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1. Screw Setup Screw Channel Setup Terminal Channel Name Terminal Name 1 GROUND Forceplate Grounds 51 CH 17 EMG05 2 GROUND EMG Grounds 52 CH 25 3 CH 1 F1X 53 CH 18 EMG06 4 CH9 F2Z 54 CH 26 5 CH 2 FLY 55 CH 19 EMG07 6 CH 10 M2X 56 CH 27 7 CH3 F1iZ 57 CH 20 EMG08 8 CH 11 M2Y 58 CH 28 9 CH 4 M1X 59 CH 21 EMG09 10 CH 12 M2Z 60 CH 29 11 CH5 M1Y 61 CH 22 EMG10 12 CH 13 EMG01 62 CH 30 13 CH6 M1Z 63 CH 23 14 CH 14 EMG02 64 CH 31 15 CH7 F2X 65 CH 24 16 CH 15 EMG03 66 CH 32 17 CH8 F2Y 67 CH 33 18 CH 16 EMG04 68 CH 41 19 NOT USED 69 CH 34 20 NOT USED 70 CH 42 41 NOT USED 71 CH 35 22 NOT USED 72 CH 43 23 NOT USED 73 CH 36 24 NOT USED 74 CH 44 25 NOT USED 75 NOT USED 26 NOT USED 76 GROUND 27 NOT USED 77 CH 37 28 NOT USED 78 CH 45 29 NOT USED 79 CH 38 30 NOT USED 80 CH 46 31 NOT USED 81 CH 39 32 NOT USED 82 CH 47 33 GROUND A D Sync Ground wire 83 CH 40 34 5 V 4 7 KQ Resistor End A 84 CH 48 35 NOT USED 85 CH 49 36 NOT USED 86 CH 57 37 NOT USED 87 CH 50 38 NOT USED 88 CH 58 39 NOT USED 89 CH 51 40 NOT USED 90 CH 59 41 NOT USED 91 CH 52 42 NOT USED 92 CH 60 43 NOT USED 93 CH 53 44 NOT USED 94 CH 61 45 NOT USED 95 CH 54 46 PF17 StarScan 4 7 KQ Resistor and A D Sync Cable 96 CH 62 47 NOT USED 97 CH 55 48 NOT USED 98 CH 63 49 NOT USED 99 CH 56 50 NOT USED 100 CH 64 Note A D interconnect schemes will be similar for differe
2. Screw Screw Terminal Setup Terminal Channel Setup Channel Name Name 1 GROUND 51 CH 17 2 GROUND 52 CH 25 3 CH 1 53 CH 18 4 CH9 54 CH 26 5 CH2 55 CH 19 6 CH 10 56 CH 27 v CH3 57 CH 20 8 CH 11 58 CH 28 9 CH 4 59 CH 21 10 CH 12 60 CH 29 11 CH5 61 CH 22 12 CH 13 62 CH 30 13 CH6 63 CH 23 14 CH 14 64 CH 31 15 CH7 65 CH 24 16 CH 15 66 CH 32 17 CH8 67 CH 33 18 CH 16 68 CH 41 19 NOT USED 69 CH 34 20 NOT USED 70 CH 42 41 NOT USED 71 CH 35 22 NOT USED 72 CH 43 23 NOT USED 73 CH 36 24 NOT USED 74 CH 44 25 NOT USED 75 NOT USED 26 NOT USED 76 GROUND 27 NOT USED 77 CH 37 28 NOT USED 78 CH 45 29 NOT USED 79 CH 38 30 NOT USED 80 CH 46 31 NOT USED 81 CH 39 32 NOT USED 82 CH 47 33 GROUND A D Sync Ground wire 83 CH 40 34 5 V 4 7 kQ Resistor End A 84 CH 48 35 NOT USED 85 CH 49 36 NOT USED 86 CH 57 37 NOT USED 87 CH 50 38 NOT USED 88 CH 58 39 NOT USED 89 CH 51 40 NOT USED 90 CH 59 41 NOT USED 91 CH 52 42 NOT USED 92 CH 60 43 NOT USED 93 CH 53 44 NOT USED 94 CH 61 45 NOT USED 95 CH 54 46 PF17 StarScan 4 7 kQ Resistor and A D Sync Cable 96 CH 62 47 NOT USED 97 CH 55 48 NOT USED 98 CH 63 49 NOT USED 99 CH 56 50 NOT USED 100 CH 64 B 16 EVaRT 5 0 User s Manual Appendix B Analog Input Hardware and Software Table B 4 Typical Connections For 2 AMTI Forceplates and 10 EMG Channels for SCB 100
3. Base Position 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 EVaRT 5 0 User s Manual Licensing Notes SkB skeletons are defined and edited within the EVaRT software and re quire a separate license item but they can be run and the skeletons data generated without additional licenses in EVaRT and later versions There is separate documentation 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 EVaRT or later versions without a separate license Calcium also can cre ate the HTR skeleton data using the same Solver engine as EVaRT and the SIMM Motion Module Multiple Characters and Multiple Skeletons When you specify additional marker sets the skeleton engine needs to be in each of the project files that
4. Skeleton Option Details No Skeleton Calculation Skeleton Builder SkB Engine Calcium Solver 1 1 2 Even if a skeleton model is defined the EVaRT software will not use it if this button is selected This is the default value and the value for all project prj files saved previous to the EVaRT release This calculates joint centers directly from real or virtual marker locations Bone segments are defined from one marker to another typically virtual markers that represent joint centers 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 it 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 i
5. 811 69 1880 79 20 M_LFoream 21 M_LWiist 22 M_LPinky 23 M_LThumb 24 M_Midback 25 M_ShoulderDffset 26 M_LowBack 27 M_RootDffset 757 73 29 M_BRHip 30 M_BLHip 31 M_FRHip 32 M_FLHip 33 M_AThigh 34 M_PKnee 35 M_RShin 36 M_RAnkle 37 M_RHeel 38 M_RMidfoot 39 M_RToe 40 M_LThigh 41 M_LKnee 42 M_LShin 43 M LAnkle z Cick All None Ctr Click Togge 52 U1 53 U_2 lt Empty gt 54 U_3 lt Empty gt z 354 Frames 120 00 FPS 2 Up Units mm Analog 600 00 Hz T 200 300 i EVaRT 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 Graphs 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 From the Menu Bar select File gt Load Tracks File Double click on Golffemper1 trb Leave the 3D figure currently in the top pane in the 3D Display From the Menu Bar select Layouts gt 2 Panes Top Bottom Left click on the bottom pane This action will select this pane Pres
6. Frames Range Current Selected Visible C All Template Prop Definition Frames Used Frames with complete data 168 Total frames to use 168 Tl Include current frame as the Model Pose Create Template Extend Template 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 the Motion Capture gt Ob jects panel 9 6 EVaRT 5 0 User s Manual Chapter 9 Motion Capture Panel 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
7. 5 10 EVaRT 5 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 the cameras may need to be raised higher e Ifacamera must view an o
8. 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 markers 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 EVaRT 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
9. 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 9 Chapter 7 Setup Panel EVaRT 5 0 User s Manual Table 7 1 Eagle and Hawk Camera Display Codes Code Image Description Camera Ready for This display code with the active LEDs in rom bin Download 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 Press Download This display code with active LEDs in an arrow and rectangle pattern indicate that the Download button in the Download FTP window is ready to be pressed Rom bin Download in This display code indicates the progress of Progress the download process The number of activated LEDs will increase as the download process nears completion 7 10 EVaRT 5 0 User s Manual Chapter 7 Setup Panel Table 7 1 Eagle and Hawk Camera Display Codes Code Image Description Rom bin Download is Complete Camera ON not This display code with both green and red Connected to _ LEDs activated for the number display EVaRT indicates that the camera has been powered ON but is not connected to EVaRT 7 11 Chapter 7 Setup Panel EVaRT 5 0 User s Manual Creating and Cle
10. Unnamed Markers Post Process Toolbar Join Virtual Data Painting Time Lines Analysis Graphs Post Processing Strategies and Tips Editing Tracked Data The EVaRT 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 Display 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 Display by pressing F3 on the keyboard of by choos ing Data Views gt 3D Display 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 oo 10 1 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual Viewing Your
11. Extend Seed Button Run Again Button Accept Button Reject Button Stop Button Accept Reject STOP This button will seed the cameras that were not seeded during the Seed Calibration based on the wand data After extending the seed clicking Extend Seed all the camera buttons should be yellow Click Run Again to complete the wand calibration for all cameras 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 Click this button if the calibration numbers look sufficient 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 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 8 12 EVaRT 5 0 User s Manual Chapier 8 Calibration Panel 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 Floor Calibration Itis 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
12. 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 EVaRT 5 0 User s Manual Motion Capture Log Date Client Ref Take EVaRT Video Filename Seconds Counter Comments Results L 2 EVaRT 5 0 User s Manual Appendix L Useful Blank Forms Human Body Outline Front Project Date L 3 Appendix L Useful Blank Forms EVaRT 5 0 User s Manual Human Body Outline Side Project Date EVaRT 5 0 User s Manual Appendix L Useful Blank Forms Human Body Outline Back Project Cate L 5 Appendix L Useful Blank Forms EVaRT 5 0 User s Manual L 6 Index Numerics 10 Camera Setup Typical 5 7 10 EMG Channels Connections B 17 B 19 12 Camera Setup Typical 5 8 14 Camera Setup Typical 5 8 16 Camera Setup Two Tier 5 4 Typical 5 9 16 Camera 2 EagleHub Configuration A 9 16 Camera 3 EagleHub Configuration A 10 2 Markers 11 16 2 Panes Top Bottom 6 15 24 Camera 4 EagleHub Configuration A 11 28 Camera 3 Tier Setup 5 5 2D Display 6 7 6 14 6 19 options 6 19 pop up menu 6 19 3 Markers 11 16 3 Po
13. 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 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 103 sec 18 samples 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 To change the entered value from red to black press Enter Click on Apply When it prompts you with Would you like to re write the analog file select Yes Figure 7 8 Shift the Analog Data Dialog Box ia Shift the Analog Data xj C All Channels Selected Channels Shift the data this number of samples 18 Apply 7 15 Chapter 7 Setup Panel EVaRT 5 0 User s Manual Misc Sub Panel From Raw Video Files Options CPU Speed Real Time Loop Raw File Skeleton Engine No Skeleton Calculation Skeleton Builder SkB Fill in SkB Gaps Calcium Solver 1 2 10 or later The Misc sub panel Figure 7 10 provides additional setup options and functions that are in development stages Processes files as fast as the CPU will go This is a feature when you are not connected to the cameras but you are using
14. To From 42 M_LShin ALMS Export Time Series Fie _ ts Time Series File M_Lwrist M_LEIbow LShoulder 43 M_LAnkle 44 M_LHeel 45 M_LMidfoot 46 M_LToe 47 AMI 48 4 M2 49 A M3 Click Al None Ctrl Click T 52 U_1 lt Empty gt 53 U_2 lt Empty gt 54 U_3 lt Emply gt z bo eet ms a CE NJEJ Coc 40 y gt rede la bl id ot Exporting Analysis Information 964 Frames 120 00 FPS Z Up Units mm Analog 600 00 Hz To export an ASCII text viewable file select the Export ts Time Series 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 Analysis tabs 10 30 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel Post Processing Strategies and Tips The steps necessary to clean up data will vary significantly from one user to another These 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 smoo
15. optional Note The standard multi EagleHub3 setup is designed for the hubs to be dis tributed around the motion capture volume If you desire to have the Ea gleHubs in a central location you may need to use different camera cable lengths than those originally shipped with your system A 6 EVaRT 5 0 User s Manual Appendix A System Hardware Interconnections Eag leHub1 and When first setting up your Eagle or Hawk system you will notice that the EagleHu b2 both the power and Ethernet connections for the cameras are integrated through the EagleHub s The Eagle system allows for 8 cameras per each Connections EagleHub 1 or EagleHub2 EagleHub112 All camera power connectors are plugged into the power connectors of the EagleHub 112 Order is not imperative as long as each power connector is close to an open Ethernet connector Note The first seven cameras for each EagleHub1I2 are connected directly to the Ethernet connectors The eighth camera must be connected to one of four ports of the Network Interface Card NIC on the rear of the host computer or to a separate Ethernet switch as shown in Figure A 5 This is done using a female to female F F Ethernet adapter and an extension Ethernet cable Important If using a frame rate greater than 120 Hz you may only connect up to six cameras to any EagleHub1 2 Due to power considerations using more than six cameras at high frame rates will dim the ring lights Figu
16. 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 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 Rot
17. E IriaSpinet E IriaSpine2 E IriaSpine3 E IriaSpine4 E IiaNeck E IriaHead E IriaLClavicle E IriaLUpper rm E IriaLLowerArm E IriaLHand E IriaR Clavicle E IriaRUpper rm E IriaRLowerArm GI IriaRHand E IriaRUpperLeg E IriaRLowerLeg E IriaRFoot E IriaR Toes E IriaLUpperLeg IriaLLowerLeg E IriaLFoot E IriaLToes Property Value Name IriaRoot Index 1 Parent GLOBAL Translation 0 32 0 97 0 34 1 833661 Rotation Axis 0 86 0 51 0 01 Length 0 10 Joint Type 6DOF Attachments 5 only that it s inter 1 7 Chapter 1 Introduction EVaRT 5 0 User s Manual Skeleton Builder SkB Figure 1 5 SkB Skeleton A skeleton in animation parlance is a hierarchically connected set of bones with translation and rotation data Each bone has a parent and po tentially any number of children One special bone has no parent and is usually referred to as the root of the skeleton Skeleton Builder as the name implies 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 mo tion of three markers used to construct its rotation data The Skeleton Builder interface is incorporated with the EVaRT interface Skeleton Builder bone definitions are stored in the EVaRT 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 th
18. E 5 Appendix E Forcepla cal File Format EVaRT 5 0 User s Manual Using AMTI and Bertec Forceplates AMTI Gain Setting Bertec Gain 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 The 6x6 calibration matrix Inverted Sensitivity is provided by the manu facturer AMTI or Bertec 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 sensitivities The off diag onal terms represent the channel cross talk Figure E 4 Example Forcepla cal File for 2 AMTI Forceplates 1 25 51 46 5 2 9350 0 0020 0 0270 0 0000 0 0070 0 0020 0 1000 5 6000 0 0000 1 0000 0 0000 2 0 0040 2 9930 0 0120 0 0130 0 0480 0 0470 0 0080 11 5420 0 0240 0 0070 0 0000 1 5390 0 0020 0 0000 0 0000 0 0020 0 0050 0 0020 0 0260 3 8000 25 7000 4 2000 1 0000 0 0000 0 0000 25 51 46 5 2 9340 0 0120 0 0050
19. Figure 10 2 Selecting Frames Buttons Joining Gaps in Data Filters 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 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 intended 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
20. 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 EVaRT 5 0 User s Manual Notes You will get two message sequences for EACH USB A D device that you plug in and you will 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 It seems to work fine either way Run Test Panels Setting the NI software to Referenced Single Ended While it is not necessary for the EVaRT software to work to get the correct looking signals on the Test Panels display you need to set the Analog Input gt Input Configuration to RSE Referenced Sin gle Ended The EVaRT software sets this mode as part of its analog setup procedures which is why it is not needed for EVaRT to work properly Also to have more than 8 channels displayed in the Test Panels 0 7 you must change this setting to Referenced Single Ended from its Differential Mode default EVaRT starts numbering the analog channels starting at 1 whereas the Test Panels and chart Table B 2 on page B 13 starts numbers at channel 0 Figure B 6 NI USB 6218 Configuration Interface X NI USB 6218 Dev1 Eile Edit Yiew Tools Help Measurement amp Automation Explorer Configuration SfProperties Epself Test Y Test
21. Select External Trigger Mechanism if you are using an external trig ger 7 Select Post Trigger 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 8 Click Record You should see the word RECORDING in large red letters on the lower right corner of the interface See Figure 9 7 Ponsa aa Figure 9 7 Recording Data EValiT Golfer pri Golfswings10 c1 Ele Layouts DataViews Joods Help I Tuncked ASON tre F Tracked bray 4 I Skeleton 102 Setro ZEI Tass 0H F Auoincrenent Dusvion fiecondil vc stor O eenn Atoll 3291 teats 30 6 7 mm A 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 EVaRT 5 0 User s Manual Chapter 9 Motion Capture Panel 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 EVaRT 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 sub panel Max Speed If a marker has NO track history i e a new marker just found on this fram
22. Set as Master Note Sets the brightness of the ring lights for all cameras Displays the selected camera number and its corresponding IP address software version number along with the date and time the Eagle software was compiled You can change the IP address in this box for any camera at any time You need to make sure that you do not use duplicate numbers though It is rec 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 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 In the 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 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 I
23. 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 EVaRT 5 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 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 EVaRT 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 th
24. 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 first 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 keyw
25. ested in assessing locomotor abilities of humans The system provides quantification of 3D body segmental and joint motions analysis of the forces occurring in locomotion records of neuromuscular function through electromyography Intended Use 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 angles kinetics moments and muscle activity EMG Data can be exported as industry standard XLS data sets which can easily be imported into Microsoft Excel or other graphics and analysis pack ages Figure 1 11 OrthoTrak Interface File Edit Operate Tools Window Help sg MotionAnalysis ORTHOTRAK 6 2 0 Clinical Gait Analysis Software Single Trial Processing Module General Information Anthropometrics halo N Doe ESEN Season ZEN Rt Ankle Diam Cem f0 ff Ft Foot Len cm p29 Ea A Ft Knee Diam em Lt Foot Len em 29 bio Lt Ankle Diam cm B 0 E Rt Foot Wth cm 29 A r T Get Data From File E Midline Foot Markers Markers Cleveland Clinic Walk Direction Automatic w ___Events ON__ff_Data Format Raw Curves AutoZero Forces ON Stride Cycle for Trunk Norn Format Avg Only OAnkle Angle Chapter 1 Introduction EVaRT 5 0 User s Manual KinTrak Director Sequencer SIMM KinTr
26. 0 0040 0 0010 0 0020 0 1000 56 5 0 0000 1 0000 0 0000 0 0090 2 9750 0 0020 0 0010 0 0000 0 0000 1 0000 0 0020 0 0450 11 5480 0 0000 0 0020 0 0000 0 0060 0 0300 0 0000 4 2000 25 7000 4 2000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 E 6 EVaRT 5 0 User s Manual Appendix E Forcepla cal File Format Figure E 5 The 6x6 Calibration Matrix Note 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 diago 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 EVaRT 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 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
27. 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 15s agsgrxsm Ee Lats Yew Toots Help DiPatent Dere 1 01008 zj Soup Celtrston Moton Cepture Post Process Model Ecit User Apps Colbeme Reme Seed Calibration FF Preview Calibration ww Flere C35 eed De F Ok to Overte Wand Calbratien Orestion 10 Seconda T in SD Fiera Cawan Collect u r Fau Calibration Noster Certes toPloce 127 Calibrate Fleet Example The camera does not see the Calibration Square Click on the camera to identify it 8 9 Chapter 8 Calibration Panel EVaRT 5 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 files and consists of one frame of data stored in your current data folder Your camera buttons at the bottom should
28. 1 inch 25mm 3 5x 8 10 Eagle 3 4 inch 9mm 5x5 6 Extended Hawk 1 inch 12 5mm 5x8 8 Volume Falcon 1 1 2 inch 19mm 5x11 10 1 8 and 1 4 markers are also available for smaller volumes such as face hand or foot capture volumes 5 30 chaptere The EVaRT User Interface Getting Acquainted With the User Interface PRJ Files Viewing Sample Data Digital Video Option EVaDV Software Real Time Dashboard Join Virtual Post Process Dashboard Post Process Toolbar Zooming Rotating and Translating Selecting Markers Virtual Markers Linkages and Segments Time Code Getting Acquainted With the User Interface Before using EVaRT 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 upper left corner The Directory List below the Menu Bar The Mode Buttons along the top left of the screen The Sub Panel Buttons along the top right of the screen The Sub 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 C
29. 200 W 250 W 300 W 21 VGA Monitor 125 W 125 W 125 W 21 Threshold Monitor 140 W 140 W 140 W Dual Processor Computer 200 W 200 W 200 W TOTAL 965 W 1215 W 1565 W A 15 Appendix A System Hardware Interconnections EVaRT 5 0 User s Manual Video Processor Back panel connections for a standard configuration of the Video Proces MID AS sor MIDAS for Motion Integrated Data Acquisition System are shown in i figure A 13 Connections Note Other configurations may have slightly different arrangements or have the position of the video processor cards and computer interface reversed Figure A 13 Video Processor MIDAS Connections Computer interface Video processor cards Video output to individual video monitors keyboard connector mouse connector Camera connectors to individual cameras video sync Daisy chained video output to threshold video monitor Camera selected in software grey scale amp binary Ethernet connector SVGA monitor connector parallel port a not used serial port COM2 EVaRT 5 0 User s Manual Appendix A System Hardware Interconnections Analog Camera Video cameras are connected to the Video Processor using camera cables Connections There are two available cable configurations 1 A camera cable with a 25 pin connector is connected directly to the Video Processor Then a long extension cable with BNC connectors is insta
30. 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 9 should be similar to what you see on your screen 6 14 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Figure 6 9 Viewing the Pre Recorded Data lt EVaRTS 18 x File Layouts Data Views Tools Help C Program Files Motion Analysis EVaRT50 Samples Golf Swing with Temper Setup Calibration Motion Capture Post Process Model Edit User Apps Al Markers TemplatelD_ Create _Quick ID Hide Markers Rectily Exchange Undo eetl ee ene ean a F Selected Markers _ Template Rectiy Template YM Toptient Marker ID Cut Copy Paste Join Cubic Join Linear Join Virtual Make Unnamed 3 M_B_Head 4 M_R_head 5 M_F_Head 6 M_RShoulder RB Join Smooth Calculate Virtual Markers Search Delete U_n Cut Outside 143 54 Ms Z X A a 5 7M _LShoulder 8 M_TopSpine 10 M_FLShoulder 11 M_FChest 12 M_RBicep 13 M_REIbow 14 M_AFoream i 979 52 311 37 3 EN x ee sat Ge Ae
31. 881 26 a n19 Residuals 0 000 Cameras 8 Global Marker Data Adjustments Model Adjustments a teal Missing data to be smoothed To Refine Tracks you will need to Load a prij file Load a trb file Select File gt Load VC for Post Click on Refine Tracks Select File gt Save Tracks a 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 all 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 12 3 Chapter 12 User Apps Panel EVaRT 5 0 User s Manual 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 template linkage lengths o
32. Add Figure 15 3 Add DB Panel m Add Existing Session Database to Project List Select an existing database from C Program Files Motion Analysis EVaR T 47 UserFiles D atabases VMJoin mdb E MotionAnalysis E TestData Virtual Markers Tutorial Images Virtual Marker Docs Client Name Motion Analysis Creation Date jan 1 2006 Comments Virtual Marker Join tutorial sample data Add Cancel This is to add a session database entry to the Master Project List for an ex isting session database For example if another EVaRT user has created a list for you to use you can copy this mdb file to a new location or you can add a reference to the original file created by the other user Folder File Select the database file you wish to add by browsing to the correct folder Selection and then selecting the mdb file Client Name This is a string field that allows you specify the client for the data It is re ally nothing more than another comment field but since this field is dis played first in the Project Databases list it should be something that is unique and descriptive 15 5 Chapter 15 QuickDB EVaRT 5 0 User s Manual Creation Date Comments Add Cancel New The creation date of the mdb file The current date is entered by default but you can change it if necessary A comment field limited to 255 characters This is used to help you re member what the session database contains When
33. Bet TJ_Window computation graphics ui other 32ms 30 9fisec J 4 EVaRT 5 0 User s Manual Appendix J Using EVaRT with Jack Software Jack5 0a Required amp Recommended Marker Sets in EVaRT 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 ulna 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 EVaRT with Jack Software EVaRT 5 0 User s Manual The following markers are a recommended marker set only These incor porate the ab
34. D 5 Nose Bridge D 5 Marker Sets C 1 Animation C 1 Biomechanics C 3 Developing C 5 Examples C 4 EVaRT 5 0 User s Manual Overview C 1 Marker Size 5 30 9 3 Marker Slots Number of 7 19 Markers Identifying 10 11 Selecting 6 41 Unnamed 10 10 Markers Panel Create Linkages Button 11 3 Markers Sub Panel 11 2 Clear Marker Set Button 11 2 Draw 3D Points Button 11 3 Select and Edit Button 11 3 Masks Clearing 7 12 Creating 7 12 MasterProjectsList mdb 15 2 Matrix Method 11 15 Max Acceptable 9 4 9 5 10 16 Max Horizontal Lines per Marker 9 3 Max Prediction Error 9 3 Max Residual 9 3 Max Speed mm frame 10 20 Max Target Speed 9 3 Max Prediction Error mm 10 21 Maya D 1 Menu Bar 6 3 Merge Marker Sets 9 9 Mesh Deformation D 9 MIDAS Connections A 16 Min Cameras To Use 9 3 Min Horizontal Lines per Marker 9 2 Misc Sub Panel 7 16 mocap model H 15 joint center calculations H 13 marker set H 14 scaling H 13 static pose H 10 Mode Panel Buttons 6 12 Model Adjustments 12 3 Model Edit 6 12 11 1 Overview 11 1 Morphing D 10 Motion Analysis Corp Contact Information 1 20 Motion Analysis License File Example G 2 Motion Capture 6 12 Index 5 EVaRT 5 0 User s Manual 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 12 6 Motion Composer Sub Panel 12
35. GBit NIC Cameras 6 10 EagleHub1 2 Customer Supplied Hub EVaDV Computer optional Cameras 11 16 Animation Plugins Computer optional Note If your Host Computer has a 4 Port NIC you may connect the Patch Cables directly to it A 10 EVaRT 5 0 User s Manual Appendix A System Hardware Interconnections Figure A 10 24 Camera 4 EagleHub1 2 Configuration Eagle Analog Computer optional EagleHub1 2 1 Gbps Switch Cameras 1 6 EagleHub1 2 Host Computer Cameras 7 12 EagleHub1 2 Eagle W Ethernet NIC Cameras 13 18 EagleHub1 2 Customer Supplied Hub EVaDV Computer optional Cameras 19 24 Animation Plugins Computer optional A 11 Appendix A System Hardware Interconnections EVaRT 5 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 11 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 duplex 100 Mbps Ethernet The Aux connector can be used for testing VGA and diagnos
36. In future versions of EVaRT the Linkage Stretch parameters in the Tracking Parameters inter face will become obsolete when the main marker set uses the Extra Stretch factor just like it is used everywhere else By then it is expected that users will have modified their marker sets to take advantage of the Extra Stretch factor and so the transition to the new technique will be seamless 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 they are too far apart as might happen if you had bad data to create the template then you must start the template creation process over from the begin ning because there s no way to tell the numbers to get close together again this is why I made a Sky script for this it makes it trivial to redo the template creation process 11 13 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Figure 11 9 Link Property Values SkB Segments Name Index Parent Origin Marker Long Axis Y Plane Axis XY RX Offset RY Offset RZ Offset Property V
37. 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 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 COMM port and a BNC connector Follow the steps found in Appendix A 23 through A 24 this will
38. Program Files Motion Analysis EVaRT50 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 EVaRT 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 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 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 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
39. Setup Panel Frame Rate Note Shutter Speed Using Hardware Sync Using Sunlight Filter Genlocking Master Camera 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 05 for example 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 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 light pulse There are 1024 different levels of shutter speed control 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 cont
40. Smooth Calculate Virtual Markers Search Delete U_n Cut Outside Rectify 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 linkages 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 Motion Capture gt Tracking gt Identifying Parameters function typical 10 15 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual Motion Capture gt Tracking gt Identifying Parameters Details To Reconsider If a link stretches more than the set amount the path is snipped into two paths where 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
41. 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 10 Talon Plugins Maya Interface Talon Options lolx Edit Help Marker Options IV Stream Marker Data Marker Representation Spheres Locators Scaling Option Scale C Inverse Scale Marker Scale Factor fi 0000 Marker Cloud 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 far EVaRT Skeletons gt I Drive skeleton s using only rotational data I Assume HTR Bones in Scene Get EVaRT Skeleton s Send Selected Skeleton s ta EVaRT EVaRT Host Computer EagleHost Connect to Host Start Streaming Note Only selected skeletons will be driven when connecting and streaming Apply Close Apply and Close EVaRT 5 0 User s Manual Chapier 1 Introduction Talon Viewer Note Talon Viewer is no longer supported by Motion Analysis Corp OrthoTrak 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
42. 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 EVaRT you should make sure that nothing is on the forceplates H 8 EVaRT 5 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 EVaRT Using the Mocap Model The Mocap Model SIMM has the ability to read tracked marker data and 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
43. 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 EVaRT software and the EVaDV 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 Chapter 1 Introduction EVaRT 5 0 User s Manual QuickDB QuickDB is an integrated database tool for EVaRT that allows the user to easily track all EVaRT project information Microsoft Access databases are used to tabulate information about your projects you don t have to own a copy of Access to take advantage of this tool A master database keeps a list of all the individual projects you make Each individual project called a session list keeps track of all the data associated with a specific project directory project files VC files tracks files etc It is fast and easy to create a session list of any data you already have QuickDB will scan your project directory for the data you have already collected and will create the session database for you QuickDB is all of the following e Is very handy for keeping track of all your projects you can scan for and then load project data with ease e Will record your trials as you collect data e Contains tracking information about a trial s Post Process status e Allow s multiple user access to shared session database
44. anb I Color Video avi I7 Tracked ASCII tc V Tracked Binary trb FPS 60 Duration 511 Timecode 00 00 00 01 Props Walk Actors Walk Walk Walk Init ReachDownPickUpBox ReachUpPickup DaveROM DaveUmpOut DaveUmpSafe DaveUmpStrike MattCartwheel Mattidle ae MattPickup MattRoll MattROM ns MattRun H MattT pose MattvMJoinTest alt f Matt_ROM Jodi_TwentyT wo zl L z FiveStars Track Item Tracker Frame In Frame Out E U a a e o a a e O A A T Print Trial I Is Tracked I Is Delivered Project This is the list of databases from the MasterProjectsList mdb file Select Databases the session you wish to view by selecting any of the fields in the projects list You can edit any of the fields by selecting them and typing in your changes These changes take effect immediately and are stored in the da tabase as soon as you make the change To delete any item from the list select the whole row and press the Delete key on your keyboard This will remove the entry from the master list but it does NOT delete the corre sponding session database file This file is left alone When you start up the QuickDB interface it will automatically move to the end of the projects list to put you on the most recently created entry 15 4 EVaRT 5 0 User s Manual Chapter 15 QuickDB
45. 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 0030 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 PRPPNPRPNNORPENNBRPEPR
46. and Analog Binary anb check boxes 2 Type ina 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 3 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 4 Press the Record button 5 This will produce a Static1 trb file and an analog and raw video file of the same name Identify a Static File 1 Load Static1 trb e Do this either by pressing the Load Last Capture button on the Motion Capture gt Output sub panel or go to File gt Load Tracks File then select and load it Figure 2 8 Motion Capture gt Output Sub Panel Load Last Capture Button Tracking Objects Output r Output files Raw video vc J Analog anb IV Color Video avi IV Tracked ASCII trc IV Tracked binary trb IV Skeleton htr2 rm Settings Name Golfclub Fe Trial JV Auto increment Duration seconds 5 RECORD 00 00 07 38 T OK to Overwrite J Enable external trigger I Post Trigger Mode a Load Last Capture Batch Processing Options 2 11 Chapter 2 Quick Start Tutorial for Movement Analysis Applications EVaRT 5 0 User s
47. 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 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
48. 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 Dis play 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 software 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 Linkage Stretch Parameters in Identifying Parameters control the accept a
49. 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 The Next Frame Button default hot key is the F key moves the Current Frame forward by one frame This also acts as a Stop button The Previous Frame Button default hot key is the S key moves the Cur rent Frame backward by one frame This also acts as a Stop button The Low Frame Button sets Current Frame to the Low Visible Frame The High Frame Button sets Current Frame to the High Visible Frame The Time Zoom Slider sets indicates the Low and High Visible Frames Double clicking on this control 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 unlock visible frames 10 2 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel Low and High Visible Frames Low and High Selected Frames Zoom In Zoom Out Target Marker Scaling 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 into these boxes and pressing Enter on the keyboard The Low and High
50. 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 square with four retro reflective spheres The relative position of the spheres have been accurately mea sured Place the calibration square at the origin or at an accurately measured point of the laboratory s test area When placing the calibration square consider the direction of motion to be studied position of force plates etc You can change the orientation of the calibration square by making adjustments to the Origin Offsets table This is located in the Calibration gt Details gt Calibration Settings Origin Offsets tab Refer to Figure 5 17 Figure 5 17 Calibration gt Details gt Calibration Settings Origin Offsets Calibration Settings i x Calibration Frame i x Translation Y Translation Z Translation x Rotation Y Rotation Z Rotation Lenses Orientation Capture Volume OK Cancel Apply 5 21 Chapter 5 Camera Setup EVaRT 5 0 User s Manual Placing the Calibration Square Mark the floor area with tape where the motion is to take place e Set Marker 1 of the Calibration Square at the desired origin of the capture volume e If the orientation of the coordinate system is not impo
51. 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 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 EVaRT 5 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
52. 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 EVaRT 5 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 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 positio
53. 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 Figure 10 13 Linkage Stretch Parameters m 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 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 template 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 setting as shown in Figure 10 13 e Works only on the highlighted XYZ selected time range starting on the current frame going forward t
54. 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 Mesh 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 EVaRT 5 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 animat
55. saved is when EVaRT is closed down without first closing the Sky window or if EVaRT crashes 14 8 Chapter 15 QuickDB Overview Installation Instructions Quick Start Steps Usage Notes QuickDB Terminology User Interface Frequently Asked Questions Overview QuickDB is an integrated database tool for EVaRT that allows the user to easily track all EVaRT project information Microsoft Access databases are used to tabulate information about your projects a copy of Microsoft Access is not required to take advantage of this tool A master database keeps a list of all the individual projects you make Each individual project called a session list keeps track of all the data associated with a specific project directory project files VC files tracks files etc It is fast and easy to create a session list of any data you already have QuickDB will scan your project directory for the data you have already collected and will create the session database for you QuickDB is all of the following e Is very handy for keeping track of all your projects you can scan for and then load project data with ease e Will record your trials as you collect data e Contains tracking information about a trial s Post Process status e Allow s multiple user access to shared session databases e Makes it easy to share databases with other users e Allows the creation of capture lists ahead of time so that c
56. the Eagle or Hawk system allows for 12 cameras per EagleHub3 All camera power connectors are plugged into the power connectors of the EagleHub3 Order is not imperative as long as each power connector is close to an open Ethernet connector Mixing EagleHubs There is no problem if you mix EagleHub1 EagleHub2 and EagleHub3 hubs in the same system The EagleHub provides power and Ethernet connections for both Eagle and Hawk cameras and can be mixed 1 Gbps Switch A 1 Gbps Ethernet switch is required for best performance if you have more than 16 cameras and plan to use the higher camera speeds available Figure A 3 Standard 1 12 Eagle Camera Single EagleHub3 Configuration EVaRT Host Computer EagleHub Integral A D optional Power Cameras 1 12 Eagle Ethernet NIC Camera Network Cameras 1 12 Patch Cable Ethernet NIC for Customer LAN EVaDV Computer Eagle A D Computer optional optional older method A D Interconnect Box optional A 5 Appendix A System Hardware Interconnections EVaRT 5 0 User s Manual Figure A 4 Eagle or Hawk Camera Multiple EagleHub3 Configuration 12 cameras EagleHub3 Power Cameras 1 12 EVaRT Host Computer Camera Network Cameras 1 12 EagleHub3 Eaal agle H Ethernet NIC w Ethernet NIC for Customer LAN Power Cameras 1 12 Camera Network Cameras 12 24 1 Gbps Hub EVaDV Computer Additional EagleHub3 s
57. 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 4 Local Area Connection Properties 2 x 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 Uninstall 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 EVaRT 5 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
58. 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 EVaRT 5 0 User s Manual Appendix G Import and Export File Formats 194 0 0000000 000000 0 000000 195 0 0000000 000000 0 000000 196 0 0000000 000000 0 000000 EndofFile 1 948793 1 872437 2 747322 0 402037 3 829116 0 383394 3 696403 0 820163 3 692526 1 000000 1 000000 1 000000 Appendix G Import and Export File Formats EVaRT 5 0 User s Manual Figure G 5 An Example of a HTR2 File Hierarchical Translation and Rotation htr file Generated by EVaRT 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
59. 14 file management 6 3 Filters 10 4 Flash Drive Software Installation 1 4 Floor Calibration 8 13 Index 3 EVaRT 5 0 User s Manual Force Plate Channel Order G 15 Force Vector Scale 7 20 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 9 Forceplate Scaling Factor E 5 Forceplates 6x6 Calibration Matrix E 7 Frame Counter 6 32 Frame Offset 7 19 Frame Rate 7 3 Frames Selecting 10 4 G gait analysis 5 2 gait lib E 1 Gauss Newton 11 15 ghost markers K 1 Global Marker Data Adjustments 12 3 Global Scale 11 15 Going Live 7 12 Hardware required 1 3 Hawk Camera Connections A 12 Dimensions 5 18 Display Codes 7 9 Physical Dimensions 5 18 Power Consumption A 3 Settings 7 2 System Configuration A 2 Helen Hayes Marker Set 2 10 C 3 C 4 Help Menu 6 11 Hide Markers 6 36 10 12 Hierarchical Translation amp Rotation Data 11 17 Hierarchical Translations and Rotations G 5 High Frame Button 10 2 Index 4 Hinge Joints Example 11 19 Hot Keys and Tips 6 39 HTR G 9 HTR Graphs pop up menu 6 22 HTR Version 1 Example G 9 HTR Version 2 Example G 10 HTR2 G 5 Example G 6 Identifying 6 24 Identifying Mar
60. 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 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 EVaRT 5 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 th
61. 24 M_Midback 25 M_ShoulderDffset 26 M_LowBack 27 M_RootOffset 29 M_BRHip 30 M_BLHip 31 M_FRHip 32 M_FLHip 33 M_AThigh 34 M_RKnee 35 M_RShin 36 M_RAnkle 37 M_RHeel 38 M_RMidfoot 39 M_RToe 40 M_LThigh 41 M_LKnee 42 M_LShin 43 M Lankle d ClickAll None Ctl Click Togge a 52 U1 53 U_2 lt Empty gt 54 U_3 lt Emply gt xl 100 200 300 354 Frames 120 00 FPS 2 Up Units mm Analog 600 00 Hz 6 16 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Pop Up Menus 3D Display 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 click 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 If the 3D Display is not visible press F3 on the keyboard or choose View gt 3D Display from the Menu Bar 4 With the right mouse button click on the 3D Display The 3D Display pop up menu and descriptions of the tools are shown in Figure 6 11 These options are recorded in your INI file and are reloaded when you launch EVaRT Figure 6 11 Post Process 3D Display With Pop Up Menu Items Show Quick ID Marker ID Template ID Rectify Hide Markers Unhide Markers Make Un
62. 4 1 1000 values wire to either connector 5 1 500 Camera amp Strobe Power from 12 V 800 mA DC Power Adapter LED On Duration is synced to the camera 60 Hz V sync The numbers indicate how long during that 60 Hz interval the LEDs stay on To Camera connector A 20 EVaRT 5 0 User s Manual Appendix A System Hardware Interconnections Figure A 19 Summary of Camera and Sirobe Settings Vv O3GIA Revision B amp C Earlier version Does not have external Select Switch Dip Switches located inside the Strobe Control Box Remove Cover For Access To Dip Switches 7 4 D co o m Revision E Strobe Select Switch Latest version available effective May 19 1994 Slide switch to desired position Type of Strobe with Switch Setting per Camera Type Type of Camera Strobe Revision B amp C Strobe Revision E Dip Switch Settings SEL Switch Position FALCON HR 240 N A Position 1 top Pulnix TM 6701AN 534 1 amp 2 OFF 3 amp 4ON Position 2 middle COHU 4915 W SW 1 amp 2 ON 3 amp 4 OFF Position 1 top A 21 Appendix A System Hardware Interconnections EVaRT 5 0 User s Manual Figure A 20 Push Button Switch For Eagle or Hawk System Event Push button Switch Normally Open Event 1 IN DE9P Plug Schematic COM1 9 pin Female Connector DE9P Plug Event Push Button Switch To COM 1 Port on EVaRT Host Computer Figure A 21 Push Button Switch For
