash the Flash Drive Drives For installation please follow these steps Note Please make sure to remove all Dongles from your computer prior to running the Cortex setup file on the CD Failure to do so may result in damage to your dongle 1 Install the new version of Cortex from the CD Install the Sentinel Drivers after the Cortex installation is finished Note that when installing the Sentinel Drivers select the custom install and uncheck the option for Sentinel Protection Server 3 Insert the Dongle into the USB port 4 Insert the Motion Analysis USB Flash drive into a USB port Double click on the program Install Mac License and follow the instructions Press Y or Enter and the license will be installed onto your hard drive in the C Program Files Motion Analysis directory 5 On the Task bar left click the Green arrow icon and select Stop USB mass Storage Device 6 Unplug the USB Flash Drive and store it in a safe place 1 4 Cortex 1 0 User s Manual Chapier 1 Introduction If you need any further information please consult the readme txt file lo cated on the Motion Analysis USB Flash Drive If You Already Have If you have Motion Analysis software already installed you will need to Software Installed add a new line to your Motion Analysis license file provided by Motion Analysi
130. DV software when capturing The Color Video display has a pop up menu with one item Adjust Frame Offset This allows for time matching data streams Note The EVaDV software option is not to be confused with the AVI function in the Motion Capture gt Output panel This function creates an AVI file when you collect a trial within Cortex Real Time Dashboard The Real Time Dashboard is available when Cortex is in Real Time mode as opposed to Post Process mode When you are capturing data in real time this dashboard provides the controls to manage a motion capture session It also supports the replay and tracking of previously recorded data with a simulation of real time from the raw VC camera files Note To help you distinguish between the two modes Real Time and Post Pro cess the dashboard and the floor color changes Figure 6 35 Real Time Dashboard Configure Reset IDs using Motion Capture Connect to Cameras Current Frame Time Code the Template ay ul a Raw Files E a 3 ee V Join Virtual GolfTempert vet _ B gE 13 New Subject Subject g Con E ca eae A ACS A CT S ae Join Virtual Camera Buttons New Subject FIFO Slider 6 40 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Cortex The Real Time Dashboard camera buttons inform you of the following Dashboard Camera Button Green Camera is completely calibrated Colors Lig
131. Data Painting Time Lines Analysis Graphs Post Processing Strategies and Tips Editing Tracked Data The Cortex Post Process mode allows you to play back and edit tracked data stored in TRB binary and TRC ASCII files Markers can be iden tified if they have gone unnamed during the recording session Gaps and aberrations in data can be filled or fixed by hand frame by frame or by employing mathematical functions across entire sections of a data set Up to ten operations can be undone if you make a mistake but it is recom mended that you save your work frequently Typically an editing session requires having both the 3D View and the XYZ Graphs open at the same time in two different Graphics Panes Click Post Process from the Mode Buttons From the Menu Bar choose Layouts gt 2 Panes Top Bottom Left click in the Top Pane to select it Activate the 3D View by pressing F3 on the keyboard of by choosing Data Views gt 3D View from the Menu Bar Left click on the bottom pane to select it Activate the XYZ Graphs by pressing F4 on the keyboard of by choosing Data Views gt XYZ Graphs from the Menu Bar It will dis play X Y and Z tracked position data and optionally residuals and the cameras that triangulated the markers Ponsa on 10 1 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Viewing Your Data The XYZ Graphs will display none any or all markers you have selected in th
132. Display Post Process Tools Mise Id Params Plugins Raw Playback O CPU Speed Real Time C Loop Raw Files AVI Frame Offset The Playback Tab sets the speed at which the raw video vc files are dis played in the 3D view and run through the Cortex software There is also a function for adjusting the reference video AVI files Raw Playback CPU Speed runs the file as fast as the CPU will allow The Real Time set ting will run the data at normal speed Another option under Raw Playback is the Loop Raw Files check box This will run the raw video file in an endless loop until the stop button is selected Note that this check box is inactive when in the CPU Speed mode AVI Frame Offset If a delay occurs between the reference video AVI files and the raw video or tracks files this adjustable slider is used for correction Offsets are limited to 100 frames in both the and temporal direction 6 13 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual 3D Display Tab Figure 6 9 Settings gt 3D Display Tab Calibration Cameras Playback 3D D Is l y Post Process Tools Misc Id Params Plugins Camera Coverage Scale 1 mim Minimum Number of Cameras Trajectory Length Frames Camera Depth Of Field Display Only Force Vectors Sets the scale for the force vectors as shown in the 3D view Scale values can range from 0 to 100 mm N A negative scale setting w
133. Eagle and Hawk digital cameras are set using the Cortex user interface When connecting the camera cables to the hubs switches you must use the end with the red indicator A 1 Appendix A System Hardware Interconnections Cortex 1 0 User s Manual Standard Eagle and Hawk System Configuration Figure A 1 shows a standard Cortex system setup for use with Eagle and Hawk digital cameras Figure A 1 Standard Eagle or Hawk System Configuration Power Hub and Ethernet Switch Cortex Host Computer Eagle or Hawk Cameras For more detailed diagrams please refer to Figures A 3 through A 10 The main components include e aset of Eagle or Hawk digital cameras with Eagle network and power cables for each camera e a CP 8 Power Hub 1 for every 8 cameras and Ethernet Switch 1 for every 15 cameras see Figure A 2 e a Tracking Computer host with monitor keyboard and mouse Figure A 2 CP 8 Camera Power Hub and Ethernet Switch A 2 Cortex 1 0 User s Manual Appendix A System Hardware Interconnections Power Consumption The maximum power consumption you can expect for example Eagle and Hawk system configurations is shown in Table A 1 The actual power consumed depends on the video frame rate and the intensity of the ring lights and is usually less than that indicated For the most reliable system operation it is recommended that all camera assemblies and computers be powered by an uninterrupted power sup
134. Face templates link all markers invisibly to other markers for the Template ID and Streaming ID functions With all markers linked to other markers the Template ID works much more quickly Explicit linkages in the Marker Set are used for the Streaming Real Time Rectify and Post Processing Rectify along with the two Link age Stretch parameters Generally the face template with many link ages works better than one with fewer linkages for Rectify to work Use only relatively rigid links and asymmetric markers if possible Keep the Linkage Stretch Parameters in the Motion Capture gt Track ing panel at 7 and 5 or close to prevent mis IDs and allow high enough performance D 6 Cortex 1 0 User s Manual Appendix D Capturing Facial Motion Examples A Face Close Up Tutorial For an example of facial motion capture data refer to the C Program Files Motion Analysis Cortex50 Samples Dave Face Stabilization di rectory and open up the project file FaceOnly prj With this project you can review how face marker data is tracked with body marker data The FaceOnly prj project file defines a 17 marker face capture template To play the motion capture data load the VC file DaveFaceCloseup1 vc This was a capture done with a close up view of the face taken by the video camera To see the video data 1 Open another window and select a Data View type of Full Color Video 2 Right click in the video window to bring up the AVI
135. Figure 3 5 Placement on bony points is ideal if available Consult an anatomy book as reference for palpating these points Figure 3 5 Typical Animation Marker Set Note When placing markers on end seg ments the markers should not form a line and should not have mirror symmetry Thus thumb and hand markers should never be the same distance from the wrist marker and should be well separated Note left right asymmetry Head and Neck Shoulders and Sternum 1 TopHead 6 TopSpine 2 L Head 7 RShoulder 3 B Head 8 FRshoulder 4 R_Head 9 FLshoulder 5 F_Head 10 ShoulderOffset Arms and Hands 16 LShoulder 11 RBicep Ai Hips 35 41 12 RElbow os adie 13 RWrist Ip 14 RPinky 28 FRHip 15 RThumb 29 FLHip 17 LBicep Legs and Feet j4 18 LEllbow 30 RThigh 19 LWrist 31 RKnee 20 LPinky 32 RAnkle 21 LThumb 33 RHeel Note single shoulder Back and Root 34 RMidfoot marker 22 MidBack 35 RToe 23 LowBack 36 LThigh 24 RootOffset A To 25 Root l ian 39 LHeel 40 LMidfoot 41 LToe Chapter 3 Quick Start Tutorial for Animation Production Applications Cortex 1 0 User s Manual Data Capture Load an Animation Marker Set Create a Template from the First Walking Trial Select File gt Load Marker Set e Load the MarkerSetBody prj file that contains the animation marker set Save the project file File gt Save As Project with a new name i e Dave prj which will become the active proje
136. It is possible to calibrate with previously collected files Save the project File gt Save Project e When you press Accept in the step above you will get two mes sages stating Calibration has been saved This message indi cates that the project is saved to a system folder You need to select File gt Save Project in this step since the system folder will be overwritten each time a calibration is done Wrong placement or measurements of the calibration L frame Verify all measurements and x y and z axes that are set Check the brightness of the cameras and the use non use of masks Remember to limit the use of masks and make them as small as possi ble if they are in line from the camera through the intended capture volume If any markers go through a masked area the data will be ignored Too many extra marker images are possible causes for a bad calibra tion Watch out for anything reflective such as extra markers reflec tive material on shoes shiny floors debris in carpeting and sunlight coming in through windows If calibration problems persist contact support motionanalysis com 3 6 Cortex 1 0 User s Manual Chapter 3 Quick Start Tutorial for Animation Production Applications Marker Placement Note For the purpose of this illustration this example uses a typical animation marker set The theory may be extended to different marker sets 1 Attach reflective markers following the markers listed in
137. Kistler Forceplates Line Description 1 Forceplate number followed by K to indicate a Kistler forceplate 2 Forceplate scaling factor and optional length and width of forceplate 8x8 forceplate calibration matrix created by the user 0 11 Xo Yo Zo position of the forceplate transducers in cm provided by the manufacturer 12 Xc Ye Zc XYZ location of the geometric center of the plate with respect to your video coordinate system the video calibration system s origin measured in cm 3x3 forceplate orientation matrix to make the forceplate coordinate system match the laboratory coordinate system E 2 Cortex 1 0 User s Manual Appendix E Forcepla cal File Format Forceplate File Data Forceplate Number A unique number is assigned to each forceplate in the system Forceplate Scaling The scaling factor depends on the forceplate manufacturer and the gain Factor and Optional setting Length and width are optional and are measured in cm Length Length amp Width and width orientation is also dependent on the forceplate manufacturer Refer to later sections specific to the manufacturer of your forceplate Forceplate The calibration matrix transforms the output of the forceplate into forces Calibration Matrix and moments Refer to the section later in this appendix specific to the manufacturer of your forceplate True XYZ Origin This is the offset of the origin of the forceplate XYZ coordinate system relative to the
138. Mask Software Masks Only Show Raw Data Show Raw Centroids Show Corrected Centroids Show Names Show Numbers Show Volume Floor Smear Display Show Greyscale Image Reset Zoom Reset Greyscale Region Reset Zoom For All Deletes all masks in the 2D display for the selected camera Draws a mask around all items in the field of view Allows the capture of raw data with any masks in 2D display Toggles black raw data blobs Toggles red raw centroid crosses Toggles centroids corrected from lens distortion Toggles marker names Toggles marker numbers Toggles outline of volume floor Leaves smeared paths of the markers Displays the greyscale image for the selected Raptor camera Resets the selected camera to standard zoom settings Resets the Raptor greyscale image to full camera view Resets all cameras to standard zoom settings Show Greyscale Image This shows an 8 bit greyscale image from a 10 bit greyscale sensor Markers blobs appear in blue for better separation This used only with Raptor class cameras 2D Display Shortcuts e Double clicking on a specific camera will show only that camera s view Double clicking again will return to all camera views e Selecting Shift double click selects the view for only the enabled cameras within the system 6 37 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Analog Display Pop Up Menu Figure 6 33 0 797 51 For users collectin
139. May 9 2005 or later e Cameras with the BLACK backplate have the older CPU card non CE approved can use either the NEWER or the OLDER rom bin software The rom_Mar_11_ 2004 software was released with the EVaRT 4 2 soft ware The rom_May_9_2005 bin software was released with the EVaRT 4 4 software The rom_Jan_23_2006 bin software was released with the EVaRT 5 0 x software Raptor camera software updates use a different interface which will be available in the next version of this User s Manual Allows you to input the IP address for the network interface card NIC of the host computer This is the IP address for the NIC that is connected to the Eagle cameras There must be a dedicated NIC for this purpose Other connections to local area networks LAN must be done on a different NIC to avoid network traffic on the Eagle camera network and to keep the Motion Analysis camera system working properly 7 7 Chapter 7 System Tab Cortex 1 0 User s Manual Reboot All Reboots the cameras cycles the power This is used when changing the Cameras camera s IP addresses Note that the camera and software will not recog nize the change in IP address until the camera has been rebooted Eagle and Hawk Camera Display Codes The Eagle and Hawk digital camera displays indicate which mode the cameras are operating Note that Hawk i and Eagle i cameras do not have the display feature Table 7 1 Eagle and Hawk Camera Display Code
140. Most of these changes were in the Solver functions instead of getting individual values of X Y and Z with 3 different functions those 3 functions were replaced with one call that gets all 3 values swSolver_GetSegmentJointAxis for example 14 4 Cortex 1 0 User s Manual Chapter 14 Sky Scripting Interface Graphical User Interface The user interface for Sky is found under the Cortex Tools menu Figure 14 1 Sky Graphical User Interface in Cortex Local Sky Scripts Tool Bar Input Text Sky Functions Filter Box Cloud Button a Sky scripting interfac s t x 3 z CopyPerProject New cript Open Script fave Script As Run Cancel Refresh Options Help a Local Sky Scripts 4 Sky Functions BatchTRBFolder sky bs BlankSlate sky BrowseForFileByPath foo sky PERISA Ha PE ea ee di z E iy pemci sees The mane EE SkyTestCalciumNew sky a CreateSkyButton the middle s DeleteSkyButton Directory 7 strInputFolder swCurDir neco 7 geese 0Slee Global Sky Scripts strInputFilePattern trb Kie P StrOutputFolder strInputFolder aN EEA anlay MakeFolier aw 2 Speed Fittering sky J strInputFolder BrowseForFolderByPath strInputFolder Heat AddPrefixToCalciumNames sky strInputFolder strInputFolder pira AciaprefisTomarsertames aky Message Input Folder selected is CStr strInputFolder RemoveFolder Ad
141. Name Scott Get EVaRT Marker Cloud s Skeleton Options IV Stream Skeleton Data Scaling Option Scale C Inverse Scale Skeleton Scale Factor fi 0000 Skeleton Name s fan EVaRT Skeletons gt J Drive skeleton s using only rotational data I Assume HTR Bones in Scene Get EVaRT Skeleton s Send Selected Skeleton s to EVaRT EVaRT Host Computer JEaaleH ost Connect to Host Start Streaming Note Only selected skeletons will be driven when connecting and streaming Apply and Close Apply Close Chapter 1 Introduction Cortex 1 0 User s Manual OrthoTrak Intended Use OrthoTrak is a completely integrated full body gait analysis package de signed for use in clinical and research studies of human locomotion The system provides state of the art software designed to be used by clinicians in orthopaedics neurology and physical therapy or for any person inter ested in assessing locomotor abilities of humans The system provides e quantification of 3D body segmental and joint motions e analysis of the forces occurring in locomotion e records of neuromuscular function through electromyography OrthoTrak is designed primarily for analyzing a walking motion over level ground but can also be used for walking on treadmills up and down stairs or other activities Gait data are presented in graphs which describe the kinematic i e joint angles kinetics i e moments
142. OrthoTrak does not create reference frames for the upper and lower arms but the Motion Module does this using one of several methods If medial elbow and wrist markers are used in the static trial then the arm reference frames are found in the same way in which the thigh frames are found If no medial markers are present then the upper and lower arm reference frames are found using the line between the joint centers as the X axis and using the same Y axis as the torso The Z axis is then determined by crossing X and Y Once all of the segment reference frames have been determined the length of each segment is calculated For most segments the length is simply the distance from one joint center to the next For the foot the Mo tion Module reads the length from personal dat If there are no foot H 13 Appendix H SIMM Motion Module Cortex 1 0 User s Manual The Marker Set length measurements in personal dat then the foot length is assumed to be 1 4 times the distance from the heel marker to the toe marker the toe marker is actually placed on the top of the foot just posterior to the toes Each body segment in the mocap model contains scaling information that tells the Motion Module how to scale it based on an OrthoTrak skeletal segment The scaling information consists of the name of the OrthoTrak segment and X Y and Z reference numbers that correspond to the un scaled length of the SIMM segment For example the right femur
143. Place the calibration L frame device or four markers L shaped on Calibration Process the floor or on the forceplate ina the 4 Poin e The calibration L frame markers are set under Tools gt Settings gt raia L oint Calibration gt Calibration Frame These markers have been placed in a particular orientation and precise distances apart in Frame order to tell the software the origin and coordinate XYZ system of the lab room 2 Under the Calibration gt Calibrate panel activate the Camera Aim ing check box 3 Press the Run button e All the number buttons on the bottom of the Cortex interface should turn yellow if all of them can see the L frame 4 Select Layouts gt 2 Panes Top Bottom e We want the 3 D Display window and 2 D Display window showing These can be set by left clicking in the window to make it active and then selecting Data Views gt 3D View or 2D View 5 Check the 2 D views for each camera e Generally there should only be four markers in each camera view If there are less you may need to adjust the view of the camera or you can also adjust the threshold to see more markers If you have more you can mask out extraneous data points To 3 3 Chapter 3 Quick Start Tutorial for Animation Production Applications Cortex 1 0 User s Manual Continue the Calibration Process Using the Calibration Wand mask press Pause While in one of the 2 D views press the mid dle mouse button and hold it then
144. SB 6218 A D unit which is often supplied with Motion Analy sis systems has a maximum throughput of 250 000 samples sec per unit So two units with 64 channels would have the ability to collect up to 500 000 samples sec Either way it is 250 000 32 channels or about 7500 samples sec per channel with all channels collecting data If you cut down to 16 channels you can have 15 000 samples sec per channel You can also connect up to 6 devices and use only 16 channels from each device For increased speed use the faster USB 6259 A D unit from NI This unit is 32 channels 16 bits same as USB 6218 but has a throughput of 1 25 Million samples sec or 5 times greater than the throughput of the USB 6218 The video sample rate multiplied by 255 limitation comes into play mainly if a slow mocap video rate e g 60 Hz is being used The max an alog rate in this case is 15 300 60 X 255 Under normal conditions cus tomers using higher analog rates would also be using higher mocap video rates With a mocap video rate of 200 Hz the max analog setting is 200 multiplied by 255 or 51 000 Hz Note that you can do this with the USB 6218 with fewer channels turned on 250 000 51 000 4 9 or 4 chan nels 7 16 Calibration Tab Calibrating Your System What is the Square and Wand Calibration Calibrate Panel Calibration Files Calibration from Previously Collected Files Extending the Seed Calibration Post Process
145. Show Camera Field of View 5 12 Show Camera Volume 8 17 coRTex 1 0 User s Manual Show Residuals and Cameras 10 4 Show Skin 11 7 Show Template Linkages 10 13 Shutter Speed 7 2 SIMM 1 16 Simulated Calibration 8 19 SKB 1 8 SkB Segments 11 14 Skeleton Builder 1 8 Skeleton Definitions 6 5 Skeleton Graphs 6 10 Skeleton Types 13 1 Skin File 11 6 Skin Tranparency 11 6 Sky 6 22 Graphical User Interface 14 2 Sky Scripting Interface 14 1 Sky Writer 14 1 Slate Board 4 4 Smooth 10 16 Smoothing Tab 6 15 Snippets 12 2 Socket Error 5 29 SoftImage D 1 Software Installing 1 4 required 1 4 Software Developers Kit F 1 Sound Effects 6 18 Square Seed Calibration Cameras 8 8 Square Calibration 8 2 Standard System Configuration A 2 Starting EVaRT Quickstart 2 1 static pose see Motion Module Status Bar Messages 6 29 Still Camera 4 4 Streaming Options 6 18 Studio Preparation 4 1 Subject Preparation 4 6 Synchronizing Video I 1 J 1 System 6 28 System Calibrating Process 5 20 System Calibration MA Quickstart 2 3 NM Quickstart 3 3 System Hardware Interconnection A 1 Index 7 coRTex 1 0 User s Manual Overview A 1 Standard System Configuration A 2 System Requirements 1 3 System Tab 7 1 Take 4 5 Talon Plugins 1 13 Target Marker 10 4 Template Building 9 5 Template Create 10 13 Template ID 10 15 Template ID Details 10 20 Template Rectify 10 15 10 19 The 10 17 Thre
146. To Ping a camera select Start gt Run from the Windows desktop In the pop up window type in cmd This will launch the com mand prompt Type in Ping 10 1 1 201 and press Enter If the request times out it will try 4 times try doing the next number 10 1 1 202 and so on Your cameras should be set to 10 1 1 201 for camera number 1 and 10 1 1 202 for camera number 2 and so on unless changed by you or your IT personnel If the cameras do not respond then you may need to use your Eagle Test Cable to determine the Camera Network address The Eagle Test cable is the black cable about 1 meter in length one end plugs into the Aux port on the back of the camera the other end has a VGA port a COM port and a BNC connector Follow the steps found in Appendix A 23 through A 24 this will display the Network address of your camera 5 27 Chapter 5 Camera Setup Cortex 1 0 User s Manual The Ping command should return a message similar but not exactly the same as follows Pinging 10 1 1 201 with 32 bytes of data Reply from 10 1 1 bytes 32 time 20ms TTL 128 Reply from 10 1 1 bytes 32 time 20ms TTL 128 Reply from 10 1 1 bytes 32 time 20ms TTL 128 Reply from 10 1 1 bytes 32 time 20ms TTL 128 Ping Statistics for 10 1 1 201 Packets Sent 4 Received 4 Lost 0 0 loss Approximate Round trip times in milliseconds Minimum 0ms Maximum 242ms Average 128ms If you are getting a message that says Pinging 10 1 1
147. Vastus Medialis L Vastus Intermedius L Vastus Lateralis L Peroneus Brev L Peroneus Long L Hip Adductor L Glute Max L Glute Med L Rectus R Hamstring R Lateral Ham R Medial Ham E R Gastrocnemius R Tibialis Ant R Tibialis Post R Vastus Medialis E R Vastus Intermedius R Vastus Lateralis R Peroneus Brev R Peroneus Long Plates ia Rip adductor Autozero Forces R Glute Max R Glute Med g Sample Rate tiple of Frame Rate 5 Current Sample Rate Hz 600 00 7 14 Cortex 1 0 User s Manual Chapter 7 System Tab Shifting Selected Analog Data Example 9 To save the entries in the Analog panel choose File gt Save Project from the Menu Bar 10 If you would like to give the file a new name or save it to a different directory choose File gt Save Project As This series of functions is used to correct the time shift delay in certain telemetered EMG channels These are introduced by Noraxon EMG units model 2400 and later which have a 15ms delay in their signal transmis sion protocols As a result the EMG signals in multi source EMG and Forceplates analog data collected by the Motion Analysis system become non synchronous with the motion data Cortex allows the user to time shift the EMG data in the analog channels using the following steps Load a Project File Load a Tracks file trb trc Select Data Views gt Analog Graphs In the Analog Graphs display right click and select the Shift th
148. Ws Tack aanre Croce Foppe wae A Rectty Osiete CR CR Seach PP 2 MIL jsa Ureemed Unnamed Unnamed 9 Create Template Template Prop Definition Frames Range Frames Used Current Frames with complete 1434 O Selected Total frames to use 1434 visible v Omi Include current frame as the Model Pose M Show Template Linkages Create Template 0 000 40 enn a Eber E 100 200 300 400 soo 600 700 Boo s00 1000 1100 1200 IIOL ees oes aze E gomm o0 00 comm am 4 Bo em Caumer aa Tate Nee Roe eo 6 44 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Getting Auto ID to If the person who was used to create the template moves some markers or Work Tuning and if a new person comes out with the same marker configuration but in Updating the slightly different locations you will want to update the template to the new marker locations This will make sure that your RealTime tracking and the Template ID and Template Rectify functions in Post Process will be at an optimum performance level Template Activate the Motion Capture tab and then select Connect to Cameras or select the VC files and then select New Subject This will bring up the Pose ID dialog box below and the Model Pose stick figure appears in the 3D View Figure 6 39 New Subject Interface New Subject No pose stored Subject Hybrid Skeleton Model C Update The Skeleton
149. You will need to have a DV Digital Video camera connected to the Host computer s 1394 Firewire port to see the live video in this window 2 D Display F2 Displays a 2D image of the markers and their centroids 3 D Display F3 Displays a moving 3D stick figure showing named markers virtual mark ers linkages and or a skeleton Marker XYZ Graphs F4 Displays graphs depicting the marker s positions in each frame Analog Display F5 Displays analog data graphs representing the force plate s output 6 9 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Skeleton Graphs F6 Displays the following data graphs for selected skeletal segments e Kinematics e Forces e Moments e Linear Movement e Angular Movement e Solver Stats Analysis Graphs F7 Calculates and displays angles between markers distances between mark ers and position velocity and acceleration of a marker or groups of se lected markers Results can be saved as ASCII Time Series ts files For more information refer to Appendix K Analysis Doc View Provides an interface to open and edit most text based files and display them within the Cortex software Web View Provides an interface to open display and edit HTML files within the Cortex software Empty View Leaves a blank space for the selected pane Graphics Only Cirl G Hides the side panels and Post Process Realtime Dashboard to maximize the graphic panes
150. a pinky side of your hand and or R Wrist L Wrist top of wrist R ASIS and L ASIS Anterior Superior Iliac Spine L BackOffset offset marker for asymmetry Back of pelvis has 2 options R PSIS and L PSIS RECOMMENDED Posterior Superior Iliac Spine and or V Sacral All 5 is RECOMMENDED ASIS PSIS V Sacral R Knee and L Knee lateral knee close to knee axis R Ankle and L Ankle R Heel and L Heel lateral ankle on fibular malleolus heel at same height as toe markers R Toe and L Toe toe markers center of foot at proximal base of toe joint Appendix J Using Cortex with Jack Software Cortex 1 0 User s Manual The following markers are a recommended marker set only These incor porate the above markers include some additional markers and match the data set Jack5_41Markers_AutoScale prj in the Sample Data files Top head Back Head Front Head L Head_ Offset R Shoulder L Shoulder Neck L BackOffset R Bicep 10 R Elbow 11 R ForeArm 12 R Radius 13 R Ulna 14 R Thumb 15 R Pinky 16 L Bicep 17 L Elbow 18 L Forearm 19 L Radius 20 L Ulna 21 L Thumb 22 L Pinky 23 R ASIS 24 L ASIS 25 R PSIS 26 L PSIS 27 V Sacral 28 R Thigh 29 R Knee 30 R Shank 31 R Ankle 32 R Heel 33 R Toe 34 R Foot 35 L Thigh 36 L Knee 37 L Shank 38 L Ankle 39 L Toe 40 L Heel 41 L Foot ON OO PON gt o J 6 Cortex 1 0 User s Manual App
151. a Capture MA Quickstart 2 10 NM Quickstart 3 8 Data Painting 10 28 Data Views 6 3 6 9 Dedicated Interface 7 7 Degrees of Freedom 11 18 Delete Artificial Data 12 4 Delete Outside Volume 12 2 Delete Short Snippets 12 2 Delete Unnamed 10 19 Digital Video Option 6 40 Director Sequencer 1 15 Disconnect Use Raw Files 6 48 Display Codes 7 8 Distance Between Two Markers Tab 10 31 Doc View 6 10 Dynamic Template Stretch Limits 9 4 E Eagle Camera Connections A 6 Dimensions 5 17 Display 7 8 Physical Dimensions 5 17 Power Consumption A 3 System Configuration A 2 EagleHub A 6 EagleHub2 Connections A 6 Editing Tracked Data 10 1 EMG Muscle Name Selection 7 14 Signal Name Conventions B 4 Empty View 6 10 Enable COM Trigger 9 14 coRTex 1 0 User s Manual Enable External Trigger 9 13 Ethernet Switch Connections A 5 Euler Angle Order 13 7 EVaDV Software 1 11 6 40 EVaRT Project File G 3 EVaRT ini 6 34 Examples Marker Sets C 4 Exchange 10 17 Export C3D File 6 5 Export CRC File 6 5 Export File Formats G 1 Export Forces File 6 5 Export HTR File 6 4 Export Kinetics File 6 5 Export ts Time Series File button 10 32 Extend Template 2 13 Extending the Seed Calibration 8 20 Extra Stretch 11 12 Eye Movement D 14 F Face Building a Template D 5 Face Calibration 8 14 Facial Animation Techniques D 9 Falcon Camera Settings 7 11 FIFO slider 6 31 file man
152. a camera is turned on and off there is at times a small data spike in the frames before the camera is turned off and after it is on This is useful on facial data where small increments lt 1 mm will have a sig nificant effect on the final results animated character Figure 12 3 Refine Tracks 222 78 Y EWTN y AZ x 792 43 453 54 561 67 1896 47 881 26 ARIES Residuals 0 000 1 7 S ar Cameras a NS 2 _ a ell NINE 8 Ten Missing data to be smoothed To Refine Tracks you will need to 1 Load a prj file Load a trb file that has been tracked and identified Only identified tracks are refined Unnamed marker data is not affected 3 Select X Panel gt Refine Tracks The message appears as shown in Figure 12 4 Figure 12 4 Retracking Identified TRB Data Message This will retrack the identified trb data using the loaded raw data files Cancel 4 Select OK 5 At this point the Load Raw Video File interface opens Select and open the VC files that were used to create the tracks 6 Select File gt Save Tracks 12 3 Chapter 12 Plugins Tab Cortex 1 0 User s Manual Global Marker Data Adjustments Model Adjustment Delete Artificial Data Load Another Tracks File The Global Marker Data Adjustment section allows the user to modify the tracks data by translating rotating and or scaling the data This is an op eration that applies to all marker data over a
153. acement are e Have at least 3 cameras see as many markers as possible When 3 or more cameras see a marker the chance of a ghost marker occurring is minimal e Minimize the merging of markers and marker dropout in the cam era views Both are undesirable D 1 Appendix D Capturing Facial Motion Cortex 1 0 User s Manual NO e Maximize and balance angular displacement between cameras by having at least 30 degrees of angular displacement between the cameras The exception is the lower camera see Figure D 1 e Optimize what each camera sees by ensuring that each field of view is filled with as many markers as possible Start by setting up the cameras as shown in Figure D 2 on page D 4 Have the subject sit comfortably on a stool or chair facing the camera array Optimize the subject to camera distance by ensuring that markers fill the field of view but are not outside the field of view Have the subject open their mouth wide and make sure the head and chin markers stay in view Look for potential merging between mark ers This can especially be a problem around the lips With the camera positions optimized place tape on the floor marking where the legs of the stool or chair are located Attach the facial calibration L frame to the light stand and position it next to the subject With the subject still sitting adjust the height of the light stand until the square is positioned at the same height as the subject
154. ack Next gt Cancel 4 Click Next gt then Finish Figure B 3 Completing the Found New Hardware Wizard Interface Found New Hardware Wizard Completing the Found New Hardware Wizard The wizard has finished installing the software for y USB 621x Loader Click Finish to clase the wizard B 6 Cortex 1 0 User s Manual Appendix B Analog Input Hardware and Software 5 Now it repeats for the USB Device USB 6218 Figure B 4 Found New Hardware Wizard Interface Repeated Found New Hardware Wizard Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by This wizard helps you install software for looking on your computer on the hardware installation CD or on the Windows Update Web site with your permission USB 6218 Read our privacy policy gt If your hardware came with an installation CD QP or floppy disk insert it now Can Windows connect to Windows Update to search for software O Yes now and every time connect a device What do you want the wizard to do O No not this time O Install from a list or specific location Advanced Click Next to continue Click Next to continue lt Back Next gt Cancel 6 Click Next gt Next gt then Finish A message pops up that says the new hardware is installed and ready to use Select Take No Action and then check Always Take This Action Figure B 5 New Data
155. actor of 9 vX1 i FR X i 4 X G 4 8 vY1 i FR Y i 4 Y G 4 8 vZ1 i FR Z i 4 Z i 4 8 Resultant velocity scalar vRI frame i SQRT vX1 2 VY1 2 vZ1 2 Accelerations for Frame i are calculated as the differences in velocity as A frame i Velocity frame I gt frame i 1 Velocity frame i 1 gt frame 1 Time difference between frames 1 FR Acceleration Calculations sing the Frame Rate FR of the camera for a Frames Factor of 3 aX1 i FR FR X i 1 2 X i X i 1 aY1 i FR FR Y 1 2 Y i Y i 1 aZ1 i FR FR Z Git 1 2 Z i Z i 1 For Frames Factor of 5 aX1 1 FR FR X 2 2 X i1 X 1 2 4 aY1 1 FR FR Y 2 2 Y i1 Y i 2 4 aZ1 1 FR FR Z 2 2 Z 1 Z 1 2 4 For Frames Factor of 7 aX1 1 FR FR X i 3 2 X 1 X 1 3 9 aY1 1 FR FR Y 3 2 Y i1 Y 1 3 9 aZ1 1 FR FR Z i 3 2 Z 1 Z 13 9 For Frames Factor of 9 aX1 1 FR FR X 4 2 X 1 X 1 4 16 aY1 1 FR FR Y 4 2 Y i1 Y 1 4 16 aZ1 1 FR FR Z 4 2 Z 1 Z 1 4 16 Resultant acceleration scalar aR1 frame i SQRT aX1 2 aY1 2 aZ1 2 Appendix G Import and Export File Formats Cortex 1 0 User s Manual Binary Files ANB TRB and C3D ANB Note TRB C3D The following are binary files and cannot be directly read or manipulated by the end user Their
156. agement 6 3 Filters 10 5 Flash Drive Software Installation 1 4 Floor Calibration 8 14 Force Plate Channel Order G 15 forcepla cal E 1 General Information E 1 Forcepla cal File Format E 1 Forceplate 3x3 Orientation Matrix E 3 Calibration Matrix E 3 File Data E 3 Number E 3 Optional Length amp Width E 3 Scaling Factor E 3 True XYZ Origin E 3 XYZ Location in Video Coordinate System E 3 Forceplate Forces 6 23 Index 3 coRTex 1 0 User s Manual Forceplate Scaling Factor E 5 Forceplates 6x6 Calibration Matrix E 8 Frame Counter 6 49 Frame Number 10 3 Frame Offset 12 5 Frame Rate 7 2 Frames Selecting 10 5 G gait analysis 5 2 gait lib E 1 Gauss Newton 11 15 Get marker names from desc 6 7 ghost markers K 1 Global Marker Data Adjustments 12 4 Global Scale 11 15 Going Live 7 11 Graphics Only Ctrl G 6 10 H Hardware 7 11 required 1 3 Hardware Masks 7 11 Hawk Camera Connections A 6 Dimensions 5 18 Display Codes 7 8 Physical Dimensions 5 18 Power Consumption A 3 System Configuration A 2 Helen Hayes Marker Set 2 9 C 3 C 4 Help Menu 6 28 Hide Markers 10 17 Hierarchical Translation amp Rotation Data 11 17 Hierarchical Translations and Rotations G 5 High Frame Button 10 3 Hinge Joints Example 11 20 Hot Keys and Tips 6 51 HTR G 9 HTR Version 1 Example G 9 HTR Version 2 Example G 10 HTR2 G 5 Example G 6 Index 4 ID Params Tab 6 20 Id
157. agle Camera Physical Dimensions The following diagram illustrates the physical size and weight of the Eagle digital camera The tripod mounting points are the holes used to hold the tripod bolt There are four tripod mounting points on each cam era Figure 5 14 Eagle Camera Physical Dimensions 189 60 mm Tripod Mounting Points 1 4 in diameter x 20 threads inch Camera Weight 2 22 kg with lens 4 90 Ibs Chapter 5 Camera Setup Cortex 1 0 User s Manual Hawk Camera Physical Dimensions The following diagram illustrates the physical size and weight of the Hawk digital camera The tripod mounting points are the holes used to hold the tripod bolt There are four tripod mounting points on each cam era Figure 5 15 Hawk Camera Physical Dimensions 189 60 mm Tripod Mounting Points 1 4 in diameter x 20 threads inch Camera Weight 2 13 kg with lens 4 70 Ibs 5 18 Cortex 1 0 User s Manual Chapter 5 Camera Setup Hawk i Camera Physical Dimensions The following diagram illustrates the physical size and weight of the Hawk i digital camera The tripod mounting points are the holes used to hold the tripod bolt There is one tripod mounting point on each Hawk i camera Figure 5 16 Hawk i Camera Physical Dimensions 189 60 mm Tripod Mounting Points 1 4 in diameter x 20 threads inch Camera Weight 0 77 kg with lens 1 70 Ibs 5 19 Chapter 5 Camera Setup Cortex 1 0 User s
158. ago nal and zeroes elsewhere Also notice that the upper right quadrant of the matrix contains the force sensitivities and the lower right contains the moment sensitivities In every case the force sensitivities are greater than the moment sensitivi ties Cortex uses this information to switch matrix quadrants permute the matrix if the manufacturer should supply the matrix with the moments on the left and force on the right Note The calibration matrix is intended to be used with your plate s coordinate system not the room s For this reason if your plate is not aligned with the room correct it with the 3x3 orientation matrix not by switching wires or A D signal names E 8 Cortex 1 0 User s Manual Appendix E Forcepla cal File Format Using Kistler Forceplates Signal Names Gain Setting Calibration Matrix True XYZ Origin The Kistler forceplate has 8 outputs Therefore two forceplates will use 16 channels on the A D card The signal naming conventions are shown in Figure E 6 The names in the analog ANB or ANA file must appear exactly as shown in the Cortex ANB or ANA column With the Kistler forceplate the Charge Amplifier model 9865 should be set on range 3 for the X Y and Z range settings X and Y are set to gether This is the 10 000 pC setting This setting can be changed if desired but the forcepla cal file will have to reflect the change A gain 1 on the A D board should be used sinc
159. ain Setting The Calibration Matrix For the AMTI forceplates a gain of 4000 mV and a cutoff frequency of 1050 kHz is recommended Using the method outlined in the AMTI liter ature this gain yields a scaling factor for the forcepla cal file of 25 The example in Figure E 4 uses an AMTI forceplate A gain setting of 10 for Bertec forceplates is recommended In the force pla cal file you should set scaling factor 1 gain yielding a scaling factor of 0 1 If using the AM6501 analog out device the gain is preset and the analog voltage range should be 5V A scaling factor of 0 5 is recommended in the forcepla cal file The 6x6 calibration matrix Inverted Sensitivity is provided by the manu facturer AMTI It is used to transform the output of the force plate into three force vectors and three moment vectors The form of the matrix is shown in Figure E 5 The main diagonal of the matrix upper left to lower right represents the basic channel sensi tivities The off diag onal terms represent the channel cross talk If using Bertec plates with the AM6501 the amplifier is built into the plate and outputs data using a 15 pin D Sub connector cable to a small interface unit with signals in the range 5V In this case the amplifier is pre calibrated internally with no off axis elements in the 6x6 matrix There are pre defined and fixed values for the diag onal axis values These can be exactly the same for each plate but check the Berte
160. ak marker set which has several required markers such as the Knee Ankle Hip and Shoulder markers and many optional markers that will introduce more detail and more bone segments into the solution The big advantage over the Calcium Solver model is that you do not need to create a MOD file which means that you do not need to use or learn the Calcium software Cortex creates an even more thorough JNT joint file when you export the SIMM Calcium Model You do need to have the per son standing in a neutral pose typically with the arms out in a T pose feet slightly apart and thumbs forward 13 5 Chapter 13 Skeleton Types Cortex 1 0 User s Manual Model Edit gt TreeView The Skeleton Engine type is displayed and can be edited in the Model Edit gt TreeView panel when you select the prj name at the root of the Tree View The Skeleton Engine type appears as the Value of the Skeleton Engine Property at the bottom of the Tree View panel Figure 13 3 Model Edit TreeView E Fie lats Data Yiews Tois Hep System _Calbeation Motion Capture Post Process Model Edt Plugins Cortex 1 0 0 Calcium Solver pr Dave UmpStrikel trb 2G e OO TNH S E Teo QAD Radiy Tengiste Tarpite Template Masher ID Exchange Cubk Vetual Cak Smooth Mie Rectily Dente C O Samh PP Crete 1D Rectfy pa kn ws Unnamed Unnamed Unnamed Osede setings Links 131 SE Segments nective d Coun Segnerts 33 Nare ave Skeleto
161. al in terpolation with other markers on or near the particular problem seg ment This positional interpolation is defined by the settings in the Tools gt Virtual Marker Definitions function Figure 6 36 Join Virtual Check Box E Iv Tracking eens a C Connect To Cameras Disconnect Use Raw Files U d OY BV Skeleton The concept behind the Join Virtual and the Virtual Marker definitions are the same and are much more stable and more useful than the classic Rigid Body data filling mechanisms The reason is that you get to choose two sets of three markers in decreasing importance that determine the re placement data These three markers are 1 the Origin Marker 2 the Long Axis Y Marker 3 the Plane XY Marker The two sets of virtual marker definitions allow you to continue generat ing virtual marker data if one of the definition markers is not being tracked For the Join Virtual function to work properly you will need a minimum of three different support markers among the six spots to fill If you are in Streaming mode from cameras or VC files the first definition set is used If you are in Post Process mode you may choose which defi nition set works best Figure 6 37 Virtual Marker Definitions Virtual Marker Definitions Three Marker Value O Three Marker Ratio O Two Marker Value O Two Marker Ratio Enter Name of Virtual Marker Origin Marker Long Axis Marker Plane Marker CenterHead 5 M_F_Head 3
162. al markers for finger modeling Optional markers that add degrees of freedom to the finger joints Starting with SIMM 4 0 support has been added for alternative critical marker sets for use with the Mocap Model For example the sacral marker can be replaced with two PSIS markers and the lateral wrist marker can be replaced with the radius marker It is thus difficult to dis play in a single picture of the body the complete set of markers that are re quired On the following pages are descriptions of the critical and semi critical marker sets for each portion of the body Also for each marker the complete list of acceptable names is shown Any one of these case in sensitive names in the list can be used to identify the marker in the Cortex project H 24 Cortex 1 0 User s Manual Appendix H SIMM Motion Module Lower Body Critical Markers Semi critical Markers The lower body portion of the Mocap Model will be loaded if the critical markers listed below are present in the static trial The thigh shank and feet segments will each be scaled separately based on measurements made from the static trial Each of these segments will be scaled uni formly in the X Y and Z dimensions The pelvis segment will be scaled independently in the X Y and Z dimensions It is not possible to load only one leg of the Mocap Model 1 2 3 10 11 Right ASIS acceptable names R ASIS RASIS RASI Left ASIS acceptable names
163. alculate the calibration with continued emphasis on the wand data and will refine all the cam era parameters This step can be repeated several times until the cali bration data residuals changes very little or becomes worse Figure 3 4 Wand Processing Status Window Wand Processing Status Camera 56 29 098 nsss 48 000 Extend Seed 60 61 62 63 64 65 7026 363 433 974 288 875 53 139 28517 930 4 60 277 l 4739 449 70 087 3795 858 50 210 7148 751 4 52 024 18 000 32 967 18 000 31 759 18 000 36 000 18 000 3D Residuals Wand Length Avg 165 262 Avg 521 33 Dev 53 1926 Dev 74 47 7 Check the calculated Focal Lengths e The Focal Length for each camera is calculated and should be close to the value that is set on the lenses 8 Check the 3D Residual Values Chapter 3 Quick Start Tutorial for Animation Production Applications Cortex 1 0 User s Manual Note Possible Problems with Calibrations How to Solve 10 e The 3D Residual values should be small The Standard Deviation should be approximately half of the 3D residual Press the Run Again button until the values in the calibration processing win dow stop changing significantly or begin getting larger When everything looks good and you are ready press Accept If the calibration still does not meet the desired values you can press the Reject button You may have to do one part or all of calibration again
164. alibrated Figure 8 12 Extend Seed Calibration Button Wand Processing Status Camera 60 61 62 64 65 7026 363 133 974 288 875 28517 930 160 277 4739 449 70 087 3795 858 7148 751 152 024 18 000 32 967 18 000 18 000 36 000 18 000 3D Residuals Wand Length Extend Seed Avg 165 262 Avg 521 33 53 1926 Dev 74 47 Dev Extend Seed Button Note After you have clicked on Extend Seed check that the residual value for each camera is at a reasonable level If all cameras do not eventually seed you will need to check your Wand coverage 8 20 Cortex 1 0 User s Manual Chapter 8 Calibration Tab Post Processing Square and Wand Data It is possible to process the square and wand data after the data has been collected This is helpful if you did not have the time to process it during the capture or if you lost the project file that contains the calibration infor mation The steps are as follows Note You must have the CalSeed vcX and the CalWand vexX files from the data capture session 1 Select Raw Files in the Real Time Dashboard and then select Cal Seed vc1 Select your CalSeed data set in the data capture folder Note You can create a mask to eliminate unwanted markers or reflections Re select the CalSeed vc1 file again and press the Calibrate button in the Calibration with Square section 2 In the Calibration with Square section of the Calibration panel click Calibrate 3 Select Raw Files in the R
165. ame which is indicated by the red line 5 To zoom in press the Zoom Frames In hot key default is I or by right clicking in the XYZ Graphs and selecting Zoom Frames In from the pop up menu 6 To zoom out press the Zoom Frames Out hot key default is O or by right clicking in the XYZ Graphs window and selecting Zoom Frames Out from the pop up menu 7 Unzoom time Double click on the Time Slider on the Post Process Dashboard to zoom out completely making all frames visible The Post Process Dashboard Visible boxes will now have a 1 and the highest frame number displayed Time Zoom The second method of zooming in frames is described as follows Method 2 6 51 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Amplitude Zoom 1 Hold the middle mouse button down in the XYZ or the Analog Graphs 2 Drag the mouse to the right or left to select any number of frames 3 To zoom in press the Zoom Frames In Hot Key default is I or by right clicking in the XYZ Graphs window and selecting Zoom Frames In from the pop up menu Zooming amplitude is done relative to the closest data point and frame nearest to the location you initially click on You can optionally zoom into the data in the Current Frame regardless of where your mouse cursor is on the screen This option is a User Preference and it can be set by launching the Options Form from the Post Process tab 1 Hold the Alt key
166. ame directions as illus trated Care should also be taken in placing the 4 points on the floor as this determines the global axes and the orientation of the volume dis played in Cortex The points on the 3 point axis must be in a straight line and the spacing of point 2 must be close to 1 3 of the distance between points 1 and 3 8 2 Cortex 1 0 User s Manual Chapter 8 Calibration Tab Calibrate Panel Figure 8 1 Calibration gt Calibrate Panel Protect Lens Correction Calibrate C Protect Lens Correction Calibration with L Frame C Camera Aiming alSeed Calibrate Calibration with Wand Duration fo Seconds Length 00 alWand Calibrate Floor Calibration Marker Center to Floor fi 27 alFloor Calibrate C Refine Camera Positions Property Camera No 1 2470 197 2514 597 2939 508 Elevation 32 12 Azimuth 13215 Roll 19 02 Principal Pt U 620 8273 Principal Pt 497 8354 Focal Length 16 81047 This locks the lens corrections coefficients for all cameras as saved in your project file Once you have set your lenses focus and zoom factor the lens distortion maps should not change and they need not be calcu lated with each wand calibration With Protect Lens Correction 8 3 Chapter 8 Calibration Tab Cortex 1 0 User s Manual checked the wand calibration will converge more quickly So if you do not change the lenses it is a good idea to leave th
167. amera addresses as configured when they are built start at Addressing 10 1 1 201 for camera number 1 with ascending numbers For example e Camera 1 10 1 1 201 e Camera 2 10 1 1 202 e Camera 3 10 1 1 203 All have sub net masks of 255 255 255 0 It is not necessary for the cameras to have ascending numbers When you Connect to Cameras in Cortex the software polls the network camera network and reports the number and the kinds of digital cameras A 7 Appendix A System Hardware Interconnections Cortex 1 0 User s Manual Configuring Ringlight Changes for Eagle and Hawk Cameras Parts You Will Need If you change the ringlight type on your Eagle or Hawk camera you must tell the camera what kind of ringlight it currently has attached If you do not it could send too much power to the ringlight and damage the elec tronic circuitry or LEDs 1 2 Computer with COM port and HyperTerminal software standard with Windows Eagle Hawk Test Cable shown below that came with your Eagle or Hawk system This cable is about 6 feet in length and has a special connector on one end which plugs into the AUX port on the back of the camera The other end has three connectors a 9 pin COM port a 15 pin VGA and single BNC Figure A 5 Eagle Hawk Test Cable Steps Put the camera on a table connect the single connector end of the Eagle Hawk Test cable to the back of the camera AUX port Connect the Eagle Hawk Test cable
168. amera when you press the F1 key in a capture window and release it when you select another key F2 F3 etc EVaDV Select the desired camera capture device from Camera drop down If there is a single video camera connected to the host system EVaDV connects to this camera automatically Cortex Activate the Color Video avi checkbox in the Motion Capture gt Output panel Press the F1 key to show video and grab the DV camera Cortex Press the Record button Cortex 1 0 User s Manual Appendix l Synchronizing Digital Video with Cortex Note Note Note Note Suggestion for DV Camera Setup 7 EVaDV On Record EVaDV will record the file specified by Cortex to the directory specified by Cortex or if not present to the local Capture Folder The Message Bar indicates the directory requested by Cortex 8 EVaDV On Record A red RECORD will display next to the player control panel indicating system is recording and a message will be displayed in the Message Bar indicating record start time 9 Cortex Stop recording by pressing either the Stop button or after reaching the duration specified If you have more than one computer running Cortex on the same net work the EVaDV software does not consume the plugin port as does the streaming Alias Motionbuilder online plugin for example The message about starting and ending the data capture is broadcast to the x x x 255 ad dress which means that all c
169. an elongated capture space ten cameras may prove beneficial The first 8 cameras should be placed about 3 meters above the floor as in the 8 camera setup The two additional cameras 9 and 10 should be placed 5 meters above the floor at each end of the long dimension of the capture volume and will probably have longer focal length lenses than the other cameras See Figure 5 5 12 Cameras As the capture volume becomes more elongated twelve cameras may be required The first 8 cameras should be placed 3 meters above the floor Cameras 10 and 11 should be placed as 5 meters above the floor on the ends of the capture volume but closer to the center than cameras 9 and 12 5 2 Cortex 1 0 User s Manual Chapter 5 Camera Setup 14 Cameras 16 Cameras More than 16 Cameras Capture Volumes Between Eagle and Hawk Cameras same height Therefore one end of the long volume will be covered best by cameras 9 and 11 while the other end will be covered best by cameras 10 and 12 See Figure 5 6 When the sides of the capture volume are too long to be adequately cov ered by four cameras on each side an additional pair of cameras with wide angle lenses can be placed in the center of each long side of the cap ture volume The first 8 cameras should be 3 meters above the floor Cam eras 9 through 14 should be 5 meters above the floor See Figure 5 7 To use more than 14 cameras effectively it is usually necessary to break the captur
170. and ligaments Given muscle activations the forces and joint moments muscle force multiplied by moment arm that each muscle generates can be computed for any body position By manipulating a model on the computer graphics sys tem you can quickly explore the effects of changing musculoskeletal ge ometry and other model parameters Since the software can be used to study many different musculoskeletal structures it can enhance the productivity of investigators working on di verse problems in biomechanics SIMM provides a framework that orga nizes the parameters of a model and allows people to work together on a modeling project The moving three dimensional images of anatomical structures that you can create are extremely valuable when developing a model and when communicating the results of an analysis SIMM has a wide variety of applications A few examples include the fol lowing e Biomechanics researchers are using SIMM to create models of the human elbow wrist jaw and other anatomical structures These mod els can be altered according to particular surgical procedures to study how the surgical alterations affect muscle function SIMM can also be used to analyze and display the mechanics of injuries e Neuroscientists are using SIMM to study how the central nervous sys tem controls movement For example muscle activation patterns determined from electromyographic recordings can be used to esti mate muscle forces and joint mome
171. and re boot your computer This may take 10 15 minutes The remainder of the process takes less time For more informa tion please refer back to Installing NIDAQ Software on an Cortex Com puter on page B 3 B 5 Appendix B Analog Input Hardware and Software Cortex 1 0 User s Manual Second Install 1 Plug in the A D device NI USB 6218 will be used as the example the Hardware below l 2 You will then automatically go through the Found New Hardware Wizard operation for a USB device Note You will do this two times The first round is for the 621x Loader The next round is then for the 6218 Device 3 Select Yes this time only then Next gt Figure B 2 Found New Hardware Wizard Interface First Round Found New Hardware Wizard Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by This wizard helps you install software for looking on your computer on the hardware installation CD or on the Windows Update Web site with your permission USB 621x Loader Read our privacy policy i i If your hardware came with an installation CD pan Were connect to Windows Update to search for or floppy disk insert it now O Yes now and every time connect a device What do you want the wizard to do O No not this time O Install from a list or specific location Advanced Click Next to continue Click Next to continue lt B
