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Tracking Tools 2.4.0 User Guide

1. 48 59 __ _____ ________ _ ________ __ _____ __ 74 Roundness Filtering TIE E m 48 59 100 Masking BA Forel 32 100 ___ _ _____ ___ __ 32 COTO m 69 _ _ _ 39 CUD TF SUIS E tet an 4 Mil Ray Visualiza LOT TERT _ ________ _ ____ ____ ______ See Rays PTI I aga seta nd E MEM MM MEM UI M M MEME E See Video Modes Mc P H 84 100 rl 16 M M M M 20 ODECE gt ons See Video Modes o gt 16 Sad sega
2. 83 e e ___ _______ ___ ______ __ _ __ eee 16 32 38 99 E 43 99 iso E _ 34 Baz sce see up 16 Frame Image 34 70 31 38 99 54 1 1 crete mm 55 capone 20 mie __ _____________ _ _ ______ ___________ 18 MORE A E A 38 100 CERTE _______ ____ _________ 43 4 s 4 1 7 _________ __ ___________ _ ______ ____ 32 38 100 MAES TETTE m See Camera Groups BSS DISORD ere ____ ___ 63 Licensing DIE Rem 12 fea cic NNI 12 Markers Seg T 38 STG HON mm 74 64
3. See Intensity uil T _____ __ _ ____________ 101 OC Pe 101 SVG FMI 2 6 1 T tm 41 99 CONTEE NIETO 3 Technical Drawings Mo 9 97 98 pli 9 gt 25 ne ee eee ee eee ee ee 94 95 c 96 __________ _ __ _______ ________ _ _ __ _____ 86 CU M 87 88 urit eM ise ects ______________________ ___ _____ _____ _ __ _______ 90 92 _ ____ 89 jE ense ________ _ ___ 85 Mage NE _____ __ _____ _________ ______________________ __ 32 38 101 Tracking Tools Oprilrack 104 Timelines _ _ _____________________ 27 Playback M C See Recording and Playback Pane Save FMS OC ON INN TETTE mmn 16 MOS E
4. __ 68 di Ru 70 ______6_ ____ 6 71 D 71 Rm caso a ones E fers een es tee A 72 E 73 ___4 a easiest vs a eee nee 80 oy do oe gt gt gt 82 ee ence ee ae A see ea ee eee ee ee 83 E E 85 Appendix A Camera Technical ________ ____ 86 99 _ __ ___ __ ___0__ _ 8 ____ 102 Tracking Tools e 3 CHAPTER 1 GETTING STARTED MINIMUM REQUIREMENTS Before getting started you will need an appropriate copy of the Tracking Tools software The current as well as any previous releases can be found on our website at http www naturalpoint com optitrack downloads Additionally you will need a computer with the following minimum requirements e Hyper threaded or multi core processor e 3GBRAM 100MB available HDD space 1available USB port for V100 or V120 series cameras 1available USB port for hardware key e Network interface card for S250e cameras e Radeon HD series or NVIDIA GeForce 100 series or higher video card with minimum 256MB memory e Windows XP Vista or 7 32 or 64 bit Recommended computer requiremen
5. 1 defined by the system not necessarily visible Process Time 0 011 msec Batches Partitions 0 0 Process Time The total amount of time required by Trackable strike ests Tests 0 0 Tracking Tools to process and solve all trackables Batches Partitions Diagnostic information This has been depreciated and removed as of 2 4 0 Trackable Strike Tests Tests Diagnostic information This has been depreciated and removed as of 2 4 0 Tracking Tools e 79 TRACKABLES PANE The Trackables Pane contains two additional tabs for further manipulation and information on the trackable Trackables Orientation The Orientation Tab contains options for offsetting the translation and orientation of the rigid body Pivot Point Translation sets a translation offset for the centroid of the rigid body Values are Trackable Pivot Point Translation ente red In mete rs Trackables Orientation Real Time Info 4 E Pivot Point Translation X meters 0 25 Y meters 0 25 7 meters 0 25 Before Translation Undo Trackable Orientation Marker Rotation Yaw degrees 0 Pitch degrees 0 Roll degrees 0 After Translation Undo Apply Rotation Reset To Current Orientation Additionally the orientation can be reset to match the current tracked orientation of the rigid body by pressing the Reset to current orientation button For both translation an
6. 46 Advanced Calibration OPON S E EET 47 Data EAEE EEE __ ____ _ _ ______ _ __ ____ 45 Save 2 _____ ___ _________________ __________ 16 ANID _______________ _______________ E 99 JN X Y 45 OS a 45 Tero DIEA 48 TI AIOE SO EISE TE TET Tom See Ground Plane Cameras BU O rs o etna ans _ 27 2 1 4 9 ANT 30 34 ING E 18 8 28 29 OCO O 38 WV TAMIL CVE eld METTRE 34 Jin Blind E E E __________ ___ ____ _____ __ _ __ _ ___ 72 ____________________ _ 38 NM CROSS 62 Camera Groups amp UI rts ae ______ ___________ ____
7. Tracking Tools 2 User s Guide February 15 2012 NaturalPoint Corporation 3658 SW Deschutes Corvallis OR 97333 Copyright 2004 2012 NaturalPoint Inc DBA OptiTrack All rights reserved NaturalPoint Publication Number P OT 052 1209 EN Publication Date September 25 2012 INTRODUCTION Information in this user s manual is subject to change without notice and does not represent a commitment on the part of NaturalPoint The software described in this user s manual is furnished under a license agreement and may be used only in accordance with the terms of said license agreement This document is copyright 2012 NaturalPoint Inc All rights reserved No part of this publication may be reproduced in any form by any means without express written permission OptiTrack Tracking Tools and NaturalPoint are trademarks of NaturalPoint Inc Windows is a trademark of Microsoft All other trademarks are property of their respective owners For providing VRPN NaturalPoint would like to thank the NIH National Research Resource in Molecular Graphics and Microscopy at the University of North Carolina at Chapel Hill supported by the NIH National Center for Research Resources and the NIH National Institute of Biomedical Imaging and Bioengineering NaturalPoint Inc is pleased to provide you with superior optical tracking products we hope that you enjoy using Tracking Tools Tracking Tools e Dprilrack 2 TABLE OF CONTE
8. eee ore E 17 Untracked Ray Visuali zati O mursu __ __ __ _________________ _ See Rays Updating Tracking Tools ens dun cass 20 USB 43 MOCEDI TAIDE a EN 33 OG SS men 100 101 Spee ret _ ___ ______ ___________________ 30 38 AMI _________________ 18 AUTEM aco ___ ____________________ __ 14 18 Accuracy 19 erana __ _ _ __ _____64 __6___ Ue See 3D Viewport 84 ____6__ __ ___ __ __ _______ 51 54 SUG 41 VAG O16 OON el ee a ee 25 Tracking Tools e 105
9. M 65 RECON AINE and 82 DE ___ ______ _____ ______ 17 BS IU EEE E 58 100 d CO OIG TO 25 CIOS T See Trackables 24613149 6 SS _ _ ________ __________________ See Markers 16 See Video Modes 18 Shutter GOBBI _______6_6___ _ __6_ ___64_ 8_6___ ____6_6___ ______ _ 42 SO TSU mmm See Camera Groups IAM e NER TU D ea A E N ee eee ee See Markers 8761 3 7 __ _ _ ______ ____ __ _____ _ _ _ See Trackables CONSE EE ________________ __ __ __ _ _ __ _ _ _ 6_6_ 6 _ _ 6__6__ _6 See Trackables SAUS BAI 24 E UU A E TR 84
10. 00 62 14 00 R2 1 00 2 1 00 1 48107 fie OptiTrack 100 2 129150 d s Devices By Connection Ethernet 2 File System Cameras This section lists all detected cameras their type and serial 8 USB EHCI 293A Generic USB Hub i USB EHCI 293A Generic USB Hub i USB EHCI 293A Generic USB Hub A USB EHCI 293C Generic USB Hub i USB EHCI 203CAGeneric USB Hub USB EHCI 293C Generic USB Hub Tracking Tools number Right clicking on a camera will bring up a context menu for changing the settings of the individual device Devices This section lists all non camera hardware including OptiHubs and hardware keys if present Camera Groups This section shows all established camera groups Expanding a camera group node will show the devices associated with that group Right clicking on a camera group provides access to its properties and the ability to change settings for all cameras within that group Trackables This section lists all currently defined rigid bodies trackables Right clicking on a trackable provides access to the properties for that rigid body Devices by connection This section lists all cameras currently connected to the system by their method of connection All connected S250e cameras will appear under Ethernet and all connected V100 or V120 series cameras will appear under USB It is import
11. Ave Exceptional 0 126 Once each camera reaches excellent or higher move to very high Wand Exceptional 057 0309 1 17 Exceptional 3 624 011 0220 sins i62 om EM This technique can speed up the calibration process and reveal problems 3 13 Exceptional 3529 011 0122 with wanding more quickly i 13 Exceptional 3 636 0 08 0 121 5 12 Exceptional 3 612 0 09 0150 Note Occasionally a system may reach exceptional very quickly on 6 11 Exceptional 3 621 011 0132 medium and very high but may stall out at great on high This indicates Elapsed Time 126 sampling error If this situation is encountered cancel the calibration and re wand Clicking Apply results will launch a summary window to review calibration results and additional options Calibration Result Exceptional Calibration Quality Medium Std Dev 0 033 pixels Mean Error 0 128 pixels Exceptional Overall Wand Error Std Dev 0 088 mm Mean Error 0 313 Exceptional Worst Camera Std Dev 0 094 pixels Mean Error 0 149 pixels Exceptional Triangulation Residual Std Dev 0 195 mm Mean 1 9 mm Suggested 10 0 mm Overall Reprojection Apply Suggested Residual This option will allow Tracking Tools to set the residual for the calibrated cameras according to the residual discovered during calibration This is checked by default and should only be unchecked if there are pre existing settings that you wish to override this V Apply Suggested Residual ApplyandRefine
12. M3 Threaded Hole 12 total Tracking Tools e Plug to Box 89 OPTITRACK V120 SLIM SCALE 1 1 Tracking Tools SCALE 1 1 Filter Switch Retainment Screw for Non Ferrous 0 42 X 3 16 PLASTITE 1 129 Micro T 9 Pin Female Filter Switcher Connector Mini USB 2 0 Filter Switch Plug Slot Lightpipe Hole Configuration Fits Bivar VLP XXX R or F 8 R 0 097 x4 2 45 Suggested Cutouts SCALE 2 1 SLIM PCB V120 SLIM SCALE 3 2 NaturalPoint INCH MM 52 11 e 90 0 984 25 00 0 738 18 73 I 0 625 15 88 Tracking Tools 2 56 x4 Can be Shown with optional used for mounting 800nm Pass Filter 1 900 luci NN M3 x2 Can be used for mounting 1 4 20 Thread for Mounting SCALE 3 2 INCH MM e 2 56 Button Head Cap Screws x4 Use 0 050 Hex Allen Key to dis assemble Micro T 9 Pin Female Mini USB 2 0 SLIM Enclosure V120 SLIM NaturalPoint 2 5 10 91 Tracking Tools MiniDIN GND AUX_OUT VCAP_OUT IRLED CTRL OUT 3 3V INCH MM GND IRLED_CTRL_OUT AUX OUT WON A UBRWN EXT SYNC OUT NOTE 34 GND is paired with 48 EXT SYNC IN 5 GND is paired with 9 EXT SYNC OUT Wiring Diagram Breakout Cable V120 SLIM NaturalPoint 2 8 10 92 OPTITRACK S2