63. 5 0 User s Manual 9 Press the Create Template button Figure 3 7 Create Template Interface Create Template xi Template Prop Definition Frames Used r Frames Range C Current Frames with complete data 168 Selected Total frames to use 168 Visible C All Include current frame as the Model Pose Create Template Extend 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 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 data 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 EVaRT operator The quality of the EVaRT data can be greatly affected by the events leading up to and during the motion cap ture session An efficient motion capture session can ultimate
64. 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 86 87 83 6g g0 1 92 93 a4 35 SB oF 98 99 100 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 9 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual Unnamed Markers Note 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 sub panel in Motion Capture and setting the Min Cameras to Use minimum number of cameras to use to 3 Caution should be taken here as this process may also eliminate good data 10 10 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel Post Process Toolbar Fi
65. 6 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 Motionbuilder D 1 Move 4 5 msscript ocx Installing 14 7 MTO 9 7 Multiple Tracking Objects 9 7 Muscle Name Selection EMG 7 14 N National Instruments B 14 Network Configuration A 13 Network Interface Card NIC A 7 A 13 New Subject Button 6 24 New Subject button 6 25 Next Frame Button 10 2 NI PCI 6071E B 1 B 14 NI USB 6218 B 1 B 5 NIDAQ Software B 3 OBJ 11 7 Objects Sub Panel 9 8 Options Post Process Panel 6 36 10 12 Orient Body 11 16 OrthoTrak 1 17 Intended Use 1 17 Output Files 9 12 Output Sub Panel 9 11 P P3D G 15 PCS_16Camera_2Tier prj 5 4 Index 6 Phoneme Recognition D 13 Pig Tail Cable A 17 Pinging a camera 5 27 Play Backward Button 10 2 Play Forward Button 10 2 pop 6 22 pop up menu 6 17 2D Display 6 19 3D Display 6 17 Analog Display 6 20 HTR Graphs 6 22 XYZ Graphs 6 21 Pose ID Options 6 8 Position Velocity and Acceleration Tab 10 28 Positioning Cameras 8 8 Post Process 6 12 Post Process Dashboard 6 34 Post Process mode 6 15 6 34 Post Process Toolbar 6 35 10 11 Post Processing 10 1 Square Data 8 22 Strategies and Tips 10 31 Wand Data 8 22 Post Skeleton Options 6 8 Post Trigger Mode 9 12 9 14 Power Consumption A 3 A 15 Eagle A 3 Hawk A 3 Preview Calibration check box
66. 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 EVaRT channel numbering starts at 1 For example AI 0 above corresponds to EVaRT Channel 1 B 10 EVaRT 5 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 EVaRT soft ware The second device should be channels 33 64 and so on for more de vices If you are not sure When you connect to the Cameras in EVaRT 5 0 3 or later the channel numbers 1 32 and the Serial Number of the USB device are r
67. 60 mm Tripod Mounting Points 1 4 in diameter x 20 threads inch Camera Weight 2 1 kg with lens 4 7 Ibs 5 18 EVaRT 5 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 2 1 kg with lens 4 7 Ibs 5 19 Chapter 5 Camera Setup EVaRT 5 0 User s Manual Overview of the System Calibrating Process Three dimensional tracking is performed in two stages a seed and a wand calibration A relationship must be established between real world posi tions object coordinates and the corresponding image coordinates from the camera view This is called calibrating the system When a target is visible in two or more camera views there is sufficient information avail able 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
68. 8 7 Previous Frame Button 10 2 PRJ Files 6 13 G 3 Project Databases 15 4 Project Initialization MA Quickstart 2 2 NM Quickstart 3 2 Prop Definition 9 6 Props 4 4 Protect Lens Correction 7 19 Pulnix Camera Switches and Connections A 19 Push Button Switch A 22 Q Questions and Answers K 1 Quick ID 6 36 10 12 quick solve defined H 4 QuickDB 15 1 Quick Start 15 2 Terminology 15 3 User Interface 15 3 QuickDB Sub Panel 12 9 Quick Start Tutorial Movement Analysis 2 1 R Range of Motion 3 9 9 5 Raw Files 6 14 Raw Video Button 6 31 RB Join 6 38 10 14 Real Time Dashboard 6 12 6 23 camera buttons 6 24 real time import see Motion Module Record 6 11 Recording Data 9 14 Rectify 6 36 6 37 10 12 10 13 10 15 Rectify Functions 6 37 10 13 10 15 Rectify Unnamed 6 35 10 11 10 17 Refine Tracks 12 3 Refining a Calibration 8 15 Requirements System 1 3 Reset IDs Button 6 24 Rigid Body Rectify 6 36 10 12 10 17 rigid objects 9 9 ROM 3 9 9 5 rom bin 7 5 Rotating 6 39 Rotation Offset 11 14 Run Button 6 31 functions 6 31 Run mode 6 23 Sample Data Viewing 6 14 Sample Form 4 5 Samples directory 6 14 Save ini Preferences 6 6 Scaling 10 3 ScriptPlugin ocx Installing 14 7 SDK F 1 Seed Calibration Extending 8 19 Segment Selecting 6 41 EVaRT 5 0 User s Manual Select All Frames 10 4 Select and Edit Button 11 3 Select Marker Set 9 9 Selected Markers Rad
69. 804 803 802 0 00101 0 00102 0 00101 0 00101 0 00079 0 00072 0 00074 0 00075 22 5648 22 3288 22 3755 22 7563 54 8645 55 3299 55 3140 55 7631 23 35 51 00 90 0 30 0 0 0 0 0000 1 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 3Kyowa 1 0 60 180 2000 2000 2000 2000 500 500 500 500 21 25 24 22 18 21 10 15 1613 1606 1605 1607 805 806 800 804 1610 1605 1601 1606 803 806 808 804 0 00102 0 00103 0 00101 0 00104 0 00072 0 00072 0 00075 0 00075 22 5481 22 3083 22 3729 22 7725 55 2674 54 6867 55 6732 55 1962 23 35 51 00 E 14 EVaRT 5 0 User s Manual Appendix E Forcepla cal File Format 90 0 30 0 0 0000 1 0000 1 0000 0 0000 0 0000 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 OOO 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 15 Appendix E Forcepla cal File Format EVaRT 5 0 User s Manual 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
70. 83 84 85 86 37 58 30 a 92 93 94 S 98 oF 98 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 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 10 8 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel 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 shown below Figure 10 9 The Curve After an Application of the 3 Point Average Filter 148 147 g 145 444 443 F Figure 10 10 148 147 445 444 443 86 ov 88 89 90 Ei g2 93 ws 36 97 98 99 100 The
71. Allows the creation of capture lists ahead of time so that capture names can be loaded from QuickDB while recording a session e Is an SQL database that can be used to generate reports on project sta tus Figure 12 7 User Apps gt QuickDB Sub Panel BioFeedTrak QuickDB 54 Open Access Database Interface 12 9 Chapter 12 User Apps Panel EVaRT 5 0 User s Manual Figure 12 8 QuickDB Interface lor EVaRT Version 0 5 Project Databases Client SessionDatabase CreationDate Comment Motion Analysis Corporation EVaR TReleaseS amples mdb 241 8 2006 All sample datasets from the samples folder of the EVaRT release m 2l Motion Analysis Corporation Load Into EVaRT Syne with EVaRT Scan Folder New From EVaRT New Copy Current New Blank I Record Trials Heo Create rte TriaNumbe a Project Directoy EProgram Files Motion Analysis EVaRT46 Samples BioFeedT rak DanceT utoial H Univ Delaware Ice F dblflip 3 Project File Christa pri _ Univ Delaware Ice F salaxel Trial Name ichristadance a Animation prj DaveROM mar24_hhrealtime prj wiint_wn mar24_hhrealtime prj wimax_wn a q Trial Number Trial Date Time 11 13 1998 9 54 00 AM IV Raw Video vc I Analog anb I Color Video avi 7 Tracked ASCII tc V Tracked Binary trb FPS 60 ist christadance Jump_Nmrks prj Data_ BioMocapSalver_rigl jog Matt pri MattCartwheel Matt prj MattP
72. Code SMPTE Time Code and EVaRT Overview Using the Time Code Reader Option with Eagle and Hawk Cameras Using the Time Code Reader Option with Non Eagle and Hawk Cameras Markers can be selected by the following 1 Clicking on the markers seen on the 3D Display 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 panel the Model Edit gt Markers sub panel and the Model Edit Tree View All of the conventional Shift click and Ctrl click techniques to select multiple items are supported in this software 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 the 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 EVaRT 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 hav
73. Colors Form i Colors TET Invert Colors Defaults Close Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Note Figure 6 6 lt lt Trim Capture Options E S x To change the color for any item just click on the colored circle and a color palette window opens up This lets you choose the color blend for that marker The colors are stored in the EVaRT50 ini initialization file that is loaded from the EVaRT launch folder They can also be stored in your personalized ini file 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 Setup 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 BONDS Dg To save this change to
74. 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 EVaRT 5 0 User s Manual Appendix H SIMM Motion Module Right Arm Critical Markers Semi critical Markers Left Arm Critical Markers 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 na
75. F 1 Appendix F SDK Software Developers Kit EVaRT 5 0 User s Manual F 2 Appendix Import and Export File Formats Overview mac_lic dat PRJ EVaRT Project File TRC Track Row Column HTR2 Hierarchical Translations and Rotations HTR ANC Analog ASCII Row Column TS Time Series Files from the EVaRT Analysis Functions Velocity and Acceleration Calculations Binary Files ANB TRB and C3D Overview The files generated by EVaRT 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 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 EVaRT 5 0 User s Manual mac_lic dat 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 S
76. Figure 7 5 Threshold Slider x Ba i 3 Select a camera 4 Ifyou 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 Horizontal Lines per Marker to 100 7 12 EVaRT 5 0 User s Manual Chapter 7 Setup Panel Analog Sub Panel Figure 7 6 Analog Setup Grid Note 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 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 2 4 5 Choose Setup from the mode buttons Choose Analog from the sub panel buttons Cameras Analog Misc In general a multiple of the frame rate is recommended For longer captures more than 5 seconds this is required To open a list of force plate names right click anywhere on the Ana log sub panel grid and choose Channel Type Names from the pop up menu The built in names include Kistler AMTI Bertec and Mus cles To edit a channel s name left click in its row in the Name column Left click on the
77. If a human face is to be animated the markers should be placed at the major motion points on the face 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 EVaRT 5 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 interferenc
78. Index 9
79. Interface EVaRT 5 0 User s Manual The Script most part you can do just about anything through the scripting interface that EVaRT does interactively All 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 A Functions list can be found in the file Functions html located in the C Program Files Motion Analysis EVaRT50 UserFiles Sky Files SkyDocumentation_Mar23_05 directory The scripting language is VB Script The only requirement for the script is that it has a Main function in it like so Sub Main commands go here End Sub Sky calls the script and executes the main function You can create and use other subroutines and functions from Main 14 4 EVaRT 5 0 User s Manual Chapter 14 Sky Scripting Interface Script Examples Data files for all the script examples along with copies of the scripts and the data they use are found in the DataExamples subfolder Note that some scripts might require a change in file paths to point to where you have placed this data on your computer system Resample sky Invokes an external command line program to resa mple a TRC file changes the frame rate MesssageTest sky Logs messages to a file How to delete a file How to create a folder MsgBox sky Example of using the built in VB Script functions MsgBox and InputBox CreateTemplate sky Create a templa
80. 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 GUN 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 MotionAnalysis Calcium dialog click on the Devices tab Enter the EVaRT 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 EVaRT 5 0 User s Manual Appendix J Using EVaRT 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 nam
81. 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 EVaRT 5 0 User s Manual Chapier 1 Introduction Software Packages within EVaRT The following are software products offered by Motion Analysis that are integrated within the EVaRT user interface These files will require a li cense file and an OCX file to use Calcium Calcium is the graphical user interface to the Solver engine Solver is the powerful numerical tool for calculating skeleton motion from marker data The Calcium interface in EVaRT 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 Figure 1 4 Calcium Interface in EVaRT xI Solver Interface Si is the same software as Calcium face is separate from EVaRT V Matker Definition Delete All Linkages E Matt pri E Markers 40 VMarkers 0 E Links 95 SkB Segments Inactive E Calcium Segments 23 o EGE
82. Panels ride Help amp My System Data Neighborhood GM Devices and Interfaces Name Value pack El al a Dserial Number oxesaeda i NI DAQmx Devices NI Eee DAQmx Device Ports Serial amp Parallel PX PXI System Unidentified Scales Software VI Logger Tasks i 11 Drivers 4 Remote Systems Basics What do you want t to do E3 Attributes celli B 8 EVaRT 5 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 Rear 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 2 7 KQ Resistor connects from Pin 1 PFIO to Pin 10 5 V Note NI USB 6259 uses PFI7 for clocking B 9 Appendix B Analog Input Hardware and Software EVaRT 5 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 6218 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
83. 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 1 You will first want to obtain a good range of motion trial and set it as your current tracks in Post Process 2 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 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 apart 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 6 28 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Figure
84. 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 N 6 39 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Time Zoom Method 2 Amplitude Zoom The second method of zooming in frames is described as follows 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 panel 1 Hold the Alt key 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 2 Hold the middle mouse button down 3 Move the mouse in any direction 6 40 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Selecting Markers Virtual Markers Linkages and Segments Note Time
85. Prepare for the calibration collection Explain to everyone the impor tance of not bumping the camera tripods 4 6 EVaRT 5 0 User s Manual Chapter 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 EVaRT filename for example CalSeed 2 Prepare the EVaRT 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 square from the cap ture volume For best results it is recommended that you collect and use wand calibra tion data Prepare the EVaRT 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
86. Reference Manual for OrthoTrak muscle name con ventions B 4 EVaRT 5 0 User s Manual Appendix B Analog Input Hardware and Software 32 Channel 16 Bit NI USB 6218 Configuration Note Note The following has been tested on Windows XP Pro and Windows 2000 Pro with the latest web based updates from Microsoft The EVaRT soft ware 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 re duced data rates Up to 2 cards can be installed into the host computer The Sync Cable must be connected to both cards Figure B 1 32 Channel 16 Bit A D Hardware Setup for the USB 6218 A D Card Master Camera Master A D Sync Cable 000000000 000000000 000000000 900000000 000000000 NI USB 6218 or NI USB 6259 First Install the Software Eagle Hawk Camera Cable Host Computer Eagle Hub USB Cable Ethernet Cable Ethernet Switch SIMM Computer optional Ethernet Cable Before you plug the NI USB device into the host computer you must first install the NI Acquisition software You need to have installed the NIDAQ software version 8 3 or later and you must be using EVaRT 5 0 3 or later for using the NI USB 6218 A D device Install the National Instru ments software accept all the defaults then let it finish and re boot your computer This may take 10 15 minutes T
87. Selected Frames are the lower and upper limits of the selected frame range These values can be changed by typing numbers into these boxes and pressing Enter on the keyboard See Selecting Frames on page 10 4 for details The XYZ Graphs right mouse pop up menu includes these zooming fea tures 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 amplitude 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 ce
88. 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 EVaRT 5 0 User s Manual Chapter 9 Motion Capture Panel Max Horizontal Lines Per Marker Shape Analysis Tracking Parameters Max Residual Max Target Speed millimeters frame Marker Size millimeters Max Prediction Error millimeters Min Cameras To Use Identifying Parameters 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 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 Filters out the centroids of blobs that are not round e g a marker is par tially obscured or two markers have merged Tracking parameters 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
89. Template Rectify to get the correct IDs to other frames Figure 10 14 Template ID Details 10 20 30 i E 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 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 panel 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 pers
90. 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 tre 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 10 EVaRT 5 0 User s Manual Chapter 9 Motion Capture Panel Output Sub Panel The Output sub panel is used when the motion capture recording is initi ated It is set by the following procedure 1 Choose the output file type at least 1 2 Enter a file name 3 Set the file length in time 4 If necessary set the external trigger mechanism Figure 9 5 Output Sub Panel Tracking Objects Output r Output files F Raw video vc F Analog anb V Color Video avi IV Tracked ASCII trc IV Tracked binary trb IV Skeleton htr2 Settings Name Golfclub Trial JV Auto increment Duration seconds RECORD 00 00 07 38 M OK to Overwrite J Enable external trigger I Post Trigger Mode Load Last Capture Batch Processing Options 9 11 Chapter 9 Motion Capture Panel EVaRT 5 0 User s Manual Output Files Settings Note OK to Overwrite Enable External Trigger Post Trigger Mode The Output files are the files generated during a motion capture session This se
91. This is intentional and could be accentuated even more Figure 11 28 Virtual Marker Definition for V_Neck Virtual Marker Definitions a uy 7 iol Sj x Three Marker Value 3 MV C Three Marker Ratio 3 A C Two Marker Value 2 MV Two Marker Ratio 2 A Enter Name of Virtual Marker Origin Marker Long Axis Marker Y Plane Marker XY V Neck 18 M_TopSpine 21 M_Midback 22 M_MidBackOffset Snap to this Marker optional Lon Awismm 54 50 Planemm 4 21 40 93 DEn aee G G _ Calculate Virtual Markers New V Marker Definition Delete V Marker Definition Undo Help 7 7 11 31 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Head The V_Head marker definition is designed so that while the performer s head is upright the position of the V_Head marker relative to the V_Neck marker will also be upright This is different from earlier attempts to put a virtual marker at a joint location here the V_Head marker rests on what would be roughly where the back of the performer s head is The idea is that as an end effector the orientation of the head segment as will be de fined by Skeleton Builder is more important than the actual location of the joint so its relationship to the neck joint is more important Figure 11 29 Virtual Marker Definition for V_Head lt lt irtual Marker Definitions C Three Marker Value 3 M Enter Name of Virtual Marker _Head Calculate Virtual Mark
92. 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 Panel EVaRT 5 0 User s Manual OrthoTrak Example The following is an example of how to get the OrthoTrak skins to show in the 3D display 1 Select File gt Load Project and load the project file Walk prj located in the Samples Helen Hayes Markers directory Select File gt Load Tracks and load Walk1 trb Click on the Bone Button in the lower left of the EVaRT interface Go to the Model Edit panel and select the project in the Treeview Select the Skin File in Property Value and select PolyBonesOT_Skin obj Right click in the 3D display and select Show Skins and Show Skel eton IRON D This procedure will produce a subject with a skeleton and skin as shown in Figure 11 5 Figure 11 5 OrthoTrak Skeleton and Skin Subject alas De rete pieve Die tee C Frogem Filenytoten AnaiyaiiEVORTS0Saneien a Seup Cattyaton Moson Capture PostProcess mosies _ UserApps _ 1 Mathers TreeView F Maken TiO Came OAO MabeUrnaned Hide Mates Recsty Exc
93. V_LKnee g j g 2 g 37 M_LKnee 27 M_BLHip 36 M_LThigh Ep a GM _ _ __ _ Note The yellow M_BLHip marker is used instead of the red M_FLHip marker The back hip marker is preferable because it is less co linear than the front marker This will help the V_LKnee calculations be more stable 11 25 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Ankle Figure 11 21 Virtual Marker Definition for V_LAnkle Notice that the definition of the V_LAnkle marker uses the previously de fined virtual marker for the knee It is perfectly acceptable to cascade vir tual marker definitions in this fashion For the V_LAnkle marker this is necessary since there are otherwise too few markers available to create an offset from the outside original ankle marker Also note the negative value in the Long Axis field this lowers the virtual marker to a location that more closely represents the center of the ankle joint 11 26 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Heel The heel virtual marker definition is optional you may skip this definition and add just the V_LFoot marker Like the V_LAnkle marker it relies on a previously defined virtual marker the V_LAnkle marker in fact to generate its position Once again the Three Marker Value type is used Figure 11 22 Virtual Marker Definition for V_LHeel sio x 9 Ninel SSM LHeol 40 M_LMidodt 45 _LArkle E
94. __ Calibration Mation Capture J airl Model Edit User Apps Notis BioFeedTrok DOSAR Hn me ex pect Phare Definition pa EE E Varintile Poaitionx z _ Event Response Sound Corrected oCamera f Aspect Frequency z Sumer 964 120 Z me 600 12 8 EVaRT 5 0 User s Manual Chapter 12 User Apps Panel QuickDB Sub Panel QuickDB is an integrated database tool for EVaRT that allows the user to easily track all EVaRT project information Microsoft Access databases are used to tabulate information about your projects a copy of Microsoft Access is not required to take advantage of this tool A master database keeps a list of all the individual projects you make Each individual project called a session list keeps track of all the data associated with a specific project directory project files VC files tracks files etc It is fast and easy to create a session list of any data you already have QuickDB will scan your project directory for the data you have already collected and will create the session database for you QuickDB is all of the following e Is very handy for keeping track of all your projects you can scan for and then load project data with ease e Will record your trials as you collect data e Contains tracking information about a trial s Post Process status e Allow s multiple user access to shared session databases e Makes it easy to share databases with other users e
95. a Gree e 11 27 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Foot The principal goal of the definition of all the markers for the foot area an kle heel and foot was to align the markers in a plane that matches the V_LKnee and M_LToe markers This will make for a more useful as well as aesthetically pleasing Skeleton Builder definition later Figure 11 23 Virtual Marker Definition for V_LFoot XeVirtual Marker Definitions 15 x Three Marker Value 3 MV C Three Marker Ratio 3 F C Two Marker Value 2 MV Two Marker Ratio 2 A Enter Name of Virtual Marker Origin Marker Long Axis Marker Y Plane Marker PSY W _LFoot 40 M_LMidfoot 39 M_LHeel 46 V_LHeel Snap to this Marker optional 22 50 0 00 37 90 G a Calculate Virtual Markers New V Marker Definition Delete V Marker Definition Undo Help Note that the V_LFoot marker uses nearly the same set of markers for its calculation as the V_LHeel The order of the markers is different differ ent Origin Marker specification The virtual marker definitions for the right leg are done just like as shown for the left The sample project Dave_LegsDefined prj contains all of these definitions and can be used as a starting point for the next set of def initions for the torso Torso The next major step in defining virtual markers is to work up the entire length of the torso along the spine It is important particul
96. adjust the height of the light stand until the square is positioned at the same height as the subject s head Remove the subject and stool from the capture zone and position the Calibration Square 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 Square against a wall calibrate and then capture as long as the subjects face is within 1 foot of the Facial Calibration Square D 2 EVaRT 5 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 EVaRT 5 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
97. afterward When this happens a series of trials will be made with an incomplete data set Trials that are except for the missing marker good It is for this circumstance that a particular feature of virtual markers is very useful This example takes advantage of the fact that at some time during the mo tion capture session the missing marker was still attached to the per former A trial containing the marker will be used to construct a virtual marker that will replace it in the trials where the marker is missing It isn t possible to use Join Virtual to fix this problem because Join Virtual re quires that the gapped marker exist in the same trial either before or after the gap that is being filled in In the sample data directory there are two TRB files Trial_12 trb and Trial_13 trb Trial_12 contains all the markers Trial_13 has a missing front right hip marker The following sequence of steps will use a virtual marker definition to fill in the missing marker in Trial_13 by constructing the virtual marker in Trial_12 using the Snap to this Marker feature 11 35 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual 1 Start EVaRT and load the project Dave_Fresh prj 2 Load the tracks file Trial_12 trb 3 Construct the virtual maker V_FRHip Figure 11 34 Virtual Marker Definition for V_FRHip lt lt irtual Marker Definitions SS i x Three Marker Value 3 MV C Three Marker Ratio 3 F C Two Marker Value 2
98. 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 10 4 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel 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 EVaRT provides 3 different smoothing filters that 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 Figure 10 3 The Post Processing Options Dialog Showing the Smoothing Options Tab greseenoessoosssossessesessoos Smoothing Search Undo Mise Recceusvesuocnscensneesoed as m Filter Type iC Butterworth 19 3 C 3 Point Average C 5 Point Average 10 5 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual 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 pe
99. 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 EVaRT 5 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 markers 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 Tracki
100. 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 center 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 adu
101. 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 completed filling in the details press Apply and return to the Calibration window in EVaRT Select Calibration gt Calibrate Box check Preview Calibration and then press Run The cameras that see four individually defined markers will instantly adjust to their approximate positions in EVaRT 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 have a seed calibration which is acceptable Refer to 8 8 EVaRT 5 0 User s Manual Chapier 8 Calibration Panel Extending the Seed Calibration on page 8 19 If the camera is not see ing all of the points first try one or more of the following steps
102. arrow that appears in the cell and select a name Alternatively you can simply left click in the cell and type in a name directly 7 13 Chapter 7 Setup Panel EVaRT 5 0 User s Manual Note 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 sub 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 sub panel and select Channel Type Names gt Muscles For any particular ana log 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 7 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 7 EMG Muscle Name Selection Cameras Analog Misc Cameras Analog Misc Name On Range 1 fx Vi e 10 Paty ov v Activate all named channels L Hamstring es L Lateral Ham v Show all named channels L Medial Ham L Gastrocnemiu Clear channel L Tibial
103. 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 EVaRT computer Once the connection is established SIMM will display connected in its message window and the SIMM model 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
104. 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 Sub Panel section on the following page Figure 9 3 Multiple Tracking Objects Multiple Dancers VOR T l8 x Ele Lts Dota Views Jook Help L E Sotup Calibration Moton Copture Post Frocoss Modal Edit User As Tracking Objects Oulput New Subeci D ES Man Mahenet eged pr Markasan Pretec Options e None r AB ede F MaskesSet Name Property Merge Morkersets Bonm m E02 Frames SOFPS 1 Up Ur rmm 9 7 Chapter 9 Motion Capture Panel EVaRT 5 0 User s Manual Objects Sub Panel The Objects sub 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 bring ing 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 tra
105. 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 EVaRT 5 0 User s Manual Appendix H SIMM Motion Module Figure H 4 Critical and Semi Critical Markers 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 R Shoulder R Shoulder LShoukisr 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 gt V Sacrum C R ASIS R ASIS it L Wrist
106. be upgraded to Windows NT to allow the large memory space necessary for real time capture For EVaRT operations the middle button is key for zooming and translat 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 1 3 Chapter 1 Introduction EVaRT 5 0 User s Manual Software Two new software components are required e The EVaRT program running under the host Windows 2000 Profes sional or Windows XP Professional operating system e Only if using Falcon cameras RT Midas software with extended capability to handle real time capture Installing the Software and Licenses To install EVaRT for the first time simply insert the installation CD ROM into your computer and select the Setup EVaRT50 No Samples exe or Setup EVaRT50 With Samples exe file Note To run EVaRT 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 Parallel and USB Port Dongles and Flash Drive f g0ogoonoga Parallel Port Dongle USB Port Dongle Motion Analysis Flash Drive Installation Using For new users EVaRT 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 EVaR
107. 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 sub 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 panel and then press Quick ID An Identify ing 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 3 9 Chapter 3 Quick Start Tutorial for Animation Production Applications EVaRT
108. 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 EVaRT employs 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 Coordinate the origin and orientation of your object reference frame This is deter mined by the Calibration Square 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 t
109. 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 panel the data is identified or re identified by pressing 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 frame If no marker is seen within this search sphere then the 10 20 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel Max Prediction Error mm 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 swi
110. 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 2000 or XP 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 EVaRT EVaRT 5 0 User s Manual Installation Note Using EVaDV Capturing Digital Video Using EVaDV Capturing Digital Video in EVaDV from EVaRT Note We recommend you install the software into the C Program Files Mo tion Analysis EVaDV directory but EVaDV exe will run from any folder No dongle or license file is required to run this application But to collect synchronized color video AVI files in EVaRT 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
111. display the Network address of your camera 5 27 Chapter 5 Camera Setup EVaRT 5 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 1 201 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 Then plug each camera in by individually do not con nect any other camera cables to the hub It does not matter which RJ45 port you connect the camera network cable The same applies to the power connector The only other connecti
112. example if your system has 32 Eagle cameras you will need four Ea gleHubs Each EagleHub1 2 configuration is the same for each 8 camera block which then plugs into the NIC For example cameras 1 through 8 use Hub 1 and cameras 9 through 16 use Hub 2 Note If you are using two EagleHubs 1 2 for 16 cameras you will need more than four NIC ports Note If you are using an Eagle Analog Computer and two EagleHubs 112 the following setup with one NIC limits you to using 15 Eagle cameras The fourth port on the NIC must be used for the Eagle Analog Computer not the 16th camera Figure A 8 16 Camera 2 EagleHub1 2 Configuration EagleHub1 2 EVaRT Host Computer 5 to 8 Port Cameras 1 7 Patch Cable Ethernet Switch E ILLL Eagle Camera 8 Direct to NIC with F F Adapter LI Ethernet NIC EagleHub1 2 Patch Cable NIC for Customer LAN Customer Supplied Hub Cameras 9 15 Patch Cable EVaDV Er Computer Camera 16 Direct to NIC with F F Adapter optional Animation Plugins Computer optional Note If your Host Computer has a 4 Port NIC you may connect the Patch Cables and 8th and 16th camera cables directly to it A 9 Appendix A System Hardware Interconnections EVaRT 5 0 User s Manual Figure A 9 16 Camera 3 EagleHub1 2 Configuration EagleHub1 2 Eagle Analog Computer optional EVaRT Host Computer Cameras 1 5 EagleHub1 2 5 to 8 Port Ethernet Switch eee eee we Ethernet
113. full step cycle 4 Press the Record button This will produce a Walk1 trb file 5 Next load the Walk1 trb file e Done by either pressing the Load Last Capture button in the Motion Capture gt Output sub panel or selecting File gt Load Tracks File e Loading a file will automatically bring you to the Post Process tab 6 Select the Post Process panel and then press Quick ID An Identify ing window appears Activate the Rectify check box 7 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 8 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 9 Gaps in data can be filled by using Join Cubic and or Join Virtual functions 2 13 Chapter 2 Quick Start Tutorial for Movement Analysis Applications EVaRT 5 0 User s Manual 10 Press the Create Template button Figure 2 10 Create Template Interface lt lt lt Create Template x Template Prop Definition r Frames Range Frames Used C Current Frames with complete data 168 Selected Total frames to use 168 Visible C Al J Include
114. 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 27 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual Analysis Graphs Position Velocity and Acceleration Tab Note The Analysis graphs and their related control panel provide tools 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 e Distance between markers e 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 EvaRTS C Program Files Motion Analysis VaR TSi Samples iGo Swing wih Temper Setup Cali
115. gt rox 00 00 03 1704 IE isible 364 Frames 120 00 FPS Z Up Units mm Analog 600 00 Hz 4 XYZ Graphs in Bottom Pane Select Visible Frames Button 6 Make sure there are no unnamed markers or gaps in the data If so activate the XYZ Graphs or in the bottom pane 2 12 EVaRT 5 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications e Turn all markers on with the Click All None button as shown in Figure 2 9 e Press the Select Visible Frames button again then press the Del_Un button which is located on the Post Process panel e Finally press the Join Cubic button 7 Save this as a TRB file File gt Save Tracks Load a Walking 1 Select File gt Load MarkerSet Dynamic Marker e Load the Walk prj file that contains the Helen Hayes Dynamic Set marker set This will be the same marker set minus the medial knee and ankle markers 2 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 Create a Template 1 Select the Motion Capture gt Output sub panel Activate the Raw from the First Video vc and Tracked Binary trb check boxes Walking Trial 2 Type ina filename e g Walk 3 Set the duration to be long enough to record one
116. gt Tree View sub 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 sub panel Figure 13 4 Model Edit Tree View Model Edit User Apps Markers TreeView V Marker Definition Delete All Linkages fg BodyOnly prj CELAS c f Property bi Skeleton Engine 13 6 EVaRT 5 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 EVaRT 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 EVaRT software are stored internally in a certain way and exported to the HTR file according to the method above Figure 13 5 HTR Export Options Xe Htr Export Options lOl x r Euler Angle Order Base Position Options ZYX None C XYZ Current Frame C PZ C YZX C 2y C xZ
117. hidden selected 3D view markers Re identifies missing makers gaps in a determined frame range For more information on the Rectify functions refer to Rectify on page 6 37 Uses the selected markers to ID unnamed markers through the capture se quence For more information on the Rectify functions refer to Rectify on page 6 37 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 selected markers are dynamically turned into a Rigid Body def inition 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 a PoOnN Sets the sliders zoom and search options 6 36 EVaRT 5 0 U
118. 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 EVaRT 5 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 fast Pre vis tools for quick pre visualizations of your characters motions 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 skele tons under the skin of your final characters EVaRT Skeleton Engine Selection The Engine Selection sets the method of calculating the optional skele ton model that can be calculated in EVaRT and later versions There are two main skeleton engines available from Motion Analysis Skeleton Builder which was based on earlier SkB definitions and Calcium Solver based on Solver technologies The EVaRT and later versions will run any skeleton engine that is previously defined without any additional licenses To define
119. identifying M N Virtual BWV Skeleton ES H x 00 00 00 00 New Subject Pe e a a e e a a a e a e e PoselD 11844 tests Pose ID in Message Center New Subject Button Reset IDs Button Recommended Procedure 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 1 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 2 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 the current frame and you would check Include Current Frame as Model Pose for frame number 1 You should only need to d
120. in the simulated realtime mode when you Disconnect Use Raw Files This skeleton calculation uses the Calcium Solver type skeleton and re quires that you use the anatomically named marker set defined in the OrthoTrak software The OrthoTrak SIMM basic marker set uses fixed names like L Shoulder L Wrist and L Knee for prominent marker loca tions There are several required markers and many more optional mark ers If you use this marker set you do not need to use the Si Calcium soft ware for creating a model mod file You must also use an 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 becomes 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 Skeleton 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 The Create OrthoTrak Model button brings up the dialog box as shown in Figure 7 9 It uses a pre defined SIMM model which is pre defined in a jnt file and is generally part of the EVaRT software release It also uses the current Tracks file with the Static Dynamic markers to create a scaled model of the person with the corre
121. 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 Return 8 Press Enter to leave the other items unchanged 9 Wait for the camera to boot again and check that Ringlight type was successfully changed A 24 Appendxs Analog Input Hardware and Software Overview Installing NIDAQ Software on an EVaRT Computer Analog Signal Naming Conventions 32 Channel 16 Bit NI USB 6218 Configuration 64 Channel SCB 100 and NI PCI 6071E Configuration Overview The EVaRT system can accept analog data from external devices and syn chronize it with video motion data Analog cards known to work with EVaRT software include the following A D configurations and the necessary NIDAQ software EVaRT will sup port one or two of the devices listed in Table B 1 The 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 EVaRT Software A D Configuration NIDAQ Software NI USB 6218 32 Channel
122. 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 Update the slate board with the new take number and EVaRT file name Make the same entries in the Motion Capture Log When everybody is ready the director can say roll video then slate the video Now the EVaRT 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 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 Pause the camcorder Collect two trials of this initialization move Before capturing have the subject practice each move Enter a duration longer than the estimated length of the move Enter an EVaRT filename the duration of data capture the trial num ber and trigger the Event button Update the slate and the Motion Capture Log The director should ask if everybody is ready and then say Roll video Slate video The EVaRT 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 Comments on the quality of the trial should be entered into the Motion
123. 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 e g EVaRT 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 four character names stored in the POINT LABELS field H 5 Appendix H SIMM Motion Module EVaRT 5 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
124. 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 EVaRT This applies for Windows 2000 operating sys tem If you are using a different operating system you will need to do a search for the file nidaq32 dll Relationship Between Capture Volume and Marker Size Note The following is for Midas based cameras only i e Falcon Cohu Pulnix etc Eagle and Hawk cameras set marker size parameters through the EVaRT interface Listed in Figure 5 23 are Optimal Highest Accuracy Large Volume and Extended Volume capture areas for the 6 8 and 10 Falcon camera sys tems Larger volumes require more cameras 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 5 29 Chapter 5 Camera Setup EVaRT 5 0 User s Manual Figure 5 23 Guidelines for Selecting Marker Size for Falcon Cameras Normal Capture Volume Marker Size meters Cameras Eagle 3 8 inch 9mm 2 5 x 2 5 6 Highest Hawk 1 2 inch 12 5mm 2 5X 3 5 8 Accuracy Falcon 3 4 inch 19mm 2 5x5 10 Eagle 1 2 inch 12 5mm 3 5 X 3 5 6 Large Hawk 3 4 inch 19mm 3 5 x 6 8 Volume Falcon