172. and then save the new model to a file do not replace mocap jnt with the new file Instead copy the rel evant portions of the new file into mocap jnt using a text editor thus pre serving the macros and comments When you open the mocap model SIMM prompts you for the name of a tracked marker file containing a static pose of the subject This static pose is the same one used by OrthoTrak and for it you can use any of the six marker sets identified by that software package Cleveland Clinic Lower Body Cleveland Clinic Full Body Cleveland Clinic Full Body with Head Helen Hayes Lower Body Helen Hayes Full Body and Helen Hayes Full Body with Head It is also strongly recom mended that you include the medial knee and ankle markers in the static pose for more accurate calculation of knee and ankle joint centers You can also supplement the OrthoTrak marker set with your own custom markers as long as you do not move or remove any markers from the identified set Lastly the marker set used in the static trial must include all of the markers you plan to use for capturing motion This is because the Motion Module calculates the locations of all markers in the mocap model based on their locations in the static trial These are the steps you should follow when collecting the static trial 1 Choose which of the six OrthoTrak marker sets you would like to use for capturing motion 2 Add the medial knee and ankle markers for better calculation of k
173. anual Analog Signal Naming Conventions Kistler Forceplates Note For AMTI or Bertec Forceplates EMG Signal Name Conventions When connecting force plates and EMG equipment to the Cortex system certain requirements must be met and conventions followed Typically forceplates are connected to the first channels of the A D sys tem and then the EMG channels Specific Analog signal names for the forceplates must be used if KinTrak and OrthoTrak are used These names depend on the forceplate manufacturer 8 channels per plate e Analog Channel 1 connects to the F1X1 signal e Analog Channel 2 connects to the F1X3 signal etc If there are two plates e Analog Channel 9 connects to the F2X1 signal e Analog Channel 16 connects to the F2Z4 signal The reserved names for OrthoTrak and KinTrak are PLATE 1 F1X1 F1X3 F1Y1 F1Y2 F121 F122 F1Z3 F1Z4 PLATE 2 F2X1 F2X3 F2Y1 F2Y2 F2Z1 F222 F2Z3 F2Z4 These naming conventions are already set up in the Analog panel 6 channels per plate e Channel 1 connects to the F1X signal e Channel 2 connects to the F1Y signal e Channel 6 connects to the M1Z signal If there are two plates it connects to Channels 7 through 12 The reserved names for OrthoTrak and KinTrak are PLATE 1 F1X F1Y F1Z M1X M1Y M1Z PLATE 2 F2X F2Y F2Z M2X M2Y M2Z For KinTrak you must specify the channel names in the KinTrak project definition as well as in the Cortex analog setup screen which is
174. aphs become available 3D stick figure images can be rendered for all of the data set rather than just the 256 frames available in Real Time mode Post Process mode allows you to edit the tracked data generated during a motion capture session Editing can be performed upon groups of markers or one marker at a time 1 From the Menu Bar select File gt Load Tracks File 2 Double click on GolfTemper1 trb 3 Leave the 3D figure currently in the top pane in the 3D view 4 From the Menu Bar select Layouts gt 2 Panes Top Bottom 5 Left click on the bottom pane This action will select this pane 6 Press F4 on the keyboard or choose Data Views gt Marker XYZ Graphs 7 Select marker 15 on the MarkerSet panel right side 6 32 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface The two Graphics Panes used often simultaneously during a Post Process editing session are the 3D View and the XYZ Graphs shown here Notice that the Post Process Dashboard has replaced the Real Time Dashboard The data shown in the XYZ Graphs represents the X Y and Z coordinates of the selected markers throughout the capture period Figure 6 29 Viewing Tracked Data in Post Process Mode Cortex 1 0 0 Body Club_Merged prj Golffemper1 trb 4 File Layouts Data Views Tools Help 9 MotionAnalysis e System Calibration Motion Capture Post Process Model Edit Plugins Markers Segments o o D y o A Fi Cli
175. aster camera to the A D interconnect box Data can be collected in the pause mode or the run live mode without any delay or drift between an alog and video signals B 2 Cortex 1 0 User s Manual Appendix B Analog Input Hardware and Software Installing NIDAQ Software on an Cortex Computer For Cortex 1 0 and later software we recommend installing NIDAQ ver sion 8 0 or later as it gives better analog performance and allows higher analog sample rates With NIDAQ 7 1 through 7 4 the maximum analog sample rate is 5000 samples sec for all channels With NIDAQ 8 and above you can go to higher rates typically 20 000 samples per second for all channels Note NIDAQ version 7 5 DOES NOT WORK with any version of Cortex Ver sions of NIDAQ software are available for downloading from www ni com If NIDAQ Shutdown power OFF the computer and remove the A D unit Software is 2 Power ON the computer go to START Settings Control Panel Add Remove Programs select NI_DAQ and then select Remove Already Installed 3 When complete shutdown power OFF the computer wait 10 sec onds power ON the computer let the system boot up and then log in when prompted It is necessary to have the computer boot without the A D card or software Proceed to the next step _ New Installation 1 Install the NI DAQ software version 8 0 or later Install all of the of NIDAQ default entities that are checked then shutdown power OFF the com put
176. at start with a left bracket are read by the software If you are operating in Windows XP or Vista make sure that file exten sions are not hidden which is the default This makes the mac_lic dat look like mac_lic which might be renamed to mac_lic dat dat If this happens the system will not recognize the license file Figure G 1 An Example of a Motion Analysis License File Motion Analysis License File Customer MAC Customer Platform NT SystemID 19c Created 9 15 20xx 1 42 26 PM Sales Order 05 xxx Entered By Support Cortex 1 0 aed50167 873b2d56 Analog Input b9806c31 d1567841 OrthoTrak b2d 5e69 8964274a Animation Plugins b1a46160 805b5c49 Director Sequencer ela04e65 85745819 RT2 Animation Plugins e3 f05340 a069081b Analog Input b9806c31 d1567841 Calcium 4 e7ed5923 c363151f Skeleton Builder 4 a3 44279 99780c5b Reference Video 3 0 eb92592f cf636al3 Talon Streaming 4 ecb36136 d65b4b14 Talon Viewer 4 86 b0714 43d037e Motion Composer c7 00e25 c534083f This license has no expiration Cortex 1 0 User s Manual Appendix G Import and Export File Formats PRJ Cortex Project File Every motion capture session must have a project file containing all sys tem settings equipment parameters and other information related to the project This file contains both equipment parameters common to many different setups and calibration values unique to one particular session Among the da
177. ata of the sub ject The success of the final motion data will depend not only on the quality of the subject s performance but also on the organization skills and experience of the Cortex operator The quality of the Cortex data can be greatly affected by the events leading up to and during the motion cap ture session An efficient motion capture session can ultimately save time and money Although this chapter is geared towards animation some information may be helpful for both animation and biomechanics What follows are suggestions that can help make the motion capture session run smoothly Studio or Lab Preparation At least a day before the capture session the Cortex user should know the capture volume required and the nature of the motion capture project This information is essential for an efficient motion capture session Knowing the capture volume allows for the advanced selection of the ap propriate marker size for the session It may be appropriate to use different capture volumes for the different moves of a capture session Changing the capture volume size and opti mizing this volume could take up to one hour so this switchover should be scheduled during a break The approximate volumes can be set up ahead of time using tape on the floor to mark the capture volume bound aries and the position for the tripod legs if used of each camera 4 1 Chapter 4 Planning a Motion Capture Session Cortex 1 0 User s Manual
178. atic trial is loaded any marker in the mocap model which is not in the static trial is removed from the model Thus it is not a problem to have extra markers in the mocap model In fact you should add to the model whatever extra markers you may need for any of your motion capture ap plications Then for a particular application the mocap model will have all the necessary markers and the unused ones will automatically be re moved when the model is loaded into SIMM To add or change markers in the mocap model use the Marker Editor You should be careful not to overwrite the original mocap jnt file In stead after editing the marker set save the model to a new file name and copy the altered markers into mocap jnt All of the markers in the mocap model have X Y and Z offsets that put them in realistic locations given the dimensions of the generic model Thus if you load the unscaled mocap model into SIMM using the File gt Open command not the File gt Open Mocap Model command which will scale it the markers will appear in positions corresponding to where they are placed on the subject These offsets are purely decorative to help you view the marker set They are not used by the Motion Mod Cortex 1 0 User s Manual Appendix H SIMM Motion Module ule to process any marker data To explain why this is so we must first introduce the concept of critical markers and non critical markers Critical markers are ones that must
179. ave a seed calibration which is acceptable Refer to Extending the Seed Calibration on page 8 20 If the camera is not seeing all of the points first try one or more of the following steps 1 Adjust the threshold to see four centroids Insert Masks to eliminate stray data points 3 Move the camera position so that it sees four defined markers In Fig ure 8 6 a poorly positioned camera will be shown as a camera situ ated at the origin 4 If one camera is seen in the exact opposite position in the room the orientation up down must be changed in the Lenses tab in the Cali bration Settings menu This usually occurs when cameras are tilted more than 90 or mounted upside down Figure 8 6 Poorly Positioned Camera 4 Results in a Non Seeded Camera Camera 4 Bie irous Yew Took Hep DiPatent Dere t 01088 a Saup Cakbration Notion Capua PostFrocess Model Ecit Usar Apps Caltrate Refine Sens Calbraten A F Prewew Caltrain OSH x enmi F Of toO vernie Fler Colbraton Naste Certet to Piece 12 Colitnate Fibo Beret Oe a Ey Example The camera does not see the calibration L frame Click on the camera to identify it 8 9 Chapter 8 Calibration Tab Cortex 1 0 User s Manual Once you have all of your cameras positioned and oriented correctly press the Collect and Calibrate button see Figure 8 7 This creates the CalSeed veX vcl vc2 vcN fil
180. bjects should be put at the top of the Additional Tracking Ob jects list Main Markerset 5Merged prj Additional Tracking Objects A Bil _1ES prj 8 C Greaves_1ES prj S F Clear Entry Select Markerset Local System CEE OS Bill 1ES prj BillTemplate prj Calibration prj Dan_1ES prj DanTemplate pri Greaves_1ES pri GreavesTemplate prj GreavesTemplateExtended prj John_1ES pri JohnTemplate pri NoMarkerSet pri Refined prj M MarkerName Prefix Options None A_B_ etc MarkerSet Name Property Merge Markersets c ioOomn Cortex 1 0 User s Manual Chapter 9 Motion Capture Tab Main Marker Set Additional Tracking Objects Clear Entry Select Marker Set Allows you to choose which object data set is your primary data set in the tracking session Allows you to add multiple tracking objects i e people props etc to your tracking session Clears the selected Additional Tracking Object cell A through J Local Lists and manages which marker sets are to be used in the project tracking session as set in the Additional Tracking Objects section System System Objects is a feature used to help track objects that are known to be rigid objects The advantage in using this feature over using a standard objects with a Template is that rigid objects can be more robustly tracked and can have several markers define the 6 DOF Rigid Object coordinate
181. ble Figure 8 4 Lenses Orientation Tab Settings DER Calibration Cameras Playback 3D Display Post Process Tools Misc Id Params Plugins Calibration Frame Origin Offsets Lenses Orientation Capture Volume Focal Length Positioning Normal Normal Normal Normal Normal Normal Normal S S S S Ss Normal 8 7 Chapter 8 Calibration Tab Cortex 1 0 User s Manual Capture Volume Tab This displays the rectangular capture volume according to your measure ments and helps to provide a visual reference of the volume to the opera tor It does not affect the tracked data in any manner It is for display pur poses only in the 3D view In the Plugins gt X panel the Delete Outside Volume feature will delete any marker data outside of the capture volume Figure 8 5 Capture Volume Tab Square Seed Calibration of Cameras Settings DER Calibration Cameras Playback 3D Display Post Process Tools Misc Id Params Plugins Property Value X Maximum 1500 Y Minimum 1500 Y Maximum 1500 Z Minimum 0 Z Maximum 3000 Selecting Tools gt Settings gt Calibration gt Calibration Frame Tab or Calibration Panel gt Details will bring up a window as shown in Figure 8 2 on page 8 5 The calibration L frame should be laid out on the floor exactly as is in this figure This can be don
182. bration which is normally the results of the seed calibration but can be otherwise and refines the calibration The calibration includes the exact location and orientation of each camera with respect to the origin the lens distortion parameters for each camera and other details about the cameras At the successful completion of the wand calibration the soft ware asks if you want to save the system calibration A Yes answer means that a file called SystemCal prj gets written to the system directory Other uses for the SystemCal prj file are when you launch Cortex the software automatically reads the SystemCal prj file and when you exit the Cortex program it automatically writes the SystemCal prj file into the system folder The intent is so that you can launch the Cortex soft ware and it will remember its last good calibration without having to load any files If you load a PRJ file or load a CAL file it will overwrite the calibration information in memory with the contents of the PRJ or CAL file Both contain calibration information but the PRJ file also has the marker set information and template information It is a good practice to use TrialN cal for every capture you make Every time you collect a trial in the Motion Capture gt Output panel the system writes out the current calibration to a file that has the same name as your trial name but with a cal extension This is normally not needed but will allow you to load up the calibra
183. bration L frame are entered into your project file s correctly 5 20 Cortex 1 0 User s Manual Chapter 5 Camera Setup Note Control Points e The calibration L frame is oriented correctly in the room when you collect the calibration trial The position of the calibration L frame determines the orientation of your calibration The International Society of Biomechanics ISB has officially adopted the convention that the Y axis should point up This has the advantage that in both 2D and 3D studies the Y axis is up However many studies and software packages use the Z up coordinate system favored by mathe maticians Once a reference frame has been selected you must provide a number of calibration markers with known locations which can be used for control purposes hence these calibration markers are known as control points The control points serve much the same purpose as the simple scale widely used for two dimensional studies they are in fact a three di mensional yardstick representing the X Y and Z dimensions Motion Analysis offers a calibration L frame with four retro reflective spheres The relative position of the spheres have been accurately mea sured Place the calibration L frame at the origin or at an accurately measured point of the laboratory s test area When placing the calibration L frame consider the direction of motion to be studied position of force plates etc You can change the ori
184. builder D 1 Move 4 5 Index 5 coRTex 1 0 User s Manual Move 1 Frame Button 10 3 Move to Lowest Highest Frame 10 3 MTO 9 7 Multiple Tracking Objects 9 7 Muscle Name Selection EMG 7 14 N Network Configuration A 7 Network Interface Card NIC A 7 New Subject Button 6 43 New Subject button 6 43 NI PCI 6071E B 1 NI USB 6218 B 1 B 5 NIDAQ Software B 3 OBJ 11 7 Objects Panel 9 8 Options to Change 10 19 Orient Body 11 16 Origin Offsets Tab 8 6 OrthoTrak 1 14 Intended Use 1 14 Output Files 9 13 Output Panel 9 12 P3D G 15 Panel Buttons 6 29 Paste 10 19 PCS_16Camera_2Tier prj 5 4 Phoneme Recognition D 13 Pinging a camera 5 27 Play Backward Button 10 2 Play Speed 10 3 Playback Tab 6 13 Plugins 6 28 Plugins Tab 6 21 12 1 pop up menu 6 34 2D Display 6 37 3D Display 6 34 Analog Graphs 6 38 XYZ Graphs 6 39 Pop Up Menus 6 34 Position Velocity and Acceleration Tab 10 30 Positioning Cameras 8 9 Post Process 6 28 Index 6 Post Process Dashboard 6 50 Post Process mode 6 32 6 50 Post Process Tool Strip 6 50 10 12 Post Process Tools Tab 6 15 Post Processing 10 1 Square Data 8 21 Strategies and Tips 10 33 Wand Data 8 21 Post Trigger Mode 9 13 9 14 Power Consumption A 3 Eagle A 3 Hawk A 3 PP Settings 10 17 10 19 PRJ Files 6 30 G 3 Project Initialization MA Quickstart 2 2 NM Quickstart 3 2 Prop Definition 9 6 Props 4 4 Protect L
185. c documentation for the values appropriate to your plate See the sample forcepla cal file Figure E 4 If using other Bertec hardware e g AM6504 or AM6800 please check the out put range and scale factors with the manufacturer E 6 Cortex 1 0 User s Manual Appendix E Forcepla cal File Format Figure E 4 Example Forcepla cal File for 2 Forceplates 1 25 51 46 5 2 9350 0 0040 0 0130 0 0480 0 0020 2 9930 0 0470 0 0080 0 0270 0 0120 11 5420 0 0240 0 0000 0 0070 0 0000 1 5390 0 0070 0 0020 0 0000 0 0000 0 0020 0 0020 0 0050 0 0020 0 1000 0 0260 3 8000 5 6000 25 7000 4 2000 0 0000 1 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 2 25 51 46 5 2 9340 0 0090 0 0020 0 0120 2 9750 0 0450 0 0050 0 0020 11 5480 0 0040 0 0010 0 0000 0 0010 0 0020 0 0000 0 0020 0 0060 0 0000 0 1000 0 0300 4 2000 56 5 25 7000 4 2000 0 0000 1 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 E 7 Appendix E Forcepla cal File Format Cortex 1 0 User s Manual Figure E 5 The 6x6 Calibration Matrix forces moments a12 a13 a14 a15 al6 a22 a23 a24 a25 a26 The main diagonal represents the basic sensitivities for each channel Force units The information provided by the manufacturer may include only the basic sensitivities for each channel with no values for cross talk In this case the matrix should be filled with the basic sensitivities on the main di
186. camera The better the coverage the better the calibration Figure 2 2 Proper Wand Calibration Coverage f R a Frames Used 1870 Frames Used 1365 Frames Used 1824 Frames Use Frames Used 331 Frames Used 15164 Frames Used 1789 Frames Used 384 2 4 Cortex 1 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications 6 When finished and the Wand Processing Status window appears you can select the Run Again button This will recalculate the calibration with continued emphasis on the wand data and will refine all the cam era parameters This step can be repeated several times until the cali bration data residuals changes very little or becomes worse Figure 2 3 Wand Processing Status Window Wand Processing Status Camera 60 61 62 63 64 65 7026 363 133 974 288 875 53 139 28517 930 160 277 4739 449 70 087 3795 858 50 210 7148 751 152 024 18 000 32 967 18 000 31 759 18 000 36 000 18 000 gt 3D Residuals Wand Length Extend Seed Avg 165 262 Avg 521 33 lt 3 1926 Dev 7447 Dev 7 Check the calculated Focal Lengths e The Focal Length for each camera is calculated and should be close to the value that is set on the lenses 8 Check the 3D Residual Values e The 3D Residual values should be small The Standard Deviation should be approximately half of the 3D residual Press the Run Again button until the values in the calibration p
187. ce If the face of a non human character is to be animated markers will be placed where the facial characteristics unique to that character will be accentu ated In most cases general areas of the face will need to be marked and cap tured The following are suggested marker placements for facial motion capture Three markers are used to identify head movements If possible the markers should be placed on areas with little or no skin movement A tight fitting skull cap may be used for attaching markers to the head One marker should be placed on top of the head and one on each side of the head These three markers are used to calculate the center of the head which is the point from where all other marker translations are calculated Figure D 2 Marker Set for Facial Motion Capture Eyebrows One to three markers per eyebrow are used to track eyebrow movements The exact position of markers on or around the eyebrows depends upon the subject s face D 4 Cortex 1 0 User s Manual Appendix D Capturing Facial Motion Nose Bridge Eyelids Nose Cheeks Lips Chin Jaw Place one marker between the eyes on the upper bridge of the nose This area tends to be a junction point between the different regions of the face Both the top and bottom eyelids may be marked however you can expect some optical interference from the eyelashes which can add more time to tracking and editing Also if the bottom eyelids a
188. ck AlliNone Ctrl Click Toggle 8 O ALVASTI E aa H gt Er Quick ID Rectify Template Template Template Marker ID Exchange Cubic Virtual Calc Smooth Make Rectfy Delete Cut Cut Search PP Undo 2 M_L Head Create ID Rectify Join Join VMs Unnamed Unnamed Unnamed Outside Settings ATS 4 MR heed 5 M_F_Heed 6 M_RShoulder 7 M_LShoulder 8 M_TopSpine 10 M_FLShoulder 11 M_FChest 20 M_LForearm 21 M_LWrist 22 M_LPinky 23 M_LThumb 24 M_Midbback 25 M_ShoulderOffset 0 919 51 31 M_FRHip 1135 72 33 M_RThigh i 34 M_Rknee 35 M_RShin 36 M_RAnkle 1875 59 37 M_RHeel 1071 80 lt Click Alone Ctri Click Toggle h 52 U1 53 U_2 lt Empty gt 925 57 54 U_3 lt Empty gt 2489 40 55 U_4 lt Empty gt 56 U_5 lt Empty gt Z 57 U_6 lt Empty gt 58 U_7 lt Empty gt 59 U_8 lt Er 15 62 8 Empty gt VMs rr a 100 200 300 400 500 600 700 800 900 senp r o al pos f e a Visine seee Le a e 4 J Be we Calculate 26 Cut Outside 964 Frames 120 FPS Z Up Unitsimm Analog 600 00 Hz 6 33 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Pop Up Menus 3D View Pop Up Menu The Graphics Panes have viewing options and associated tools that can be accessed through pop up menus In all cases the pop up menus are acti vated with a clic
189. control over the calibra tion of the forceplate data When this box is checked SIMM determines the baseline of each forceplate channel and automatically subtracts these baseline values from the data thus zero ing out the force data In order to display forceplate data that is in the analog file SIMM creates graphical objects in the model window representing the forceplates Each time you load a tracked marker file with corresponding analog data SIMM creates a new graphical object for each forceplate in the file In most cases you will want to remove the existing forceplate objects from the model when loading a new file so that the display is not cluttered with multiple or redundant sets of objects Thus this option is turned on by default If you load a series of marker and analog files that all have the same forceplate definitions then you should leave this option turned on For C3D import only This option allows you to choose from which pa rameter field in the C3D file to read the names of the tracked markers Be cause the POINT LABELS field in a C3D file is limited to four characters some software packages g Cortex store the full marker name in the POINT DESCRIPTIONS field Since the marker names in the tracked file must exactly match the names used in the mocap model if your C3D file does not contain full marker names in the POINT DESCRIPTIONS field you may have to edit the mocap model so that the marker names match
190. convert it into a mo tion by fitting a musculoskeletal model to it For this to work well the body segment lengths marker names and marker locations in the model must exactly match those for the subject whose motion is being recorded Because it is time consuming to measure and scale the body segments and measure and record the offsets of all of the markers the Motion Mod ule has the ability to automatically scale a pre made model the mocap model to fit the subject To use the mocap model select Open Mocap Model from the File menu SIMM will display a Windows file browser and ask you to select the name of a static pose file This static pose is used to calculate joint center locations and segment lengths for the subject using the same algorithms implemented in OrthoTrak In other words the Motion Module recre ates the OrthoTrak skeletal model from the static pose and then maps this skeletal model onto the mocap model Thus to use the mocap model you need to use the same motion capture protocol as you would for OrthoTrak You can use either the Helen Hayes or Cleveland Clinic marker sets plus your own additional markers if desired as long as the marker names and locations match the protocol defined in the OrthoTrak manual The Motion Module uses the tracked marker data from the OrthoTrak static pose and also segment information from per sonal dat to scale the mocap model to the subject The algorithms for calculating joint cente
191. ct as will be shown in the top blue bar This keeps the calibration for this capture session You should now have three files in the project folder Select the Motion Capture gt Output panel and activate the Raw Video vc if you re doing a live capture and the Tracked Binary trb check boxes Create a range of motion ROM file Type in a filename i e Dav eROM and set the duration to be long enough to record one full step cycle If you re using the example data the program will know how long to record For more information on the ROM files refer to Building a Template from the Range of Motion Trial on page 9 5 Press the Record button This will produce a DaveROM1 trb file Load the DaveROM1 trb file e Done by either pressing the Load Last Capture button in the Motion Capture gt Output panel or selecting File gt Load Tracks File e Loading a file will automatically bring you to the Post Process tab Select the Post Process dashboard and then press Quick ID An Identifying window appears Activate the Rectify check box Identify each marker with the correct name by clicking in the 3D view The stick figure will automatically be drawn as you identify the markers and will help to highlight mistakes gaps in data marker mis identifying swaps ghost markers Play the trial to make sure it is identified throughout the entire trial If not go to the frame you used for identification usually frame 1 and pr
192. ct and edit which marker is the Long Axis Y of the SkB segment definition To edit click on the property and select from the drop down menu Plane Axis XY Allows you to select and edit which marker is the Plane Axis XY of the SkB segment definition To edit click on the property and select from the drop down menu RX Offset RX is used to rotate the bone in the SkB segment along the X axis RX is not used very often compared to RY If you select a segment to rotate it will bring up the rotation gizmo RY Offset RY is used to rotate the bone along the Y axis If you select a segment to rotate it will bring up the rotation gizmo RZ Offset RZ is used to rotate the bone in the SkB segment along the Z axis RZ is not used very often compared to RY If you select a segment to rotate it will bring up the rotation gizmo For more information on Skeleton Builder refer to the Skeleton Builder Quick Start Guide found in the C Program Files Motion Analy sis Cortex50 Samples Skeleton Builder directory 11 14 Cortex 1 0 User s Manual Chapter 11 Model Edit Tab Figure 11 9 Skeleton Builder Segments Property Values Calcium Segments Property Value Name LFoot Index 5 Parent LLowerLeg Origin Marker V_LAnkle Long Axis Y wY _LFoot Plane Axis PSY M_LMidfoot Rx Offset 0 RY Offset 0 RZ Offset 0 The various skeleton types are described in Chapter 13 Skeleton Types Calcium is the graphical user
193. dSuffixToCalciumNames sky Arped Aa enna aid E stroutputFolder strInputFolder SourceScript RECS swAutolDAllFrames AutolDAlFrames sky lstrInputQuery strInputFolder strInputFilePattern swCalibration_ActiveRefinement Anaiek Set listFiles Directory strInput uery swCalibration_AdjustViaFloortarkers Commands sky swCalibration_GetAlternatePositionFlag CoreProcess sky For each strFile in listFiles a T swCalibration_GetFocalLen ogee emia are swCalibration_GetOffsets CreateVMJoins sky strFullFile strInputFolder strFile Sc S CubicJoinAll sky Message Processing strFullFile Semi cena DeleteUnnamed sky iSuccess swloadTracksFile strFullFile Socal tie Load DeSpteSelecte sky otiraa Fytael Spe ON DoubleFrameDelete s ExporiForce sky ay swCalibration_SetAlternatePositionFlag FiterAllsky swCalibration_SetFloorMarkerSize FinalProcessLoop sky swCalibration_SetFocalLength FindAutolDFrame sky swCalibration_SetForAllCameras arc ieee de b swCalibration_SetOffsets nah por irameFrome nd shy swCalibration_SetSpaceBounds Network Sky Scripts a swCalibration_SetUnits a swCalibration_SetUpAxis ANB2ANC sky swCalSeed_GetMeasurement PropagateCalibration sky swCalSeed_SetMeasurement RunAliCommands sky J swCamera_GetAngleX swCalibration sky _ swCamera_Getangiey swCalSeed sky stroutoutFile strOutnutFolder strFile swCamera_GetAngleZ swCamera sky BrowseForFolderByPath swCamera_GetCalibrationStatus swContext sky swCamera_GetCurrent
194. date all additional tracks files If not unpredictable results may occur This is intended for viewing multiple trials To see the stick figures multiple marker sets must exist in your current marker set Moving the X Panel to a new Tab You can move the X panel to a different tab System Calibration Motion Capture etc with the Settings gt Plugins tab This provides a custom function that may help improve workflow Figure 12 5 Settings gt Plugins Tab Settings Calibration Cameras Playback 3D Display Post Process Tools Misc Id Params Plugins This setting specifies which tab a plugin is available in The Plugins tab is the default Plugins X Available Tab System Calibration Motion Capture Post Process Model Edit Plugins 12 5 Chapter 12 Plugins Tab Cortex 1 0 User s Manual In this example the X panel is moved to the Post Process tab see Figure 12 6 Figure 12 6 X Panel in Post Process Tab The X Panel is now located in the Post Process Tab Cortex Matt prj MattCartwheel1 trc File Layouts Data Views Tools Help System Calibration Motion Capture Post Process Model Edt Plugns teaa 0 Quick ID Beaty remos tence ee Marker 1D M_LWrist M_LPinky M_LThumbs M_TopSpine M M_FLShoulder M_Midback
195. date and make copies of the motion capture logs and forms If necessary give the video tape and Motion Capture Logs to the director so the best trials of each move can be indicated Place logs and offset forms in a binder Clear plastic inserts can be added to hold the still photos The binder along with the video tape will provide important information to both the Cortex user tracking and editing the data and for the artists who will apply the final data to the model 4 9 Chapter 4 Planning a Motion Capture Session Cortex 1 0 User s Manual 4 10 chapters Camera Setup Setting Up a Motion Capture Laboratory Deciding On the Optimum Number of Cameras Setting Up the Cameras Eagle Camera Physical Dimensions Hawk Camera Physical Dimensions Hawk i Camera Physical Dimensions Overview of the System Calibrating Process Placing the Calibration L Frame Marker Sizes and Maximum Distances for Eagle Hawk Cameras Troubleshooting Eagle and Hawk Camera Problems Relationship Between Capture Volume and Marker Size Setting Up a Motion Capture Laboratory Camera placement is the most important aspect of setting up your motion capture laboratory If properly done good camera placement will reward you with highly accurate and consistent results and greatly reduced edit ing time Optimum e Fluorescent lights are the best ambient light when red or notch filters Laboratory are used on t
196. de The marker that was closest to the pixel on the display where zooming began becomes the Target Marker Its data is centered ei ther to the data in the Current Frame or optionally to the data in the frame that the cursor was on when zooming began Data for this marker will re main centered on the screen at all times unless you forcibly translate it off the screen using Alt click and drag Unzoom is a means of resetting the display such that zoom and translate values are equal to zero The default Hot Key is U on the keyboard and it is an XYZ Graphs right mouse pop up menu item Picking a marker out of a crowd of data is done by double clicking di rectly on a marker s data line This action will deselect all other markers leaving only the display of the Target Marker Other important view options that are general in nature are described here These options can only be accessed as XYZ Graphs right mouse pop up menu items e Auto Scale dynamically scales the display to accommodate data in the visible frame range e Uniform Scale the display such that X Y and Z conform to a uniform range e Show Residuals and Cameras shows residuals and cameras along with XYZ data 10 4 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Joining Gaps in Data Filters Join functions are not always confined to selected frames as a conve niencer For example if you select only one frame in a gap of marker data tools intend
197. dentify panel 3 Press Quick ID The Identifying window appears Activate the Rec tify check box 4 Identify each marker with the correct name 5 Play the trial to make sure it is identified throughout the entire trial If Figure 2 8 Post Process gt Cortex 1 0 0 Walk prj Walk3 trb I Fie Layouts Data Views Tools Help f System Calibration Motion Capture Post Process not go to the frame you used for identification usually frame 1 and press Select Visible Frames shown in Figure 2 8 located in bottom right of screen and then press Rectify Check again by playing the trial MarkerSets Panel Click All None Button Model Edit Plugins rE 0 A Quick ID Rectify Template Template Create ID Template Rectify Marker ID Exchange Cubic Virtual VW ye S amp S Calc Smooth Make Rectify VMs Unnamed Unnamed amp xan Delete Cut Cut Search PP Undo Join Join Unnamed Outside Settings _8 L Shoulder 9 LEbow 10 L Wrist 42 76 Click AllNone Ctrl Click Toggle 1677 96 hi l eE 28 38 onerrattnnn rannani sett remeron AER oreren F ae 10 20 30 40 50 60 70 80 100 110 120 140 150 170 180 E o oe qe 1a EA vinie Seaca lt gt ea e a Calculate XYZ Graphs in Bottom Pane 6 Select Visible Frames Buttons Make sure there are no unnamed
198. desweli_20 4 4 Once the wand calibration duration has been completed the program starts to determine the volume calibration and a screen comes up with a series of numbers that decrease as the calibration nears the actual wand length and focal lengths of the camera lenses see Figure 8 9 5 At the bottom of the user interface a progress bar ticks toward 100 Once completed the camera lenses should be very close to what was installed on the camera body e g 6 023 mm for 6 mm lenses If this is the case and the wand length is very close e g within 0 10 mm difference for a 500 00 mm wand to the original wand length then the calibration is complete If not you can continue to click on the Run Again button until either the values stop changing significantly or the values start getting larger 6 Press Save Project Cortex 1 0 User s Manual Chapter 8 Calibration Tab Figure 8 9 Wand Processing Status Wand Processing Status Camera 60 61 62 63 64 65 Res 7026 363 133 974 288 875 53 139 28517 930 160 277 4739 449 70 087 3795 858 50 210 7148 751 152 024 18 000 32 967 18 000 31 759 18 000 36 000 18 000 3D Residuals Wand Length Extend Seed Avg 165 262 Avg 521 33 z 531926 Dev 74 47 Dev Extend Seed This button will seed the cameras that were not seeded during the Seed Button Calibration based on the wand data After extending the seed clicking Extend Seed all the camera buttons should be
199. displays the current Time Code value when you are in the Motion Capture mode and connected to the cameras The Frame Counter displays a count of the total number of frames in the data set You can select each camera by clicking on it s respective numbered but ton that is listed across the Real Time Dashboard Clicking on a camera button will either activate or de activate that camera for setup features Right clicking on any of the camera buttons will open a function menu with various commands for that specific camera The menu and a descrip tion of each command is shown in Figure 6 42 Figure 6 42 Camera Buttons Right Click Menu Enable Disable Enable for Live Tracking Disable for Live Tracking Sort by Pasition Sort by IPAddress Delete Enables the selected camera to capture data if disabled Disables the selected camera from capturing data Enables the camera to capture and display data in Real Time Disables the camera from data collection in Real Time only Camera numbers are sorted in a counter clockwise order Camera numbers are sorted by IP address starting from lowest Deletes the selected camera from the project file 6 49 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Post Process Dashboard The Post Process Dashboard is available when Cortex is in Post Process mode as opposed to Tracking mode After you have generated and saved tracked data this becomes available to help manage a
200. dius of Gyration Mass z x Y z 0 1117 Os 0 551 0 615 0 587 0146 0 4095 0 329 0 329 0 149 01416 0 4095 0 329 0 329 0 149 0 0433 0 4395 0 251 0 246 0 102 0 0433 0 4395 0 251 0 246 0 102 0 0137 0 4415 0 257 0 245 0 124 0 0137 0 4415 0 257 0 245 0 124 0 3229 0 5047 0 294 0 342 0 233 0 0694 0 5976 0 362 0 376 0 312 0 0271 0 5772 0 285 0 269 0 158 0 0271 0 5772 0 285 0 269 0 158 Segment Pelvis R Thigh LThigh R Shank LShank R Foot LFoot Torso Head R Upperdim L Upperdim toad Save Segment Sum 1 Normalize Calculate Kinetics 0 368 41 na A r T T T T ery T Teper T q eea ane Po y e 10 20 30 40 50 60 70 80 90 100 110 120 130 140 151 3 D aia 7A mist 151 M Kinetics TS REE de 00 00 01 14 uJ o0 4 blb je Calculate 6 Calculate 151 Frames 60 FPS z Up Unitsimm Analog 960 00 Hz The Mass Model Editor shows in tabular format how the mass is distrib uted throughout the segments of the current skeleton model For more information refer to the Kinetics for Cortex User s Manual 6 24 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Colors The Colors window allows you to choose RGB colors for the markers segments background foreground Real Time floor and post floor for your project Refer to Figure 6 21 Figure 6 21 Colors Form To change the color for any item just click on the
201. e Zooming Rotating and Translating in the 3D View Zooming and translating a display can occur in both the 3D View and the XYZ Graphs Rotating only occurs in the 3D View Choosing Help gt Hot Keys and Tips from the Menu Bar will bring up an online table describing how these features work Zoom lIn the 3D View zooming is accomplished if you 1 Hold the Alt key down 2 Hold both the left mouse and middle mouse buttons down 3 Move the mouse forward or left to zoom out and backward or right to zoom in Rotate In the 3D View rotating is accomplished if you 1 Hold the Alt key down 2 Hold the left mouse button down 3 Move the mouse in any direction Translate In the 3D View translating is accomplished if you 1 Hold the Alt key down 2 Hold the middle mouse button down 3 Move the mouse in any direction In the XYZ Graphs time zooming is done in terms of frames time or amplitude If you want to zoom in frames there are two methods 1 If one or no frames are selected zooming is done relative to the current frame 2 If two or more frames are selected zooming is done relative to the selected frames Time Zoom 1 Click on the Post Process button among the Mode Buttons Method 1 2 Press F4 or choose View gt XYZ Graphs from the Menu Bar 3 Left click on None in the lower right corner below the marker list Now no frames are selected 4 Left click anywhere on the XYZ Graphs to set the Current Fr
202. e 1D Rectify Join Join VMs Unnamed Unnamed Unnamed Outsid Settings IETA 4 M_R_head 5 M_F_Head 6 M_RShoulder 7 M_LShoulder 8 M_TopSpine 10 M_FLShoulder 11 M_FChest 12 M_RBicep 13 M_REIbow 14 M_RForearm 15 M_Rwtist 16 M_RPink 47 M_RThumb 24 M_Midback 25 M_ShoulderOttset 26 M_LowBiack 27 M_RootOtfset 23 M_BRHip 30 M_BLHip 31 M_FRHip 32 M_FLHip TEA VOW U WERE VV VN V V V VET a RA ama 34 M_Rknee 35 M_RShin 36 M_RAnkle 1875 59 37 M_RHeel a De n Eey Click AllNone Ctri Click Toggle hod Y 52 u1 53 U_2 lt Empty gt 925 57 54 U_3 lt Empty gt 55 U_4 lt Empty gt 2489 40 56 U_S lt Empty gt Aa Z SERJ a A 57 U_6 lt Empty gt SSS 58 U_7 lt Empty gt 59 U_8 lt Empty gt 15 62 BAH a Emh a PAA REREEE EEE EAAS MAAA AA AA D eee Hae ido 200 300 400 500 Sdo 700 800 900 elton ais 1 1 o Sif 161 D 964 fia STEN SEY gomma oul emmena aM Mc bbl oe Calculate ee 24 Stopped 964 Frames 120 FPS 2 Up Unitsimm Analog 600 00 H2 Cortex displays data somewhat differently when in Post Process mode For instance the analog displays become static graphs rather than having the oscilloscope style seen during collection and replays of raw data The 2D Display and Skeleton Graphs become entirely unavailable but the XYZ Gr
203. e Cal 0 Periods of Analog data Acquisition 100 Analog Samples Cortex 1 0 User s Manual Appendix E Forcepla cal File Format Description of Forcepla cal File for Kyowa Dengyo Forceplates Line 1 Force plate number Kyowa Example 1 Kyowa 2Kyowa etc Line 2 Scale factor Width Length Line 3 Calibration Range Settings in the order FZ1 FZ2 FZ3 FZ4 FX14 FX23 FY12 FY34 Line 4 Zero values in A D units written by Cortex Calibration step Line 5 Cal values in A D units written by Cortex Calibration step Line 6 Cal values in A D units written by Cortex Calibration step Line 7 Load Conv Coeff Voltage Conv Coeff 9 801 same order as above Line 8 XY axis Conversion Coefficients XY locations of Z axis force Transducers in centimeters Line 9 X location of Fy and Y location of Fx transducers in centime ters Line 10 Location of Geometric Center of Force Plate with respect to video coordinate origin in video coordinates X Y Z in Centimeters Line 11 Line 12 Force Plate Orientation Matrix Line 13 E 13 Appendix E Forcepla cal File Format Cortex 1 0 User s Manual Example Kyowa Dengyo Forcepla cal File Figure E 9 Example Forcepla cal file for 4 Kyowa Dengyo Force Plates Force Plate Coordinate System Z up Video Coordinate System Z Up Cortex 1 0 User s Manual Appendix E Forcepla cal File Format
204. e 2500 KBytes X 120 Frames sec X 1 1800 Frames 166 KBytes sec or about 1660 Kbps or about 1 6 of the 100 Mbps Ethernet So what does this mean for your 12 Camera Setup For a 5 person Eagle camera capture with an average data rate for 120 Hz capture per camera it works fine about 1660 Kbps X 12 cameras 19 920 Kbps or about 20 of the available Ethernet bandwidth We used a Gigabit Ethernet NIC and Switch for our 24 camera setup That used about 4 of the 1000 Mbps Ethernet but would have been 40 of the 100 Mbps Ethernet which could result in lost packets The Cortex soft ware is robust enough to deal gracefully with lost packets by ignoring the empty frames and continuing with the capture Another dataset in the Samples folder Eagles Face and Body Eagle one person 60 Frames sec 400 Frames 300 600 KBytes per camera average maybe 450 KBytes 450 KBytes X 60 Frames sec X 1 400 Frames 68 KBytes sec or about 680 Kbits sec or about 0 7 of the 100 Mbps Ether net For your 12 camera setup this would be 680 Kbps X 12 cameras 8160 Kbps or about 8 of the 100 Mbps Ethernet K 4 Cortex 1 0 User s Manual Appendix K Questions and Answers for Specific Applications Question Answer Question Answer Question Answer Question Answer Question Answer Why is there is a problem displaying the AVI files when a 3D window is displayed on a Windows XP system The AVI file plays in a jerky motion a
205. e Data option 5 In the Visible Channels dialog select only the channels you want shifted typically the EMG data In the Shift the Data dialog select the Selected Channels option 7 Set the value for the Shift the data this number of samples This can be calculated by the following formula of samples to shift Analog Sample Rate x Time Delay Ponsa gt For an analog sampling rate of 1200 samples second and a time delay of 15 ms 15 x 10 seconds the calculation would be of samples to shift 1200 samples sec x 15 x 10 sec 18 samples 1 To input this frame shift correctly enter the number as negative value 18 Negative values indicate a shift to the left decreasing the delay pos itive numbers indicate a shift to the right increasing the delay 2 To change the entered value from red to black press Enter 3 Click on Apply When it prompts you with Would you like to re write the analog file select Yes Figure 7 9 Shift the Analog Data Dialog Box Shift the Analog Data All Channels Selected Channels Shift the data this number of samples 18 Apply 7 15 Chapter 7 System Tab Cortex 1 0 User s Manual Maximum Analog Acquisition Rate The maximum analog rate is determined by one of the following consid erations 1 The maximum throughput of the National Instruments NI A D product 2 The video sample rate multiplied by 255 The NI U
206. e the Kistler outputs 10 V full scale The Kistler forceplate requires an 8x8 calibration matrix The matrix only contains non zero data on the main diagonal upper left to bottom right All non diagonal cross talk elements are zero To calculate the values to use on the main diagonal of the matrix assum ing nominal sensitivity values of 7 8 and 3 8 pC N X and Y Scaling 10000 pC 7 8 pC N 10 V 128 2 N V Z Scaling 10000 pC 3 8 pC N 10 V 263 4 N V Figure E 6 shows an example 8x8 matrix in a forcepla cal file This is a measure of the X Y and Z distances to the piezoelectric trans ducers used to generate the signals in the Kistler forceplates These num bers are supplied by the manufacturer Figure E 6 Example Forcepla cal File For a Kistler Forceplate N N oo 0 1 0 0 0 0 0 0 2 0 0 oo0oo0o0 ao0oo0o0 N OO0OO0ONOOOO OONOOOOO ONOOOOOO NOOOOOOO 1000 og A o t E 9 Appendix E Forcepla cal File Format Cortex 1 0 User s Manual General Notes On 1 Since the Kistler forceplate format is flagged with a K after the for Kistler Forceplates ceplate number Kistler and other forceplates may be included in a single system 2 The proper way to orient the forceplate is the 3x3 orientation matrix not the calibration matrix Note Do not switch the cables to the A D board 3 Keep the Long Term Constant turned off on the charge amplifier 4 Rese
207. e Cortex interface Skeleton Builder is typi cally used in the Movement Analysis Biomechanics applications Skeleton Builder bone definitions are stored in the Cortex project file Any time you wish to save the definitions you have created simply save out a project file Various project files are stored in the sample directory which contain the example skeleton at various stages of construction 1 8 Cortex 1 0 User s Manual Chapier 1 Introduction Motion Composer Integrated Authoring Interactive Player Rich Media Support Motion Composer is a suite of tools for collating integrating and present ing interactive motion capture data Motion Composer is a collection of authoring tools data structures and visualization panes These are inte grated into Cortex to help achieve a seamless workflow for the user to package and present a motion capture session Some of the key features to be found in Motion Composer are described in the following sections Motion Composer is designed to be used within Cortex This integration allows new and existing users a seamless pathway from data collection to collation and presentation with a minimal learning curve For current us ers this integration leverages their existing knowledge of Cortex Presen tation output can be as simple as redirecting an Cortex project to presen tation format Motion Composer ships with Motion View a freely distributable interac tive play
208. e Help Back El al a amp fProperties Name Value Dserial Number oxesae4a a NI DAQms Devices NI ieee Ports Serial amp Parallel PXE PXI System Unidentified Scales Software VI Logger Tasks i 11 Drivers E Remote Systems DAQmx Device Basics What do you want to do FY Attributes E Calrlle B 8 Cortex 1 0 User s Manual Appendix B Analog Input Hardware and Software Installing the Clock Wiring from the Master Camera Figure B 7 Clock Wiring on Side of NI USB 6218 e Master Camera Red or white Connects to Pin 1 PFIO e Master Camera Black Connects to Pin 11 D GND e 4 7kQ Resistor connects from Pin 1 PFIO to Pin 10 5 V Note A jumper cable is required if multiple NI 6218 units are being used to gether gt 32 channels Note NI USB 6259 uses PFI7 for clocking NI USB 6259 Analog Input Connections are listed in Table B 3 on page B 14 B 9 Appendix B Analog Input Hardware and Software Cortex 1 0 User s Manual Figure B 8 NI USB 6218 Pinouts E NI DAQmx Device Terminals Help w E Hide Locate Back Forward Options 2 NI 6030E 2 NI 6031E 2 NI 6032E 2 NI 6033E NI 6034E 2 NI 6035E 2 NI 6036E 2 NI 6040E NI 6052E 2 NI DAQPad 2 NI DAQCare 2 NI 6070E 2 NI DAGPad 2 NIGO7IE 2 NI 6110 2 NI 6111 2 NI 6115 2 NI 6120 Contents index 41 gt nr 6
209. e Motion Module is trying to fit the model to for each frame It can be helpful to display them in the model window in order to visualize how good the fit is and to help debug problems with the data These options give you control over the specification of the X axis of the motion that is created from the marker data The units along the X axis can be either time in seconds or frame number The starting X value of the motion will be 0 0 if the units are time and 1 if the units are frame number unless frames of data are cropped because of missing markers see Crop Ends on page H 4 For example if 12 frames of data are cropped from the beginning of the motion and the data frequency is 60 Hz the starting X value will be 0 2 seconds for units of time and 13 for units of frame number If you want the X values to start at 0 0 or 1 for frame number even if frames are cropped turn on the start at zero option When this box is checked SIMM will look for and automatically load any analog ANB ANC or XLS data files with the same base name as the TRB TRC file If SIMM did not detect the presence of any analog files when the TRB TRC file was selected this option is grayed out If you selected a C3D file with the file browser then this box controls whether or not the analog data will be read from the C3D file If an analog file is present and the auto load analog data box is checked see above then this box is active and gives you
210. e Post Process tab Selection of markers from a marker list is done with standard selection methods including Shift click Ctrl click and Shift Ctrl click In addition the top row of the marker list acts as a special selecting button Markers can also be selected by simply clicking and Ctrl clicking on markers in the 3D View Click on the back button to reset the previous list of selected markers The Post Process tools heavily utilize the Post Process Dashboard con trols These controls are itemized and described as follows from left to right in Figure 10 1 Figure 10 1 Post Process Dashboard Play Pause Move to Active Play Speed Frame _ Lowest Highest Frame Frame Selectors aL LSU TIT TETETTTTTT Lae RL Ln Teeter T rs 400 00 600 700 800 900 Pieter ama PDK g Selected Frames Low Move 1 Frame Selected Frames High Visible Frames Low Time Code Visible Frames High Low and High Visible Frames Low and High Selected Frames Play Forward Button Pause Play Backward Button Pause The Low and High Visible Frames define the lower and upper limits of the visible frame range The Current Frame is never outside of these lim its Absolutely no identifying or editing can occur on frames outside of the visible range with the exception of the join tools Their values are found in the white Visible Boxes and can be changed by typing numbers int
211. e base face are made each copy is modified into a different facial expression open mouth smile eye blink etc To create a blend of these expressions the animator specifies how much of each expression is used to compose the result For example 50 open mouth 10 smile 100 eye blink Note that the percentages do not have to add up to 100 The an imator only specifies how much of each expression goes into the face Often times the expressions are called sub expressions morph targets or simply targets D 10 Cortex 1 0 User s Manual Appendix D Capturing Facial Motion Figure D 5 Base Face with the Eye blink Expression to the Left This is the same face as used in the mesh deformation example This dem onstrates how it is possible in some animation systems to combine the techniques for even more powerful results A careful inspection of the base head image with the markers should re veal that there is only one eye lid marker It is on the right eye of the char acter This particular facial motion capture data set had only one eye lid marker so it would not be possible to use the mesh deformation technique to animate the eye blinks of both eyes Only the right eye could be used However using the morphing technique the up down motion of the right eye lid marker can be used to control the contribution of the eye blink morph target Figure D 6 Result of Combining Techniques The right eye lid marker has moved do
212. e color video when you play it back or step through the data The SMPTE time code is visible on the Real Time Dashboard Eagle and Hawk digital cameras can use the Time Code Reader PCI ver sion card installed into the Cortex Host computer It reads the LTC Longitudinal Time Code from the RCA audio connector on the Time Code card creating a trialN tc file time code when you collect a tri alN veX dataset It is automatic if you have the Time Code Reader option card installed in your Cortex computer There is a BNC type connector on the card as well it appears that the Time Code Reader will genlock to the black burst video signal but that is not needed Cortex reads the cur rent time code when the data collection is started and time stamps it into the TC file The current time code also displays on the Post Process Dash board A simple test program called TimeCodeReader exe is distributed with the latest Cortex releases for Eagle and Hawk camera users It is a stand alone program which launches and in a small window reads the current value of the Time Code Reader in the Cortex Host computer It is useful for testing to see if the Time Code reader is working Without a card in stalled it just leaves a blank display With a time code reader card in stalled it displays the current time code static or not When the time code starts to advance you can immediately see it If you load a TRB or TRC file that has an associated TC file
213. e devices must have the same resolution 12 Bit or 16 Bit Other NI Analog A D input con figurations should work but have not been tested Table B 1 A D Configurations Used with Cortex Software A D Configuration NIDAQ Software NI USB 6218 32 Channel 16 Bit up to 6 USB devices up to 192 channels NIDAQ 8 3 or later EVaRT 5 0 4 or later NIDAQ 8 5 or later for Windows Vista NI PCI 6071E 64 Channel 12 Bit Traditional NIDAQ 7 0 gt 7 4 EVaRT 4 4 NI PCI 6071E 64 Channel 12 Bit higher performance NI DAQ Card 6024E 16 Channel 12 Bit Traditional NIDAQ 7 4 EVaRT 4 6 NI PCI 6254 32 Channel 16 Bit up to 2 cards NIDAQ MX 8 0 or later EVaRT 5 0 NIDAQ MX 8 0 or later EVaRT 5 0 NI USB 6259 32 Channel 16 Bit up to 2 USB devices NIDAQ 8 1 or later EVaRT 5 0 2 Note If you do not find your NI device in listed in Table B 1 on page B 1 you may need to reference older versions of the EVaRT User s Manual B 1 Appendix B Analog Input Hardware and Software Cortex 1 0 User s Manual Note Performance Specifications If you are using NIDAQ MX 8 0 or 8 1 versions and if you are collecting data for only one channel in Cortex you will need to install a jumper wire from screw terminals PFI 7 to PFI 0 on the A D interconnect box This may be changed in future versions of the NI software drivers If you have two analog acquisition devices installed the same is applied f
214. e mocap model is fit to the static pose marker cloud using only the critical markers to find the best fit This process orients the mocap model within the marker cloud so that the offsets of the non criti cal markers can be measured directly from the static pose These offsets are then entered into the model overwriting whatever values were in the model input file To summarize the Motion Module uses a two step process to calculate proper offsets for all of the markers in the mocap model The first step de termines the offsets of the critical markers which the OrthoTrak algo rithms can definitively locate without knowing anything about the mocap model Then these critical markers are placed on the mocap model and the model is fit to the static pose marker cloud Now the offsets of the other markers can be measured because every body segment in the mocap model is now correctly placed in the static pose H 15 Appendix H SIMM Motion Module Cortex 1 0 User s Manual Analog Configuration Files Forceplate Data EMG Data Other Data importVariables txt SIMM can include analog data such as ground reaction forces EMG acti vation levels and kinetic data when importing a motion SIMM uses a configuration file named importVariables txt to determine which analog variables to import from an analog file and how the data for each variable should be interpreted This configuration file is used for both TRB TRC import wi