13. Maximum calculation time Maximum amount of time Tracking Tools will soend attempting to reconstruct the point cloud per frame per camera group The value is specified in milliseconds Default is 50 Marker Size Marker Diameter Select whether Tracking Tools will attemptto Marker Size determine the marker size Valid options are Set Diameter Marker Diameter Set Diameter Calculate default Diameter mm 12 0 Diameter mm If Marker Diameter is set to Set Diameter then the Diameter field will appear This field allows a pre determined marker size in millimeters to be entered for use in calculating the point cloud This setting is ignored if Marker Diameter is set to Calculate Default is 12 Tracking Tools e 58 Advanced Options Note Ray ranking has been deprecated and does not appear in versions newer than 2 4 4 Ray Ranking Selects whether ray ranking is enabled See the E Advanced Options glossary for more information on Ray Ranking Valid options are Ray Ranking False True enabled False disabled default Minimum Ray Count Minimum Ray Count Sets the minimum number of rays used to create a 3D point before ray ranking is triggered for that point This setting is ignored if Ray Ranking is set to False Default is 4 2D Object Filter Filter Type Selects the type of 2D marker filtering use by E 2D Object Filter Tracking Tools Valid Options are None Size and Roundness F
14. Residual 10 00 Minimum Angle 5 Minimum Rays 2 Minimum Ray Lent 0 20 Maximum Ray Len 10 00 Pixel Gutter 0 Maximum 20 100 Maximum Calculat 50 Advanced Options Ray Ranking False 111 Minimum Ray Cou 4 2D Object Filter Filter Type Size amp Roundness Min Marker Size 4 Max Marker Size 500 Tracking Tools The point cloud properties pane is divided into 5 sections to help separate the available options into easily recognizable clusters Options General point cloud solving options Advanced Options Additional Options for point cloud solving 2D Object Filter Options for filtering 2D data before performing 3D reconstruction These options can be used to filter out unwanted objects and prevent them from contributing to point cloud reconstruction Reconstruction Bounds Contains options for setting point cloud reconstruction boundaries Any markers that fall outside of the boundaries will not be reconstructed Enable Point Could Reconstruction This checkbox allows point cloud reconstruction to be turned on or off Unchecking this box will prevent the point cloud from being calculated and can be used to improve performance on machines that experience issues with real time operation gt Options Options Residual The maximum distance which intersecting camera rays Residual 5 18 may pass from each other and still be used to construct a valid Minimum Angle 7 3D marker The value
15. Static Constraints Contains solving options for limiting the translation and rotation of a Trackable to within a pre defined range Tooltip Window Displays tool tips for selected settings Trackable engine statistics Displays information on the current status of trackables and point cloud solving Oprilrack 73 General Properties General Properties Name Allows a custom name to be assigned to the rigid body Mame Trackable 1 Default is Trackable X where x is the Trackable ID Trackable ID 1 Trackable ID Assigns a numeric Identifier to the Trackable Default is the lowest available positive whole number Solver Parameters Enabled Allows the rigid body to be solved from the point cloud Solver Parameters Valid options are True default False Enabled True u Max Marker Deflection 8 Max Marker Deflection The maximum distance in millimeters that Marker Count 2 from its expected position before it is disregarded Min Hit Count 2 or rigid body solving Flexibility Min Marker Count The minimum number of markers required to ae aml solve and track the rigid body Default is dependent on number of zi essence markers in the rigid body static Override 0 Precise Orientation True Min Hit Count The minimum number of marker to marker distance Force Exhaustive False checks that must succeed within the defined flexibility range to Calculation Time 3 consider a rigid body solv
16. Valid range is 1 to 800 default 100 Playback Speed 100 Loop Playback True Loop Playback Sets the playback engine to loop from the last frame to the Start Record New Recording first and continue playing When playing in reverse loop will occur from frame 1 to the last frame Valid options are True default False Start Record Allows the user to change the function of the record button when a timeline is already present Valid options are New Recording default Append C3D Export Options Export Options Units Allows the user to select the base unit of measurement for Units Meters positioning in C3D export Valid options are Meters default Centimeters Coordinate X Axis Positive X Axis Millimeters Coordinate Y Axis Positive Y Axis Coordinate Z Axis Positive Z Axis Coordinate axis Axis Allows the user to select translations for movement along axes for C3D export Valid options are Positive X Axis Positive Y Axis Positive Z Axis Negative X Axis Negative Y Axis Negative Z Axis Default options are Positive axis Axis respectively Tracking Tools 27 CHAPTER 2 CAMERAS SETUP Tracking Tools software supports all current OptiTrack cameras and hardware devices Camera selection is an important part of the setup process Please consult the guide below for detailed information about our cameras If you need assistance please contact NaturalPoint and our representatives will be mor
17. 2 V120 Trio 149101b From vei Gente From Selection 522 3 V120 Trio 149101c Trackable Settings B s Devices 1 8 Hardware Key 101002 Select trackable to adjust properties 2 83 Camera Groups 1 H E Camera Group 1 Trackables Devices By Connection Project Explorer Trackables Pane Primary View Record and Playback ax Camera Preview 0 AT No 0 S H5 1 4 E gt P ses HM 1 d iue 0 000 msec 0 00s d 0 0 MB Viewpo rt WI naow Batches Partitions 0 0 Trackable StrikeTests Tests 0 0 Status Live Video Incoming Data Rate 8 5KB s Point Cloud 0 1ms Residual 0 0 mm ray Latency 2 4 ms Display 55 Frames Second Cameras 120 Frames Second CAP NUM SCRL gt Any pane except for the Primary View can be docked to another zi location within the application window or changed to float as a separate window by clicking and dragging the pane s title bar The docking behavior can be disabled by holding the control key down while dragging he pane Tracking Tools 14 OE sem 2105 PIEVE wen 5 i mans Fere 214 RA 21 4 While the primary view cannot be removed up to three additional viewports may be added to provide enhanced visual feedback Tracking Tools e Dprilrack 15 MENUS Menus within Tr
18. Apply The best calibration results are achieved by allowing the calibration calculation to continue Select Apply and Refine to continue calculating at a higher quality setting Camera Calibration Result Summary Camera 1 Std Dev 0 061 pixels Mean 2D Error 0 111 pixels Exceptional Camera 2 Std Dev 0 068 pixels Mean 2D Error 0 118 pixels Exceptional Camera 3 Std Dev 0 095 pixels Mean 2D Error 0 123 pixels Exceptional Camera 4 Std Dev 0 074 pixels Mean 2D Error 0 127 pixels Exceptional Camera 5 Std Dev 0 094 pixels Mean 2D Error 0 149 pixels Exceptional Camera 6 Std Dev 0 082 pixels Mean 2D Error 0 142 pixels Exceptional Apply and Refine This option will apply the calibration to the capture volume while also continuing to further refine the calibration in the background as you use the system All results are in the context of the wanding data Ensure even and comprehensive wanding through the entire volume and the calibration wand is in good working order Apply This option will simply apply the results and end further calibration calculation Cancel Exits calibration without applying the results After applying the results an option will be presented to save the wanding timeline This is suggested but not required Wanding timeline files can be used by NaturalPoint support to help troubleshoot any potential issues in data while using the applied calibration Tracking Tools e Opril
19. Orientation Spread Orientation Size Smoothing Settings Translation Rotation Marker Locations Dynamic Constraints Static Constraints General Properties Trackable Engine Statistics Defined Trackables 1 Process Time 0 011 msec Create From Selection Trackable 1 1 True 50 False 100 True False BE 0 17 255 True True True True True True False False True False False 500 10 10 Batches Partitions 0 0 Trackable StrikeTests Tests 0 0 Tracking Tools Create From Visible Creates a rigid body out of all visible unassigned markers on the screen Create From Selection Creates a rigid body from all selected markers General Properties Allows the name and ID of the selected Trackable to be edited Solver Parameters Contains options for the acquisition and tracking of rigid bodies Display Options Contains options for Trackable rendering and display in the 3D perspective window Display History Contains options for Trackable movement and orientation history in the 3D perspective view Smoothing Settings Contains options for Trackable Translation and rotation smoothing Smoothing is used to stabilize tracking and reduce jitter Marker Locations Contains options for editing Trackable marker offsets in relation to their centroids Dynamic Constraints Contains solving options to limit the amount of distance and rotation allowed for a Trackable from one frame to the next