125. 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 EVaRT 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 EVaRT 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 EVaRT 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 the length of data capture for each new move EVaRT Operator The EVaRT operator must make certain that the motion capture data is clean and trackable The EVaRT 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
126. of the new database to be created A flag indicating that instead of placing the new database in the Userfiles Databases folder the new database should be located in the current project directory This is a string field that allows you specify the client for the data It is re ally nothing more than another comment field but since this field is dis played first in the Project Databases list it should be something that is unique and descriptive The creation date of the mdb file The current date is entered by default but you can change it if necessary A comment field limited to 255 characters A reminder to help you re member what the session database contains When all the above fields and sections are made this button is enabled When pressed a new record is added to the Project Databases list which is saved in the MasterProjectsList mdb file and a new database file is cre ated for the session database Cancel the new operation at any time You can also close the dialog win dow and cancel the operation selecting the Close button in the upper right corner of the dialog The trial list contains the names of all the trials in the session database All the values for the currently selected item are shown in the fields to the right of the Trial List Any changes take effect immediately and are im mediately stored in the session database This brings up a dialog that allows the user to specify a folder to be scanned for pre ex
127. on the floor 3 Enter the distance from the floor your y 0 plane to the center of the markers maybe 20 mm and press the Collect and Calibrate 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 From VC Files 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 CalFloor vcX You would not normally need this but it is there to level the floor if optional 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 Note Make sure no other markers ghost or otherwise are visible in the 3D dis play as it will tilt your new virtual floor to average them in as well Face Calibration Refer to Appendix D Capturing Facial Motion Calibration Files The following are the types of calibration files generated in your se
128. or A D signal names E 7 Appendix E Forcepla cal File Format EVaRT 5 0 User s Manual 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 EVaRT 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 since 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 forceplate
129. orientation matrix to make the forceplate 13 coordinate system match the laboratory coordinate system Figure E 2 Forcepla cal File Structure For 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 EVaRT 5 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 speci
130. point you can go to File gt Export HTR and you will have a file with the segmental data Also you can use the 3D window right click Show Menu to show or un show Skeleton Skin and Skeleton Axes Note that this IS the way you have to run the create skeleton option Once you have done the Create OrthoTrak Model step you can run a real time capture with a skeleton being generated on the fly Also if you save the project file in step 3 you can Load the project file with Dynamic trials and start at step 5 above Also after you have create the OrthoTrak model you can check the box in the Motion Capture mode Calculate Skeleton and the skeleton will be calculated in real time when you are Connected to Cameras or Disconnected and using VC files to simulate real time performance It takes more CPU resources to calculate these so pay attention to the Task Manager gt Performance tab to see if your computer is fast enough 7 18 EVaRT 5 0 User s Manual Chapter 7 Setup Panel Figure 7 9 Create OrthoTrak Model Dialog Create Orthotrak Model __ x Model Definition C Program Files Motion Analysis EYaRi T 44 B 2 mocap jnt Browse Int Pose C SProgram Files Motion Analysis EYaR T44 Samples Helen Hayes Markers Static Browse Other Misc Sub Panel Functions Disable Sound Effects Load Another Tracks File Frame Offset Number of Marker Slots Create Cancel Model Definition A SIMM defined JNT fi
131. show the correct view on how to set up your calibration square 8 4 EVaRT 5 0 User s Manual Chapier 8 Calibration Panel Figure 8 2 Calibration Frame Tab Calibration Settings 8 5 Chapter 8 Calibration Panel EVaRT 5 0 User s Manual Origin Offsets This allows for translation and rotation from the origin The Calibration Square may then be positioned anywhere in 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 Calibration Settings x Calibration Frame Lenses Orientation Capture Volume Translation Y Translation 2 Translation x Rotation Y Rotation Z Rotation OK Cancel Apply EVaRT 5 0 User s Manual Chapier 8 Calibration Panel Lenses Orientation This indicates the focal length and positions of each camera as used in the Collect Calibration Square button If you use the Preview Calibration check box to position and orient your camera the focal length entries should be nominally correct e g 6 for 6 mm lenses In the Preview Cali bration and Calibration with Squ
132. 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 lt eEVARTS File Layouts Data Views Tools Help CA Program Files Motion Analysis EVaRT50 Samples Golf Swing with Temper Setup Calibration Motion Capture Post Process Model Edit UserApps AllMarkers Template ID Create Quick ID Make Unnamed Hide Markers Rectity Exchange Undo Template Rectify Template Options Selected Markers Marker ID Rectify Unnamed Unhide Markers Rigid Body Rectify Cut Copy Paste Join Cubic Join Linear Join Virtual AB Join Smooth Calculate Virtual Markers Search Delete U_n Cut Outside Back Click All None Ctil Click Toggle_ 7 M_LShoulder 8 M_TopSpine 10 M_FLShoulder 11 M_FChest 12 M_RBicep 13 M_RElbow 14 M_PForeatm 15 M_Fiwrist 16 M_APinky 17 M_AThumb 18 M_LBicep 19 M_LElbow 20 M_LForeatm 21 M_LWrist 22 M_LPinky 23 M_LThumb 24 M_Midback 25 M_ShoulderDffset 26 M_LowBack 27 M_Root0ffset 29 M_BRHip 30 M_BLHip 31 M_FRHip 32 M_FLHip 33 M_RThigh 34 M_FKnee 35 M_AShin toa Distance Between Two Markers Pasition Velocity Acceleration From Included Angles 16 M_RAnkle 37 M_FHeel 38 M_FiMidfoot 39 M_RToe 40 M_LThigh 41 M_LKnee
133. software is used to generate Solver skel etons EVa 6 0 or 7 0 can be used to define SkB skeletons Figure 6 16 Skeleton HTR Graphs Pop Up Menu Control Panel lt lt lt Skeleton HTR G E V Positions MV Angles MV Lengths Segment Names IaLLowerArm lriaLHand InaRClavicle lriaRUpperArm HTR Order Euler This sets the rotation sequence with the first letter being the axis of the Angle Order angle flexion extension point Figure 6 17 HTR Order Euler Angle Order is HTR Order x r Euler Angle Order C XYZ C YZ C YZ C 2y CN 6 22 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Digital 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 EVaRT 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 EVaRT Host computer In this case the EVaDV software is not needed It is built into the EVaRT 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 experien
134. 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 10 19 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual Figure 10 15 Template ID and Rectify Used for Link Stretch Correctly Identifying Markers Automatically Post Processing Mode Max Speed mm frame 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 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 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 D 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
135. the Start menu in Windows select Run Execute the following assuming the msscript ocx was copied to the location listed above regsvr32 C Program Files Motion Analysis msscript ocx This can also be done from the command prompt i n order for the example scripts associated with the example project data Installin In order for th ple scrip d with th ple project d to work certain Sky scripts need to be copied to the Global Sky Files lo Example Sky cation The contents of the SkyFiles folder in the Example Data directory Files and Data should be copied to the SkyFiles folder that resides in the folder pointed to by the MAC_DIR environment variable If the folder doesn t exist you need to create one when Sky starts up it will create the folder if it doesn t exist Execution of There are Sky commands swTrcResample swExecuteProcess that allow i for the invocation of command line applications The swTrcResample Command Line command requires that there be a bin directory right below the Motion Prog rams Analysis root directory pointed to by the MAC_DIR environment vari able The application file TrcResample exe must be placed in the bin folder for the swTrcResample command to work TrcResample is part of the mocap toolkit available from the FTP site Contact Motion Analysis Customer Support for information on getting the toolkit support motio nanalysis com Frequently Asked Questions 1 When I press Run it doesn t run th
136. 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 EVaRT 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 EVaRT 5 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 critiquing 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
137. the sub sam pling rate does not affect the system calibration The Sub sampling Rate is the actual rate of raw data collection Frames may be skipped over during the data collection if the sampling rate does not match the hardware rate The Video Display Options will affect the image displayed on the Falcon Threshold Monitor Shows the grey scale video image direct from a camera for analog cam eras only Shows a black and white binary image indicating those picture areas above and below the specified video threshold level for analog cameras only Shows the masks or areas designated to receive no marker information 7 8 EVaRT 5 0 User s Manual Chapter 7 Setup Panel 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 Codes 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 EVaRT 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
138. type of physical task Kinematic variables include position velocity and acceleration of individ ual markers placed on key anatomical points of interest Included angle between two segments defined by three or four markers as well as the angle of inclination of a segment defined by two markers with respect to a global reference coordinate system can be used to provide feedback Kinetic data include the following e horizontal and vertical forces e moment about the vertical axis e the coordinates of the center of pressure with respect to the global reference coordinate system The program works in conjunction with the Motion Analysis Eagle Hawk Digital System or the Falcon Analog System For a typical application procedure the user will do the following 1 Choose and set the variables to be monitored Determine the starting and ending parameters for each variable to be assessed 3 Choose the volume and frequency of the audio feedback 4 Start the Real Time system Chapter 1 Introduction EVaRT 5 0 User s Manual With this the patient and clinician are able to work side by side to retrain areas of the body that need further optimization Figure 1 7 BioFeedTrak User Interface with EVaRT Composer BioFsedTrak a gt DEAR un Phase GolSwing z X Phase Events Phase Definition Event Head Movement gt x Variable Position Y z mm Marker Variable M_TopHead Source M_RShoulder M_LShoul
139. up one of the tracking object slots Currently the coordinate system of the prop is displayed in the Motion Capture 3D Display 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 parallel 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 EVaRT next to the Sounds folder and name it SystemObjects note no space between System and Objects Copy any props you want to use into the SystemObjects folder You will need to quit and relaunch EVaRT and then you will see a new section at the bottom of the 9 9 Chapter 9 Motion Capture Panel EVaRT 5 0 User s Manual Advanced Example Data Set Note Motion Capture gt Objects sub panel with the heading System Objects You can select prop files from that list to go into any of the Additional Tracking Objects slots 5 Order the objects in the Tracking Objects sub panel The priority for identifying objects is A B C D E and the Main Marker set is identi fied last You will want to put the props at the beginning of the list into the top slots Done this way it is
140. view The cameras should be posi tioned on a subject wearing the reflective markers The goals of camera placement 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 EVaRT 5 0 User s Manual N 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 Square to the light stand and position it next to the subject With the subject still sitting
141. 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 parallel to each of the three X Y amp Z axes Note Itis 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 right click and select Smear Display This allows the wand to draw its paths across each camera view A good wand calibration will fill most of the 2D Display Figure 8 8 Seeded Cameras 3 D and 2 D View all cameras on EVa RealTime File Layouts View Tools Help CoO fa Setup Calibration Motion Capture Post Process Model Edit User Apps 0 000 4 0 000 4 0 000 4 0 000 4 5 gt 5 Calibrate Retine r Calibration with Square M Preview Calibration _Detais _ Filename CalSeed Calibrate fe Gets Gyenmite Wand Calibration Duration 60 Seconds Length fo00 Filename awaa Collect Gk te Gyennnite 0 000 4 4 0 000 4 0 000 4 0 000
142. wishes to incorporate the output data stream from EVaRT into a software application The Software Developers Kit which provides the tools for interfacing your program with EVaRT 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 EVaRT software and request that the kind of data that you want be transferred Marker XYZ data and or Skeleton 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 XYZ data in the Post Processing part of EVaRT 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
143. 0 43 NOT USED 93 CH 53 44 NOT USED 94 CH 61 45 NOT USED 95 CH 54 46 NOT USED 96 CH 62 47 NOT USED 97 CH 55 48 NOT USED 98 CH 63 49 NOT USED 99 CH 56 50 NOT USED 100 CH 64 B 19 Appendix B Analog Input Hardware and Software EVaRT 5 0 User s Manual B 20 Appendix C Marker Sets Overview Animation Biomechanics Examples Developing Optimum Markers Sets Overview Animation Note When deciding how to place markers for EVaRT 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 marker
144. 0285 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 EVaRT 5 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 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
145. 106 0 153 0 127 0 163 0 130 0 122 0 118 0 151 0 103 0 165 0 133 0 161 20 449 20 558 20 558 20 511 20 656 20 492 20 581 20 391 m 3D Residuals Wand Length Avg 0 3430 vg 500 51 Heavily Weighted Extend Seed Seed Dev 0 1493 Dev 0 68 Accept STOP Run Again 8 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 9 Check the 3D Residual Values EVaRT 5 0 User s Manual Chapter 3 Quick Start Tutorial for Animation Production Applications Note Possible Problems with Calibrations How to Solve 10 11 e The 3D Residual values should be fairly low depending on the type of cameras you have The Standard Deviation should be approximately half of the 3D residual Press the Run Again but ton until the values in the calibration processing window stop changing significantly 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 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 selec
146. 138 30477 116 44541 122 55485 124 97174 448 35952 468 76412 349 54976 359 82323 184 85654 181 27314 G 8 EVaRT 5 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 EVaRT 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 file 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 EVaRT 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 EVaRT 3 0 and EVaRT but there is no software to import them Version 2 file gives the position data for all segments for the first v
147. 16 Bit up to 6 USB devices NI PCI 6071E 64 Channel 12 Bit NIDAQ 8 3 or later EVaRT 5 0 3 or later Traditional NIDAQ 7 0 gt 7 4 EVaRT 4 4 NI PCI 6071E 64 Channel 12 Bit higher performance NIDAQ MX 8 0 or later EVaRT 5 0 NI DAQ Card 6024E 16 Channel 12 Bit NI PCI 6254 32 Channel 16 Bit up to 2 cards NI USB 6259 32 Channel 16 Bit up to 2 USB devices Traditional NIDAQ 7 4 EVaRT 4 6 NIDAQ MX 8 0 or later EVaRT 5 0 NIDAQ 8 1 or later EVaRT 5 0 2 Note If you are using NIDAQ MX 8 0 or 8 1 versions and if you are collecting data for only one channel in EVaRT you will need to install a jumper wire from screw terminals PFI 7 to PFI 0 on the A D interconnect box This B 1 Appendix B Analog Input Hardware and Software EVaRT 5 0 User s Manual Performance Specifications Separate A D Computer may be changed in future versions of the NI software drivers If you have two analog acquisition devices installed the same is applied for 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 accessed by means of the Analog Terminal Box which contains 100 screw terminals The 32 chan nel setups are also broken down to USB and PCI connections A list of the location of channel numbers in the Analog Terminal Box for d
148. 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 57253 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
149. 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 integer 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 00000
150. 3 Move the mouse forward or left to zoom out and backward or right to zoom in Rotate In the 3D Display 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 Display 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 Method 1 _ Click on the Post Process button among the Mode Buttons 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 Frame 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
151. 4 r Floor Calibration Marker Center to Floor 127 Calibrate Floor M Enable Tracking i Connect To Camer m F Enable ldentiving Vital Totems Ciaur Reset IDs m Enable Skeleton ee nea o Errr Stopped 1 240 Z mm i L Service CUSTDATA Bundeswehr5_01 Bundeswehr6_20 A 8 11 Chapter 8 Calibration Panel EVaRT 5 0 User s Manual 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 500 06 mm for a 500 00 mm wand to the original wand length then the calibration is complete Uncheck Heavily Weighted Seed and press Run again 6 Press Save Project Figure 8 9 Wand Processing Status ia Wand Processing Status Entend seed x 0 117 0 124 0 120 0 116 0 109 0 123 0 110 0 115 0 110 0 102 0 113 0 107 0 101 0 119 0 108 0 120 8 102 8 079 8 096 8 121 8 106 8 095 8 067 3D Residuals wand Length Avg 1 7794 Avg 1001 00 v Heavily Weighted pondo aneen Dev 0 7286 Dev 1 77 Run Again
152. 4e65 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 cf636al13 Talon Streaming 4 ecb36136 d65b4b14 Talon Viewer 4 86 b0714 43d037e BioFeedTrak ac943872 92026c54 Motion Composer c7 00e25 c534083f This license has no expiration EVaRT 5 0 User s Manual Appendix G Import and Export File Formats PRJ EVaRT 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 data 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 usefu
153. 6 22 Create Template Interface Create a Template lt lt Create Template xl Template Prop Definition Frames Used Frames Range Current Frames with complete data 168 C Selected Total frames to use 168 Visible C Al Include current frame as the Model Pose Create Template Extend Template 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 NY Getting Pose 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 Template 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 optimum The steps are as follows 1 Select Motion Capture gt Connect to Cameras or select VC files and then select New Subject This will bring up the Pose ID dialog box and the Model Pose stick figu
154. 7 0 274 0 198 0 171 0 197 0 150 V Res 0 162 0 204 0 138 0 202 0 163 0 160 F Length 20 425 20 207 20 541 20 617 20 000 20 967 20 000 20 659 2 3D Residuals r Wand Length Avg 0 7783 Avg 598 79 Vv Heavily Weighted Extend Seed Seed Dev 0 3527 Dev 1 11 Run Again Accept Reject STOF 56 510 3 5 After the second pass turn Heavily Weighted Seed OFF Click Run Again Figure 8 14 Extend Seed After Second Pass F se k A a he 4 7 gt vet date ae dase Wand Processing Status ia xi Camera 1 z 3 4 5 6 7 8 0 146 0 184 0 148 0 160 0 173 0 129 0 142 0 159 0 119 0 154 0 140 0 132 20 365 20 148 20 452 20 593 20 000 20 924 20 000 20 628 a 3D Residuals Wand Length Avg 0 6561 Avg 599 22 r Heavily Weighted Extend Seed Seed Dev 0 3011 Dev 0 86 Run Again Accept Reject STOF 56 510 3 6 Press Extend Seed with Heavily Weighted Seed OFF 8 20 EVaRT 5 0 User s Manual Chapier 8 Calibration Panel Figure 8 15 Extend Seed After Extend Seed 4 Y 4 gt f _ g aai Eag mr baad lt 0 000 0 7 Press Run Again Figure 8 16 Extend Seed Third Final Pass ri k k d a ea he ad as igs te x ia a ee bee eal 0 145 0 192 0 167 0 194 0 132 0 176 0 173 0 138 q E 0 153 0 188 0 119 0 177 0 125 0 147 0 145 0 125 q lEtenath 20 298 20 115 20 359 20 565 20 456 20 844 20 562 20 535 21 Residual Values r 3D
155. 8 LBicep a Leben Insert U CW TIS 11 LWristT humb ea 12 LwristPinky 13 RAShoulder 14 RBicep 15 RElbow 16 R wrist 1 RiwristThumb 18 RiwristPinky 19 MidBack 20 Root 21 LPelvis 22 LHip 23 RHip 24 LThigh 25 RThigh 26 LKnee 27 AKnee 28 LAnkle 29 RAnkle 30 LMidFoot 31 RMidFoot 32 LToe 33 RT oe Clear Marker Set This button clears out the project s marker set Button EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Create Markers Select and Edit Button Create Linkages Button Draw 3D Points Button Note This is done by double clicking in the first box or by right clicking and choosing Insert This allows you to select the names and colors of the markers in the marker set This button must be clicked prior to creating linkages on the 3D display Linkages can be built by connecting the dots Linkages should reflect the rigid segments This allows you to draw points manually onto the 3D display You must be in Motion Capture before going into Model Edit to select Draw 3D Points Figure 11 2 Draw 3D Points First select Motion Capture before going into Model Edit to select Draw 3D Points Di data Golfswings 1 194 28 EVaRT Golfer pri Golfswings10 vc1 File Layouts DataViews Tools Step 1 Help Step 2 Step 3 Markers TreeView Setup Calibration Motion Capture Post Process Model Edit UserApps M
156. 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 EVaRT lt lt cE aRT 4 1 BodyOnly prj DaveROM1 trb File Layouts Data Views Tools Help oxsw Releases 4 1 Samples OFFICIAL Solver Setup for Animation V Marker Definition Delete All Linkages SkB Segments Inactive al El Solver Segments 25 E DaveRoot C 100 200 300 400 500 600 z0 s0 i 1 1 tL 746 y o Emam a ia a 1080 Frames solved 0 Frames failed avg res 9 985131 7 frogo fo fmm 13 1 Chapter 13 Skeleton Types EVaRT 5 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 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 Y axis 3 The third marker defines the XY plane The advantage of the SKB type skeleton is that they compute very quickly and they represent the
157. Capture Log and on the audio of the camcorder The EVaRT operator quickly reviews the raw data and looks for any problems 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 4 8 EVaRT 5 0 User s Manual Chapier 4 Planning a Motion Capture Session N Collect the last calibration trial Backup all the EVaRT trials on a CD ROM Zip disk or other backup medium Label and store the tape in a safe place Remove the video tape from the camcorder and set the safety tabs on the tape to prevent being recorded over Consolidate 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 EVaRT u
158. Data The XYZ Graphs will display none any or all markers you have selected in the Post Process panel 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 Display Click on the back but ton 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 Figure 10 1 Post Process Dashboard Play Play Speed Frame Selectors Frame Lowest Highest Frame Visible Frames Low Current Frame Play Forward Button Play Backward Button Next Frame Button Previous Frame Button Low Frame Button High Frame Button Time Zoom Slider Selected Frames Low Move 1 Frame Time Code Selected Frames High Visible Frames High Current Frame is the frame that is currently seen in the 3D Display 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 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
159. Develonment EVaRT Pluains Scrio Kal iii Toolbar e New Clears the Script text editor and start editing a new script 14 2 EVaRT 5 0 User s Manual Chapter 14 Sky Scripting Interface Local Sky Files Note Global Sky Files Note Script Output The Functions e Open Brings up a file browser to find a sky file not in the current directory e Save Saves the Script text to a new sky file e Run Executes the text in the Script editor This automatically saves the current script text to the current file e Cancel Cancels the currently executing script This works only if the script was written to use the swCancelled function e Info Prints out basic information about Sky e Refresh Causes Sky to refresh the Local Sky Files list or the Glo bal Sky Files list which ever one is currently shown by re reading the appropriate directory e Initialize 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 Will not overwrite existing scripts of the same name 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 The currently loaded file name w
160. 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 EVaRT 5 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 Acquisition Device Interface gt New Data Acquisition Device
161. 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 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 EVaRT 5 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
162. 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 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 EVaRT 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 In the Setup gt Cameras sub panel choose the Camera Type Figure 3 1 Setup gt Cameras gt Camera Type Cameras Analog Misc peas Camera Type Eaale Hawk x Frame Rate 120 Shutter Speed 1000 12sec Tl Using Hardware Syne Using Sunlight Filter m Current Camera Number 1 Model Unknown Serial Unknown Version Unknown Date Unknown IP Addr 10 1 1 1 Set as Master Brightness 0 Edit Threshold 542 Ea 3 2 EVaRT 5 0 User s Manual Chapter 3 Quick Start Tutorial for Animation Production Applications e Under the Eagl
163. Graphic Card Issues e Interface is evolving e Resizing video window by dragging corner can cause a hang up Stop resize play seems to work around this e File recompression functionality unstable with certain compressors e Multiple camera support is working however certain cameras Sony seem to 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 Right click on your desktop then select Properties gt Settings gt Advanced gt Troubleshoot Slide the Hardware Acceleration down a few points Quit EVaRT 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 EVaRT EVaRT 5 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 EVaRT 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 Ver
164. H 56 50 NOT USED 100 CH 64 B 18 EVaRT 5 0 User s Manual Appendix B Analog Input Hardware and Software Table B 6 Typical Connections For 2 AMTI Forceplates and 10 EMG Channels for Midas Based Camera Systems with SCB 100 and PCI 6071E A D Card Screw Setup Screw Channel Setup Terminal Channel Name Terminal Name 1 GROUND Forceplate Grounds 51 CH 17 EMG05 2 GROUND EMG Grounds 52 CH 25 3 CH 1 Fix 53 CH 18 EMG06 4 CH9 F2Z 54 CH 26 5 CH 2 FLY 55 CH 19 EMG07 6 CH 10 M2X 56 CH 27 7 CH3 Fiz 57 CH 20 EMG08 8 CH 11 M2Y 58 CH 28 9 CH 4 M1X 59 CH 21 EMG09 10 CH 12 M2Z 60 CH 29 11 CH5 M1Y 61 CH 22 EMG10 12 CH 13 EMG01 62 CH 30 13 CH6 M1Z 63 CH 23 14 CH 14 EMG02 64 CH 31 15 CH7 F2X 65 CH 24 16 CH 15 EMG03 66 CH 32 17 CH 8 F2Y 67 CH 33 18 CH 16 EMG04 68 CH 41 19 NOT USED 69 CH 34 20 NOT USED 70 CH 42 41 NOT USED 71 CH 35 22 NOT USED 72 CH 43 23 NOT USED 73 CH 36 24 NOT USED 74 CH 44 25 NOT USED 75 NOT USED 26 NOT USED 76 GROUND 27 NOT USED 77 CH 37 28 NOT USED 78 CH 45 29 NOT USED 79 CH 38 30 NOT USED 80 CH 46 31 NOT USED 81 CH 39 32 NOT USED 82 CH 47 33 NOT USED 83 CH 40 34 NOT USED 84 CH 48 35 NOT USED 85 CH 49 36 NOT USED 86 CH 57 37 NOT USED 87 CH 50 38 PFIO TRIG1 Red trigger wire 88 CH 58 39 NOT USED 89 CH 51 40 NOT USED 90 CH 59 41 NOT USED 91 CH 52 42 NOT USED 92 CH 6
165. HPBREP EE WNNWWNWNNNWRWNWWWWNHNDN Appendix G Import and Export File Formats EVaRT 5 0 User s Manual TS Time Series Files from the EVaRT Analysis Functions Velocity and Acceleration Calculations EVaRT 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 E Included Angles Distance Between Two Markers Position Yelocity Acceleration C Position paie C ecel Bx Aanes 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 Ca
166. II Time Series ts files For more information refer to Appendix K Analysis Graphs Only Ctrl G Hides the side panels and Post Process Realtime Dashboard to maximize the graphic panes Quickfiles The Quickfiles display provides a window within the EVaRT interface to navigate the file structures and contents of the directories used for motion capture data sets Specific file types can be chosen for display which al lows the user to filter out unwanted file types The Tools menu gives access to various functions within the EVaRT soft ware Many of these functions are also available in other sections of the user interface Calibration Setup 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 6 7 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Edit Thresholds This activates the threshold slider used to block out excessive noise in the 2D camera view For more information refer to Adjusting Thresholds on page 7 9 Time Lines Shows the time line of the data for each marker indicating any breaks in the stream of data More information can be found in Time Lines on page 10 26 Batch Processing Options This provides an overview of the tracking identifying and solving con figuration in EVaRT For com
167. 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 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 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 Auto ID feature works in the 6 24 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Note Note Real Time mode when you are connected to cameras or it works when you are tracking the data from VC files after the collection 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 t
168. MB RAM OpenGL video card with 128 MB RAM capable of 1280x1024 resolution capable of 1280x1024 resolution 17 inch or larger monitor capable of 19 inch or larger monitor capable of 1280x1024 resolution 1280x1024 resolution 20 GB hard drive IDE or SCSI 80 GB hard drive IDE or SCSI 1 44 MB or larger floppy disk drive 1 44 MB or larger floppy disk drive Internal CD RW drive Internal CD RW drive 1 port 1000 Mbps Network Interface Card 1 port 1000 Mbps Network Interface Card NIC 104 key keyboard NIC quantity of 2 104 key keyboard Three button mouse The program requires a Three button mouse The program requires a middle mouse button for zooming and middle mouse button for zooming and selecting in several of the graphical panes selecting in several of the graphical panes USB 2 0 IEEE 1394 standard Firewire Hardware Using Eagle and Hawk Digital Cameras Using Falcon Cameras Middle Mouse Button EVaRT will perform best with a dual processor host computer with an OpenGL graphics card This is used for all types of cameras The Eagle and Hawk digital camera motion capture system includes a set of Eagle and Hawk digital cameras with ring lights LAN power cables and an EagleHub system If you ar using the Falcon Cohu or Pulnix cameras real time capture re quires a Midas computer with a fast CPU fast memory and upgraded video capture cards Also the Midas operating system must
169. MV Two Marker Ratio 2 A Enter Name of Virtual Marker Origin Marker Long Axis Marker Y Plane Marker XY V_FRHip 26 M_BRHip 29 M_FLHip 27 M_BLHip Snap to this Marker optional 104 70 Plne 140 09 12 22 28 M_FRHip a L ee eee Calculate Virtual Markers New V Marker Definition Delete V Marker Definition Undo Help The virtual marker definition uses the Snap to this Marker to automati cally calculate the numerical values necessary to place the virtual marker at the same location as the actual marker 1 Load the tracks file Trial_13 trb Select the Calculate Virtual Markers button in the Post Process sub panel 3 From the marker list select the marker M_FRhip From the Post Process panel press Marker ID 5 With the entire frame range selected select the virtual marker V_FRHip in the 3D display A The missing M_FRHip marker has now been filled in with data from the virtual marker and this can be saved to a new TRB file 11 36 Chapter 12 User Apps Panel Overview Overview X Sub Panel Sky Sub Panel Motion Composer Sub Panel BioFeedTrak Sub Panel QuickDB Sub Panel The User Apps panel houses the plugins for the EVaRT user interface These plugins include e X e Sky Writer e Motion Composer e BioFeedTrak e QuickDB Figure 12 1 The User Apps Mode De ee eee ee Program Fanan anaya EAT 7 f l Bene Caltrain Maston Ca
170. M_BLHip Long Axis Y M_FLHip Plane Axis XY M_Root x Offset 50 Y Offset 70 Z Offset 40 11 11 Chapter 11 Model Edit Panel EVaRT 5 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 project 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 display To change the color click on the color property and select from the drop down menu The Extra Stretch factor is a statement about the quality of the motion that was used to create the template values The Extra Stretch is a Confidence Factor in the data used to make the template 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 y
171. Make Unnamed Make Unnamed will specifically move a marker s data into the first un named marker slot It is important to know that the data is not deleted by this operation Rectify Unnamed Makes unnamed markers into contiguous paths to follow through the cap ture sequence For more information on the Rectify functions refer to Rectify Functions What They Do and When To Use Them on page 10 15 10 11 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual Quick ID Marker ID Exchange Hide Markers Unhide Markers Rectify Rigid Body Rectify Note Options Identifies the selected marker identifying all markers one by one accord ing to the list It will normally select with auto incrementation Auto In crement Marker ID is the same as Quick ID without the auto increment feature Exchanges the XYZ coordinates of two selected markers Hides selected 3D view markers Unhides the hidden selected 3D view markers Re identifies missing makers 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 15 Uses the selected markers 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 15 Rigid Body Rectify and Template Rectify assume that all the current marker identificati
172. Manual 2 Loading a file will automatically bring you under the Post Process interface Select the Identify sub panel 3 Press Quick ID The Identifying window appears Activate the Rec tify check box Identify each marker with the correct name 5 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 shown in Figure 2 9 located in bottom right of screen and then press Rectify Check again by playing the trial gt Figure 2 9 Post Process gt MarkerSets Sub Panel Click All None Button File Layouts Data Views Tools Help C Program Files Motion Analysis EVaRT50 Samples Golf Swing with Temper Setup Calibration Motion Capture Post Process Model Edit User Apps AllMatkers TemplatelD_ Create ick ID Make Unnamed Hide Markers Rectify Exchange C Selected Markers Template Rectify Template Marker ID Rectify Unnamed Unhide Markers Rigid Body Rectify Cut Copy Paste Join Cubic Join Linear Join Virtual RB Join Smooth Calculate Virtual Markers Search Delete U_n Cut Outside 1135 72 1875 59 1578 77 1432 55 2758 17 52 U_1 lt Empty gt 53 U_2 lt Empty gt 54 U_3 lt Empty gt rror GLA Ile ea aoa gaara a TT merr An A T T 100 200 300 400 500 700 800 TS 3 Eg noe EAEN
173. Marker Definition Delete V Marker Definition Undo Help As you change the values in the numerical fields you will see the display of the virtual marker update In this case the option of Three Marker Value was chosen instead of Three Marker Ratio The Value types of definitions interpret the numerical fields as millimeters The Ratio types of definitions interpret the numerical fields as percentages For the V_Root virtual marker either three marker definition would be suitable One advantage of the Three Marker Value definition is that it has the op tional Snap to this Marker field By highlighting this field and then select ing a marker the values necessary for the virtual marker to be at the loca tion of the selected marker will be entered into the numerical fields for you Play around with the values in the numerical fields to get a sense of how the virtual markers location is calculated and how EVaRT visually dis plays the calculation parameters to help you place the virtual marker There is no need to press Calculate Virtual Markers to see updates to defi nition changes This button is for when you would like to see an XYZ graph of your virtual markers There are times when this is helpful for re constructing data when markers were lost and it wasn t noticed before the data was captured The normal procedure is for EVaRT to automati cally re calculate the virtual markers any time there are changes to the original dat
174. Midas System Event Push button Switch Normally Open Event 1 IN Ground DE9P Plug Schematic For computer emulation of this switch closure use an open collector or TTL driver that goes low 0v when data capture starts DE9P Plug Midas Event Push Button Switch To VPAT Card 1 on Midas Computer A 22 EVaRT 5 0 User s Manual Appendix A System Hardware Interconnections Configuring Ringlight Changes for Eagle and Hawk Cameras If you change the ringlight 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 electronic circuitry or LEDs Parts You Will 1 Computer with COM port and HyperTerminal software standard Need with Windows 2 Eagle Hawk Test Cable shown below that came with your Eagle or Hawk system This cable is about 6 feet long has special connector one end to plug into 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 22 Eagle Hawk Test Cable Steps 1 Put the camera on a table connect the single connector end of the Eagle Hawk Test cable to the back of the camera 2 Connect the Eagle Hawk Test cable s COM port to the COM1 port of your computer COM2 may also be used 3 Launch HyperTerminal If you have installed EVaRT there should be a file named EagleCOM1 ht in the folder containin
175. 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 EVaRT raw data should show 2 lines or greater per marker Setup the EVaRT 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 EVaRT 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 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
176. PS Duration and Time code fields only if a VC file has been loaded will this information be there A useful trick after scanning a folder for trial names is to select each of the files load into EVaRT and then select Syne with EVaRT This information is immediately used to update the session database When selected QuickDB will listen for Start Record and End Record events from EVaRT and will create a new Trial Record for each The name of the trial will be taken from the Name field in the Settings area of the Motion Capture gt Output panel 15 8 EVaRT 5 0 User s Manual Chapter 15 QuickDB Trial Fields Project Directory Project File Trial Name Trial Number Trial Date Time File Types FPS Duration Timecode Props Actors Track Item Tracker Frame In Frame Out These are all the fields to the right of the Trial List If you modify these values then they will have immediate effect The check boxes to the left of the fields indicate which fields are to be displayed in the trials list This is the directory where all the project and motion capture data is con tained A special name of indicates that the project directory is the same folder as the location of the session database The project file associated with the main markerset The name of the trial The number of the trial The time when the trial was captured This is generally taken from the time stamp put on the file by Window
177. Pop Up View Options and Channels Table Visible Channels Shows the Channels Table v Show All Channels Toggle all channels Shift the Data Corrects for time match problems between analog and video data KEN iix m Visibl Range WF _ Channels Table Fly lt fiz Y mix s mly VA miz VA 6 20 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface XYZ Graphs Pop Up Menu 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 15 Post Process XYZ Graphs With Pop Up View Options and Tools Zoom Frames In Zoom Frames Out UnZoom Amplitude v Auto Scale v 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 Cameras Show Residuals and Cameras plots Quick ID Quick ID the markers sequentially Marker ID Marker ID the selected mark
178. Q i L Elbow mi R Elbow L Asis V Sacralg 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 EVaRT50 Samples directory which includes complete marker sets C 4 EVaRT 5 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 y
179. Raw Files If you click on the Run button which causes the program to perform all the checked functions Track Identify Skeleton the difference is that CPU speed will go as fast as possible which means if you have a fast enough computer it is done is less time than the capture time Slows down the software to pause between frames if there is available time If you select Real Time speed it will wait between frames and up date the display so that the motion being tracked is not faster than real time playback If the time to process the data is slower than realtime lots of markers fast frame rate then the selection does not matter it tries to keep up with real time but there is not enough time When you are Con nected to Cameras the CPU Speed setting does not matter Loops the file to continuously repeat in Run mode Note that if you record to a trb file with this feature ON the trb file will contain all of the loops as well Turns off any skeleton calculations for the Motion Capture and Post Pro cessing panels 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 window right click in the 3D display and select All EVaRT users can calculate the SkB skeletons after they have been de fined but creating and editing skeletons require
180. Residuals 7 gt Wand Length Avg 0 6112 Avg 599 85 pr Heavily Weighted Extend Seed Seed Dev 0 2925 Dev 0 79 Run Again Accept Reject STOP 56 510 3 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 21 Chapter 8 Calibration Panel EVaRT 5 0 User s Manual Post Processing Square and Wand Data Note Note Note 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 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 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 sub panel click Calibrate 3 Select Raw Files in the Real Time Dashboard and then select Cal Wand vc1 Select your CalWand data set in the data capture folder You can create a mask to eliminate unwanted markers or reflections Re sel
181. 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 EVaRT 5 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 independently 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
182. 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 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 EVaRT 5 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 impor