215. e more flexibility with a single optimal marker set e Ifno then you have to take the issues listed in 1 above into con sideration Especially in regards to the movements where the markers are blocked by your subject s body Optimal number of markers A general rule is that if you want a full 6 DOF set of information for each segment you must have a mini mum of 3 markers per segment Currently we can shortcut that by allowing markers to be shared across joints like the knees ankles and elbows Also consider the Join Virtual definitions to get good qual ity Join Virtual definitions you want to have enough markers on the segment so that you can reconstruct missing markers using markers on that same segment Typically in this case 4 markers per segment is advantageous An example would be to place markers on the upper arm in the following positions Shoulder bicep tricep and elbow Landmarking Markers should be positioned when possible on bony landmarks A bony landmark is an area like your ankle malleolus elbow knee condyles wrist bones etc This avoid the undo influence of soft tissue movements which can lead to noise in the marker posi tions Between people the markers don t have to be in exactly in the same position But a close approximation to the different sizes of people is required especially if you are planning on using the PoseID autofit option If you don t care about using the PoseID autofit option th
216. e raw VC files Are there any rules that should be followed when deciding which camera should be set as Master Any camera can be master If you have an A D system the master camera must be connected to it using the A D sync cable When you see a marker in the 2D display are you simply seeing a digital representation of what the camera sees at the CCD or are any of the tracking parameters incorporated into determining whether the system sees a marker i e marker size centroid parameters etc The black data is the raw edge data affected only by the lighting and the Threshold The red dots lens corrected and or not are the calculated cen troids To calculate a centroid there are two main things 1 Min Lines per Marker usually set to 2 or 3 lines 2 Max lines per Marker usually set to a BIG number like 100 and Shape Analysis None Normal or Weak normally to Normal But sometimes it is set it to None if it is tossing out centroids like during a L Frame seed calibration Can you connect 7 or 8 cameras to an EagleHub We tried connecting 8 cameras to an EagleHub2 and the data transfer to the gigaswitch became quite unstable Note that this pertains to the older 8 port EagleHubs only not the 12 port EagleHubs There are only 8 useful ports on an older model EagleHub which means 7 cameras can be connected to the EagleHub and one more is used for the uplink to the Network Interface Card NIC An eighth camera can be
217. e skele ton could be used Now the skeletons are defined and edited within the Calcium software interface within Cortex This provides a graphical way of either reading in an existing skeleton or creating one from an anima tion package such as Maya or 3DMAX The typical way would be to cre ate the character in the animation package and export the skeleton using an htr file using the MAC File IO plugins The Global Optimization method is an iterative method of seeking the best fitting of the skeleton within the marker cloud of identified markers The results are quite as tounding the animated characters motions derived from this method is very good Final editing of the htr skeleton motion data can be done within the animation package or with a third party tool such as Kaydara s Motionbuilder 13 2 Cortex 1 0 User s Manual Chapier 13 Skeleton Types Which Skeleton Engine Should Use SKB skeletons are good for most biomechanical applications and have been the norm there for many years They are also used for animation cus tomers who want tools for quick pre visualizations of your characters mo tions For the final cut and the big screen presentations where details matter and looks are everything you will be glad to have your Calcium Solver skel etons under the skin of your final characters Cortex Skeleton Engine Selection The Engine Selection sets the method of calculating the optional skele ton model
218. e user to select a specific color for any marker Select the Selector marker from the list and simply click on the color of preference Chapter 11 Model Edit Tab Cortex 1 0 User s Manual Tree View Panel The Tree View panel provides an overview of the primary elements markers linkages virtual markers and segments of the model and al lows you to reorder the markers in the marker set by dragging and drop ping You can also insert and delete markers as well Figure 11 2 Tree View Panel Markers TreeView Body_Club_Merged prj Markers 24 M_L_Head M_B_Head M_R_head M_F_Head M_RShoulder M_LShoulder M_TopSpine M_FLShoulder M_FChest M_RBicep M_RElbow M_RForearm M_Rv rist M_RPinky M_RThumb M_LBicep M_LForearm M_LY rist M_LPinky M_LAnkle M_LHeel M_LMidfoot VMarkers 0 Links 44 SkB Segments inactive Calcium Segments inactive M_TopHead E o 1 Marker Size Cortex 1 0 User s Manual Chapter 11 Model Edit Tab Project prj File Name Skeleton Engine Selecting the project file in the Treeview allows you to make changes to the current project file The Project property values that can be changed include the following This is the marker set name you can display over the marker cloud The toggle function for this is found 3D View right click menu The default is set to the current project name This provides a way to select which skeleton engine wil
219. e volume into two overlapping sections across the long axis Every camera must see at least one of the squares in its entirety All cam eras should be placed at least 3 meters above the floor See Figure 5 8 on page 5 9 For more information and an example refer to Overview of the System Calibrating Process on page 5 20 As capture volumes increase in size more than 16 cameras may be re quired It is best to consider the capture volume as two or more overlap ping regions For large square shaped capture volumes up to 32 cameras can be used with the space broken into four regions See Figure 5 9 Eagle and Hawk cameras use the same high powered ringlights and have the same limits for marker distances The difference between the two cameras is that you can use smaller markers with the Eagle cameras about one half the size of the Hawk markers A typical example would be 1 4 inch 6 mm markers for Eagle cameras and 1 2 inch 12 5 mm markers for Hawk cameras 5 3 Chapter 5 Camera Setup Cortex 1 0 User s Manual 16 Camera Two For an example of this 16 camera two tier setup open the Tier Setup MAS_16Camera_2Tier prj file in the following directory C ProgramFiles MotionAnalysis Cortex50 Samples LargeVolumes Also refer to Figure 5 1 Figure 5 1 16 Camera Two Tier Setup Tier 2 4 Cameras A it aii Tier 1 12 Cameras 4t x a 5 4 Cortex 1 0 User s Manual Chapter 5 Camera Setup
220. e with four separate loose markers or it can be done using the wand and a single loose marker placed at the end of the wand handle The distances from the origin are measured and are entered into the Measurements spaces Observe the right hand rule and make sure that you enter the data correctly In the Z Up example in Figure 8 2 points 1 2 and 3 would be at X and point 4 would be at Y coordinates but adjust accordingly to your Calibration Up Axis The vertical distances are the distance from the center of the markers centroid to the floor Click on the other tabs and fill in the val ues accordingly The Lenses tab should reflect the type of lenses you have in your camera e g 6 mm 17 mm 20 mm etc The values for the lenses need only be approximations within a factor of two The actual focal lengths are calculated when you process the wand data Once you have 8 8 Cortex 1 0 User s Manual Chapter 8 Calibration Tab completed filling in the details press Apply and return to the Calibration window in Cortex Positioning Aiming In the Calibrate panel under the Calibration tab check Camera Aiming Cameras and then press Run The cameras that see four individually defined mark ers will instantly adjust to their approximate positions in Cortex as in Figure 8 6 If a camera does not see all four markers or sees more than four markers it will be displayed at the origin facing down as in Figure 8 6 This camera will not h
221. eal Time Dashboard and then select Cal Wand vc1 Select your CalWand data set in the data capture folder Note You can create a mask to eliminate unwanted markers or reflections Re select the CalSeed vc1 file again and press the Calibrate button in the Calibration with Square section 4 In the Calibration with Wand section of the Calibration panel click Calibrate 5 Complete the wand calibration as described in Calibration with Wand on page 8 11 At this point you now have your cameras calibrated and you may proceed with your data collection 8 21 Chapter 8 Calibration Tab Cortex 1 0 User s Manual 8 22 Chapter 9 Motion Capture Tab Overview Tracking Panel Building a Template from the Range of Motion Trial Multiple Tracking Objects Objects Panel Output Panel Recording Data Tracking Strategies and Tips Overview Motion Capture is the mode where you will spend most of your time dur ing a recording session In this mode you can e Create and improve a template e Set the tracking parameters e Save data in a variety of file formats These functions are described in this chapter There are a few preliminary steps that must be taken before starting a suc cessful motion capture session Tracking parameters tuned to your system must be set Names must be assigned to the markers that will be used These names constitute a marker set and building this set is actua
222. ect Use Raw Fies Raw Settings E E Z Skeleton Set Tone vel a 00 00 00 001 New Subject J aron 1 J 2 JI iil 4 ji 5 I g I 7 8 3 Ready 964 Frames 120 FPS SUp Unitsimm Analog 600 00 Hz Pose ID in Message Center New Subject Button Reset IDs Button Updating the Template also updates the Model Pose so before clicking the Update Template button you should again get your new person into something close to the Pose position The changes can be saved in your project file if you want After you Update the Template the template is then re sized to the new person s limb lengths and marker placements Note that the changes in the lengths as recorded in the range of motion trial is still saved so that you will not need to do another range of motion The new template should work well for many sizes and marker adjustments using the same marker set Recommended 1 Procedure 2 3 4 Get a Range of 1 Motion Trial and Make a Template 2 Create your own library project file for the marker set This library contains your markers set with the template created from your range of motion TRB files and your Pose ID When creating the library project file start with the range of motion TRB type file in the neutral position facing X arms down feet slightly apart to show all the markers That would be frame 1 to make the Pose ID easy to find When you create the Template for your library file you would have Frame 1 selected as
223. ect file For previously stored project files open up each of the project files separately Tree View panel and specify the appropriate skel eton engine then save out the project file Load one of the project files then in the Motion Capture gt Objects panel specify the second project file as an Additional Tracking Object You should then be able to load a vc file and both skeletons should become solved 13 8 Chapter 14 Sky Scripting Interface Overview Installation File Structure The Registry The Script Object Script Examples Updating Old Sky Files Graphical User Interface Overview Sky is the name of the scripting interface for Cortex It uses the VB Script engine to provide the semantic structure of the language along with Visual Basic to provide the graphical user interface of the window pane Sky is intended as a tool for users to encapsulate elements of repetitive tasks such as file processing data editing and parameter setting This tool is in tended for users who have some general knowledge of scripting and pro gramming Most of the Sky functions are direct simple wrappers for the correspond ing Cortex calls Some exceptions have to do with sending messages to Cortex and in re arranging arrays of data that get passed back and forth 14 1 Chapter 14 Sky Scripting Interface Cortex 1 0 User s Manual Installation File Structure The Registry Sky is integrat
224. ectify will do most of the work in correctly identifying the marker tracks Template Rectify is pre ferred method to use to rectify since it protects the named marker tracks they are locked It also keeps the template rigid and seems less likely to 10 21 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual make mistakes Correcting mistakes can take a lot of time If there are some incorrectly D ed markers it may be best to make all the markers Unnamed for all except the starting frame which can be frame 1 or any other frame To make all unnamed except frame 1 go to frame 2 select All Markers then select the time range Select Forward and press Make Unnamed under the Identifying tab Go back to frame 1 and press Tem plate Rectify On some complex trials where there is a crash or bang be tween people and or props have the actors start in the T pose do the ac tions and return to the T pose You can then work the data from the start to the middle and also from the end to the middle This working the data back and forth can save a lot of your time and not require that you hand ID many frames More on Templates and Template ID After a big crash of people with markers or extreme movement the mark ers may have moved and the template may not be as good You can Ex tend the template by D ing after the crash extend it based on one or more frames that have no mistakes then try Template ID to see if the template holds on t
225. ed based on the 3D volume specified and you can zoom in and out to see the change in the field of view 2 Itis also used to make sure each camera can see all the markers of the calibration L frame Note If Camera Aiming is checked and Run is selected the calibration will be recalculated and previous calibration results will be lost 8 4 Cortex 1 0 User s Manual Chapter 8 Calibration Tab Details Button Click the Details button located in the upper right corner in the Calibra Calibration tion panel Settings Window The tabs for the calibration settings window shown in Figure 8 2 on page Tabs 8 5 are defined as follows Calibration Frame Tab Where you enter the measurements of the calibration L frame You can make your own calibration L frame by placing four markers on the floor and measuring their locations with a tape measure Measurements should be within 1 mm See Figure 8 2 for reference alignment using the Z up calibration method Selecting a different calibration up axis will show the correct view on how to set up your calibration L frame Figure 8 2 Calibration Frame Tab Settings DAER Calibration Up Axis Z v Calibration Units millimeters Measurements Origin 0 0 0 8 5 Chapter 8 Calibration Tab Cortex 1 0 User s Manual Origin Offsets Tab This allows for translation and rotation from the origin The calibration L frame may then be positioned anywhere in
226. ed for their network it will need to be configured to leave the Eagle Network untouched and open You can turn off the Windows Firewall by going to the Start gt Set tings menu in your Windows desktop and then selecting Control Panel gt Security Center This is a feature in Windows XP Service Pack 2 and later software 5 25 Chapter 5 Camera Setup Cortex 1 0 User s Manual 4 Double check to make sure the Network Address that is set in Cortex is the same as the Network Address that is assigned to your Network Interface Card NIC To do this follows these steps a From your desktop select Start gt Settings gt Control Panel gt Network Connections You should have a Local Area Connec tion and possibly an Eagle On board Network or Hawk if so stated There may also be 1394 IEEE Connection this is for Fire Wire and can be ignored b Right click the appropriate network connection for the Eagle Net work and select Properties from the drop down menu c Under the General tab scroll down and select Internet Protocol TCP IP and click on the Properties button Figure 5 21 Internet Protocol TCP IP Properties Selection General Authentication Advanced Connect using Intel R 82559 Fast Ethemet LAN on This connection uses the following items M YF NWLink NetBIOS vi NWLink IPX SPX NetBIOS Compatible Transport Prot Internet Protocol TCP IP X Install Unins
227. ed to fill that gap will seek out appropriate endpoints to that gap store all necessary data in an undo buffer and effect a repair to that gap without requiring you to tediously hand select the appropriate endpoints The smooth function smooths data within the selected frames with a But terworth Filter algorithm This is a low pass high block two pass 4th order zero phase shift filter This data can be spikes created by frames in which a marker has experienced an acceleration greater than or equal to a selected value or gaps missing data Manually selecting frames is done by dragging the mouse in the XYZ Graphs with the middle mouse button pressed Low and High Selected Frames can be independently picked by pressing the Shift key and middle clicking on the XYZ Graphs Select All Frames default Hot Key is the A key displays and selects all frames in the data set This is also a right mouse menu item on the XYZ Graphs The Eagle and Hawk digital cameras generate extremely clean noise free data For the majority of data captures it is never necessary to modify the data by filtering or smoothing Occasionally however it is useful to re move artifacts in the motion capture data This can happen in the case of captures which contain a high number of marker occlusions or a large amount of marker merging as it frequently happens with face tracking for example For these purposes Cortex provides 3 different smoothing filters tha
228. ed with Cortex and uses the Cortex UserFiles folder to store scripts and documentation e UserFiles SkyFiles Contains the list of Global Sky functions This is the root of the Sky folder structure e UserFiles SkyFiles CopyPerProject This folder contains the Sky files which you are encouraged to add to that will get copied to any current working folder using the CopyPerProject toolbar button e UserFiles SkyFiles SkyDocs Contains the Sky documentation files The root folder contains this document while the SkyFunctions sub folder contains an RTF file for each Sky function Sky stores two keys in the Windows Registry under HKEY_LOCAL_MACHINE SOFTWARE Motion Analysis Sky The first key is Network Folder and saves the path for the Network Sky Scripts list box The second key is StartupScript and saves the filename of the Sky script to run when Sky is opened for the first time The Script Object Script Examples The scripting language is VB Script Sky loads the script into the VB Script object which compiles then executes the script code You can cre ate and use variables subroutines and functions in VB Script These val ues persist from one Sky script to the next so you can set values in one script and use the results in another script Sample scripts with data are found under the Cortex installation folder under Samples SkyExamples Updating Old Sky Files The Sky scripting language for Cortex is very similar to the
229. ee dimensional kinetic i e moments kinematic i e joint an gles and analog channel e g EMG data from a biomechanical perspec tive Existing biomechanical software tends to be geared toward solving spe cific problems and is not usually adaptable in new situations This has re sulted in programs that are too restrictive in data control collection and analysis KinTrak is designed to overcome these problems by allowing users to tailor the program to suit their specifications and the requirements of the project or study they are undertaking KinTrak is intended to be used by researchers and clinicians in the fields of biomechanics and human movement In addition coaches and assis tants of sports teams may find it useful for their purposes Possible uses of KinTrak include studies for the purpose of prevention of athletic injuries analysis of gait characteristics assessment of athletic footwear and devel opment of prosthetic appliances Director Sequencer allows the animator to perform non linear editing of motion data on screen Just as a sound engineer uses a multi track digital workstation to edit and combine many tracks of sound the Director Se quencer gives the animator the ability to do the same with motion cap tured data The animator starts with a collection of files containing motion data for an object or a hierarchical skeleton Each file that is loaded is displayed as a move in Director Sequencer Each move is repre
230. eft click in the cell and type in a name directly Left click in the channel s row in the Active column if you wish to make it active You can also click in the Active column s title cell or right click on the Analog panel grid and select Activate All Named Channels Both actions activate all named channels Left click in the channel s row in the Range column and click on the arrow to select a voltage range The range must match the output of your analog device Select the correct sample rate for your system from the Sample per Second drop list at the bottom of the panel To select EMG muscle names right click in the Analog panel and select Muscles For any particular analog channel number left click in the Name column and scroll through the drop down menu for the EMG muscle name you want see Figure 7 8 The Forceplate and EMG muscle names are consistent with the names used in the Orthotrak Gait Analysis and KinTrak software from Motion Analysis Figure 7 8 EMG Muscle Name Selection Cameras Analog v Name On Range a 4 Kistler 2 AMTI 3 Bertec 4 E KyowaDengyo gt 6 AMTI AccuGait gt L Rectus Muscles gt L Hamstring Clear Channel L Lateral Ham Clear ALL Channels L Medial Ham Activate ALL L Gastrocnemius FF L Tibialis Ant L Tibialis Post L
231. en Known Issues EVaDV Overview Note EVaDV is a Digital Video DV capture application for use with Motion Analysis Corporation s Cortex software for the synchronized capture of color video data on a separate Windows PC as avi files You can directly transfer digital information back and forth between a DV camcorder and your computer with the use of the IEEE 1394 standard also known as a Firewire or i Link connection If your computer does not come with this interface built into it you will need to purchase an inexpensive card that provides the correct port You can run EVaDV on your local machine that has Cortex running on it not recommended as well as with remote machines that are connected to digital video cameras Any standard DV camcorder should be sufficient for use with the EVaDV software All EVaDV testing and product development was done with a Sony DCR TRV520 NTSC model DV camcorder System Requirements Recommended Minimum Specifications e Microsoft Windows XP or Vista e 256 MB RAM e 80GB or more free hard drive space for captured files e CD RW drive e Ethernet card Appendix I Synchronizing Digital Video with Cortex Cortex 1 0 User s Manual Installation Note Using EVaDV Capturing Digital Video Using EVaDV Capturing Digital Video in EVaDV from Cortex Note We recommend you install the software into the C Program Files Mo tion Analysis EVaDV directory but EVaDV exe wi
232. en exported to an HTR file by a Motion Analysis file IO plugin for that package Figure 1 4 Calcium Interface in Cortex E fee umt Osteviews Took Hep System Calbrstion Movon Capire Post Process Model Edt Pugns S OOO AVALDAS OALA Quah Recthy Template Temolte Temoite Marker ID Exchange Cite Wtus Cok Smooth Create D Retty bn don Nase Llowehim a Puert LUppesAm Tunsin 0 0 3 0 Rotation Ange 11 92 Roloben tee 0 75 062 0 38 0 459 M Ove SMG EENET RR Ra RN a 008 Jo000 mmea N oe oran jan EE E G0 Frames setved 0 Frames Feed ovg res 12 377076 ese Frames eo res Yup Usam Note Solver Interface Si is the same software as Calcium only that it s inter face is separate from Cortex Chapter 1 Introduction Cortex 1 0 User s Manual Skeleton Builder SkB Figure 1 5 SkB Skeleton A skeleton in animation terms is a hierarchically connected set of bones with translation and rotation data Each bone has a parent and potentially any number of children One special bone has no parent and is usually re ferred to as the root of the skeleton Skeleton Builder as the name im plies is a tool that allows you to construct a skeleton by creating bones and arranging them in a hierarchy Each bone is defined by the motion of three markers used to construct its rotation data The Skeleton Builder in terface is incorporated with th
233. en you can place the markers anyway you like C 5 Appendix C Marker Sets Cortex 1 0 User s Manual C 6 Appendix D Capturing Facial Motion Overview System Configuration and Setup Marker Placement Building a Face Template Examples Facial Animation Techniques for Motion Capture Overview The Cortex system can also be used to capture the fine nuances of human facial motions Three to six cameras positioned up to 30 degrees apart around a relatively stationary subject will provide sufficient coverage The motion of 4 mm reflective markers strategically placed about the subject s face is captured and 3D translation data provides manipulation to an animated character s face model Animation programs like Softlmage Maya Alias Motionbuilder and 3D Studio Max will currently accept this data System Configuration and Setup In order to use the Cortex system for facial motion capture some addi tional equipment is required This is known as the Facial Motion Capture Accessory Kit and it contains a small 2D calibration L frame a facial marker set with glue a mirror and tweezers The longer focal length lenses allow positioning of the cameras an appro priate distance from the subject resulting in ring light illumination that is evenly distributed across the field of view The cameras should be posi tioned on a subject wearing the reflective markers The goals of camera pl
234. end Failed appears ignore and press Download again 7 6 Cortex 1 0 User s Manual Chapter 7 System Tab Note Do need to update camera software Old Camera New Camera Compatibility Issues Note Dedicated Interface for Eagle Cameras 8 Once the software has been loaded the cameras may blink oddly After this you will need to reboot all the cameras by cycling the power on the EagleHub 9 Run the Cortex software and click on Connect to Cameras 10 Finally check all cameras for the new software version number For Eagle and Hawk Camera users the camera software with this release is CameraSoftware Eagle_ Eagle 4 Hawk rom_May_14_2008 bin For Hawk i camera users the camera software is CameraSoftware Hawk i_ONLY rom_Hawki_Mar_03_2008 bin You can continue to use the same Eagle or Eagle 4 or Hawk rom bin soft ware Reasons to upgrade to the new camera software include 1 Displays camera numbers greater than 99 2 Mixed camera environment with all cameras including Eagle Hawk and Raptor Cameras with different revisions of the CPU board installed may exhibit problems with different versions of the rom bin software How to tell which cameras have the OLD CPU board and which cameras have the NEW CPU Board is easy e ALL Eagle Eagle4 and Hawk Cameras with the SILVER backplate where the connectors are have the newer CPU boards CE approved and require the newer camera software dated
235. endix E Forcepla cal File Format Cortex 1 0 User s Manual Figure E 3 Forceplate Coordinates System Forceplate Orientation 3x3 Orientation Matrix for Forcepla cal O oO oo oOo Connector for AMTI plates is always on Y axis of forceplate OO oon oto Loo lt x x lt x lt ook o 0 Loo Note The video lab coordinate system is determined from the L Frame orientation r X Normal direction of walking for OrthoTrak E 4 Cortex 1 0 User s Manual Appendix E Forcepla cal File Format Forceplate Scaling Factor X Width and Y Length The scaling factor depends on the forceplate manufacturer and the force plate amplifier gain setting and the voltage range Table E 1 Sample Forceplate Scaling Factors Forceplate Manufacturer Scaling Factor AMTI For Gain 4000 Use 25 0 Bertec Use 0 5 if using AM6501 Analog Unit output 5V Kistler 10 Volt Amplifier Use 1 0 5 Volt Amplifier Use 0 5 The x width and y length are the forceplate measurements in centimeters as measured in the forceplate coordinate system Check the manufac turer s specifications If no x width and y length values are used AMTI and Bertec forceplates default to 18 inches by 20 inches and Kistler for ceplates default to 50 centimeters by 50 centimeters E 5 Appendix E Forcepla cal File Format Cortex 1 0 User s Manual Using AMTI and Bertec Forceplates AMTI Gain Setting Bertec G
236. endix J Using Cortex with Jack Software Jack 5 Marker Set Figure J 3 Front View 1 Top Head 3 Front Head 4 L Head_ Offset 5 R Shoulder 6 L Shoulder 9 R Bicep 12 R Radius 13 R UiIna 16 L Bicep 19 L Radius 20 L UIna 23 R Asis 24 L Asis 28 R Thigh 29 R Knee 30 R Shank 31 R Ankle 33 R Toe 34 R Foot 35 L Thigh 36 L Knee 37 L Shank 38 L Ankle 40 L Toe 41 L Foot J 7 Appendix J Using Cortex with Jack Software Cortex 1 0 User s Manual Figure J 4 Right Side View 1 Top Head 2 Back Head 3 Front Head 6 L Shoulder 7 Neck 9 R Bicep 10 R Elbow 11 R Forearm 12 R Radius 13 R Ulna 14 R Thumb 15 R Pinky 23 R Asis 25 R Psis 28 R Thigh 29 R Knee 30 R Shank 31 R Ankle 32 R Heel 33 R Toe 34 R Foot J 8 Cortex 1 0 User s Manual Appendix J Using Cortex with Jack Software Figure J 5 Left Side View 1 Top Head 2 Back Head 3 Front Head 4 L Head_Offset 5 R Shoulder 7 Neck 8 L Back_Offset 16 L Bicep 17 L Elbow 18 L Forearm 19 L Radius 20 L UIna 21 L Thumb 22 L Pinky 24 L Asis 26 L Psis 35 L Thigh 36 L Knee 37 L Shank 38 L Ankle 39 L Heel 40 L Toe 41 L Foot J 9 Appendix J Using Cortex with Jack Software Cortex 1 0 User s Manual Figure 15 Rear View 4 2 6
237. ens Correction 6 18 Q Questions and Answers K 1 Quick ID 10 17 quick solve defined H 4 Quick Start Tutorial Movement Analysis 2 1 R Range of Motion 3 8 9 5 Raw Files 6 31 Raw Settings Button 6 48 Real Time Dashboard 6 29 6 40 camera buttons 6 41 real time import see Motion Module Record 6 27 Recording Data 9 14 Rectify 10 18 10 19 Rectify Functions 10 19 Rectify Unnamed 10 16 10 20 Refine Tracks 12 3 Refining a Calibration 8 14 Refit Identifying Template 12 4 Requirements System 1 3 Reset IDs Button 6 43 Rigid Body Join 10 19 Rigid Body Rectify 10 18 10 19 rigid objects 9 9 ROM 3 8 9 5 rom bin 7 5 Rotating 6 51 Rotation Offset 11 14 Run Button 6 48 functions 6 48 Run mode 6 40 Sample Data Viewing 6 31 Sample Form 4 5 Samples directory 6 31 Save ini Preferences 6 8 Scaling 10 4 SDK F 1 SDK Streaming Options 6 18 Search 10 17 10 19 Search Tab 6 16 Seed Calibration Extending 8 20 Segment Selecting 6 52 Select All Frames 10 5 Select Marker Set 9 9 Local 9 9 System Objects 9 9 Selected Markers Radial Button 10 15 Selecting Frames 10 5 Buttons 10 3 Selecting Linkages 6 52 Selecting Markers 6 52 Selecting Segments 6 52 Selecting Virtual Markers 6 52 Set as Master 7 3 Set Master Camera button 7 3 Setting Up Cameras 5 11 Settings Output Panel 9 13 Setup Analog MA Quickstart 2 6 Setup Panel 7 1 Shape Analysis 9 3 Show 6 34 8 17
238. ent on the character A character s face is almost always exaggerated in some fashion that makes it impossible to find an actor to exactly match it However without careful placement of the markers on the mesh of the character the deformation of the mesh simply will not work The solution which satisfies both of these problems is to use the motion of the actor as an offset from the base position of the char acter To use this solution you need to create a marker set on the mesh of the character that has the same number of markers with the same names as the marker set of motion capture data from the animator The only difference between the two sets of markers is their starting positions in the base neutral pose of the faces Rather than using the absolute position of the makers from the actor you calculate the offset of motion of a marker from its base position That is how far it has moved from its starting point This offset is what you apply to the character s markers This way it doesn t matter if the character s face is really wide or really long or other wise oddly proportioned The starting points of the markers will always make sense and their motion from the actor will almost always work You can even scale the magnitude of the offset motion to exaggerate the motion or to dampen it The advantage to this technique is that it is technically easy to understand and implement The drawback is the lack of high level expression control
239. entation of the calibration L frame by making adjustments to the Origin Offsets table This is located in the Tools gt Set tings gt Calibration gt Origin Offsets tab Figure 5 17 Figure 5 17 Tools gt Settings gt Calibration gt Origin Offsets Tab Settings Calibration Cameras Playback 3D Display Post Process Tools Misc Id Params Plugins Calibration Frame Origin Offsets Lenses Orientation Capture Volume Property Y Translation Z Translation X Rotation Y Rotation Z Rotation 5 21 Chapter 5 Camera Setup Cortex 1 0 User s Manual Placing the Calibration L Frame Mark the floor area with tape where the motion is to take place e Set Marker 1 of the calibration L frame at the desired origin of the capture volume e If the orientation of the coordinate system is not important the square should be rotated so as many control points as possible can be seen by all cameras e The calibration L frame should be seen by at least half of the cameras to give a good calibration The other half of the cameras can be calibrated using the wand with an Extend Seed menu item You may need to adjust the cameras at this point Figure 5 18 Placing the Calibration L Frame In the Capture Volume Z Up SS me A 5 22 Cortex 1 0 User s Manual Chapter 5 Camera Setup Marker Sizes and Maximum Distances for Eagle Hawk Cameras The limiting factor in what size marker works
240. entifying 6 41 Identifying Markers 10 12 Import File Formats G 1 H 1 I 1 J 1 Included Angles Tab 10 32 Information Center 6 29 Installing Software 1 4 International Society of Biomechanics 5 21 IP Addresses A 7 ISB 5 21 Join 10 24 Join Linear 10 15 Join Virtual 6 50 10 24 Guidelines 6 51 10 27 Joining Gaps in Data 10 5 K Keyframe Animation D 13 Kinematics and Kinetics 6 5 Kinetics 6 5 KinTrak 1 15 Kistler Forceplates B 4 Calibration Matrix E 9 Example E 9 forcepla cal E 2 Gain Setting E 9 General Notes E 10 Signal Names E 9 True XYZ Origin E 9 Using E 9 Kyowa Dengyo Forceplates E 10 L Laboratory Conditions 5 1 Motion Capture 5 1 Supplies 5 1 layout control 6 3 Lenses Orientation 8 7 Levenberg Marquart 11 16 Library Error 5 29 License File Sample 1 5 Linkage Stretch Parameters 6 21 Linkages Selecting 6 52 Links 11 12 Load Analog Setup 6 6 Load Calibration 6 6 Load Last Capture 9 13 9 14 Load Marker Set 6 6 Load Project 6 31 Load Tracks File 6 32 Loading New Camera Software 7 5 7 7 Low and High Selected Frames 10 4 Low and High Visible Frames 10 2 mac_lic dat 1 5 G 2 Main Marker Set 9 9 Make Unnamed 10 16 marker cloud defined H 1 Marker Data Up Axis 6 7 Marker ID 10 17 Marker Name Prefix Options 9 10 Marker Placement Capturing Facial Motion D 4 Cheeks D 5 Chin D 5 Eyebrows D 4 Eyelids D 5 Head D 4 Jaw D 5
241. ependently in two dimensions the X is scaled the same as the Z It is not possible to load the upper body with only one arm To load only one arm without the rest of the upper body use the SIMM file rightArm jnt or leftArm jnt as the Mocap Model 1 2 3 Right ASIS acceptable names R ASIS RASIS RASI Left ASIS acceptable names L ASIS LASIS LASI Posterior pelvis a Sacrum acceptable names V SACRAL V SACRUM SACRAL SACRUM SACR VSAC or Right PSIS acceptable names R PSIS RPSIS RPSI and Left PSIS acceptable names L PSIS LPSIS LPSI Right shoulder acceptable names RSSHOULDER RSHO Left shoulder acceptable names L SHOULDER LSHO Right lateral elbow acceptable names R ELBOW R ELBOW LATERAL R ELBOW LAT RELB Left lateral elbow acceptable names LELBOW L ELBOW LAT ERAL L ELBOW LAT LELB Right wrist a Lateral acceptable names R WRIST R WRIST LATERAL R WRIST LAT RWRI or b Radius acceptable names R RADIUS RWRA Left wrist a Lateral acceptable names L WRIST L WRIST LATERAL L WRIST LAT LWRI or b radius acceptable names L RADIUS LWRA Right medial elbow acceptable names R ELBOW MEDIAL R ELBOW MED Left medial elbow acceptable names L ELBOW MEDIAL L ELBOW MED Right wrist a Medial acceptable names R WRIST MEDIAL R WRIST MED H 26 Cortex 1 0 User s Manual Appendix H SIMM Motion Module Right Arm Critical Markers Semi critical Markers Left Arm Critical Mar
242. epresentations of human and animal movements World objects can be added to pro vide a context for the animation Kinetics Kinetics is a full body three dimensional engine capable of calculating kinematic and kinetic information from models that are created and saved in the project file s The kinetic calculations can be done on either of the two skeleton types available in Cortex Skeleton Builder and Calcium The Skeleton Builder models are generally simpler to use as they auto matically scale the bone lengths to the subject s actual bones The Cal cium based models use an the entirely different computation method of Global Optimization With either skeleton type used the end results are similar Figure 1 10 Cortex Kinetics Interface Cortex 1 0 0 Kinetics HH_male prj Walk_1 trb i File Layouts Data Views Tools Help ay System Calibration Motion Capture Post Process Model Edit Plugins Markers Segments o Index Name Mass Model Editor Units Personal Information Weight Name A Walker Height Mae Female Standard O Zatsiorsky Custom Mass Model Fractions of the whole Center of Mass Radius of Gyration z x Y z Segment Mass a Pelvis 0 1117 0 5 0 551 0 615 0 587 R Thigh 0146 0 4095 0 329 0 329 0 149 L Thigh 01416 0 4095 0 329 0 329 0 149 R Shank 0 0433 0 4395 0 251 0 246 0 102 L Shank 0 0433 0 4395 0 251 0 246 0 102 R Foot 0 0137 0 4415 0 257 0 245 0 124 L
243. er Note that Cortex users can use either NIDAQ 7 1 through 7 4 Software or NIDAQ 8 0 or later Cortex uses the newer NIDAQ MX libraries whereas earlier versions of EVaRT use the Traditional Legacy NIDAQ libraries Also note that NIDAQ 7 5 does not work at all with Cortex applications 2 Power ON the computer and let it boot completely without the A D card installed This will complete the National Instruments software installation Once the computer is completely booted Shutdown power OFF the computer once again 3 Install the A D unit and power ON the computer It should come up with the Hardware Wizard and the Found new hardware pop up window At this point the computer will automatically install the NI DAQ drivers correctly 4 Shutdown power OFF the computer one last time and then power it back ON 5 Go to the National Instruments Test and Measurements software and select Traditional NIDAQ devices and then right click and select test panel 6 Run through some of the channels to verify that the board is seeing the data For example have someone step on the forceplate 7 Close and launch Cortex and connect to cameras You should see that all cameras are found as well as the type of A D unit installed Note If you have NIDAQ 7 0 drivers already installed onto your system it is not necessary to un install the software when upgrading B 3 Appendix B Analog Input Hardware and Software Cortex 1 0 User s M
244. er arm if the three critical markers listed below are present in the static trial The individual finger gencoords will be added to the model if the three critical hand markers and the appropriate finger markers are present in the static trial 1 Left thumb acceptable names L THUMB L THUMB M3 Left middle finger acceptable names L MIDDLE FINGER L FINGER L FINGER3 M3 3 Left wrist a Lateral acceptable names L WRIST L WRIST LATERAL L WRIST LAT LWRI or H 28 Cortex 1 0 User s Manual Appendix H SIMM Motion Module b Radius acceptable names L RADIUS LWRA Semi critical 1 Left wrist Markers a Medial acceptable names L WRIST MEDIAL L WRIST MED or b Ulna acceptable names L ULNA LWRBb Head The head will always be included when the upper body is loaded and the neck will contain three degrees of freedom If the critical markers listed below are present in the static trial the head will be scaled separately from the torso Otherwise the head will be scaled uniformly by the scale factor used for the Y height of the torso If no markers critical or op tional are included on the head in the static trial then the degrees of free dom in the neck will remain fixed during imported motions Critical Markers 1 Rear of head acceptable names HEAD REAR REAR HEAD HEADREAR REARHEAD 2 Top of head acceptable names HEAD TOP TOPHEAD HEAD TOP TOPHEAD 3 Front of head acceptable names HEAD FRONT FRONT HEAD HE
245. er camera using the AUX connector on the back of all the MAC digital cameras Failure to connect the video signal to the Master camera will show up when you press the Run button The slave cameras will send data but the Master camera will not This feature is available on all Motion Analysis digital cameras and can be set to any multiple of the NTSC or PAL frequencies that your mocap camera will allow So you can capture at 59 94 NTSC frequency or 119 88 2X NTSC or 179 82 3X NTSC or higher if your motion cap ture camera will allow it For Eagle Eagle i cameras and NTSC genlock sync you need to set the camera frame rate to 59 94 Hz on the Cameras sup panel For PAL genlock sync set the camera frame rate to 50 Hz or 100 or 150 or 200 or so on The slave cameras will follow the master camera without any extra wiring Displays the selected camera number and its corresponding IP address software version number along with the date and time the Eagle software was compiled Sets the selected camera as a master camera A master camera generates synchronized pulses to the rest of the cameras within the system so that all camera shutters are opening and closing at the same rate Only one master camera can be set for each system The master camera is set as follows 1 Inthe Real Time Dashboard select the camera number button of the camera which you would like to set as a master camera 2 Click on the Set Master Camera button 7 3
246. er than is now optimal Reading older project files with undefined links will be given Extra Stretch value of 0 30 and can be changed by the user selecting those links setting the Extra Stretch and saving the project file Figure 10 13 Show Template Linkages Cortex Matt prj MattCartwheell tre E Fe Los Dateviews Tos Heb Rectify _System Calbration Moton Capture Post Process Model Edt Plugms __ Markers g ts on aa Unas Unnamed Outside Settings S O D O o VDP SOeHAE s QakD Atiy Tepito Terplste Tenpito Marker ID Exchange Cubk Wetu Cak Smooth Mee Rodfy Delete Create D we Urged 12 M Frai Or iM PToe 37 M Larkin a Click Alone Chick Togge A vm 100 200 300 7 7 00 500 600 700 800 300 1000 1100 1200 1300 1400 kina E 1434 Frames 120 FPS Yup Unts This feathered stick figure can be used to look for possible problems in the template such as Asymmetry Unless the person is doing asymmetric activities the template should be fairly symmetric in both the black and grey bands Black lines that are too long This can be caused from a mis identi fied marker or a marker switch that got measured and stored in the template with the Create Template or Extend Template functions 10 14 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Template ID Uses the template to ID all markers in the current frame ott te All Markers Pull Down Selection Allow
247. er that enables customers to distribute their presentations quickly and easily When it s time to send research data to a colleague or take it on the road authors can simply pack and go turning their presentation into a single packaged ZIP file for quick burning to CD or emailing to a friend With the interactive player inside presentations are ready for launch on any Windows XP Vista operating system Motion Composer supports the import of a wide variety of information formats allowing users to import not just motion capture data but data from third party applications such as EMG analysis graphs additional color video footage and still images It also allows users to import user generated data such as clinical notes Microsoft Word documents and embedded HTML link Below is list of the file formats Motion Composer supports e Text TXT RTF HTML XLS e Color Video MPG AVI e Images JPG GIF BMP e Project files PRJ e Tracks TRC TRB e Analog data ANB e User defined data types views 1 9 Chapter 1 Introduction Cortex 1 0 User s Manual Presentation Tools The Motion Composer authoring interface provides a simple hierarchical interface to easily manage a user s disparate files offering views of refer enced files data structures e g joint angles or segment angles or rela tionship structures e g Subject Condition Trial Cycle The Motion Composer authoring interface also makes it simple to crea
248. ers Right Hand Critical Markers Semi critical Markers Left Hand Critical Markers 1 Left medial elbow acceptable names L ELBOW MEDIAL L ELBOW MED 2 Left wrist a Medial acceptable names L WRIST MEDIAL L WRIST MED or b Ulna acceptable names L ULNA LWRB The right hand will always be included when the right arm is loaded even if there are no markers on the hand The presence of critical markers con trols how the hand is scaled and what degrees of freedom it has The right hand will be scaled separately from the right lower arm if the three critical markers listed below are present in the static trial The individual finger gencoords will be added to the model if the three critical hand markers and the appropriate finger markers are present in the static trial 1 Right thumb acceptable names R THUMB R THUMB M3 Right middle finger acceptable names R MIDDLE FINGER R FINGER R FINGER3 M3 3 Right wrist a Lateral acceptable names R WRIST R WRIST LATERAL R WRIST LAT RWRI or b Radius acceptable names R RADIUS RWRA 1 Right wrist a medial acceptable names R WRIST MEDIAL R WRIST MED or b Ulna acceptable names R ULNA RWRB The left hand will always be included when the left arm is loaded even if there are no markers on the hand The presence of critical markers con trols how the hand is scaled and what degrees of freedom it has The left hand will be scaled separately from the left low
249. ers from appearing 1 Ghost markers may appear if the Max Residual value is set too low This parameter is set in the tracking function in the Motion Capture mode except for centroid function instead of tracking 2 Set the minimum number of cameras to 3 3 Increase the minimum number of lines per marker How do I control the length of a recorded file in Cortex All the recording options are set in the Output function in the Motion Capture mode When the record button is clicked using the trigger or the mouse a new file is recorded and saved with the name directory and output type s you have specified The recording will stop when either e the duration in seconds is reached e the Stop button is clicked using the trigger or mouse The default duration is 60 seconds If you always want to control the end of the take with the trigger or mouse we recommend setting the duration to a number that is higher than the trials you usually capture such as 10 minutes 600 seconds K 1 Appendix K Questions and Answers for Specific Applications Cortex 1 0 User s Manual Question Answer Note Question Answer Question Answer Question Answer Can Cortex be used in a large capture volume for example 50 x50 50 cameras If care is taken during setup motion capture will work well in a large vol ume The four areas requiring attention are 1 Camera Setup Are your cameras covering your volume effi
250. ers may be required to show all rotations Reflective or glossy material should not be used in the construction of props and very large props may occlude the subject s markers Remem ber the design of the prop and how it affects the subject s movement are more important than the prop s physical appearance Props may also be assigned separate templates see Multiple Tracking Objects on page 9 7 Used to completely document each trial a camcorder will allow the pro ducer to rank the trials of a move and will also give the animation artist something to use as a reference for the completed animation See also Digital Video Option EVaDV Software on page 6 21 Photographs of the subject with markers attached will help the artists un derstand the correspondence between the marker data and the actual fig ure A slate board and chalk or grease pen board will provide an easy way to relate the camcorder record to the Cortex data An adequate supply of reflective markers double stick tape paper tape and Tuff Skin or New Skin should be available For rough and tumble sessions the best method to adhere markers is by using Velcro on a skin tight motion capture suit However markers can be applied directly the skin If markers must be placed directly on the skin and the subject will be per forming athletic moves in which perspiration might be a problem pre tape liquids like Tuff Skin or New Skin
251. es 11 Save the tracks file by selecting File gt Save Tracks 12 Save project file by selecting File gt Save Project e The template becomes part of the project yet the project still needs to be saved Extend Template When you create a new template it uses only what is in the currently loaded tracks file to make the full template When you extend the tem plate it also just uses what is currently loaded but it doesn t throw out the existing template information In effect you are creating a new template from the original tracks file and the one you currently have loaded that has been combined into a single tracks file Extending a template will only increase the allowable range of motion in the linkages and never reduce them Collect the Walking 1 Go to the Motion Capture interface Data e Collect the Walk trial You may want to use a naming convention that adds a descriptor of the movement if your subject is doing multiple trials e g Walk1 trb Run1 trb etc 2 If you are collecting force or EMG activity activate the Analog anb check box 3 Set the capture duration e The duration should be representative of the length of the trial typically 5 10 seconds You can set the duration to be the maxi mum that you would ever expect and then you could press the Record Stop button for shorter more typical trials 4 Record the data 2 13 Chapter 2 Quick Start Tutorial for Movement Analysis Applications Cortex
252. es and consists of one frame of data stored in your current data folder Your camera buttons at the bottom should now be yellow in color indicating that all cameras are seeded see Figure 8 8 Fully calibrated cameras show up as Green but this does not happen until after wand calibration is completed Figure 8 7 Properly Seeded Cameras CaSeed n UistaWyennnite All camera positions should be reasonable approximations of their actual positions in the room This completes the square part of the Square and Wand Calibration 8 10 Cortex 1 0 User s Manual Chapter 8 Calibration Tab Calibration with Wand Duration Length Calibration with Wand Procedure Note This function allows the user to set the desired time limit in seconds for the wand capture This function allows the user to set the length of the wand head in milli meters measured from end marker to end marker 1 In the Wand Calibration box on the right hand side set the wand length to your wand size Make sure that you are using only a three point wand 2 Set the duration of the trial The duration should be sufficiently long enough to wave the wand through most of the volume that you want calibrated Smaller volumes take less time to complete 3 Click the Collect and Calibrate button and start waving the wand side to side and up and down through the volume You want to spend about 1 3 of the data collection time with the wand
253. es of freedom H 21 Appendix H SIMM Motion Module Cortex 1 0 User s Manual The markers shown in Figure H 5 are optional If any of these markers is in the static trial its location on the corresponding body segment in the Mocap Model will automatically be determined after the model has been scaled using the critical markers i e these optional markers are not fixed so their X Y Z offsets in the model file will be overwritten when the model is loaded These markers will then be used to help solve the frames of data in a motion trial Figure H 5 Optional Markers m EN j aa Rear W Fi A i f R Clavicle L Clavicle ai R Scapula ae R Bicep i L Bicep R Forearm ie AN J L Radius R Uina R UIna ae N A 4 R Thigh Front R Thigh C L Thigh L Thigh Rear L Thigh Front 7 L Shank Rear L Shank Front y E R Shank Upper R Shank L Shank R Shank Front R Shank Upper y L Shank Front R Shank Front R Shank Rear L Shank Rear L Thigh Front ag R Thigh Upper A Thigh Upper kei bee LNIGN FTONE R Thigh Rear L Thigh Rear R Thigh Front R Shank L MedFoot R LatFoot H 22 Cortex 1 0 User s Manual Appendix H SIMM Motion Module The markers shown in Figure H 6 on page H 24 are used by the Motion Module to control the degrees of freedom in the hand If the three critical markers a
254. es you can conceiv ably have an angle that goes from 0 to 1 000 degrees for each one of the X Y and Z angles This HTR file has four main parts the Header the Segment Names and Hierarchies the Base Position and the Data Typically the Base Position frame is selected when the subject s body is in a symmetrically oriented neutral stance position This Base Position frame is very important because this will be the position and orientation Appendix G Import and Export File Formats Cortex 1 0 User s Manual Example where each segment s translation and rotation is set to zero and the bone length scale factor is set to 1 0 Since all segments are hierarchical child segments have their translations and rotations relative to their parent The origin of a child segment is found by applying the translations relative to the parent s coordinate sys tem The orientation of the child segment can be established by rotating the child s coordinate system relative to the parents coordinate system about each of the axes In the data section the order of transformation is translation followed by rotation The segment names are keywords for example head Each seg ment s data is contained in seven columns translations in X Y and Z ro tations about X Y and Z and a scale factor for the Y axis or bone length Each frame of data is represented on one row The complete file contains data for each of the 20 segments The positi
255. ess Select Visible Frames located in bottom right of screen and press then press Rectify Check again by playing the trial Gaps in data can be filled by using Join Cubic and or Join Virtual functions 3 8 Cortex 1 0 User s Manual Chapter 3 Quick Start Tutorial for Animation Production Applications 9 Press the Create Template button Figure 3 6 Create Template Interface Create Template Template Prop Definition Frames Range Frames Used Current Frames with complete 1434 Selected Total frames to use 1434 Visible O All Include current frame as the Model Pose Show Template Linkages Create Template 10 Save the tracks file by selecting File gt Save Tracks 11 Save project file by selecting File gt Save Project e The template becomes part of the project yet the project still needs to be saved Start Collecting You are now ready to collect data for this subject Motion Data 3 9 Chapter 3 Quick Start Tutorial for Animation Production Applications Cortex 1 0 User s Manual 3 10 chapter4 Planning a Motion Capture Session Overview 4 1 Studio or Lab Preparation 4 1 Prior to the Capture Session 4 2 Job Assignments and Tasks During the Session 4 3 Additional Equipment 4 4 Motion Capture Terminology 4 5 Motion Capture Session Sequence of Events 4 6 Capturing the Data 4 7 Overview The motion capture process starts by collecting raw video d
256. esult in a corrupt file 6 30 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Viewing Sample Data To become familiar with Cortex we will start by replaying some sample data This is done by loading a sample project found in the Samples direc tory Sample Data Set 1 From the Menu Bar select File gt Load Project 2 Navigate to Program Files Motion Analysis Cortex Samples GolfSwings with Temper 3 Double click on Body_Club_Merged prj to load the project Having loaded the sample project we will now load the related data files 1 Select Raw Files on the Real Time Dashboard 2 Click on Golffempert vc1 Click the Run button on the Real Time Dashboard At this point the ac tion on the screen is a simulation of a live motion capture session Cortex is processing the data from the stored raw video file color video file and analog file generated by the force plates If this were an actual real time capture session the action on the screen would be similar but the data would be coming directly from the cameras and force plates Note Loading a VC file or TRB file will automatically load any saved ANB files captured during this session of this particular project The ANB files are comprised of analog forceplate data in this example Having loaded all of the related data files we can now exercise all of the six different Graphics Panes available to us We will now look at four si multaneously 1