20. gt Recent Places Desktop No items match your search Libraries m Computer 4 File name TrackingData 2011 08 26 3 13pm csv Save as type Once the save location is selected enter a name for the file and use the dropdown menu to select either Tracking Data csv or C3D format c3D Press save to complete the export Tracking Tools 83 Tracking Tools supports three protocols for streaming live and recorded data TrackD VRPN and NaturalPoint s own NatNet protocol Streaming Properties A x The Streaming pane contains checkboxes to enable streaming to the NaturalPoint Streaming Engine different protocols It is possible to stream data over more than one Broadcast Frame Data protocol at the same time provided the broadcast ports are different To enable streaming simply ensure that any desired options are set port Streaming Options numbers correct default values are usually correct and check the box Stream Markers True to broadcast frame data for the selected protocol Stream Rigid True Network Options n Type Multicast NaturalPoint Streaming Engine This section sets options for the NatNet Command Port 1510 streaming protocol Data Port 1511 eee See eee Stream Markers Controls the streaming of individual marker locations ee over NatNet Valid options are True default Fa
21. la Enable Crosshairs Tracking Tools e 69 FRAME INFO The Frame Info pane provides real time information about the point cloud Frame Info Real Time Information Frame Information Camera FPS Display FPS 2D Markers 3D Markers Trackables Tracking Tools 99 6 45 2 12 0 x Camera FPS Current capture rate of the cameras in frames per second Display FPS Current display rate of the application in frames per second 2D Markers Total number of individual 2D markers seen by all cameras before point cloud reconstruction 3D Markers Total number of 3D markers in the point cloud Trackables The number of defined rigid bodies currently being tracked e 70 CHAPTER 5 SOFTWARE USAGE PROJECT FILES Project files are a convenient way of storing and loading capture sessions Project files store the camera calibration defined rigid bodies and application settings in a single ttp file This can be useful when capture sessions span a single day or when moving data and settings to another computer for review If any cameras have moved since the project file was saved then the system will need to be recalibrated Additionally if markers in a rigid body have been altered then it will need to be redefined When a project file is loaded with no cameras connected to the system then virtual cameras will be loaded in place of physical cameras These virtual cameras allow
22. Internal Sync Freq Hz Controls the frequency in Hertz Hz of the Custom Synchronization OptiHub s internal sync generator This option is only valid if Sync Input Source is selected to be internal sync Valid range is 8 to 100 Apply Options Global Sync Offset us Controls the delay in microseconds us between the chosen sync source and when the cameras are actually told E Synchronization Control to expose This is a global system delay that is independent of and in sync Mode Wired Sync addition to an individual camera s exposure delay setting Valid range is Internal Sync Freq Hz 100 O to 65862us Global Sync Offset us 0 E Sync Input Source Selects a source for the sync trigger See glossary for more Source Internal Sync information on Sync Sources External Sync Output Pulse Type Exposure Time Polarity Active High USB Sync In Control Only available if Source is set to USB Allows the user to allow or block trigger events generated by the internal sync control This option has been deprecated for use in the GUI Valid options are Gate Open and Gate Closed External Input Trigger Only available if source is set to External Sync Selects the type of input source See glossary for more information on External Sync Signals Input Divider Only available if Source is set to External Sync Allows a triggering rate compatible with the camera frame rate to be derived from higher frequency input signals e g 300Hz decimate
23. Tracking Tools e Setup Select Program Folder Please select a program folder Setup will add program icons to the Program Folder listed below fou may type new folder name select one from the existing folders list Click Nest to continue Program Folders Click N Type LrystalbiskI nto LrystalDiskM ark CutePDF Elaborate Bytes InstallShield Back Cancel Select the folder that Tracking Tools software will install shortcuts to in the start menu Default is Tracking Tools however you can change the name of the folder if you would like the shortcuts installed in a different location Tracking Tools e Setup Status Tracking oole Setup performing the requested operations InstallShield Cancel Tracking Tools will now install Occasionally on some systems this screen will appear and sit at 100 for prolonged periods of time This is normal and the installer should not be stopped If you believe there is an issue please contact NaturalPoint support for more information amp Windows A Don t install this driver software You should check your manufacturer s website for updated driver software for your device Install this driver software anyway Only install driver software obtained from your manufacturer s website or disc Unsigned software from other sources may harm your computer or steal information See details Windows wil
24. after clicking calculate the samples window will turn into the solver window It will display the solver stage at the top followed by the overall result rating and the overall quality selection The overall result rating is the lowest rating of any one camera in the volume The overall quality selection shows the current solver quality The solver window will display a quality rating for all cameras as well as the global average and the wand average Additionally it will display the calculated focal length standard deviation and mean error for each The quality rating is directly related to the mean error and will update accordingly Valid quality ratings are on order from worst to best Poor Fair Good Great Excellent Exceptional Refine Initial Solution Overall Result Estimating Overall Quality Medium Ave Estimating Wand Estimating 1 14 Estimating 2 13 Estimating 3 13 Estimating 3 12 Estimating 5 13 Estimating 6 13 363 89 132 885 36 22 132 019 4 394 2152718445509 6 518 5644 41429 4 374 6418 37879 3 626 421 61 145 606 3 807 18232 74 961 4 079 48 94 52128 Y The calculation process begins with automated refinement and optimization phases The first phase is Refine initial solution followed by the Global Optimization Initial phase and finally the Global Optimization Final phase Each successive phase will solve the calibration of the system in greater detail and the system will move from one pha
25. and off See Streaming for more information Viewport 1 2 3 Pane These options turn the additional viewport panes on and off This allows up to 4 viewports including the base viewport to be open for different views of the volume See Visualization for more information Status bar Toggles the Status Bar on and off See Status Bar for more information Tracking Tools e DOprilrack 18 Toolbars This submenu allows the user to configure the toolbar Show All Panes Hide All Panes Project Explorer Standard Resets the toolbar to the standard size Camera Group Properties Camera Calibration Exi Reconiing and Playback Customize Opens the toolbar customization window See aiea Toolbar for more information Trackable Properties Frame Information E Streaming Pane 1 ViewPort1 Pane ViewPort 2 Pane 3 4 ViewPort 3 Pane Status Bar Tools The Tools menu toggles additional panes not related to tracking visualization Volume Accuracy Tool This option toggles the Volume Accuracy pane on and off The Volume Accuracy Tool will detect the presence of a calibration wand and measure the distance between the two outermost points providing a measurement for the accuracy of the reading This option has been deprecated and is not available in most versions of Tracking Tools Volume Accuracy Tool 3 Marker Calibration Synchronization 3 Marker Calibration This option toggles the 3 Marker Cali
26. another tolder Destination Folder C Program Files 485 M aturalP eint Browse Cancel Select the folder that Tracking Tools will install to The default location is C Program Files NaturalPoint on 32 bit operating systems and C Program Files x86 NaturalPoint on 64 bit operating systems Under most circumstances the default location is appropriate and should remain unchanged If you would like to change the location click browse and select a new folder for installation Tracking Tools e Dprilrack 7 Select Components Choose the components Setup will install Select the components you want to install and clear the components you do nat want to install Pee eee ere 1 escription Lore components Lore components of Tracking oole Space Hequired 35340 K Space Available 3841 34436 InstallShield Back Next gt Cancel Select the components that you would like to have installed on the machine By default all components are selected Core components The Tracking Tools software and licensing wizard Documentation This document USB Drivers USB drivers for OptiTrack V100 and V120 series cameras hardware key OptiHub and other devices connected through the USB interface API The Tracking Tools API components This is only required if you plan on integrating Tracking Tools functionality to your own applications via the API