183. 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 degrees of freedom H 21 Appendix H SIMM Motion Module EVaRT 5 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 Clavi
184. T setup file on the CD Failure to do so may result in damage to your dongle Install the new version of EVaRT from the CD ROM Install the Sentinel Drivers after the EVaRT installation is finished Insert the Dongle into the USB or Parallel port 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 PONZ If you need any further information please consult the readme txt file lo cated on the Motion Analysis USB Flash Drive 1 4 EVaRT 5 0 User s Manual Chapier 1 Introduction If You Only Have If you have EVaRT software already installed you will need to add a new EVaRT Installed line to your Motion Analysis license file provided by Motion Analysis 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 EVaRT v50 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 Cr
185. 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 35 mm Zoom for Eagle cameras and 6 mm C Mount for Hawk cameras 5 5 Chapter 5 Camera Setup EVaRT 5 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 Table 5 1 is for Eagle and Hawk cameras For Falcon cameras you should multiply each dimension each side by about 0 8 which gives you 64 of the capture area compared to the same number of Eagle and Hawk cameras Figure 5 3 Typical 6 Camera Setup a i pen Camera 6 i Cameras mo 50 Camera 1 f E Came
186. Used Only with Stand alone Mode AUX cable disconnected To VPAT Board DEFAULT RATE POSITIONS 60 60 Hz 240 lines 60D 60 Hz 480 lines 120 120 Hz 240 lines 120D 120 Hz 480 lines 180 180 Hz 240 lines 240 240 Hz 240 lines To Power Supply 13Vdc 6Vdc SEL Switch set at 1 BNC Sync Cable Strobe Duration 60 240 fps green scale 1 1 8000 sec 2 1 4000 3 1 2000 4 1 1000 60 fps onl blue scale 5 1 500 A 18 EVaRT 5 0 User s Manual Appendix A System Hardware Interconnections Figure A 17 Pulnix Camera Switches and Connections Set at 1or2 SYNC IN Shutter Control Switch Manual shutter mode Speed Note Shutter mode 4 is recommended Gain ASY N O 0 no shutter 1 1 125 2 1 250 3 1 500 4 1 1000 5 1 2000 6 1 4000 7 1 9000 8 1 16000 9 1 32000 Switch 1 MAN Switch2 N Shutter Speed 60 fps 480 lines Switch 3 120 fps 240 lines Normal mode N O 60 Hz progressive scan Double scan N T 120 Hz two row scan A 19 Appendix A System Hardware Interconnections EVaRT 5 0 User s Manual Figure A 18 Cohu 4915 60 Hz Camera Connections Inside Select Switches before Revision E DC IN NI Non interlaced 3 D with AUX External Driver Normal position DOWN 1 1 8000 2 1 4000 12 Volt DC from camera strobe power 3 1 2000 H nominal supply polarity does not matter either
187. VaRT Quickstart 2 1 static pose see Motion Module Status Bar Messages 6 12 Still Camera 4 4 Streaming Options 7 19 7 20 Studio Preparation 4 1 Subject Preparation 4 6 Sub Panel Buttons 6 12 Sub sampling Rate 7 8 Sync with EVaRT 15 8 Synchronizing Video I 1 J 1 System Calibrating Process 5 20 System Calibration MA Quickstart 2 4 NM Quickstart 3 3 System Configuration Analog Camera A 14 System Hardware Interconnection A 1 Overview A 1 Standard System Configuration A 2 System Objects 9 9 System Requirements 1 3 Index 8 Take 4 5 Talon Plugins 1 16 Talon Viewer 1 17 Target Marker 10 3 Template Building 9 5 Template ID 6 35 10 11 Template ID Details 10 18 Template Rectify 6 35 10 11 10 16 The 6 38 10 14 Threshold Monitor 7 8 Thresholds Adjusting 7 12 Edit 7 12 Time Code 6 41 Time Code Counter 6 32 Time Lines 6 8 10 27 Time Series Files G 16 Time Zoom Method 1 6 39 Method 2 6 40 Time Zoom Slider 10 2 To Reconsider 9 4 10 16 Tool Menu 6 13 tools 6 3 Tools Menu 6 7 Track Row Column G 3 Tracked Data Editing 10 1 Viewing 6 16 tracked marker files cropping ends H 4 opening H 2 Tracking 6 24 With More Than 8 Cameras 5 15 Tracking mode 6 34 Tracking Parameters 9 2 Tracking Sub Panel 9 2 Translating 6 39 TRB G 18 TRB file 6 14 TRB TRC files see tracked marker files TRC G 3 Data Header G 4 Empty Fields G 4 Example G 4 File Header G 3 Positi
188. a or to the marker definitions To create a new virtual maker definition press the button New V Marker Definition this will start you over with a fresh virtual marker definition To go back and edit previous virtual marker definitions you may do any one of these e Close the Virtual Marker Definition Window select the virtual marker from the treeview and then press V Marker Definition OR 11 23 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual e Press the button New V Marker Definition and then select an existing definition from the treeview OR e Select the virtual marker from the treeview and modify the parame ters in the property editor in the lower right portion of the screen Each Leg The process for creating virtual makers for each leg is symmetric so only the generation of the virtual markers for the left leg is shown here Hip One of the goals of the virtual marker process is to create the markers as close to the person s actual joint centers as possible in truth there is no such thing as an actual joint center since real bones do not move in an ide alized fashion their joint center changes depending on the position of the bone the knee joint s center may shift as much as 10 millimeters as the leg bends for example For the purposes of most applications such as ki nematic analysis and character animation an approximation is good enough In the case of the hip joint it is useful to note t
189. 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 25 Figure 6 25 Camera Buttons Right Click Menu Enable Disable Enable for Live Tracking Disable for Live Tracking Sort by Pasition Sort by IP Address 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 32 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Join Virtual Join Virtual is an extremely powerful editing tool used to fill gaps in marker data with simulated data based on the relationship positional in terpolation with other markers on or near the particular problem seg ment This positional interpolation is defined by Virtual Markers Figure 6 26 Join Virtual Check Box E IV Tracking E V Identifying E lv Skeleton Connect To Cameras Disconnect Use Raw Files Iv The concept behind the Join Virtual and the Virtual Marker de
190. act support motionanalysis com if you need this item To turn it ON check the box called Genlocking Master Camera in the Setup gt Cameras sub 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 master camera using the AUX connector on the back of all the MAC dig ital 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 7 3 Chapter 7 Setup Panel EVaRT 5 0 User s Manual Brightness Current Camera Information Changing the Camera s IP Address
191. ains both equipment parame ters common to many different setups and calibration 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 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 Note Multiple PRJ files should be saved in the same file directory with care Important 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 result in a corrupt file 6 13 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Viewing Sample Data Sample Data Set Note Note To become familiar with EVaRT we will start by replaying some sample data This is done by loading a sample project found in the Samples direc tory 1 From the Menu Bar select File gt Load Project Navigate to
192. ak is a movement analysis system that enables you to import and analyze three dimensional kinetic force kinematic video and channel e g EMG data from a biomechanical perspective 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 m
193. al Chapter 11 Model Edit Panel 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 Value 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 8 VMarker Property Values Property Value Name WY_LHip Index 2 Type Three Point Value Origin Marker
194. all the above fields and sections are made this button is enabled When pressed a new record is added to the Project Databases list which is saved in the MasterProjectsList mdb file Cancel the Add operation at any time You can also close the dialog win dow and cancel the operation using the Windows Close button in the upper right corner of the dialog Figure 15 4 New DB Panel Create New Session Database Database Name vmi oin mdb iV Place New Database in current project folder Client Name Motion Analysis Creation Date faa 1 2006 Comments Virtual Marker join tutorial sample data This creates a new session database and places the new mdb file in a lo cation specified by the user The default location is to use the Userfiles Databases folder but the location of the database can be any where An option to make the database in the same folder as the current project is provided This makes the database easily relocated along with all the project and mocap data This operation works by copying an exist ing mdb file SessionTemplate mdb from the Userfiles Databases 15 6 EVaRT 5 0 User s Manual Chapter 15 QuickDB Database Name Place New Database In Current Project Folder Client Name Creation Date Comments Ok Cancel Trial List Scan Folder folder to the name of the new database If the SessionTemplate mdb file doesn t exist then the operation will fail The name
195. alue Index Markerl M_FL_Head Marker2 M_TopHead Color ExtraStretch 10 Displays and edits the name of the selected SkB segment Displays the SkB segment number in the order the segment appears in the list for the project This is not editable Displays the parent segment of the selected SkB segment To edit click on the property and select from the drop down menu 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 Allows you to select 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 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 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 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 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 th
196. 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 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 EVaRT gathers video data it simultaneously acquires forceplate data To accomplish this the forceplate output is connected to an analog input card in the EVaRT system The forceplate data is interpreted using a file called forcepla cal When EVaRT 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 EVaRT5 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 sho
197. ames all frames Click Create Template You must use the Objects sub panel to select the marker sets 1 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 sub panel at 7 and 5 or close to prevent mis IDs and allow high enough performance D 6 EVaRT 5 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 EVaRT50 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 anoth
198. ames 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 HEADFRONT FRONTHEAD H 29 Appendix H SIMM Motion Module EVaRT 5 0 User s Manual The following optional markers are already defined in mocap jnt To use them just put their exact names in your EVaRT 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 EVaRT 5 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 Thi
199. ampen 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 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 EVaRT 5 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 squi
200. 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 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 EVaRT 5 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 EVaRT 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 LowerTo
201. 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 EVaRT host are connected to each other via a TCP IP network connection EVaDV Launch EVaDV on the video capture host EVaRT Launch EVaRT on the EVaRT host Note launch order is unimportant however if EVaRT grabs the camera capture device first i e displays color video window EVaDV will not have access to the camera EVaRT will grab the camera 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 EVaRT Activate the Color Video avi checkbox in the Motion Capture gt Output sub panel Press the F1 key to show video and grab the DV camera EVaRT Press the Record button EVaRT 5 0 User s Manual Appendix l Synchronizing Digital Video with EVaRT Note Note Note Note Suggestion for DV Camera Setup 7 EVaDV On Record EVaDV will record the file specified by EVaRT to the directory specifi
202. 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 only 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 EVaRT 5 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 flexibili
203. 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 LSrioulder 11 RBicep Paes ey Hips 35 41 12 RElbow oe Stic 13 RWrist Ip 14 RPinky a ae 15 RThumb 9 ip 17 LBicep Legs and Feet qa 18 E DOW 30 RThigh 19 LWrist 31 RKnee 20 LPinky 32 RAnkle 21 LThumb 33 RHeel Note single als shoulder Back and Root 34 RMidfoot marker 22 MidBack 35 RToe 23 LowBack 36 LThigh 24 RootOffset A a 25 Root oe 39 LHeel 40 LMidfoot 41 LToe EVaRT 5 0 User s Manual Chapter 3 Quick Start Tutorial for Animation Production Applications Data Capture Load an Animation 1 Marker Set Create a Template 1 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 project 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 sub panel and activate the Raw Video vc if you re doing a live capture and the Tracked Binary trb
204. 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 EVaRT 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 EVaRT 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 EVaRT 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 positions 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 EVaRT filename and trial number can be overwritten but the take number should change 4 5 Chapter 4 Planning a Motion Capture Session EVaRT 5 0 User s Manual Motion Capture Session Sequence of Events The Day Before The Day of the
205. and which cameras have the NEW CPU Board is easy e ALL MAC DIGITAL Cameras with the SILVER backplate where the connectors are have the newer CPU boards CE approved and require the newer camera software dated 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 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 Eagle system working properly Reboots the cameras cycles the power This is used when changing the 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 7 7 Chapter 7 Setup Panel EVaRT 5 0 User s Manual Falcon and Other Camera Settings Sub sampling Rate Video Display Options Show Video Show Threshold Show and Use Masks Note that if you change the camera type in this sub panel you will need to perform a new calibration both square and wand Changing
206. anually drawn 3D points M Tracking DM Identiving po Vitual an Connect To Cameras Disconnect Use Raw Files Gottswingst0 vc1 Pun 122 00 00 02 02 j Clear MarkerSpt Select Mode Select teate C A Quick and Edit Linkages p30 ID __ Marker Names E 2 L Clavicle 3 L Shoulder 4 RASIS 5 V Sacral 6 LASIS 7 R Elbo 8 R Wrist 9 L Elbow 10 L Wrist 11 R Thigh 12 R Knee 13 R Shank 14 F Ankle 16 R Toe 17 L Thigh 18 L Knee 19 LShank 20 LAnkle 21 LHeel 22 LToe Stopped 300 60 2 mm 600 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Quick ID Button Marker Names Delete Key This identifies the selected marker and steps through the listed markers one by one It will normally select with auto incrementation Auto Incre ment Marker names are accepted in the markers grid when you press Enter on the keyboard The Delete key will delete the current selected item from the marker set EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel V Marker Definition Tree View Sub Panel The Tree View sub panel provides an overview of the primary elements of the model and allows you to reorder the markers in the marker set by dragging and dropping You can also insert and delete markers as well Figure 11 3 Tree View Sub Panel Markers Treev
207. apture names can be loaded from QuickDB while recording a session e Is an SQL database that can be used to generate reports on project sta tus 15 1 Chapter 15 QuickDB EVaRT 5 0 User s Manual Installation Instructions The main projects database file is called MasterProjectsList mdb This file must be stored in the Userfiles Databases folder under where the main EVaRT directory is found For a standard installation this will be C Program Files Motion Analysis EVaRT47 Userfiles Data bases MasterProjectsList mdb Be sure to copy the same databases folder to this location Another re quired database file is SessionTemplate mdb This is also found in the Userfiles Databases folder This is a blank session database that is used to make new databases and add them to the MasterProjectsList mdb file Copy the QuickDB ocx file to the plugins folder under the specific EVaRT installation For example this might be C Program Files Motion Analysis EVaRT47 EVaRT4 7 5 plugins QuickDB ocx If you do not have development tools Visual Studio 6 or later then you will have to install some system OCX files that are required by QuickDB The installer for this is found in the Package directory and is called Setup exe Run this installer to install and register the Windows ocx files for handling database interaction Again Microsoft Access is not required to be installed to run QuickDB Quick Start Steps 1 Open the QuickDB interface fo
208. are functions the Show gt Show Cam era 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 table Figure 8 4 Lenses Orientation Tab Calibration Settings xj n Calibration Frame Origin Offsets f n Capture Volume Normal Normal Normal Normal OK Cancel Apply 8 7 Chapter 8 Calibration Panel EVaRT 5 0 User s Manual Capture Volume 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 Figure 8 5 Capture Volume Tab Square Seed Calibration of Cameras Using Preview Calibration to Position or Aim Your Camera Calibration Settings xi Calibration Frame Origin Offsets Lenses Orientation OK Cancel Select Calibration gt Details and a Calibrations Settings window pops up as shown in Figure 8 2 The Calibration Square should be laid out on the floor exactly as is in this figure This can be done 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
209. aring Masks Masks are rectangular regions that you designate to receive no marker in formation 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 Going Live After having configured the software to the system and connected EVaRT to the cameras 1 Place the Calibration Square on the floor in the capture volume The orientation of the Calibration Square 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 Adjusting Thresholds 1 Choose Tools gt Edit Thresholds from the Menu Bar 2 Slide the Threshold slider on the floating Thresholds control until the markers on the floor appear on the screen
210. arly in the Skeleton Builder process for the virtual markers of the spine NOT to be in a perfectly straight line It s best to try and follow the natural curvature of the spine For the skeleton later this allows some give in the motion of the skeleton to allows it to better track the motion of the performer without undue stretching of the bones 11 28 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Spinal Segments Each of the spine virtual makers are defined in a similar fashion The naming convention will be a little different each of the spine virtual markers will be named in an alphabetical sequence V_SpineA V_SpineB etc This is similar to common practices used in skeleton definitions in animation systems Figure 11 24 Virtual Marker Definition for V_SpineA a lt lt lt irtual Marker Definitions i lel j x Three Marker Value 3 MY C Three Marker Ratio 3 A Two Marker Value 2 MV Two Marker Ratio 2 A Enter Name of Virtual Marker Origin Marker Long Axis Marker Y Plane Marker Y Spinea 23 M_LowBack 26 M_BRHip 27 M_BLHip Snap to this Marker optional fLongAsismm s718 Planemm 7223 30 24 Calculate Virtual Markers New V Marker Definition Delete V Marker Definition Undo Help The definition for V_SpineA is intended to represent the arch in the small of the back relative to the pending definition of V_SpineB Figure 11 25 Virtual Marker Definit
211. arm 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 EVaRT 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 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 It is possible to use eight or more cameras effectively in a relatively small volume if there is sufficient height We suggest placing half the cameras at a moderate height and the other half as high as possible You may need to experiment to obtain the optimum camera adjustment for your lab or studio 5 15 Chapter 5 Camera Setup EVaRT 5 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
212. ass 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 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 a
213. at 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 EVaRT release pack age under the Samples folder e Trial FivestarsAgainandAgain VCX 1800 Frames 120 Frames sec per the EVaRT 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 file 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 EVaRT 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 an
214. ateID but not as part of the Tem plate Rectify For the rectifying process the Linkage Stretch parameters are still used to specify how to treat the data in the main marker set However all additional tracking objects in slots A B C etc use the Extra Stretch factor for all Template operations just like in Post Process Only the main marker set is treated differently The reason for the differ ence is the way in which the template has been used in the past during live capture and still is for the main marker set The template definition is used as a Starting point for the rectifying process The TemplateID identi fies the markers using the Extra Stretch factor and then the template is modified on a frame by frame basis called the running template The running template is essentially the original template with an extend tem plate operation performed on the template for each frame This is why the Reset ID button doesn t always work if bad swapped data gets into the template then that information is encoded into the template The only way to completely reset the running template is to Pause and then Run The running template continues to be modified for as long as the system is running without pause Without any kind of check on this process the template could get extremely different than the original template The Linkage Stretch parameters put a brake on the process They specify how different the running template is allowed to be
215. ations The HTR2 htr2 file contains rotations about X Y and Z axis for the body segments defined in the EVaRT 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 EVaRT 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 angles 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 EVaRT 5 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 hiera
216. ay be used 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 EVaRT 5 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 The only requirement is that all 4 markers on the Calibration Square should be visible in at least 1 2 of the cameras You can then use the Extend Seed function see Extending the Seed Calibration on page 8 18 Note When more than 5 or 6 cameras see the same marker the accuracy of
217. ble lengths of links in a template Typically body templates have rigid linkages so the numbers should be low Facial captures are considerably more elastic in nature to account for soft tissue deformation so the num bers should be higher These are used in the Rectify function not Tem plate Rectify 9 3 Chapter 9 Motion Capture Panel EVaRT 5 0 User s Manual To Reconsider std deviation Max Acceptable std deviation Correctly Identifying Markers Automatically Motion Capture Mode Dynamic Template Stretch Limits To Reconsider Is the maximum amount of linkage stretch allowed for a linkage to be es tablished A typical parameter value is 15 Is the maximum acceptable amount of linkage stretch in standard devia tions before the linkage is broken This parameter value should be no less than 3 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 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 y
218. bration Motion Cepture Post Process Model Eda User Apps z G Maken TemeiateiO Cose QuckIO Mahe Unnamed Hide Makers Rectiy E C Selected Makers Tengine Rectty Temctte Mater ID Unnamed Untide Markers Options aiid ties Ca Copy Pane Jom Cutie Jon Lines Jon Vitus RB Joim Smooth Cautare Virus Markers Search Delete U n Cut Outside 11 M FO 12M Aice 242 06 f Mam q Set Frames 12000 FPS Zp Ur rmm Analog 600 00 He 10 28 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel Distance Between Two Markers Tab The Distance Between Markers tab shows the distance between two se lected markers for each frame throughout the tracked data You may se lect any two markers in the tracked data to be analyzed by clicking those markers in the 3D Display 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 E aRTS File Layouts Data Views Tools Help CAProgram Files Motion Analysis EVaRT50 Samples Golf Swing with Temper z Setup Calibration Motion Capture Post Process Model Edit User Apps ei MarkerSets AllMatkers Template _ Create F Selected Markets Template Rectity Template Cut Copy Paste Join Cubic Joi
219. bration 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 Square 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 Square will show as Green camera buttons the unseeded cameras remain White 3 Extend the calibration seed by clicking Extend Seed Calibration 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 calibrated Figure 8 12 Wand Processing Status Window 0 197 0 274 0 198 0 171 0 197 0 150 0 162 0 204 0 138 0 202 0 163 0 160 20 425 20 207 20 541 20 617 20 000 20 967 20 000 20 659 r 3D Residuals gt Wand Length Avg 0 7783 Avg 598 79 Vv Heavily Weighted Extend Seed Seed Dev 0 3527 Dev 1 11 Run Again Accept Reject STOP Heavily Weighted Seed Cameras 5 and 7 are not seeded Their cameras buttons stay white 8 19 EVaRT 5 0 User s Manual Chapter 8 Calibration Panel Figure 8 13 Extend Seed After First Pass x h k Ne F 7 at ae at lt lt Wand Processing Status xi 7 8 U Res 0 19
220. button in the Calibration with Square field If sound is enabled and you have speakers turned on you will hear a sound Continue the 1 Remove the L frame from the capture area It will need to be com Calibration Process pletely out of view from all cameras Using the 2 Set the wand length in the Calibration with Wand field Calibration Wand e Make sure the wand length is set at 200mm or 500mm depending on the wand used 3 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 4 Press the Collect and Calibrate button in the Calibration with Wand field 5 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 2 5 Chapter 2 Quick Start Tutorial for Movement Analysis Applications EVaRT 5 0 User s Manual Figure 2 3 Proper Wand Calibration Coverage y N Frames Used 1870 Frames Used 331 Frames Used 1789 7 Frames Used 38447 6 When finished and the Wand Processing Status window appears you sho
221. cal 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 Therefore one end of the long volume will be covered best by cameras 9 5 2 EVaRT 5 0 User s Manual Chapter 5 Camera Setup 14 Cameras 16 Cameras More than 16 Cameras Capture Volumes Between Eagle and Hawk Cameras 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 capture volume into two overlapping sections across the long axis Each section is calibrated separately with its own square Two squares can be used simultaneously or one square can be placed in two carefully mea sured positions in sequence Every camera must see at least one of the squares in its entirety All cameras should be placed 3 mete
222. cally 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 EVaRT 5 0 User s Manual Chapter 3 Quick Start Tutorial for Animation Production Applications Figure 3 3 Proper Wand Calibration Coverage Frames Used 331 Frames Used 3 5 Chapter 3 Quick Start Tutorial for Animation Production Applications EVaRT 5 0 User s Manual 6 When finished and the Wand Processing Status window appears you may uncheck Heavily Weighted Seed and then press the Run Again button See Figure 3 4 e This will recalculate the calibration with more emphasis on the wand data rather than the L frame Figure 3 4 Wand Processing Status Window ziaz 0 145 0 186 0 203 0 152 0 159 0 128 0 118 0 154 0 187 0 181 20 439 20 569 20 000 20 508 20 000 20 468 20 000 20 366 3D Residuals Wand Length Avg 0 3394 vg 500 72 Extend Seed Dev 0 1662 Dev 0 74 n Heavily Weighted Seed Run Again Accept Reject STGP 7 In this example Figure 3 4 not all the cameras can see the seed device so not all cameras have calibration values Press the Extend Seed button to start the calibration process for the cameras that did not see the seed Figure 3 5 Wand Processing Status Window After Extend Seed Wand Processing Status 15 xj 0 130 0 171 0 116 0 176 0
223. 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 EVaRT 5 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 critical 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 ca
224. ce a small delay in frames from the EVaRT software and the EVaDV 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 sub panel This function creates an AVI file within the EVaRT project file Real Time Dashboard The Real Time Dashboard is available when EVaRT 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 18 Real Time Dashboard Configure Motion Capture Connect to Cameras Current Frame Time Code Reset IDs E I Tracking C Connect To Cameras Disconnect Use Raw Files ResetIDs W lentil Join a I seni T Vel z ia j New Subject All On 2 3 4 5 6 7 8 9 non o 12 13 j 14 15 16 Disconnected from Cameras Join Virtual Camera Buttons New Subject FIFO Slider 6 23 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual EVaRT Dashboard Camera Button Colors Tracking Identi
225. cessing it uses the first analog sample of each forceplate chan nel in the anb file to set the zero values 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 EVaRT 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 7 20 EVaRT 5 0 User s Manual Chapter 7 Setup Panel Figure 7 10 Misc Sub Panel 7 21 Chapter 7 Setup Panel EVaRT 5 0 User s Manual 7 22 Chapters Calibration Panel Calibrating Your System What is the Square and Wand Calibration Calibration Sub Panel Calibration Files Refine Sub Panel Calibration from Previously Collected Files Tips for Getting More Accurate Data Extending the Seed Calibration Post Processing 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 e you have changed the camera setup for your Falcon camera Eagle and Hawk cameras do not require recalibration when you change the frame rate 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 Squa
226. cking objects as listed in the Objects sub panel to vary the results of your data set It has been found that the more asymmetrical of your multi ple tracking objects should be put at the top of the Additional Tracking Objects list Figure 9 4 Objects Sub Panel Tracking Objects Output Main Markerset BodyOnly prj Additional Tracking Objects A ClubOniy pri a I0nmo pu Clear Entry Select Markerset Local System Calibration Only prj ClubOnly prj Refresh MarkerName Prefix Options None C A B_etc C MarkerSet Name Property Merge Markersets 9 8 EVaRT 5 0 User s Manual Chapter 9 Motion Capture Panel Main Marker Set Additional Tracking Objects Select Marker Set Merge Marker Sets System Objects 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 Lists and allows you to manage which marker sets are used in the project tracking session Merges the marker sets of the MTOs to become one merged project 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 syste
227. cle 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 EVaRT 5 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 are 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
228. connections EVaRT 5 0 User s Manual Analog Camera System Configuration Figure A 12 shows a standard EVaRT system using a Falcon Pulnix or Cohu digital camera It includes e a Video Processor MIDAS computer e a Tracking Computer host e an SVGA Monitor shared by the Video Processor and Tracking Computer e A MultiSync Threshold Monitor for viewing raw video data Figure A 12 Standard Falcon Pulnix or Cohu System Configuration Threshold Monitor EVaRT Tracking SVGA Monitor for Computer Tracking Computer and Video Processor all Monitor A B Switch SAA J FES Midas Box EVaRT 5 0 User s Manual Appendix A System Hardware Interconnections e maximum power consumption you can expect for some typical sys Power Th i p ption y pect f ypical sy i tem configurations is shown in Table A 2 The actual power consumed Consumption 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 supply UPS If you want to save your data when power is lost altogether you will also need to power the VGA monitor from the UPS Table A 2 Power Consumption of Some Typical Systems 6 Cameras 10 Cameras 16 Cameras Falcon Camera Assy 300 W 500 W 800 W 50 W max each Midas Computer with VPAT cards
229. ct bone lengths This allows the user to calculate the Skeleton with the Post Processing Calcium Bone but ton or in the Motion Capture mode in real time The skeleton engine that is used is the very high quality Calcium skeleton engine which iteratively fits the marker cloud of named markers around the pre defined skeleton structure using a least mean squares global optimization method The joints are pre defined in the SIMM type jnt file and modification of this file requires detailed knowledge of the SIMM Software for Interactive Musculoskeletal Modeling software The steps for calculating a new OrthoTrak SIMM model are as follows 1 Select File gt Load Project with all marker names used in the DYNAMIC or Walking trials 2 Select File gt Load Tracks file with all DY NAMIC markers 3 Select Setup gt Misc gt Skeleton Engine and click on the button Cre ate OrthoTrak Model 4 Select Model Definition and browse to the correct jnt file The OrthoTrak marker set uses the mocap jnt file the default Jack uses the Jack jnt file Note that it is easiest if you put copy the jnt file to the folder where your EVaRT executable resides and you will not need to navigate to another folder 7 17 Chapter 7 Setup Panel EVaRT 5 0 User s Manual 5 Select Init Pose Browse to the trb file where you have all of the Static Dynamic markers For the OrthoTrak model this is the trial with both legs with the medial ankle a
230. ction of the Output sub 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 can 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 9 12 EVaRT 5 0 User s Manual Chapter 9 Motion Capture Panel Batch Batch Processing gives an overview of the current Tracking Identifying Processing and Solvin
231. current frame as the Model Pose Create Template Extend Template 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 names 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 Note If you are using a Falcon Midas system you must start your analog data collection while connected to cameras and in paus
232. d File provides a method for bringing a new MOD file into the current PRJ file MOD files are used for Deep Solver applications The name of the MOD file will match the marker set name as defined in the project 6 5 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Layouts Menu Data Views Menu 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 skeleton definitions from the animation package 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 Load ini Preferences If the end user changes the look or feel of the software different color scheme sounds etc then when they move to a new version of the soft ware i e new release they can load up their preferred look and have that as the default start You need to use save the ini preferences see be low to make this ini file Save ini Preferences If the end user changes the look or feel of the software different color scheme sounds etc then they must save their changes using this tool Creates an INI file that can be loaded onto different computers or
233. d 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 EVaRT 5 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 and 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 EVaRT 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 EVaRT 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 t
234. d Z over time Translation Two Markers 5 Degrees of Freedom X Y amp Z Side to side 3 Markers 6 Degrees of Freedom Translation Rotation about the bone axis X Y amp Z i u xi Side to side 11 18 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Figure 11 14 Examples of Hinge Joints Knee Modified Hinge Joint Secondary Rotation about the bone 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 arm ys A Primary Rotation Flexion Extension Note gt 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 19 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Calculating Virtual Marker Tracks Calculate virtual marker trajectories based on the Virtual Marker defini tions in the current project file Virtual Markers are cleared when you track any new data 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 v
235. d of view 5 12 EVaRT 5 0 User s Manual Chapter 5 Camera Setup 8 To see the capture volume right click in the 3D display and select Show Volume Figure 5 11 Show Volume a 5 13 Chapter 5 Camera Setup EVaRT 5 0 User s Manual 9 To See the camera coverage in the volume select the Show Camera Coverage check box in the Calibration gt Refine sub panel and then right click in the 3D view and select Show Volume Select Show Field of View again to turn the camera rays off See Figure 5 12 Figure 5 12 Show Camera Coverage Show Camera Coverage C Program Files Mation Analysis Samples Golfswings L sup Soeren Moron captre _Posi Procase vowseat Users 417 6983 241 8013 6 234696 a ne de stain 5 14 EVaRT 5 0 User s Manual Chapter 5 Camera Setup Note Tracking With More Than 8 Cameras Using Many Cameras in a Small Volume 10 For the example capture area of 5 by 7 meters 2 meters high most Eagle and Hawk camera lenses can be set to a focus of 00 infinity and an f stop that is wide open smallest number 11 Set the shutter speed in the EVaRT software so the markers are bright and have a good threshold setting usually about 500 12 Place the Calibration Square in the center of the taped area A useful convention is to place marker 1 on the square closest to camera 1 The cameras need at least 20 minutes to w
236. d 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 hubs and for connecting Eagle or Hawk cameras to the EagleHubs The Ethernet cross over cable is used for connecting Ethernet hubs to other hubs unless you use the Uplink port on either hub In this case you can use a standard patch cable The cross over cable would also be neces sary if you were to bypass the Eagle hub 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 EVaRT 5 0 User s Manual Appendix A System Hardware Interconnections Eag leHub3 When first setting up your Eagle or Hawk system you will notice that the H both the power and Ethernet connections for the cameras are integrated Connections through the EagleHub3 s Remember
237. d 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 ealtine 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 Setup gt Cameras subpanel verify the Eagle Network Address in the Eagle Network Address box Figure 5 20 Eagle Network Address Box Brightness 0 3 Temi 500 Loe New Camera Software Eagle Network Address 0 0 0 0 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 EVaRT 5 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 sam
238. 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 EVaRT 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 EVaRT solves tracked marker data using the mocap model It then sends generalized coordinate values as well as analog data over the network to 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 EVaRT and SIMM 1 Find the folder SIMM EVaRT on your SIMM computer and look for mocap jnt and solver dll Ssolver dll may be hidden in the folder view because it is a system file Copy both files to the folder on the EVaRT machine you ll need to exit EVaRT first if it is running This will guarantee that EVaRT is using the same mocap model and the same scaling a
239. der Event Condition x Position Y of M_TopHead and M_RShoulder and M_LShoulder fhe Lavouts Gate views Tous teb Boolean Expression It fY gt 100 C Arithmetic Expression I __ eal Event Response Sound PluginConnected wav z 2 Aspect Frequency zj Summary Golf Swing Head Movement If Position Y of M_T P BioFeedTrak allows users to define a set of variable condition response relationships with motion capture data Each variable condition response is referred to as an event For example If the elbow angle of the subject is less than 45 degrees play a tone where elbow angle is the variable less than 45 degrees is the condition play a tone is the response EVaRT 5 0 User s Manual Chapier 1 Introduction Digital 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 EVaRT 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 EVaRT Host computer In this case the EVaDV software is not needed It is built into the EVaRT software
240. ds 9 After staying frozen in this initial position for up to five seconds the person must move through a complete 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 EVaRT 5 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 Fr
241. e 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 et the aaa from the fae n m i i 2 ick on the Eye View tab Click Apply minimize all other win x ows Note that the main Jack window is disabled To enable right View Windows e that A To cable deh First Person middle button on the TJ_ Window and uncheck Disabled OPTIONAL 3 Optional You can change eye 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 EVaRT with Jack Software EVaRT 5 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
242. e Note Real Time Streaming with Join Virtual Fill I 2 FLHead 3 FRHead 4 BLHead doin Virtual Clear Definition Help 5 BRHead Z FLHead doa Sx Dern Hee 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 23 Select markers using the 3D Display 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 Virtual 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 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 Jo
243. e how big of a sphere do we draw around its current location to look for 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 Setup gt Misc sub panel is showing the From Raw Video Files and the Real Time speed option is selected 9 15 Chapter 9 Motion Capture Panel EVaRT 5 0 User s Manual 9 16 Chapter 10 Post Processing Panel Editing Tracked Data Viewing Your Data Selecting Frames
244. e C Program Files Motion Analy sis EVaRT50 Samples Skeleton Builder directory 11 14 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Figure 11 10 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 interface to the Solver engine Solver is the powerful numerical tool for calculating skeleton motion from marker data The Calcium interface in EVaRT 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 11 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 se
245. e File gt Load Project from the Menu Bar and load a recent or sample project Choose Setup from the Mode Buttons Choose the Cameras sub panel from the panel buttons if it is not already open Select the correct camera type from the Camera Type drop down list Change the camera type and frame rate to correspond to your hard ware and the desired frame rate Leave the Sub sampling Rate set to the default for normal data collec tion 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 Setup Panel EVaRT 5 0 User s Manual Cameras Sub Panel Eag le Hawk To view the settings mentioned in this section you must have the Camera Camera Settings Type set to Eagle Hawk and you must have the Eagle Support item in your mac_lic dat file Figure 7 1 Cameras Sub Panel Cameras Analog Misc Camera Type Eagle Hawk y m Eagle Settings Frame Rate 120 Shutter Speed 1000 14sec T Using Hardware Sync I Using Sunlight Filter I Genlocking Master Camera m Current Camera Number 1 Model Unknown Serial Unknown Version Unknown Date Unknown IP Addr 0 0 0 0 Set as Master Brightness 100 Threshold 200 New Camera Software Eagle Network Address 0 0 0 0 Reboot All Cameras Edit 7 2 EVaRT 5 0 User s Manual Chapter 7