257. etons but it takes a separate license to edit and create the model files The skeleton can be calculated in the Motion Capture panel from either live camera data or in the simulated realtime mode when you Disconnect Use Raw Files Note that this can have an optional MOD file associated to it SIMM OrthoTrak Skeleton This skeleton calculation uses the Calcium Solver type skeleton and re quires that you use the anatomically named marker set defined in the SIMM and OrthoTrak software The OrthoTrak SIMM basic marker set uses fixed names like L Shoulder L Wrist and L Knee for prominent marker locations There are several required markers and many more op tional markers If you use this marker set you do not need to use the Si Calcium software for creating a model mod file You must also use an Chapter 11 Model Edit Tab Cortex 1 0 User s Manual Skin File Skin Transparency additional Static trial with inside medial knee and ankle markers You load the Static project file load the Static Trial click this SIMM OrthoTrak button and then the Big Bone calculate skeleton button be comes active Then load the Walking motion trial and click the Big Bone button on the Post Processing screen The Calcium Solver skeleton is calculated To see the skeleton in the 3D window select Show Skele ton The skeleton can be calculated in the Motion Capture panel from ei ther live camera data or in the simulated realtime mode when
258. everything that an animator will need from the motion so extra motion has to be layered on top This is true of all motion capture types face body hands and devices Lip synching is an important sub problem of facial animation The mo tion of the face particularly the lips must be synchronized to the audio track of the voice talent The classic technique is for the animator to listen to the audio track and keyframe animate the facial expressions to match The first part is to get the mouth in the right position to match the syllable If the animator is using a morph target technique it is very common to have a series of morph targets each representing a common phoneme used in speech This makes it straightforward but time consuming to ani mate There are a number of automatic phoneme recognition technologies avail able for evaluating audio input and generating phonemes This informa tion can be used as a source of animation data for facial animation Not only is phoneme recognition hard to get right but the general approach has inherent limitations Phoneme recognition can be helpful but will never entirely solve the problem of facial animation A summary of the drawbacks is as follows D 13 Appendix D Capturing Facial Motion Cortex 1 0 User s Manual Eye Movement Waldos Other Motion Capture Issues Marker Size and Capture Volumes e Too precise At any given moment the phoneme generator gives you only one ph
259. ex 100 Mbps Ethernet The Aux connector can be used for testing VGA and diagnostics and is generally not needed for normal customer use An Aux cable is supplied with each Eagle and Hawk system which has three connectors on one end VGA COM 1 and BNC for use in various applications and diagnostic testing The Future connector is reserved for future use A 6 Cortex 1 0 User s Manual Appendix A System Hardware Interconnections Network Interface Cards and IP Addresses It is recommended that an Eagle or Hawk system have two Network Inter face Cards NIC 1 Single port for your own LAN connection 2 4 Port dedicated to the Eagle or Hawk system Configuring a The IP addressing for the camera system is initially setup in the following Network with oe Your Eagle e Digital Network Interface Card NIC 10 1 1 199 Cameras e Subnet Mask 255 255 255 0 This will need to be set in the Camera Network IP Address box in the System gt Cameras panel Note The NIC address is set from the Windows Control Panel Select Network Connections gt Local Area Connection right click Properties gt Con nection and use the following items e Internet Protocol TCP IP Use the following IP Address 10 1 1 199 e Subnet Mask 255 255 255 0 e DNS Server settings do not matter e Other addresses will also work as long as you are consistent with the camera addressing and do not overlap IP addresses Ethernet Camera The default c
260. f each computer system with which the Licensed Program is incorporated or used Copyright Protection The Licensed Program is copyrighted by Licensor Copies may be made only as permitted by this Agreement Licensee agrees to reproduce and apply the copyright notice and proprietary notice of Licensor to all copies in whole or in part in any form of Licensed Program made hereunder Warranty Exclusion Any maintenance obligations of Licensor shall be subject to a separate maintenance or update agreement between and licensee LICENSOR MAKES NO WARRANTIES EITHER EXPRESS OR IMPLIED ON ANY LICENSED PROGRAMS AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE Patent and Copyright Indemnification Licensor shall indemnify Licensee against liability for patent and copyright infringement upon the terms and conditions applicable to Licensee s purchase of the Designated System Termination This agreement and any licenses granted hereunder may be terminated by Licensor upon written notice if Licensee fails to comply with any of the terms and conditions of this agreement Upon termination of any license Licensee will at Licensor s option either return the Licensed Program to Licensor or destroy the original and all copies and parts thereof General This agreement is not assignable The rights under this Agreement or any license granted hereunder may not be assigned sublicensed or otherwise tra
261. fferent software packages Export CRC File CRC Centroid Row Column data are the 2D data points in ASCII text format Usable by advanced users who want to reconstruct 3D positions of markers using their own software in post process mode only Export Kinetics File Kinematics and Kinetics Exports Kinematics joint angles and Kinetics forces and moments data into a single kin file which is a tab deliminated ASCII file easily viewed in Microsoft Excel spreadsheets Kinetics Only Exports Kinetics forces and moments data into a single kin file which is a tab deliminated ASCII file easily viewed in Microsoft Excel spreadsheets Export Forces File Exports ASCII files containing forceplate data This uses your current forcepla cal file and converts the raw forceplate data into calibrated forces The units used are Newtons and Newton Meters and each line in the file equates to one analog sample Convert ANC File Converts binary formatted Analog data anb into an ASCII viewable format anc Skeleton Definitions Import Skeleton mod File provides a method for bringing a new MOD file into the current PRJ file MOD files are used for Deep Solver applica tions The name of the MOD file will match the marker set name as de fined in the project Export Skeleton mod File provides a method for saving a MOD file for use in a different PRJ file Create Skeleton from HTR File brings in the
262. files used to set up and save all the variables involved with capturing data in Cortex Every motion capture session must have a project file containing all system settings equipment parameters and other information related to the project This file contains both equipment parameters common to many different setups and calibra tion values unique to one particular session Among the data found in a project file are e the camera setup e the marker set e calibration setup and results e linkages between markers e SkB Skeleton Builder segment definitions coordinate systems and hierarchies optional refer to Chapter 12 Skeleton Types e MoCap Solver segment definitions joint types and hierarchies optional e camera type and parameters e tracking parameters Data trials are stored in separate trial files In most cases you will begin a session by loading an existing project file editing it as necessary and saving it in the directory where the motion data is to be saved Any time you calibrate the system or edit project pa rameters you should save the project file to disk to retain the new infor mation Cortex can read project files from older EVaRT software versions for backwards compatibility Multiple PRJ files should be saved in the same file directory with care Project files contain ASCII data and it may be useful to view them using any text editor however you should not edit them in a text editor as that can r
263. for the animators If there are expressions that couldn t be captured or weren t captured it is hard to use keyframe animation on the mesh defor mation markers to create totally new expressions The advantages and disadvantages for using morph targets are somewhat reversed with respect to the mesh deformation technique Morph targets are much easier to use by animators to control expressions at a high level Standard keyframe animation techniques work well with morph targets On the other hand it is extremely difficult to create a general purpose abil ity to use motion capture data within such a system Some simple and use ful exceptions are found for parts of the face such as the eye lid example used above or perhaps the jaw but for some parts of the face most nota bly around the mouth it is very hard D 12 Cortex 1 0 User s Manual Appendix D Capturing Facial Motion Other Facial Animation Inputs Keyframe Animation Phoneme Recognition Most facial expressions do not limit themselves to a single spot on the face such as the location of a single marker Each facial expression moves many markers at once A smile for example not only moves all of the markers around the mouth but it also moves markers around the eyes temples and forehead most people squint when they smile So there isn t an easy way of linking a smile morph target to one or two motion capture markers A smile is a true smile if and only if a who
264. force generating parameters so you cannot calculate the lengths or forces in these muscles during the recorded motion Cortex 1 0 User s Manual Appendix H SIMM Motion Module Table H 1 on page H 19 shows the available combinations of model com ponents To determine which Mocap Model you should use find the row that best describes the model you want then locate the filename in the last column All of these files are located in SIMM Resources mocap Once you have determined which one to use you can either set the MOCAP_MODEL variable in SIMM Resources preferences to that file or choose that file using the Options Choose Model Model com mand in the SIMM menu bar Table H 1 Combinations for Model Components lower upper movable fingers muscles file name extremity extremity yes yes yes legs only mocap jnt yes yes no legs only mocap jnt yes no no legs only mocap jnt no yes yes none mocap jnt no yes no none mocap jnt no right arm only yes none rightArm jnt no right arm only no none rightArm jnt no left arm only yes none leftArm jnt no left arm only no none leftArm jnt yes yes yes legs only 3D mocap3D jnt yes yes no legs only 3D mocap3D jnt yes no no legs only 3D mocap3D jnt It is important to note that the critical and semi critical labels for markers are relevant only for the static trial For motion trials all markers are op tional That is after recording the
265. format that allows data to be read and manipulated by spreadsheet programs such as Excel ASCII files are not compact and can be quite large Binary files contain raw binary data and are more compact than ASCII files They cannot be read by a text editor In general binary files are not meant to be read by the end user Appendix G Import and Export File Formats Cortex 1 0 User s Manual mac_lic dat Note All Motion Analysis software requires a valid license to run The license is keyed to a particular computer e For a Windows NT computer it is keyed to the number of the dongle supplied by Motion Analysis e For SGI computers it is keyed to the sysinfo s number e For Sun Sparc computers it is keyed to the host id number The license file is ASCII and has the unique name mac_lic dat It is lo cated in the Motion Analysis directory Only one license file is used for all Motion Analysis software Each additional software application be yond Cortex is given a separate line in the license file with the license type enclosed in square brackets followed by two license codes If you acquire new Motion Analysis software you must use a text editor to enter the new line in your license file to enable your new software This line can be typed in or entered by cutting it from the file you receive and pasting it into the existing license file The order of the licenses in the file is not important and only those lines th
266. frame If no marker is seen within this search sphere then the target identify is not continued into the next frame If a marker is found within the Max Speed sphere the target identity is continued into the sec ond frame If the number is set too small tracking will slow down as the software tries unsuccessfully to find continuations of markers This af fects the first to second frame tracking time especially If the number is set too big you will see markers switch identities After a marker has a history of 2 or more frames of continuous identity in time a track history allows the software to predict where the marker should be based on a 2nd degree polynomial prediction The software looks in a search radius of the Max Predictor Error about the predicted lo cation for a continuation of each marker being tracked The Max Predic tion Error is usually set to about one half of the Max Speed parameter 10 23 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Join Virtual Join Virtual is an extremely powerful editing tool used to fill gaps in r marker data with simulated data based on the relationship positional in l terpolation with other markers on or near the particular problem seg ment This accurately simulated information is a result of making four passes over the data in both Real Time and Post Processing modes To use the Join Virtual function 1 Find a gap within the position data of a marker It
267. function and context are briefly described These files contain up to 64 channels of analog data collected simulta neously with video data by the optional analog board The data in these files can be converted to readable ASCII form as either an ANA or ANC file To do so from the main menu select File gt Export ANC The data contained in the anb file has a dynamic range of 2048 to 2047 which represents 12 bit signed numbers Cortex scales the speci fied input voltage range to this range of values These files contain the same 3D track data as ASCII tre files saved in a compact binary form In addition to the data in tre files trb files contain the following data for each frame e alist of the cameras used to calculate the 3D marker position e the residual of the 3D position calculation These are a special binary files that contains both scaled 3D track data and unscaled analog data For more information you can visit the C3D web site at www c3d org G 18 Appendix H SIMM Motion Module Introduction Opening Tracked Marker Files Analog Data Using the Mocap Model Analog Configuration Files SIMM Motion Module Guide to Mocap Model Markers Introduction The Motion Module is an optional component to SIMM Software for In teractive Musculoskeletal Modeling that allows you to easily import data recorded by a motion capture system It reads files containing tracked marker data 3D posit
268. g tre file from MTO tracking should match the marker order of the resulting Merge MarkerSets operation If I have a Solver skeleton setup from EVa 6 x can I use it in Cortex Yes if you go to the Model Edit gt Tree View panel and in the Skeleton Engine field you check Calcium Solver in Cortex You must also copy the MOD file into your current project folder with the same name as your current PRJ file K 2 Cortex 1 0 User s Manual Appendix K Questions and Answers for Specific Applications Question Answer Question Answer Question Answer Question Answer Question Answer If I have the EVa 6 X Solver setup can I get an HTR file from Cortex Yes Select the Calcium Solver Skeleton Engine button Bone button in lower left of the Post Process dashboard then select File gt Export HTR File What are the tradeoffs in capturing at 120 fps or faster or slower with Eagle cameras With the older analog cameras there were tradeoffs in image quality as the frame rate went up With the Eagle cameras we see no degradation AT ALL with the higher frame rates which is great for high speed cap tures The images are all taken off of the Eagle sensors in 2 msec which corresponds to the 500 fps Waiting longer between frames does not de grade or enhance the image quality The only considerations are Ethernet bandwidth not generally a problem disk space used and time to process or post process th
269. g analog data from force plates an Analog Display pro vides graphs of output from up to 192 analog channels You can view any combination of channels at the same time As a convenience the Analog Display allows you to resize the label panel on the left side of the screen to accommodate long channel names To open the Analog Display and modify the number of visible channels 1 DPPN Channels Table Name FAX Fix Fiz MX MY MIZ Oi Ni olan aiwlro Re Shift the data this number of samples Apply Channels OOOO OOO O s All Channels Visible Shift the Analog Data Ex Range jee 10 H 10V 10V 10V 10V 10 10 VY ee10v 10 VY jan 40 10V 104 Selected Channels Press F5 on the keyboard or choose Data Views gt Analog Graphs from the Menu Bar With the right mouse click on the Analog Graphs From the pop up menu choose Visible Channels Left click on any one of the check marks in the Visible column Press Shift click in the Visible column to toggle multiple channels Click directly on the Visible header cell to toggle all of the channels at once Analog Display With Right Click Pop Up View Options and Channels Table Corrects for time match problems between analog and video data 0 6 38 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface XYZ Graphs Pop Up Menu
270. g and identifying marker locations in your calibrated 3D space 3 Post processing tools for tracking editing and preparing the data for other packages The advanced calibration procedures calibrate the 3D volume with ease and accuracy Options for using the software include 1 Color video capture synchronized with the EVaDV software either on your capture computer or on one or more auxiliary computers 2 Synchronized analog channels capable of collecting from 32 to 192 channels of analog data at any frequency between 60 and 5000 Hz 3 Genlock to your studio camera with the Eagle and Hawk cameras 4 Calcium Solver for generating constant bone length skeletons for high quality animation 5 OrthoTrak clinical gait evaluation module 6 SIMM Software for Interactive Musculoskeletal Modeling 7 KinTrak research module for defining research projects with kine matic and kinetic data and a trial and subject database 8 Kinetics a Real Time kinetics and kinematics calculation engine 9 Motion Composer used for producing packaging and presenting data reports 1 2 Cortex 1 0 User s Manual Chapier 1 Introduction System Requirements for Cortex Table 1 1 Required Minimum and Recommended Specifications Required Minimum Specifications Recommended Specifications Dual 2 0 GHz CPU up to 12 cameras Dual 3 2 GHz CPU Dual Dual Core 2 GByte RAM 2 to 4 GByte RAM Windows XP Pro wi
271. h an OpenGL graphics card This is used for all Motion Analysis camera types Using Raptor Eagle and Hawk Digital Cameras Using Falcon Cameras The Raport Eagle and Hawk digital camera motion capture system in cludes a set of Eagle and Hawk digital cameras with ring lights LAN power cables and an EagleHub system Cortex does not support collecting data with analog camera systems Fal con Cohu or Pulnix cameras using the Midas computer However you can use Cortex for post processing and analysis of motion capture data captured with these analog systems 1 3 Chapter 1 Introduction Cortex 1 0 User s Manual Middle Mouse For Cortex operations the middle button is key for zooming and translat Button ing through the 3D and XYZ Graphs display You will need to verify that the middle mouse button is set to the middle button function Software The Cortex program requires the host Windows XP Professional or Windows Vista operating system Installing the Software and Licenses To install Cortex for the first time simply insert the installation CD ROM into your computer and select the Setup Cortex No Samples exe or Setup Cortex With Samples exe file Note To run Cortex you will need both a license file and a dongle from Motion Analysis Corporation The license file you receive is keyed to your Mo tion Analysis dongle number printed on the dongle Figure 1 2 USB Port Dongles and Flash Drive US
272. hat if you use the same marker set repeatedly you will not have to ID the new person each time the marker set is used The marker identification is automatic and instant saving you time The Model Pose has its own kind of generalized template that is used to automatically identify a new person when they appear in the field of view It saves the steps of using the Quick ID feature to identify a new person in order to make a template for them The Template ID feature works in the Real Time mode when you are connected to cameras or it works when you are tracking the data from VC files after the collection Note The current template is size specific so a new person or a new ar rangement in the markers will not generally work for automatically identifying the markers When you click Update Template it also updates the Model Pose To use the New Subject button use the following procedure 1 Get a Range of Motion Trial a Get a good range of motion trial for your current tracks in Post Process Quick ID and edit so there are no mistakes or marker switches The data does not have to be highly complex but it should represent the minimum and maximum stretching for all 6 43 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Note limbs Jumping Jacks are a good example of the kind of dynamic motion that has worked well and does not obscure the markers or require editing For simple walking motion a single walki
273. hat the Extra Stretch factor is a state ment about the elasticity of the link which it isn t A link could be put be tween a hand marker and the toe marker but as long as it had sufficient data for the template Extra Stretch could be set to 1 the lowest and have it work just fine Multiple Link Selection Multiple links can be selected by pressing the Ctrl Shift buttons on the keyboard and clicking on the individual links with the mouse Color and Extra Stretch properties can be edited for set ting groups of links together 11 12 Cortex 1 0 User s Manual Chapter 11 Model Edit Tab Create Template Show Template Linkages General Notes on Extra Stretch This is why there is a CreateTemplate sky script It shows how to use multiple TRB files as input to the template creation and extension pro cess Assuming a standard Range of Motion ROM file the Extra Stretch val ues are normally set as follows e 10 for the head e 15 for the links on the hips pelvis e 15 for the feet e 20 everywhere else 15 is the default value for new links This is a starting point As data is tracked you can fine tune the Extra Stretch values Smaller values that work consistently will result in fast identifying and fewer errors An effective tool in changing the settings and organizing the linkages can be found in the Create Template gt Show Template Linkages check box under the Post Process Tool Strip For more information
274. he analog channel connections and master camera clocking for the NI USB 6259 as interfaced in the Cortex software B 13 Appendix B Analog Input Hardware and Software Cortex 1 0 User s Manual Table B 3 Analog Input Channel Connections and Master Camera Clocking NI USB 6259 Screw Screw Terminal Cortex Setup Terminal Cortex Setup Channel Name Channel Name 1 CH 1 49 CH 21 2 CH9 50 CH 29 3 Al GND 51 Al GND 4 CH 2 52 CH 22 5 CH 10 53 CH 30 6 Al GND 54 Al GND 7 CH3 55 CH 23 8 CH 11 56 CH 31 9 Al GND 57 Al GND 10 CH 4 58 CH 24 11 CH 12 59 CH 32 12 Al GND 60 Al GND 13 NOT USED 61 NOT USED 14 Al GROUND 62 Al GND 15 NOT USED 63 NOT USED 16 NOT USED 64 NOT USED 17 CH5 65 NOT USED 18 CH 13 66 NOT USED 19 Al GND 67 NOT USED 20 CH6 68 NOT USED 21 CH 14 69 NOT USED 22 Al GND 70 NOT USED 23 CH 7 71 NOT USED 24 CH 15 72 NOT USED 25 Al GND 73 PFIO 26 CH 8 74 PFI 1 27 CH 16 75 PFI 2 28 NOT USED 76 PFI3 29 NOT USED 77 PFI 4 30 Al GND 78 PFI5 31 NOT USED 79 PFI6 32 NOT USED 80 PFI 7 4 7 kQ Resistor amp A D Sync Cable amp Jumper Cable 33 CH 17 81 PFI 8 34 CH 25 82 D GND 35 Al GND 83 PFI9 36 CH 18 84 D GND 37 CH 26 85 PFI 10 38 Al GND 86 D GND 39 CH 19 87 PFI 11 40 CH 27 88 D GND 41 Al GND 89 PFI 12 42 CH 20 90 D GND A D Sync Ground amp Jumper Cable 43 CH 28 91 PFI 13 44 Al GND 92 D
275. he cameras may need to be raised higher e Ifacamera must view an opposing camera use the mask function in Cortex to block the offending image Refer to Creating and Clearing Masks on page 7 9 e Position the cameras so that they are equally spaced when viewed from the center of the capture area e Beware of making the capture area too large The resolution and the quality of the data may be compromised Place cameras in lower positions Good results can come from adding cameras or positioning the cameras low on the floor looking up at the capture subject This is also effective for capturing markers as the subject is stooped over or lying on the floor Opposite camera ring lights can be masked out if necessary 5 11 Chapter 5 Camera Setup Cortex 1 0 User s Manual possible One by one adjust each camera so it sees as much capture area as To see the camera view right click in the 3D view and then select Show gt Show Camera Field of View See Figure 5 10 Figure 5 10 Show Camera Field of View Cortex 1 0 0 Walk prj Walk3 trb G File Layouts System Calibration Motion Capture Post Process Model Edit Plugins Right Click Menu In 3 D Display Data Views Tools Help Settings Calibration Cameras Playback 3D Display Post Process Tools Mise I Camera Coverage Minimum Number of Cameras 3 B Force Vectors 1 Scale MMN Trajec
276. he default method is fairly robust it is designed to handle cases in which several markers are missing from a frame or in which the markers move large amounts between frames The other method called quick solve is less robust but works up to twice as fast as the default method If speed is an issue and you know that your marker data is well behaved you may want to turn this option on to use the faster optimization algorithm Tracked marker data files often have frames at the beginning and end of a motion that are missing some markers because the subject is outside the camera volume To automatically detect and ignore these frames as the file is read turn on this option it is on by default When the option is on SIMM will start at the first frame and delete it if it is missing one or more markers It will then continue to scan forward through the frames delet ing each one until it encounters a frame containing all of the markers It will then do the same procedure starting at the last frame and working backwards SIMM will not remove frames with missing markers that are in between full frames so there may still be frames in the motion that are missing markers When loading a motion SIMM has the capability of calculating deriva tives of the motion variables When this option is turned on after SIMM has solved the marker data and created a SIMM motion it will calculate first order time derivatives of the generalized coordinate values
277. he motion capture cameras vas e Windows should be covered with curtains to eliminate direct outside Conditions light e Carpeting or other non shiny floor surfaces are preferable to tile flooring which can reflect opposing ring lights Recommended e A stepladder for adjusting the cameras tripods Supplies e Masking tape to mark the floor when measuring the capture space and setting up the cameras e Reflective markers to attach to the subject and also enough to place on the floor when adjusting the cameras e Other supplies include surgical tape electrode collars for applying markers to people and gaffer s tape black masking tape 5 1 Chapter 5 Camera Setup Cortex 1 0 User s Manual Deciding On the Optimum Number of Cameras There are several objectives to consider when deciding how many cam eras should be used and where they should be placed 1 There should be a sufficient number of cameras to insure that at all times all markers will be visible by at least two and preferably three cameras In general the number of cameras must be increased when e the motion of the subject becomes less constrained e the number of subjects or objects increases e the capture volume increases 2 As more cameras are used each camera should view only a portion of the capture volume to achieve higher accuracy and prevent too many cameras from seeing any one marker For large capture volumes with a large number of cameras 10 i
278. he names doesn t matter The matching is done with the currently selected skeleton engine To select it 1 Go to Model Edit gt TreeView 2 Select the project name first line of the tree 3 Select the Skin File property at the bottom of the sup panel 4 Select a file in the Open File dialog The filename is saved in the project file so each marker set can include a skin Note The skin file and the associated HTR file is not saved in the project file Only their names and relative directory paths are saved Chapter 11 Model Edit Tab Cortex 1 0 User s Manual OrthoTrak Example The following is an example of how to get the OrthoTrak skins to show in the 3D View 1 Select File gt Load Project and load the project file Walk prj located in the Samples Helen Hayes Markers directory 2 Select File gt Load Tracks and load Walk1 trb 3 Go to the Model Edit tab and select the project Walk in the Tree view 4 Select the Skin File in Property Value and select PolyBonesOT_Skin obj 5 Select the Skeleton check box in the lower left of the Cortex inter face and then click on the Calculate button directly below 6 If not already set right click in the 3D View and select Skin and Show This procedure will produce a subject with a skeleton and skin as shown in Figure 11 4 Figure 11 4 OrthoTrak Skeleton and Skin Subject a b b Project aa kin File 120 130 mo 1
279. he new frames Template ID tells you how good the template is working and it is the same template the Template Rectify uses Also think that Template Rectify gets used as much to un identify tracks as well as identify them If any link stretches beyond the allowable range plus a small amount of give then Template Rectify will cause the offending marker or markers to become unnamed while it seems perfectly obvious to you what is right If Template Rectify does this manually ID that marker on that frame and Extend the Template an option under the Cre ate Template button You can see this when the subject bends over and causes stretches that might not have been recorded when creating the tem plate Figure 10 15 Template ID and Rectify Used for Link Stretch Rigid Body Rectify This takes the most time to use in that you must select a few markers and process a few frames then repeat the process over the possibly many seg ments and frame sequences If it stops it means that the rigid body disap peared You can re start it again and it starts with new measurements on 10 22 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Correctly Identifying Markers Automatically Post Processing Mode Max Speed mm frame Max Prediction Error mm the starting frame Where it is very useful is where it can slug through some tough sequences Start with something simple like the 3 or 4 or 5 markers on the head As
280. he same since the markers are about the same size It is even common to use morphing techniques on the hands like on the face rather than treating the hand as a mini skeleton and animating it like you would animate the full body Certain hand gestures are very common so it s effective to model those few fist flat hand pointing a finger and morph between them If motion capture data is used however skeleton animation techniques are easier to use and apply to the hands Facial motion capture does have some limitations not all the information that an animator might want can be captured directly from the face of the actor Some examples are e Tongue You can t put markers on the tongue There is no effective way of capturing the full motion of the tongue with any kind of tech nique e Neck Various regions of the neck move while talking The motion of the tongue causes the underside of the jaw to move while swallow ing and breathing causes other areas to move Extra markers could be placed under the jaw and around the neck but then visibility issues become a concern e Eyes Markers can t be used to track the eyes Other techniques might be used for this e Curl and other twisting motions The skin of the face doesn t just travel in straight lines Many parts of the face scrunch and curl around Pursing one s lips or pouting motions cause the lips to bend around in a variety of ways Markers do not directly transmit this information o
281. he stream of data More information can be found in Time Lines page 10 26 6 22 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Virtual Marker Definitions This sets the definition markers that are used to support a particular vir tual marker For complete information regarding Virtual Markers refer to Virtual Markers on page 11 17 New Subject Please refer to New Subject Button on page 6 43 Forceplate Forces Selecting this feature will display the forceplate measurements in numeri cal values This works when you are live and connected to the cameras or when you are simulating Real Time from VC files and you are Post Pro cessing mode Figure 6 19 Forceplate Forces ioixi Newtons mm Newton mm REX Fra Fema x z Mz 46 95 3 37 372 32 91 96 8 02 84 00 1785 22 70 15 0 13 421 55 615 77 12 11 84 00 876 85 6 23 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Mass Model Editor Figure 6 20 Mass Model Editor Cortex 1 0 0 Kinetics HH_male prj Walk_1 trb i Fie System Calibration Motion Capture Post Process Model Edit Plugins Layouts Data Views Tools Help Mass Model Editor Units Personal Information Markers Segments Index Name Gender Name A Walker Weight 39000 kg Height 18000 cm Male Standard O Zatsiorsky Custom Mass Model Fractions of the whole I Ra
282. hen you connect to the Cameras in Cortex the channel numbers 1 32 and the Serial Number of the USB device are reported in the dialog box The Serial Number for the USB 6218 device is located on the bottom of the USB device Clock Wiring for Single and Multiple USB Devices Eagle and Hawk cameras require a 4 7 kQ pull up resistor from 5 Volts to the PFI 0 pin as shown Figure B 9 Clock Wiring for Multiple Devices A Single Pull up resistor with a 4 7 kQ or close value will work for con necting up to 6 USB devices together as shown below You need only to connect PFIO and D GND signals in parallel for clocking the multiple USB Devices A single pull up resistor works for all devices USB 2 0 Cable Lengths The USB 6218 comes with a one meter USB cable It has been tested with longer USB cable lengths up to 16 ft 5 meters and it works well with any mix of cables USB Expansion Ports for Multiple A D Units Internal or External USB Expansion devices also have been tested and work well without problems This allows you use a single USB port on the main capture computer and plug in as many USB devices as needed Appendix B Analog Input Hardware and Software Cortex 1 0 User s Manual Table B 2 Analog Input Channel Connections and Master Camera Clocking NI USB 6218 Screw Screw Terminal Cortex Setup Terminal Cor
283. here the link stretches too much This happens if markers come to gether and pull apart and the identity is not correct when they pull apart The software may not see it right away but after a few frames the linkage for the wrongly named markers get too long and the path is cut The big ger the number the more the link is allowed to stretch before it is cut Smaller means fewer errors more cuts Larger means more stretching is allowed before the cuts It is measured in multiples of the standard devia tion of the linkage length to make it accommodate linkages that normally change a lot head to shoulder and linkages that do not change much el bow to wrist Also used in Real Time streaming Run mode 6 20 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Figure 6 16 Linkage Stretch Parameters Identifying Parameters Linkage Stretch Parameters To Reconsider std dev 12 Max Acceptable std dev 10 4 Max Acceptable If there is a missing marker and there is an Un named marker within this distance of known linkages the Un named marker is accepted as a Named marker Also used in Real Time streaming Run mode Plugins Tab Figure 6 17 Settings gt Plugins Tab Settings Calibration Cameras Playback 3D Display Post Process Tools Misc Id Params Plugins This setting specifies which tab a plugin is available in The Plugins tab is the default Pl
284. hey can see and reach how comfortable they are when and why they re getting hurt when they re getting tired and other important er gonomics information This information helps organizations design safer and more effective products faster and for less cost Ultimately Jack helps companies bring factories on line faster and optimize productivity while improving worker safety For more information please visit the UGS website at www ugs com Jack 5 0a does not need a new license file It uses the same license as Jack 4 2 The license is based on your Ethernet card s Physical Address To find it 1 Select Start gt Run This command brings up a DOS command win dow 2 Type ipconfig all 3 Find the line that looks like Physical Address 000 50 DA 8E BC BD lt lt 4 Note yours and then contact UGS Installation of the Jack5 0a software requires very specific installation as per the instructions in the next section If you deviate from the settings specified it will not launch J 1 Appendix J Using Cortex with Jack Software Cortex 1 0 User s Manual The jk tcl file will not easily copy itself to a native windows environ ment This will be fixed for the release version of Jack 5 0 The jk tcl acts as a launching tool for the Calcium plugin window Currently copying this file from a web based browser like Hotmail or Gmail will allow you to save it as a jk tcl file MS Windows thinks it doesn t have a filena
285. hin 5 seconds to change these settings Press the Space bar or any other key to change the camera configu ration Press M to modify the camera settings Press Enter about 5 times to leave the other settings unchanged Wait for the message that tells which Ringlight is currently configured If the ringlight type is infrared then the display should be Ringlight type infrared 7 If the ringlight type is red then the display should be Ringlight type red 1 For example to change from near Infrared 4 to red 1 type in the 1 character as Ringlight type near infrared 4 1 You type in the single digit 1 followed by Enter Press Enter to leave the other items unchanged Wait for the camera to boot again and check that Ringlight type was successfully changed A 9 Appendix A System Hardware Interconnections Cortex 1 0 User s Manual A 10 Appendxs Analog Input Hardware and Software Overview Installing NIDAQ Software on an Cortex Computer Analog Signal Naming Conventions 32 Channel 16 Bit NI USB 6218 Configuration NI USB 6259 Analog Channel Connections Overview The Cortex system can accept analog data from external devices and syn chronize it with video motion data Analog cards known to work with Cortex software include the following A D configurations and the necessary NIDAQ software Cortex will sup port one or two of the devices listed in Table B 1 Th
286. ht green Camera is completely calibrated and is selected Yellow Camera has undergone seed calibration but not wand calibration Light yellow Camera has undergone seed calibration and is selected White Camera is not calibrated Dark grey Camera is inactive A right mouse click on the camera number will enable and disable that camera Note Camera 1 must remain enabled when you collect data to make sure you have a selectable VC1 file Tracking The Tracking check box triangulates tracks the markers from frame to frame You might want to uncheck this if your computer is not fast enough to calculate the marker coordinates or if your system is not cali brated for any reason You can still collect raw VC files and track them at a later time Collecting raw VC files is the highest priority thread in the motion capture Record mode to ensure that you do not lose your raw data Identifying The Identifying check box identifies and names the tracked markers ac cording to the current template If you do not have a template it is best to disable this function to keep the software from attempting to ID the data Skeleton The Skeleton check box is set to calculate the skeleton using the currently active skeleton model 6 41 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Join Virtual Join Virtual is an extremely powerful editing tool used to fill gaps in marker data with simulated data based on the relationship position
287. i e joint velocities during the motion It will also calculate derivatives of any force or EMG data in the analog file if present These derivatives can then be plotted using the Motion Curves command in the Plot Maker see Section 2 5 2 for more details Figure H 2 Tracked Marker Import Dialog Box walk1 c3d Options OK markers 23 frames 477 data rate 120 0 Hz Cancel m Import Options import frames f to 477 increment fi X axis T lquick solve units time sec x I start at0 0 crop ends Analog Data IP calculate derivatives IV auto load analog data I show markers calibrate forces IV remove old forceplates read marker names from POINT DESCRIPTIONS z r Save Options I save HTR file ATRAE CATEMPS ial Htr I save motion file moton ne ERTER aki Tot Browse Cortex 1 0 User s Manual Appendix H SIMM Motion Module Show Markers X Axis Units Start at Zero Auto Load Analog Data Calibrate Forces Remove Old Forceplates Read Marker Names From This checkbox turns on the display of the global marker positions in each frame when playing back a motion When it is on SIMM will add spheri cal motion objects to the motion representing the location of each marker as recorded in the marker file When you animate the model according to the motion the blue spheres represent these actual recorded marker loca tions These are the marker locations that th
288. iew Joint C Forces C Moments C Global Center of Mass C Down Events Additional Settings Refer to the following page for descriptions of these options 6 35 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Subject Markers Displays all markers in the 3D View Options for length Links Displays all links between markers in the 3D View MarkerSet Names Displays the prj file name over the marker cloud Marker Numbers Displays the ID numbers for all markers Marker Names Displays the marker names over the marker Trajectories Displays the marker trajectories in PP mode only Virtual Markers Displays the virtual markers Unnamed Markers Displays unidentified markers Skeleton Displays the skeleton segments when they are defined Skin Displays a selected skin Skeleton Axes Displays the RGB XYZ orientation for each bone Forces Displays the forceplate and force vectors off the forceplates BackCalc Displays the marker locations as defined in the T pose for Calcium skeletons Model Pose Displays the model pose as defined in Create Template World Cameras Displays the motion capture cameras in the 3D View Camera Rays Displays which cameras can see the selected marker s Cam Field Of View Displays the camera view for the selected camera s based on the focal length as set in the Lenses Orientation tab Floor Displays the vir
289. iew O Plugins Samples SentinelDrivers 5 UserFiles v 9 Return to the Calibration panel in the Cortex user interface 4 Select the camera on the Real Time Dashboard you wish to load the new rom_ date bin software into and click on the New Camera Software button in the Cameras panel Chapter 7 System Tab Cortex 1 0 User s Manual Figure 7 4 Download New Camera Software Verification Dialog for Eagle and Hawk Cameras Download New Camera Software E x This will cause the cameras to reboot into a mode where they are ready to accept new software via the FTP program 1 WARNING Do not turn power OFF to the cameras until 1 Software is downloaded AND 2 ALL the cameras are rebooted 2 Type in each camera s IP Address User none Password lt blank gt 3 The cameras will reboot automatically and show their camera number 4 Press Download again if you get 4 send Failed message 5 Manually type in the Unit s IP address prior to clicking on the Down load button 6 Navigate to the Camera Software directory with the and select rom_ date bin Figure 7 5 New Camera Software Interface Loading the rom bin File fc FTP Download x Local Remote C Program Files Motion AnalysisSE Unit s IP 017201 User none Password m Progress 7 Click Download and wait about two minutes for the Writing to Flash operation to finish Note Ifthe message S
290. ight click on your desktop then select Properties gt Settings gt Advanced gt Troubleshoot Slide the Hardware Acceleration down a few points Quit Cortex then re launch See if that fixes the problem The set tings depend on what your graphics card does and has for features that Appendix I Synchronizing Digital Video with Cortex Cortex 1 0 User s Manual changes from one computer to another If that does not fix the problem try to slide the Hardware Acceleration to None Quit Cortex and then re launch If that still does not fix the problem try to change some of the Open GL settings found under the name of your graphics card found under the Properties gt Setting gt Advanced tab Also change the Verti cal Sync setting to On by Default and restart your computer Appendix J Using Cortex with Jack Software Introduction Installation Instructions Jack Using the Motion Analysis Calcium Tracker Module Jack5 0a Required amp Recommended Marker Sets in Cortex for Calcium Skeleton Generation Introduction Before You Start Jack is an ergonomics and human factors product used in various indus tries to improve the ergonomics of product designs and workplace tasks This software enables users to position biomechanically accurate digital humans of various sizes in virtual environments assign them tasks and analyze their performance Jack and Jill digital humans can tell engi neers what t
291. ile versions however the motion data is presented on a segment basis in version 1 files while it is on a frame basis in version 2 files Thus version 1 files give the position data for all frames for the first segment followed by the position data for all frames for the second segment etc HTR Version 1 files are used 1 to save as HTR in Cortex under the Post Skeleton function in the Tools menu 2 for input and output from Si 2 0 3 for input and output for many of the animation package software HTR2 files are output from steaming mode from Cortex 3 0 and Cortex but there is no software to import them Version 2 file gives the position data for all segments for the first video frame followed by the position data for all segments for the second frame etc The example of a version 1 file shown in Figure G 4 on page G 11 was generated by Motion Analysis MoCap Solver and contains data for the movement of a hierarchical skeleton with one root and 19 child segments Since the file was generated by MoCap Solver the skeleton has fixed length bones The complete file contains data for each of the 20 segments The position of each segment is recorded for 196 video frames Such a file is quite large so we have included an abbreviated version here The file begins with a Header section containing general information such as the number of segments the number of frames the frame rate and other parameters which apply to all data in the fi
292. ile with the current filename Save Tracks As Provides a method to save the current Tracks TRB or TRC file under a different name This function will only allow you to change the file name not the file type To change the file type you must use the Export xxx File menu item Trim Capture W Options Provides frame and marker options when saving Tracks TRB or TRC files The Trim Capture feature allows you to specify which directories the new files will be saved to as well as frame and marker management options Refer to Figure 6 3 The software remembers two folder names the current folder and the export folder Figure 6 3 Trim Capture W Options Interface Trim Capture Options Default Directory File s Original Directory C Program Files Motion Analysis Cortex Samples Golf Swing with Temper Export Directory Output files Tracked Markers Raw video vc C Discard Unnamed Markers OK Just save the settings Analog anb C Discard Virtual Markers ColorVideo avi Frames Tracked ASCII trc Save All Frames Tracked binary trb Save Selected Frames Export Trimmed Capture Export HTR File Exports a file in HTR format which is commonly used in the animation software packages 6 4 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Export C3D File Exports marker positions and analog data in an open sourced file format viewable by many di
293. ill not be possible In the System gt Cameras panel choose Frame Rate and set the shutter speed brightness and threshold Figure 3 1 System gt Cameras Panel TEER Cameras Analog Frame Rate 60 Shutter Speed 1000 1 sec J Using Hardware Sync C Using Sunlight Fitter C Genlocking Master Camera Current Camera Number 1 Model Unknown Serial Unknown Version Unknown Date Unknown IP Addr 00 0 0 Set As Master Brightness 100 Threshold 326 New Camera Software Camera Network IP 0 0 0 0 v Reboot All Cameras 7 Settings Calibration Cameras Playback 3D Display Post Process Tools Misc Id Params Threshold 500 Brightness 100 Min Horizontal Lines per Marker 2 Bia Max Horizontal Lines per Marker 32 S 7 Edit These Cameras O all Selected 3 2 Cortex 1 0 User s Manual Chapter 3 Quick Start Tutorial for Animation Production Applications 4 Press Connect to Cameras e The first time you do this step a message indicating that X num ber of cameras were found existing project has 2 Do you want to modify project may appear See Figure 3 2 Press the OK but ton Figure 3 2 Connect to Cameras Status Pop Up Example 9 Cameras 6 Eagle Cameras 2 Eagle Cameras 1 hawk i Camera System Calibration Note System calibration should be done at a camera speed of 60 Hz Start the 1
294. ill show the forces below the forceplate Camera Coverage Sets the number of cameras used in the Camera Coverage function A small number in this setting results in a large camera coverage display shown as blocks A larger number limited to the number of cameras in the system will show a smaller coverage volume Trajectory Length Shows the path history of the selected marker in the post process only 3D view Camera Depth of Field Used for display purposes this function shows a representation of the se lected camera s view as a cone The Cam Field Of View check box in the 3D Display Show Properties right click 3D view select Show must be active The width of the cone is dependent on the camera lens focal length setting 6 14 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Post Process Tools Tab Smoothing Tab Figure 6 10 Settings gt Post Process Tools gt Smoothing Tab Settings Calibration Cameras Playback 3D Display Post Process Tools Misc Smoothing Search Undo Fitter Type Butterworth Frea 6 JI 3Point Average 45Point Average Post Process Tool Strip Settings Id Params Plugins The Smoothing tab allows the user to select which automated smoothing filter to use for post processing For more information on these filters ref erence Filters on page 10 5 This tab also allow the user to select the Post Process
295. ing Square and Wand Data Calibrating Your System A new calibration must be performed whenever e camera positions have changed e the coordinate system orientation has changed e the units of measure have changed It is imperative to complete an accurate calibration in order to collect high quality motion data Calibrating your system is a two step process First the seed calibration is done by employing the calibration L frame The exact positions of these markers must be known Next a wand with precisely located markers is waved around throughout the capture volume by somebody wearing no reflective material Wand calibration ensures that a direct measurement of an object of known size has been made by all cameras throughout the en tire capture volume This process locates the exact positions of your cameras and accounts for any geometric distortion the camera lenses may have as well as accu rately measuring the camera lens focal lengths The importance of this in formation is so great that a new calibration must be completed if a camera is moved or even accidentally bumped 8 1 Chapter 8 Calibration Tab Cortex 1 0 User s Manual What is the Square and Wand Calibration In Cortex a four point square and wand calibration has proven to be very robust and is extremely accurate This method requires only four markers on the L frame and three markers on the wand Note If using an L frame orient your markers in the s
296. ing forceplate and EMG data recorded during the motion These analog data files can be in either the ANB or ANC formats The Motion Module can also read XLS files containing other motion related data that you may want to view in SIMM such the kinetic data contained in an OrthoTrak single trial spreadsheet For more information on importing analog and XLS files see Section 5 2 3 Analog Data The Motion Module can also read C3D data files These files contain tracked marker and analog data in the same file so you only need to load one file to import all of your motion data from a trial When you open a tracked marker file along with any associated analog files SIMM attempts to map the data onto the current musculoskeletal model thus creating a SIMM motion that is linked to the model There fore to open a tracked marker file you must already have loaded into SIMM a model that contains the same marker set used in the marker file For best results you should make sure that every marker in the tracked marker file is also in the SIMM model and that their locations in the SIMM model match where they were placed on the subject The marker names should match exactly except that they are case insensitive If the file contains markers that are not in the model their data will be ignored by the Motion Module Similarly if the model contains markers that are not in the file they will not be used to help fit the model to the motion data If you
297. interface to the Solver engine Solver is the powerful numerical tool for calculating skeleton motion from marker data The Calcium interface in Cortex is what allows you to correlate the positions of a marker pose to the initial pose of a skeleton The skeleton is usually created in an outside animation package such as Maya 3D Studio Max or Kaydara and then exported to an HTR file by a Motion Analysis file IO plugin for that package In this example we re using a skeleton from a Maya character Figure 11 10 Calcium Segments Property Values Units Global Scale Matrix Method Property Units m Global Scale 1 Matrix Method Levenberg Marquart Accuracy 0 0001 Max Iterations 100 Use Joint Limits True Orient Body True Units of the Calcium segment lengths Select from the drop down menu in meters centimeters and millimeters Changes the scale of the entire hierarchy multiplied by the number set e g a value of 10 would scale the hierarchy by 10 times the original size This provides a quick method for scaling the HTR file to fit the marker cloud in the model pose There are two matrix methods to choose from e Gauss Newton Which is faster at solving but not as robust This is generally used in Real Time applications 11 15 Chapter 11 Model Edit Tab Cortex 1 0 User s Manual Accuracy Max Iterations Use Joint Limits Orient Body Note e Levenberg Marquart While is more robust
298. ionAnalysis Calcium dialog click on the Devices tab Enter the Cortex or localhost computer name as the Host name and then click Connect Check Uncheck Display Bodies to turn on off the visible bodies in Jack Set the Origin Rotation Check box to ON select X Rotation 90 Z Rotation 90 J 2 Cortex 1 0 User s Manual Appendix J Using Cortex with Jack Software Auto Scaling 1 Create a male or female Jack figure Constraining This may be done by selecting either of the following buttons and Positioning the Subject Figure J 1 Male or Female Selection Button 2 Click the pick button and select the subject from the scene The subject turns yellow when it is picked Left click on the subject The name Human should fill the blank box beside the pick icon 3 Click on the Subject tab 4 Have the actual subject in standing straight posture and click Auto Scale 5 Click Constrain 6 Click Move Using the mouse in the Jack window move the MA_ORIGIN figure to position the subject Creating Two 1 In the MotionAnalysis Calcium dialog click the pick button and Channel Eye select the subject from the scene i i 2 Click on the Eye View tab Click Apply minimize all other win View Windows dows Note that the main Jack window is disabled To enable right middle button on the TJ_Window and uncheck Disabled First Person iddle b he TJ_Window and uncheck Disabled OPTIONAL 3 Optional You can change eye
299. ions 6 23 11 17 Virtual Marker Tracks Calculating 11 21 Virtual Markers 11 17 Selecting 6 52 Visible Channels 6 38 Visible header 6 38 V Marker Definitions Button 11 21 VMarkers 11 11 Volume 5 13 Waldos D 14 Wand 8 1 Wand Calibration 8 2 8 11 Wand Calibration Coverage 2 4 3 5 Wand Processing Status 8 13 Wand Processing Status Window Accept Button 8 13 Extend Seed Button 8 13 Reject Button 8 13 Run Again Button 8 13 Stop Button 8 13 Web View 6 10 X X Offset 11 11 X Panel 12 2 XYZ Graphs 6 39 pop up menu 6 39 Y Y Offset 11 11 Z Z Offset 11 11 Zoom amplitude 6 52 Zoom In Zoom Out 10 4 Zooming 6 51 Channel Settings 6 7 coRTex 1 0 User s Manual Index 9