27. are Show Default Hide Projection Error Selects whether wand and marker projection and visualization should be visible in the 3D projection view during calculations Valid options are Show Default Hide Residual Error mm Sets the threshold for individual marker display in the projection error display Any markers with a residual below this number will display blue any markers with a residual above this number will display red Default is 6 00 Wand Error mm Sets the threshold for wand measurement error in the projection error display Any wand samples that are either larger or smaller than the expected size by a minimum of this value in millimeters will display as red Wand samples that are within this value are displayed as blue Default is 8 00 Sample Spacing Sets the density of samples in the projection error display The display will include every sample with a value of 1 and every nth sample if it is raised higher Valid range is whole numbers between 1 and 10 Default is 1 Tracking Tools Oprilrack 46 Advanced Options E Advanced Options Lens Type Allows a particular type of lens to be specified for all cameras Lens Type Auto Select within the volume Valid options vary depending on the camera used Single Focal False Default selection is Auto Select which will attempt to identify the type of Lock Principal Point False lens used based on calibration data Minimize Deviation False Wand Constraint Always S
28. is specified in millimeters The default is Minimum Rays 2 determined during calibration See the glossary for more Minimum Ray Length 0 20 information on residual Maximum Ray Length 10 00 Gutter 0 Minimum angle The minimum number of degrees from the marker s point of view that must separate two cameras to Maximum Calculation Time 30 consider the camera s rays valid for marker reconstruction Default is 2 Maximum value is 180 Maximum 2D Objects 100 Minimum Rays The minimum number of cameras that must see the marker within the bounds of the Residual Minimum Angle Minimum Ray Length and Maximum Ray Length to determine if a marker is valid for 3D reconstruction Default is 2 Valid range is from 2 to the total number of cameras Minimum Ray Length The minimum distance a marker can be from the camera and still be used for 3D reconstruction The value is specified in meters Default is 20 Maximum Ray Length The maximum distance a marker can be from the camera and still be used for 3D reconstruction The value is specified in meters Default is 10 Pixel Gutter Pixel Gutter establishes a dead zone measured in pixels around the edge of the camera frame where 2D markers will be considered invalid for reconstruction Use in cases of lens edge distortion Default is Maximum 2D Objects The maximum number of 2D markers per camera that will be used to reconstruct the point cloud Valid range is 0 to 512 Default is 100
29. of time This option is not available if Always Show Full Menus is selected Reset menu and toolbar usage data Resets toolbars to default Large Icons Changes toolbar icons to large size Show ScreenTips on toolbars Allows help balloons to appear when you hover over toolbar icons Show shortcut keys in ScreenTips Displays associated keyboard shortcuts in balloons when hovering over toolbar icons Not available unless Show ScreenTips on toolbars is active Menu Animations Selects the style of menu animation Valid options are System default default Random Unfold Slide Fade None Tracking Tools 23 STATUS BAR The Status Bar shows information on current status of Tracking Tools While the status bar normally appears at the bottom of the main Tracking Tools window in one piece it is broken up here for easier viewing due to its size Status Live Video Incoming Data Rate 10 4KB s Status Shows the current status of Tracking Tools Incoming Date Rate Shows the current rate at which information is coming into Tracking Tools from the cameras The Data Rate is measured in Bytes per second Point Cloud 0 0ms Latency 1 6 ms Display 49 Frames Second Point Cloud Shows the amount of time taken by the computer to reconstruct the point cloud s Latency Shows the total amount of time between the frame being captured and the software rendering the result including point cloud calculation and streaming if
30. timeline scrubber position See Recording and Playback for more information Tracking Tools 17 Show All Panes Hide All Panes Project Explorer The View menu provides options to open and close various panes within the UI as well as toolbar customization Show All Panes This option turns all panes on and displays them on screen Hide All Panes This option removes all panes from the application leaving only the primary view window Project Explorer This option toggles the Project explorer pane on and off See Project Explorer for more information Camera Group Properties Camera Calibration This option toggles both the 3 Marker and 1 Marker Camera Recording and Playback Calibration panes on and off Trackable Properties Frame Information Camera Group Properties This option toggles the Camera Group Properties pane Streaming Pane on and off See Cameras Camera Group Properties for more information ViewPort 1 Pane Recording and Playback This option toggles the Recording and Playback pane on ViewPort 2 Pan udo and off See Recording and Playback for more information ViewPort 3 Pane Toolbars Trackable Properties This option toggles the Trackables pane on and off See Status Bar Trackables Pane for more information Frame Information This option toggles the Frame Information pane on and off See Frame Info for more information Streaming Pane This option toggles the Streaming Pane on
31. trigger signal from the PC via the OptiHub s USB uplink connection to the PC Threshold The threshold value represents a minimum intensity that a marker must appear at in order to be considered valid allowing the camera to discard faint objects as noise Some unwanted light sources can be filtered out of the cameras field of view by using a higher threshold value however using too high of a threshold may reduce the quality of the marker centroid calculation as well as a camera s maximum tracking range Threshold has a valid setting range of 0 255 and the default value is 200 Video Type OptiTrack cameras feature image preprocessors that allow the camera to perform some calculations on board before sending image tracking data to the PC software Precision Segment and Object modes determine the 2D position of valid markers on camera according to the threshold setting and send only relevant information to Tracking Tools At current all V100 and V120 series cameras support object segment precision gray scale and raw gray scale at full frame rate V100 R2 and all V120 series cameras additionally support MJPEG mode at full frame rate S250e cameras support object segment and precision gray scale at full frame rate raw gray scale and MJPEG modes are supported at up to 125 frames per second All OptiTrack cameras support raw gray scale mode spatial decimation to allow the user to cut bandwidth usage by reducing the number of pixels sent from the c
32. view are cameras the X Z ground plane markers and rigid bodies VAR 3D perspective view has a standard viewport toolbar at the top allowing the user to change between view modes and to enable or disable volume visualizations Perspective View a 2D Multi Camera View Other Views Front View Top View Et Cetera Camera View View From Trackable we Tracking Volume Visualization Tracking Tools e 66 Volume Visualization The size and position of a capture volume can be estimated for a given camera group Settings to adjust the visualization such as resolution camera count and opacity can be found in the camera group properties panel The visualization and field of view color will match the color used for the cameras in the group Tracking Tools e 67 2D MULTI CAMERA VIEW The 2D Multi Camera View displays 2D image data from one or more cameras The 2D multi camera view can be a powerful tool in aiming and troubleshooting Click the 2D Multi Camera view icon in the viewport to convert it to 20 multi camera view Additionally this icon can be used to zoom out and display the 2D views for all camera views evenly Each camera appears as a pane within the viewport window The pane will display information such as the mode camera type and serial number camera number sync type and error messages If an object in the camera pane has been
33. 0 on cameras equipped with buttons Rotate Sensitivity 100 Invert Pan False Timeline Contains options for the playback and recording of timelines in Invert Rotate False Tracking Tools software Zoom To Mouse True C3D Export Options Contains options for unit of measurement and axis Switch To MIPEG True m identification when exporting files into C3D format For more Boost Exposure True uM Timeline information visit http www c3D org Playback Speed 100 Loop Playback True Start Record Mew Recording C3D Export Options Units Meters Coordinate X Axis Positive X Axis Coordinate Y Axis Positive Y Axis Coordinate 7 Axis Positive 2 Axis Application Options Track Selected Markers Allows the user to select a marker and Application Options have the selection follow through frames until the marker is lost Track Selected Markers True If set to false selected markers will be frozen until released Valid Right Handed System Troe Options are True enabled and false disabled Active Marker Labeling False Right Handed System Used to configure a right handed or left handed coordinate plane This selection only affects the GUI The Tracking Tools API will always be Left Handed Valid options are True right handed and False left handed Active Marker Labeling Enables tracking of active beacons Note Setting this to true without active beacons in the system will cause unpredictable result
34. 50E Scale 1 1 ISO View Scale 3 4 12 15 10 OptiTrack 5250 g 8 8 8 e use 7 64 Hex Key to remove 93 e Tracking Tools OPTITRACK S250E SLIM 2 51 5 5mm Lens 2 63 8 0mm Lens Tracking Tools e 6 32 Socket Head Screws x2 use 7 64 Hex Key to remove OptiTrack S250e SLIM Scale 1 1 ISO View Scale 3 4 12 15 10 94 Tracking Tools Ground 0 665 Pin 1 16 89 INCH MM Header Pinout Diagram 5250 5 NaturalPoint 12 15 10 95 OPTIHUB DPTIHUB OptiHub2 Optilrack NaturalPoint 10 18 11 Brackets are removable Tracking Tools Oprilrack ESYNC Tracking Tools e m P EE M 97 Tracking Tools e Tracking Bar Optilrack NaturalPoint 10 18 11 98 GLOSSARY Blocking Allows areas of the 2D camera image to be masked by clicking on a region of the screen or using the auto blocking feature When pixels are blocked the software will ignore these regions when attempting to find markers Blocking is useful in situations where there is static glare or IR light interference such as if two cameras can see each other the ring light of the opposite camera will show up as a m