246. e Hawk settings choose Frame Rate and set the default shutter speed and brightness e Under the Falcon Camera settings the user selects the camera and the camera speed simultaneously Leave the default Midas settings 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 EVa RealTime x Capture Devices Found System Calibration Note Start the Calibration Process Using the 4 Point L Frame Calibration Square 9 Cameras 6 Eagle 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 Channels 33 64 NI DAQmx Driver Version 8 1 0 System calibration should be done at a camera speed of 60 Hz 1 Place the calibration square device or four markers L shaped on the floor or on the forceplate e The Calibration Square markers are described under Tools gt Cal ibration Settings These markers have been placed in a particu lar orientation and precise distances apart in order to tell the software the origin and coordinate XYZ system of the lab room Under the Calibration gt Calibrate sub panel activate the Preview Calibration check box Press the Run button e All the number buttons on the bo
247. e 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 10 EVaRT 5 0 User s Manual Appendix E Forcepla cal File Format e Approximately 1 minute is required for the calibration 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 a Cal 0 Settling time Periods of Analog data Acquisition 100 Analog Samples E 11 Appendix E Forcepla cal File Format EVaRT 5 0 User s Manual 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 EVaRT Calibration step Line 5 Cal values in A D units written by EVaRT Calibration s
248. e 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 Motion Capture gt Tracking gt Identifying Parameters function typical Cuts the data within the selected frames inclusive of the endpoints Copies selected markers in selected frames Pastes data with the Current Frame being the first frame of the paste re gion Cuts the data outside of the selected frames exclusive of the endpoints Smooths data within the set frames with the selected filter type The filter selection is found in the Post Process gt Options form For more infor mation refer to Filters on page 10 4 This calculates the virtual markers based on the parameters set For more information refer to Virtual Markers on page 11 6 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 Selecting this will automatically fill the gap with linearly interpolated data Fo
249. e current script it appears to run another script or it gives me an error at line 0 This is likely due to not having a Sub Main before any actual com mands and a matching Sub End at the end of the script The scripter requires a Main routine to call 2 I geta Script Syntax Error when I try to call a function 14 7 Chapter 14 Sky Scripting Interface EVaRT 5 0 User s Manual If you re certain that you ve spelled the function s name correctly then it s likely the specific function hasn t been implemented yet Check with Motion Analysis Customer support Also be sure that all the function arguments are spelled correctly and are the correct type This is especially important for String arguments You might have to force the correct type by putting CStr around the argument Is there a Listener that can track my interactive work with EVaRT and list out the corresponding Sky commands to perform the same task No unfortunately not at this time Since Sky was developed as a plu gin to EVaRT it isn t possible to incorporate this type of feature When do my Sky file changes get saved At every opportunity to do so the Sky interface will automatically save out the contents of the Input Text window to the currently se lected file Some examples when the file list is changed from Local to Global when you run the script when you load another script and when you close the Sky window The only times when a script isn t
250. e 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 EVaRT Quick Start Guide p n 651 1920 010 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 rat
251. e folder for each project and its associated capture files is strongly suggested Make sure there is enough room on the EVaRT 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 greatest 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
252. e 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 positions 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 in
253. e 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 back ground 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 installed 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 EVaRT 5 0 User s Manual 4 Double check to make sure the Network Address that is set in EVaRT 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
254. e from the eyelashes which can add more time to tracking and editing Also if the bottom eyelids are 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 sub panel buttons 3 Check the Tracked Binary TRB or TRC check box on the Output sub 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 sub panel 8 The subject must stay in an initial frozen position for three to five sec on
255. e from the original TRC file The sta bilizer command would look as shown in Figure 15 6 Figure 15 6 Stabilizer Command Dialog Data Mot ionfnal Data Mot ionfnal gt Data Mot ionfnal EVaRT44 Samples Dave Face ion C Data Mot ionAnalys is EVaRT44 Samples Dave Face i ion gt stahilizer DaveFaceCloseupi tre Head htr Head StabilizedHead trce Read 649 frames and 17 objects Read 649 frames and 1 objects Face Face 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 15 7 Figure 15 7 Face Markers at Origin of the Data Space EVaRT 5 0 User s Manual Appendix D Capturing Facial Motion You can view this TRC file by loading the FaceOnly prj file into EVaRT 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
256. e it at the center of the actual wrist joint Figure 11 32 Virtual Marker Definition for V_LWrist Viwie IS MLW 18M LEbow 60V LEbow e e c newvitater einion i 11 34 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Finger The definition of the V_LFinger marker despite the name is really con structed to place it at the center of the knuckles on the left hand Figure 11 33 Virtual Marker Definition for V_LFinger lt lt Virtual Marker Definitions T 5 xj C Three Marker Value 3 MY Three Marker Ratio 3 R C Two Marker Value 2 MY Two Marker Ratio 2 A Enter Name of Virtual Marker Origin Marker Long Axis Marker Y Plane Marker PSY V_LFinger 17 M_LThumb 16 M_LPinky 15 M_L wrist 50 00 0 00 21 62 E eet Ce eee Ce eee Calculate Virtual Markers New V Marker Definition Delete Marker Definition Undo Help Lost Marker Example Note the use of the Three Marker Ratio type of definition This makes it easy to place the marker right in the middle of the thumb and pinky mark ers After completing the right arm the construction of the virtual marker defi nitions for this project is complete The sample project file Dave_FullyDefined prj contains the definitions of all the virtual markers There are times despite the best diligence of the motion capture person nel when a marker falls off of a performer and the fact isn t noted until some time
257. e mode If you do not you run the risk of being out of sync with your analog data The reason for this is that the A D board and the Midas are clocked differently and over a period of time cumulative drift will occur be tween the analog and video portion of the Motion Analysis system This can be manually corrected in the Post Processing interface 3 Set the capture duration 2 14 EVaRT 5 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications 6 7 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 Record the data 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 Display Then set the bottom window to Analog Display Data Views gt Analog Display 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 require
258. e sample directory which contain the example skeleton at various stages of construction 1 8 EVaRT 5 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 EVaRT 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 as a plugin into EVaRT This integration al lows 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 EVaRT Presen tation output can be as simple as redirecting an EVaRT project to presen tation format Motion Composer ships with Motion View a freely distributable interac tive player 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
259. e the Time Code Reader option card installed in your EVaRT 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 EVaRT 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 EVaRT 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 EVaRT 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 On Midas based systems the Time Code Reader card is an ISA type card that plugs into the NT Midas box On the EVa 6 0 and 7 0 CD there is a folder under RTMIDAS called DOCS which has information about turning ON and OFF the Time Code reader option See TimeCode_Notes doc This feature is not supported on older DOS Midas systems When it is turned on a TC file is created in the capture folder as with the Eagle and Hawk option above There is a sample program for NT Midas systems 6 41 Chapter 6 T
260. eView V Marker Definition Delete All Linkages E Dave_Fresh prj Markers 41 VMarkers 0 Links 98 SkB Segments Inactive Solver Segments Inactive H Ensure that the Show Virtual Markers option is turned on by doing a right mouse click in the 3D display and viewing the Show menu Center of the Pelvis It is common practice to use the pelvis area as the root of a skeleton structure representing a person s motion the process of constructing such a hierarchy of bones will be described in detail in the Skeleton Builder Quick Start Guide it is normal to interleave the virtual marker creation process with the Skeleton Building process therefore as much as possi ble the virtual marker definition process will match the Skeleton Build ing process even though these two guides are presented in two separate passes Thus we start with the pelvis 11 21 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Figure 11 17 The Five Pelvis Markers The above image shows a close up of the 5 pelvis markers Any combina tion of 3 of the markers could be used to create the virtual marker but it is always a good idea to choose markers that are the farthest from co linear as possible In this case the top marker M_Root and the two front lower markers M_FLHip and M_FRHip almost form an equilateral tri angle this is a nearly ideal configuration for numerical stability of the vir tual marker calculat
261. eated 9 15 2005 1 42 26 PM Sales Order 05 xxx Entered By Support EVa RealTime v5 0 aed50167 873b2d56 Analog Input b9806c31 d1567841 OrthoTrak b2d 5e69 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 a3f44279 99780c5b Reference Video 3 0 eb92592f cf636a13 Talon Streaming 4 ecb36136 d65b4b14 Talon Viewer 4 86fb0714 43d037e BioFeedTrak ac943872 92026c54 Motion Composer c7 00e25 c534083f This license has no expiration Chapter 1 Introduction EVaRT 5 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 EVaRT software or you can run the drivers independently by running the program in the Sentinel Drivers directory under the EVaRT 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
262. ect 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 sub panel click Calibrate 5 Complete the wand calibration as described in Wand Calibration of Cameras on page 8 11 At this point you now have your cameras calibrated and you may proceed with your data collection 8 22 Chapter 9 Motion Capture Panel Overview Tracking Sub Panel Building a Template from the Range of Motion Trial Multiple Tracking Objects Objects Sub Panel Output Sub 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 actually 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 d
263. ed System for backup or archive purposes Licensee agrees to maintain records of each copy of the Licensed Program and the serial number of 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 agree
264. ed by EVaRT or if not present to the local Capture Folder The Message Bar indicates the directory requested by EVaRT 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 EVaRT Stop recording by pressing either the Stop button or after reaching the duration specified If you have more than one computer running EVaRT 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 computers 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 EVaRT 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
265. elatively 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 appropriate marker set exists follow these steps to create a template 1 Choose Motion Capture from the Mode Buttons Choose Output from the panel buttons 3 Check the Tracked ASCII TRC or Tracked Binary TRB check box on the Output sub 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 sub 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 ful
266. 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 EVaRT 5 0 User s Manual Chapter 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 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
267. eported 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 2 7 kQ pull up resistor from 5 Volts to the PFI 0 pin as shown Figure B 9 Clock Wiring for Mutiple Devices A Single Pull up resistor with a 2 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 either and any mix of cables Appendix B Analog Input Hardware and Software EVaRT 5 0 User s Manual USB Expansion Ports Internal or External USB Expansion devices also have been tested and ap pear to 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 EVaRT 5 0 User s Manual Appendix B Analog Input Hardware and Software Table B 2 Analog Input Channel Connections and Master Camera Clocking NI USB 6218 Screw Screw Terminal EVaRT Setup Terminal EVaRT Setup C
268. er Template ID ID marker s based on current template Rectify Rectify marker s over the selected frame range Hide Markers Hide selected marker s from view Unhide Markers Show selected marker s Make Unnamed Make selected marker s unnamed Create Template Create Template Cut Inside Cut data in selected frames from the selected marker s Cut Outside Cut data outside of the selected frames from the selected marker s Exchange Exchange data between two markers over the selected frames Smooth Smooth selected marker s over the selected frames Join Cubic Join selected marker s over selected frames using cubic splines Join Linear Join selected marker s over selected frames using linear interpolation Join Virtual Create a temporary virtual marker to fill in missing marker data Undo Undo last action Search Search for spikes and or gaps as defined in the Options panel 6 21 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Skeleton Graphs The Skeleton Graphs pop up menu offers a single item menu which opens Pop Up Menu the Skeleton Graphs Control panel as shown in Figure 6 16 This control panel allows you to control the segments that are shown in the graphs and control the chart style and colors of the display You must have a skeleton defined with either Calcium Si or SkB Skeleton Builder for this to work A skeleton defines joint centers and segments according to the rules of the modeling The Calcium Si
269. er s Manual Chapier 8 Calibration Panel Refine Sub Panel After you calibrate the system you can use the Refine sub panel to either improve your calibration or to fix the calibration if a camera gets bumped or the cameras have moved slowly over time When performed well the Refine 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 EVaRT 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 tion will be very good If you get only partial coverage then you the re sults may be worse than not doing the refine Figure 8 10 Refine Sub Panel Calibrate Refine M Refine Camera Positions I Show Camera Coverage Minimum Number of Cameras mm Property Value Camera No 1 860 7666 Y 1477 608 Z 2482 192 Elevation 16 48 Azimuth 161 74 Roll 178 67 Camera Details in 2D View Principal Pt U 652 4009 Principal Pt Y 492 82 Focal Length 20 40707 The panel on the bottom of the Refine sub panel displays the details of the selected camera in the 2D view You can move and rotate the cameras in the 3D display by chan
270. er SkB I Fillin SkB Gaps v Show Markers EELS Calcium Solver 1 211 Show MarkerSet Names Show Marker Numbers C SIMM Orthtrak Model Show Marker Names Jeh Vp Create Orthotrak Model Show Trajectories Show Virtual Markers Show Skeleton O A Show Skin Show Skeleton Av s Force Vector Scale 1 mm N vY Show Forces I Autozero Forces Show BackCale Markers Show Model Pose v Show Cameras v Show Camera Rays v Show Camera Field OF View T Disable Sound Effects T Disable Status Bar Messages v Show Floor pone Load Another Tracks Fle Center Frame offset 0 Keep Centered nie Number of Marker Slots 192 v Perspective View r Streaming Options sabe I SDK2 Enabled Right Click Menu teww NIC Address 0 0 00 z In 3 D Display Satie e e Standard None EF Tracking Joi BV Identifying M Pr Cig 6 ae Connect To Cameras G Disconnect Use Raw Files Reset IDs W New Subject Pun 00 00 00 000 DO O eee 120 00 FPs 2 Up Urits mm Analog 600 00 He You can adjust the depth of the camera view by moving the slider in the Camera Depth of Field function usually located in the upper left corner of the interface when the Show Camera Field of View function is acti vated 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 fiel
271. er 10 _ Mectty Unnamed Urtade Madari Mid Body Rectty Options E te Pasie don Cutie Jein Grew Join Vetus _ RB Jean Smooth Cateulate Vinai Mavis Search Doista Un Cut Oust 7 493 Froese solved O Fiarses feed rep mx 12 685068 13 Flames 60 FPS Nip nites 11 9 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Markers 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 sub panel You can also insert delete and select a range of markers The marker values that can be changed in clude the following Name Displays and edits the name of the selected marker Index Displays the marker number in the order the marker appears in the marker list This is not editable Size This is not used at this time Color Displays and edits the color associated to the maker in the 3D display To change the color click on the color property and select from the drop down menu Weight This is not used at this time X Y and Z Values 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 7 Marker Property Values Property Value Name M_LAnkle Index 37 Size Color 11 10 EVaRT 5 0 User s Manu
272. er 6 The EVaRT User Interface Figure 6 3 Trim Capture w Options Interface lt Trim Capture Options 7 15 x m Default Directory File s Original Directory C Program Files Motion Analysis EVaRT50 S amples Golf Swing with Temper C Export Directory r Output files IV Tracked ASCII trc Save alliances IV Tracked binary tr 7 Save Selected Frames Export Trimmed Capture m Tracked Markers M Raw video ve J Discard Unnamed Markers OK Just save the settings IV Analog anb Discard Virtual Markers Eanes IV ColorVideo avi Frames Export HTR File Exports a file in HTR format which is differently organized than the HTR2 format Export C3D File Exports marker positions and analog data in an open sourced file format viewable by many different 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 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 Convert anc File Converts binary formatted Analog data anb into an ASCII viewable format anc Skeleton Definitions Import Skeleton mo
273. er 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 every 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 EVaRT 5 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
274. er window and select a Data View type of Full Color Video 2 Right click in the video window to bring up the AVI 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 EVaRT 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 15 5 Head Segment and its Driving Markers D 7 Appendix D Capturing Facial Motion EVaRT 5 0 User s Manual The project file is called Head prj and it contains the Calcium setup infor mation In EVaRT 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 fil
275. ers New V Marker Definition Delete V Marker Definition Undo Help iolx Three Marker Ratio 3 R C Two Marker Yalue 2 M Two Marker Ratio 2 F Origin Marker Long Axis Marker Y Plane Marker KY 3 M_BL_Head 5 M_BR_Head 2 M_FL_Head 45 20 0 DE a G a G Note that this is the first time the Three Marker Ratio type is used When trying to get a central location for a virtual marker this type of definition can be very handy The sample project file Dave_LegsTorsoDefined prj has all of the vir tual marker definitions described so far You can start with that project to move on to the next step 11 32 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Each Arm The definitions for each arm are symmetric so only the virtual markers for the left arm are described here Shoulder Getting a good virtual marker definition for the shoulder joint is vital to getting natural looking motion for the arms The difficulty here is that the M_LShoulder and M_RShoulder markers being located on the top of the shoulders of the performer rotate far on the outside of the shoulder joint Therefore they have a large amount of translation data You can see this by playing through frames 900 to 1050 of the tracks file Dave_ROM1 trb Note the distance of the shoulder markers from each other when the arms are raised the markers are much closer to each other than when the arms are down It s important to el
276. ers Search Delete U_n Cut Outside All of the Identifying tools are accessible using hot keys panel buttons and right mouse menu items on the 3D Display and XYZ Graphs All Markers Radial Allows you to select all markers at once for Identifying Button Selected Markers Allows you to select specific markers for Identifying Radial Button Template ID Uses the template to ID all markers in the current frame Template Rectify Uses the template and continuous tracks to ID markers thorough time Create Template Refer to Building a Template on page 9 5 Make Unnamed Make Unnamed will specifically move a marker s data into the first un named marker slot It is important to know that the data is not deleted by this operation Rectify Unnamed Makes unnamed markers into contiguous paths to follow through the cap ture sequence For more information on the Rectify functions refer to Rectify on page 6 37 6 35 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Quick ID Marker ID Exchange Hide Markers Unhide Markers Rectify Rigid Body Rectify Note Options Identifies the selected marker identifying all markers one by one accord ing to the list It will normally select with auto incrementation Auto In crement Marker ID is the same as Quick ID without the auto increment feature Exchanges the XYZ coordinates of two selected markers Hides selected 3D view markers Unhides the
277. esponding 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 EVaRT 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 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 EVaRT 5 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 musc
278. et Cable Eagle Hawk Camera Cable Master A D Sync Cable USB Cable Ethernet Cable Ethernet Switch SIMM Computer optional Ethernet Cable NI USB 6218 or NI USB 6259 Important 1 Channels are numbered 1 through 64 in the EVaRT Setup gt Analog panel whereas the manufacturer of the analog board National Instruments uses channel numbers 0 63 2 Channels which are marked as NOT USED should not be connected to any external circuitry or damage or malfunction may result 3 If you are using an optional second PCI 6071E for up to 128 chan nels you need to have the Master A D Sync cable connected to both cards Only one 4 7 k ohm resistor is required to be installed into both PCI 6071E units EVaRT 5 0 User s Manual Appendix B Analog Input Hardware and Software Figure B 11 Master Camera Connections SCB 100 and PCI 6071E A D Card A D Sync Ground to Pin 33 4 7 k ohm resistor from Pin 34 to Pin 46 A D Sync Cable to Pin 46 REINSTALL COVER JRE PROPER SHIELDING Typical Forceplate or A D Sync Cable to EMG Cable Master Camera B 15 Appendix B Analog Input Hardware and Software EVaRT 5 0 User s Manual Table B 3 Analog Input Channel Connections for SCB 100 Used with PIC 6071E A D Card
279. f both worlds Each is described in the follow ing subsections The marker placement on the actor rarely coincides exactly with a corre sponding marker placement 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 d
280. f that frame with the stored model pose The template Min Max values are re calculated based on the amount of change in the linkage lengths Update Model Pose Markers This checkbox indicates that the stored marker model pose is to be replaced with the marker data on the current frame Update Model Pose Skeleton This checkbox indicates that the stored skeleton model pose is to be replaced with the current skeleton data that has been calculated for the current frame These last two options are used to update the model pose of a performer between motion capture sessions such as from 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 12 4 EVaRT 5 0 User s Manual Chapter 12 User Apps Panel Sky Sub Panel Sky Writer is the name of the scripting interface for EVaRT 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 Writer is intended as a tool for users to encapsulate elements of repetitive tasks such as file processing data editing and parameter set ting This tool is intended for users who have some general knowledge of scripting and programming For more information refer to Chap
281. fic 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 center of the top surface of the forceplate Each manufac turer provides this offset value XYZ Location in This tells the EVaRT system where the center of the top surface of the for Video Coordinate ceplate is located relative to the EVaRT 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 val
282. 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 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 corr
283. files is located in the Exam ples html file in the Sky folder of the EVaRT release CD 14 5 Chapter 14 Sky Scripting Interface EVaRT 5 0 User s Manual Example of This example shows a simple demonstration of a Sky file and what it can Loading a Sky typically do for a data set This example will list all the marker names File used in the current project file 1 Inthe Sky sub panel click on the Open Sky Interface button In the Global Sky Files tab select the MarkerNames sky file from the listing 3 Click on the Run Script button see Figure 14 3 You will notice that the script runs but there are no markers listed as you have no project file loaded Figure 14 3 Sky Interface Run Script Button Run Script Button lol x gt H aX o ty Sky scripting interface for EVaRT Script Local Sky Files Global Sky Files ANB24NC 4 sky AutolDAllFrames sky CleanUnnamed sky Commands sky CubicJoinall sky DeleteUnnamed sky DeSpikeAll sky Get Model name Get marker names i sub main iMarkerCnt swModel_GetNumber0fMarkers nessage Number of Markers is CStr iMarkerCnt DeSpikeSelected sky ExportForce sky str swiModel GetName FilterAll sky Message Model name is CStr str Find amp utolDFrame sky For i 1 to iMarkerCnt FindMaxSpeed sky str swModel_GetMarkerName CInt i 1 FindNextAutolD sky message Str is lt CStr strj gt HTRtoBVH sky Infi
284. finitions 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 four 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 27 Virtual Marker Definitions lt lt irtual Marker Definitions C Three Marker Value 3 M Enter Name of Virtual Marker CenterHead Calculate Virtual Markers New V Marker Definition Delete V Marker Definition Undo C Three Marker Ratio 3 A C Two Marker Value 2 MV Two Marker Ratio 2 A Origin Marker Long Axis Marker 2 LHead 3 RHead 50 00 See me 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
285. fying Skeleton Reset IDs Button New Subject Button The Real Time Dashboard camera buttons inform you of the following Green Camera is completely calibrated Light 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 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 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 The Skeleton check box is set to calculate the skeleton using the currently active skeleton model The Reset IDs button forces the current template to be used for that spe cific frame
286. g Markerset names that are used to fill in the Additional Tracking Objects Objects fields of the Motion Capture gt Objects panel Frequently Asked Questions I have pressed Load Into EVaRT but I get no response What is hap pening If EVaRT is currently connected to cameras then very little in EVaRT will change except the Name and Trial Number fields of the Settings area in the Motion Capture gt Output panel and the Additional Track ing Objects list 15 10 Appendix A System Hardware Interconnections Overview Standard Eagle and Hawk System Configuration Power Consumption Video Processor MIDAS Connections Analog Camera Connections Configuring Ringlight Changes for Eagle and Hawk Cameras Overview Note This chapter provides information and illustrations on how to set up the hardware to be used with EVaRT It is broken up into sections for setting up the Eagle Hawk Falcon Pulnix and Cohu camera systems When using EVaRT in the Motion Analysis motion capture system hard ware connections are straight forward The connection of the cameras to the EagleHub1 EagleHub2 or EagleHub3 Eagle and Hawk digital cam era system or the Midas box Falcon Pulnix and Cohu all have unique labeled connectors Frame rate shutter speeds and ring light brightness for the Eagle and Hawk digital cameras are set using the EVaRT user interface A 1 Appendix A System Hardware Interconnecti
287. g configuration in EVaRT Pressing the Run button will track and or identify and or solve all of the VC raw video data in a particular directory This input and output direc tories are set using the Setup gt Misc sub panel This type of batch job has been designed to never overwrite any TRB TRC HTR and HTR2 files If a batch job is terminated partial files are detected and pressing run again will pick up where the previously termi nated batch job left off Figure 9 6 Batch Process Interface Batch Processing ioj xil Tracking Identifying and Solving Skeletons Current vex directory Input Ic Program Files Motion Current trb tre directory Output Ic Program Files Motion Current htr directory Output Ic Program Files Motion Real Time Dash Board Settings Output Panel Settings Tracking ON tte ON Identifying ON tb ON Skeleton ON htr ON Run Terminate 9 13 Chapter 9 Motion Capture Panel EVaRT 5 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 Select the Output sub 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
288. g the EVaRT exe cutable for example C Program Files Motion Analysis EVaRT50 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 HyperTerminal This allows you to view and type messages to the A 23 Appendix A System Hardware Interconnections EVaRT 5 0 User s Manual software in the Eagle or Hawk camera You must quit EVaRT or uncheck Motion Capture gt Output gt Enable External Trigger to free up the COMI port COM port settings 9600 8 N 1 4 Boot the camera by plugging it into the EagleHub or turning the power off and on to your EagleHub After a few seconds you should see messages similar to the following example kK kK k kkk KK KK KE 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 kK KK KK KK KK KK KK KK KK KK KK 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 within 5 seconds to change these settings 5 Press the Space bar or any other key to change the camera configu ration 6 Press M to modify the camera settings 7 Press Enter about 5 times to
289. gain H 12 EVaRT 5 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 displacement 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
290. gh 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 EVaRT 5 0 User s Manual H 32 Appendix Synchronizing Digital Video with EVaRT EVaDV Overview System Requirements Installation Using EVaDV Currently Open Known Issues EVaDV Overview Note EVaDV is a Digital Video DV capture application for use with Motion Analysis Corporation s EVaRT 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 EVaRT running on it not recommended as well as with remote machines that are connected to
291. ging the X Y Z coordinates and the Elevation Azimuth and Roll angles This can be helpful to see if moving the cam eras will help with seeing the volume better 8 15 Chapter 8 Calibration Panel EVaRT 5 0 User s Manual Refine Procedure Note 1 Connect to cameras or select a Raw Video file 2 Select and activate the Refine Camera Positions check box 3 Press the Run button on the Real Time Dashboard 4 Press All On on the Real Time Dashboard so that all camera views are displayed on the 2D Display 5 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 6 Start with the subject in one corner and as soon as the subject starts to move check the check box for Refine Camera Positions 7 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 8 As soon as the subject has filled the room and reached the middle press Pause 9 A table of correction values will appear for all cameras included in the Refine sub 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 Change
292. gins are used Plugins to read and write Motion Analysis motion capture files TRC or TRB These plugins are available in all 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 usually 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 9 Animation Plugins Interface ineat HTA Espot HTA Ingon Acclaim Epon Accisin ingot TRC Moton Aero HTF Flee iaria Cantor ASS Fracha job 3 AOSOT ha Samoe J Optom ppo elal Jims ms vjem a S a TT Senet Tosk select an ebinet Chapter 1 Introduction EVaRT 5 0 User s Manual Talon Plug ins The MAC Talon Plugins also known as the streaming plugins are used to stream data from a live realtime connection to EVaRT into an animation software package Both skeleton and marker data can be streamed This function is available for Maya Mocap and 3DSMAX Additional anima tion packages are currently under development
293. 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 Setup gt Misc panel 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 recording K 5 Appendix K Questions and Answers for Specific Applications EVaRT 5 0 User s Manual Question Answer Our templates in EVaRT are always either extremely good or extremely 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 K 6 Appendix L Useful Blank Forms
294. gure 10 11 Post Process Toolbar Ele Loots ata Views Took Hele C Program Files Moton Analysis E VaRTS0 samples Got Swing wih Temper Soup Calibration MotionCepwre PostProcess Model Edt User Apps _1 MarkerSors Steed Tamers 10 Cese _QuekiD Make Unnamed Hide Markers Roctiy Exchang edo Selected Mathers _TerolateRocily Tomeiate Masher _ Rectly Unnamed Uriin Makon Rag Body Rectty _ Opera Oa Cosy Paste Jon Cubic Jon Lines Jon Virtual RB Jon Smooth Calcusste Virtual Maher Seach Delete Un Cut Outside x Template ID Create Quick ID Make Unnamed Hide Markers Rectify Exchange Undo Marker ID Rectify Unnamed Unhide Markers Rigid Body Rectify Options E Selected Markers Template Rectify Template Join Linear Join Virtual RB Join Smooth Calculate Virtual Markers Search Delete U_n Cut Outside All of the Identifying tools are accessible using hot keys panel buttons and right mouse menu items on the 3D Display and XYZ Graphs All Markers Radial Allows you to select all markers at once for Identifying Button Selected Markers Allows you to select specific markers for Identifying Radial Button Template ID Uses the template to ID all markers in the current frame Template Rectify Uses the template and continuous tracks to ID markers thorough time Create Template Refer to Building a Template on page 9 5
295. hannel Name Channel Name 1 CH 1 49 CH 21 2 CH9 50 CH 29 3 Al GROUND 51 Al GROUND 4 CH2 52 CH 22 5 CH 10 53 CH 30 6 Al GROUND 54 Al GROUND 7 CH 3 55 CH 23 8 CH 11 56 CH 31 9 Al GROUND 57 Al GROUND 10 CH4 58 CH 24 11 CH 12 59 CH 32 12 Al GROUND 60 Al GROUND 13 NOT USED 61 NOT USED 14 Al GROUND 62 Al GROUND 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 GROUND 67 NOT USED 20 CH 6 68 NOT USED 21 CH 14 69 NOT USED 22 Al GROUND 70 NOT USED 23 CH 7 71 NOT USED 24 CH 15 72 NOT USED 25 Al GROUND 73 PFI O Jumper Cable 26 CH8 74 PFI 1 27 CH 16 75 PFI2 28 NOT USED 76 PFI3 29 NOT USED 77 PFI 4 30 Al GROUND 78 PFI5 31 NOT USED 79 PFI 6 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 GROUND 35 Al GROUND 83 PFI 9 36 CH 18 84 D GROUND 37 CH 26 85 PFI 10 38 Al GROUND 86 D GROUND 39 CH 19 87 PFI 11 40 CH 27 88 D GROUND 41 Al GROUND 89 PFI 12 42 CH 20 90 D GROUND A D Sync Ground 43 CH 28 91 PFI 13 44 Al GROUND 92 D GROUND 45 NOT USED 93 PFI 14 46 Al GROUND 94 D GROUND 47 NOT USED 95 PFI 15 48 Al GROUND 96 5 V 4 7 kQ Resistor B 13 Appendix B Analog Input Hardware and Software EVaRT 5 0 User s Manual 64 Channel SCB 100 and NI PCI 6071E Configuration Figure B 10 Digital Camera System and SCB 100 NI PCI 6071 Hardware Setup Master Camera Host Computer Eagle Hub Ethern
296. hapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual An image of the interface is shown in Figure 6 1 Note that multiple 3D Displays can be rendered simultaneously Figure 6 1 EVaRT Interface in Real Time Mode Menu Bar Directory List Mode Buttons Sub Panel Buttons Ele Layouts Data Views Tools Help Setup Calibration Motion Capture Post Process Model Edit User Apps Tracking Objects Main Markerset Body_Club_Merged pri Output Additional Tracking Objects BodyOnly pr CiubOnly pri c I0nmooumr Graphic Panes Clear Enty m A gt Select Markerset Local System Body_Club_Merged pri BodyOnly pri Calibration Oriy pr 0 911 61 x Refresh fa Prefix Options None C A Bete C MarkerSet Name Property Merge Markersets AvaResidual E eer eee eee Panels 0 00 WF Tracking in Connect To Cameras Disconnect Use Raw Files Reset IDs m a ccd S he W004 Now Subject a 263 Stopped 364 Frames 120 FPS 2 Up Urits mm Analog 600 Hz Status Bar Messages Real Time Dashboard Information Center Cells 1 through 5 6 2 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Menu Bar Figure 6 2 Menu Bar File Layouts The Menu Bar selects the primary menu items for EVaRT functionali
297. hat the locations of the pel vis markers are usually above the actual location of the hip joint So the position of the virtual marker with respect to the pelvis markers will be lowered as well as moved inwards Figure 11 19 Virtual Marker Definition for V_LHIp Virtual Marker Definitions p Ziolxi Three Marker Value 3 MY Three Marker Ratio 3 F Two Marker Value 2 MY Two Marker Ratio 2 A Enter Name of Virtual Marker Origin Marker Long Axis Marker Y Plane Marker gt lt fv_LHip 27 M_BLHip 29 M_FLHip 25 M_Root Snap to this Marker optional o Peed 5 1 ee ee Ee Calculate Virtual Markers New V Marker Definition Delete Y Marker Definition Undo Help Z Like with the definition of the V_Root marker the V_LHip definition uses the Three Marker Value type of definition Note the use of the Per pendicular field to position the virtual marker lower than the 3 definition markers This is possible because the Three Marker types of definitions create a fully 3D reference frame for positioning the virtual marker 11 24 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Knee As with the definition of the V_LHip maker the goal for the definition of the V_LKnee marker is to estimate the location of the knee s joint center In this case it is a matter of going straight in from the location of the knee marker on the outside of the knee Figure 11 20 Virtual Marker Definition for
298. he EVaRT User Interface EVaRT 5 0 User s Manual Using the Time Code in Post Processing Time Code and the Digital Video EVaDV Option Live Video Backdrop that reads and displays the time code It can be found in this EVaRT re lease distribution CD in the Tools RTmidas folder with the name of MACTCReader exe If you load a TRB or TRC file that has an associated TC file 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 panel and are connected to the cameras you will see the current time code If you are in the Motion Capture panel and are not connected to the cameras but using Raw Video Files you will see the Time Code as sociated 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 The Live Video Backdrop allows you to set your streaming live video as the backdrop to your 3D display To activate this function right click in the 3D display and select Show Video Figure 6 30 L
299. he New Subject button use the following procedure 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 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 walking 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 Y
300. he 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 Setup 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 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 EVaRT First load the VC files Then go to the Motion Capture
301. he remainder of the process takes less time For more information please refer back to Installing NIDAQ Software on an EVaRT Computer on page B 3 B 5 Appendix B Analog Input Hardware and Software EVaRT 5 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 Back Next gt Cancel 4 Click Next gt then Finish
302. he 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 calibration square are entered into your project file s correctly 5 20 EVaRT 5 0 User s Manual Chapter 5 Camera Setup Note Control Points e The Calibration Square is oriented correctly in the room when you collect the calibration trial The position of the Calibration Square 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
303. hen backward from the current frame e Protects all named markers will not switch them 10 16 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel 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 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 respect 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 Start
304. hoTrak 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 EVaRT 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 four 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 EVaRT 5 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 m
305. ial Button 6 35 10 11 Selecting Frames 10 4 Buttons 10 4 Selecting Linkages 6 41 Selecting Markers 6 41 Selecting Segments 6 41 Selecting Virtual Markers 6 41 Set as Master 7 4 Set Master Camera button 7 4 Setting Up Cameras 5 11 Settings Output Sub Panel 9 12 Setup 6 12 Setup Analog MA Quickstart 2 8 Setup Panel 7 1 Shape Analysis 9 3 Show 6 18 Show and Use Masks 7 8 Show Camera Field of View 5 12 Show Residuals and Cameras 10 3 Show Skin 11 7 Show Threshold 7 8 Show Video 7 8 Show Volume 5 13 Shutter Speed 7 3 SIMM 1 18 SIMM OrthoTrak Model 7 17 SIMM Solver Options 7 19 Simulated Calibration 8 18 Simulation Mode Speed 7 21 SKB 1 8 SkB Segments 11 14 Skeleton Builder 1 8 Skeleton Definitions 6 5 Skeleton Graphs 6 7 Skeleton Options 7 16 Skeleton Types 13 1 Skin File 11 6 Skin Tranparency 11 6 Sky FAQ 14 7 Functions 14 3 Graphical User Interface 14 2 Index 7 EVaRT 5 0 User s Manual Script 14 4 Script Examples 14 5 Sky Files Global 14 3 Local 14 3 Sky Interface Toolbar 14 2 Sky Scripting Interface 14 1 Sky Sub Panel 12 5 Sky Writer 14 1 Slate Board 4 4 Smear Display 8 11 Smoothing Options Tab 10 5 Snippets 12 2 Socket Error 5 29 SoftImage D 1 Software Installing 1 4 required 1 4 Software Developers Kit F 1 Sound Effects 7 19 Square Seed Calibration Cameras 8 8 Square Calibration 8 2 Standard System Configuration A 2 Starting E