300. ions of markers in global space using the TRC or TRB file format developed by Motion Analysis Corporation It can also read analog files in the ANB or ANC format with ground reaction force and EMG data that was recorded in sync with the motion The Motion Module can also read C3D files which contain both tracked marker and analog data in the same file Additionally the real time version of the Mo tion Module can connect to a Motion Analysis system and receive and display motion and analog data in real time as it is being recorded Files of tracked marker data contain a sequence of frames each represent ing a snapshot of the subject s motion at a particular instant in time Each frame contains the X Y and Z coordinates expressed in a global coordi nate system of all the identified markers A frame of marker data can thus be thought of as a marker cloud because the coordinates are not orga nized by body segment The Motion Module imports tracked marker data and fits a SIMM model within the marker cloud for each time frame If the SIMM model contains markers whose names and positions match those of the markers placed on the subject the Motion Module can adjust the model s gencoord values to determine a best fit of the model to the marker cloud The quality of a fit is determined by how closely each of the model s markers is to its cor responding marker in the marker cloud It then uses this best fit as the starting positi
301. iquing the subject s performance Camcorder The video recording from the camcorder can be very important documen Operator tation to aid in choosing the best takes A video recording may also be useful for post production promotions An optional reference video cap ture is available Refer to Digital Video Option EVaDV Software on page 6 21 The camcorder should not be allowed to run during the entire capture ses sion This means that someone should be assigned to start and pause the camcorder for each take The camcorder operator should slate each of the takes This involves re cording the take number the Cortex trial name and number and any other relevant information on a slate board After starting the camcorder and before each take the slate board is held up in front of the camcorder for a few seconds The audio on the camcorder can also be used When the slate is held up in front of the camcorder the operator can say the take number the Cortex filename and any other information necessary When the take is complete the director can make audio comments on the quality of the take Scribe Someone should be assigned to take notes and to fill in the Motion Cap ture Log A sample of this log is found in Appendix M Useful Blank Forms The take number Cortex file name and the duration of the take and any comments from the director or subject should be recorded The scribe can also do a time check using a stop watch to get
302. is Graphs F7 6 10 ANB G 18 ANB file 6 31 ANC G 15 Example G 15 Animation C 1 Animation Plugins 1 12 Auto Scale 10 4 Backup Media 4 4 Bertec Forceplates Calibration Matrix E 6 forcepla cal E 2 Using E 6 Bertec Gain Setting E 6 Binary Files G 18 ANB G 18 C3D G 18 TRB G 18 Biomechanics C 3 Blank Forms L 1 Human Body Outline Back L 5 Human Body Outline Front L 3 Human Body Outline Side L 4 Motion Capture Log L 2 Building a Template 9 5 Index 1 coRTex 1 0 User s Manual Face D 5 Butterworth Filter 10 7 C3D G 18 C3D files see tracked marker files Calcium 1 7 Calcium Segments 11 15 Calculate Virtual Markers 10 16 CalFloor vcl 8 14 Calibrate Panel 8 3 calibrating system overview 5 20 Calibrating Your System 8 1 Calibration 6 28 Coordinate System 5 20 Face 8 14 Floor 8 14 from Previously Collected Files 8 19 Refining 8 14 Simulated 8 19 Calibration Frame Tab 8 5 Calibration L Frame 5 20 Placing 5 22 Calibration Panel 8 1 Calibration Settings Window 8 5 Calibration Settings Window Tabs 8 5 Capture Volume 8 8 Origin Offsets 8 5 Calibration Tab 6 11 Calibration Wand 8 1 Calibration with Wand 8 11 CalSeed vcX 8 10 CalWand vcX 8 13 Camcorder 4 4 Camera Aiming 8 4 Camera Aiming check box 8 7 Camera Buttons 6 49 Right Click 6 49 camera buttons Real Time Dashboard 6 41 Camera Problems 5 24 Camera Software 7 5 Cameras Optimum Number 5 2 Properly
303. is box checked for all your calibrations AFTER you have completed a good wand coverage and good wand calibration The results of the successful wand calibration are stored in your project file and your System Calibration file The System Calibration file can be saved after each wand calibration It is the default calibration that is used when your launch the Cortex software For a very accurate calibration do the following steps 1 Uncheck Protect Lens Correction Collect a very thorough wand calibration making sure to cover the corners of all the cameras Select Run Again until the numbers stop changing Accept the results 3 Check Protect Lens Correction 4 Disconnect from cameras Select the WandCal vc1 file and press the Calibrate gt Calibration gt Calibration with Wand Calibrate button AGAIN Let it run once and select Run Again until the numbers stop changing then Accept the results The above procedure uses the first Wand Calibration to determine the Lens Distortion mappings and uses the second processing of the Wand calibration to refine the calibration Subsequent wand calibrations can be run like steps 3 and 4 if you do not change the lens settings Calibration with L Frame Camera Aiming This optional check box has two functions 1 Itis used to give a real time view for positioning the cameras This is done in conjunction with using the Cam Field Of View function 3D Display Show Properties The cameras are position
304. is built into the Cortex software You can run EVaDV on one or more computers and then capture multiple AVI files multiple views You may experience a small delay in frames from the Cortex soft ware and the EVaDV software when capturing This can be easily recon ciled using the Adjust Frame Offset function found in Tools gt Settings gt Playback which allows for time matching data streams It is recommended that you start your digital video collection from pause mode not in run mode to minimize the potential for frame offset be tween the AVI and TRB files It is also recommended that you set the motion capture frame rate to a multiple of the DV frame rate e NTSC 29 97 Hz to 30 Hz e PAL 25 Hz Chapter 1 Introduction Cortex 1 0 User s Manual Software Packages Used with Cortex The following are software products offered by Motion Analysis that are used in conjunction with Cortex These files will require a license file and a separate installation package Animation The MAC Animation Plugins also known as the File IO Plugins are used Plugins to read and write Motion Analysis motion capture files TRC or TRB into all of the major animation software packages including e Maya e 3DS MAX e Softimage XSI e Lightwave e Alias Motion Builder The Motion Analysis HTR file format is used for skeleton motion capture data The Animation Plugins can take an existing character skeleton and export it to an HTR file usuall
305. is easiest to use the Search function right click in XYZ Graphs and select Search If you are not using the Search function select the gap area in the XYZ Graphs middle click and drag for the problem marker 2 Select Join Virtual in the Post Process tab Verify that the Marker to Join is set for the marker you want to edit Figure 10 16 Join Virtual Virtual Marker Definitions Virtual Marker Definitions Three Marker Value Three Marker Ratio Two Marker Value Two Marker Ratio EMR Enter Name of Virtual Marker Origin Marker Long Axis Marker Plane Marker CenterHead 5 M_F_Head 3 M_B_Head 4 M_R_head Snap to this Marker optional Long Axis mm 0 00 Plane mm 0 00 Perpendicular mm ae DEn eee C eee Calculate Virtual Markers New Marker Definition Delete Y Marker Definition amp A 3 Click on Origin Marker It will be highlighted in blue and will allow you to choose which marker to use as the marker that is most rigidly attached to the marker to join See Origin Marker on page 10 25 Note Select markers using the 3D View or the marker grids 4 The function will then automatically jump to the Long Axis Marker input box Continue selecting the proper markers for each remaining input box Make sure they are all different You cannot have two of the same markers in the Virtual Marker Join definitions 5 Once you have defined the three definition markers for you Virtual Marker click on Join Virt
306. is given in the data section The data section starts at frame 1 The segment data is then given in the order defined in the SegmentNames amp Hierarchy section Segment 0 is the X Y and Z translation values for the root segment The four values for each remaining segment are the X Y and Z rotations in degrees and the bone length in calibration units There is no end of file section since the number of frames is already de fined under NumFrames in the Header section G 10 Cortex 1 0 User s Manual Appendix G Import and Export File Formats Figure G 4 An Example of a HTR Version 1 File Header H FileType htr DataType HTRS FileVersion 1 NumSegments 20 NumFrames 196 DataFrameRate 30 EulerRotationOrder XYZ CalibrationUnits mm RotationUnits Degrees GlobalAxisofGravity Y BoneLengthAxis Y ScaleFactor 1 0000 HHHHHHH HH H SegmentNames amp Hierarchy CHILD PARENT LowerTorso GLOBAL UpperTorso LowerTorso LCollarBone UpperTorso RCollarBone UpperTorso LUpArm LCollarBone RUpArm RCollarBone iLOwArm LUpArm RLOwArm RUpArm LHand LLowArm RHand RLowArm LPelvis LowerTorso RPelvis LowerTorso LThigh LPelvis RThigh RPelvis iLowLeg LThigh RLowheg RThigh LFoot LLowLeg RFoot RLOwLeg Neck UpperTorso Head Neck BasePosition SegmentName Tx Ty TZ Header keywords are followed by a single value single word string Hierarchical translations followed by rotations and Scale integer in
307. is not very good Try to use the Template ID on different frames and see if the number changes a lot If you consistently get large numbers for the Template ID feature try adding more links to your marker setup in the Model Edit tab Make triangles especially triangles that will be fairly rigid during the movements Lots of rigid triangles in your linkages make for solid Tem plates that have fast Template ID numbers Triangles with equal sides can cause mis IDs whereas triangles with unequal sides work much better This will help to determine where to place markers on a person You must have all of the markers present on the current frame or you will get the status bar message Template ID failed That means it did try out all possible linkages and could not get a match Possibly the markers have moved or you need a better template Rectify First collect the trial from which you will make your template It should be a simple trial with representative motions and not require any editing The goal is to represent the min and max of each linkage in your model Use Quick ID then Rectify If editing is required consider taking another trial Make sure there are no marker switches using the 3D and XYZ view and then create a template using all of the good frames Rectify may generate marker switches and you do not want those remembered in the template It will haunt you later Template Rectify For most motion trials the use of Template R
308. isplacement 22 lateral displacement 32 inferior displacement 34 To change these values edit the file personal dat as described in Appen dix D of the OrthoTrak manual The knee and ankle centers are found using the medial and lateral mark ers It is strongly recommended that you use medial markers for a more accurate calculation of joint centers If you choose not to use them you should enter knee and ankle diameter measurements into personal dat The Motion Module will use them to locate the knee and ankle centers if no medial markers are used The default method for determining shoulder elbow and wrist joint cen ters uses percentage offsets from the appropriate marker locations If me dial elbow and wrist markers are used in the static trial their locations are averaged to get the joint centers as is done with the knee and ankle It is recommended that you use medial elbow and wrist markers in the static trial if you want an accurate representation of arm motion Once the locations of the OrthoTrak joint centers have been calculated from the static pose the Motion Module determines the orientations of the OrthoTrak segment reference frames It then can measure the lengths of the OrthoTrak segments and use them to scale the mocap model to match the size of the subject The reference frames for the foot shank thigh pelvis and torso are all determined using the procedure described in Appendix H of the OrthoTrak manual
309. k of the right mouse button while the pointer is in the dis play region 1 From the Menu Bar select Layouts gt 1 Pane 2 From the Mode Buttons left click on the Post Process button in order to be in the Post Process mode 3 Ifthe 3D View is not visible press F3 on the keyboard or choose Data Views gt 3D View from the Menu Bar 4 With the right mouse button click on the 3D View The 3D View pop up menu and descriptions of the tools are shown in Fig ure 6 30 These options are recorded in your INI file and are reloaded when you launch Cortex Figure 6 30 Post Process 3D View With Pop Up Menu Items Show QuickID Marker ID Template ID Rectify Hide Markers Unhide Markers Make Unnamed Create Template Cut Inside Cut Outside Exchange Smooth Join Cubic Join Linear Join Virtual Undo Search Show options cascading menu Quick ID the markers sequentially Marker ID the selected marker ID marker s based on current template Rectify marker s over the selected frame range Hide selected marker s from view Show selected marker s Make selected marker s unnamed Create Template Cut data in selected frames from the selected marker s Cut data outside of the selected frames from the selected marker s Exchange data between two markers over the selected frames Smooth selected marker s over the selected frames Join selected marker s over selected frames using cubic s
310. ker list built for the subject s marker set assuming that the marker list was already defined prior to the motion capture 11 Choose Post Process from the Mode Buttons 12 Click Quick ID and identify the unnamed markers according to the conventions described in Appendix C Marker Sets 13 Click Rectify This applies the naming convention across all the frames of data 14 Manually cleanup and identify all tracks in this range of the motion file The template should be defined as at least 75 of the visible frames selected 15 Select Template 16 Click Create Template 17 Select the appropriate Frames Range 9 5 Chapter 9 Motion Capture Tab Cortex 1 0 User s Manual Current the current displayed frame Selected frames highlighted in blue low to high in dashboard Visible what is displayed across the screen as a function of the time zoom All Frames all frames 18 Click Create Template Figure 9 2 Create Template Dialog Create Template Template Prop Definition Frames Range Current Selected Visible O Al Frames Used Frames with complete 1434 Total frames to use 1434 Include current frame as the Model Pose Show Template Linkages Create Template Prop Definition Selecting Prop Definition creates a lt projectname gt prop file that is a rigid body measurement of the object This prop file can then be selected as one of the Additional Tracking Objects in
311. kers or b ulna acceptable names R ULNA RWRB Left wrist a medial acceptable names L WRIST MEDIAL L WRIST MED or b ulna acceptable names LLULNA LWRB To load only the right arm set the MOCAP_MODEL parameter in your SIMM preferences file to rightArm jnt or choose that file using the Op tions Choose Model Model command in the SIMM menu bar Then use the markers listed below N Right shoulder acceptable names R SHOULDER RSHO Right lateral elbow acceptable names R ELBOW R ELBOW LATERAL R ELBOW LAT RELB Right wrist a Lateral acceptable names R WRIST R WRIST LATERAL R WRIST LAT RWRI or b Radius acceptable names R RADIUS RWRA Right medial elbow acceptable names R ELBOW MEDIAL R ELBOW MED Right wrist a Medial acceptable names R WRIST MEDIAL R WRIST MED or b Ulna acceptable names R ULNA RWRB To load only the left arm set the MOCAP_MODEL parameter in your SIMM preferences file to leftArm jnt or choose that file using the Op tions Choose Model Model command in the SIMM menu bar Then use the markers listed below N Left shoulder acceptable names L SHOULDER LSHO Left lateral elbow acceptable names L ELBOW L ELBOW LAT ERAL L ELBOW LAT LELB Left wrist a Lateral acceptable names L WRIST L WRIST LATERAL L WRIST LAT LWRI or a Radius acceptable names L_RADIUS LWRA H 27 Appendix H SIMM Motion Module Cortex 1 0 User s Manual Semi critical Mark
312. kes throughout the data set The current frame will be set to the first gap or spike found in either the first selected marker on the marker list or all of the markers See the Tools gt Settings gt Post Pro cess Tools gt Smoothing tab The Acceleration at Spikes function will indicate the frames in which a marker has experienced an acceleration greater than or equal to the se lected value The indicator appears as a carat V at the top of the XYZ Graphs The PP Settings button opens a form that lets you set the following 1 Smoothing filter type 2 Search gaps and or spikes 3 Undo buffer Undo retrieves data affected by the most recent Edit or ID function and places it back into the data set Cortex supports ten levels of undo This feature can be disabled or cleared on the Post Options form If you get the message that an Undo function may not execute you may need to clean your Undo buffer This can be found in the Tools gt Settings gt Post Pro cess Tools gt Undo tab The Memory Gauge lets you know when you computer is running out of memory to store edits in the undo buffer Hides selected marker s from the 3D view Hidden markers will have an H in front of the marker name in the Marker Set list 10 17 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Unhide Markers ia Rigid Body Rectify Copy L Note Unhides the hidden selected 3D view markers Uses the selected markers
313. ks the edge data is sent to he Cortex software and ignored no centroid is calcu lated Hardware masking is generally preferred as it reduces the Ethernet traffic and reduces the size of the VC files Going Live After having configured the software to the system and connected Cortex to the cameras 1 Place the calibration L frame on the floor in the capture volume The orientation of the calibration L frame determines the directions of your global X Y and Z axes 2 Press F2 on the keyboard to open the 2D Display The view seen by one or several cameras will be displayed To select multiple cameras press Shift click or Ctrl click on any of the camera buttons on the Real Time Dashboard or click All On 3 Click the Run button on the Real Time Dashboard Chapter 7 System Tab Cortex 1 0 User s Manual Adjusting Thresholds 1 2 Figure 7 6 Threshold Slider Choose Tools gt Settings gt Cameras from the Menu Bar Slide the Threshold slider on the floating Thresholds control until the markers on the floor appear on the screen Settings Id Params Threshold 50 Brightness 100 Min Horizontal Lines per Marker Max Horizontal Lines per Marker 3 Edit These Cameras O Al Selected Select a camera If you are not seeing any blobs on the screen choose Motion Capture from the Mode Buttons Then in the Tracking Panel set the Min Hor izontal Lines per Marker to 2 and Max Horizo
314. l be used to create the bone structure if used The choices are None Turns off any skeleton calculations for the Motion Capture and Post Pro cessing panels Skeleton Builder SkB Turns on the skeleton builder definitions if present in the project file and allows the skeleton to be calculated To see the skeleton in the Motion Capture or Post Processing panels you must have the Show Skeleton fea ture turned on in the 3D view right click in the 3D view and select All Cortex users can calculate the SkB skeletons after they have been de fined but creating and editing skeletons requires a separate software li cense Calcium Type Skeleton Checking this option tells the software to use the Calcium Solver type skeleton The version number of that software is listed after its name and it can be loaded independently with a different solver dll You must have the Show Skeleton feature turned on in the 3D window and you must have clicked the Calculate Skeleton Bone Button in Post Processing to have the skeleton calculated Note that SkB skeletons are calculated automati cally in Post Processing but you must press the Big Bone button to calcu late the Calcium Solver skeleton To calculate the skeleton you must also have a model file the mod file of the same name as the project file in your current directory Model files are created and edited in the Si 2 0 Calcium software Any user can run and calculate the Calcium Solver skel
315. l give the asymmetry required so that the dynamic tem plate can distinguish left from right In addition the order of markers is important in real time since the order in the list determines how quickly the software can establish marker iden tity using the dynamic template In general the marker list should start with the topmost marker Proceed down the trunk of the figure and then down each extremity For example if head markers are used they should be at the top of the list If no head markers are used the shoulder and pelvis markers should be at the top of the list The recommended procedure is as follows 1 Launch Cortex and click on the Connect button Create a template with the modified marker set and save the results in the project file For building a template refer to Building a Tem plate on page 9 5 You now have a template that can be used to automatically identify mark ers in real time with this subject When you click on the Run button and the subject enters the capture volume and all markers are visible the link ages to the markers will appear automatically indicating that the markers are properly identified C 3 Appendix C Marker Sets Cortex 1 0 User s Manual Figure C 2 Helen Hayes Marker Set Marker Placement a S Rear Head ef i Front Head 3 f p L Shoulder e R Shoulder Za Offset Q i L Elbow mi R Elbow L Asis V Sac
316. l or selecting File gt Load Tracks File e Loading a file will automatically bring you to the Post Process tab Select the Post Process dashboard and then press Quick ID An Identifying window appears Activate the Rectify check box Identify each marker with the correct name by clicking in the 3D view The stick figure will automatically be drawn as you identify the markers and will help to highlight mistakes gaps in data marker mis identifying swaps ghost markers Play the trial to make sure it is identified throughout the entire trial If not go to the frame you used for identification usually frame 1 and press Select Visible Frames located in bottom right of screen and press then press Rectify Check again by playing the trial Gaps in data can be filled by using Join Cubic and or Join Virtual functions 2 12 Cortex 1 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications 10 Press the Create Template button Figure 2 9 Create Template Interface Create Template Template Prop Definition Frames Range Frames Used Current Frames with complete 4434 Selected Total frames to use 1434 Visible O All Show Template Linkages Create Template Include current frame as the Model Pose The number of data frames should be at least 80 of the total number of frames Save this Walk1 trb file save over previous file It now has the correctly identified marker nam
317. l the script functions have the same name as the corresponding dll func tion call except a sw has been added to the beginning sw stands for Sky Writing Online help for all functions is found from the Sky Func tions list on the right also clicking on a highlighted Sky function inside the Input Text window will display help for a function The Sky functions filter box will display only those Sky functions which contain the text in the filter This makes it easy to search for functions that contain a particular name such as Camera or Marker or Load A drop down menu retains previously typed in filters Only those names shown in the Sky Functions list are highlighted in the Input Text window The Sky Functions list is generated automatically from the internal script ing objects so the list is guaranteed to display all available Sky functions The status bar at the bottom of the window displays messages regarding operations going on in the Sky interface The Line and Column fields dis play the current location of the cursor They are convenient for locating the line in a script causing a syntax or other error in the VB Script engine Drag and drop features are implemented in a number of areas in the Sky interface e Dragging and dropping a Sky file onto the Input Text area automati cally generates the Sky command that will run the dragged script when the current script is run e Dragging and dropping a Sky file onto the toolba
318. l will begin tracking the motion of the subject in real time You can pan zoom rotate and change the draw mode of the SIMM model as it is tracking the motion You can also create plots of kinematic variables and muscle properties and see the plots change in real time To disconnect SIMM from the real time stream click the Stop button in the Model Viewer You can play back the last N seconds of the motion When analog data is imported into SIMM in real time it is processed slightly differently than when the data is post processed in SIMM This is because the real time analog data is processed frame by frame without the benefit of the full data set This has the following implications To set the baseline for the forceplates the first frame of force data is used as the zero level Thus when you first connect SIMM to Cor tex you should make sure that nothing is on the forceplates H 8 Cortex 1 0 User s Manual Appendix H SIMM Motion Module e Ifno MVC levels have been specified for some of the muscles a run ning tally of each muscle s maximum level will be kept and used to scale the EMG signals into the range 0 0 to 1 0 Thus if you want to accurately scale EMG levels throughout a real time SIMM motion import you should either specify MVC levels or have the subject perform MVCs just after connecting SIMM to Cortex Using the Mocap Model The Mocap Model SIMM has the ability to read tracked marker data and
319. late from the Create Template item A template can be of one or more frames should represent characteristic motions to be seen be tween markers and is a measure of the min and max linkage lengths for Named markers The characteristics of Template Rectify are as follows e Uses only the Template information to move markers from the Unnamed slots to the Named slots e Uses All Markers or Selected Markers according to the settings e Works only on the highlighted XYZ selected time range starting on the current frame going forward then backward from the current frame e Protects all named markers will not switch them e Works only to move Un named markers into the Named marker slots here all markers are locked e Does not use Linkage Stretch Parameters in Motion Capture gt Tracking Rigid Body Rectify In Post Processing it is used when you have bodies crashing into each other where linkage lengths can get very distorted and Template Rectify 10 19 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual can give results which may require some editing Rigid Body Rectify is for very tough trials where you can have the software look for a rigid body with markers on it and it tends not to make mistakes and hence does not require a lot of editing after the fact Work from a frame with known marker IDs to difficult areas A Rigid Body can be any set of 3 or more Selected Markers The software measures the markers with re
320. lays the currently loaded script This is what will be run when the Run button is selected Right clicking in the Input Text window brings up a menu of editing tools e Undo One level of undo is available in the Input Text window e Cut Standard text operation e Copy Standard text operation e Paste Standard text operation e Delete Standard text operation e Run Runs the script Same as the Run button in the Toolbar e Run Highlighted Executes the highlighted text e New Script Same as New Script operation in the Toolbar e Open Script Same as Open Script operation in the Toolbar e Script Save As Same as Save Script As operation in the Tool bar 14 7 Chapter 14 Sky Scripting Interface Cortex 1 0 User s Manual Output Sky Functions Status Bar Drag And Drop Displays output from the scripting engine Error messages from the scripting engine will be displayed as well as any text messages from the script The output text area is refreshed when a new file is loaded All help information for Sky functions is displayed here as well The scripting functions for the most part in Sky are simple wrappers for functions found in the Cortex dll Any call you make is immediately passed on to the corresponding core function in Cortex These are the same functions that the Cortex GUI uses at runtime so you can do just about anything through the scripting interface that Cortex does interac tively Al
321. le This is followed by the SegmentNames amp Hierarchy section which de scribes the child parent relationships of the skeleton Notice that only the LowerTorso segment relates to the GLOBAL coordinate system All other segments motions are described in relation to a parent segment In the BasePosition section the location of each segment s origin and rotation are described in the skeleton s base position using the six avail able degrees of freedom Translation in X Rotation about X axis Translation in Y Rotation about Y axis Translation in Z Rotation about Z axis G 9 Appendix G Import and Export File Formats Cortex 1 0 User s Manual Example of a HTR2 File For the child segments location and rotation are given in terms of the par ent In this skeleton the origin of all the children lie on the bone Y axis of the parent and therefore have only Y values The seventh column gives the length of the bone segment The remaining sections contain motion data for each segment relative to the base position Each section starts with the segment name followed by position data and the scale factor SF for each frame The first segment LowerTorso is unique because it has six values describing its relation to the global coordinate system All subsequent segments have only three rotational degrees of freedom Therefore if you wished to find the global coordinates of any segment in any frame you would follow these steps
322. le set of markers move in just the right way Systems capable of doing this kind of analysis have been made for doing realtime facial animation but this technique has not yet found its way into most animation systems Currently the most advanced facial animation systems the ones used to make some of the popular feature length animated features use knowl edge of skeletal and muscular anatomy to understand how the underlying tissue affects the skin movement of a character These complex animation systems are all morph targets based in the sense that the animator still works with a blend of high level expressions to achieve their final result They still say I want half a smile and part of a smirk The animation engine accounts for muscle and bone movement while composing the final result for the skin Motion capture data isn t the only kind of input used for doing facial ani mation A summary of other techniques is given here All animation systems have keyframe animation at their core The ability to use keyframe animation in conjunction with motion capture data is vital to getting the best overall results It is important to use the keyframe tools without damaging the motion capture data Some keyframe anima tion systems require that the motion capture data be simplified in order to control the data with keyframes This is a mistake of large proportions as motion capture data should never be decimated Motion capture data can t quite get
323. lecting Calibration Insurance Data Wrapping It Up 2 Prepare the Cortex system by entering a filename If the subject s name is Jane use something like JaneInit For this initialization file use a duration of 2 3 seconds The take number should be set to 3 Click on Collect to arm the event button You can enter a long dura tion e g 20 seconds and then press the hand held event button a sec ond time at the end of the move 3 Update the slate board with the new take number and Cortex file name Make the same entries in the Motion Capture Log 4 When everybody is ready the director can say roll video then slate the video Now the Cortex operator gives the signal for the subject to start and presses the event button to start the data collection The event button must be pressed a second time to stop data collection at the end of the move 5 For initialization use the T pose Init pose In this pose the subject faces forward and raises both arms straight out from their sides with the thumbs oriented up Perform this motion within the duration of the capture time 6 Pause the camcorder 7 Collect two trials of this initialization move 1 Before capturing have the subject practice each move Enter a duration longer than the estimated length of the move 3 Enter an Cortex filename the duration of data capture the trial num ber and trigger the Event button 4 Update the slate and the Motion Capture Log
324. les and Tutorials from the Cortex installation CD or FTP site 2 Cortex Kinetics User s Manual 11 21 Chapter 11 Model Edit Tab Cortex 1 0 User s Manual 11 22 Chapter 12 Plugins Tab Overview 12 1 X Panel 12 2 Overview The Plugins tab houses the X panel Other plugins can be added by copy ing the pluginname dll file into the C Program Files Motion Analy sis Cortex Release1 x x x folder and relaunching Cortex Figure 12 1 Plugins Tab 12 1 Chapter 12 Plugins Tab Cortex 1 0 User s Manual X Panel The X panel provides a set of extra functions that are used in the post pro cess mode Figure 12 2 X Panel Delete Short Snippets Refine Tracks Global Marker Data Adjustment Translate X 0 0 Translate 0 0 Translate Z 0 0 Rotate x 0 0 Rotate Y 0 0 Rotate Z 0 0 Scale 1 0 Apply to Tracks Model Adjustment Refit Identifying Template Update Model Pose Markers M Update Model Pose Update Model Delete Artificial Data Load Another Tracks File Frame offset h o Delete Outside Eliminates all marker data outside of the volume defined in Calibration Volume Details Snippets Delete Deletes data strings in frames that are shorter than a specified length Short Snippets 12 2 Cortex 1 0 User s Manual Chapter 12 Plugins Tab Refine Tracks This feature will smooth data that has become jumpy due to camera on off noise When
325. les with the same base name and in the same folder as the tracked marker file there is an option in the dialog box to turn off this feature If you are loading C3D files this is not an issue since all of the data for the motion are stored in the C3D file Once you have selected one or more tracked marker files using the pro cess described in the previous section SIMM displays a dialog box for each one in sequence allowing you to set some options for importing the marker data In many cases you will want to use the default settings for these options so you can simply click the OK button to import the mo tion The following list describes each option in the dialog box These fields allow you to specify the range of frames to read from the marker file as well as the increment To use them type into the first two fields the starting and ending frame numbers that you want to import The third field specifies the increment to use when reading frames from the file For example to read every other frame from the file enter an incre ment of 2 The starting frame number field and the increment field are ini tialized to 1 The ending frame number is initialized to the number of frames in the marker file H 3 Appendix H SIMM Motion Module Cortex 1 0 User s Manual Quick Solve Crop Ends Calculate Derivatives The Motion Module contains two optimization algorithms for fitting the musculoskeletal model to the marker data T
326. leton HTR data The sample C program then writes out the data to a disk file Please also note that the data can be streamed either from the live camera data that is happening in real time or from the Post Processing software when you press the Play button The data is the same either way and the SDK program does not even need to know since it comes across the same way So the customer can write the pro gram from previously edited X YZ data in the Post Processing part of Cor tex and get that to working Press the Play button you see the edited tracks and the data is streamed to the SDK Then they can connect to the cameras and get the same XYZ or HTR type data from the live cameras F 1 Appendix F SDK Software Developers Kit Cortex 1 0 User s Manual F 2 Appendix Import and Export File Formats Overview mac_lic dat PRJ Cortex Project File TRC Track Row Column HTR2 Hierarchical Translations and Rotations HTR ANC Analog ASCII Row Column TS Time Series Files from the Cortex Analysis Functions Velocity and Acceleration Calculations Binary Files ANB TRB and C3D Overview The files generated by Cortex fall into two main categories ASCII and binary ASCII files contain data in a text form that can be read by any text editor They usually have descriptive headers that indicate the nature of the data that follows Often these files are in a row and column
327. ll increase as the download process nears completion 7 9 Chapter 7 System Tab Cortex 1 0 User s Manual Table 7 1 Eagle and Hawk Camera Display Codes Code Rom bin Download is Complete Image Description Cortex Camera ON not Connected to This display code with both green and red LEDs activated for the number display indicates that the camera has been powered ON but is not connected to Cortex Cortex 1 0 User s Manual Chapter 7 System Tab Creating and Clearing Masks Masks are rectangular regions in the 2D View that you designate to re ceive no marker information Masks allow you to block out fixed light sources that cannot be physically removed from a camera s view Masks are created on the 2D Display by clicking and dragging the middle mouse button and appear as hatched regions Masks can be cleared by using the right mouse pop up menu item in the 2D Display and choosing either Delete Mask or Delete All Masks Note that you can use masks after the VC data has been collected by discon necting from the cameras creating the mask and then loading or selecting the raw files This applies to the calibration files CalSeed and CalWand as well Hardware Masks For Eagle and Eagle4 cameras the first 12 masks are hardware masks Hardware masks are created in the camera and the marker edges do not get sent to the Cortex software Masks 13 become software mas
328. ll run from any folder No dongle or license file is required to run this application But to collect synchronized color video AVI files in Cortex you need the Reference Video 3 0 line in your mac_lic dat license file Launch EVaDV Select the desired camera capture device from Camera dropdown If there is a single video camera connected to the host system EVaDV connects to this camera automatically Select a Capture Folder to indicate where captured files should be stored Select a Capture File to indicate the name of the file that will be cre ated To begin recording press the Record button red circle A red RECORD will display next to the player control panel indicating the system is recording and a message will be displayed in the Message Bar indicating record start time To stop recording press the Stop button The red RECORD will dis appear and a message will be displayed in the Message Bar indicating recorder filename stop time and any available stats EVaXX indicates the host machine on which to perform the action 1 2 3 Ensure the EVaDV host and the Cortex host are connected to each other via a TCP IP network connection EVaDV Launch EVaDV on the video capture host Cortex Launch Cortex on the Cortex host Note launch order is unimportant however if Cortex grabs the camera capture device first i e displays color video window EVaDV will not have access to the camera Cortex will grab the c
329. ll the tracks It s especially handy for converting the overall orientation of the data such as from a Z up coordinate system to a Y up coordinate system The Model Adjustment section allows the user to update the Calcium Solver model pose data and the template model pose data simultaneously this is the data displayed when the Show Model Pose flag is on The marker data in the model pose is used for two different operations as a starting pose for the template when doing a New Subject operation and as the matching base pose for the skeleton in the Calcium Solver model Doing both adjustments at once is important to maintaining the integrity of the data None the less the user is allowed to change them indepen dently if necessary Refit Identifying Template This option takes the current frame in Post Process and compares the tem plate linkage lengths of that frame with the stored model pose The tem plate Min Max values are re calculated based on the amount of change in the linkage lengths Update Model Pose Markers This check box indicates that the stored marker model pose is to be re placed with the marker data on the current frame Update Model Pose This check box indicates that the stored skeleton model pose is to be re placed with the current skeleton data that has been calculated for the cur rent frame These last two options are used to update the model pose of a performer between motion capture sessions such as fro
330. llowing page Figure 9 3 Multiple Tracking Objects 5 Person Capture E Fle layouts Dmavews Tods Hep Tracking Objects Output v Man Markerset iMerge pr System Calbeaton Motion Capture Post Process Model Edt Plugns Additional Tracking Objects CO Martine Sat Marne Property Merge Markersets 1 004 185 B Fraing O Conect To Cameras CO Disconnect Use Raw Fies 7 m Reset ite B E identiga 20n Vetus Rua 1651 Bent Ds _ B A Seketon c ee oee13091 Nowe sutiwa J Aron m AH GA LA EST HET AA eT AN Gee aay Hea Hes He A ee isa ea es a ew ea a Re 64 Invald Woon Defintion 1800 Frames 120 PS Yup Usm 9 7 Chapter 9 Motion Capture Tab Cortex 1 0 User s Manual Objects Panel Figure 9 4 Objects Panel The Objects panel sets the main marker set and allows you to work with multiple tracking objects MTOs while tracking and bring them into your motion capture data set A good example of this would be bringing in a second dancer in a dance routine or a prop such as a golf club when analyzing a golfer s swing Under any condition it is easier for the software to identify a marker set that has greater asymmetry You may change the order of the additional tracking objects as listed in the Objects panel to vary the results of your data set It has been found that the more asymmetrical of your multiple tracking o
331. lly done using the Model Edit tools discussed in Chapter 11 Model Edit Panel A template specific to the markers in use must be created A template de scribes the minimum and maximum distances that separate linked mark ers such as the distance between the right elbow and the right wrist Tem plates are created using Motion Capture tools and Post Process tools described in Chapter 10 Post Processing Panel Once these steps are com pleted you are ready to begin a motion capture session 9 1 Chapter 9 Motion Capture Tab Cortex 1 0 User s Manual Tracking Panel Figure 9 1 Tracking Parameters Centroid Parameters Min Horizontal Lines per Marker Max Horizontal Lines Per Marker ppn Tracking Objects Output Centroid Parameters Min Horizontal Lines per 2 Marker Max Horizontal Lines per 30 CO Marker C Use Per Camera Settings Shape Analysis O None Normal Weak Tracking Parameters Max Residual mm Max Speed mm frame 30 Marker Size mm 20 Max Prediction Error mm 15 SECER Min Cameras to use The Tracking panel allows the user to set the key parameters that are used when acquiring and tracking data Figure 9 1 is an example of the param eters entered for a typical setup These settings are all saved in the project prj file These parameters fall into three categories Centroid Parameters control the minimum and maximum number of video lines that are pe
332. m one day to the next This avoids having to spend time refitting the position of the skeleton to the new day s model pose data The user should still verify that the fit is a good one but if the markers on the performer have not moved by very much then the fit is likely to be good Update Model The updates the model using the check boxes as set above in the panel Deletes the Virtual Join Cubic Join Linear Joint etc data that was cre ated for the current tracks file This merges another track trial into memory so you can view two differ ent data trials in the 3D window A Frame Offset lets you offset in time the merged data Only positive offsets are allowed It is meant for visual ization of multiple data sets in the 3D window The first trial that is loaded must have enough frames to wholly accommodate the additional trials as 12 4 Cortex 1 0 User s Manual Chapter 12 Plugins Tab Frame Offset additional memory for any additional frames is not allocated and can cause unpredictable results You can make one trial that has enough frames to fully accommodate all of the merged data frames and load that track data set first with the File gt Load Tracks menu item The merged data does not get marker names or linkages unless you have a project and marker sets defined for the additional tracks This offsets the first tracks file with respect to the second The first tracks file loaded must have enough frames to accommo
333. marker slots then actual markers The number of slot is dependent on the tracking parameters settings Each snippet of trajectory requires its own slot and different parameter values will create different sets of trajectories How will I know if I need more marker slots After loading the file trb trc In Post Processing Mode scroll down the unnamed marker list u_marker If the all the slots are filled then you should increase the number of marker slots I just made some changes to my project file but I do not want to recapture the entire motion list over again Is there any way to rebuild the trb trc data from the VC files Yes You can re record the tracks files using the updated set of parameters in Cortex First load the VC files Then go to the Motion Capture gt Out put panel Select to export a trb or tre file you have to select the option OK to Overwrite if the tracks file already exists Click on Record The recording will automatically stop at the end of the VC file as long as the option Loop Raw Files is not checked in the Tools gt Settings gt Play back tab If it is checked then you will have to stop it by pressing the Stop button same as the Record button it changes name during the re cording K 5 Appendix K Questions and Answers for Specific Applications Cortex 1 0 User s Manual Question Answer Question Answer Our templates in Cortex are always either extremely good or extremely
334. markers or gaps in the data If so activate the XYZ Graphs or in the bottom pane 2 11 Chapter 2 Quick Start Tutorial for Movement Analysis Applications Cortex 1 0 User s Manual Load a Walking Dynamic Marker Set Create a Template from the First Walking Trial ao Pwn e Turn all markers on with the Click All None button as shown in Figure 2 8 e Press the Select Visible Frames button again then press the Delete Unnamed button which is located on the Post Process dashboard e Finally press the Join Cubic button Save this as a TRB file File gt Save Tracks Select File gt Load MarkerSet e Load the Walk prj file that contains the Helen Hayes Dynamic marker set This will be the same marker set minus the medial knee and ankle markers Save the project File gt Save As Project with your new name i e Walk prj which will become the active project as will be shown in the top blue bar This keeps the calibration for this capture session You should now have two project files in the subject s directory Select the Motion Capture gt Output panel Activate the Raw Video vc and Tracked Binary trb check boxes Type in a filename e g Walk Set the duration to be long enough to record one full step cycle Press the Record button This will produce a Walk1 trb file Next load the Walk1 trb file e Done by either pressing the Load Last Capture button in the Motion Capture gt Output pane
335. match you have to update all the existing meshes to incorporate your new change This can be tedious and error prone Some morph target systems do automatic updates for you Be ready for this when setting up your workflow Consider the possibility that you might at times have to work backwards through problems Facial animation is just one element Facial animation would be somewhat easier if all you had to worry about is the face The prob lem is that you almost always have to attach the face to a head and therefore to a body The relationship between the face and body ele ments must be considered when setting up a character for animation Interactive versions versus full render versions The high reso lution final images if that is the final output require high resolution facial meshes This sometimes hampers the inter activeness of the animation system The ability to use low resolution meshes for inter active work and then replace them before the final product is a valu able production tool Synchronization All input data needs to be synchronized Global time information needs to be present in all the data so that as the ani mator works with different kinds of data face body voice video they can be matched up in time Output The final output of motion data is not always a final image The final output might be animation data sent to a game engine or some other kind of interactive environment In which case the algo
336. me If you are using an MS product or Novell Webmail it will try to rename it to jk tcl 1 and you cannot rename it If you open the jk zip folder and extract the file it will copy itself correctly without appending the 1 to the end of the filename Installation Instructions Note 1 9 Download the latest Jack 5 0alpha from ftp specialdevftp eai com private jack_dist FordDW Jim Jack50a Unzip each zip file to the C Jack50a folder Copy your Jack license file to the C Jack50a license folder Copy the attached jk tcl file to the C Documents and Set tings lt your_login_id gt folder If you have a HOME environment variable set on your machine copy the jk tcl file to your HOME folder To start Jack double click on the jack50 bat file in the C Jack50a folder e For debugging you can use the Start gt Run command in a DOS window Then cd Wack50a and run the batch file jack50 bat This gives more information Jack Using the Motion Analysis Calcium Tracker Module Loading CalciumTracker module in Jack OR Connecting to MotionAnalysis e GN Start Jack Click Modules Plug ins In the Add On Modules Dialog select the CalciumTracker module Click Load and OK Click Modules CalciumTracker MotionAnalysis Start Jack auto loading of Calcium Tracker occurs via the jk tcl script Optional If you are using jk tcl file click Modules Calci umTracker Dialog In the Mot
337. meras to Use minimum number of cameras to use to 3 Note Caution should be taken here as this process may also eliminate good data 10 11 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Post Process Tool Strip Figure 10 11 Post Process Tool Strip Cortex 1 0 0 Body_Club_m GB Fie Layats Data ews System Calbrabon Moton Capture Pos fodel Edt Plugers Makers Sagmants v 4 a A ae oD a Chek Altone CirieCiek Toge EAI O PMD HKR SY SAAB TID Paco OT O NMG Peed ir E QKkID Ratfy Temple Tempie Tengite Marla 1D Dihina Cute whai Cake Crote D Retty Xn a We Unnamed Unnamed Unnamed Otile Settings ary D O VXPSS amp SCOCKIAEA Quick ID Rectify Template Template Template Marker ID Exchange Cubic Virtual Calc Smooth Make Rectify Delete Cut Cut Search PP Create ID Rectify Join Join VMs Unnamed Unnamed Unnamed Outside Settings All of the Identifying tools are accessible using hot keys panel buttons and right mouse menu items on the 3D View and XYZ Graphs Note You can rearrange add and delete the icons by right clicking on the Post Process Tool Strip To move the icon to a different location on the Tool Strip press the Alt Left Mouse button and drag it to the new location The Tool Strip order is remembered the next time Cortex is launched al lowing for user customizing and convenience Also any of these func tions can be stored and accessed under Hot Keys
338. mplete range of facial motion that exhibits the full extent of stretch that will be experienced during sub sequent motion capture sessions Exaggerated motion must be avoided and all markers should remain in full view This step should not require more than fifteen seconds 10 After fifteen seconds passes from the moment Record was clicked the system will automatically stop collecting and tracking marker data D 5 Appendix D Capturing Facial Motion Cortex 1 0 User s Manual Note Face Template Considerations At this point a Tracked Binary TRB or TRC file has been generated in the current directory and is ready for editing Next the markers must be hand identified according to the marker list built for the subject s marker set 11 13 14 15 16 17 18 Choose Post Process from the Mode Buttons 12 Click Quick ID and identify the unnamed markers according to the conventions described in Appendix C Marker Sets Click Rectify Manually cleanup and identify all tracks in this range of the motion file Click Create Template Select Face Template Select the appropriate Frames Range e Current the current displayed frame e Selected frames highlighted in blue low to high in dashboard e Visible what is displayed across the screen as a function of the time zoom e All Frames all frames Click Create Template You must use the Objects panel to select the marker sets 1
339. mputer and put it in the folder SIMM Resources mocap misc Copy the folder containing the motion data from the Cortex computer to the SIMM computer or make it shared If there is a personal dat file for this data make sure it is in the folder too Launch Cortex Load the appropriate project Select File gt Load Tracks File and select the tracked marker file cor responding to the static trial for the subject Under System gt Misc click on the radio button for SIMM OrthoTrak Solver located in the Skeleton Options area Launch SIMM Select File gt Open Mocap Model and navigate to the motion folder Choose the tracked marker file containing the static pose Set the options as desired in the dialog box and click OK In the Model Viewer window choose Start gt Realtime Connection to lt hostname gt SIMM will display a dialog box allowing you to set some options for the connection The motion buffer size options con trol how many seconds of motion data are saved in SIMM s buffer The time scale options let you specify the minimum and maximum values in seconds for the time scale of the motion If you want the scale to remain fixed between minimum and maximum check the sliding checkbox otherwise the scale will continue to increase as new data is received SIMM will now wait to receive data from the Cortex computer Once the connection is established SIMM will display connected in its message window and the SIMM mode
340. n Engin Calcium Solver 1 3 1 Rolston Orde ZYX SkinFie 25_Rones_Male abi Skin Tianspare O vis Pega T 2 a Oe Py LP Se an Pee eae Ce a mimaa fem mn AE oe LS 006 Frames solved O Frames fated avy resi 12 377096 eco Frames oores yup Urasien 13 6 Cortex 1 0 User s Manual Chapter 13 Skeleton Types Exporting the Skeleton Data Into an HTR File The SkB or Solver type skeleton data can be saved to an HTR hierarchi cal translations and rotations file after you calculate it and view it in Cor tex Select the File gt Export HTR file menu item This is for use with animation packages You will then select the default top Euler Angle Order ZYX since that is how the plugins are built to receive the data The following are options on the Export HTR file menu Euler Angle Order Use ZYX which is the default if you are going to import this with a Mo tion Analysis File IO plugin to the animation packages Other Euler Angle orders will be decided by your local mathematicians The numbers in the Cortex software are stored internally in a certain way and exported to the HTR file according to the method above Figure 13 4 HTR Export Options Htr Export Options Euler Angle Order Base Position Options ZYX xyz O No base position for Biomechanics users O YXI Current Frame for Animation users O zx ZxY O xz Export Skeleton htr Base Position
341. n below Figure 10 9 The Curve After an Application of the 3 Point Average Filter 448 147 g t45 444 143 Figure 10 10 146 147 145 444 43 81 va 86 oF 83 sa 30 Ei 92 93 C ii 96 oF 98 99 100 The 5 Point Average filter works just like the 3 Point Average filter except that it uses 2 data points on either side of the original data point to pro duce a new value Since the width of the filter is wider the results are more aggressive which creates more smoothing as seen here The Curve After an Application of the 5 Point Average Filter T 86 a7 s8 aa 90 4 g2 93 94 95 9B oF 9B 93 100 The type of smoothing you choose depends on your needs and how much and in what way you want to change your data It is perfectly reasonable to make successive applications of the filter s to affect the data in various ways The number of possible combinations are extremely high so some experimentation will be necessary to find the right one for you 10 10 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Unnamed Markers Unnamed markers are defined as unidentified markers that are either real or not real Some unnamed markers represent good data yet were uniden tified during a motion capture session Others are called ghost markers and should be deleted Ghost markers can also be removed from future data captures by going to the Tracking panel in Motion Capture and set ting the Min Ca