35. NN os see mm 17 ANS 19 21 23 MENO 19 T 25 DD 82 Trackables _ _ _______ __ __ _____________ _____ 73 oue _ _ _ _ _______________________ 76 6 ________ ____________ __________ _ 78 77 wre E E A E A E A 74 EIO T oea a A E E E E A E quM 72 Marker locations d 77 A _________ ____________________________________ 76 Rome 80 ____ ____ ____ ________ 79 SAV TOS toU 16 s uid ____ HU 73 78 OON ___ ________ ________ _________ ____________ 77 100 EE 74 static _ __ _ _ _____ __ RNV E 78 __ __________________________ 14 79 T 79 TKDE ENEN 78 Brie
36. NTS acs ei eases esa eek pas dass bot cans ena scenes E E ata rseitiene E EE E E EE 2 cts rng ange tn es da nent cea 3 conr Eit tT 4 UELLE 4 libb EEEE EE EAS AE EAE AA AA EEE A 5 a NT 12 dre 30 E EA 14 AOI POENA E EA EA AEE E ES IEA I E T 16 LO E E 21 T 24 Application s Lan P ORIENTE 25 28 28 ORE 30 PLACAS a11 _____ 35 Camera GOUD T 37 BI occa 41 Chantre ew tn 44 __ __ ___ _6_ ____ _ _6_ ____ 44 49 riga nasties ease tes oon eect stesso ____ ____ 51 BN 55 81 EE 57 chopera 61 Application settings Oa cocci OTT 61 4 __ _ _____6_ ______ ____ 66
37. OptiHub 4 Also accepts third party CS C M12 lenses 5 Requires using the optional V120 sync break out cable 6 Hardware sync between multiple V120 Duo and V120 Trio devices is not supported 7 5250 MJPEG frame rate is adjustable from 30 to 125fps 8 With purchase of optional V120 Slim case Tracking Tools e DOprilrack 28 IR Interference Please ensure the capture volume setup area is free from external IR sources and reflections such as sunlight other lights which emit in the IR spectrum incandescent halogen high pressure sodium IR based devices and highly reflective materials For IR sources and reflections which cannot be removed the on camera masking may be used to block them If you have questions regarding IR interference please contact NaturalPoint support Flooring Some environments use flooring that has a reflective coating or is slightly flexible such as hardwood If either of these applies you should consider placing something to block reflections or using heavy mats to pad any movement in the floor Determining camera placement In order to track markers multiple OptiTrack cameras must be arranged to have overlapping fields of view This will create an area called a capture volume in which tracking can occur Cameras should be positioned such that a marker within any region of the capture volume will be visible to no less than two cameras and ideally more Adjust camera placement and aiming so that the max
38. Type Frame Rate Camera Group Hardware Mask Settings Export Tracking Projection rientation Show Field of View Remove Camera Identify Camera Name The first line in the context menu displays the type and serial number of the camera V100 V100 R2 and V120 Slim cameras will indicate If they are equipped with Filter Switchers V120 Duo and V120 Trio cameras will denote if they are camera a b or c V120 Trio 149101 Video Type Allows the user to set the video Video Type Scoment Mode type for the camera Unsupported modes will not be displayed See the glossary for more Frame Rate Precision Mode Camera Group Grayscale Mode High Quality Hardware Mask Grayscale Mode Medium Quality Settings Grayscale Mode Low Quality information on individual video types Export MJPEG Grayscale Mode Tracking Projection Orientation Show Field of View Remove Camera Identity Tracking Tools e V120 Trio 149101a Frame Rate Allows the camera frame rate and Video Type frame decimations settings to be changed The first submenu line will display the current effective Effective Frame Rate 120 0 FPS DS frame rate of the camera and subsequent lines will Camera Group Capture Every Frame q M list modes allowed based on the camera type See Hardware Mask Capture Every Other Frame NN the glossary for more information on frame settings Capture Every Fourth Frame decimation Export Captu
39. Valid options are Low Medium default High Very High Wand Length mm 250 Center Distance mm 87 5 Calibration Type Selects the calibration type See the glossary for more information on Calibration Type Valid options are Full Default Refine Visualize Only Solver Scope Selects the features of each camera to adjust during solving Extrinsic refers to camera orientation and position Intrinsic refers to lens distortion Valid options are All Default Extrinsic Focal Extrinsic Only Intrinsic Only OptiWand Selects the size of the wand used for calibrating Valid options are Small 250mm Medium 400mm default Large 500mm Custom Wand Length mm Adjustable constraint for a custom OptiWand that allows the user to define the distance in millimeters between the two outer posts of your wand Center Distance mm Adjustable constraint for a custom OptiWand that allows the user to define the distance in millimeters between the outer post and the center post use the shorter of the two center offset distances Data Acquisition Sampling Speed The sampling speed as a percent of the total frame E Data Acquisition rate of the cameras which is used for calibration Valid range is 1 to 100 Sampling Speed 80 Default 80 Min Camera Coverage 20 Stationary Markers Block Camera Group Group 1 Min Camera Coverage The minimum number of cameras as a percent of the total number of cameras in the group which a
40. __ 41 Tracking Tools e 103 Point Cloud E HO 40 E _ ________________6______ _____ __ 6_6_6_____ 57 Reconstruction Ar ARE A 60 58 40 _____ ____________ _____ _ See Video Modes Ris FONE ____ 14 PO O m aly See Frame Image Projection Projection Wi AGING 33 Projects 9 4 1 __ _4 __ ________ _____ ________ _ _ cee nose eee ee 14 72 eee 71 _ gt _____ _ ___ ______ 6_6_6_6___ _6_ __ _____ _ 16 By E AT E A E A E 16 RENAE e L AE __ _ ET E 59 BLY
41. __ 31 Camara Group Se 35 36 E _ ________________ __ 72 ___________ _ ________ ____ 6_6_6 6 ____ 36 40 ____ _ ____ _____ _______ _ ____ _ _ a 37 40 SE OTIS 40 Capture volume IV 56 Emm 17 MORE tn MI Ia PEN ___ __ ____________ ___ 20 Contsct FM 85 Tracking Tools e Dprilrack 102 C ordinate Plane tOrentatloli gt 25 See 2D Viewport Controls Reticle CHA __ ___________ 99 Delete Before Current POSITION _________________________________ ___ 17 Delete After Current POSITIOBIS easi eruta 17 BI 62 ____________________ See Trackables 17 Exporting 33 watt 27 83
42. a in precision mode This setting is used to prevent instability caused by large spikes in the data rate Default value is 20000 Interleave Group Used for setting up interleaved groups of cameras with identical frame rates and offset shutters to effectively increase their recording frame rate Valid options are True False default See Camera Groups for more information on interleaving Shutter Offset Sets the offset in microseconds for the camera group when using camera group interleaving Valid range is dependent on capture frame rate See Camera Groups for more information on interleaving Tracking Tools 40 SYNCHRONIZATION Once set up cameras must be synchronized in order to align their exposure timing There are two primary methods of synchronizing USB cameras OptiSync and Wired Sync S250E cameras use an Ethernet based synchronization Note For general use camera synchronization should be automatic once all the required cables have been connected The additional detail provided in this section is intended to provide assistance with custom needs such as shutter glasses or force plate synchronization OptiSync OptiSync is NaturalPoint s custom synchronization that utilizes OptiHubs to control the synchronization of the cameras No extra sync cable is required OptiSync is only available when using V100R2 cameras connected to OptiHubs Multiple OptiHubs in a camera group must be connected by a hub to hub s
43. acking Tools provide a straightforward interface for accessing software options File The File menu contains options for loading saving and exporting data and projects New Creates a new project to work from a e n EI 5 Open Opens Tracking Tools projects and individual files Multiple files may be selected by holding the control key while clicking on the desired files Valid file save Project types are ttp Project file cal Calibration file tim Timeline file and tra Rigid Export Tracking Data body definition ave Project ud eme Save Project Saves all current timelines rigid bodies and calibration to their save Timeline Recording respective files and overwrites the current project file with all appropriate Save Trackables information If no project file exists it will create one and prompt you for a name Exit See Project Files for more information Save Project As Functions as Save Project except that a new project file with a new name will be created instead of automatically overwriting the previous save file Export Tracking Data Allows the user to export the current timeline into csv Comma separated value or c3D c3D standard file see http www c3D org for more information on the standard See Exporting for more information Save Camera Calibration Saves the current camera calibration and ground plane orientation to a cal file Save Timeline recording Save
44. additional computer you may copy the license files from the previous computer to the new computer Additionally you can use the license tool on the new computer and enter the information as if activating for the first time If you have purchased extended years of maintenance for your system you will need to activate the initial as well as all additional license extension codes If you do not have an active internet connection at the computer you are attempting to install on you can access the OptiTrack website from any computer and register the software via our support page at http www naturalpoint com optitrack support Tracking Tools 12 The license file will be emailed to the provided address and can be manually saved to the license directory on the Tracking Tools computer If you experience difficulty or require assistance registering please contact NaturalPoint Technical Support Tracking Tools 13 THE TRACKING TOOLS UI Tracking Tools features a flexible interface which allows it to be easily customized for different tasks and usage patterns File Edit View Layout Tools Community Help i i59 E1iE e e Em olm 2 20200211 PH SOC HHA OE Project Explorer ax 8 ta 904 Trackables nx amp l Trackables Orientation Real Time Info 11 5 5 NaturalPoint Cameras 3 Trackables 1 V120 Trio 149101 Create From Vise 4