306. ials 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 In the Setup gt Cameras sub panel choose the Camera Type 2 2 EVaRT 5 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications Figure 2 1 Setup gt Cameras gt Camera Type Cameras Analog Misc a l Camera Type Eagle Hawk v Frame Rate 120 Shutter Speed 1000 1 sec T Using Hardware Syne Tl Using Sunlight Filter m Current Camera Number 1 Model Unknown Serial Unknown Version Unknown Date Unknown IP Addr 10 1 1 Set as Master Brightness 0 Threshold 542 New Camera Software Eagle Network Address 0 0 0 0 Reboot All Cameras Edit e Under the Eagle Hawk settings choose Frame Rate and set the default shutter speed and brightness e Under the Falcon Camera settings the user selects the camera and the camera speed simultaneously Leave the default Midas settings Chapter 2 Quick Start Tutorial for Movement Analysis Applications EVaRT 5 0 User s Manual 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 2 2 Press the OK but ton Figure 2 2 Connect to Ca
307. ickup i MattRoll MattROM MattRun MattSwan MattT pose FaceBody prj DaveAEIOU FaceOnly pri DaveFaceCloseup Body_Club_Merged GolfT emper i Walk Walk Walk Walk Walk Init ReachDownPickUpBox ReachUpPickup Dave_Root pri DaveROM Dave_Root prj DaveUmpOut Dave_Root prj DaveUmpSafe Dave_Root prj DaveUmpStrike J Print Trial Is Tracked I Is Delivered Matt pri MattCartwheel Mattldle AL Ie MattPickup MattFall B ze MattROM MattRun c H MattT pose MattMJoinTest D oOo L Matt_ROM Jodi_TwentyTwo E l L Calibration prj FiveStars Duration 511 Timecode 00 00 00 01 Props Actors Track Item Tracker Frame In Frame Out ss amp 2 eo o a a O Ue a i 12 10 chapter 13 Skeleton Types Overview Skeleton Builder SkB Skeletons Solver Type Skeletons Which Skeleton Engine Should Use EVaRT Skeleton Engine Selection Skeleton Option Details Exporting the Skeleton Data Into an HTR File Multiple Characters and Multiple Skeletons 13 8 Overview EVaRT supports two kinds of skeleton calculations Skeleton Builder SkB skeletons and Calcium Solver type skeletons Either kind is calcu lated in the EVaRT software and either can be calculated from live camera data simulated Real Time with VC files or from XYZ data in Post Pro cessing
308. ideo 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 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 G 9 Appendix G Import and Export File Formats EVaRT 5 0 User s Manual Example of a HTR2 Fi
309. iew V Marker Definition Delete All Linkages WalkwithM arkerPose prj E Markers 22 R Shoulder Offset L Shoulder R ASIS V Sacral LASIS R Thigh R Shank F Ankle R Toe L Thigh L Knee L Shank L Ankle L Heel L Toe VMarkers 0 E Links 33 SkB Segments Inactive Solver Segments Inactive Property Name Index Size Color Weight This button opens the Virtual Marker Definition form For more informa tion refer to Virtual Markers on the following page Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Delete All Linkages Button Project Name Skeleton Engine Skin File Skin Transparency This deletes all linkages in the model Selecting the Project in the Treeview allows you to make changes to the current project file The Project property values that can be changed in clude the following This is the marker set name you can display over the marker cloud The toggle function for this is found 3D Display right click menu The default is set to the current project name This provides a way to select which skeleton engine will be used to create the bone structure if used The choices are e None e Skeleton Builder SkB e Calcium Type Skeleton Note that this can have an optional MOD file associated to it e SIMM OrthoTrak Skeleton Note that this requires an associated JNT file and an Init or T pose trial Skin files are rigid
310. igital cam era systems is given for each type of A D setups You may find it useful to make a copy of this chart and use the column titled Setup Name to record the connections for your installation The connections for a typical appli cation 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 The Motion Analysis Digital Camera system 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 master camera to the A D interconnect box Data can be collected in the pause mode or the run live mode with out any delay or drift between analog and video signals This configuration is no longer supported in the EVaRT 5 0 software Please consult support motionanalysis com for furthe
311. ill continue to be highlighted for as long as that file is current If you select the Local Sky Files tab when it is already selected then this will save out the current file The current file is saved when you switch to the other tab This contains a list of all the Sky files in a common global directory This directory is a sub folder of the folder pointed to by the environment vari able MAC_DIR 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 The currently loaded file name will continue to be highlighted for as long as that file is current If you select the Global Sky Files tab when it is already selected then this will save out the current file The current file is saved when you switch to the other tab The currently loaded script This is what will be run when the Run button is selected 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 The scripting functions for the most part in Sky are simple wrappers for functions found in the EVaRT dll Any call you make is immediately passed on to the corresponding core function in EVaRT These are the same functions that the EVaRT GUI uses at runtime so again for the 14 3 Chapter 14 Sky Scripting
312. ils 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 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
313. iminate this disparity to get a good represen tation of clavicle motion in the Skeleton Builder definition Fortunately this is easy to obtain by a proper definition of the virtual markers In this case the Origin marker is specified as the M_Neck marker and the type of definition is the Three Marker Value This ensures that the location of the virtual marker are a set distance from the M_Neck marker Small adjustments to the Plane and Perpendicular numerical in puts place the marker approximately at the actual shoulder joint location Figure 11 30 Virtual Marker Definition for V_LShoulder mE Three Marker Value 3 MY C Three Marker Ratio 3 F C Two Marker Value 2 MV Two Marker Ratio 2 R Enter Name of Virtual Marker Origin Marker Long Axis Marker Y Plane Marker XY W _LShoulder 18 M_TopSpine 12 M_LShoulder 20 M_FLShoulder Snap to this Marker optional 140 15 25 E a ee eet Calculate Virtual Markers New V Marker Definition Delete V Marker Definition Undo Help Look again at frames 900 1050 You will see that the V_LShoulder joint stays a constant distance from the V_Neck marker 11 33 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Elbow The definition of the V_LElbow marker is constructed to place it at the center of the actual elbow joint Figure 11 31 Virtual Marker Definition for V_LElbow Wrist The definition of the V_LWrist marker is constructed to plac
314. in definitions are now resident with the project files and template The Join Virtual check box can now be activated on the Real 10 22 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel 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 IV Tracking E Iv Identifying Hv Skeleton Origin Marker Long Axis Marker Long Axis Marker Example Plane Marker Connect To Cameras C Disconnect Use Raw Files 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 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
315. in the Calibration gt Calibrate sub panel Select Details gt Lenses Orientation then change the setting from Normal to Alternate If the camera is hanging upside down you will need to use the Alternate position Do 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 Calibration Settings olx Calibration Frame Origin Offsets Lenses Orientation Capture Volume Alternate Normal Normal Normal Normal Normal Normal Normal OK Cancel Apply 5 16 EVaRT 5 0 User s Manual Chapter 5 Camera Setup Eagle 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 2 kg with lens 4 9 Ibs Chapter 5 Camera Setup EVaRT 5 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
316. ing 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 10 17 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual Template ID Uses 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
317. int Average Filter 10 9 32 Camera Setup Typical 5 10 3D Display options 6 18 pop up menu 6 17 3D Studio Max D 1 4 Panes Layout 6 14 5 Point Average Filter 10 9 6 Camera Setup Typical 5 6 8 Camera Setup Typical 5 7 8 Camera 1 EagleHub Configuration A 7 8 Camera 2 EagleHub Configuration A 8 8 Eagle Camera Setup Typical 5 11 A Accuracy 11 16 Additional Tracking Objects 9 9 Adjusting Thresholds 7 12 All Markers Radial Button 6 35 10 11 All On Button 8 11 Amplitude Zoom 6 40 EVaRT 5 0 User s Manual AMTI Forceplates Calibration Matrix E 6 forcepla cal E 2 Using E 6 AMTI Forceplates Connections B 17 B 19 AMTI Gain Setting E 6 AMTI or Bertec Forceplates B 4 Analog ASCII Row Column G 15 Analog Camera System Configuration A 14 Analog Channel Names Replace 6 10 analog data files opening H 6 Analog data graphs 6 7 Analog Display 6 14 6 20 pop up menu 6 20 analog forceplate data 6 14 Analog Input Channel Connections B 13 B 16 B 18 Analog Input Hardware Connections B 1 Overview B 1 Analog Setup 7 13 Grid 7 13 Analysis J 1 Exporting Information 10 30 graphs 10 28 Analysis Graphs F7 6 7 ANB G 18 ANB file 6 14 ANC G 15 Example G 15 Animation C 1 Animation Plugins 1 15 Auto Scale 10 3 Autozero Forces 7 20 Backup Media 4 4 Batch Processing 9 13 Batch Processing Options 6 8 Bertec Forceplates Calibration Matrix E 6 forcepla cal E 2 Using E 6 Bertec Gai
318. io In the case of a line the 11 16 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel 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 12 Example Virtual Marker Setup irtual Marker Definitions E 0 x C Three Marker Value 3 MV Enter Name of Virtual Marker CenterHead Three Marker Ratio 3 R Two Marker Value 2 MY Two Marker Ratio 2 R Origin Marker Long Axis Marker 2 LHead 3 RHead 50 00 n Calculate Virtual Markers New V Marker Definition Delete Y Marker Definition Undo Types of Virtual Hierarchical Translation amp Rotation Data Degrees of Freedom Currently there are two primary methods of exporting the motion of a subject e 4rc 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 An htr2 file contains hierarchical translation and rotation data represent ing the differen
319. ion 1 2 Start the marker definition by pressing the V Marker Definition but ton The default setting of Three Marker Value 3 MV is correct do not change this Enter the name V_Root in the name field When you press your keyboard Enter button the Origin Marker field will be highlighted With your mouse do a single left mouse click on the M_Root marker in the 3D display The highlighted field will switch to Long Axis Marker Y With your mouse do a single left mouse click on the M_FRHip marker in the 3D display The highlighted field will switch to Plane Marker XY With your mouse do a single left mouse click on the M_FLHip marker in the 3D display In the 3D display you will see a darkened triangle indicate the area of the virtual marker definition In the field Long Axis enter the value of 60 In the field Plane enter the value of 35 In the field Perpendicular leave the value at 0 11 22 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Figure 11 18 Virtual Marker Definition for V_Root Enter Name of Virtual Marker v_Root Snap to this Marker optional lt lt irtual Marker Definitions a lol x Three Marker Value 3 M Three Marker Ratio 3 A C Two Marker Value 2 MV Two Marker Ratio 2 A Origin Marker Long Axis Marker Y Plane Marker HSY 25 M_Root 28 M_FRHip 29 M_FLHip 60 Plane ___ 35 0 00 Ce ere Le sere LS Calculate Virtual Markers New V
320. ion about the software along with shortcuts interface sub panel information and the on line manual Directory List The Directory List allows you to easily navigate through frequently used directories making it easier to address and manage motion capture ses sions Refer to Figure 6 7 Figure 6 7 Directory List Directory List alalxi c Frogrem Fuesydcoen AneiysiE VaR T Sameie Serpe _Caitvaton iwecn Capiro _PostProcoss _ModeiEde UserAops 6 11 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Mode Panel Buttons These buttons are arranged to guide you through a motion capture session in a phase oriented order Refer to Figure 6 8 The first three mode but tons Setup Calibration and Motion Capture activate Real Time mode and present you the necessary tools to successfully capture motion data Figure 6 8 Mode Panel Buttons Mode Panel Buttons Help jews Ft S Motion Anal 18 x lysis EVaRT Samples z 0311 61 Sub Panel Buttons Status Bar Messages Real Time Dashboard Tracking Objects Output Main Markerset Body_Club_Meraed pri Additional Tracking Objects BodyOniy pr ClubO nly pi lt ITOmMoIODyY Clear Entry Select Markerset Local system Body_Club_Meraed prj BodyOnly pri Calibration Only pr The fourth button Post Process activate
321. ion for V_SpineB lt irtual Marker Definitions i es Jel fe Three Marker Value 3 MV C Three Marker Ratio 3 A Two Marker Value 2 MV Two Marker Ratio 2 R Enter Name of Virtual Marker Origin Marker Long Axis Marker Y Plane Marker Y _SpineB 23 M_LowBack 25 M_Root 24 M_RootOffset Snap to this Marker optional Long Axismm fT ooo Planemm Y oo 25 53 S Ce J GO Calculate Virtual Markers New V Marker Definition Delete V Marker Definition Undo Help 11 29 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Continuing on to V_SpineC and the S shape for the spine Figure 11 26 Virtual Marker Definition for V_SpineC ions sie g C TheeM 9 ewo c V Spinec 21 M_Midback 23 M_LowBack 22 M_MidBackDitiset INS N u Note that a small left right adjustment was made to V_SpineC to keep the spine aligned Continuing on to V_SpineD and the S shape for the spine Figure 11 27 Virtual Marker Definition for V_SpineD d V SpineD 18 Mop Spine 21 M_Midback 22 M_MidBackDOffset To keep a little distance from the upcoming V_Neck definition the posi tion of V_SpineD was moved down slightly 11 30 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Neck The neck is the end point of the spine definitions As such it follows and finishes the S shape of the spine Notice that it slopes almost as far for ward as it does up
322. ion 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 the 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 EVaRT 5 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 ma
323. irectly Weight Weight C AutoFit New Segment Lengths Sex CoHae Female AutoFit Using Global Scale Refit the Identifying Template When the subjectis correctly identified and near the displayed pose then PAUSE the system The update will use the current frame Update the Model 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 6 26 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface 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 Figure 6 21 Pose ID in Message Center and Reset IDs Button m M Tracking C Connect To Cameras Disconnect Use Raw Files Reset IDs a Run 1 p E M
324. irtual marker positions Virtual Marker Quick Start Example Figure 11 15 Matching Data and Video Frame Open the Sample Project The above images show a frame of motion capture data along with a matching frame of video showing the posture of the performer Of partic ular interest are the positions of the motion capture markers relative to his body In this example virtual marker definitions will be created that esti mate the actual joint locations of the performer It is always a good idea when adding virtual markers to a marker set to differentiate the virtual markers from the standard markers by adding a prefix to the name The choice is up to you but common ones are JC_ for Joint Center VM_ or simply V_ For this example the last one will be chosen because to help the user avoid name conflict problems EVaRT inserts a V_ at the beginning of the Name field of a new virtual marker definition To follow along with the example please get started by loading the sam ple data and opening the program to the correct panel 1 Start EVaRT and load the project Dave_Fresh prj located in the EVaRT50 Samples VirtualMarkers directory 2 Load the tracks file Dave_ROM1 trb 3 Open the Model Edit gt TreeView sub panel Figure 11 16 shows what you should see in the upper right of EVaRT 11 20 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Figure 11 16 Initial Tree View for Dave_Fresh prj Markers Tre
325. is 28 R Thigh 29 R Knee 30 R Shank 31 R Ankle 32 R Heel 33 R Toe 34 R Foot J 8 EVaRT 5 0 User s Manual Appendix J Using EVaRT 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 EVaRT with Jack Software EVaRT 5 0 User s Manual Figure 16 Rear View 4 2 6 6 i 5 9 s 27 25 a o e 12 13 14 15 29 40 38 I3 33 39 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 EVaRT require a specific order for markers and linkages
326. is Ant L Tibialis Post Channel type names L Vastus Medial Kistler Forceplate AMTI Forceplate Bertec Forceplate Kyowa Denayo Forceplate AMTI AccuGait forcplate Muscles 10 To save the entries in the Analog sub panel choose File gt Save Project from the Menu Bar 11 If you would like to give the file a new name or save it to a different directory choose File gt Save Project As EVaRT 5 0 User s Manual Chapter 7 Setup Panel Shifting Selected Analog Data Example 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 EVaRT allows the user to time shift the EMG data in the analog channels using the following steps Pons Load a Project File Load a Tracks file trb trc Select Data Views gt Analog Display In the Analog Display window right click and select the Visible Channels option In the Analog Display window right click and select the Shift the Data option 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
327. isplay 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 Calibration Set ting gt Capture Volume tab in the new 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 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 e You can also use previous CalWand VC files 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 verti
328. istance 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 Panel EVaRT 5 0 User s Manual Tracking Sub Panel Figure 9 1 Tracking Parameters Centroid Parameters Min Horizontal Lines per Marker Tracking Objects Output rm Centroid Parameters Min Horizontal Lines per Marker 2 Max Horizontal Lines per Marker 50 lt r Shape Analysis C None Normal Weak m Tracking Parameters Max Residual rm 5 Max Speed mm frame 100 Marker Size mm 30 Max Prediction Error mm 30 Min Cameras to use 2 rm Identifying Parameters Linkage Stretch Parameters To Reconsider std dev 15 Max Acceptable std dev 9 The Tracking sub panel allows you to edit the key parameters that are used when acquiring and tracking data Figure 9 1 is an example of the parameters 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 permitted 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
329. isting motion capture data The folder can be scanned for one of VC TRB or TRC files One project file must be specified for all trials to be created there isn t any way to determine which project should be associated with each trial by examining the trial data The user is expected to go back later and update the project file for each trial When searching for a folder to scan the dialog will look for files of each of the types and will disable the corresponding option if files of that type are not found A new trial will be created for each motion capture file found The file names must adhere to the form described in the Usage Notes section This is to allow the scanner to find the trial number for each file 15 7 Chapter 15 QuickDB EVaRT 5 0 User s Manual New From EVaRT New Copy Current New Blank Load Into EVaRT Note Sync with EVaRT Record Trials You can scan as many folders as many times as you wish to add items to the session database There is no requirement that all the trials be located in the same folder This creates a new trial and adds it to the session database Fields are filled in by inspecting EVaRT for information This is just like selecting New Blank and then selecting Syne with EVaRT This creates a new trial and adds it to the session database All the fields are copied from the currently selected trial This is useful for creating a lot of trials to be used later in a moti
330. itical 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 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 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 EVaRT 5 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 n
331. ive Video Backdrop 6 42 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Unload Tracks This button provides a quick method to unload or not save any changes Button to the Tracks files which you have edited Figure 6 31 Unload Tracks Button Unload Tracks Button Model Edit User Apps Back Click All None _Ctrl Click T 1 M_TopHead 2 M_L_Head 3 M_B_Head 4 M_P_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_RElbow 14 M_RForearm 15g 16 M_FPinky 17 M_RThumb 18 M_LBicep 19 M_LElbow 20 M_LForearm 21 M_Liwrist 22 M_LPinky 23 M_LT humb 24 M_Midback 25 M_ShoulderDffset 26 M_LowBack 27 M_RootOffset rist 29 M_BRHip 30 M_BLHip 31 M_FRHip 32 M_FLHip 33 M_RThigh 34 M_RKnee 35 M_RShin 36 M_RAnkle 6 43 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual 6 44 Chapter 7 Setup Panel Getting Started Cameras Sub Panel Creating and Clearing Masks Going Live Adjusting Thresholds Analog Sub Panel Misc Sub Panel Getting Started Before using EVaRT you must configure your software to match the overall system Setup Mode provides tools to do this The camera settings do not need to be reset before each and every motion capture session but they do need to be reset after changes are made to the cameras 1 2 3 Choos
332. kers 10 11 Import File Formats G 1 H 1 I 1 J 1 Included Angles Tab 10 30 Information Center 6 13 Installing Software 1 4 International Society of Biomechanics 5 21 IP Addresses A 13 ISB 5 21 Join 10 22 Join Virtual 6 31 6 33 10 22 Guidelines 6 39 10 25 Joining Gaps in Data 10 4 K Keyframe Animation D 13 KinTrak 1 18 Kistler Forceplates B 4 Calibration Matrix E 8 Example E 8 forcepla cal E 2 Gain Setting E 8 General Notes E 9 Signal Names E 8 True XYZ Origin E 8 Using E 8 Kyowa Dengyo Forceplates E 9 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 9 3 10 16 Linkages Selecting 6 41 Links 11 12 Load ini Preferences 6 6 Load Analog Setup 6 6 Load Calibration 6 6 Load Into EVaRT 15 8 Load Last Capture 9 14 Load Marker Set 6 6 Load Project 6 14 Load Tracks File 6 15 Loading New Camera Software 7 5 7 7 Low and High Selected Frames 10 3 Low and High Visible Frames 10 3 Low Frame Button 10 2 mac_lic dat 1 5 G 2 Main Marker Set 9 9 Make Unnamed 6 35 10 11 marker cloud defined H 1 Marker ID 6 36 10 12 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 Lips D 5 MA Quickstart 2 9 NM Quickstart 3 8 Nose
333. l 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 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 EVaRT 5 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 head
334. l 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 or 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 marker list built for the subject s marker set assuming that the marker list was already defined prior to the motion capture 9 5 Chapter 9 Motion Capture Panel EVaRT 5 0 User s Manual 11 12 13 14 15 16 17 18 Choose Post Process from the Mode Buttons Click Quick ID and identify the unnamed markers according to the conventions described in Appendix C Marker Sets Click Rectify This applies the naming convention across all the frames of data 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 Select Template Click Create 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 Figure 9 2 Create Template Dialog Prop Definition lt lt lt Create Template x
335. lculation 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 itl 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 EVaRT 5 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 Factor 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
336. le 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 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
337. le must be selected The mocap jnt file is the one used for the OrthoTrak marker set Other joint files exist for special applications such as specific ergonomic models Init Pose Select the static trial that applies additional medial markers to help define the joint centers This is the static trial in the OrthoTrak marker set and sometimes called the Init Pose with the animation software packages This turns the sound features of EVaRT on and off 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 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 accommodate all additional tracks files If not unpredictable results may occur This is intended for viewing multiple t
338. lected capture folder Calseed vcX Calseed vcxX files one for each camera get written when you press the Calibrate button in the Calibrate with Square box and when you are con nected 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 Calibrate with Square box it completely removes all of your calibration information and replaces it with the seed or approximate calibration for each camera 8 13 Chapter 8 Calibration Panel EVaRT 5 0 User s Manual Calwand vcX TrialN cal Note vcX means the set of files that end in vcl vc2 vcN if you have N cam eras Calwand vexX files get written when you press the Calibrate button in the Calibrate 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 sim ulated real time mode as above The software uses the current system cal ibration 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 cam era
339. les 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 contain 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
340. less likely for the props to be embedded into one of the other human objects This example data set found in C Program Files Motion Analy sis EVaRT50 Samples 24_Eagle 5 People shows a five person capture of 1200 frames of data Each person has their own project file which de fines 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 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 FiveStarsGreaves 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 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
341. lgorithms as SIMM uses H 7 Appendix H SIMM Motion Module EVaRT 5 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 EVART_MACHINE lt hostname gt and change the hostname to the name of your EVaRT machine Save and close the preferences file make sure that the file is saved as ASCII text with the name preferences 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 EVaRT computer onto your SIMM computer and put it in the folder SIMM Resources mocap misc Copy the folder containing the motion data from the EVaRT 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 EVaRT 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 Setup 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
342. libration 8 8 Wand Calibration 8 11 Cameras Sub Panel 7 1 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 20 Clear Marker Set Button 11 2 Clearing Masks 7 12 Cohu 4915 60 Hz Camera Connections A 20 Collect and Calibrate Button 8 10 Collect Calibration Square Button 8 7 Color Video 6 6 Color Video option 6 14 Colors 6 9 Colors Form 6 9 Connect Cameras Button 6 31 Connect to Cameras 7 1 Connections 10 EMG Channels B 17 B 19 AMTI Forceplates B 17 B 19 Analog Input Channel B 13 B 16 B 18 Analog Input Hardware B 1 EagleHub1 A 7 EagleHub2 A 7 EagleHub3 A 5 Specific Cameras A 18 Control Points 5 21 Convert anc File 6 5 Coordinate System Calibration 5 20 Create Linkages Button 11 3 Create Orthotrak Model 7 17 Create Template 6 35 9 6 10 11 Creating Masks 7 12 Creation Date 15 7 Current Camera Information 7 4 Current Frame 10 2 Cut 6 37 10 13 Data Viewing 10 2 Data Capture MA Quickstar
343. 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 EVaRT with Jack Software EVaRT 5 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 filename 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
344. 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 EVaRT 5 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 moti
345. lled between this cable and the camera 2 The long extension cable is connected to a back panel assembly rather than the camera cable described in Step 1 Figure A 14 Standard Pig Tail Cable 25 pin connector connects to video processor MIDAS d OO re The long hori oriz sync extension y green cable to vert sync blua the camera L connects here video CO audio in aa These only audio out exist on the cable for Channel 1 9 pin event trigger connector to trigger push button RED event trigger wire connects to optional analog input board pin 38 Figure A 15 Back Panel Camera Connector Assembly THRESH AUDIO OUT 6 5 4 3 2 1 O O ooo0oo0oo0oo0o0o0o0o0 EVENT TRIG a O O ooo0oo0oo0oo0oo0o0o0o0O TIME CODE AUDIO IN ooo0oo0oo0oo0oo0o0o0o0 Appendix A System Hardware Interconnections EVaRT 5 0 User s Manual Connections to The connections to a specific camera depends on the manufacturer The ifi individual red green and blue cables from the long extension cable are Specific Analog combined in short stub cable specific to a particular type of camera The Cameras following pages show diagrams for connecting to a variety of cameras Figure A 16 FALCON HR 240 Camera and Strobed LED Connections VIDEO A amp VIDEO B Stand alone Video Connectors AUX when connected overrides the RATE switch allowing software control of frame rate DEFAULT RATE SWITCH
346. loaded into the EVaRT50 Plugins directory the Sky interface tab in the User Apps panels becomes active The panel has one button that brings up the floating interface The Plugin Kit mostly consists of calling the EVaRT dll functions but it has some additional functions that must be filled as information to EVaRT e g name type of plugin etc 14 1 Chapter 14 Sky Scripting Interface EVaRT 5 0 User s Manual Graphical User Interface The user interface for Sky is found by going to the User Apps gt Sky sub panel Figure 14 1 Sky Sub Panel x Sky Compose 4 gt Open Sky Interface Click on the Open Sky Interface button to bring up the floating window for the Sky interface Figure 14 2 Sky User Interface Cloud kt xX g Sky scripting interface for EVaRT Script Local Sky Files Global Sky Files TAT ornate ele Script that creates files used by CreateTemplate sky CreateT emplate sky FullProcess sky The user selects a frame range and calls this script The data in the region is saved to the next filename available This makes it easy to create a really solid template from data to be tracked You must modify this script to replace jodi with the name of your performer or project You should name your CreateTemplate sky file and this sky file to match for example AddToBobTemplate sky and CreateBobTemplate sky th E Current directorv is C n4 1666 Crappie MotionAnalvsis
347. ls the volume will be sufficient 8 16 EVaRT 5 0 User s Manual Chapter 8 Calibration Panel Show Camera Show Camera Volume is useful for telling you about how well your cam Volume eras are aimed and how much camera overlap you have To see the cam era volume 1 Select the Show Camera Coverage check box in the Calibration gt Refine sub panel 2 Right click in the 3D view and select Show Volume Figure 8 11 Show Camera Coverage Volume 417 6963 241 8013 a il ro tnt Chapter 8 Calibration Panel EVaRT 5 0 User s Manual Calibration from Previously Collected Files This section describes how to simulate a calibration using previously re corded data A simulated collection of EVaRT square or wand data is done the same way that you can simulate tracking Raw VC data Just fol low these steps 1 Disconnect from your cameras 2 Select Raw Files on the Real Time Dashboard 3 Load the CalSeed vc1 file At this point you can mask out any extra neous data points if necessary 4 Press the Run button on the Real Time Dashboard 5 In the Calibrate sub panel press Calibrate in the Calibration with Square box 6 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 7 Select Raw Files on the Real Time Dashboard 8 Load the CalWand vc1 file At thi
348. lt 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 EVaRT 5 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 mocap 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
349. lude 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 knee 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 EVaRT 5 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
350. ly 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 EVaRT 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 Chapier 4 Planning a Motion Capture Session EVaRT 5 0 User s Manual 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 EVaRT host workstation create the appropriate directories and project files For batch edit work in Post Processing a separate fil
351. m 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 sub 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 sub panel Props can be selected as normal tracking objects and they take
352. major functions into a single software package 1 Calibration of your capture volume Tracking 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 32 and 64 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 Si Solver for generating constant bone length skeletons for high quality animation 5 OrthoTrak clinical gait evaluation module 6 SIMM Software Interaction Muscle Modeling 7 KinTrak research module for defining research projects with kine matic and kinetic data and a trial and subject database 1 2 EVaRT 5 0 User s Manual Chapier 1 Introduction System Requirements Table 1 1 Required Minimum and Recommended Specifications Required Minimum Specifications Recommended Specifications Dual 2 0 GHz CPU up to 12 cameras Dual 2 8 GHz Xeon CPU 512 MB RAM 1 0 GB RAM Windows 2000 or Windows XP Windows 2000 or Windows XP operating system operating system OpenGL video card with 64
353. marker is reconstructed so that the first marker can be reconstructed on the second pass It also works this way in Post Process mode when you have multiple markers selected and do a Join Vir tual function 6 33 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Streaming vs Post Processing The Real Time Join Virtual function in the Real Time dashboard elimi nates 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 This is the only solution for streaming using the Join Virtual check box when you are recording the data either live or from raw video files 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 Post Process Dashboard The Post Process Dashboard is available when EVaRT is in Post Process mode as opposed to Tracking mode After you have generated and saved tracked data this becomes available t
354. me 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 the 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
355. 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 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
356. ment is not assignable The rights under this Agreement or any license granted hereunder may not be assigned sublicensed or otherwise transferred 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 EVaRT 5 0 3 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 656 1100 R50 www motionanalysis com Copyright 2007 chapter Introduction Overview System Requirements Installing the Software and Licenses Software Packages within EVaRT Software Packages Used with EVaRT For More Information Overview Figure 1 1 EVaRT User Interface Cir uris fra Meee geois slei xi Soup _Cenbreson Monon Capre PostProcese Modeiede UserAppe Tracking Objects Outa C Makeat Name Property Merge Markorsets BP Tahing don Ma ere Tita Gorterpet vet BF Skeleton This instructional User s Manual provides a complete description of the EVaRT software and its capabilities along with many step by step proce dures critical to a successful moti
357. meras Status Pop Up Example EVa RealTime x Capture Devices Found 9 Cameras 6 Eagle 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 Channels 33 64 NI DAQmx Driver Version 8 1 0 System Calibration Note System calibration should be done at a camera speed of 60 Hz Start the AL Calibration Process Using the 4 Point L Frame Calibration Square Place the calibration square device or four markers L shaped on the floor or on the forceplate e The Calibration Square markers are described under Tools gt Cal ibration Settings These markers have been placed in a particu lar orientation and precise distances apart in order to tell the software the origin and coordinate X YZ system of the lab room Under the Calibration gt Calibrate sub panel activate the Preview Calibration check box Press the Run button e All the number buttons on the bottom of the EVaRT interface should turn yellow if all of them can see the L frame 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 Display or 2D Display Check the 2 D views on all the cameras e 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 als
358. mes 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 EVaRT 5 0 User s Manual Semi critical Markers 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 cr
359. 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 changes 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 Solver Type 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 the skele ton could be used Now the skeletons are defined and edited within the Calcium software interface within EVaRT 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
360. n Create Template Displays the motion capture cameras in the 3D Display Displays which cameras can see the selected marker s Displays the camera view for the selected camera s Displays the virtual floor in the 3D Display Displays the capture volume Calibration Details Displays the Digital Video layered with the 3D Display Centers the display on the selected marker 3D Display center follows the selected marker Mirrors marker set from left to right hand coordinates Normal display adjust with mouse Show front view Show side view Show top view Rotate around the capture area by pressing Play Toggle display to view from selected markers 6 18 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface 2D Display Pop Up The 2D Display renders raw camera data as blobs and or marker cen Menu 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 13 2D Display with Pop Up View Options Delete Mask Deletes selected mask Delete All Masks Deletes all masks in the 2D display for the selec
361. n Linear Join Virtual Position Velocity Acceleration Distance Between Two First Marker__ Second Marker a Back Click All None Ctrl Click Toggle 10 M_FLShoulder 11 M_FChest 12 M_RBicep 13 M_RElbow 14 M_FForearm 15 M_Riwrist 16 M_RPinky 17 M_AThumb 18 M_LBicep 18 M_LElbow 20 M_LForeatm 21 M_LWiist 22 M_LPinky 23 M_LThumb 24 M_Midback 25 M_ShoulderDiffset 26 M_LowBack 27 M_RootDffset 29 M_BRHip 30 M_BLHip 31 M_FRHip 32 M_FLHip 33 M_AThigh 34 M_PKnee 35 M_RShin 36 M_RAnkle 37 M_RHeel 38 M_FiMidfoot 39 M_RToe 40 M_LThigh 41 M_LKnee 42 M_LShin 43 M_LAnkle 44 M_LHeel i M_ShoulderOffs M_LWrist M_LEIbow 45 M_LMidfoot 46 M_LToe 47 AMI 48 A_M2 439 A_M3 50 A_M4 51 AMS x 52 U_1 lt Empty gt 53 U_2 lt Empty gt 54 U_3 lt Empty gt z M_LPinky i l Tih BOAN ae 700 ao aba s ne e e aka Ae 364 Frames 120 00 FPS Z Up Units mm Analog 600 00 Hz 10 29 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual Included Angles Tab The Included Angles tab allows you to select groups of four markers 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
362. n Setting E 6 Binary Files G 18 ANB G 18 C3D G 18 Index 1 EVaRT 5 0 User s Manual TRB G 18 BioFeedTrak 1 11 12 7 BioFeedTrak Sub Panel 12 7 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 Face D 5 Butterworth Filter 10 6 C3D G 18 C3D files see tracked marker files Calcium 1 7 Calcium Segments 11 15 Calculate Solver Skeleton 6 8 CalFloor vcl 8 13 calibrating system overview 5 20 Calibrating Your System 8 1 Calibration 6 12 Coordinate System 5 20 Face 8 13 Floor 8 13 from Previously Collected Files 8 18 Refining 8 15 Simulated 8 18 Calibration Frame Tab 8 5 Calibration Settings Window 8 5 Calibration Settings Window Tabs 8 4 Calibration Frame 8 4 Capture Volume 8 8 Origin Offsets 8 5 Calibration Setup 6 7 Calibration Square 5 20 5 21 5 22 8 1 Placing 5 22 Worksheet 5 21 Calibration Sub Panel 8 1 8 3 Calibration Wand 8 1 CalSeed vcX 8 10 CalWand vcX 8 12 Camcorder 4 4 Camera and Strobe Settings Summary A 21 Camera Buttons 6 32 Index 2 Right Click 6 32 camera buttons Real Time Dashboard 6 24 Camera Connections A 17 Camera Connector Assembly A 17 Camera Positioning 8 8 Camera Problems 5 24 Camera Software 7 5 Camera Type drop down list 7 1 Cameras Optimum Number 5 2 Properly Seeded 8 10 Setting Up 5 11 Square Seed Ca
363. n and animal movements World objects can be added to pro vide a context for the animation Chapter 1 Introduction EVaRT 5 0 User s Manual For More Information Please contact Motion Analysis Customer Support with any questions problems or feedback about the Motion Analysis EVaRT 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 1 20 Quick Start Tutorial for Chapter 2 Overview 2 1 Starting EVaRT 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 EVaRT project file that is located in the C Program Files Motion Analy sis EVaRT 5 0 Samples Helen Hayes in Otago folder The basic meth odology outlined here can be generalized to other marker sets Please be aware tha
364. n be used to identify the marker in the EVaRT project H 24 EVaRT 5 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 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 RLHEEL RHEE Left heel acceptable names L HEEL LHEE Right toe acceptable names R TOE RTOE Left toe acceptable names L TOE LTOE
365. n select a range of frames on which you wish this to operate Select RB Join and it automatically joins across the missing marker data Undo retrieves data affected by the most recent Edit or ID function and places it back into the data set EVaRT 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 Post Process gt Options gt Undo section 10 14 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel Rectify There are three main Rectify tools for naming markers and propagating i the names through time Rectify Rectify Unnamed and Rigid Body Rec Functions What tify They are not for generating XYZ data from the 2D camera views They Do and 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 en 10 Use y 8 8 tify functions start at the Current frame and go forward in time first then Them y g backwards from the current frame Figure 10 12 Post Process Toolbar Buttons Rectify Ail Markers Template ID Create Quick ID Make Unnamed Hide Markers Rectify Exchange Undo C Selected Markers Template Rectify Template Marker ID Rectify Unnamed Unhide Markers Rigid Body Rectify Options Join Linear Join Virtual RB Join
366. n 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 force generating parameters so you cannot calculate the lengths or forces in these muscles during the recorded motion EVaRT 5 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 fo
367. n the lower left side of your Post Processing dashboard You can first select a starting frame from the current time slider then press the Calculate Skeleton Bone but ton which activates the Solver engine to do the Global Optimization method and solve for the skeleton beneath the marker cloud Figure 13 2 Calculate Skeleton Button EVaRTS STIE Ee Layos Quta Views Jools Help T Frogrem Fies Motion Anelysis EVeRTS0 Semples celcum TutonehexampleDele Mae D M FRHo 2 M Futo 30 M Akene 32 M_Filtee 33 MAMo MM Aloe 35 M_LT high 3 M_L Knee 7 M_Lardie 30 M_LHeel 39 M Lidio iiion Cei Toge a aus 45 U5 46 U6 4l blaid a 102 Frames 120 00 FPS iv up Unten 13 4 EVaRT 5 0 User s Manual Chapter 13 Skeleton Types This can take several seconds to minutes depending on the length and complexity of the skeleton s If you are using one of the streaming Talon plugins the skeleton data is available after the Bone Button 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 Figure 13 3 Skeleton Engine Setup ji Skeleton Engine No Skeleton Calculation Skeleton Builder SkB J Filin SkB Gaps Calcium Solver 1 1 2 C SIMM Orthtrak Model Create Orthotrak Model Uses current tre file
368. n 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 EVaRT 5 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 with 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