342. n install an external trigger by plugging it directly into your COM1 port on your Host computer When the Post Trigger Mode check box is activated it enables the soft ware to record the data from the end of the session backwards based on the capture duration X that has been set i e from the end of the data capture to X seconds This is useful for captures where there is no de fined starting point or event but the ending is well organized and smooth and you would like to capture only the final moments Note this only works for tracked data not analog or color video files This button will load the last TRB file captured with the current project file By default it will load TRB files first If they don t exist only TRC files were captured then it will then load a TRC file 9 13 Chapter 9 Motion Capture Tab Cortex 1 0 User s Manual Recording Data After setting up the template always be sure to save the project file File gt Save Project Use the following procedure to record a motion capture session Ponsa on Figure 9 6 Recording Data Select the Output panel Select the output file types to be generated Enter a name for the file Enter a trial number This is optional and will self increment if multi ple trials of the same name are recorded Enter the estimated time length for the motion capture recording Select Enable COM1 Trigger if you are using an external trigger Select Post Trigge
343. nd the screen is sometimes sliced into horizontal blocks This is a problem with Open GL and Direct X displaying at the same time Right click on your desktop then select Properties gt Settings gt Advanced gt Troubleshoot Slide the Hardware Acceleration down a few points Quit Cortex then re launch See if that fixes the problem The set tings depend on what your graphics card does and has for features that changes from one computer to another If that does not fix the problem try to slide the Hardware Acceleration to None Quit Cortex and then re launch If that still does not fix the problem try to change some of the Open GL settings found under the name of your graphics card found under the Properties gt Setting gt Advanced tab Also change the Verti cal Sync setting to On by Default and restart your computer We came across a problem while in a two person w prop motion capture session Whenever we recorded a motion the recorded trc file would be missing a good portion of the marker data Any idea why the data would just disappear This is most likely cause by insufficient marker slots The default marker slot setting is 192 In your case you should increase the value The marker slot setting maybe adjusted under Tools gt Settings gt Misc We are only using 93 markers 40 per actor 5 per prop and 3 for the ball Shouldn t 192 marker slots be enough Not necessarily You should always have at least twice as many
344. nd when they are needed by the Motion Module Definitions Static Trial A TRC TRB or C3D file of a motion capture subject in a static pose usually the T or scarecrow pose Motion Trial A TRC TRB or C3D file of a subject performing an activity such as walking or throwing Appendix H SIMM Motion Module Cortex 1 0 User s Manual Mocap Model A SIMM musculoskeletal model that can be loaded into SIMM scaled to fit a subject using a static trial and used to animate motion trials of that subject The primary model is a full body model with lower extremity muscles but others are available as well Critical Marker A marker that is required in the static trial and which must be placed in a specific location on the subject according to instructions in the OrthoTrak manual The coordinates of the marker in the static trial are used to deter mine joint centers and body segment lengths Semi critical Marker A marker that is optional in the static trial but if used must be placed in a specific location on the subject according to instructions in the OrthoTrak manual The coordinates of the marker in the static trial are used to im prove the joint center calculations Optional Marker A marker that is optional in the static trial and whose placement on the subject does not need to be in a specific location Fixed Marker An optional marker whose X Y Z offsets are not automatically calculated when the s
345. ndix A System Hardware Interconnections Cortex 1 0 User s Manual Ethernet Tutorial and Troubleshooting Guide Troubleshooting There are two types of female Ethernet connections that use the same 8 pin Ethernet connector 1 NIC Type The Ethernet connector that is found on the Network Interface Card on computers and on your Eagle or Hawk cameras 2 Hub Type The standard Ethernet plug that is found on Ethernet switches and hubs There are two types of Ethernet cables 1 Standard Ethernet patch cables 2 Ethernet cross over cables The standard patch cable is used to connect computers to Ethernet switches The Ethernet cross over cable is used for connecting Ethernet switches to other switches unless you use the Uplink port on either switch In this case you can use a standard patch cable The cross over cable would also be necessary if you were to bypass the Ethernet switch and plug the Eagle or Hawk camera directly into your computer s NIC You can tell if you have a live Ethernet connection if the indicator light goes on when you plug the cable into the hub This is also the best way to figure out whether or not your Ethernet cables are plugged in correctly It will not damage anything if you plug in the wrong type of cable patch or cross over into an Ethernet jack For the indicator light to go on there has to be a live Ethernet connection on both ends of the cables A 4 Cortex 1 0 User s Manual Ap
346. ndows file system browsing and editing tools This contains a list of all the Sky files in a standard global directory for all the users on that particular computer This directory is a sub folder of the Userfiles folder under the Cortex installation folder Load a file into the script interface by single clicking on the filename When you click a new file name any changes you made to the currently loaded file are saved automatically if the Autosave flag is set under the Options menu The currently loaded file name will continue to be highlighted for as long as that file is current The Cloud button to the right of the Global Sky Files label brings up the Windows Explorer for the global folder This makes for easy access to all the standard Windows file system browsing and editing tools This contains a list of all the Sky files in a common network directory This location is intended to be a shared network folder accessed by users on different computers When you click a new file name any changes you made to the currently loaded file are saved automatically if the Autosave flag is set under the Options menu The currently loaded file name will continue to be highlighted for as long as that file is current The Cloud button to the right of Network Sky Files label brings up the Windows Explorer for the network folder This makes for easy access to all the standard Windows file system browsing and editing tools The Input Text area disp
347. ne of the lower leg Limited to a few degrees Note No Rotation about the bone axis at the knee Secondary Rotation about the bone axis of the lower fe A Primary Rotation Flexion Extension Note Hinge Joint assumed only to flex and extend no other rotations Elbow Hinge Joint Ankle Modified Hinge Joint Primary Rotation Flexion Extension Secondary Rotation Inversion Eversion 11 20 Cortex 1 0 User s Manual Chapter 11 Model Edit Tab Calculating Calculate virtual marker trajectories based on the Virtual Marker defini Virtual Marker tions in the current project file Virtual Markers are cleared when you track any new data Tracks Track and edit your trials before calculating the Virtual Marker Tracks 1 Open the Virtual Markers Definitions form by clicking the V Marker Definitions button in Model Edit or by selecting Tools gt Virtual Marker Definitions in the Menu Bar 2 Fill out the Virtual Marker Definitions form for the desired markers 3 Click Calculate to calculate the virtual marker positions Virtual Marker For notes and examples on how to use Virtual Markers there are two Notes and valuable sources Examples 1 Video tutorial from the Cortex Help menu Help gt Tutorials gt Cortex Skeleton Builder SkB and Kinetics Tutorials The first of this set of three tutorials shows how to set up and use Vir tual Markers To see this you will need to install the full Samp
348. nee and ankle centers not required but highly recommended 3 Add any additional markers that you would like to use e g extra markers on the feet more markers on the arms These markers must also be added to the mocap model The Marker Set Cortex 1 0 User s Manual Appendix H SIMM Motion Module Note average from frame load personal dat read marker names from subject mass 4 Capture the static trial using the protocol outlined in the OrthoTrak manual The subject should have their arms either down by their sides or straight out from their body with their thumbs facing for ward 5 Remove the medial knee and ankle markers and any others that you do not want to use for capturing motion If you use a marker set with no upper extremity markers the Motion Module will remove the upper extremity from the mocap model and dis play only the pelvis and legs Once you have selected the static pose file to be used for opening the mocap model SIMM displays a dialog box allowing you to set some op tions for importing the static pose In many cases you will want to use the default settings for these options so you can simply click the OK button to import the motion The following list describes each option in the dia log box These fields allow you to specify the starting and ending numbers for the sequence of frames that are averaged together to determine the static pose These fields are initialized to 1 and
349. ng trial will suffice Select one frame that represents a standard or neutral pose posi tion This can be with the arms down or the arms out feet apart or together but where no markers will be hidden You will want it to be a standard position that the next person will be able to repeat quickly and simply Have them face a certain direction that will also be easily repeatable for the next person along the X axis for example 2 Create a Template a Select Post Process gt Create Template b Select Body Template and check the box Include current frame as the Model Pose and select the correct range of frames where you have good data Save your project file which now has a new feature called the Model Pose stored in it You may want to use the word Pose in the project file name to distinguish it from earlier versions with out the pose but that is not necessary The normal template will also work for this person You can choose to see the Model Pose in your current project by right clicking in the 3D View and then selecting Show gt Show Model Pose Figure 6 38 Create Template Window Showing Template Linkages Cortex Matt prj MattCartwheelt tre E e Levots Dato views Toos Help _System Calbration Moton Capture Post Process Model Edit Plugins E Markers Segments v rE O VLILI SOL QRO Retty Tempite Create Tempie Template MaberiD Exchange Cube Vrtual Cse Smooth D Rectty bn bn
350. nly careful placement of groups of markers can effec tively sense this e Number of markers lIdeally it would be best to use as many mark ers as you can put on the face Capture limitations prevent this so much information that might theoretically be measured will have to wait for higher resolution cameras and even smaller markers D 15 Appendix D Capturing Facial Motion Cortex 1 0 User s Manual Production Issues Despite this list facial motion capture is by far the best overall technique for generating facial animation from a performer No other kind of system is as versatile or productive Many practical issues creep into the animation process that do not have much to do with techniques for animation but rather with the process of animation itself That is to say it has to do with the relationship between the animator and the production tools This is true for all tools especially facial animation tools Here is a list of issues that anyone doing facial ani mation should keep in mind Requirements do change Real productions do not march relent lessly from front to back animators have to go back over the data many times to get the result they need For example a common mis take in morph target facial animation is the realization that you need more flexibility in a certain part of the mesh so you can make a new target expression that you suddenly discovered you needed Since all the expression meshes must exactly
351. nsferred without the prior written consent of Licensor Except as otherwise specified herein this is the entire agreement between the parties relating to the subject matter hereof and may only be modified in writing signed by each party This agreement is governed by the laws of the State of California For further information regarding this Cortex 1 0 User s Manual or other products please contact Motion Analysis Corporation 3617 Westwind Boulevard Santa Rosa CA 95403 USA tel 707 579 6500 fax 707 526 0629 info motionanalysis com P N 665 1200 010 www motionanalysis com Copyright 2008 chapter Introduction Overview System Requirements for Cortex Installing the Software and Licenses Software Packages within Cortex Software Packages Used with Cortex For More Information Overview Figure 1 1 Cortex User Interface Cortex 1 0 0 Watk pr Wah tih E fe layers Osane Took Hep System Calbration Motion Capture Post Process sak MOR 0 Quack ID pity Tenite Teroite Tergiste Oeste D Rectty ay ese aan ae ne A iarram eo res Zup unten any 100 000 This instructional User s Manual provides a complete description of the Cortex software and its capabilities along with many step by step proce dures critical to a successful motion capture project Motion capture the ory is separated from the body of this manual in the form of ap
352. ntal Lines per Marker to 100 Mask out any unwanted light sources by creating a mask with the middle mouse button held down Delete masks by clicking on a mask and pressing Delete on the keyboard or right clicking in the 2D Dis play and selecting Delete Mask Repeat Steps 4 through 5 for all cameras 7 12 Cortex 1 0 User s Manual Chapter 7 System Tab Analog Panel For users who have integrated force plates into their motion capture sys tem you will need to configure the EMG or other analog source signals for the analog signals to be collected properly This is done by following these steps 1 Choose the System gt Analog panel Figure 7 7 Analog Panel Cameras Analog FIX F1Y FIZ M1x MIY Miz F2x F2Y 9 F2Z 10 M2X 11 M2Y 12 M2Z Ont OD aA Se wne 38 JOOOOOODODOODODODOODODODODDOD OIF FF SI F s s 2 5 g Force Plates C Autozero Forces Analog Sample Rate Multiple of Frame Rate 5 Current Sample Rate Hz 600 00 2 To open a list of force plate names right click anywhere on the Ana log panel grid and choose Channel Type Names from the pop up menu The built in names include Kistler AMTI Bertec and Muscles 7 13 Chapter 7 System Tab Cortex 1 0 User s Manual Note w To edit a channel s name left click in its row in the Name column Left click on the arrow that appears in the cell and select a name Alternatively you can simply l
353. nts generated during a task The computed joint moments can then be compared to experimentally recorded moments e Medical students and residents can use models created with SIMM to study musculoskeletal anatomy and function In addition to visualiz ing anatomical structures students gain an appreciation for the inter play of muscle architecture and joint geometry e Kinesiologists who record and analyze the motion of persons with movement disabilities can use SIMM to create three dimensional ani mations of a person s movement Movements such as walking can be quantitatively compared to normal movement to gain insight into the causes of movement deformities Motion can also be analyzed in the context of optimizing athletic performance e Human factors engineers who need to account for muscle strengths when designing products or work stations can use SIMM to study how posture effects muscle strength Limits on joint ranges of motion can also be taken into account e Biologists interested in animal movement can create models to quan tify limb function Investigating movement strategies in other species can provide insights needed to design machines that move Cortex 1 0 User s Manual Chapter 1 Introduction e Computer scientists who develop models of the human body for vir tual environments can use SIMM to create the models and compare them with biomechanical data for verification e Animators can use SIMM to develop realistic r
354. o experiment to obtain the optimum camera adjustment for your lab or studio Chapter 5 Camera Setup Cortex 1 0 User s Manual Adjusting Camera View for Increasing Height Note If your capture volume is too high for your Eagle or Hawk cameras you may turn the cameras on their side just as photographer may turn their camera on its side for increased height Note that your camera width cov erage will decrease You may turn the cameras on their side up to 89 without having to make any changes to the software settings If you turn the camera 90 or greater you will need to select the Alternate setting for the particular camera s This is done in the Calibration gt Calibrate panel Select Details gt Lenses Orientation then change the setting from Normal to Alternate These settings are also available by using the Tools gt Settings gt Calibration gt Lenses Orientation tab If the camera is hanging upside down you will need to use the Alternate position It is recommended to not leave the cameras set too close to 90 i e 85 to 95 since it may appear Normal or Alternate and result in non repeatable calibrations Figure 5 13 Lenses Orientation Window Settings FocalLength Positioning Normal Normal Normal Normal Normal Normal Normal Normal 5 16 Cortex 1 0 User s Manual Chapter 5 Camera Setup E
355. o these boxes and pressing Enter on the keyboard The Low and High Selected Frames are the lower and upper limits of the selected frame range These values can be changed with a middle click drag mouse drag action or by typing numbers into these boxes and press ing Enter on the keyboard The Selected Frames region is shaded in light blue See Joining Gaps in Data on page 10 5 for details When editing data in the XYZ view only data in the Selected Frames region will be af fected Areas outside of the Selected Frames are protected from the edit steps The Play Forward button default hot key is the gt key plays forward through the data until the end and then repeat from the beginning This also acts as a Stop button The Play Backward Button default hot key is the lt key plays backward through the data until the beginning and then repeat from the end This also acts as a Stop button 10 2 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Play Speed Sets the playback speed of the tracked data in ratio to the number in this box a value of 10 will play the tracked data 10 times faster than normal speed A value of 10 will set it at 10 times slower than normal speed The limits are 100 and 100 Time Code This shows the time code HH MM SS for the tracked data If a time code reader and a time code generator are used when data is collected the time code at recording time is shown If no time code reader
356. oftware what the minimum number of camera s rays are re quired to triangulate track a marker during a frame Some users will benefit by setting this value to 3 if spurious data points ghost markers are seen in the motion capture sequence In the Motion Capture interface markers are correctly identified if 1 The current dynamic template is good and the data fits into it 2 All markers are present 3 The Identifying check box has been activated The software keeps a separate dynamic template which is used during Real Time or simulated Real Time tracking and only applies in the Mo tion Capture interface It starts with the user created Template from the 9 3 Chapter 9 Motion Capture Tab Cortex 1 0 User s Manual Dynamic Template Stretch Limits To Reconsider Max Acceptable Create Template button in the current project and dynamically adjusts it self as the markers are seen to stretch outside of the limits set in the cur rent Template This is useful when you are using the Cortex system for live performances If markers are all identified right or wrong the dy namic template is updated for that frame Pressing the Reset IDs button in the Real Time Dashboard resets the Dynamic Template back to its orig inal user created Template This is to be done if the identification gets mixed up for any reason It is a likely result of the template being stretched too much perhaps after a mis identification of markers
357. olume will be sufficient You can have a markered subject walk in and around the capture volume with emphasis on the edges The ray intersection of both the named and un named markers can be used to refine the calibration However if a camera was severely bumped calibration will be far enough away from ray intersections that the Refine Calibration will not help In that case you must redo the L frame and wand calibration steps 8 16 Cortex 1 0 User s Manual Chapter 8 Calibration Tab Show Camera Volume Show Camera Volume is useful for telling you about how well your cam eras are aimed and how much camera overlap you have To see the cam era volume 1 Right click in the 3D View and then select the Camera Coverage check box in the pop up You will need to select the camera num ber s button at the bottom of the Motion Capture panel Also you can change the minimum number of cameras that see that part of the volume in the Tools gt Settings gt 3D Display gt Camera Coverage gt Minimum Number of Cameras setting 2 Right click in the 3D view and select Show Volume Figure 8 11 Show Camera Coverage Volume Cortex 1 0 0 Walk prj System Calibration Motion Capture Post Process Model Edit Plugins Walk3 trb File Layouts Data Views Tools Help Subject v Markers 7 Links MarkerSet Names Marker Numbers
358. omputers connected can hear the message and start and stop the recording So you should be able to connect as many EVaDV recorder computers up as you need You probably will not want the AVI files streaming across the network When VC files are collected AVI files are collected If VC files are not collected AVI files are not collected You must have the color video window F1 function open in the Cortex interface to record AVI files Sony DV cameras have a setup mode called FRAME FIELD The FRAME setup mode works best as it eliminates the motion blur which results from the FIELD also known as Interleaved mode On Canon DV cameras you will want to select MOVIE mode Currently Open Known Issues Known Graphic Card Issues e Interface is evolving e Resizing video window by dragging corner can cause a hang up Stop resize play is a resolution for this e File recompression functionality unstable with certain compressors e Multiple camera support is working however certain cameras Sony dislike it and will give a fail on run message e Snapshot tga image is incorrect e Only Type 1 interleaved AVI files are supported import export There is a known problem displaying the AVI files when a 3D window is displayed on a Windows XP system The AVI file plays in a jerky motion and the screen is sometimes sliced into horizontal blocks This is a problem with Open GL and Direct X displaying at the same time R
359. on of each segment is recorded for 387 video frames Such a file is quite large so we have included an abbreviated version here The file begins with a Header section containing general information such as the number of segments the number of frames the frame rate and other parameters which apply to all data in the file This is followed by the SegmentNames amp Hierarchy section which de scribes the child parent relationships of the skeleton Notice that only the LowerTorso segment relates to the GLOBAL coordinate system All other segments motions are described in relation to a parent segment In the BasePosition section the location of each segment s origin and rotation are described in the skeleton s base position using the six avail able degrees of freedom Translation in X Rotation about X axis Translation in Y Rotation about Y axis Translation in Z Rotation about Z axis For the child segments location and rotation are given in terms of the par ent In this skeleton the origin of all the children lie near the bone Y axis of the parent and therefore have only Y values The seventh col umn gives the length of the bone segment The remaining sections contain motion data for each segment in each frame relative to the base position This is frame oriented meaning each section holds all segments for that particular frame In this abbreviated example only the first and last four frames are shown for the first
360. on Analysis EVaR T5055 amples Golf Swing with Temper C Export Directory m Output files Tracked Markers M Raw video vc I Discard Unnamed Markers OK Just save the settings IV Analog anb Tl Discard Virtual Markers Bancel IV Colorvideo avi Frames IV Tracked ASCII tre Save All Frames Vv Tracked binary trb C Save Selected France Export Trimmed Capture 9 Under the Trim Capture W Options choose Save Selected Frames Make sure you have highlighted all the frames that you want by using the middle mouse button to highlight an area in the Post Processing window or by using the Select All Frames button in the lower right corner 6 26 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface 10 Press the Export Trimmed Capture button and type in the filename you want or keep the current one 11 If you have more files that need to have the analog channel names replaced you will need to repeat steps 2 through 10 Record The record function under the Tools menu item starts the re cording of a data capture It is the same function as the Record button found on the Motion Capture gt Output panel and the F12 function key Quick Files The Quick Files function allows you to easily navigate through frequently used directories making it easier to address and manage motion capture sessions Refer to Figure 6 23 Figure 6 23 Quick Files Icon Cortex 1 0
361. on for solving the next frame of data The result is a SIMM motion that matches the tracked marker data The model that is used to fit the data can either be one that you create or the pre made model the mocap model that comes with the Motion Module H 1 Appendix H SIMM Motion Module Cortex 1 0 User s Manual The Motion Module has two primary components The first component reads files containing tracked marker data in the TRC TRB or C3D for mat and creates SIMM motions from them as described above For more information on how this process works and the various options for im porting marker data reference the SIMM User s Guide The second component of the Motion Module creates a musculoskeletal model of a given individual by scaling a generic full body model the mocap model based on tracked marker data from a static pose The al gorithms that are used to scale the model are the same as those used in OrthoTrak a full body gait analysis package available from Motion Anal ysis For more information on the mocap model and how it is created and used see Section 5 3 Using the Mocap Model Opening Tracked Marker Files Selecting Tracked Marker Files SIMM can import tracked marker data that is stored in either a TRB or TRC data file These file formats described in the EVa and Cortex manu als contain X Y and Z coordinates for each identified marker for each time frame You can also import analog data files contain
362. oneme this will improve in the future There is no notion of blending between them All people slur their syllables to one degree or another this kind of information is missed e Anticipation Almost all sounds require a setup motion for the face You open your mouth before you actually say anything the audio track doesn t have that kind of information e Other facial movement When people talk their necks ears and other parts of the face move around significantly This information is not conveyed Lack of eye blinking information is perhaps the most important e Non audible facial expressions Most people intersperse their conversations with a variety of facial expressions to punctuate the conversation Despite these limitations an automatic phoneme generator can provide an excellent first pass at facial animation with the intent of going back over it to augment it with more facial animation information Eye motion is a subtle but a vital part of facial animation that must be present A variety of techniques exist for obtaining eye motion but it is difficult to get without hampering the acting talent The most common ap proach is to take a video image of the eye and track the eye movement from the video footage Some techniques track the whites of the eyes oth ers the pupils Some use visible light others use infrared In all cases a 2D image is used to generate information about the transla tional movement of the eye in the
363. ontain any MVC values In most cases however it is sufficient to not specify them and use SIMM s default scal ing method Other data is contained in XLS files and can represent any motion vari able that you choose to calculate and store in the file It is usually reserved for kinetic data e g joint moments and powers that OrthoTrak calcu lates and stores in its spreadsheet XLS format It may also include mo tion events such as toe off and heelstrike that are stored at the top of the XLS file SIMM does not perform any calculations on these data but does import them so that you can create plots of them in the Plot Maker SIMM will only import other data that are identified as such in importVari ables txt This configuration file located in SIMM Re sources mocap misc contains mappings between OrthoTrak and the mocap model of all forces moments and powers for the hip knee and ankle joints You will only need to edit this file if you want to import data other than these In addition to importing tracked marker files SIMM can import motion data that is sent over the network in real time from Cortex SIMM is thus able to animate a musculoskeletal model and plots of joint angles and muscle lengths while the subject s motion is being recorded For this real time connection Cortex solves tracked marker data using the mocap model It then sends generalized coordinate values as well as analog data over the network to
364. operty Value Camera No 1 x 2470 197 ae 2514 597 rs 2939 508 Elevation 32 12 Azimuth 132 15 Roll 19 02 Principal Pt U 620 8273 Principal Pt 497 3354 Focal Length 16 81047 Connect to cameras or select a Raw Video file Select and activate the Refine Camera Positions check box Press the Run button on the Real Time Dashboard Press All On on the Real Time Dashboard so that all camera views are displayed on the 2D Display Right click on the 2D Display and select Smear Display This will show you how much of each camera s field of view is being filled by the wand over time Start with the subject in one corner and as soon as the subject starts to move check the check box for Refine Camera Positions Have the subject walk around the capture volume filling the entire volume The subject is acting like a wand calibration Have the sub ject walk with both arms slightly out so that all markers are easily identified Then have the subject walk the perimeter of the room spi raling into the middle As soon as the subject has filled the room and reached the middle press Pause A table of correction values will appear for all cameras included in the Refine panel The first three columns are the position changes of the cameras since the original calibration and the second three col umns are the rotational changes Changes of more than 1 mm are often significant and can result in a better calibration 10 Click OK and save a
365. or each de vice If only one channel is sending data on that device the PFI7 to PFIO jumper must be installed This appendix documents both of the 32 channel 16 bit setups and the 64 channel setups of analog input available A list of the location of chan nel numbers in the Analog Terminal Box for digital camera systems is given for the type of A D setup You may find it useful to make a copy of this chart Table B 2 on page B 12 and use the column titled Setup Name to record the connections for your installation The connections for a typi cal application using two AMTI Force Plates and ten EMG channels for digital cameras is shown for each setup Although connecting analog inputs is not particularly difficult it is impor tant that certain naming conventions be followed for the external data to work smoothly with supplementary Motion Analysis software such as KinTrak and OrthoTrak This is described in Analog Signal Naming Conventions on page B 4 Cortex is capable of collecting up to 192 channels of analog data at any frequency between 60 and 5000 Hz In newer systems using the NIDAQ MX 8 0 or later software analog rates can be much higher The maximum rate can be up to 255 times the video capture rate but performance may vary with different computers The master digital camera provides the clocking signals to the A D card in the A D computer which provides the phase locking mechanism You must connect the A D cable from the m
366. or generator is used the time code starts at zero for each trial Frame Number The Frame Number is the frame that is currently seen in the 3D View and is marked with a full height red line on the XYZ Graphs The Current Frame number is found in the very center of the Post Process Dashboard Move 1 Frame The Move 1 Frame Button default hot key for forward is the F key re Button verse is the S key moves the Current Frame forward or back by one frame This also acts as a Stop button Move to Lowest This sets the current frame to the lowest or highest visible frame Highest Frame Time Zoom Slider The Time Zoom Slider sets indicates the Low and High Visible Frames Double clicking on this control unzooms time or expands the Visible frames to encompass all of the frames in the data set If you only want to work with a specific range of frames right click on this slider to lock un lock visible frames Selecting Frames To the right of the Post Process Dashboard controls are five Frame Selec tor buttons Refer to Figure 10 2 1 Select Backward selects from the Current Frame to the Low Visible Frame 2 Select Forward selects from the Current Frame to the High Visible Frame 3 Select Current Frame selects only the Current Frame 4 Select Visible Frames selects from the Low Visible Frame to the High Visible Frame 5 Select None Safe Mode nothing is selected Figure 10 2 Selecting Frames Buttons CE EJ EJK we 1 2 3 4
367. ore stable and more useful than the classic Rigid Body data filling mechanisms The reason is that you get to choose three markers in decreasing importance that determine the replacement data These three markers are 1 the Origin Marker 2 the Long Axis Marker 3 the Plane Marker The Origin Marker should be the marker that is most rigidly attached to the marker to join If there are two choices pick the one that is more sta ble on the bone segment For example the elbow marker is a good Origin Marker It is usually attached close to a bone The shoulder is also good for the upper arm segment but not as good for the upper torso if the sub ject raises their arms For segments where you have multiple markers on a rigid segment such as the head it does not matter which marker is which For example if you have four markers on the head each of the four can be defined by any order of the other three markers But if you have only three markers on the head the Top_Neck marker may well be used as the Plane marker for the Join Virtual definitions The Long Axis Marker defines a straight line from the Origin Marker and the Join Virtual is not sensitive to changes in the length of this line For the left Biceps choose the L_Elbow as the Origin the L_Shoulder as the Long Axis Marker and the L_ Wrist as the Plane Marker 10 25 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Plane Marker The Plane Marker is the least
368. ou have defined a Calcium Solver Skeleton in Post Pro cessing the process is as follows 1 Select the Skeleton check box 2 Define a period of frames select a starting and end frame to calcu late from the current time slider 3 Click on the Calculate button The Treeview has an option to view the Skeleton as it renders Figure 13 2 Skeleton Check Box and Calculate Button G Fr goved O Frames fated avg res 12 377096 Vidertvors 0 a Urs 131 SAB Segments reactive Cachan Segremete 33 a DaveRoot Spre Spre Spnes a Sores 500 but a En Visinie E Blot gt e ene Frames eors rup usann Calculate Button Skeleton Check Box 13 4 Cortex 1 0 User s Manual Chapier 13 Skeleton Types This can take several seconds to minutes depending on the length and complexity of the skeleton If you are using one of the streaming Talon plugins the skeleton data is available after the calculations are finished You can scrub back and forth in the Post Processing mode or press the Play button and both the marker data and the skeleton htr type data are available to the streaming Talon plugins like Maya Skeleton Option Details as selected from Tree View Skeleton Builder SkB Engine Calcium Solver 1 3 1 SIMM Calcium Model Bone segments are defined from one marker to another typically virtual markers that represent joint centers
369. our character names stored in the POINT LABELS field This field allows you to specify the total mass of the model after it has been scaled to fit the size of the subject After the scaling is done all the body segments mass parameters are scaled up or down by a single per centage so that the total mass of the model equals the number entered into this field This field has no effect if mass properties are not specified in the model file H 11 Appendix H SIMM Motion Module Cortex 1 0 User s Manual preserve mass distribution This option gives you control over how the mass properties of the individ ual body segments are scaled If this option is off then each body seg ment s mass is scaled proportionally with its size If this option is on then each segment s mass parameters are not scaled with their change in size i e the distribution of body mass specified in the model file is pre served In either case after the model has been scaled all the body seg ments mass parameters are scaled up or down by a single percentage so that the total mass of the model equals the number entered into the sub ject mass field Figure H 3 Static Trial Import Dialog Box init1 c3d Options Static C30 file as markers 190 frames 271 Cancel data rate 120 0 Hz croa Mocap Model C Users Simm Resources mocap mocap jnt Save JNT File Save MSL File save MSL file Import Static Pose average from frame 1
370. oys a best fit track ing algorithm using only good camera views The Calibration In order to calibrate the system you must first decide on the location of H the origin and orientation of your object reference frame This is deter Coordinate mined by the calibration L frame All results generated by the tracking System process are referred back to this reference frame The selection of an object reference frame is arbitrary However judi cious selection is advised In most cases it is advisable to align one axis of the frame with the axis of gravity and another with the predominant di rection of motion Remember that all targets will be tracked with respect to the object reference frame and that the units used to locate the control points mm cm inches etc will be the same units used in the tracking process For computer animation users a commonly used coordinate system con vention is called Y up with the Y axis pointing up the Z axis normal to the direction of motion and the X axis oriented from the person s right side to left side Looking at the frontal view you would see a normal X Y plot Y up X right and the Z coordinate sticks out of the screen For biomechanics applications it is common to use a coordinate system with Z up X in the direction of forward motion and Y toward the subject s left side The coordinate convention you use is your choice Be sure that e The coordinates of the cali
371. p model however you wish For example you can add or remove muscles from the model or change the tendon and fiber parameters of existing muscles You can also add degrees of free dom to the model in order to more accurately represent a particular mo tion e g adding toe joints and gencoords to examine toe motion in greater detail If you modify the mocap model however you should keep in mind two things First the model has been set up to correspond to the skeletal model that OrthoTrak uses when processing gait data The lower extremity body seg ments and orientations of the reference frames closely match those in the OrthoTrak model Also each body segment in the mocap model is scaled to fit the subject by relating its length to the length of an OrthoTrak seg ment These relations are specified in the mocap model by defining scale segments and scale factors for each body segment If you add delete or modify joints or body segments in the mocap model you should make sure that each segment still properly relates to an OrthoTrak segment Second mocap jnt contains several macros that are used to properly de fine the orientation of the floor and to automatically remove the upper body segments if there are no upper body markers When SIMM reads a joint file it performs these macros but does not save them internally Thus when it writes out a joint file all of the macros have been removed If you make changes to the mocap model in SIMM
372. parallel to each of the three X Y amp Z axes It is recommended that you view the wand movement through the volume at least for the first few times To do this you must select Layouts gt Top Bottom One window should reflect the 3D view and the area where it is possible to see the wand waving through the volume The other is the 2D view where the individual camera coverage of the wand in the volume is seen To show all cameras press the All On button In the 2D view the display is automatically smeared in showing the wand data This shows the volume coverage for each camera A good wand calibra tion will fill most of the 2D view for each camera 8 11 Chapter 8 Calibration Tab Cortex 1 0 User s Manual Figure 8 8 Seeded Cameras 3 D and 2 D View all cameras on EVa RealTime Eile Layouts View Tools Help Setup Il Calibration Motion Capture Post Process Model Edit User Apps Calibrate Refine r Calibration with Square M Preview Calibration Deta Filename CalSeed Calibrate fa Gk to Gvernite r Wand Calibration Duration 60 Seconds Length 1000 Filename Calwand Collect E Gk te Gyenmnte 0 000 4 0 000 4 i 0 000 4 0 000 4 5 amp 7 B r Floor Calibration Marker Center to Floor h27 Calibrate Floor 0 000 4 i i 0 000 4 0 000 4 0 000 4 ms if 2fs fais f6 if7 fs 1 240 2 mm LAService CUSTDATA Bundeswehr5_O1 Bun
373. pare the Cortex system for wand calibration The duration of the wand calibration is directly correlated to the capture frame rate A typical dura tion for a small capture volume is 30 to 60 seconds Large volumes with ten or more cameras can take 120 to 180 seconds and very large volumes may take up to 240 seconds Collect and verify that the wand calibration data is good It may be neces sary to reposition or move cameras and to retake both the seed and the wand calibration data if one or more cameras has large areas without wand calibration data You can continue pressing Run after it finishes until the calibration numbers stop changing Your wand data should cover the entire capture volume A common method of ensuring better wand data is to use a 1 3 method That is hold the wand markers in alignment along each axis X Y and Z for 1 3 of the wand capture session The type of subject initialization depends on the application e In animation applications it is the I Pose or Init Pose trial e For OrthoTrak it is the Static Trial e For KinTrak it is the Neutral Trial In general the procedure is as follows 1 Have the subject stand in the capture volume with the markers on On the Cortex system Look for any reflection and light source that might interfere with the capture and correct the problem 4 7 Chapter 4 Planning a Motion Capture Session Cortex 1 0 User s Manual Capturing the Moves Note Col
374. part or together but where no markers will be hidden You want it to be a standard position that the next person will be able to repeat quickly and simply Have the subject face a certain direction that will also be easily repeatable for the next person along the X axis for example Figure 6 41 Create Template Interface Create Template Template Prop Definition Frames Range Frames Used Current Frames with complete 1434 Selected Total frames to use 1434 Visible O All Include current frame as the Model Pose Show Template Linkages Create Template 6 47 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Create a Template Using the Pose ID Feature Connect Cameras Button Disconnect Use Raw Files Button Raw Settings Button Run Button 1 Select Post Process gt Create Template Select Body Template 3 Activate the Include current frame as the Model Pose check box and select the correct range of frames where you have good data 4 Save your project file which now has a new feature called Pose stored in it You may want to use the word Pose in the project file name to distinguish it from earlier versions without the pose but that is not necessary The normal template will work for this person N This feature allows the software to automatically identify markers based on a Model Pose that you create when you make a template The result is that if you use the
375. pendices so that the tutorial approach does not become cluttered 1 1 Chapter 1 Introduction Cortex 1 0 User s Manual Cortex is a complete package capable of meeting the most demanding re quirements of the motion capture industry Output is generated in real time making Cortex a suitable engine for a number of widely used 3D an imation packages as well as custom applications created using the sup plied Software Developers Kit SDK Being a real time application the results of a motion capture session can be viewed instantly while simulta neously saved in several file formats In addition you can graphically edit data with a complete suite of tools without resorting to other off the shelf software packages Cortex handles image data from systems comprised of up to 250 cameras System setup and calibration is fast and simple with immediate feedback and a high degree of accuracy and precision Motion capture sessions are managed using directory and file access tools and the motion data gener ated is of the highest quality Post Processing data is accomplished graph ically using intuitive controls integrated with mouse and keyboard func tions for fast and easy editing Model Edit features give you access to the properties of the current set of named markers virtual markers linkages and skeletal segments Cortex combines three major functions into a single software package 1 Calibration of your capture volume Trackin
376. pendix A System Hardware Interconnections CP 8 Power Hub and Ethernet Switch Connections When first setting up your Eagle or Hawk system you will notice that both the power and Ethernet connections for the cameras are integrated through the CP 8 Power Hub and a 1 GB Ethernet switch Remember the Eagle or Hawk system allows for 8 cameras per CP 8 Power Hub All camera power connectors are plugged into the power connectors of the CP 8 Power Hub Order is not imperative as long as each power con nector is close to an open Ethernet connector on the 1 GB Ethernet switch Figure A 3 Standard Digital Camera Configuration 1 to 8 Cameras Eagle Hawk Camera Host Computer CP 8 Camera Power Hub Eagle Hawk Camera Cable Ethernet Port od Ethernet Cable 1GB Ethernet Switch A 5 Appendix A System Hardware Interconnections Cortex 1 0 User s Manual Eagle and Hawk Digital Camera Connections Eagle or Hawk digital cameras are connected to the EagleHubs using camera cables with both power and Ethernet connectors When fitting connectors together be sure the connections are secure and snap firmly into place Figure A 4 Eagle Rear Panel Connectors Power Connector Ethernet Connector Aux Connector Future Connector Future Ethernet The power connector powers the camera with a 48 Vdc source from the EagleHubs through a CATS cable The Ethernet connector is set for a 4 wire full dupl
377. plines Join selected marker s over selected frames using linear interpolation Create a temporary virtual marker to fill in missing marker data Undo last action Search data set for spikes and or gaps as defined in the Options panel To see the 3D View options 1 Choose the cascading Show item and another pop up list will appear Several of the view options will have check marks next to them indi cating they are active All of the Show items in the Show list are con sidered User Preferences and get stored to the Cortex ini file when you exit the program 6 34 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface 2 Choose items from the Show options menu and see the effects These options are saved in profile settings and are reloaded when you launch Cortex Figure 6 31 3D View Right Click Pop Up View Options 3D Display Show Properties Subject Markers Links C MarkerSet Names C Marker Numbers C Marker Names Trajectories C Virtual Markers Unnamed Markers Skeleton Skin C Skeleton Axes Forces C BackCale C Model Pose Kinetics Segment Center of Mass C Linear Velocity C Linear Acceleration C Angular Velocity C Angular Acceleration C Gravity Vector World Cameras C Camera Rays C Cam Field Of View Floor C volume C Video C Camera Coverage View C Keep Centered C Mirrored C Auto Rotate C Relative Perspective View Orthographic V
378. ply UPS If you want to save your data when power is lost altogether you will also need to power the tracking computer monitor from the UPS Table A 1 Power Consumption of Typical Eagle and Hawk Systems 8 Cameras 12 Cameras 16 Cameras Power Hub E Net Switch with 265 W 400 W 530 W Cameras 21 SVGA Monitor 125 W 125 W 125 W Dual Processor Computer 200 W 200 W 200 W TOTAL 580 W 725 W 855 W Basics of There is a difference between the older Ethernet hubs and the newer Ethernet Ethernet switches even though they look alike and are functionally simi lar The difference is in the performance Ethernet switches guarantee the Switches and full rated Ethernet bandwidth between all ports simultaneously whereas Hubs the older Ethernet hubs share the bandwidth for all ports We call the Ea gleHubs hubs to indicate that they are the center connection point for a block of cameras but inside the EagleHub resides a switch This perfor mance difference is important and necessary for the Eagle and Hawk sys tems to function properly A 100 MB Ethernet switch works well for an Eagle or Hawk system with up to 15 cameras at a capture frame rate from 60 to 120 Hz For larger numbers of cameras above 16 it is important to use the 1 GB Ethernet NIC network interface card inside the computer and the 1 GB Ethernet switch that collects and concentrates the camera traffic to the Cortex Host computer A 3 Appe
379. poor Can you give us some time so we can get a consistently good tem plate each time The first step of the process is to collect both an init pose and a ROM range of motion for the actor Do a manual identification of the makers in the init pose T pose or A pose Use this to create your tem plate You should next be able to ID the first frame of the ROM which should be a T Pose and do a Rectify through the whole ROM Once the ROM has been completely identified save the changes and then use Extend Template from the Create Template Dialog box The next step is to process all the easier motions This way you can use these motions to extend your template further which will allow you to have a more complete template by the time you need to track the harder motion files I m in the process of setting up Cortex to collect video data and I have a question about compatible video devices The manual indicates that a Sony camcorder with firewire output was used in testing Would it be ac ceptable to run for example a surveillance camera through a capture de vice with a firewire output Currently Cortex looks for DV format streams over Firewire IEEE 1394 only using those devices designed to operate with the Microsoft DV driver MSDV A device delivering data over FireWire will likely use the MSDV driver if the data is in the DV format which refers to a specific compression codec DV25 which is what most consumer handycams deliver
380. ps of four markers Tab which define two separate lines in space Between these two lines the angle is calculated for each frame through the tracked data This informa tion proves useful for detecting irregularities in movement such as be tween two parts of a body To delete a row simply click on that row and press Delete You may select and delete several rows at once by pressing shift click on the rows and pressing Delete Figure 10 23 Included Angles Tab Cortex 1 0 0 Body Club_Merged prj GolfTempert trb Golffempert vc1 I Fle Layouts DataViews Toos Hep System Calbration Motion e Post Process Model Edt e 2 Q To amp gt lt ukhID Rectfy Template Template Template Marker ID Exchange Cubic Cresto 1D Roctfy Pos VeliAce Distarces Anges Four Marker Angles MAREO MURFor MRA MAP M LPrhy M LVWist M LFo MLE i Emm EIE Mahar 1D oes Frames 120 FPS Zup Unesma anwlog eoo 00re Exporting To export an ASCII text viewable file select the Export ts Time Series Analysi s Time File button This will write a file with the same file name as the tracked file you are working on It will contain the information from all three Series Analysis tabs Information 10 32 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Post Processing Strategies and Tips The steps necessary to clean up data will vary significantly from one user to another These
381. r Mode if you only want the last portion of your motion capture session This function allows you to select from the end of the session working backwards to a specified time point Click Record You should see the word RECORDING in large red letters on the lower right corner of the interface See Figure 9 6 E Fie on Dataview Tos hee _ _e re 0 0000 2 000 0 0000 B Emin BL iiti Dion wes BO Sn ra I T T _ e ey Caves eme aerea Une ime Pie a a feet a memm aea RECORDING anon ee i S e e ea aa Started Eis EUs i ao oo core 9 When recording is complete click Load Last Capture to replay the tracked data that was last recorded This will automatically send you to the Post Processing mode 9 14 Cortex 1 0 User s Manual Chapter 9 Motion Capture Tab Tracking Strategies and Tips Speeding Up Changing the Max Speed to 30 mm frame and the Max Prediction Error Tracking in to 10 mm greatly enhances tracking for most normal speed data sets While this needs to be adjusted up for high speed trials keeping a 3 1 Cortex ratio works well This can cut your CPU load by 50 or more Here is what is under the hood see the Motion Capture gt Tracking panel Max Speed If a marker has NO track history i e a new marker just found on this frame how big of a sphere do we draw around its current location to look fo
382. r button Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Misc Tab Figure 6 13 Settings gt Misc Tab Settings Calibration Cameras Playback 3D Display Post Process Tools Misc Id Params Plugins Sound Time Code Disable Sound Effects Standard SMPTE 29 97 fp V SDK Streaming C SDK2 Enabled NIC Address 1 Marker Slots Number of Slots 192 991 110 Number of Cameras Number of Cameras 32 Have Current Frame follow Mouse when selecting Yes O No XYZ Graph Zoom Options Zoom In Mouse s O Zoom In Current Frame Disable Sound Effects This turns the sound features of Cortex on and off SDK Streaming Options This option streams all motion capture and post process playing data to the NIC address specified This must be a NIC Ethernet address of the Cortex host computer If there are multiple NIC cards in the host com puter you must indicate which card will be used to stream the SDK2 Time Code This function sets the type of Time Code used with the system if used Marker Slots This function depicts the number of marker slots the software will use Cortex allocates memory for the host computer based on this number and will variably assign memory according to the number of marker slots used The maximum number of marker slots that Cortex will allow is 1500 The default number of marker slots is set to 192 which uses 512 MBytes of memory From 1
383. r creates a Sky but ton that when selected will execute the script that was dragged onto the toolbar These buttons will be saved in the Startup script see the Options menu description above when you select Save Startup Script e Dragging and dropping a Sky function name from the list on the right onto the Input Text area will drop the function name onto the script e Dragging and dropping a Sky file from one list to another will copy that file from the original location to the dragged one If a script of that name already exists then nothing happens e Text from the output area especially sample Sky commands from the Example section can be dragged onto the Input Text area 14 8 Appendix A System Hardware Interconnections Overview Standard Eagle and Hawk System Configuration Power Consumption CP 8 Power Hub and Ethernet Switch Connections Eagle and Hawk Digital Camera Connections Network Interface Cards and IP Addresses Configuring Ringlight Changes for Eagle and Hawk Cameras Overview Note Note This chapter provides information and illustrations on how to set up the hardware to be used with Cortex When using Cortex in the Motion Analysis motion capture system hard ware connections are straight forward The connection of the cameras to the CP 8 Power Hub and Ethernet Switch all have unique labeled connec tors Frame rate shutter speeds and ring light brightness for the