45. alance between precision and bandwidth use Precision mode is typically recommended over Segment mode Smoothing Smoothing is a software based filter applied to marker position data which can minimize small jitter and involuntary movement If too much smoothing is used then it may introduce noticeable lag to the position data Smoothing may or may not be appropriate for your application and care should be used when applying smoothing Tracking Tools 100 Sync Pulses The type of pulse sent by the OptiHub over the External Sync Out jack during a trigger Exposure Time Asserted during the exposure period Pass Through A TTL level translated version of the signal applied to the input jack Recording Level Asserted continuously during recording Recording Pulse Asserted pulsing during recording Sync Source the source of the synchronization signal for a group of cameras physically connected to each other via a sync chain Options are Internal Sets the OptiHub to Master and generates a sync signal that is propagated through the sync out and USB ports SMPTE Sets the OptiHub to Slave and synchronizes to the STMPE input jack currently disabled External Sync Sets the OptiHub to Slave and synchronizes to the External Sync In jack USB For customers who use the OptiTrack SDK and would like to have their software trigger the cameras instead Sets the OptiHub to slave and using the provided API the OptiHub will be sent the
46. amera by half or one quarter See Object mode Segment Mode Precision Mode MJPEG Mode Tracking Tools 101 2D Viewport CONTO ____ 26 68 Hg ast Beene _ __ ___________ ________ __ 63 at eng 62 UE 34 icd 9 62 69 3D Viewport tea 26 38 66 Volume _____ D RS iud 39 Fey _________6_ ______ ____6_6 _ _ _ 6_6__ _____ 64 E A E 39 VOIE Za 67 ee een O 25 ADDIEA3UON Settings eee 25 Application Settings Display E 61 Automatic Gall CONT ON _________ __________ EE 32 See Masking gp See Exporting 9 EN 44 TEVA RE ___ _____ ______ _ _ 6____ 49 mem 44 3 Marker Calibration Visualization
47. ameras observe it and take samples Once wanding data has been collected it is then used to solve the physical position extrinsic and lens characteristics intrinsic of the cameras Proper wanding technique 15 essential to a good calibration The information in this section is primarily for wanding with the Three Marker Calibration method When wanding move the wand slowly across the entire capture volume covering as much space as possible for sufficient sampling For best results wand the volume evenly and comprehensively throughout the space See the image above for an example of proper wanding for a large motion capture volume Your volume may differ depending on camera setup and aiming After wanding through all areas of the volume consult the 2D Multi Camera view to evaluate individual camera coverage Each camera should be thoroughly covered with wand samples If there are any large gaps attempt to focus wanding on those to increase coverage as in the pictures to the left 1 140 AL x Tracking Tools 51 If a camera will not record samples while wanding even though the wand is visible in its view consult the 2D Multi Camera view to see if other cameras are also detecting the wand If the wand does not appear on any other cameras the area will not calibrate due to lack of coverage If the markers show up on at least two other cameras continue wanding but adjust the path a
48. ant to note that in the USB section each camera will display the controller through which it is connected to the system In this particular case the 6 cameras are connected through two different USB controllers 293A and 293C This can be useful in adjusting camera connections for load balancing see Cameras Setup for more information If no cameras are currently connected or previously recorded data is being viewed a virtual camera will be created and linked to the project for each camera in the calibration Oprilrack 72 RIGID BODIES SETTINGS The Trackables pane provides control over the various aspects of defined rigid bodies Settings changed in this panel will only affect the currently selected rigid body If no rigid body is selected the only options available will be the create buttons Trackables Trackables Orientation Real Time Info 4 b Trackables Create From Visible Trackable Settings El E El El Marne Trackable ID Solver Parameters Enabled Marker Deflection Min Marker Count Min Hit Count Flexibility Share Markers Dynamic Owerride Static Override Precise Orientation Force Exhaustive Calculation Time Acquisition Delay Display Options Color Label Tracked Untracked Pivot Untracked Markers Quality Marker Quality Orientation Model Replace 3D5 Model Scale Pitch Roll x Display History Position History Orientation History History Length
49. applicable Display Shows the current rate that Tracking Tools is being rendered to your display Cameras 100 Frames Second CAP SCRL Cameras Shows the current rate of capture for the connected cameras in Frames per Second CAP NUM SCRL Indicates if Caps Lock Num Lock and Scroll Lock are active The word will be in light gray if they are not active black if they are Tracking Tools e 24 APPLICATION SETTINGS OPTIONS Standard Tracking Tools settings can be adjusted through the Application Settings panel The panel can be accessed through the Tracking Tools Settings option in the Edit menu Application Settings x Display 4b The Application Settings panel is divided into 6 sections to help in Options organizing options into easily identifiable clusters Application Options Application options Contains general options for marker tracking Track Selected Markers True Right Handed System True Active Marker Labeling False Interface 2D Viewport Contains options relating to the operation of Interface 2D Viewport the mouse in the 2D viewport pane Left Mouse Button Draw Mask a ee Interface 3D Viewport Contains options relating to the operation of Interface 3D Viewport i the mouse the 3D viewport pane Left Mouse Button Select Middle Mouse Button Pan Viewport Right Mouse Button Rotate Viewport Camera Button Contains options relating to the function of the button Pan Sensitivity 10
50. arker in the absence of blocking Calibration Type Allows different functions for wanding and solving to be selected Full Forces calibration to start from scratch and run a complete solving Refine Uses data from the existing calibration and refines the position and distortion with new data Visualization Only Will not affect the currently loaded calibration Calibrating in this mode will only show solver visualization Exposure The exposure setting determines the amount of time per frame that the shutter is open Shorter exposures allow less light in and produce darker camera images Exposure has different ranges depending on the type of camera For V100 and V120 series cameras each point of exposure is equivalent to a single scanline and the valid range is 1 to 480 For S250e cameras each point of exposure is equal to one microsecond The valid lower end for S250e exposure is 10 microseconds and the upper end is 200 microseconds shorter than the frame period 1 second divided by frame rate At 250fps the maximum value is 3800 At 125fps the maximum value is 7800 External Sync Source Types OptiHubs can support five different types of external sync signals Either Edge Both rising and falling edge signals will be interpreted as a trigger event Rising Edge Only a rising edge signal will be interpreted as a trigger event Falling Edge Only a falling edge signal will be interpreted as a trigger event High Gated Implies the use of the in
51. ating Default is 2 Selection Selects how samples are selected from the wanding data This option has been deprecated and the only valid option is Distributed Camera Group Selects the camera group to be calibrated Valid options are all currently assigned camera groups Wand Filtering Filter Type Selects the type of 2D marker filtering use by Tracking Tools Wand Filtering Valid Options are None Size and Roundness default El Filter Type Size amp Roundness Min Marker Size 8 Min Marker Size The minimum number of pixels wand marker must Marker Size 150 contain to be accepted during calibration Setting this option to a value higher than Max Marker Size will result in no markers considered valid This option is ignored if size filtering is disabled Default is 8 Min Roundness 0 8 Max Marker Size The maximum number of pixels wand marker may consist of Setting this option lower than Min Marker Size will result in no markers considered valid This option is ignored if size filtering is disabled Default is 150 Min Roundness Sets the sensitivity of the roundness filter during wanding See glossary for more information Valid range is between and 1 default 0 8 Tracking Tools e 50 WANDING AND CALCULATING Wanding is the primary method of calibrating a capture volume in the Tracking Tools software A one or three marker wand is waved through the entire capture volume while the c