369. n the parameters set For more information refer to Virtual Markers on page 11 6 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 Selecting this will automatically fill the gap with linearly interpolated data For all information regarding Join Virtual refer to See Join Virtual on page 6 33 Exchange requires that exactly two markers are selected The data is ex changed between the markers within the selected frames Finds gaps and or spikes throughout the data set The current frame will be set to the first gap or spike found in either the first selected marker on 6 37 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Delete U_n Options RB Join Undo the marker list or all of the markers See the Post Options form for set tings Deletes all unnamed markers The Options button opens a form that lets you set the sliders zoom undo and search for gaps and or spikes options 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 Memory Gauge lets you know when you computer is running out of memory t
370. named 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 splines 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 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual To see the 3D Display 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 EVaRT ini file when you exit the program 2 Choose items from the Show options menu and see the effects These option
371. nd knee markers applied For the Jack software there is only one marker set for both static and dynamic trials Use the standing Init trial with the legs together facing the X direction arms out elbows bent at 90 degrees thumbs point ing towards each other Click on Create This creates the scaled model with the correct bone lengths for this person and saves this in a jnt file with the same name as your project name in your current data folder In the future if you load the project file the associated jnt file also gets loaded If there is a personal dat file in the folder with the init pose file Solver will read it when scaling the model Hip center offsets ankle and knee diameters and foot lengths are read from this file if they are present In the Post Process panel in bottom left corner you now have the Cal cium Bone button Clicking on this button solves the skeletal seg ments for your walking trial with the correctly scaled bone lengths for this person At this point you can use the 3D window right click Show Menu to show or un show Skeleton Skin and Skeleton Axes Also the File gt Export HTR function allows you to save the segmen tal data into an HTR file For additional Dynamic Trials of the same person select File gt Load Tracks file with DYNAMIC markers Note that the Bone button still remains in the bottom left corner of the EVaRT interface Press the Bone button and a correctly scaled Skeleton gets created At this
372. ne Password L T Progress 7 Click Download and wait about two minutes for the Writing to Flash operation to finish Note Ifthe message Send Failed appears ignore and press Download again 7 6 EVaRT 5 0 User s Manual Chapter 7 Setup Panel Note Do need to update camera software Old Camera New Camera Compatibility Issues Dedicated Interface for Eagle Cameras Reboot All 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 EVaRT 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_June_23_2006 bin For hawk i camera users the camera software is CameraSoftware hawk i_ONLY rom_Hawki_June_23_2006 bin You can continue to use the Eagle or Eagle 4 or Hawk rom_May09_2005 bin or later software Reasons to upgrade to the new camera software include 1 Genlock to multiples of NTSC or PAL video 2 Hardware sync for Eagle cameras and frame rates above 500 Hz 3 Mixed camera environment with hawk i cameras 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
373. neous audio feedback to kinematic movements BioFeedTrak is able to give real time feedback in the form of sounds based on kinetic variables that fall within certain bounds during the pre defined performance of any type of physical task Kinematic variables include position velocity and acceleration of individ ual markers up to 45 markers placed on key anatomical points of inter est Included angle between three markers as well as the angle of inclina tion of a segment defined by two markers can be used to provide feedback Kinetic data include the following e horizontal and vertical forces e moment about the vertical axis e the coordinates of the center of pressure with respect to the force plates The program works in conjunction with the Motion Analysis Eagle Digi tal System or the Falcon Analog System For a typical application proce dure the user will do the following 1 Choose and set the variables to be monitored Determine the starting and ending parameters for each variable to be assessed 3 Choose the volume and frequency of the audio feedback 4 Start the Real Time system With this the patient and clinician are able to work side by side to retrain areas of the body that need further optimization More information may be found in the BioFeedTrak Quick Start Guide 12 7 Chapter 12 User Apps Panel EVaRT 5 0 User s Manual Figure 12 6 BioFeedTrak Interface Ele Lyts Data Views Tools bp
374. ng 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 EVaRT 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 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
375. nge Ax V 10 2j fy MV e 10 4 mix V 10 5 v Activate all named channels Show all named channels Clear channel v Kistler forceplate AMTI forceplate Bertec Forceplate Kyowa Dengyo Forceplate AMTI AccuGait forcplate Muscles 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 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 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 Set your sampling rate at some value greater than the frame rate at which you are capturing video data 2 8 EVaRT 5 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications 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 Marker Placement Note For the purpose of this illustration this example uses the Helen Hayes both the static and dynamic marker sets The theory may be extended to differe
376. niteLoop sky LinksDisplay sk next end sub MessageT est sky MsgBox sky ProcessAllFiles sky Resample sky SetExtraStretch sky SetSelectedE xtraStretch sky SingleFrameDelete sky TRB24NC sky TRB2C3D sky TRB2Forces sky TRB2HTR2 sky Output TRB2TRC sky TRC2forces sky Version sky F i VMJoinall sky New Global Sky file is MarkerNames sky Current directory is G Projects temp EVaRT Samples Golf Swing with Temper 4 Load a project file and then a tracks file 5 Click on the Run Script button again 6 At the bottom of the Sky interface you will see the model name and the markers of the project file listed 14 6 EVaRT 5 0 User s Manual Chapter 14 Sky Scripting Interface Installation Notes Sky Writer is automatically installed into EVaRT If you are using an ear lier version of EVaRT and it is not installed you can utilize the informa tion in this section Installing The file ScriptPlugin ocx is the Sky plugin file for EVaRT It needs to ScriptPlugin ocx be copied to the Plugins folder where EVaRT is installed Installing The file msscript ocx is a Windows file that must be registered with m sscript ocx Windows to activate the use of the VB Script engine To install it which must be done only once copy the msscript ocx file to a permanent folder location such as the Motion Analysis folder usually C Program Files Motion Analysis and then execute the following Windows se quence 1 Under
377. 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 m F Enable Tracking BF Enable identilying m F Enable Skeleton E a RealTime File Layouts View Tools Help Bl Setup I Calibration Motion Capture Post Process Model Edit User Apps Calibrate Refine All camera positions should be reasonable approximations of Calibrate Floor their actual positions in the room m Calibration with Square 7 Preview Caltrain _Detail _ Filename CaSeed Calibrate fa Gieteiyennnite gt Wand Calibration Duration 3q Seconds Lenath fi 000 Filename Cawand a Mokoaren gt Floor Calibration Marker Center to Floor 12 7 Connect To Cameras Raw Files a Virtual 7 Beset ID poet Sd te mani 60 Z mm LAService CUSTDATA Heidelberg 7_5 PIob_1 4 This completes the square part of the Square and Wand Calibration EVaRT 5 0 User s Manual Chapier 8 Calibration Panel Wand 1 In the Wand Calibration box on the right hand side set the wand Calibration of length to your wand size Make sure that you are using only a three c point wand ameras 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
378. ns 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 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
379. nt analog configurations B 17 Appendix B Analog Input Hardware and Software EVaRT 5 0 User s Manual Table B 5 Analog Input Channel Connections for Midas Based Camera Systems with the SCB 100 A D Interconnect Box and PCI 6071E A D Card Screw Screw Terminal Setup Terminal Channel Setup Channel Name Name 1 GROUND 51 CH 17 2 GROUND 52 CH 25 3 CH 1 53 CH 18 4 CH9 54 CH 26 5 CH2 55 CH 19 6 CH 10 56 CH 27 7 CH3 57 CH 20 8 CH 11 58 CH 28 9 CH 4 59 CH 21 10 CH 12 60 CH 29 11 CH5 61 CH 22 12 CH 13 62 CH 30 13 CH6 63 CH 23 14 CH 14 64 CH 31 15 CH7 65 CH 24 16 CH 15 66 CH 32 17 CH8 67 CH 33 18 CH 16 68 CH 41 19 NOT USED 69 CH 34 20 NOT USED 70 CH 42 41 NOT USED 71 CH 35 22 NOT USED 72 CH 43 23 NOT USED 73 CH 36 24 NOT USED 74 CH 44 25 NOT USED 75 NOT USED 26 NOT USED 76 GROUND 27 NOT USED 77 CH 37 28 NOT USED 78 CH 45 29 NOT USED 79 CH 38 30 NOT USED 80 CH 46 31 NOT USED 81 CH 39 32 NOT USED 82 CH 47 33 NOT USED 83 CH 40 34 NOT USED 84 CH 48 35 NOT USED 85 CH 49 36 NOT USED 86 CH 57 37 NOT USED 87 CH 50 38 PFIO TRIG1 Red trigger wire 88 CH 58 39 NOT USED 89 CH 51 40 NOT USED 90 CH 59 41 NOT USED 91 CH 52 42 NOT USED 92 CH 60 43 NOT USED 93 CH 53 44 NOT USED 94 CH 61 45 NOT USED 95 CH 54 46 NOT USED 96 CH 62 47 NOT USED 97 CH 55 48 NOT USED 98 CH 63 49 NOT USED 99 C
380. nt marker sets 1 Attach the reflective markers that are listed in Figure 2 6 and shown in Figure 2 7 Placement on bony points is ideal if available Consult an anatomy book as reference for palpating these points Figure 2 6 Helen Hayes Marker Set List eal Marker Names Aa 1 Top Head 2 Front Head 3 Rear Head 4 R Shoulder 5 Offset 6 L Shoulder 7 R Elbow 8 FR Wrist BL Elbow 10 L wrist 11 R ASIS 12 V Sacral 13 LASIS 14 A Thigh 15 F 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 F Ankle Medial 28 L Knee Medial 29 L Ankle Medial x 2 9 Chapter 2 Quick Start Tutorial for Movement Analysis Applications EVaRT 5 0 User s Manual Figure 2 7 Helen Hayes Marker Set Placement a Rear Head f T N Front Head 3 i f s L Shoulder g gt R Shoulder F Za Offset Q I L Elbow t R Elbow L Asis V Sacral Pas R Asi S i L Wrist O R Wrist P R Thigh _ L Thigh oO R Knee R Knee Medial L Knee Medial L Shank O R Shank r ii R Ankle O o L Toe R Heel SS L Ankle Medial R Ankle Medial 2 10 EVaRT 5 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications Data Capture Capture a Static 1 Go to the Motion Capture gt Output sub panel and activate the Raw Trial Video vc Tracked Binary trb
381. nt 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 whole 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
382. nterconnect 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 7 4 EVaRT 5 0 User s Manual Chapter 7 Setup Panel 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 EVaRT50 Camera Software Figure 7 2 Camera Software Directory N C Program Files Motion Analysis E aRT File Edit View Favorites Tools Help HBak gt ty Qsearch Pyrolders lt H As GE X wa BAe Hy Address i C Program Files Motion Analysis E aRT50 CameraSoftware Eagle_Eagle 4 _Hawk Folders x la
383. ntered 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 3 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual 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
384. o adjust the threshold to see more markers If you have 2 4 EVaRT 5 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications more you can mask out extraneous data points To mask press Pause While in one of the 2 D views press the middle mouse button and hold it then drag a square over the bad data to mask 6 Check the 3 D display and camera locations e If itis 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 Try 9000 9 meters e Turn the capture volume on by right clicking your mouse in the 3 D display 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 Calibration Set ting gt Capture Volume tab in the new 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 8 Once the camera position is optimized press the Collect and Cali brate
385. o help manage a 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 28 Post Process Dashboard Play Pause Move to Active Play Speed Frame _ Lowest Highest Frame Frame Selectors Visible Frames Low Selected Frames Low Move 1 Frame Selected Frames High Time Code Visible Frames High 6 34 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Post Process Toolbar Figure 6 29 Post Process Toolbar Ele Loots uta Views Took Hele C Program Files Moton Analysis E VaRTS0 Samples Got Swing wih Temper Soup Calibration Moton Capwro PostProcess ModelEds User Apps _ MarkerSers af LI Quick 1D Make Unnamed Hide Markers Rectily Exchang Undo Fa ee eee Oa Cosy Paste Jon Cubic Jon Lines Jon Virtual RB Jon Smooth Calcusste Virtual Maher Seach Delete Un Cut Outside x y gt A NE aa Latt AN Template ID Create Quick ID Make Unnamed Hide Markers Rectify Exchange Undo Marker ID Rectify Unnamed Unhide Markers Rigid Body Rectify Options E Selected Markers Template Rectify Template Join Linear Join Virtual RB Join Smooth Calculate Virtual Mark
386. o store edits in the undo buffer 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 RB Join and it automatically joins across the missing marker data Undo retrieves data affected by the most recent Edit or ID function and places it back into the data set EVaRT 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 Post Process gt Options gt Undo section 6 38 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Zooming Rotating and Translating Zooming and translating a display can occur in both the 3D Display and the XYZ Graphs Rotating only occurs in the 3D Display 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 Display zooming is accomplished if you 1 Hold the Alt key down 2 Hold both the left mouse and middle mouse buttons down
387. o this once per marker set 3 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 1 Facing Z or any other direction also works as long as Pose ID is used in the same orientation 6 27 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Using the Pose ID Feature Get a Range of Motion Trial and Make a Template 4 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 5 Select Update Template again 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 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
388. oes 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 moves 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 9 4 EVaRT 5 0 User s Manual Chapter 9 Motion Capture Panel Max Acceptable 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 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 r
389. og 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 EVaRT 5 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 The 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
390. ome 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 Head A subject s head usually will have four or five markers Missing marker data for the head is joined using Join Virtual definitions with any three of the other markers Upper Arm or Typically the upper arm segment is defined by three markers Elbow Bi Upper Leg 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 Hand or Foot 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
391. omponent 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 EVaRT manu als contain X Y and Z coordinates for each identified marker for each time frame You can also import analog data files containing 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
392. on 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 10 18 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel Summary of When To Use What 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 Rectify 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 make mistakes Correcting mistakes can take a lot of time If there are some incorrectly ID 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 fra
393. on Data G 4 Tree View Sub Panel 11 5 Delete All Linkages Button 11 6 V Marker Definition Button 11 5 Trial 4 5 Trial Fields 15 9 Trial List 15 7 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 6 38 10 14 nhide Markers 6 36 10 12 niform Scale 10 3 nload Tracks Button 6 43 nnamed Markers 10 10 se Joint Limits 11 16 ser Apps 6 12 12 1 Overview 12 1 13 1 14 1 15 1 ser Interface 6 1 6 2 ACEA eS Gee Cc V VC file 6 14 Video Display Options 7 8 Video Processor MIDAS Connections A 16 Viewing Your Data 10 2 Virtual Marker Quickstart Example 11 20 Types 11 17 Virtual Marker Definitions 6 8 11 16 Virtual Marker Tracks Calculating 11 20 Virtual Markers 11 16 Selecting 6 41 Visible Channels 6 20 Visible header 6 20 V Marker Definition Button 11 5 V Marker Definitions Button 11 20 VMarkers 11 11 W Waldos D 14 Wand 8 1 EVaRT 5 0 User s Manual Wand Calibration 8 2 8 11 Wand Calibration Coverage 2 6 Wand Processing Status 8 12 Wand Processing Status Window Accept Button 8 12 Extend Seed Button 8 12 Reject Button 8 12 Run Again Button 8 12 Stop Button 8 12 X X Offset 11 11 X Sub Panel 12 2 XYZ Graphs 6 7 6 21 pop up menu 6 21 Y Offset 11 11 Z Offset 11 11 Zoom amplitude 6 40 Zoom In Zoom Out 10 3 Zooming 6 39
394. on 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 the 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
395. on capture project Motion capture the ory is separated from the body of this manual in the form of appendices so that the tutorial approach does not become cluttered 1 1 Chapter 1 Introduction EVaRT 5 0 User s Manual EVaRT is acomplete package capable of meeting the most demanding re quirements of the motion capture industry Output is generated in real time making EVaRT 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 EVaRT handles image data from systems comprised of up to 32 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 new directory and file access tools and the motion data generated is of the highest quality Post Processing data is accomplished graphically using intuitive controls integrated with mouse and keyboard functions for fast and easy editing Model Edit features give you access to the properties of the current set of named markers virtual markers link ages and skeletal segments EVaRT combines three
396. on capture session see Load Into EVaRT for more information This creates a new trial and adds it to the database All the fields are made to be blank This loads the information from the currently selected trial into EVaRT The project file is loaded first Then if the VC file and any of the tracks files exists they are loaded into the Post Process mode If you have made changes to the currently loaded data then this will be lost with no ability to recover If EVaRT is currently streaming live data or in Record mode from a VC file when you select this button a warning message will be displayed in dicating that no data was loaded If EVaRT is currently connected to cameras when you select this button then ONLY the trial name trial number and any of the MTO projects will be updated in the Output panel of EVaRT This is so that the connection to the cameras is not interrupted as they would be if the project were loaded and the trial list now becomes a template for a capture session QuickDB is not currently able to notify EVaRT that the Trial Name and Trial Numbers have changed If you select a panel other than the Output panel and then back to the Output panel you will see that the names have changed Any subsequent records will go to the name specified by QuickDB even if you do not refresh the Output panel This inspects settings in EVaRT and updates the current record to match This is a handy way of having EVaRT fill in the F
397. on going into the Eagle Hub is the cable coming from the back of the Host computer EVaRT 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 the time to write down IP address for each camera If you run into a problem with multiple IP 5 28 EVaRT 5 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 EVaRT Host Computer is con
398. on new versions of the EVaRT software See Load ini Preferences above Exit Allows you to exit the EVaRT software Make sure you have saved the current project and tracks files The items in this menu are generally self explanatory The EVaRT 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 Shows the live action in a capture volume or a replay of an AVI file 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 6 6 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Tools Menu 2 D Display F2 Shows 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 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 Skeleton Graphs F6 Displays hierarchical translations and rotations of skeletal segments 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 ASC
399. ons EVaRT 5 0 User s Manual Standard Eagle and Hawk System Configuration Figure A 2 shows a standard EVaRT system set up for use with Eagle and Hawk digital cameras It includes e aset of Eagle or Hawk digital cameras with Eagle network and power cables for each camera e an EagleHub1l or EagleHub2 1 for every 8 cameras or EagleHub3 1 for every 12 cameras Figure A 1 EagleHub Will Power 8 Eagle or Hawk Cameras with 17 Ethernet Connections e a Tracking Computer host with monitor keyboard and mouse Figure A 2 Standard Eagle or Hawk System Configuration EVaRT Host Computer Eagle or Hawk Cameras For more detailed diagrams please refer to Figures A 3 through A 10 A 2 EVaRT 5 0 User s Manual Appendix A System Hardware Interconnections Power Consumption The maximum power consumption you can expect for some typical Eagle and Hawk system configurations is shown in Table A 2 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 supply UPS If you want to save your data when power is lost altogether you will also need to power the VGA monitor from the UPS Table A 1 Power Consumption of Typical Eagle and Hawk Setups 8 Cameras 12 Cameras 16 Camera
400. ons 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 selected markers are dynamically turned into a Rigid Body def inition 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 a PoOnN Sets the sliders zoom and search options 10 12 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel Rectify Cut Copy Paste Cut Outside Smooth Calculate Virtual Markers Join Cubic Join Linear Join Virtual Exchange Search 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 linkages on the current fram
401. 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 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 name
402. or edit the skeleton definitions you need additional licenses In the EVaRT and later releases 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 Real Time and The Motion Capture panel has a Skeleton check box to ask if you want the i Skeleton calculated with either mode Connected to cameras or simu Si mulated Real lated real time Disconnected Use Raw Files To see the skeleton use the Time Skeletons right mouse click menu and select Show Skeleton Post Process Skeletons can also be calculated in the Post Processing panel from your Skeletons current 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 EVaRT 5 0 User s Manual Calcium Solver If you have a Calcium Solver Skeleton defined in Post Processing the Skeletons Calculate Skeleton button see Figure 13 2 appears o
403. ord 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 EVaRT 5 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 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 EVaRT and OrthoTrak for processing forceplate data Therefore you can simply copy the forcepla cal file from your EVaRT folder into the Resources mocap misc folder For user
404. ou are using the EVaRT 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 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 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 d
405. ou can choose to see the Model Pose in your current project by right clicking in the 3D display and then selecting Show gt Show Model Pose 6 25 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Figure 6 19 Create Template Window Include Current Frame as the Model Pose lt lt Create Template i x Template Prop Definition Frames Range Frames Used C Current Frames with complete data 168 C Selected Total frames to use 168 Visible C All P Include current frame as the Model Pose Create Template Extend Template 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 Template and the Template ID and Template Rectify functions in Post Process will be at an optimum performance level Activate the Motion Capture panel 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 panel Figure 6 20 New Subject Interface w New Subject No pose stored z n iol x Subject Hybrid Skeleton Model Name Name Update The Skeleton Height Height C AutoFit Zero Pose D
406. ou move your cameras around e If yes then you have 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 yo
407. ou 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 confidence in the template will be less Because of this many users think that the Extra Stretch factor is a state ment about the stretchiness of the link which it isn t A link could be put between 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 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 This is a starting point As data is tracked you can fine tune the Extra Stretch values In order to maintain compliance with legacy datasets the Extra Stretch factor is not used in the same way in the Motion Capture panel as it is in Post Process In Post Process the Extra Stretch is used in all operations 11 12 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel General Notes on Extra Stretch that use the template TemplateID and Template Rectify In Motion Cap ture when processing data live from the cameras or from VC files the Extra Stretch is used as part of the Templ
408. ove in Director Sequencer Each move is represented 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 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 and ligaments Given muscle activations
409. ove 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 EVaRT 5 0 User s Manual Appendix J Using EVaRT 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 EVaRT with Jack Software EVaRT 5 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 Ps
410. parc 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 EVaRT 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 that start with a left bracket are read by the software Note If you are operating in Windows 2000 make sure that file extensions 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 2005 1 42 26 PM Sales Order 05 xxx Entered By Support EVa RealTime v4 4 aed50167 873b2d56 Analog Input b9806c31 d1567841 OrthoTrak b2d 5e69 8964274a Animation Plugins b1a46160 805b5c49 Director Sequencer ela0
411. player inside presentations are ready for launch on any Windows 2000 XP 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 Motion Analysis OrthoTrak XLS files cycles moment forces angles powers e Project files PRJ e Tracks TRC TRB e Analog data ANB e User defined data types views 1 9 Chapter 1 Introduction EVaRT 5 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 moments powers forces or relationship structures e g Subject Condition Trial Cycle The Motion Composer authoring interface also makes it simple to create presentations 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 becomes as simple as a slideshow Figure 1 6 Motion Composer Interface he Unrate Da
412. plete information refer to Batch Process ing on page 9 13 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 6 Pose ID Options 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 24 6 8 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface 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 4 Forceplate Forces ig ForcePlate Data J ioj x Newtons mm Newton mm al ER FY FZ X lv Z MZ 1 46 95 3 37 372 32 91 96 8 02 84 00 1785 22 2 70 15 0 13 421 55 615 77 1211 84 00 876 85 Colors The Colors form allows you to choose RGB colors for the markers Back ground Foreground Real Time Floor and Post Floor for your project Refer to Figure 6 5 Figure 6 5
413. pposing camera use the mask function in EVaRT 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 Adding cameras low 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 ringlights can be masked out if necessary 5 11 Chapter 5 Camera Setup EVaRT 5 0 User s Manual 6 One by one adjust each camera so it sees as much capture area as possible 7 To see the camera view right click in the 3D display and then select Show gt Show Camera Field of View See Figure 5 10 Figure 5 10 Show Camera Field of View E aRTS B x File Layouts Data Views Tools Help C Program Files Motion Analysis EVaRT50 Samples Golf Swing with Temper Setup Calibration Motion Capture Post Process Model Edit User Apps Cameras Analog Misc Camera Depth of Fiera i A r From Raw Video Files Options CPU Speed C RealTime xl T Loop Raw Files n JEE m Skeleton Engine 0 000 0 No Skeleton Calculation C Skeleton Build
414. 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 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 EVaRT50 Samples 10 25 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual Data Painting 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 Figure 10 19 Data Painting 10 26 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel 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
415. ptan Pou Precess Model Est ner Appt MA Foamy 1200 FPS Ep Lintnm Araog 100 00 Me 12 1 Chapter 12 User Apps Panel EVaRT 5 0 User s Manual X Sub Panel The X sub panel provides a set of extra functions that are used in the post process mode Figure 12 2 X Sub Panel x QuickDB Sky 4 gt Delete Outside Volume Snippets Snippet Length E Delete Short Snippets Refine Tracks r Global Marker Data Adjustment Translate fis Translate Y fi Translate 2 2 Rotate x 4 Rotate Y B Rotate Z fi Scale fio Apply to Tracks m Model Adjustment IV Refit Identifying Template JV Update Model Pose Markers JV Update Model Pose Skeleton Update Model 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 EVaRT 5 0 User s Manual Chapter 12 User Apps Panel Refine Tracks This feature will smooth data that has become jumpy due to camera on off noise When 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 561 67
416. r 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 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
417. r all information regarding Join Virtual refer to See Join Virtual on page 10 22 Exchange requires that exactly two markers are selected The data is ex changed between the markers within the selected frames Finds gaps and or spikes throughout the data set The current frame will be set to the first gap or spike found in either the first selected marker on 10 13 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual Delete U_n Options RB Join Undo the marker list or all of the markers See the Post Options form for set tings Deletes all unnamed markers The Options button opens a form that lets you set the sliders zoom undo and search for gaps and or spikes options 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 Memory Gauge lets you know when you computer is running out of memory to store edits in the undo buffer 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 the
418. r details B 2 EVaRT 5 0 User s Manual Appendix B Analog Input Hardware and Software Installing NIDAQ Software on an EVaRT Computer For a new installation start with Step 4 below For EVaRT 5 0 and later software we recommend installing NIDAQ version 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 sam ples 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 EVaRT 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 card 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 puter Note that EvaRT 5 0 users can use either NIDAQ 7 1 through Software 7 4 or NIDAQ 8 0 or later NIDAQ 8 allow
419. ra 4 anil ee Capture Volume 2 0 aes f 2 s a 2 j t Camera 2 Camera3 L Note Capture volumes may vary depending on room size and the distance from the camera to the capture area 5 6 EVaRT 5 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 EVaRT 5 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 EVaRT 5 0 User s Manual Chapter 5 Camera Setup Figure 5 8 Typical 16 Camera Setup Circle of 2nd 8 camera Chapter 5 Camera Setup EVaRT 5 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 Lower left quadrant Cameras 17 24 Lower right quadrant Cameras 25 32
420. rceplates Note For AMTI or Bertec Forceplates EMG Signal Name Conventions When connecting force plates and EMG equipment to the EVaRT 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 sub 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 EVaRT analog setup screen which is saved in the EVaRT project file See the OrthoTrak
421. rchical 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 position 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
422. re 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 Panel EVaRT 5 0 User s Manual What is the Square and Wand Calibration Note In EVaRT a four point square and wand calibration takes the place of the cube and wand calibration that was done in previous versions of EVa soft ware This method has proven to be very robust and is extremely accurate This method requires only four markers and the wand If using an L frame orient your markers in the same 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 EVaRT 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 EVaRT 5 0 U
423. re A 5 Standard 8 Eagle or Hawk Camera Single EagleHub1 2 Configuration EVaRT Host Computer EagleHub1 2 Power Cameras 1 8 5 to 8 Port Ethernet Switch Eagle Ethernet NIC CI Ethernet NIC for Customer LAN Patch Cable Camera Network Cameras 1 7 Camera Network Camera 8 Direct to NIC of Host Computer with F F Adapter and Extension LAN Cable Note If your Host Computer has a 4 Port NIC you may connect the Patch Cable and the Camera 8 cable directly to it A 7 Appendix A System Hardware Interconnections EVaRT 5 0 User s Manual Note If using the Uplink connector on the EagleHub to link to the Ethernet Switch you must use a crossover cable Figure A 6 Uplink Hub Connector with Cross Over Cable Crossover Cable to NIC on Host Computer Figure A 7 8 Camera 2 EagleHub1 2 Configuration EagleHub1 2 EVaRT Host Computer 5 to 8 Port Ethernet Switch Cameras 1 4 Patch Cable Eagle Ethernet NIC w Ethernet NIC for Customer LAN EagleHub1 2 Patch Cable Cameras 5 8 Patch Cable Note If your Host Computer has a 4 Port NIC you may connect the Patch Cables directly to it A 8 EVaRT 5 0 User s Manual Appendix A System Hardware Interconnections Using More than 8 If using more than eight Eagle or Hawk digital cameras you must use an Cameras additional EagleHub112 i e one EagleHub112 for every eight cameras For
424. re appears in the 3D Display 6 29 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Figure 6 23 Pose ID Dialog Box i New Subject No pose stored es iol xj Subject Name Name Height Height Weight Weight Sex Hale r Hybrid Skeleton Model Update The Skeleton C AutoFit Zero Pose Directly AutoFit New Segment Lengths AutoFit Using Global Scale Female When the subjectis correctly identified and near the displayed pose then PAUSE the system The update will use the current frame of data on the screen J Refit the Identifying Template Update the Model Figure 6 24 Status Display 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 It has been found that the Auto ID feature works as long as the person is facing within about 45 degrees 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 ID button on
425. 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 will also want to uncheck the Heavily Weighted Seed check box and press Run again Keep 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 4 7 Chapter 4 Planning a Motion Capture Session EVaRT 5 0 User s Manual Capturing the Moves Note Collecting Calibration Insurance Data Wrapping It Up _ Have the subject stand in the capture volume with the markers on On the EVaRT system Look for any reflection and light source that might interfere with the capture and correct the problem Prepare the EVaRT system by entering a filename If the subject s name is Jane use something like JaneInit1 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
426. rform 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 NON A IM _ Y ok A Bi 1443 t T i f N at 82 83 84 85 8B a7 38 sa 90 Ed 92 93 94 095 9B oF 9B s 100 Figure 10 5 The Curve After an Application of the Butterworth Filter with an Input Freq of 3 1448 147 p 7 ge Ne f 444 t 1 t t t EN 143 E 10 6 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel Figure 10 6 The Curve After an Application of the Butterworth Filter with an Input Freq of 6 148 447 l ea 446 j z f i i a 145 ae ae 444 i 143 r at 82 88 84 85 86 87 88 Ea 30 wn 2 93 dd 95 9B a7 9B 3 100 Figure 10 7 The Curve After an Application of the Butterworth Filter with an Input Freq of 12 1446 3146 a ai tA p 444 z 81 82 83 84 85 86 ov 88 89 90 4 92 93 oe ne 96 oF 98 99 100 10 7 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual Figure 10 8 The Curve After an Application of the Butterworth Filter with an Input Freq of 18 448 m A A N 445 if N i 4 444 443 x tee 81 82
427. rials To see the stick figures multiple marker sets must exist in your current marker set This function depicts the number of marker slots the software will use EVaRT allocates memory based on this number Earlier releases of EVaRT would require a Heavy Duty version for a large number of marker slots This latest version will variably assign memory according to the number of marker slots used The maximum number of marker slots that EVaRT will allow is 1500 The default number of marker slots is set to 7 19 Chapter 7 Setup Panel EVaRT 5 0 User s Manual Note Forceplates Force Vector Scale Forceplates Autozero Forces Streaming Options 192 which uses 512 MBytes of memory From 193 to 500 markers the amount of memory used is 750 MBytes From 501 to 1500 markers the amount of memory used is 1000 MBytes Upon changing the number of marker slots you must relaunch EVaRT This adjusts the scaling factor of the force vector that is deployed in the 3 D display When active this check box automatically zeros all named forceplate channels This does not affect the raw data in the anb files This does af fect the following 1 Force Vector Display in the 3D window 2 File gt Export Force File function 3 Tools gt Show Forceplate Forces function This works when connected to the cameras and uses the first analog sam ple to set the zero value This is set when the user selects Run or Record In Post Pro
428. right scapula Also new linkages must be added This will 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 EVaRT 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 EVaRT 5 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
429. rker 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 down 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 EVaRT 5 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 o
430. rom June_23_2006 bin ag Program Files cx Motion Analysis E Bin Docs C EvaRT44 E EvaRT46 E evarT50 E42 CameraSoftware ey Eagle_Eagle 4 _Hawk H A oj E hawk ONLY i 1 help E Plugins go Plugins 3 Return to the Calibration sub panel in the EVaRT 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 sub panel 7 5 Chapter 7 Setup Panel EVaRT 5 0 User s Manual Figure 7 3 Download New Camera Software Verification Dialog 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 4 New Camera Software Interface Loading the rom bin File de FTP Download x Local Remote C Program Files Motion AnalysisSE Unit s IP 017201 User no
431. rom the current working directory Save Project Saves a project file prj to the current working directory Save Project As Fi2 Provides a method to save the current project PRJ file under a different name 6 3 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Select Raw Video File Live Loads the VC Raw Video files from a capture session Load Raw Video Files Post This loads the raw data into the post process screen and is used for the Re fine Tracks feature see Refine Tracks on page 12 3 The data is the centroids calculated during the load 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 file 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 6 4 EVaRT 5 0 User s Manual Chapt
432. ror 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 the 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 o
433. rs above the floor See Figure 5 8 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 5 3 Chapter 5 Camera Setup EVaRT 5 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 EVaRT50 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 EVaRT 5 0 User s Manual Chapter 5 Camera Setup 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 EVaRT50 Samples LargeVolumes directory Also refer to Figure 5 2 Figure 5 2 28 Camera 3 Tier Setup Tier 3 8 Cameras wo Peers
434. rsion 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 9 Appendix E Forcepla cal File Format EVaRT 5 0 User s Manual 2 Connect the ST 100 box terminal pins 25 27 and 29 pin 24 is ground which correspond to bits 0 1 and 2 of the digital I O of the National Instrument A D board to Cal o 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 EVaRT 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 There is a new button named Calibrate Kyowa Force Plates in the Setup gt Misc sub panel After making sur
435. rso 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 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 EVaRT 5 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
436. rtant the square should be rotated so as many control points as possible can be seen by all cameras e Check the video monitor to see if any of the four points on the Calibration Square are merging The Calibration Square 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 cam eras at this point Figure 5 18 Placing the Calibration Square In the Capture Volume Z Up 5 22 EVaRT 5 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 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 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 7m 15 0 m 25 mm 1 in 12 1m 16 0m These are empirical tests taken from an Eagle camera with the 20 35 mm zoom lens a
437. s The types of files that exist for the trial This is also used to indicate what kind of files are to be loaded into EVaRT So it might be possible that a TRC files exists but if it is left unchecked then it will not be loaded into EVaRT when the Load Into EVaRT button is selected Frames Per Second This information is provided by EVaRT to QuickDB when Sync With EVaRT is selected The length of the trial in frames This information is provided by EVaRT to QuickDB when Sync With EVaRT is selected The Timecode value of the first frame of the trial This information is pro vided by EVaRT to QuickDB when Sync With EVaRT is selected A comment field used to indicate what props were present during the cap ture of the trial A comment field used to indicate what actors were present during the cap ture of the trial The specific item associated with a particular markerset to be tracked and delivered by the user The person responsible for tracking the data The starting frame of the data to be delivered Timecode is not used here because it isn t specific enough more than one frame of data might fall on the same Timecode value The ending frame of the data to be delivered Timecode is not used here because it isn t specific enough more than one frame of data might fall on the same Timecode value 15 9 Chapter 15 QuickDB EVaRT 5 0 User s Manual Tracking Status The current status of the trial Multiple Trackin