384. r its continuation in the next frame This should affect only startup tracks It can affect performance if it is TOO BIG by making the software check more points than are necessary If it is TOO SMALL it will not create contiguous tracks the tracks will have many holes and lots of un named markers Max Predictor Max Predictor Error determines a sphere around the projected extrapo Error lated path trajectory into the next frame If the marker is not found in that projected sphere it is assumed to have disappeared This should affect only continuing tracks with a history which is the bulk of what is being tracked This can have a big effect on performance if it is TOO BIG If it is TOO SMALL tracks will be broken up into smaller path fragments and there will be an excessive amount of unnamed markers Bring up the Task Manager and monitor the CPU usage You can see this with trials you have already collected by selecting the Raw Video Files you collected click the Run button Change the above Tracking Parame ters press the Run button again and see the difference Check that the System gt Misc panel is showing the From Raw Video Files and the Real Time speed option is selected 9 15 Chapter 9 Motion Capture Tab Cortex 1 0 User s Manual 9 16 Chapter 10 Post Processing Tab Editing Tracked Data Viewing Your Data Joining Gaps in Data Unnamed Markers Post Process Tool Strip Join Virtual
385. r locations and segment lengths have been designed to be as similar as possible to the OrthoTrak algorithms This was done so that motion information in SIMM e g joint angles EMG levels would match the corresponding information in OrthoTrak and also so that you would not have to change your OrthoTrak protocol in order to use SIMM The mocap model and the algorithms used to scale it are described in the following sections The mocap model is a full body SIMM model that has been customized for gait analysis but can be used to import and display any type of full body motion The model has 41 body segments 41 joints 40 degrees of freedom and 88 lower extremity muscles It represents an adult male ap proximately 175 cm tall with a mass of 78 kg The model is scaled to match the size of the motion capture subject using algorithms described in Section 5 3 4 The model s joints have been carefully constructed to rep resent normal joint motion as closely as possible To load the mocap model into SIMM the software looks for the MOCAP_ MODEL variable in the preferences file SIMM Resources prefer ences to get the name of the joint file that comprises the mocap model The default setting for this variable is SIMM Resources H 9 Appendix H SIMM Motion Module Cortex 1 0 User s Manual The Static Pose mocap mocap jnt This joint file includes the file mocap msl to get the definitions of the muscles You may change the moca
386. ralg Pos R Asi ae L Wrist ae R Wrist a C R Thigh _L Thigh O O R Knee _ R Knee Medial L Knee Medial L Shank O R Shank L Heel_ Eee R Ankle A L Toe R Heel SF L Ankle Medial R Ankle Medial Examples Refer to the sample project folders in the C ProgramFiles MotionAnalysis Cortex50 Samples directory which includes complete marker sets C 4 Cortex 1 0 User s Manual Appendix C Marker Sets Developing Optimum Markers Sets It has always been very tempting to anyone in the world of motion capture to get one optimum marker set But typically even the best animators and researchers use flexible marker setups altering the marker sets to fit their desired capture goals If you are set on developing an optimal marker set there are several things to take into consideration when you are trying to develop this 1 What kind of movements are you doing e Is there going to be a lot of bending at the waist If so then front hip markers are probably not good choice to use e Are you going to be doing a lot of movements like rolling on the floor or sitting in a chair or laying down If so consider how you have markers on the back since they will be obscured a lot e Are you crouching a lot If so markers on the front of the body chest might be a bad idea Camera placement Are you using a single camera placement scenario that is will you move your cameras around e If yes then you hav
387. ras Different shaped capture areas are also possible At the extremes volumes will vary with ceiling heights and can vary with optical conditions including external lighting Table 5 3 Guidelines for Selecting Marker Size Normal Capture Volume Marker Size meters Cameras Highest Eagle 3 8 inch 9mm 2 5x 2 5 6 Accuracy Hawk 1 2 inch 12 5mm 2 5x 3 5 8 Large Eagle 1 2 inch 12 5mm 3 5x 3 5 6 Volume Hawk 3 4 inch 19mm 3 5 x 6 8 Extended Eagle 3 4 inch 9mm 5x5 6 Volume Hawk 1 inch 12 5mm 5x8 8 1 8 and 1 4 markers are also available for smaller volumes such as face hand or foot capture volumes 5 29 Chapter 5 Camera Setup Cortex 1 0 User s Manual 5 30 Chapters The Cortex User Interface Getting Acquainted With the User Interface PRJ Files Viewing Sample Data Digital Reference Video Option EVaDV Software Real Time Dashboard Post Process Dashboard Post Process Dashboard Post Process Tool Strip Zooming Rotating and Translating in the 3D View Selecting Markers Virtual Markers Linkages and Segments Time Code Getting Acquainted With the User Interface Before using Cortex it is necessary to become familiar with the interface and the names of the tools and controls that will be used throughout this manual The major components are as follows The Graphics Panes in the center of the screen The Menu Bar in the top
388. re marked these mark ers should be offset from the position of top eyelid markers to minimize marker merging The nose has relatively little motion except for the nostril If nostril flar ing is of interest attach a marker to each nostril At least one marker should be placed on each cheek Exact location will depend on the animation character model and the facial features of the subject The lips usually have the greatest amount of movement on the face From 4 to 9 markers can be used to capture lip movement Markers on the top lip should be offset from markers on the bottom lip to minimize merging Also areas around the lips can be marked to provide motion transitions One to three markers can be attached to capture chin motion Attach one or more markers along the jawbone for jaw motion This is very important for lip syncing Building a Face Template 1 Choose Motion Capture from the Mode Buttons Choose Output from the panel buttons 3 Check the Tracked Binary TRB or TRC check box on the Output panel 4 Type a file name in the name box and press Enter 5 Set the Duration seconds to 10 6 Collect motion data of the subject by having the person stand in the middle of the capture volume 7 Click Record on the Output panel 8 The subject must stay in an initial frozen position for three to five sec onds 9 After staying frozen in this initial position for up to five seconds the person must move through a co
389. re present in the static trial the Motion Module will load a de tailed model of the hand with three joints in each finger By default all of the finger joints are fixed SIMM converts them into hinge joints as it de tects the presence of markers to control the joints For example if R Finger2 M1 R Finger2 M2 and R Finger2 M3 are all present SIMM will create three hinge joints in the index finger each with its own degree of freedom If only R Finger2 M1 is present SIMM will create the proxi mal finger joint with a degree of freedom and make the two distal joints dependent on the proximal one so that all three joints will flex when the proximal one does Any combination of the optional markers can be used to create a hand model with the desired degrees of freedom All of the op tional hand markers are defined as fixed in the model file This means that the offsets specified in the file are used for solving motions the Mo tion Module does not overwrite them and thus you should place the markers on the subject according to how they are shown in the figure be low H 23 Appendix H SIMM Motion Module Cortex 1 0 User s Manual Figure H 6 Critical and Optional Markers for Hands R Finger3 M3 O manj fo N wal Z5 R Finger2 M2 he a R Finger2 M1 ss iJ a we z Ne J R Thumb M3 Co O Aiiand R Radius R UIna RWRA RWRB R Wrist R Wrist Lateral R Wrist Lat RWRI critic
390. reatest potential problems are shoulders the rear neck ster num mid back and the root A tank top shirt may be used to expose the shoulder neck and sternum The root marker should be placed low on the spine in an area below the belt line where there is usually very little cloth ing movement If a mid back marker is used the shirt should be rolled up and taped to expose the back If skin cannot be exposed for all marker placements then tight fitting clothes or a motion capture body suit should be worn Have the subject perform some of the motion capture moves within the capture area If markers have been placed on the subject go ahead and capture some data This would be an ideal opportunity to use a stopwatch to time the duration of each move These trials can give the Cortex user an indication of potential tracking problems and if this data is taken all the way to the animation software it will allow the artist to see how well the data fits their models Finally instruct the subject to speak up during the motion capture if there are any problems with the markers If markers become loose they will need to be reconnected more securely with tape or rubber bands 4 2 Cortex 1 0 User s Manual Chapter 4 Planning a Motion Capture Session Job Assignments and Tasks During the Session Director The director ensures that everyone involved is prepared for the capture session and controls the session including instructing and crit
391. reaves trb d Tracked the data by finding frames where the template identified the markers and used rectify to identify all the markers over all frames Filled in data where necessary In the Greaves example go to frame 1 select Template ID select all frames and then select Rectify This will ID all the markers over all the frames 9 10 Cortex 1 0 User s Manual Chapter 9 Motion Capture Tab Note e When fully tracked deleted all unnamed markers and saved the result to a TRC file f Used Virtual Marker Join to reconstruct missing markers and saved this back out to the TRC file g Used the final TRC file to create skeleton for import into Maya From the above procedure you can see how the TRB files were used to track visible markers as much as possible Then all marker reconstruction was done using TRC files You can see the difference by loading for example the JohnTem plate prj and then loading the FiveStars1_John trb and comparing that to what you see when you load FiveStars1_John trc It is important to keep the project files in a particular order for each time the MTO function is performed for a given data set 9 11 Chapter 9 Motion Capture Tab Cortex 1 0 User s Manual Output Panel Figure 9 5 Output Panel The Output panel is used when the motion capture recording is initiated It is set by the following procedure Choose the output file type at least 1 Enter a file name Set
392. rkers Missing marker data for the head is joined using Join Virtual definitions with any three of the other markers Typically the upper arm segment is defined by three markers Elbow Bi ceps and Shoulder Ideally a fourth marker on the Triceps would be present If not a marker on the forearm can be used as the plane marker for Join Virtual data If the shoulder data is missing you may use the markers for the top of the neck sternum or mid back to calculate the Virtual Marker data for the shoulder If you know of movements that are going to obscure the markers on a hand or foot you may want to set redundant markers on that particular segment For example if all lateral side markers on a foot are obscured from a sub ject laying down in a prone position you may apply redundant markers to the medial side to provide the data for that segment The hand will use the same technique with maybe a few less redundant markers on the opposite side 10 27 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Data Painting For an example of a project with Join Virtual definitions for all markers see the 6Eagle_VirtualJoin directory in C Program Files Motion Anal ysis Cortex50 Samples Data Painting allows you to directly manipulate the data in the XYZ Graphs pane Simply press Ctrl Shift and left click to modify or add data directly on the screen Since the outcome of using this feature is un certain for each user
393. rmitted for marker images If an image size falls outside these limits no centroid will be calculated for it and it can never become a marker image Sets the minimum number of scan lines a marker must occupy on the camera s sensor for it to qualify as a marker The value of the parameter entered is dependent on the size of the markers and the distance the cam era is away from the markers A typical value for a 1 inch marker would be 2 For Eagle 4 cameras these values will generally double to 4 lines per marker Sets the maximum number of scan lines a marker must occupy on the camera s sensor for it to qualify as a marker Again the value of the pa Cortex 1 0 User s Manual Chapter 9 Motion Capture Tab Use Per Camera Settings Shape Analysis Tracking Parameters Max Residual mm Max Target Speed mm frame Marker Size mm Max Prediction Error mm Min Cameras To Use ICorrectly Identifying Markers Automatically Motion Capture Mode rameter entered is dependent on the size of the markers and the distance the camera is away from the markers A typical value for a 1 inch marker would be 50 This check box provides a quick way for a user adjust the Threshold and Brightness settings for individual cameras as set in the Tools gt Settings Cameras tab Filters out the centroids of blobs that are not round e g a marker is par tially obscured or two markers have merged Tracking parameter
394. rocessing win dow stop changing significantly or begin getting larger 9 When everything looks good and you are ready press Accept If the calibration still does not meet the desired values you can press the Reject button You may have to do one part or all of calibration again Note It is possible to calibrate with previously collected files 10 Save the project File gt Save Project e When you press Accept in the step above you will get two mes sages stating Calibration has been saved This message indi cates that the project is saved to a system folder You need to select File gt Save Project in this step since the system folder will be overwritten each time a calibration is done 2 5 Chapter 2 Quick Start Tutorial for Movement Analysis Applications Cortex 1 0 User s Manual Possible Problems with Calibrations How to Solve Setup Analog Wrong placement or measurements of the calibration L frame Verify all measurements and x y and z axes that are set Check the brightness of the cameras and the use non use of masks Remember to limit the use of masks and make them as small as possi ble if they are in line from the camera through the intended capture volume If any markers go through a masked area the data will be ignored Too many extra marker images are possible causes for a bad calibra tion Watch out for anything reflective such as extra markers reflec tive material on shoes shiny floor
395. rofile is selected from the profile list and make it the current profile Delete Selected This will delete the profile selected in the profile list Deleting the current profile is not allowed Save Current This will save the current profile Saving is also done automatically when the application closes 6 8 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Layouts Menu Data Views Menu Save Current As A prompt to enter a profile name will be displayed A profile with that name and the current settings will be created and made the current profile Note the current settings are not necessarily the same as the settings for the current profile If any settings changes have been made prior to the Save As these will be reflected in the new profile and not the current pro file Import Selected This launches the profile import dialog This allows portions of another profile to be loaded for use with the current profile Exit Allows you to exit the Cortex software Make sure you have saved the current project and tracks files The items in this menu are generally self explanatory The Cortex interface can accommodate up to four simultaneously open data views and can be resized with the mouse to fit the panes however you desire You can view combinations of six different graphical panes which include Color Video F1 Displays the live action in a capture volume or a replay of an AVI file
396. roject This is not editable Allows you to select and edit which marker is the first end point of the link definition To edit click on the property and select from the drop down menu Allows you to select and edit which marker is the 2nd of two end point of the link definition To edit click on the property and select from the drop down menu Displays and edits the color associated to the link in the 3D View To change the color click on the color property and select from the drop down menu The Extra Stretch factor is the amount in percent refer to Figure 11 8 that a link is allowed to stretch beyond the measured template The tem plate is usually measured from a Range of Motion capture and that motion is not always an adequate representation Data captures often push the body closes to its limits The Extra Stretch gives an appropriate margin to allow real captures to go beyond the template Figure 11 8 Link Property Values Markeri M_TopSpine Marker2 M_LShoulder Color m1 Extra Stretch 0 What confuses the user most is that rigid body parts the head is a good example will not have their markers move around much no matter what data you use to create the template So almost any template will work to give you values with high confidence Conversely if you have links that are stretchy it s easy to not get a good template for it and so your confi dence in the template will be less Because of this many users think t
397. rst column of the importVariables txt file must be terminated by a tab character SIMM considers all characters from the beginning of a row until the first tab character to be the name of the im port variable SIMM does a case insensitive comparison when matching variable names defined in importVariables txt with variable names in an analog data file Therefore the name Rt Tibialis would be considered the same as rt tibialis The second column in a variable definition specifies the type of the vari able It must be one of the following keywords force_ plate mus cles or other_data These keywords must be lowercase Following each keyword is information describing the variable This keyword specifies a ground reaction force variable It must be fol lowed by three values 1 The forceplate number 1 2 3 etc then 2 The keywords force or moment then Cortex 1 0 User s Manual Appendix H SIMM Motion Module 3 The channel component x y or z for AMTI or Bertec forceplates or x12 x34 y14 y23 Z1 z2 23 z4 for Kistler forceplates This keyword specifies an EMG variable It must be followed by one or more SIMM muscle names The keyword mvc may optionally appear after the last muscle name If mvc appears then it must be followed by an integer number that SIMM uses as the voltage for the maximum voluntary contraction when scaling that EMG channel If no MVC value is speci fied then the channel is scaled such
398. s Code Image Description Master Camera This display code with the active LEDs in the four corners indicates that the camera has been set as a master camera The ringlights are ON which indicates that Connect To Cameras on the Cortex interface is active Yellow Red and Green ON numbering indicates that the camera is in an idle state powered up but not connected Red number displays indicate that the camera is either disabled out of sync or that there is a hardware problem within the camera Standard Camera This display code has no active LEDs other than those set for the number display LEDs This indicates a standard operating camera 7 8 Cortex 1 0 User s Manual Chapter 7 System Tab Table 7 1 Eagle and Hawk Camera Display Codes Code Camera Ready for This display code with the active LEDs in rom bin Download Press Download This display code with active LEDs in an Image Description a Slash through the display number indicates that the Eagle camera is ready to accept a new rom_date bin file This display code will be go away after the new software has been installed and the camera is rebooted arrow and rectangle pattern indicate that the Download button in the Download FTP window is ready to be pressed Rom bin Download in Progress This display code indicates the progress of the download process The number of activated LEDs wi
399. s If you have more you can mask out extraneous data points To mask press Pause While in one of the 2 D views press the mid dle mouse button and hold it then drag a square over the bad data to mask e To cover all areas in a large capture volume you may need to aim some of the cameras where they will not see the Calibration L frame The Cortex software will then calibrate these cameras dur ing the wand calibration procedure 6 Check the 3 D display and camera locations e If it is not already set right click and select Show Cameras All of the cameras should be in the correct place 7 Optimize the camera positions and their orientation e New camera positioning should be done at this point if needed e Right click in the 3 D view and select Show Camera Field of View You will probably have to change the length of the field of view to more than the default value of 4000 4 meters This adjustment slider is found in the Tools gt Settings gt 3D Display tab Try 9000 9 meters e Turn the capture volume on by right clicking your mouse in the 3 D view and selecting Show Volume This volume is a visual aid helpful in this process of aiming the cameras properly The volume dimensions are entered under Tools gt Settings gt Cali bration gt Capture Volume tab in the window e You camera field of view should cover the desired volume Try and align edges of the volume box with edges of the camera field of view This may require
400. s debris in carpeting and sunlight coming in through windows If calibration problems persist contact support motionanalysis com In the System gt Analog panel right click on the Name column Scroll down to Channel type names and select the type of Force Plate that you are using or if you are looking at lower body muscles select Muscles Figure 2 4 System gt Analog panel Channel Type Names Cameras Analog 7 Kistler AMTI Bertec KyowaDengyo AMTI AccuGait L Rectus Muscles L Hamstring Clear Channel L Lateral Ham L Medial Ham L Gastrocnemius L Tibialis Ant L Tibialis Post L Vastus Medialis L Vastus Intermedius L Vastus Lateralis L Peroneus Brev L Peroneus Long L Hip Adductor L Glute Max L Glute Med L Rectus i R Hamstring R Lateral Ham R Medial Ham R Gastrocnemius R Tibialis Ant R Tibialis Post R Vastus Medialis R Vastus Intermedius H R Vastus Lateralis R Peroneus Brev R Peroneus Long R Hip Adductor R Glute Max R Glute Med Clear ALL Channels Activate ALL vj 10 VY 4 10 Y vj 10Y v 10V Mv 10 vj 10V vj 10V v 5Y ibialis Ant vj 5Y 7 v v x 7 v v v 4h SV 5 h SV 5 e SV 5 H 5V 5Y lt Multiple of Frame Rate 20 Current Sample Ra
401. s COM port to the COM port of your computer COM2 may also be used Launch HyperTerminal If you have installed Cortex there should be a file named EagleCOM1 ht in the folder containing the Cortex exe cutable for example C Program Files Motion Analysis Cortex EagleCOM1 ht Double click on the HT file name and HyperTermi nal should launch If you are on a different computer look from the Start Menu under Programs gt Accessories gt Communications gt A 8 Cortex 1 0 User s Manual Appendix A System Hardware Interconnections HyperTerminal This allows you to view and type messages to the software in the Eagle or Hawk camera You must quit Cortex or uncheck Motion Capture gt Output gt Enable External Trigger to free up the COM1 port COM port settings 9600 8 N 1 Boot up the camera by plugging it into the CP 8 Power Hub or turn ing the power off and on to the CP 8 Power Hub After a few seconds you should see messages similar to the following example kK kK k KK KK KK KK KK KK KK KK KK KK MAC Camera Control Program Camera Configuration version 1 4 copyright c 2003 Motion Analysis Inc NET WORKS Version 3 00 copyright c 2000 NETsilicon Inc kK kK kkk k KK KK KK KK KK KK KE KK KK OK Serial channel used for diagnostics will use a baud rate of 9600 After the camera board is reset the camera will wait 5 seconds for the user to signal any changes on the keyboard Press any key wit
402. s Customer Support Launch Notepad Wordpad or your favorite ACSII text editor Navigate to C Program Files Motion Analysis Open the mac_lic dat file Add the new line beginning with Cortex 1 0 from your new license to the bottom of your current license as shown below Pons Figure 1 3 Sample Motion Analysis License File Motion Analysis License File Customer MAC Customer Platform NT SystemID 19c Created 9 15 20xx 1 42 26 PM Sales Order 08 xxx Entered By Support Cortex 1 0 aed50167 873b2d56 Analog Input b9806c31 d1567841 OrthoTrak b2df5e69 8964274a Animation Plugins b1a50160 805b5c49 Director Sequencer ela04e65 85745819 RT2 Animation Plugins e3 05340 a069081b Analog Input b9806c31 d1567841 Calcium 4 e7ed5923 c363151f Skeleton Builder 4 a3 44279 99780c5b Reference Video 3 0 eb92592f cf636al3 Talon Streaming 4 ecb36136 d65b4b14 Talon Viewer 4 86 b0714 43d037e Motion Composer c7 00e25 c534083f This license has no expiration Chapter 1 Introduction Cortex 1 0 User s Manual If You Install a Dongle Operating Systems in Different Languages Computers with a new dongle installed need to load the dongle drivers so that the application will detect the dongle You can choose to install the dongle drivers when initially installing the Cortex software or you can run the drivers independently by running the program in the Sentinel Drivers directory under the
403. s a new project 8 15 Chapter 8 Calibration Tab Cortex 1 0 User s Manual Note 11 Press Run to start Cortex again You should now see lower residuals and fewer ghost markers There are a few things to be concerned about Since this behaves just like a wand calibration and if the subject does not fill the volume during the Refine trial the calibration can be poor and even worse than before the Refine If the subject spends a lot of time in one area and not much in an other it can also be poor If the markers are not identified then there is no information for the Refine so ensure that the subject is identified Save the Refine as a new project e g Refine prj so that if the new calibration is not as good as before you can go back to the previous project file The other thing to remember is that the Refine does not guarantee that the scale is exactly maintained It just optimizes the camera locations to track the markers better In effect the scale of the room may change slightly The reality is that Refining once does not change the scale It is not rec ommend to do many Refine Cameras in a row to improve the results since this may change the scale You do not need an identified stick figure to refine you only need to see 3D unnamed or named markers to refine the calibration You can use any 3D data points to Refine the calibration There does not need to be a template or a stick figure Any data that fills the v
404. s are used when correlating the images from several cameras to establish marker coordinates in three dimensions Is the maximum average error when rays from several cameras are com bined to establish the coordinates of one marker If the residual exceeds this amount it is assumed that these rays are not close enough together to be seeing the same marker This parameter value should not be less than 4 times and no greater than 8 times the average residual value The aver age residual value is found in the lower left corner of the screen when the cameras are running A typical parameter value is 5 mm Sets a speed limit on the markers A marker s track is eliminated when it surpasses this value When tracking the tip of a golf club or other object with fast moving markers it is possible that this value will need to be in creased A typical parameter value is 100 mm frame Limits the size of the markers so that higher residual cameras do not see more than one centroid for the same marker This parameter should be set to the physical size of the markers in use 25 4 millimeters 1 inch This parameter will also set the size of the markers that appear on the 3D View Is is used to identify a marker in the next frame While the software is tracking a marker it is assumed that it will not deviate by more than this amount along its path Otherwise the marker will not be identified in the frame A typical parameter value is 30 mm Tells the s
405. s head Remove the subject and stool from the capture zone and position the calibration L frame within this zone The square is now located where the subject s head was located Adjust the square s position so each camera sees as many calibration markers as possible Remember that the subjects s face will be within this calibrated space during motion capture Mark the floor with tape where the feet of the light stand are positioned This will facilitate quick recalibration if it becomes necessary As an alternative you may put the facial calibration L frame against a wall calibrate and then capture as long as the subjects face is within 1 foot of the facial calibration L frame D 2 Cortex 1 0 User s Manual Appendix D Capturing Facial Motion Figure D 1 Three and Four Camera Facial Motion Capture Setup Note This setup is given as a minimum for the required setup Overhead View 4 Camera Facial Motion Capture Setup Upper Camera Lower Camera aiming ae a oe Va aiming upward See Figure D 2 for another look at this setup D 3 Appendix D Capturing Facial Motion Cortex 1 0 User s Manual Marker Placement Head The number and placement of markers for facial motion capture is depen dent on the animation character s face model and the animation software used to apply motion to the model If a human face is to be animated the markers should be placed at the major motion points on the fa
406. s you to select all markers at once for Identifying Selected Markers Pull Down Selection Allows you to select specific markers for Identifying Template Rectify Uses the defined template and identified current frame to ID markers over the selected frames gt Option All or selected markers Marker ID The user selects a marker in Marker Set list to identify that marker in the 3D view Marker ID is the same as Quick ID without the auto increment feature Exchange Exchanges the 3D positions of two selected markers Exchange requires that exactly two markers are selected The data is ex LV changed between the markers within the selected frames Cubic Join Calculates the values to place in the gaps with a cubic spline If you man ually select the endpoints of the gap before executing the join the func tion will fill the gap with a linear interpolation because the second deriva tive at the endpoints equals zero Join Linear Selecting this will automatically fill a gap in selected frames of the XYZ marker data with linearly interpolated data os oo o 10 15 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Virtual Join Calculate Virtual Markers 2 oO lt gt Smooth e 3 Make Unnamed My Rectify Unnamed Cr Delete Unnamed W The assigned Virtual Join definitions will be applied to XYZ marker data for the selected markers over the selected frames For
407. saved in the Cortex project file See the OrthoTrak Reference Manual for OrthoTrak muscle name con ventions The OrthoTrak muscle names are built into the analog display They can be selected in the same manner as with the force platform man ufacturer and channel B 4 Cortex 1 0 User s Manual Appendix B Analog Input Hardware and Software 32 Channel 16 Bit NI USB 6218 Configuration Note The following has been tested on Windows XP Pro and Windows Vista with the latest web based updates from Microsoft The Cortex software will support up to 6 USB devices and up to 192 channels of analog input USB 2 0 ports work best USB 1 0 ports will also work but with reduced data rates Note Up to 2 A D devices can be installed into the host computer The Sync Cable must be connected to both devices Figure B 1 32 Channel 16 Bit A D Hardware Setup for the USB 6218 A D Master Camera Host Computer Eagle Hub Ethernet Cable Eagle Hawk Camera Cable Master A D Sync Cable USB Cable 000000000 O00000000 000000000 NI USB 6218 or NI USB 6259 First Install the Before you plug the NI USB device into the host computer you must first Software install the NI Acquisition software For using the NI USB 6218 A D de vice you need to have the NIDAQ software version 8 3 or later in stalled Run the National Instruments software installation accept all the defaults then let it finish
408. sed as having various degrees of freedom For example if a single marker placed on the right shoulder is used to define the origin of the right upper arm and we track this marker through space creating a trajectory we will express the move ment of the right upper arm origin as having 3 degrees of freedom trans lations in X Y and Z If we add another marker to the right elbow and track it along with the marker on the right shoulder we can now express movement of the right upper arm segment as having 5 degrees of freedom translations in X Y and Z and rotations in X and Z This assumes that the Y axis extends from the right shoulder to the right elbow If we add a third marker to the right wrist and track all three markers we now have 6 degrees of freedom for the right upper arm segment 11 18 Cortex 1 0 User s Manual Chapter 11 Model Edit Tab Figure 11 12 Marker Number vs Degrees of Freedom One Marker 3 Degrees of Freedom A single marker can have a maximum Translation of 3 Degrees of Freedom X Y amp Z Translations in X Y and Z over time Translation Two Markers 5 Degrees of Freedom X Y amp Z Side to side 3 Markers 6 Degrees of Freedom Translation R ion h n i X Y amp Z otation about the bone axis Side to side 11 19 Chapter 11 Model Edit Tab Cortex 1 0 User s Manual Figure 11 13 Examples of Hinge Joints Knee Modified Hinge Joint Secondary Rotation about the bo
409. sented as a time line in an Editor area and a 3D character in a Viewer area By simply pointing and clicking with the mouse the animator can slide a move backward or forward in time in the Editor area In the Viewer area both the position and orientation of each figure can be modified Two moves can be joined together so that there exists a user defined region where one is blended into the other Finally any part of a figure s motion can be hand edited to give the animator complete control of the finished animation Each move is stored as a Hierarchal Translations and Rotations htr or HTR file which contains motion data for a hierarchical skeleton After all moves have been choreographed they are once again saved as HTR files which can then be used as input to one of the popular animation software packages to generate the final animated scene Chapter 1 Introduction Cortex 1 0 User s Manual SIMM Applications SIMM Software for Interactive Musculoskeletal Modeling is a software system that enables you to create and analyze graphics based models of the musculoskeletal system In SIMM a musculoskeletal model consists of a set of bones that are connected by joints Muscle tendon actuators and ligaments span the joints The muscles and ligaments develop force thus generating moments about the joints SIMM allows you to analyze and test a musculoskeletal model by calculat ing the moment arms and lengths of the muscles
410. ses the currently defined Template from Create Template to fit the link ages into the current frame s marker cloud If it succeeds it tells you the number of tests on the Status Bar lower left side of the screen it took to complete It may also fail or time out in which case you should make sure all of the markers are present on the current frame or perhaps re make your template It only changes data on the current frame if it is suc cessful You can then use Template Rectify to get the correct IDs to other frames 10 20 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Figure 10 14 Template ID Details Summary of When To Use What 10 20 30 1 1 Emu Le TemplatelD 244 tests How good is the Template You can tell how good your template is by how many tests it takes for the Template ID function to work A low num ber means it is working quickly low is say 500 A high number 5 000 or more means the software has to try very hard to ID the current frame It stops trying after about 50 000 tries in Connect Live mode and times out and gives the message Template ID Timed out In Post Pro cessing mode it will not time out until 500 000 tries That means it did not get to try out all possible linkages A large number indicates a poten tial problem It might be because the current frame is stretched beyond the template or in a much different actor position or it might be because the Template
411. sh Deformation Mesh deformation is a direct manipulation of the facial mesh Markers are placed on the mesh and connected such that as the marker moves around so does the mesh Each marker is given an area of influence on the mesh areas of influence may overlap that fades away the farther away the mesh is from the marker Within any particular animation system this technique is often identically the same as what is used to do full body skinning This is not to be confused with clustering where groups of markers are lumped together under one control handle the cluster For example as the handle moves around so do the markers as a single group Clustering is frequently used in facial animation but usually as a way of creating faces used for morphing Figure D 3 Face Model in Base Position with a Set of Markers D 9 Appendix D Capturing Facial Motion Cortex 1 0 User s Manual Figure D 4 Face with Motion Capture Data Applied to the Markers Morphing As the markers move around they pull the mesh with it Care has to be taken on the areas of influence especially around the mouth so that markers affect only what they should affect The upper lip markers for example should not influence the lower lip Mesh morphing is by far the most commonly used facial animation tech nique It is an extremely powerful and easy to use technique Like with the mesh deformation technique an animator starts with a base face Cop ies of th
412. shold slider 7 12 Thresholds Adjusting 7 12 Time Code 6 18 6 53 10 3 Time Code Counter 6 49 Time Lines 6 22 10 29 Time Series Files G 16 Time Zoom Method 1 6 51 Method 2 6 51 Time Zoom Slider 10 3 To Reconsider 6 20 9 4 Tool Menu 6 30 tools 6 3 Tools gt Settings 6 11 Tools Menu 6 11 Track Row Column G 3 Tracked Data Editing 10 1 Viewing 6 33 tracked marker files cropping ends H 4 opening H 2 Tracking 6 41 With More Than 8 Cameras 5 14 Tracking mode 6 50 Tracking Panel 9 2 Tracking Parameters 9 2 Translating 6 51 TRB G 18 TRB file 6 31 TRB TRC files see tracked marker files Index 8 TRC G 3 Data Header G 4 Empty Fields G 4 Example G 4 File Header G 3 Position Data G 4 Tree View Panel 11 4 Trial 4 5 Trim Capture W Options 6 4 tripod mounting points 5 17 5 18 5 19 Troubleshooting Diagnosing Camera Problems 5 24 Eagles and Hawks 5 24 Ethernet A 4 TS G 16 Typical Camera Setup 5 11 U ndo 10 17 ndo Tab 6 17 nhide Markers 10 18 niform Scale 10 4 nload Tracks Button 6 55 nnamed Markers 10 11 pdate Model 12 4 pdate Model Pose 12 4 pdate Model Pose Markers 12 4 se Joint Limits 11 16 se Per Camera Settings 9 3 ser Apps Overview 12 1 13 1 14 1 ser Interface 6 1 6 2 4 4 4 4 4 4 4 4 cccccococococo V VC file 6 31 Viewing Your Data 10 2 Virtual Join 10 16 Virtual Marker Types 11 17 Virtual Marker Definit
413. should select the analog file as well in the file browser The same holds for XLS files which are not actually analog files but are treated similarly XLS files can contain other data corresponding to the recorded motion such as kinetic data cal culated by OrthoTrak and stored in a single trial spreadsheet SIMM can recognize three types of analog data ground reaction forces EMG activation levels and other data usually kinetic data from an XLS file These data types and how they are interpreted by SIMM are described below SIMM displays forceplate data by drawing a vector in the model window at the appropriate point of application and with a size corresponding to the magnitude of the force Forceplate data in an analog file are voltages mea sured by forceplate transducers These voltages are converted into forces using a calibration file forcepla cal This file is the same one used by EVa Cortex and OrthoTrak To use it with SIMM you should put a copy of it in the same folder as your motion data or in the folder SIMM Re sources mocap misc If you have only one forceplate configuration for your motion capture system it is preferable to put forcepla cal in SIMM Resources mocap misc rather than copying it into every folder of motion data C3D files that contain force plate data also contain the calibration infor mation for the plates Thus there is no separate calibration file that SIMM reads when importing C3D files
414. skeleton definitions from the animation package Create SIMM Calcium Skeleton JNT File calculates and stores a JNT file which is scaled to the subject s bone sizes This JNT information is also stored in the current project file when saved to memory 6 5 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Load Marker Set Can be used to load a previous marker set into a new or newly calibrated project Load Calibration Can be used to load a new set of calibration information into a project Load Analog Setup Can be used to load a new set of analog setup information forceplates EMG and others into the current project Import C3D File C3D is a file format used by some application for storing motion and ana log data The C3D File Import Dialog allows data stored in this format to be imported into Cortex Some information about the capture configura tion is needed to convert C3D into the corresponding MAC file types Figure 6 4 Import C3D File Interface C3D File Import Import Options Create prj file Create forcepla cal file Create tre file Create folder for files Create anbfile C Get marker names from desc Analog Data Bit Depth Marker Data Up Axis 12Bit 16Bit OvyuUp ZuUp Channel Settings FIX 10 FIY 10 FIZ 10 MIX 10 Pali alia ic MIY 10 M1Z 10 F2x 4 10 F2Y 10 F2Z 10 M2x 10 S IES LS SLE lt Corte
415. spect to each other and looks for this pattern in the Un named marker to automati cally assign them names It will stop if either of two conditions are met 1 It cannot find at least 3 of the markers of the Rigid body on a frame so use more than 3 marker if you can 2 The measurements stretch too much It can be re started on a new frame if needed The selected markers must be identified on the Starting Frame The characteristics of Rigid Body Rectify are as follows e Measures all markers in the selected Rigid Body on the Starting Frame e Uses All or Selected Markers mostly used for Selected Markers e Protects all named markers will not switch them e Works only to move Un named markers into the Named marker slots here all the markers are locked e Does not use Linkage Stretch Parameters in Motion Capture gt Tracking Rectify Unnamed Rectify Unnamed sorts the Un named slots into continuous paths based on path continuity similar to the tracking function No templates or link ages are used Path segments separated by 10 or more frames are consid ered to be separate paths and will not necessarily be continuous This is used to clean up the Unnamed path segments and can make the Marker ID function work more smoothly It means you may not need the Rectify Al ways On check box in Marker ID and Quick ID Items First try the Rec tify Unnamed function then try the Marker ID function for the problem areas Template ID U
416. t Use Raw Files _ Reset os m W V Identifying J Join virtual E C Skeleton New Subject a a ts i te not match the skeleton si Camera Network IP 0 0 0 0 v Reboot All Cameras 9 E WARNING The kinetics segments do segments in this project file Jeores zup Unitsimm anaiog 1200 00 Hz You can adjust the depth of the camera view by moving the slider in the Camera Depth of Field function in Tools gt Settings gt 3D Display This does not change the depth of view the camera will have It only provides a visual aid to determine if an object at a particular distance will be in the camera s field of view 5 12 Cortex 1 0 User s Manual Chapter 5 Camera Setup 8 To see the capture volume right click in the 3D view and then select the Volume check box from the 3D Display Show Properties window Figure 5 11 Show Volume Volume 5 13 Chapter 5 Camera Setup Cortex 1 0 User s Manual 9 To See the camera coverage in the volume select the Camera Cover age check box in the 3D Display Show Properties window See Fig ure 5 12 Figure 5 12 Show Camera Coverage Cortex 1 0 0 Walk prj Walk3 trb G File Layouts DataViews Tools Help 0 000 0 System Calibration Motion Capture Post Process Model Edit Plugins Camera Coverage 3D Display Shw Properties Subjec
417. t Markers Links Marker Names Trajectories Virtual Markers Skeleton Skin Skeleton Axes Forces BackCalc Model Pose Kinetics MarkerSet Names Marker Numbers Unnamed Markers Linear Velocity Linear Acceleration Angular Acceleration Gravity Vector World 7 Cameras Camera Rays Cam Field Of View Floor Volume Video 7 Camera Coverage View Center Keep Centered Mirrored Auto Rotate Relative Perspective View Orthographic View Segment Center of Mass Angular Velocity Global Center of Mass Down Events Additional Settings Cameras Analog tracking Connect To Cameras Q Disconnect Use Raw Files Raw Settings i Reset Ibs Ml W V Identifying _ Join virtual o j Run E m C Skeleton 00 00 00 00 New Subject l AlOn a se E ey ee ee Note Tracking With More Than 8 Cameras 4 WARNING The kinetics segments do not match the skeleton segments in this project file eo Shutter Speed 1000 1 sec Frame Rate Using Hardware Syne Using Sunlight Fitter
418. t The Real Time Join Virtual check box in the Real Time dashboard elim Processing inates what might be seen as a possible pop on the frame when the real marker re appears At that time the Virtual Marker filling the gap is no longer used In the post processing Join Virtual mechanism the offsets between the marker to join and the Join Virtual Origin Marker are measured both at the start of the gap and the end of the gap and a linear interpolation is used for all in between data points The result is always a perfectly fluid transition on both ends of the gap The Join Virtual mechanism is a powerful tool in creating and editing data quickly with good results It is the result of working with our customers to define and develop techniques to get good motion capture data quickly and efficiently Reset IDs Button The Reset IDs button forces the current template to be used for that spe cific frame It is used when a marker is misidentified Press this if you see markers that are incorrectly identified If this fails to fix the problem you may need to create a new template or adjust the marker set to be less sym metric After pressing the New Subject button and with the Pose ID window open the Reset ID button will use the current marker pose to identify the markers New Su bject This feature allows the software to automatically identify markers based Button on a Model Pose that you create when you make a template The result is t
419. t delete and select a range of markers The marker values that can be changed include the following Displays and edits the name of the selected marker Displays the marker number in the order the marker appears in the marker list This is not editable This is not used at this time Displays and edits the color associated to the maker in the 3D View To change the color click on the color property and select from the drop down menu This is not used at this time The 3D coordinates of the marker in calibration units at the frame number where the marker is selected It is not updated with every frame change but is updated when you select the marker Figure 11 6 Marker Parameters Name M_RElbow Index 13 Size Color i 3 Weight 1 x 517 037 Y 133 389023 Z 1087 20569 11 10 Cortex 1 0 User s Manual Chapter 11 Model Edit Tab VMarkers Name Index Type Origin Marker Long Axis Y Plane Axis XY X Offset Y Offset Z Offset Selecting VMarkers in the Treeview allows you to make changes to the virtual markers in the current project file The VMarkers property values that can be changed include the following Displays and edits the name of the selected V Marker Displays the VMarker number in the order it appears in the list of VMarkers for the project This is not editable This provides a way to select which type of virtual marker to be created Two Point Ratio Two Point Val
420. t pulse There are 1024 different levels of shutter speed control 7 2 Cortex 1 0 User s Manual Chapter 7 System Tab Using Hardware Sync Using Sunlight Filter Genlocking Master Camera Current Camera Information Set as Master Note This is selected when you are capturing data at high frame rates greater than 500 Hz and the cameras are wired together with the Hardware Sync cable When activated this feature eliminates large blobs targets and one pixel blobs in the camera hardware caused by typical outside lighting The tracking parameter Max Horizontal Lines per Marker gets set as the max size allowable target in horizontal pixels This is selected when the master camera is synced to an external video source either NTSC or PAL To enable the feature you must have a li cense feature installed in your mac_lic dat license file that looks some thing like the following line Eagle Genlock 9c3856f6 782cb125 Please contact support motionanalysis com if you need this license item To turn it ON check the box called Genlocking Master Camera in the System gt Cameras panel When this is done the Master Camera which can be any of your Eagle Eagle i Hawk or Hawk i cameras must have an analog video signal black burst or other signal applied to the camera This is done using the BNC connector of the 2 meter long Eagle Test Cable that came with the Motion Analysis system It connects to the mas t
421. t File on page G 3 Chapter 11 Model Edit Tab Cortex 1 0 User s Manual Markers Panel The Markers panel is intended for building and modifying marker sets Figure 11 1 Markers Panel Markers TreeView Clear MarkerSet Create Linkages for Template LID BEE Marker Names N 1 M_TopHead 2 M_L_Head 3 M_B_Head 4 M_R_head 5 M_F_Head 6 M_RShould TEA 7 M_LShoulg diac 8 M_TopSpit Delete 10 M_FLShoulder 11 M_FChest 12 M_RBicep 13 M_RElbow 14 M_RForearm 15 M_Rvrist 16 M_RPinky 17 M_RThumb 18 M_LBicep 19 M_LElbow 20 M_LForearm 21 M_LWrist 22 M_LPinky 23 M_LThumb 24 M_Midback 25 M_ShoulderOffset 26 M_LowBack 27 M_RootOftset 29 M_BRHip 30 M_BLHip 31_ M_FRHip E 32 _ M_FLHip 33 M_RThigh 34 M_RKnee 35 M_RShin 36 M_RAnkle 37 M_RHeel 38 M_RMicfoot 39 M_RToe 40 M_LThigh 11 2 Cortex 1 0 User s Manual Chapter 11 Model Edit Tab Clear Marker Set This button clears out the project s marker set linkages and skeleton defi Button nitions Create Linkages for This button must be clicked prior to creating linkages on the 3D View Template Button Linkages can be built by connecting the dots Linkages should reflect the rigid or semi rigid lines to aid in the template identifying mechanism Marker Names Marker names are accepted in the markers grid when you press Enter on the keyboard Marker Color Allows th
422. t can be applied to tracking data Each filter affects only the currently selected markers over the currently selected sample range All three dimensions X Y and Z of each marker are smoothed To access the options dialog select the Post Process gt Options button 10 5 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual Figure 10 3 Tools gt Settings gt Post Process Tools gt Smoothing Tab Settings Calibration Cameras Playback 3D Display Post Process Tools Misc Id Params Plugins S ing Search Undo Fitter Type Butterworth Freq Hz O 3 Point Average 5 Point Average Fost Process Tool Strip Settings 10 6 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Butterworth The Butterworth filter is a low band pass filter with excellent mathemati Filter cal characteristics for biomechanical motion The purpose is to remove high frequency motions motions that are too fast for a person to actually perform while leaving intact the frequencies of motion normal to human movement The user has the choice of selecting how aggressively the fil ter will smooth the motion by choosing a frequency value Lower values will cause a very smooth result while higher values will remain truer to the original data Figure 10 4 An Example of Original Unfiltered Data with Some Unwanted Error 448 1 t7 l y i MY IF 7 os
423. t data outside of the selected frames from the selected marker s Exchange data between two markers over the selected frames Smooth selected marker s over the selected frames Join selected marker s over selected frames using cubic splines Join selected marker s over selected frames using linear interpolation Create a temporary virtual marker to fill in missing marker data Undo Undo last edit on marker data Search Search for spikes and or gaps as defined in the Search tab 6 39 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Digital Reference Video Option EVaDV Software The color Digital Video option allows you to record a time matched Ref erence Video along with your motion capture trial on a separate computer With this option you will record a time matched color video AVI file with the same trial name in your motion capture folder A separate com puter is used in order to not burden your Cortex Host computer which is an issue if your computer is too slow for the number of markers being tracked For single person captures you may connect the DV Camera di rectly to the Cortex Host computer In this case the EVaDV software is not needed It is built into the Cortex software You can run EVaDV on one or more computers and then capture multiple AVI files multiple views They will all have the same AVI file name You may experience a small delay in frames from the Cortex software and the EVa
424. t is recommended that all 4 mark ers on the calibration L frame are seen in only 1 4 to 1 2 of the cam eras You can then use the Extend Seed function see Extending the Seed Calibration on page 8 18 to calibrate the remaining cameras Note When more than 5 or 6 cameras see the same marker the accuracy of tracking is not increased and computation time increases 3 Camera views should not include areas outside the capture volume to ensure the highest possible spatial resolution The number of cameras in a typical motion capture setup can be as few as 2 or as many as 250 The following provides some guidelines for deciding on the number of cameras to use In the following figures all measure ments are in meters 6 Cameras For motion capture involving only one subject where the occlusion of markers is not a problem six cameras may be adequate This configura tion is often used for gait analysis and other similar biomechanical appli cations The two end cameras are often tilted so that the long axis of the view areas is vertical For optimum results all cameras should be about 2 5 meters above the floor See Figure 5 3 8 Cameras As a wider range of motion is allowed the probability of markers being occluded increases to the point that eight or more cameras are required This is the minimum recommended configuration for animation applica tions Cameras should be about 3 meters above the floor See Figure 5 4 10 Cameras In
425. t the charge amplifier before each test or at least every few tests This re establishes the zero for the charge amplifier Using Kyowa Dengyo Forceplates The Kyowa Dengyo force plate has now been incorporated into Cortex The following is a description of the procedure for calibration using the RealTime interface as well as a description of the forcepla cal for Kyowa Dengyo force plates The automatic calibration of the Kyowa Dengyo force plates is now im plemented in Cortex At the end of the calibration procedure the Real Time system creates a new forcepla cal file containing the latest calibra tion values zero cal and cal for computing the distortion conversion coefficient The calibration procedure is as follows 1 Make sure that the Kyowa Dengyo force plates are connected to the National Instruments A D data acquisition hardware with the follow ing channel assignments Table E 2 Force plate channels for Kyowa Force Plate number 1 Analog Channels Kyowa Dengyo Force Plate Channels Channel 1 FZ11 Channel 2 FZ12 Channel 3 FZ13 Channel 4 FZ14 Channel 5 FX114 Channel 6 FX123 Channel 7 FY112 Channel 8 FY134 Follow a similar connection and naming FZ21 FZ22 etc sequence for additional plates E 10 Cortex 1 0 User s Manual Appendix E Forcepla cal File Format 2 Connect the ST 100 box terminal pins 25 27 and 29 pin 24 is ground which correspond to bits 0 1 and