52. ault False Sync Cable False EE Text Size Adjusts the size of the camera name text Valid Solid Camera True 10 300 Default 60 range is 10 300 Defau Marker History True 5 n Sync Cable Enables the display of a virtual sync cable between cameras Valid options are True False default Display Mode Camera Number Background Color 0 0 0 Solid Cameras Disables camera object transparency in the Grid Color 255 255 255 3D Perspective view Valid options are True default False Grid Transparency 100 Grid Size 30 Marker History Enables the display of individual marker history trails within Tracking Tools and allows visual history to be kept of previous locations Valid options are True default False Selected History Only Restricts the marker history to selected markers only and prevents the display of unselected marker history Valid options are True default False Show Marker Labels Enables the display of the individual marker labels in the 3D Perspective view Valid options are True False default Display mode Enables the display of camera numbers projected onto the camera face in the 3D Perspective View Valid options are Black Camera Number default Background Color Selects the background color displayed in the 3D Perspective view Default is 0 0 0 000000 RGB Grid Color Selects the color of the ground plane coordinate grid in t
53. ay Color Sets the color for Tracked Rays in the 3D Perspective View Default is 0 255 0 OOFFOO RGB Untracked Ray Color Sets the color for untracked Rays in the 3D Perspective View Default is 255 0 0 FFO000 RGB Missing Ray Color Sets the color for Missing Rays in the 3D Perspective View Default is 255 255 FFFFOO RGB Tracked Ray Transparency Sets the level of transparency for Tracked Rays Valid range is 1 to 100 Default 80 Untracked Ray Transparency Sets the level of transparency for Untracked Rays Valid range is 1 to 100 Default 100 Missing Ray Transparency Sets the level of transparency for Missing Rays Valid range is 1 to 100 Default 100 Missing Ray Threshold Sets the distance in millimeters that a 2D marker must be from an expected location before declaring the marker missing Valid range is 1 to 20 Default 10 Tracking Tools Oprilrack 65 3D PERSPECTIVE VIEW Additionally the cameras which see a given marker can be determined by selecting that marker When two markers are selected the distance in millimeters between them will be displayed in real time The 3D Perspective View displays the capture volume and its contents for both real time data and recorded timeline playback Navigation within the perspective view is performed using the mouse by clicking dragging and scrolling according to the settings in Application Settings Display Some of the default objects in the perspective
54. bration pane on and off See Three Marker Calibration for more information Synchronization This option toggles the Synchronization pane on and off See Synchronization for more information Tracking Tools 19 Community The Community menu gives you access to NaturalPoint Technical Support and training materials Ask a Question Launches a browser window and navigates to the Tracking Tools Community forums Ask a Question Tutorial amp Training Videos Tutorial amp Training Videos Launches a browser window and navigates to a Submit Feedback collection of training videos for the Tracking Tools software OptiTrack Products Catalog a Submit Feedback Opens a window submit feedback such as comments Support Forums feature requests or bug reports to NaturalPoint OptiTrack Products Catalog Launches a browser window and navigates to the OptiTrack web store Support Forums Launches a browser window and navigates to the main NaturalPoint forums page Help The Help menu provides access to information about the Tracking Tools software Topic Index Launches the Tracking Tools documentation Topic Index News Opens the news window and displays the latest news items for Tracking Tools News Check For Updates Show Quick Start Check for updates Checks to see if any updates are available for Tracking Tools If updates are available links will be provided to download the new version S
55. chronizing the system with an externally provided signal you must have an OptiHub an Sync Box Options for V120 Duo or V 120 Trio systems or Ethernet eSync You can then select Custom Synchronization or Shutter Goggles Synchronization In Default Synchronization Mode camera synchronization auto detects the camera configuration and synchronizes the cameras automatically Tracking Tools e 41 Shutter Goggles Synchronization Synchronization OptiHub Sync Control Options Goggle Specifics Type Additional Options Sync Mode Video Frame Rate Tracking Tools Shutter Goggles Synchronization Stereographics OptiSync 100 Type Sets the type of goggles to synchronize to Valid options are Stereographics NuVision 60GX NuVision APG6000 Sync Mode Selects between OptiSync and Wired Sync The correct mode must be selected based on camera setup Video Frame Rate Selects the frame rate that the reference video will be shown at User must select the correct frame rate based upon what is encoded by the video synchronization input signal to the OptiHub Advanced Options Advanced options were available in this pane in Tracking Tools 2 3 3 and earlier These options should not be adjusted and have been deprecated in newer versions of Tracking Tools Oprilrack 42 Custom Synchronization Synchronization x Sync Mode Selects between OptiSync and Wired Sync ee eee
56. computer Valid options are Highest Priority Default High Priority Normal Priority Apply Result Selects whether the calibration will be applied continuously throughout the calculation or if it will be applied only when you elect to apply the result Valid options are Continuous Default Apply Button Tracking Tools Oprilrack 47 Wand Acquisition E Wand Acquisition Imager Border The size in pixels of the dead zone around the camera Imager Border pixels 16 imager Any wand samples detected partially or wholly within the border Min Object Size pixels 2 region are ignored Default is 16 Max Object Size pixels 300 Min Feature Size pixels 28 Min Object Size Pixels The minimum number of pixels a wand marker Min Camera Distance mr 300 must be comprised of before being counted as valid during calibration Min Object Roundness 0 80 Default is 2 Max Object Size Pixels The maximum number of pixels a wand marker may be comprised of before not being counted as valid during calibration Default is 500 Min Feature Size Pixels The minimum number of pixels that must exist between the two outer markers of the wand for the sample to be considered valid for calibration Default is 28 Min Camera Distance mm The minimum distance that the wand must be from the camera in millimeters before it will be accepted as a valid sample Default is 300 Min Object Roundness Sets the sensitivity the roundness filter duri
57. d down to 100Hz for use with a V100 R2 camera Valid range is 1 no decimation to 15 every 15th trigger signal generates a frame Pulse Type Selects the condition and timing for the pulse to be sent out over the External Sync Out jack See glossary for more information on Sync Pulses Polarity Selects output polarity of External Sync Out signal Valid options are Active High Active Low Take Snapshot Only available if Source is set to USB Used to generate a one time trigger event which will cause the cameras to expose and transfer a single frame Tracking Tools Oprilrack 43 CHAPTER 3 CALIBRATION THREE MARKER Three marker calibration is the preferred method of capture volume calibration It provides greater system accuracy and allows for more flexible camera positioning This calibration method requires the OptiWand and should be used if you are running any version of Tracking Tools 2 2 0 or higher 3 Marker Wand Calibration The three marker wand calibration pane is divided into 5 sections to organize the ee settings Quality Medium Calibration Type Full Solver Scope All Solver Options Contains base options that are used for solving the calibration Wand Length mm 250 Center Distance mm 87 5 Data Acquisition Contains settings that will affect how Tracking Tools detects th ata Acquisition Contains settings that will affect how Tracking Tools detects the Min C
58. d orientation offsets the Apply buttons will add the values in the boxes to the current offsets while the Undo buttons will add the inverse of the values to the current offsets Tracking Tools e 80 Trackables Trackables Orientation Real Time Info Real Time Information Trackable 1 Tracked 3 of 3 markers Position 79 050 Y 109 551 4 792 699 Orientation Yaw 5 285 2021 2 657 Roll 7 921 Mean Error 0 10 mm marker Tracking Tools nox 4 Real Time Info The Real Time info pane displays the current location of a trackable with respect to the Volume origin as well as the average residual for all markers in the rigid body The name current status and number of actively tracked markers are also displayed If the rigid body is not currently tracked then the number of frames it has been missing will be displayed along with its last known position and orientation Trackable 1 Untracked for 18 frames e Oprilrack 81 RECORDING AND PLAYBACK The recording and playback pane contains controls for the capture and playback of recorded data There are two modes of operation live video and recorded playback Live video mode displays tracking data in real time and is activated by the stop or record buttons Pressing any other button will automatically switch the mode to playback of previously recorded data Record and Playback x Scrubber The scrubber shows the current posi
59. e and marker count This option is ignored if Camera Info Overlay is set to false Valid options are True False default Camera Reticle Enables the crosshair feature See 2D Multi Camera View for more information Valid options are True False default Object Aspect Ratio False Object Size False Object Roundness False Backproject Markers Enables 2D Multi Camera view markers to have individual crosshairs over them when they are selected in the 3D Perspective view The crosshairs are displayed at the location where the 2D marker is expected based on the position of the related marker in 3D space Crosshairs that are not directly over the marker tend to indicate occlusion or poor camera calibration Valid options are True default False Pixel Inspection False Visual FPS Target 65 Background Color 240 240 240 Object Filter Enables display of filtering information Valid options are True default False Object Centroids Enables the display of the marker centroid as a crosshair Valid options are True False default Object Extents Enables the visualization of a rectangular box around the object sized to the horizontal and vertical region the object occupies after threshold is applied Valid options are True False default Object Coordinates Enables the display of the object centroid coordinates to 1 100th of a pixel Valid options are True False default Object Aspect Ratio Displays the ratio of objec