438. s e Makes it easy to share databases with other users e Allows the creation of capture lists ahead of time so that capture names can be loaded from QuickDB while recording a session e Is an SQL database that can be used to generate reports on project sta tus Figure 1 8 QuickDB Interface Aitoon Arcen Database intertace for VAT Version 0 3 Project Databases D Monon Anshun Capano EV aA T Releases anger m IEA AS sample datatets hom the samgles iaido of the EVAR release la J 2i Motion Analysis Corporation Lost into EVaRT Spe wah EVaRT Scan Foks New Fron EVaRT NewiCeop Cumra News Bland I Recond Teale Ur Dalane lem F Bissal Propet Deectoy C Pragam Find Motor Anahyas VaR T AES argien Back refi ak Dancet onsi Ure Delamare ice F dip 1 Pote fanm Thiol Marne maire Trial Number 1 Imo Nhao Osia C Tibane MASAO F Rew Video ive I anog arti f Taket ASCH 0 F Tracked Rinsy L16 jo on ReachDomPicUpBox ReschUsPichie OereROM relUng ua Oavelings se Davelmosrke Manon Maun MatT pose MVM ontani Maz ROM dod_TreentyT wo FreeStars EVaRT 5 0 User s Manual Chapier 1 Introduction Software Packages Used with EVaRT The following are software products offered by Motion Analysis that are used in conjunction with EVaRT These files will require a license file and a separate installation package Animation The MAC Animation Plugins also known as the File IO plu
439. s EagleHubs with Cameras 265 W 400 W 530 W 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 A 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 Mbps Ethernet switch works well for an Eagle or Hawk system with up to 16 cameras low to moderate frame rate For larger numbers of cameras above 16 it is important to use the 1 Gbps Ethernet NIC net work interface card inside the computer and the 1 Gbps Ethernet switch that collects and concentrates the camera traffic to the EVaRT Host com puter A 3 Appendix A System Hardware Interconnections EVaRT 5 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 foun
440. s At the successful completion of the wand calibration the software 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 EVaRT the software automatically reads the SystemCal prj file and when you exit the EVaRT program it automatically writes the SystemCal prj file into the system folder The intent is so that you can launch the EVaRT 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 sub 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 calibration 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 col lected you can load up that as the current calibration in the software at a later time 8 14 EVaRT 5 0 Us
441. s 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 i A T ee N OSOOONOCOOCO OONOCOOOCOCO ONOCOOOOCO NOOOOOOO 1009o o og A o t E 8 EVaRT 5 0 User s Manual Appendix E Forcepla cal File Format 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 Reset 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 EVaRT 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 EVaRT 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 conve
442. s This example also shows suggested naming conventions However 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 EVaRT 5 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 EVaRT 5 0 User s Manual Appendix C Marker Sets Biomechanics Within EVaRT When using EVaRT 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
443. s F4 on the keyboard or choose View gt XYZ Graphs Select marker 15 on the Markerset panel right side a E a a 6 15 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual The two Graphics Panes used often simultaneously during a Post Process editing session are the 3D Display and the XYZ Graphs shown here No tice that the Post Process Dashboard has replaced the Real Time Dash board The data shown in the XYZ Graphs represents the X Y and Z co ordinates of the selected markers throughout the capture period Figure 6 10 Viewing Tracked Data in Post Process Mode lt eEVARTS lel File Layouts Data Views Tools Help C Program Files Motion Analysis EVaRT50 Samples Golf Swing with Temper z Setup Calibration Motion Capture Post Process Model Edit User Apps MarkerSets G All Markers Template ID Create Quick ID Make Unnamed Hide Markers Rectity Exchange Unda Back CickAl None CulsClick Toggle C Selected Markers Template Rectify Template Marker ID Rectify Unnamed Unhide Markers Rigid Body Rectify Options 2 M_L Head 1 M_TopHead Cut Copy Paste Join Cubic Join Linear Join Virtual RB Join Smooth Calculate Virtual Markers Search Delete Un Cut Outside 3 M_B_Head 4 M_F_head 6 M_RShoulder 7 M_LShoulder 8 M_TopSpine 10 M_FLShoulder 11 M_FChest 12 M_RBicep 13 M_RElbow 14 M_RFoream 20 M_LForearm 21 M_Lwrist 22 M_LPinky 23 M_LThumb
444. s Post Process mode and trans forms EVaRT into a tracked data editing tool The final two buttons Model Edit and User Apps 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 These buttons give you access to the various tools specific to the different phases of the motion capture session This feature located in the lower left corner of the user interface provides the status and confirmation of the software in its current processing state Refer to Real Time Dashboard on page 6 23 6 12 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface i e Information Center gives the following information for the current Information The Inf C g he following inf for th 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 PRJ Files PRJ files or project files are the main files used in gathering all EVaRT motion capture data Every motion capture session must have a project file containing all system settings equipment parameters and other infor mation related to the project This file cont
445. s 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 15 Chapter 2 Quick Start Tutorial for Movement Analysis Applications EVaRT 5 0 User s Manual 2 16 Quick Start Tutorial for Chapter 3 Overview Starting EVaRT 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 Starting EVaRT project file that is located in the C Program Files Motion Analy sis EVaRT 5 0 Samples Animation Calibration folder The basic meth odology outlined here can be generalized to other marker sets Turn on the Host computer and login Turn on EagleHub s or Midas computer and turn on the cameras analog system only 3 Launch the EVaRT software by double clicking the icon located on your computer s desktop N 3 1 Chapter 3 Quick Start Tutorial for Animation Production Applications EVaRT 5 0 User s Manual Project Initialization 1 Note 3 Load a previous project
446. s 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 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 10 24 EVaRT 5 0 User s Manual Chapter 10 Post Processing Panel Join Virtual Guidelines Note 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 c
447. s a separate software li cense If the markers for a bone segment disappear the position information for that segment is automatically filled in based on its previously measured position in relation to its parent This is helpful in live performance situa tions to help make the animated character s motion appear more smooth when the markers that define the segment disappear 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 7 16 EVaRT 5 0 User s Manual Chapter 7 Setup Panel SIMM OrthoTrak Model Create Orthotrak Model 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 skeletons 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
448. s are saved in your INI file settings and are reloaded when you launch EVaRT Figure 6 12 3D Display Right Click Pop Up View Options Show Quick ID 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 Show Markers v Show Links Show MarkerSet Names Show Marker Numbers Show Marker Names Show Trajectories Show Virtual Markers Show Skeleton Show Skin Show Skeleton Axes Show Forces Show BackCalc Markers Show Model Pose Undo Search Show Cameras Show Camera Rays Show Camera Field Of View Show Floor Show Yolume Show video Center Keep Centered Mirrored Perspective View Front View Side View Top View Auto Rotate Relative Viewing Displays all markers in 3D display Options for length Displays all links between markers in the 3D Display Displays the prj file name over the marker cloud Displays the ID numbers for all markers Displays the marker names over the marker Displays the marker trajectories in PP mode only Displays the virtual markers Displays the skeleton segments when they are defined Displays a selected skin Displays the RGB XYZ orientation for each bone Displays the force vectors off the forceplates Displays the marker locations as defined in the T pose Displays the model pose as defined i
449. s 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 EVaRT 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 in the Setup gt Misc sub panel 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 resulting 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 EVaRT Yes if you go to the Setup gt Misc sub panel and in the Skeleton Engine field you check Calcium Solver in EVaRT You must also copy the MOD file into your current project folder with the same name as your cur rent PRJ file K 2 EVaRT 5 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 EVaRT Yes Select the Calcium Solver Skeleton Engine button Bone but
450. s 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 EVaRT 5 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 the 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
451. s higher sample rates and better overall analog performance EvaRT 5 0 uses the newer NIDAQ MxX libraries whereas earlier versions of EVaRT use the Traditional Legacy NIDAQ libraries Also note that NIDAQ 7 5 does not work at all with EVaRT 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 card 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 test by having someone step on the forceplate 7 Close and launch EVaRT and connect to cameras You should see that all cameras are found as well as the A D 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 EVaRT 5 0 User s Manual Analog Signal Naming Conventions Kistler Fo
452. s 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 EVaRT 5 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 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 er
453. s of more than 1 mm are often significant and can result in a better calibration 10 Click OK and save as a new project 11 Press Run to start EVaRT 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 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 another 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 recommend 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 fil
454. s 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 9 In the Calibrate sub panel press Calibrate in the Calibration with Wand box You will see the wand results see the cameras move to their final place and see the measured focal distances Tips for Getting More Accurate Data If the wand length is relatively close e g 501 00 mm for a 500 00 mm wand then select Heavily Weighted Square and Run Again This keeps the Video origin very close to what the Calibration Square device defined as the origin This is required by Biomechanics researchers where force plates are installed in the floor If the number is much larger or much smaller then proceed to Extending the Seed Calibration in the following section 8 18 EVaRT 5 0 User s Manual Chapier 8 Calibration Panel Extending the Seed Calibration If one or more cameras are not seeing the four point Calibration Square 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 Square or a camera threshold may be set incorrectly This is not a problem You can use the wand data to get the camera cali
455. s 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 and 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 EVaRT 5 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 mus
456. 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 EVaRT 5 0 User s Manual Question Answer Note Question Answer Question Answer Question Answer Can EVaRT 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 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 marker
457. 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 The Plane Marker is the least 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 10 23 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual 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 define
458. ser s Manual Chapier 8 Calibration Panel Calibration Sub Panel Figure 8 1 Calibration gt Calibrate Calibrate Refine Protect Lens Correction m Calibration with Square I Preview Calibration Details Filename CalSeed Collect and Calibrate M OK te Oyemrite Calibration with Wand Duration 20 Seconds 500 Filename Calwand Collect and Calibrate T OK to Gyerwrite Length Floor Calibration Marker Center to Floor fi 27 Filename CalFloor Collect and Calibrate F OK to Gyerwrite 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 checked the wand calibration will converge more quickly So if you do not change the lenses it is a good idea to leave this 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 EVaRT software 8 3 Chapter 8 Calibration Panel EVaRT 5 0 User s Manual Details Button Calibration Set
459. ser s Manual Chapter 6 The EVaRT User Interface Rectify Cut Copy Paste Cut Outside Smooth Calculate Virtual Markers Join Cubic Join Linear Join Virtual Exchange Search 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 linkages 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 Motion Capture gt Tracking gt Identifying Parameters function typical Cuts the data within the selected frames inclusive of the endpoints Copies selected markers in selected frames Pastes data with the Current Frame being the first frame of the paste re gion Cuts the data outside of the selected frames exclusive of the endpoints Smooths data within the set frames with the selected filter type The filter selection is found in the Post Process gt Options form For more infor mation refer to Filters on page 10 4 This calculates the virtual markers based o
460. ser tracking and editing the data and for the artists who will apply the final data to the model 4 9 Chapier 4 Planning a Motion Capture Session EVaRT 5 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 Square 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 the 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 opposite ring lights e For analog cameras Falcon Cohu etc power outlets should be located within ten feet of each camera s tripod or extension cords m
461. shells that do not scale with different sized subjects and do not span stretch across joints See Talon Viewer for these capabili ties The Skin File function allows you to select one of four pre defined skins that work with EVaRT These skins that are defined for two different skel eton types and are located in the C Program Files Motion Analy sis EVaRT50 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 4 Project Property Values Name Matt prj Skeleton Engine Calcium Solver 1 2 4 Skin File Skin Transparency 50 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel 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 the names doesn t matter The matching is done with the currently selected skeleton engine
462. stant 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 position 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 EVaRT 5 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 c
463. 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 7 Chapter 2 Quick Start Tutorial for Movement Analysis Applications EVaRT 5 0 User s Manual Possible Problems with Calibrations How to Solve Setup Analog Wrong placement or measurements of the L frame calibration square 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 images in wand 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 In the Setup gt Analog sub 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 5 Setup gt Analog Sub Panel Channel Type Names Cameras I Analog Misc Name On Ra
464. t 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 files 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 dial
465. t Waldos Other Motion Capture Issues Marker Size and Capture Volumes e Too precise At any given moment the phoneme generator gives you only one phoneme 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 pup
466. t 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 Panel EVaRT 5 0 User s Manual Accuracy Max Iterations Use Joint Limits Orient Body Note Virtual Markers Virtual Marker Definitions e Levenberg Marquart While is more robust 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 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 fram
467. t 2 11 NM Quickstart 3 9 Data Painting 10 26 Data Views 6 3 6 6 Dedicated Interface 7 7 Degrees of Freedom 11 17 Delete All Linkages Button 11 6 Delete Outside Volume 12 2 Delete Short Snippets 12 2 Digital Video Option 6 23 Director Sequencer 1 18 Directory List 6 11 Display Codes 7 9 Distance Between Two Markers Tab 10 29 Draw 3D Points Button 11 3 Dynamic Template Stretch Limits 9 4 E Eagle Camera Connections A 12 EVaRT 5 0 User s Manual Dimensions 5 17 Display 7 9 Physical Dimensions 5 17 Power Consumption A 3 Settings 7 2 System Configuration A 2 EagleHub A 2 A 12 EagleHub1 Connections A 7 EagleHub2 Connections A 7 EagleHub3 Connections A 5 Edit Thresholds 6 8 7 12 Editing Tracked Data 10 1 EMG Muscle Name Selection 7 14 Signal Name Conventions B 4 Enable External Trigger 9 12 Euler Angle Order 13 7 EVaDV Software 1 13 6 23 EVaRT Project File G 3 EVaRT ini 6 18 Examples Marker Sets C 4 Exchange 6 36 10 12 Export File Formats G 1 Export Forces File 6 5 Export ts Time Series File button 10 30 Extend Template 2 14 Extending the Seed Calibration 8 19 External Trigger Mechanism 9 14 Extra Stretch 11 12 Eye Movement D 14 F Face Building a Template D 5 Face Calibration 8 13 Facial Animation Techniques D 9 Falcon Camera Connections A 18 Settings 7 12 System Configuration A 14 Threshold Monitor 7 8 F F Ethernet adapter A 7 FIFO slider 6
468. t 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 L frame calibration square 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 images in wand 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 7 Chapter 3 Quick Start Tutorial for Animation Production Applications EVaRT 5 0 User s Manual 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 Figure 3 6 Placement on bony points is ideal if available Consult an anatomy book as reference for palpating these points Figure 3 6 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
469. t 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 further 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 EVaRT 5 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 change
470. t 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 static 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 the
471. t 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 expressed 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 17 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Figure 11 13 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 XY amp Z Translations in X Y an
472. t in EVaRT 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 13 5 Chapter 13 Skeleton Types EVaRT 5 0 User s Manual SIMM OrthoTrak Model Model Edit Tree View poration s software products EVaRT 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 OrthoTrak 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 The EVaRT software created an even more thorough JNT joint file when you press the Create OrthoTrak Model button on the Setup gt Misc sub panel You do need to have the person standing in a neutral pose typically with the arms out in a T pose feet slightly apart and thumbs forward That is the current TRC file that needs to be loaded when you press the Create OrthoTrak Model button The Skeleton Engine type is also displayed and can be edited on the Model Edit
473. t this data set is more complex since it utilizes two different marker sets Static and Dynamic and captures three different sets of data Static Dynamic Template and Dynamic movements Turn on the Host computer and login Turn on EagleHub s or Midas computer and turn on the cameras analog system only 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 N 2 1 Chapter 2 Quick Start Tutorial for Movement Analysis Applications EVaRT 5 0 User s Manual 4 Launch the EVaRT software by double clicking the icon located on your computer s desktop Project Initialization 1 Note 3 Load a 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 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 EVaRT directory Make sure that you do not write over previous projects Separate projects are needed in order to run tr
474. tabase terminology this is a line of data in the database table User Interface Figure 15 1 User Apps gt QuickDB Panel BioFeedTrak QuickDB 54 gt Open Access Database Interface Bring up the main QuickDB interface by selecting the Open Access Da tabase Interface button in the User Apps gt QuickDB panel 15 3 Chapter 15 QuickDB EVaRT 5 0 User s Manual Figure 15 2 QuickDB Interface Microsoft Access Database Interface for EVaRT Version 0 5 Project Databases Client SessionD atabase CreationDate Comment gt Motion Analysis Corporation EVaRTReleaseSamples mdb 2 18 2006 All sample datasets from the samples folder of the EVaRT release gt Motion Analysis Corporation Load Into EVaRT Sync with EVaRT Scan Folder New From EVaRT New Copy Curent New Blank Record Trials PriFile TrialName Univ Delaware Ice F dblaxel Univ Delaware Ice F dblflip Univ Delaware Ice F sglaxel Animation prj DaveROM mar24_hhrealtime prj wiint_wn mar24_hhrealtime prj wi Project Directoy C Program Files Motion Analysis EVaR T46 S amples BioFeedT rak DanceT utorial lt i I Project File Christa prj kaj Trial Name christadance xI Trial Number 1 Trial Date Time 11 13 1998 9 54 00 AM MattCartwheel MattPickup MattRoll MattROM MattRun MattSwan MattT pose DaveAEIOU DaveFaceCloseup Golff emper alk IV Raw Video vc I Analog
475. taroe Vata Oven Cain rhe F Selected Manhine Temgiave Recity Tamoio Maker Roest Unnamed Unite Makers Fig Body Fectly _ Optere _ Ca Copy Pae Jorn Cutie Jor Vitae _ FA Jon Sanath Catedatn Vinai Matas Seat Delete Un Ct Oude x et Frames 12000FPS Zp Ur rmn Jeng 600 00 He 11 8 EVaRT 5 0 User s Manual Chapter 11 Model Edit Panel Animation Example The following is an example of how to get the 25 Bone skin to show in the 3D display 1 ao Pon 6 Select File gt Load Project and load the project file Calcium Solver prj located in the Samples Talon Viewer Calcium and SkB directory Select File gt Load Tracks and load DaveUmpOut irb Click on the Bone Button in the lower left of the EVaRT interface Go to the Model Edit panel and select the project in the Treeview Click on the Skin File in Property Value and select 25_Bones_Male obj Right click in the 3D display and select Show Skins and Show Skel eton This procedure will produce a subject with a skeleton and skin as shown in Figure 11 6 Figure 11 6 Animation Skeleton and Skin Subject EVaRT E Lares Graves Tock tit Lids EVARTS Talon Viewer Calaum and SS 3 Sorp Calbreion Moton Capture Fost Process Model Edit User pps q _Meskars Treeview G Ob Makan Torde Ceste Quick ID Make Uneamed HisMakas Rectty Exchange Selecind Mavtirs Tonciwe Recit Terese Mark
476. tch 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 21 Chapter 10 Post Processing Panel EVaRT 5 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 positional in 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 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 panel Verify that the Marker to Join is set for the marker you want to edit Figure 10 16 Join Virtual Virtual Marker Definitions Jz Origin Marker Long Axis Marker Plane Marker Marker To Join S 1 THead Not
477. te Vers Tools tio Eva ProjectsiBonacoct Teron rr Osta Introducing Motion Composer The Challenge Information from Data Aynam c forces at play in this envieo JA typical motion analynis session will include several megabytes of Motion captuce data Foce plate data EMGadita Color Videor Additional textual data in edition to ifoemats From thi present but a fraction essen tume the data is in a wide variety of isolate sdentify analyze and need to distill it into it s meaningful Simply put our chaltenge ix to simplify the integration of this data into it s essential form for communicating with other researches ind the lay world at Large The Solution Londed Page MIGRAFH MxGeaghiOnt 1 Ssp _Carbroson Moson Cetra PostProcese Modest UserAcps MED HAMS S 100 SHWOGK we Composer Exnmela fae EVaRT 5 0 User s Manual Chapier 1 Introduction BioFeedTrak BioFeedTrak is a general condition evaluation and response program for designing and implementing biofeedback programs that can enable clini cians and patients to receive instantaneous audio feedback to kinematic and kinetic variables BioFeedTrak is able to give real time feedback in the form of sounds based on kinematic and kinetic variables that fall within certain bounds during the pre defined performance of any
478. te from a ROM Range of Motion track and then extend the template with a series of other TRB files Record sky Load a VC file and record to a TRB file DeSpikeAll sky Find and remove spikes from all markers in the tracks file DeSpikeSelected sky Find and remove spikes from selected mark ers in the tracks file over the selected region SingleFrameDelete sky Find and remove single frame trajectories VMJoinAll sky Perform a VM Join virtual marker join on all markers FilterAll sky Filter all markers over all frames FullProcess sky A complete data example showing a master script calling a sequence of other scripts to perform a complete track clean and gap fill of a long motion with many occluded markers Trb2HTR sky load a sequence of tracks file and create a set of cor responding HTR files Trb2Tre sky Export a sequence of Ascii tracks files from binary tracks file FindAutoIDFrame sky Find a valid for an AutoID and do the AutoID Template ID AutolIDAIIFrames sky Perform an Auto ID on all frames RecordFive sky Record five different files from the same VC cap ture file that had five performers ProcessBill sky Process one of the five people in the Process Five sky example ProcessFive sky Process a data file containing five performers FindMaxSpeed sky Find a value for the Max Speed tracking parameter by find the largest distance a marker moves in one frame A complete listing of these Sky example
479. teaming from the cameras You are able to record the Raw Video VC files as set in the motion capture Output sub panel Check your 2D views to be sure the cameras masks and thresholds are all set properly If Enable Tracking is checked you will see the marker data appear in the 3D Display This requires that the system has been calibrated You are then able to record VC files and TRC or TRB files If Enable Identifying is checked you will see the colored markers and the stick figures in the 3D Display 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 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 6 31 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Time Code Counter Frame Counter Camera Buttons Right Click Camera Buttons 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 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
480. ted camera Auto Mask Draws a mask around all items in the field of view Software Masks Only Allows the capture of raw data with any masks in 2D display Toggle black raw data blobs Toggle red raw centroid crosses Show Raw Data Show Raw Centroids Show Corrected Centroids Show Names Show Numbers Show Volume Floor Toggle centroids corrected from lens distortion Toggle marker names Toggle marker numbers Toggle outline of volume floor Leave smeared paths of markers Smear Display 6 19 Chapter 6 The EVaRT User Interface EVaRT 5 0 User s Manual Analog Display For users collecting analog data from force plates an Analog Display pro Pop Up Menu vides graphs of output from up to 64 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 Press F5 on the keyboard or choose View gt Analog Display from the Menu Bar With the right mouse click on the Analog Display 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 oa PWN Figure 6 14 Analog Display With
481. tep Line 6 Cal values in A D units written by EvaRT 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 EVaRT 5 0 User s Manual Appendix E Forcepla cal File Format 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 E 13 Appendix E Forcepla cal File Format EVaRT 5 0 User s Manual 1Kyowa 1 0 60 180 2000 2000 2000 2000 500 500 500 500 3 2 4 3 6 6 5 6 1600 1601 1602 1599 803 802 800 802 1608 1609 1608 1608 805 804 804 805 0 00103 0 00104 0 00103 0 00103 0 00073 0 00073 0 00071 0 00071 22 5017 22 3307 22 8603 22 1836 55 7321 55 2022 54 9477 54 5368 23 35 51 00 90 0 30 0 0 00 0 0000 1 0000 0 0000 1 0000 0 0000 0 0000 0 0000 0 0000 1 0000 2Kyowa 1 0 60 180 2000 2000 2000 2000 500 500 500 500 8 5 6 3 22 26 8 11 1609 1606 1606 1607 803 803 805 803 1608 1607 1605 1607 802
482. ter 14 Sky Writer and visit www EVaRT Forum com lt http www evart forum com gt Figure 12 4 Sky Scripting Interface i x gt H aX o gi Sky scripting interface for EVaRT Script Local Sky Files Global sky Files Crop Script commands ski Define file paths ExportC3d sky strMarkerSet Matt prj FullProcess sky strInputFolder C data motionanalysis ScriptingChallenges Crop JustCommands sky strInputFilePattern trb Load sky 5 ProcessBill sky strOutputFolder strInputFolder ProcessFive sky PropogateCalibration sky change trb2htr2 sky Trb2Tre sky Sub Main Version sky Load project iSuccess swProject_Load strInputFolder strMarkerSet if iSuccess lt gt 0 Then Message Unable to load strInputFolder strMarkerSet Exit Sub end if Get list of inputs strInputQuery strInputFolder strInputFilePattern Set listFiles Directory strInputQuery New Local Sky file is Crop sky Current directory is L SERVICE CDBUILDS EVaRT 4 4 Program Files Motion Analysis EVaR Samples Sky Examples Batching with Matt 12 5 Chapter 12 User Apps Panel EVaRT 5 0 User s Manual Motion Composer Sub Panel 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 EVaRT to help achieve a seamless workflow for the
483. th 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 31 Chapter 10 Post Processing Panel EVaRT 5 0 User s Manual 10 32 Chapter 11 Overview Note Model Edit Panel Overview Markers Sub Panel Tree View Sub Panel Virtual Markers Virtual Marker Quick Start Example The Model Edit panel provides tools to build and modify the model pa rameters 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 EVaRT Project File on page G 4 Chapter 11 Model Edit Panel EVaRT 5 0 User s Manual Markers Sub Panel The Markers sub panel is intended for building and modifying marker sets Figure 11 1 Markers Sub Panel Markers TreeView Clear MarkerSet Select Mode Select Create a Quick and Edit Linkages Points ID Marker Names 1 Head_Top 2 LHead 3 RHead 4 Neck_Rear 5 Sternum 6 LSternum 7 LShoulder
484. the analog file you must follow the next steps ex actly 8 Select File gt Trim Capture W Options m Default Directory C Export Directory File s Original Directory Cc Program Files Motion Analysis EVaR T5055 amples Golf Swing with Temper m Output files MV Raw video v0 IV Analog anb IV Colorvideo avi IV Tracked ASCII tre IV Tracked binary trb Tracked Markers P Discard Unnamed Markers OK Just save the settings Discard Virtual Markers Cancel Frames Save All Frames Gave Selected Frames Export Trimmed Capture 6 10 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface 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 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 sub panel and the F12 function key Help Menu The Help menu provides informat
485. the forces and joint moments muscle force multiplied by moment arm that each muscle generates can be computed for any EVaRT 5 0 User s Manual Chapier 1 Introduction Applications 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 es
486. the lower right will force the software back to the Pose ID if something gets switched and you want to correct it avon E PoselD 11844 tests Updating the Template also updates the Model Pose so before click ing the Update Template you should again get your new person into something close to the Pose position The changes can be saved in your project file After you have updated the template the template is re sized to the new person s limb lengths and marker placements but the changes in the lengths as recorded in the range of motion trial is still kept So you do not need to do another range of motion and the new template should work well for many sizes and marker adjustments using the same marker set 6 30 EVaRT 5 0 User s Manual Chapter 6 The EVaRT User Interface Raw Video Button Connect Cameras Button Run Button 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 The Connect Cameras button will activate all the cameras used in a mo tion capture session 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 s
487. 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 static 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 marker
488. 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 EVaRT 5 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 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
489. ti cal Sync setting to On by Default and restart your computer Appendix J Using EVaRT with Jack Software Introduction Installation Instructions Jack Using the Motion Analysis Calcium Tracker Module Jack5 0a Required amp Recommended Marker Sets in EVaRT 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 they 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
490. ti mate muscle forces and joint moments 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 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 representations of huma
491. tics 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 EVaRT 5 0 User s Manual Appendix A System Hardware Interconnections Network Interface Cards and IP Addresses Unless you are using a 1 Gbps hub see Figure A 10 for a large number of cameras your computer must have two Network Interface Cards NIC 1 Single port for your own LAN connection 2 4 Port dedicated to the Eagle or Hawk system Configuring a Single Port For use with your LAN If you are using the same i 10 1 1 xxx addressing you must use a fixed IP address If you are using a Network with different addressing scheme from what the Eagle and Hawk cameras are Your Eagle using you can use DHCP dynamic IP addressing Cameras In acommand prompt window you should be able to ping your Eagle and Hawk camera with the following gt ping IP address of camera For example for a camera with an IP address of 10 1 1 205 gt ping 10 1 1 205 Entering the command gt IPCONFG will tell you the status of your IP con nections Dedicated Interface Part of Setup gt Cameras gt Eagle Use the IP ad dress of the 4 port NIC that is connected to your Eagle cameras 10 1 1 199 is recommended A 13 Appendix A System Hardware Inter
492. tings Window Tabs Calibration Frame 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 Uncheck Heavily Weighted Seed and then 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 un check Heavily Weighted Seed and press 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 Click the Details button located in the upper right corner in the Calibra tion sub panel The tabs for the calibration settings window shown in Figure 8 2 on page 8 5 are defined as follows Where you enter the measurements of the Calibration Square You can make your own Calibration Square 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
493. 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 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 EVaRT 5 0 User s Manual Eye Movemen
494. 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 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 inc
495. 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 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 Ort
496. ton 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 the 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
497. 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 3 or as many as 64 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 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 fo
498. ttom of the EVaRT interface should turn yellow if all of them can see the L frame 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 Display or 2D Display 3 3 Chapter 3 Quick Start Tutorial for Animation Production Applications EVaRT 5 0 User s Manual Continue the Calibration Process Using the Calibration Wand Check the 2 D views on all the cameras e 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 mask press Pause While in one of the 2 D views press the middle mouse button and hold it then drag a square over the bad data to mask 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 Try 9000 9 meters e Turn the capture volume on by right clicking your mouse in the 3 D d
499. ty These include file management layout control data views tools and help Data Views Tools Help ______ p About Eya RealTime Hot Keys and Tips Panel Help On Line Manual Tutorials Y Load Project Save Project Save Project s Select Raw Video File Live Load Raw Video Files Post Load Tracks File Save Tracks Save Tracks As Y 1 Pane 2 Panes Top Bottom 2 Panes Left Right 3 Panes Split Top 3 Panes Split Bottom 3 Panes Split Left 3 Panes Split Right 4 Panes Toggle One Pane Y Color video Fi 2 D Display F2 3 D Display F3 XYZ Graphs F4 Analog Display F5 Trim Capture W Options Export htr File Export c3d File Export cre File Export Forces File Convert anc File Skeleton Definitions Load MarkerSet Load Calibration Load Analog Setup Load ini Preferences Save ini Preferences As Exit File Menu Preserve Layouts Skeleton Graphs F6 Pose ID Options Analysis Graphs F7 ForcePlate Forces z Colors Graphics Only Ctrl G Misc A QuickFiles Import Skeleton mod file Export Skeleton mod file Create Skeleton from HTR File Load Project Calibration Setup Camera Settings Time Lines Batch Processing Options Virtual Marker Definitions Replace Loaded Analog Channel Names Loads a project file prj f
500. ty 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 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
501. u don t care about using the PoseID autofit option then you can place the markers anyway you like C 5 Appendix C Marker Sets EVaRT 5 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 EVaRT 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 EVaRT 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 Calibration Square a facial marker set with glue a mirror and tweezers The Facial Calibration Square is in cluded with this User s Manual 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
502. ues Angle 0 cos 1 Angle 90 cos 0 Angle 180 cos 1 Example matrices are shown in the following figure E 3 Appendix E Forcepla cal File Format EVaRT 5 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 I oo o 0 00 oo oto 3aoo lt x AL i x lt lt oon oto Loo W Note The video lab coordinate system is determined from the L Frame orientation r X Normal direction of walking for OrthoTrak E 4 EVaRT 5 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 1 0 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
503. uld uncheck Heavily Weighted Seed and then press the Run Again button e This will recalculate the calibration with more emphasis on the wand data rather than the L frame Figure 2 4 Wand Processing Status Window Wand Processing Status 0 115 0 086 0 098 0 094 0 117 0 113 0 104 0 109 0 093 0 088 0 097 0 092 0 116 0 111 0 111 0 143 20 562 20 430 20 525 20 549 20 783 20 588 20 594 3D Residuals Wand Length J Avg 0 4014 Avg 500 16 Dev 0 1491 Dev 0 39 Accept Reject 7 Check the calculated Focal Lengths 2 6 EVaRT 5 0 User s Manual Chapter 2 Quick Start Tutorial for Movement Analysis Applications 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 fairly low depending on the type of cameras you have The Standard Deviation should be approximately half of the 3D residual Press the Run Again but ton until the values in the calibration processing window stop changing significantly 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
504. und in the User Apps panel 2 Select the New button on the right to create a new database 3 Click on the Scan Folder button and then select a folder full of tri als that you have already created 4 Selecta files from the TrialName list 5 Select Load into EVaRT 6 Select Syne with EVaRT You should now have a new session database and the trial that you se lected is now completely loaded into EVaRT project file VC file and any tracks files Furthermore all the information about this trial is saved in the new session database that you just created Usage Notes All motion capture data files are assumed to be of the form Base ext Where ext is the extension type vcl trb or trc The portion refers to the trial number that is automatically appended to the base name of the trial The QuickDB interface will not work with files that do not have this form 15 2 EVaRT 5 0 User s Manual Chapter 15 QuickDB QuickDB Terminology The following are general phrase definitions associated with QuickDB Master Project List This is the master list of projects from the MasterProjectList mdb file Session List This is the database file which contains the list of trials Each item in the Master Project List refers to one of these Trial One motion capture data set from EVaRT Sometimes called a shot This is one set of VC files and the corresponding TRB or TRC file Shot Same meaning as Trial Record In da
505. user to package and present a motion capture session Some of the key features to be found in Motion Composer include e Integrated Authoring e Interactive Player e Rich Media Support e Presentation Tools Figure 12 5 Motion Composer Interface De imati Date Vers nos tip Eva ProjectsiBionacoct Teron rr Osta sang _Coibrason Moson Capara PostProcess _modsieae Useragpr N fie A j PIE Introducing Motion Composer The Challenge Information from Data Chinicians and cevearchers are deluged with data Mow can we dynamic forces at play in this envieo JA typical motion analyris session will include several megabytes of Motion capture data SBHOGx ww Force plate data EMGdita Color Videos Additional textual data in addition to sheer volume the data is in a wide vanety of ffcemats From this dat d to isolate identify analyze and present but a fraction We need to distill it into it s meaningful y put our challenge is to simplify the integration of this data tial form for communicating with other researches ind the lay world st large The Solution 12 6 EVaRT 5 0 User s Manual Chapter 12 User Apps Panel BioFeedTrak Sub Panel BioFeedTrak is a general condition evaluation and response program integrated into EVaRT for designing and implementing biofeedback pro grams that can enable clinicians and patients to receive instanta
506. ust inno F iiia ime eG eet Le d PR pee mm User s Manual EEEE T i a g MotionAnalysis 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 Designat
507. ws the file form for Kistler forceplates The forcepla cal file contains no text only numbers For multiple force plates the data for each forceplate 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 EVaRT50 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 EVaRT5 Samples Example Forcepla cal Files E 1 Appendix E Forcepla cal File Format EVaRT 5 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
508. you select The skeleton type is stored in the project file For previously stored project files open up each of the project files separately go to the Setup gt Misc sub panel and specify the appropriate skeleton engine then save out the project file Load one of the project files then in the Motion Capture gt Objects sub 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 Graphical User Interface The Functions The Script Script Examples Installation Notes Frequently Asked Questions Overview Sky is the name of the scripting interface for EVaRT 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 EVaRT calls Some exceptions have to do with sending messages to EVaRT and in re arranging arrays of data that get passed back and forth Sky does have an OCX file which is named ScriptPlugin ocx When this file is

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