426. ta found in a project file are e the system setup e the marker set e calibration setup and results e linkages between markers e SkB segment definitions coordinate systems and hierarchies e optional MoCap Solver segment definitions joint types and hierarchies e camera type and parameters In most cases you will begin a session by loading an existing project file editing it as necessary and saving it in the directory where the motion data is to be saved Any time you calibrate the system or edit project pa rameters you should save the project file to disk to retain the new infor mation Important Project files contain ASCII data and it may be useful to view them using any text editor however you should never edit them in a text editor TRC Track Row Column The tre file contains X Y Z position data for the reflective markers This is an ASCII file in a Row Column horizontal tab delimited format that can be easily read into a spreadsheet program such as Excel and Lo tus The position data for each marker is organized into 3 columns per marker X Y and Z position with each row being a new frame The posi tion data is relative to the global coordinate system of the capture volume and the position values are in the units used for calibration The file is made up of three parts e the file header e the position data header and e the position data All fields in this file type are separated by horizontal
427. tall Properties Description Transmission Control Protocol Internet Protocol The default wide area network protocol that provides communication across diverse interconnected networks I Show icon in notification area when connected IV Notify me when this connection has limited or no connectivity Close Cancel 5 26 Cortex 1 0 User s Manual Chapter 5 Camera Setup d You should have Use the following IP address selected If not please make sure you have selected the proper network connec tion You may close this window and return to Step 4b The IP Address should be 10 1 1 199 and the Subnet Mask should be 255 255 255 0 If either of these is incorrect please change them Figure 5 22 IP Address and Subnet Mask Address Internet Protocol TCP IP Properties General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings C Obtai tically IP address 1 1 1 199 Subnet mask 255 255 255 0 Default gateway ee C Obtam DNS server address automatically Use the following DNS server addresses Preferred DNS server Altemate DNS server If the software has still not connected to the Camera Network use the DOS interface in Windows to Ping the cameras to verify if there isn t a hardware failure a
428. tatic trial is processed Rather the offsets in the marker defini tion in the Mocap Model file are used to position the marker on the model these offsets are scaled with the body segment however The Motion Module comes with four different Mocap Models for you to choose from Each of them contains parameters that turn on and off differ ent portions of the model depending on which of the critical markers are present in the static trial When you load a Model Model with a static trial the Motion Module reads the list of markers from the trial and sets the values of the model parameters so that the appropriate portions are in cluded For example if the critical markers on the right hand are present then the degrees of freedom in the fingers are activated If they are not present the hand is modeled as one rigid body segment with movement only at the wrist The Mocap Model that you will most likely want to use is mocap jnt This is a model of a full body with lower extremity muscles and option ally movable fingers in each hand There is also a right arm model and a left arm model rightArm jnt and leftArm jnt These should be used if you want to capture motion of one arm without any torso or pelvis mark ers Lastly mocap3D jnt is similar to mocap jnt but it includes 3D mus cle surfaces for 18 key lower extremity muscles rather than the lines of action for all 86 muscles These muscle shapes look more realistic but they do not have
429. te Hz 1200 00 2 6 Cortex 1 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications 2 If you are collecting forceplate data then select one of the forceplate manufacturers and then select one of the FP1 FP2 FPx choices available These correspond to the number of forceplates you have available to use This will automatically set 6 or 8 channel names forceplate dependant with default voltage settings for each force plate selected Note Do not enter the name of the forceplate manually Use the predetermined settings from the menu 3 For muscles it will only bring up the muscle selected The user may also specify their own name for an analog channel e g upper body muscles 4 The Range setting also has a drop down menu of varying excitation voltages These setting should match your hardware forceplates EMG system or other analog devices 5 Set your sampling rate at some value greater than the frame rate at which you are capturing video data 6 To activate the channel name simply click in the On column corre sponding to the analog channel A check mark will appear when active Note that data will not be collected if no channel names are activated 2 7 Chapter 2 Quick Start Tutorial for Movement Analysis Applications Cortex 1 0 User s Manual Marker Placement Note For the purpose of this illustration this example uses the Helen Hayes both the static and dynamic
430. te presenta tions As data is added the author simply creates a view of the data they wish to convey and stores this view as a slide Presentation viewing be comes as simple as a slideshow Figure 1 6 Motion Composer Interface en eb System Caibe anon Monon Capture Post Process Model Edt Plugrs Presentanon ireo TE S Oe OO wpVere sr SOeHAA A EE QAD irectty template Temglate Yenglite Marker ED Eicharge Ote Wud Ck Smooth Mae Aedfy Odie Ot Ot Seach OF L Oen D Meaty an ao we umani unani umed Otih sro i a ga 0 000 40 ae rreren tl eeaeee oom TESS 0 00 comm ecm EAE ema Gis pa aD aes raves ino ts Fup Oren Cortex 1 0 User s Manual Chapter 1 Introduction Digital Video Option EVaDV Software Note Note The color Digital Video option allows you to record a time matched Ref erence Video along with your motion capture trial on a separate computer With this option you will record a time matched color video AVI file with the same trial name in your motion capture folder A separate com puter is used in order to not burden your Cortex Host computer which is an issue if your computer is too slow for the number of markers being tracked For single person captures you may connect the DV Camera di rectly to the Cortex Host computer In this case the EVaDV software is not needed as it
431. teger integer integer one word string one word string one word string character X or Y or Z RX Ry Rz BoneLength LowerTorso238 320832923 726971241 2948288 8069650 0000002 422863 141 720766 UpperTorso0 000000141 7207660 000000 9 396187 0 112582 0 4 226674324 970754 LCollarBoneO 000000324 9707540 000000 8 9120410 520925 117 992062155 689602 RCollarBoneO 000000324 9707540 000000 7 516124 0 516778118 838556127 553756 LUpArm 0 000000155 6896020 000000 11 284636 3 556895 24 261557 273 483757 RUpArm 0 000000127 5537560 000000 12 990029 2 960321 24 250841285 322188 LowArm0 000000273 4837570 000000 15 450962 0 327390 5 501311 318 246332 E fs LowArm0 000000285 3221880 000000 12 465152 0 572074 5 115813 305 910223 LHand 0 000000318 2463320 000000 10 682556 5 620492 27 438027 85 440039 RHand 0 000000305 9102230 000000 5 730878 2 097665 20 038204 98 351413 Pelvis0 0000000 0000000 000000 24 672467 6 972213 127 877478122 309825 E fs Pelvis0 0000000 0000000 000000 LThigh 0 000000122 3098250 000000 39 808415 6 985094 127 739824 133 924520 12 585726 15 440180 52 153190388 012318 G 11 Appendix G Import and Export File Formats Cortex 1 0 User s Manual Beginning of Data Separated by tabs LowerTorso Fr Tx Ty Tz Rx Ry Rx SF al 1262 497925 15 182068 2245 4418950 5336240 713565 1 0697651 000000 2 1262 534546 15 109411 2245 4282230 5902200 697084 1 1088881
432. tex 1 0 User s Manual Chapter 7 System Tab Loading New This allows you to select and upload new software when available into Camera Software the selected camera Note The software loaded into the camera must be of the form rom_date bin The specific date in the file name may vary Note Hawk i cameras require a different version of the rom bin software from the other digital cameras Loading of incorrect software may cause your Hawk i camera to cease functioning The rom bin file for the Hawk i cameras is found in a folder of its own under the Camera Software direc tory To ensure of the latest software release the rom bin file will have the date and time of the program in the file name e g rom_Jun_23_2006 bin Install the new software as follows 1 Obtain the latest rom_ date bin file from Motion Analysis Corpora tion by means of either an FTP site e mail or disk 2 Copy the rom_ date bin file into the following directory C Program Files Motion Analysis Cortex Camera Software Figure 7 3 Camera Software Directory File Edit View Favorites Tools Help ay Qpak A Search i Folders E Address B C Program Files Motion Analysis Cortex Release1 0 0 0 CameraSoftware Eagle_Eagle 4_Hawk v Go Folders x Name Motion Analysis a Slrom_May_14_2008 bin 4 5 Celltrak 3 Cortex Licenseutility Plugins Release1 0 0 0 5 CameraSoftware O Eagle _Eagle 4_Hawk Hawk i_ONLY Help Motionv
433. tex Setup Channel Name Channel Name 1 PFI O 4 7 KQ Resistor amp A D Sync Cable amp 33 PFI 8 Not Used Jumper Cable 2 PFI 1 Not Used 34 PFI 9 Not Used 3 PFI 2 Not Used 35 PFI 10 Not Used 4 PFI3 Not Used 36 PFI 11 Not Used 5 D GND Not Used 37 D GND Not Used 6 PFI 4 Not Used 38 PFI 12 Not Used 7 PFI5 Not Used 39 PFI 13 Not Used 8 PFI6 Not Used 40 PFI 14 Not Used 9 PFI 7 Not Used 41 PFI 15 Not Used 10 5 V 4 7 kQ Resistor 42 5 V Not Used 11 D GND A D Sync Ground amp Jumper Cable 43 D GND Not Used 12 AO 0 Not Used 44 NC Not Used 13 AO 1 Not Used 45 NC Not Used 14 AO GND Not Used 46 Al GND Not Used 15 CH 1 47 CH 17 16 CH9 48 CH 25 17 CH2 49 CH 18 18 CH 10 50 CH 26 19 CH3 51 CH 19 20 CH 11 52 CH 27 21 CH 4 53 CH 20 22 CH 12 54 CH 28 23 Al SENSE Not Used 55 Al GND Not Used 24 CH5 56 CH 21 25 CH 13 57 CH 29 26 CH6 58 CH 22 27 CH 14 59 CH 30 28 Al GND Not Used 60 Al GND Not Used 29 CH 7 61 CH 23 30 CH 15 62 CH 31 31 CH 8 63 CH 24 32 CH 16 64 CH 32 Note A Jumper Cable is required if multiple NI USB 6218 units are being used together gt 32 channels Note NI Numbering starts at Channel 0 where Cortex channel numbering starts at 1 For example AI 0 corresponds to Cortex Channel 1 B 12 Cortex 1 0 User s Manual Appendix B Analog Input Hardware and Software Maximum Analog Acquisition Rate When measuring 64 channels with 16 bit resolution the maximum analog rate is determined by one
434. th NET 2 0 or later operating system Windows XP Pro with NET 2 0 or Windows Vista 32 Business or Windows Vista 64 Ultimate OpenGL video card with 128 MByte RAM capable of 1280x1024 resolution OpenGL video card with 256 MByte RAM capable of 1280x1024 resolution 19 inch or larger monitor capable of 1280x1024 resolution Dual 20 inch or larger monitors capable of 1280x1024 resolution 100 GByte hard drive IDE or SCSI 200 GByte hard drive IDE or SCSI USB 2 0 Ports x3 USB 2 0 Ports x4 Internal CD RW drive 1 Gigabit Ethernet Network Interface Card NIC quantity dependent on the following options e Connecting to camera network e Connecting to Internet e Streaming to SDK or plugins Internal CD DVD RW 2 Gigabit Ethernet Network Interface Card NIC quantity dependent on the following options e Connecting to camera network e Connecting to Internet e Streaming to SDK or plugins 104 key keyboard 104 key keyboard Three button mouse The program requires a middle mouse button for zooming and selecting in several of the graphical panes Three button mouse The program requires a middle mouse button for zooming and selecting in several of the graphical panes IEEE 1394 standard Firewire for Reference Video option Hardware IEEE 1394 standard Firewire for Reference Video option Cortex will perform best on a dual processor host computer wit
435. th corresponding ANB ANC analog files and for C3D import where the analog data is contained in the C3D file itself SIMM can in terpret analog data as one of three types These variables specify voltages representing force or moment compo nents as measured by a forceplate transducer Given the voltages gener ated by a forceplate 6 channels for an AMTI or Bertec forceplate 8 chan nels for a Kistler forceplate SIMM can calculate and display a force location and vector for the forceplate These variables define activation levels for one or more muscles in the SIMM full body model SIMM rectifies smooths and scales EMG data so that it can be plotted and used to control the width and color of mus cles during an animation Any variables that are not forceplate or EMG data are classified as other data SIMM does not perform any calculations on these data variables but they may be included in SIMM plots The importVariables txt file located in SIMM Resources mocap misc contains a list of variable names and attributes When SIMM processes an analog data file or an OrthoTrak XLS file it consults the importVari ables txt file to decide which variables to import and how to interpret them Each row in importVariables txt defines a variable to be imported The first column in a row specifies the name of the variable as it appears in the analog or XLS data file Since certain analog files support variable names with spaces in them the fi
436. that can be calculated in Cortex There are two main skeleton engines available from Motion Analysis Skeleton Builder and Calcium Solver Cortex will run any skeleton engine that has been previously de fined without any additional licenses To define or edit the skeleton defi nitions you need the Skeleton Builder or Calcium license items The skeleton model is saved with your marker set information in the project file The File gt Load Marker Set menu item will load the skeleton type from a PRJ file once it has been stored there Post Process Skeletons can also be calculated in the Post Processing tab from your cur g y Skeletons rent XYZ data that is visible in the 3D and XYZ data views SkB Skeleton Skeleton Builder SkB skeletons are always calculated if the SkB Skele Builder Skeletons ton Builder option is selected You can see the Skeleton by selecting Show Skeleton from the right mouse menu in the 3D data view If you are using one of the streaming plugins like the Maya Talon plugin or the Motionbuilder plugin both the marker data and the calculated skeleton is available to drive your animated character from either the Real Time or Post Processing mode 13 3 Chapter 13 Skeleton Types Cortex 1 0 User s Manual Calcium Solver Skeletons Note The Calculate button refer to Figure 13 2 activates the Solver engine to do the Global Optimization method and solve for the skeleton within the marker cloud If y
437. the current frame and you would check Include Current Frame as Model Pose for frame number 1 You should only need to do this once per marker set When the New Subject comes into the volume they should be stand ing in the Pose position facing the same X and you select New Subject The PoseID will show and you should then select Pause The stick figure should snap to looking like the Model Pose Update the template then select Pause Check that the ID is correct and that the position is similar to the Pose You can use the FIFO slider to make adjustments Save the project file and then select Run You will first want to obtain a good range of motion trial and set it as your current tracks in Post Process You will then need to Quick ID and edit the trial if needed so there are no mistakes or marker switches It does not have to be overly complex but it should represent the minimum and maximum stretch ing for all limbs Jumping jacks is a good example of the kind of dynamic motion that has worked well and does not obscure the mark ers or require editing For simple walking motion a single walking trial will be sufficient 1 Facing Z or any other direction also works as long as Pose ID is used in the same orientation 6 46 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface 3 Select one frame that represents a somewhat standard or neutral pose position This can be with the arms down or the arms out feet a
438. the length of data capture for each new move Cortex Operator The Cortex operator must make certain that the motion capture data is clean and trackable The Cortex operator must make sure the camera cal ibration is good and that raw calibration data is collected at various times throughout the session as insurance This is particularly important when there are several people around and a camera might get bumped acciden tally The operator should watch for reflections changing light conditions such as sunlight coming through a window or other external variables which may affect a capture 4 3 Chapter 4 Planning a Motion Capture Session Cortex 1 0 User s Manual Additional Equipment Props Camcorder Still Camera Slate Board Markers Tape Pre tape Liquids Rubberbands Backup Media If the motion capture session requires the use of props this must be known to all parties well in advance The type of prop and its use are very important because reflective markers may have to be attached to the prop as well as the subject One marker may be used to track position but as many as three markers may be required to show all rotations of the prop Many props that would ordinarily seem simple become very difficult to deal with during a motion capture session A good example is the use of a ball as a prop If a small ball is only being held one marker may be used to track position If a large ball is being bounced three mark
439. the motion capture area This is useful for two possible reasons 1 All cameras do not see the calibration frame but you want to use it to position the cameras In this case you can move the calibration frame to where it can be seen and enter the Origin Offsets measured from the true origin to the temporary location of the calibration frame 2 You want a different location for an origin for any reason Figure 8 3 Origin Offsets Tab Settings Calibration Cameras Playback 3D Display Post Process Tools Misc Id Params Plugins Calibration Frame Property X Translation Y Translation Z Translation X Rotation Rotation Z Rotation Cancel 8 6 Cortex 1 0 User s Manual Chapter 8 Calibration Tab Lenses Orientation Tab This tab is used to set the focal length and positions of each camera as used at the start of the wand calibration procedure If you use the Camera Aiming check box in the Calibrate panel to position and orient your cam era the focal length entries should be nominally correct e g 6 for 6 mm lenses In the Camera Aiming and Calibration with Square functions the Show gt Show Camera Field of View cone is determined only by what you put in this table After the wand calibration the actual focal length of the lens is calculated exactly and can be stored in your project file Note The Calibrate Wand option calculates the actual focal lengths but does not update the ta
440. the number of frames in the file meaning that all frames will be averaged If frames in the chosen se quence are missing some markers locations for markers that are present will still be used in the average This option gives you control over the automatic loading of personal dat When SIMM loads the static marker file it looks for a file called per sonal dat in the same folder This file is identical to the one created and used by OrthoTrak If the file is present SIMM will automatically load it and read model parameters from it such as foot length and hip origin off sets It will use these parameters to determine joint center locations and segment lengths using the same algorithms that OrthoTrak does If there is no personal dat file present in the folder this option will be grayed out If it is checked and you do not want to load personal dat click the box to turn it off For C3D import only This option allows you to choose from which pa rameter field in the C3D file to read the names of the tracked markers Be cause the POINT LABELS field in a C3D file is limited to four characters some software packages e g Cortex store the full marker name in the POINT DESCRIPTIONS field Since the marker names in the tracked file must exactly match the names used in the mocap model if your C3D file does not contain full marker names in the POINT DESCRIPTIONS field you may have to edit the mocap model so that the marker names match the f
441. the time to write down IP address for each camera If you run into a problem with multiple IP 5 28 Cortex 1 0 User s Manual Chapter 5 Camera Setup Socket Error Function Not Found In Library Error Addresses being the same this could be the problem Each camera needs to have it s own independent IP Address No two addresses can be the same This makes each camera unique and will help the system identify them When connecting to the cameras on the RealTime Dashboard if you en counter a SOCKET ERROR you will need to verify the following e that the Ethernet connector on the back of the Host Computer is working properly e that the Ethernet cable running from the EagleHub or switch con nected to multiple EagleHubs to the Cortex Host Computer is con nected If you get the message ERROR Function not found in li brary you have an older version of a library that is not working or is needed If you do not have the A D option check the C Winnt System32 directory and rename the file nidaq32 dll to be nidaq32 dll old Then close and relaunch Cortex This applies for Windows XP operating sys tems If you are using a different operating system you will need to doa search for the file nidaq32 dll Relationship Between Capture Volume and Marker Size Listed in Figure 5 3 are Optimal Highest Accuracy Large Volume and Extended Volume capture areas for the 6 8 and 10 camera systems Larger volumes require more came
442. then the Post Processing Dashboard will lock the time code onto the time code display You can step forward or backwards in time or push the play but ton and the time code reads accurately If you switch back to the Motion Capture tab and are connected to the cameras you will see the current time code If you are in the Motion Capture tab and are not connected to the cameras but using Raw Video Files you will see the Time Code asso ciated with the Raw Video File The Digital Video option can be used with the Time Code In our current software the only way to record the time code is with the Time Code Reader card Some cameras have Time Code capability within the cam era but those time codes are not recorded with the DV Digital Video op tion The Time Code must be connected to the Time Code Reader card to have a TC file created and hence be time coded 6 53 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Live Video The Live Video Backdrop allows you to set your streaming live video as the backdrop to your 3D View To activate this function right click in the Backdrop 3D View and select Show Video Figure 6 45 Live Video Backdrop 6 54 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface Unload Tracks This button provides a quick method to unload or not save any changes Button to the Tracks files which have been edited in the Post Process mode Figure 6 46 Unload Tracks Button
443. ther from the source Above 16 meters the mark ers are self extinguishing Our experience indicates that if you go beyond about 10 meters in any di rection of the capture volume length or width it is best to have a second tier of cameras in the middle of the longer dimension This is a big benefit for multiple person captures as it minimizes editing time needed since you get lots of good solid 3D marker points 5 23 Chapter 5 Camera Setup Cortex 1 0 User s Manual Troubleshooting Eagle and Hawk Camera Problems If Any Cameras Fail Motion Analysis sets the default network address in the software to to Respond 10 1 1 199 Please note some computers have multiple network cards in stalled in them Please make sure they are labeled so there is no confu sion If you or your IT department has changed the network address for your system or your cameras please make note of this for reference as it will save you time in the future If you see the error shown in Figure 5 19 there can be multiple reasons why Figure 5 19 Unable to Connect to Cameras Error C x Unable to connect to Network Cameras The following are some steps to try and fix the problem starting with the simplest and progressing to the more complex 1 Under the System gt Cameras subpanel verify the Camera Network Address in the Camera Network Address box Figure 5 20 Eagle Network Address Box IP Adar 0 0 0 0 Set As Master Brightness
444. three segments In the actual file all 387 frames for each of the 20 segments would appear After all the segments an EndOfFile section terminates the file G 6 Cortex 1 0 User s Manual Appendix G Import and Export File Formats Figure G 3 An Example of an HTR2 File Hierarchical Translation and Rotation htr file Generated by Cortex Header FileType htr DataType HTRS FileVersion 2 NumSegments 20 NumFrames 511 DataFrameRate 60 EulerRotationOrder ZYX CalibrationUnits mm RotationUnits Degrees GlobalAxisofGravity Y BoneLengthAxis Y ScaleFactor 1 SegmentNames amp Hierarchy CHILD PARENT Head Neck Neck UpperTorso UpperTorso LowerTorso LCollarBone UpperTorso RCollarBone UpperTorso LUpArm LCollarBone RUpArm RCollarBone LLowArm LUpArm RLowArm RUpArm LHand LLowArm RHand RLowArm LowerTorso GLOBAL LPelvis LowerTorso RPelvis LowerTorso LThigh LPelvis RThigh RPelvis LLowLeg LThigh RLowLeg RThigh LFoot LLowLeg RFoot RLowLeg BasePosition SegmentName Tx Ty Tz Rx Ry RZ Bon Head 0 0 0 0 0 0 0 0 0 0 0 0 1 0 Neck 0 0 0 0 0 0 0 0 0 0 0 0 1 0 UpperTorso 0 0 0 0 0 0 0 0 0 0 0 0 1 0 LCollarBone 0 0 0 0 0 0 0 0 0 0 0 0 1 0 RCollarBone 0 0 0 0 0 0 0 0 0 0 0 0 1 0 LUpArm 0 0 0 0 0 0 0 0 0 0 0 0 1 0 RUpArm 0 0 0 0 0 0 0 0 0 0 0 0 1 0 LLowArm 0 0 0 0 0 0 0 0 0 0 0 0 1 0 RLowArm 0 0 0 0 0 0 0 0 0 0 0 0 1 0 LHand 0 0 0 0 0 0 0 0 0 0 0 0 1 0 RHand 0 0 0 0 0 0 0 0 0 0 0 0 1 0 LowerTorso 0 0
445. tion at the time of the capture with the File gt Load Calibration menu item If you changed the calibration for some reason and you know you were calibrated when the trial was collected you can load up that as the current calibration in the software at a later time 8 18 Cortex 1 0 User s Manual Chapter 8 Calibration Tab Calibration from Previously Collected Files This section describes how to simulate a calibration using previously re corded data A simulated collection of Cortex square or wand data is done the same way that you can simulate tracking Raw VC data Just fol low these steps 1 2 3 Disconnect from your cameras Select Raw Files on the Real Time Dashboard Load the CalSeed vc1 file At this point you can mask out any extra neous data points if necessary Press the Run button on the Real Time Dashboard In the Calibrate panel press Calibrate in the Calibration with Square box The cameras buttons on the Real Time Dashboard should turn Yellow which indicates calibration is square but not wand calibrated White means not square Green means fully calibrated Select Raw Files on the Real Time Dashboard Load the CalWand vc1 file At this point you can mask out any extra data points that might be causing problems This feature allows you to utilize wand data sets if there are extra markers in the field of view of one or more cameras In the Calibrate panel press Calibrate in the Calibration
446. tions You should never re use or redo a take number If a data collection is aborted for some reason e g a marker fell off then the Cor tex filename and trial number can be overwritten but the take number should change 4 5 Chapter 4 Planning a Motion Capture Session Cortex 1 0 User s Manual Motion Capture Session Sequence of Events The Day Before The Day of the Motion Capture Subject Preparation Note Note _ Optimize the camera positions and orientation to the capture volume Calibrate the volume of the capture area Determine the correct marker size to use Cortex raw data should show 2 lines or greater per marker Setup the Cortex project with the correct markers virtual markers linkages segments etc If possible collect and track the markers on a person to verify that the tracking parameters are optimal Verify that there is enough space on the workstation s hard disk If there is not enough space back up the previous files and then erase them from the hard disk Organize the markers tape and props to most efficiently facilitate the session Before the subject arrives N 1 2 3 Load the Cortex project Optimize the threshold settings Collect calibration data sets both seed and wand Ensure subject s clothing is appropriate Allow the subject to warm up Attach the markers according to predetermined placements Asymmetrical marker placement on the subject is
447. tips are guidelines that outline a general approach to successful editing sessions e It is best to start identifying from Frame 1 forward Then identify from the last frame backwards This entails naming unnamed markers using the Marker ID and Quick ID tools e Use of Rectify over small frame ranges may help in cleaning the data by taking unnamed data into named tracks e After identifying the Post Process tools can be used to fill gaps and cut out unwanted data sections fix abnormalities and smooth anoma lies and can be used to exchange switched markers Note It is recommended to save your files often especially when perform ing heavy edits e Many users will select all markers and all frames and execute a Join Linear or Join Cubic and possibly a Smooth as a very last editing step e Learning and using Hot Keys is critical to high productivity 10 33 Chapter 10 Post Processing Tab Cortex 1 0 User s Manual 10 34 Chapter 11 Overview Note Model Edit Tab Overview Markers Panel Tree View Panel Virtual Markers The Model Edit tab provides tools to build and modify the model parame ters that are mandatory for the project file These parameters include markers virtual markers linkages and segments It is important to save your project after building the model by selecting File gt Save Project For more information about project files prj refer to PRJ Cortex Projec
448. to ID unnamed markers through the capture se quence For more information on the Rectify functions refer to Rectify Functions What They Do and When To Use Them on page 10 19 Rigid Body Rectify and Template Rectify assume that all the current marker identifications are correct They are intended for continuing the identification process without undoing previous work Rigid Body Rectify is a tool that could be considered a stand alone tool It does not use anything from the marker set definition at all When the tool is activated 1 The three or more selected markers are dynamically turned into a Rigid Body definition and measured 2 The previous frame and the current frame are then used to predict the next frame 3 Identify the frame This stops when less than three markers of the original selected markers is identified If one or more markers are already correctly identified then that can help prevent errors This has been used to identify the entire body 1 Select ALL the markers minus the obscured ones The starting frame must be identified manually Press Rigid Body Rectify Go forward to the frame where the misidentification occurred Make unnamed Repeat steps 2 through 5 TRON Data within the selected frames including endpoints will be copied and available for Paste 10 18 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Paste Rigid Body Join a of Sa Rectif
449. to ana lyze your realtime and post process data This window has three tabs which calculate data for the following e Position velocity and acceleration Distance between markers Included angles The Analysis graphs are activated by pressing the F7 key This tab creates graphs of the position data calculated velocity data or calculated acceleration data for up to 10 selected markers Any number of marker data can be exported The number of frames used to calculate the velocity and acceleration data is set by the user The number of frames used can be either 3 5 7 or 9 Using the higher number of frames to calculate the data will result in smoother output through noise reduction Figure 10 21 Position Velocity and Acceleration Tab Fle Layouts Detaviews Took Hep System Calibration Motion Capture Post Process Model Edt Plugs Markers Segments 4 o A Ae te f 7 Click Abone CiieGick Toggle A tE AL O WVedyrs amp S g an Quek ID Rectily Templte Temelate Temelate Marker ID Exchange Cube Vetudt Cok Smooth Make Retty Delete Ot Ot Seach lad 15 M Avrit Create 1 Rectiy Jn Ms Unnamed Ureamed Ctsde Settings K 1684 40 1326 92 1 M Rineb EJ 10M LEa 20 MLForearm Pos VetiAce Distances Anges Postion Velocity Acceleration D Posten Z Residus Resutart vewcty 3 m mm O accer 730 61 Y 1266 76 1910 17 t 555 61 Ows
450. to frame 271 subject mass 75 000 IV load personal dat preserve mass distribution read marker names from PO NT DESCRIPTIONS v Export Scaled Model save JNT file ama a These options allows you to specify if SIMM will write out joint and mus cle files containing the musculoskeletal model that is scaled to fit the sub ject After SIMM has loaded the mocap model and scaled it based on the data in the static marker file and personal dat it will write out corre sponding joint and muscle files depending on the states of these check boxes You may want to create these files so that you can make changes to them or to be able to re load the model without going through the scaling process again H 12 Cortex 1 0 User s Manual Appendix H SIMM Motion Module Calculation of Joint Centers Scaling the Mocap Model Once the static pose has been loaded the Motion Module recreates the OrthoTrak skeletal model from the marker cloud The first step is deter mining the locations of the joint centers for all of the joints in the OrthoTrak model The pelvis hip knee and ankle centers are all found using the same procedure used by OrthoTrak The hip center is determined using percentage offsets from the pelvis markers The Motion Module reads these offsets from personal dat as written by OrthoTrak The default values for these offsets are taken from Bell et al Journal of Biomechanics 23 6 1990 pp 617 21 posterior d
451. to the cen ter of the markers maybe 20 mm and press the Collect and Cali brate button in Floor Calibration 4 It will tell you how much the calibration origin was moved and rotated with a six number display which stands for the XYZ and yaw pitch and roll adjustments If you are doing this from VC files you will need to do the following 1 Select the CalFloor vc1 file from File gt Load Raw Files with the cameras disconnected 2 Then press the Run button so that you see the unnamed markers on the floor in the 3D view 3 Then press the Collect and Calibrate button in Floor Calibration You would not normally need this but it is there to level the floor if needed It is typical to take a single walk cycle and copy and paste it into 100 cycles If the Calseed device is slightly tilted up or down this can cause the stick figure to be walking above or below the floor at the ends of the cycles To correct for this you can spread 4 or more markers on the floor and press the Calibrate button in the Floor Calibration box Make sure no other markers ghost or otherwise are visible in the 3D View as it will tilt your new virtual floor to average them in as well This setting is used to adjust the floor level of the capture volume based on the size of markers in mm used to determine the plane of the volume floor For example if 12 mm markers are spread across the volume floor a Marker Center to Floor value of 6mm radius of
452. tory Length Frames o we Camera Depth Of Field Display Only 6000 7 0 000 0 Subject 7 Markers v V Links ars MarkerSet Names Marker Numbers auz Volume Marker Names Video 7 Trajectories Camera Coverage Virtual Markers View Frame Rate 60 Shutter Speed 1000 1 sec Using Hardware Sync Using Sunlight Fitter Genlocking Master Camera Current Camera Number 6 Model Serial Version Date Unknown Unknown Unknown Unknown 0 0 0 0 Set As Master Brightness 100 Threshold 331 New Camera Software IP Addr E Unnamed Markers Center Keep Centered Mirrored Auto Rotate Relative Perspective View Orthographic View lt Skeleton lt Skin Skeleton Axes v Forces BackCale Model Pose Kinetics Segment Center of Mass Joint Forces Moments Linear Velacity Linear Acceleration Angular Velocity Angular Acceleration Global Center of Mass Down Events Gravity Vector Additional Settings M v tracking O Connect To Cameras Disconnec
453. tual floor in the 3D View Volume Displays the capture volume Video Displays the digital video layered with the 3D View Camera Coverage Displays the coverage of all cameras within the capture volume View Center Centers the display on the selected marker Keep Centered 3D View center follows the selected marker Mirrored Mirrors the marker in the field of view Auto Rotate Rotates around the capture area by selecting Play Relative Toggles display to view from selected markers Perspective View Selects the normal display options adjust with mouse Orthographic View Displays a flat view from either the X Y or Z axis perspective 6 36 Cortex 1 0 User s Manual Chapter 6 The Cortex User Interface 2D Camera View Pop Up Menu The 2D Display renders raw camera data as blobs and or marker cen troids You can choose to see the centroids either with or without lens cor rection To see the marker data as viewed from any one of the cameras or multiple cameras simultaneously 1 Press F2 on the keyboard or choose View gt 2D Display from the Menu Bar 2 Choose one or more cameras with Ctrl click or Shift click on the green camera buttons on the Real Time Dashboard or press All On To see the 2D Display options right click on the camera view 2D Dis play Figure 6 32 2D Camera View Pop Up View Options ai Delete Mask Deletes selected mask Delete All Masks Auto
454. ual Note If data is missing for any definition marker Origin Marker Long Axis Marker Plane Marker in the frame field the gap in data will not be com pletely filled You will need to select a different definition marker that has data for that frame field 6 Repeat step 1 through step 5 for all problem markers in your data set You may also setup the Virtual Marker definitions for as many mark ers as you feel will be needed prior to capture 10 24 Cortex 1 0 User s Manual Chapter 10 Post Processing Tab Real Time Streaming with Join Virtual Fill 7 Selecting File gt Save Project will save all Virtual Marker definitions you have set into the project file If you will be continuing to capture motion using the same template the Virtual Marker Join definitions are now resident with the project files and template The Join Virtual check box can now be activated on the Real Time Dashboard allowing for Virtual Markers to be created in Real Time where data is missing for the markers you have set definitions Thus streamlining the editing process or post processing tasks Figure 10 17 Join Virtual Check Box E V Tracking E V Identifying V Join virtual E v Skeleton i Origin Marker Long Axis Marker Long Axis Marker Example O Connect To Cameras Disconnect Use Raw Files Raw Settings The concept behind the Join Virtual and the Virtual Marker definitions are the same and are much m
455. ue Three Point Ratio Three Point Value PwNna Allows you to select and edit which marker is the Origin Marker of the Virtual Marker definition To edit click on the property and select from the drop down menu Allows you to select and edit which marker is the Long Axis Y of the Virtual Marker definition To edit click on the property and select from the drop down menu Allows you to select and edit which marker is the Plane Axis XY of the Virtual Marker definition To edit click on the property and select from the drop down menu Sets the X coordinate of a VMarker definition Sets the Y coordinate of a VMarker definition Sets the Z coordinate of a VMarker definition Figure 11 7 VMarker Property Values Property Value Name WY_LHip Index 2 Type Three Point Value Origin Marker M_BLHip Long Axis Y M_FLHip Plane Axis PSY M_Foot x Offset 50 Y Offset 70 Z Offset 40 For more information on Virtual Markers reference Virtual Markers on page 11 17 11 11 Chapter 11 Model Edit Tab Cortex 1 0 User s Manual Links Index Marker1 Marker2 Color Extra Stretch Selecting any of the links in the Treeview allows you to make changes to the links in the current project file The link property values that can be changed include the following Right click can only delete Displays the link number in the order the link appears in the list of links for the p
456. ugins Available Tab Ox System Calibration Motion Capture Post Process Model Edit Plugins This provides a custom function to set where the Plugins tab will reside within each of the main tabs System tab Calibration tab Motion Capture tab etc The default tab for the X panel is in Plugins 6 21 Chapter 6 The Cortex User Interface Cortex 1 0 User s Manual Hot Keys Hot Keys are short cuts which integrate complex procedures into single key strokes There are default settings initially as shown in Figure 6 18 on page 6 22 and users can also create their own custom Hot Key func tions Figure 6 18 Default Hot Keys Setup Fi2 Analysis i i Toggle Camera Graphs i Record View lt Ctrl C Copy lt Ctrl gt Paste lt Ctrl Z Undo CUSTOM KEYS Mouse click on a Hot Key to select it Then mouse click on a blank key to move it Right click on a Hot Key to set it from a menu 9 Graphics Only I 0 rae PEN IDs eo ore pee Zoom Zoom Marker Unnamed Frames Frames In Out 4 5 K L All Named PrevFram ape peas eo aoe All Zoom Linear Marker Help Selected Join z x G Y lt gt Cut Selection Centered B N Toggle Search for Record Next Toggle One Pane Restore Defaults Sky For Sky information and functions please refer to Chapter 14 Sky Script ing Interface Time Lines Shows the time line of the data for each marker indicating any breaks in t
457. up one of the tracking object slots Currently the coordinate system of the prop is displayed in the Motion Capture 3D View When you record a trb or tre file the XYZ coordinates of the prop are also recorded Visually you can see the coordinate system of the Rigid Object defined The coordinate system displayed has the origin at the center of mass of the defining markers and the directions of the XYZ axes are defined par allel to each of the calibration coordinate system axes as defined on frame 1 of the capture 4 Create a global System Objects folder If you want to build a library of props you can create a folder under the launch folder of Cortex next to the Sounds folder and name it SystemObjects note no 9 9 Chapter 9 Motion Capture Tab Cortex 1 0 User s Manual Marker Name Prefix Options Merge Marker Sets Advanced Example Data Set Note space between System and Objects Copy any props you want to use into the SystemObjects folder You will need to quit and relaunch Cortex and then you will see a new section at the bottom of the Motion Capture gt Objects panel with the heading System Objects You can select prop files from that list to go into any of the Addi tional Tracking Objects slots 5 Order the objects in the Tracking Objects panel The priority for iden tifying objects is A B C D E and the Main Marker set is identified last You will want to put the props at the beginning of the list into
458. ver naming conventions that best suit your needs should be used Biceps and thigh markers are intentionally placed asymmetrically to help the template distinguish left and right more easily C 1 Appendix C Marker Sets Cortex 1 0 User s Manual Figure C 1 Typical Animation Marker Set Note When placing markers on end segments the markers should not form a line and should not have mir ror symmetry Thus thumb and hand markers should never be the same distance from the wrist marker and should be well separated 1 TopHead 2 LFrontHead 3 LRearHead 4 RFrontHead 5 RRearHead 6 RShoulder 7 RBicep 8 RElbow 9 RWrist 10 RPinky 11 RThumb 12 LShoulder 13 LBicep 14 LElbow 15 LWrist 16 LPinky 17 LThumb 18 TopSpine 19 RFrontShoulder 20 LFrontShoulder 21 MidBack 22 LShoulderOffset 23 LowBack 24 RRootOffset 25 Root 26 RRearHip 27 LRearHip 28 RFrontHip 29 LFrontHip 30 RThigh 31 RKnee 32 RAnkle 33 RHeel 34 RMidFoot 35 RToe 36 LThigh 37 LKnee 38 LAnkle 39 LHeel 40 LMidFoot 41 LToe C 2 Cortex 1 0 User s Manual Appendix C Marker Sets Biomechanics Within Cortex When using Cortex in biomechanics applications such as OrthoTrak the standard Helen Hayes marker set must be modified by adding one addi tional marker to either the left or right scapula Also new linkages must be added This wil
459. very trajectory An empty frame of position data missing data is represented as three consecutive horizontal tab characters Shown below is a portion of a file with the following attributes captured rate 60 frames per second total frames 90 total reflective markers 33 units of measure mm Data for only the first 3 markers is shown the remaining markers would appear in columns to the right Also data for only the first 12 frames is shown the remainder would appear in rows below frame 12 G 4 Cortex 1 0 User s Manual Appendix G Import and Export File Formats Figure G 2 An Example of a TRC File PathFileType4 X Y Z DataRate 60 0 Frame Time 1 0 000 2 0 017 3 0 033 4 0 050 5 0 067 6 0 083 7 0 100 8 0 117 9 0 133 10 0 150 11 0 167 12 0 183 CameraRate 60 0 Head_Top X1 234 5437 235 2399 235 2361 235 0781 235 0781 235 0781 235 3844 235 1416 235 4312 236 0334 235 7562 235 5336 1673 1673 1673 1673 1673 1673 1673 1673 1673 1673 1673 1673 Yi 7619 4542 4926 4376 4376 4376 4179 4447 4882 4269 7265 4414 usr people evademo Oct14 MichelleInitl tre NumFrames NumMarkers UnitsOrigDataRate 90 33 mm 60 0 LHead RHead Z1 X2 Y2 Z2 x3 Y3 z3 232 2308 316 7533 1608 3785 218 5500 144 7963 1597 3691 274 4994 232 1284 316 6074 1608 2884 219 0597 144 7684 1597 8106 274 2137 232 1852 316 1265 1608 1984
460. ves about and the linkage lengths change in time If any of the linkages are stretched beyond their limits the identities of markers at both ends of those linkages are changed to Unnamed The limiting factor is taken as multiples of the standard deviation of the linkage length A typical number for a tight setting is 7 and for a loose setting is 12 A bigger number will allow the template to grow more quickly but can cause mis identifications A smaller number may keep the software from identifying the markers correctly This is a unit less measure of linkage stretch that is applied to all un named markers in the current frame in an attempt to find proper identities for them It is applied after any linkages were deemed to have stretched excessively This number is usually 2 or 3 less than the To Reconsider value 9 4 Cortex 1 0 User s Manual Chapter 9 Motion Capture Tab Building a Template from the Range of Motion Trial A template tells the software what the minimum and maximum distances are that can exist between markers of a relatively fixed relation It is nec essary to allow the software to identify each marker in each frame Tem plate information is saved in the project prj file Before a template can be created a marker set that will apply to the sub ject being captured must exist If such a marker set does not exist it must be built using the Model Edit tools described Chapter 11 Model Edit Panel Once an
461. wer left quadrant Cameras 17 24 Lower right quadrant Cameras 25 32 5 10 Cortex 1 0 User s Manual Chapter 5 Camera Setup Setting Up the Cameras The key to placing cameras around the capture area is to position them where they will yield the highest resolution without excluding any part of the adjacent capture volume In other words if you plan to track 2 gait cy cles do not set up an area suitable for 4 gait cycles When the tracking volume is increased the quality and accuracy of the tracking data will de crease First you will want to measure the room to establish the center of the tracking area An Example Eagle For example if you have a 10 x 15 meter room and you are using 8 Eagle or Hawk Camera or Hawk digital cameras Setup 2 lis Measure in from the walls 5 and 7 5 meters This should be the center of a 10 x 15 meter room Mark the center of the room or tracking area with a piece of masking tape Find the corners of the actual capture volume For optimum tracking the length and width of the capture volume should be no more than about half the room dimensions Position the cameras evenly around the capture area Place the cam eras above the top of the capture space looking down to prevent cameras from seeing an opposing camera s ring light e For most gait analysis installations a height of 2 meters should be sufficient For a larger capture area e g full body or sports analy sis t
462. window is colorized This is the default When this flag is off no colorization is set All Sky functions are shown in blue com ments are shown in green and strings are shown in red e Set Startup Script Specifies the startup script used by Sky This script is automatically run whenever Sky is first opened This is where Sky buttons are saved so they can be regenerated when Sky is opened e Save Startup Script Saves the current state of the Sky interface to the specified startup script Currently this only saves Sky but ton information e Clear Startup Script Deletes the startup script e Run Startup Script Runs the startup script Help Brings up the help information in Internet Explorer 14 6 Cortex 1 0 User s Manual Chapter 14 Sky Scripting Interface Local Sky Scripts Global Sky Scripts Network Sky Scripts Input Text This contains a list of all the Sky files in the same directory as the current project Load a file into the script interface by single clicking on the file name When you click a new file name any changes you made to the cur rently loaded file are saved automatically if the Autosave flag is set under the Options menu The currently loaded file name will continue to be highlighted for as long as that file is current The Cloud button to the right of the Local Sky Files label brings up the Windows Explorer for the local folder This makes for easy access to all the standard Wi
463. wn a small amount to indicate that the actor blinked Using the morph target on the left both eyes appear closed when the target expression is applied to the final result on the right Unlike the mesh deformation technique the morph target technique uses multiple meshes to do the facial animation One requirement for all the morph target meshes is that they have exactly the same topology the exact same number of vertices and polygons with exactly the same con Appendix D Capturing Facial Motion Cortex 1 0 User s Manual Using Motion Capture Data with Facial Animation Facial Retargeting with Offsets for Mesh Deformation Gesture Recognition for Morph Targets nections between them Therefore it is the usual practice to model the base face first then make copies of it for modifying into other expres sions This section describes how motion capture data is used with each of the facial animation techniques The direct mesh deformation technique is ex tremely well suited to using motion capture data while morphing is very badly suited to using motion capture data By themselves each technique has its advantages and disadvantages The correct answer for an anima tion system lies in the ability to use both simultaneously which allows the animator to have the best of both worlds Each is described in the follow ing subsections The marker placement on the actor rarely coincides exactly with a corre sponding marker placem
464. x 1 0 User s Manual Chapter 6 The Cortex User Interface Create prj file If this box is checked a prj file will be generated for the c3d project being imported If this box is not checked the import will load these settings without saving them to a file Create trc file If this box is checked a tre file will be generated containing the motion data from the c3d project being imported If this box is not checked the import will load the motion data without saving it to a file Create anb file If this box is checked an anb file will be generated containing the analog data from the c3d project being imported If this box is not checked the import will load the analog data without saving it to a file Create forcepla cal file If this box is checked a forcepla cal file will be generated containing the force plate setup for the c3d project being imported If this box is not checked the import will load these settings without saving them to a file Create folder for files If this box is checked a folder will be created in the directory containing the c3d file All generated files will be saved into this directory The folder will be named lt c3d project name gt _Cortex Get marker names from desc If this box is checked the marker names in the c3d project are taken from the marker description instead of the marker name The c3d file format restricts marker names to 4 characters so when exporting from an appli
465. y Functions What They Do and When To Use Them Cut or copied XYZ marker data will be inserted into the data set begin ning with the current frame The rigid body join feature has been created for rigid objects with 4 or more markers per segment For rigid or semi rigid objects such as swords spears head markers torso markers multiple markers on a basketball it is convenient to use this feature to join across missing marker data You must select a starting frame where all markers that you select are all present and part of a rigid body You then select a range of frames on which you wish this to operate Select Rigid Body Join and it automati cally joins across the missing marker data There are three main Rectify tools for naming markers and propagating the names through time Rectify Rectify Unnamed and Rigid Body Rec tify They are not for generating XYZ data from the 2D camera views which we call Tracking but they are very useful for Identifying the tracks or markers Rectify means to make right or set right All of the Rec tify functions start at the Current frame and go forward in time first then backwards from the current frame For more information reference these functions in the Post Process Tool Strip section starting on page 10 12 Template Rectify In Post Processing use this when you have a reasonably good template Work from known good frames into unknown and difficult frame ranges Uses the temp
466. y for use in Calcium and it can take an HTR file created by Calcium and apply it to the character in the animation software The Motion Analysis TRC file format is used for tracked markers mo tion capture data This data is generally only imported into the animation software It is used for bringing in full body marker data face data and prop data Figure 1 7 Animation Plugins Interface Edt Neb Irpat HTA Egon HIA impor Acciam Epor accam ingot TAC Monon Analysis HIA Fie Finirai Eunoe MAS CST nper aches ooa JACOT Mi Browse _ J 5 T Sadact Tot salaet an abya Cortex 1 0 User s Manual Chapter 1 Introduction Talon Plugins The MAC Talon Plugins also known as the Streaming Plugins are used to stream data from a live realtime connection to Cortex into an anima tion software package Both skeleton and marker data can be streamed This function is available for Maya Mocap and 3DSMAX Additional animation packages are currently under development This same interface is used by outside developers to stream motion cap ture data into their own custom environments This programming inter face is called the SDK and is available upon request Figure 1 8 Talon Plugins Maya Interface Talon options O ix Edit Help Marker Options IV Stream Marker Data Marker Representation Spheres Locators Scaling Option Scale Inverse Scale Marker Scale Factor fi 0000 Marker Cloud
467. you Dis connect Use Raw Files Note that this requires an associated JNT file and an Init or Static trial Skin files are rigid shells that do not scale with different sized subjects and do not span stretch across joints The Skin File function allows you to select one of four pre defined skins that work with Cortex These skins that are defined for two different skel eton types and are located in the C Program Files Motion Analy sis Cortex User Files Skins directory The four skin types are OrthoTrak Male MaleOTSkin obj OrthoTrak Female FemaleOTSkin obj OrthoTrak Polygons PolyBonesOT_Skin obj 25 Bone Animation Skin 25 _Bones_Male obj Pons If you are looking to develop an entirely new skin file you will need to contact Motion Analysis Customer Support support motionanaly sis com for information This sets the transparency attribute of the skin 100 means the skin is invisible 0 is solid Figure 11 3 Project Property Values Name Matt prj Skeleton Engine Calcium Solver 1 2 4 Skin File Skin Transparency 50 Cortex 1 0 User s Manual Chapter 11 Model Edit Tab Showlng the An OBJ skin consists of two files Skin 1 Askin file lt Skin gt obj 2 An associated base position lt Skin gt _Base htr The HTR and OBJ file must have group names that match the base po sition HTR s segment names The base position HTR file must have seg ment names that match the marker set The order of t
468. zer Command Dialog gt Data Mot ionAnal EVaRT44 Samples Dave Face ion iC Data Mot ionfnalys is EVaRT44 Samples Dave Face i ion gt stabilizer DaveFaceCloseupi trc Head htr Head StabilizedHead tre Read 649 frames and 17 objects Read 649 frames and 1 objects Data Mot ionfnalys is EVaRT44 Samples Dave Face Stabilization This indicates that the DaveFaceCloseup1 tre file is to be stabilized by the Head htr file using the segment named Head and the output is to be StabilizedHead trc The face markers will be repositioned such that the motion of the head segment is removed This effectively places the face markers at the origin of the data space as shown in Figure 14 4 Figure 14 4 Face Markers at Origin of the Data Space Cortex 1 0 User s Manual Appendix D Capturing Facial Motion You can view this TRC file by loading the FaceOnly prj file into Cortex and loading the tracks file StabilizedHead tre This data is now ready for use in a facial animation system Facial Animation Techniques for Motion Capture Types of Facial The goal of any facial animation technique is to move the geometry of the Animation face around in a meaningful way The way the mesh is modified must look very convincing to the eye since people are very attuned to facial motion and any anomaly will be quickly picked up The two basic types of mesh modification used for facial animation are morphing and direct mesh deformation Me

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