60. e adjustments Valid range is 1 to 200 default 100 Rotate Sensitivity Allows the user to make mouse rotating more or less sensitive A higher value will allow for faster movement Conversely a lower number will allow for more deliberate adjustments Valid range is 1 to 200 default 100 Invert Pan Allows the user to select an inverted mouse panning motion This allows the user to move the object rather than the tracking space Valid options are True False default Invert Rotate Allows the user to select an inverted mouse rotation This allows the user to rotate the object rather than the tracking space Valid options are True False default Zoom to mouse This option allows the user to select the mouse pointer as the focal point for zooming If set to false zoom will occur based on the heading of the virtual camera Valid options are True default False Tracking Tools e 26 Camera Button E Camera Button Switch to MJPEG Controls whether the button will switch the camera to Switch To MJPEG True MJPEG mode and back to the default camera group record mode Valid Boost Exposure True options are True default False Boost Exposure Controls whether the camera button will switch the camera to maximum exposure and back to the default camera group exposure Valid options are True default False Timeline Playback speed Controls the playback speed of the current timeline file Timeline
61. e is 5 to 100 Default 10 Overlay Resolution Selects the level of detail for displaying the lens distortion Valid range is 5 to 100 Default 40 Show as Predistortion Selects whether the map is shown as predistorted or distorted Valid options are True False default Multi Camera 2D Display Display Mode Toggles between Frame Buffer Marker Centers and Automatic Multi Camera 2D Display LOD modes Frame Buffer mode pushes the entire camera frame to the video Display Mode Automatic LOD card for scaling and display Marker centers mode merely defines a white Pane Gap 4 circle of the rough size and shape of the marker as it would appear and is LOD Threshold 40 significantly less hardware intensive Automatic LOD switches between Frame Buffer mode and Marker Centers mode depending on distance Default is Automatic LOD Raster Priority 1 Pane Gap The distance between 2D Multi View camera panes LOD Threshold The size at which the system switches between Marker Centers and Frame Buffer mode Raster Priority Defines the update rate for the camera pixel data shown in the 2D Multi Camera views A higher priority indicates a higher rate of update Valid range is 1 to 6 Default 1 Tracking Tools Oprilrack 63 3D Display Options 3D Display Options Camera Names Enables the floating camera model serial Camera Names True and master slave status above and below camera objects Text Size 60 Valid options are True def
62. e than happy to assist 5250 V100 R2 V120 SLIM W120 Trio High Performance Affordable Computer Vision amp GDoF Desktop 6DoF Desktop Tracking Tracking Frame Rate 250 FPS 100 FPS 120 FPS 170 FPS 120 FPS Resolution 832 832 640 480 540 480 480 x3 640 480 x2 Filter Switcher Included Optional Optional Included No Bundled amp oftware n a n a n a Tracking Tools Perpetual License Single device Multi camera Yes Mo Tracking Maximum Units 45 24 24 1 1 Per Workstation Maximum Range 45 5 feet 36 feet n a n a n a USING 3 4 INCH MARKERS 14 meters 11 meters Stock Lens AG 587 587 HORIZONTAL FOW Optional Lenses 43 387 58 38 46 58 Other n a n a HORIZONTAL FO Interface Ethernet PoE USB 2 0 USB 2 0 USB 2 0 USB 2 0 Synchronization Method Network Wired and OptiSync Wired Image Processing Modes Precision Grayscale Segment Object and MJPEG Number of LEDs 96 26 n a 26 x3 26 x2 LED Strobe Mode Wes Wes n a Wes Wes LED Intensity Control Yes Yes Yes Yes Shutter Type Global Electronic Exposure Control Wes Frame Rate Control Yes Camera Body Aluminum amp Aluminum Aluminum Aluminum Aluminum Polycarbonate Standard Tripod Mount Wes Yes Yes Yes Yes 20 THREAD 1 Allows cameras to switch between Infrared and Visible light for scene video 2 Center imager only 3 Using high power strobe mode which requires an
63. ed Default is dependent on number of Acquisition Delay 1 markers in the rigid body Flexibility The amount of flex or compression a rigid body is allowed to have from its original shape to allow it to fit the markers in the point cloud Valid range is O to 100 Default 50 Share Markers Allows markers for this Trackable to be used in solving multiple rigid bodies In order for two rigid bodies to share markers both must have this option set to true Valid options are True False default Dynamic Override Sets the number of frames that a rigid body must fail dynamic constraints before overriding them and tracking the object A value of 0 will disable Dynamic Override Default is 100 Static Override Sets the number of frames that a rigid body must fail static constraints before overriding them and tracking the object A value of will disable Static Override Default is Precise Orientation Allows the user to enable more stringent orientation solving at the cost of increased CPU usage Valid options are True enabled default False disabled Force Exhaustive Forces a complete search of the Point Cloud for the best possible match of this Trackable even after a potential match has already been found Valid options are True False default Calculation Time Defines the maximum amount of time in milliseconds that can be spent searching for the rigid body Default is 5 Tracking Tools Oprilrack 74 Acquisition Delay D
64. efines the number of frames to wait between search attempts for the rigid body when it is in the untracked state Default is 1 Tracking Tools e 75 Display Options E Display Options Color Selects a color for the rigid body in the 3D perspective view Color 0 17 255 Default is pseudo random based on the number of rigid bodies Label True already defined Tracked True Label Selects whether or not to display the rigid body name in the 3D Perspective View Valid options are True default False Pivot True ME uc Tracked Selects whether or not to show the rigid body in the 3D Quality Me Perspective View when it is tracked Valid options are True Marker Quality False default False Orientation False Model Replace True Untracked Selects whether or not to show the last known position 305 Model of an untracked rigid body in the 3D Perspective View Valid options Scale 1 are True default False Yaw 0 Pitch 0 Pivot Selects whether the centroid of the rigid body is displayed Roll 0 Valid options are True default False X 0 Y 0 Fi 0 Untracked Markers Selects whether untracked markers will be displayed in the 3D Perspective View Valid options are True default False Quality Enables visualization of out of range marker distances by turning the lines between markers red if they fall outside of tolerances Valid options are True default False Marker Quality Enables ranki
65. es Wand Filtering Contains options to filter markers by quality Calculate Starts the solver calculation process after sufficient wanding samples have been gathered This button will remain grayed out until there are enough samples to calculate a result Apply Result Applies the solved calibration to the cameras and capture volume This button will remain grayed out until calculation is complete Tracking Tools 49 Calibration Options E Calibration Options Calibration Accuracy Sets the complexity of the calibration solver Calibration Accuracy Low Fast calculations Lower complexity will result in a lower quality calibration Wanding Time Secon 10 but a significantly faster solve Valid options are Low Default Medium Approximate Volume 3 Cubic Meters High Very High Min Camera Coverage 2 Selection Distributed Camera Group Camera Group 1 Wanding Time Selects the amount of time in seconds allotted for wanding Default is 10 Approximate Volume Selects the size of the capture volume that is being wanded This option does not restrict the volume size but is used to constrain the solver and should be set as close to the real volume size as possible Valid options are 1 Cubic Meter 3 Cubic Meters default 6 Cubic Meters Min Camera Coverage Selects the minimum number of cameras that must see a marker for it to be considered valid to take a sample Valid range is 2 to the number of cameras you are calibr
66. focus more wanding on that camera to bring up the sample count One Marker Wanding The wanding technique for One marker calibration is similar to Three Marker wanding however the visualizations are different During the wanding process green lines connecting the samples taken will be displayed in each 2D camera view Attempt to evenly distribute the sample coverage for all cameras since it can be challenging to entirely fill each camera view with the green lines Note The one marker calibration approach has been deprecated and should not be used unless you are restricted by your license to a version that does not offer three marker calibration Calculation o Camera Calibration Complete Overall result quality Excellent v Details Apply Result Cancel One Marker Calibration The One Marker calibration algorithm runs a single calculation phase and will return results quickly Once wanding is complete then solving can be started by pressing the Calculate button When the dialog shown above appears press the Apply Result button to begin using the solved calibration An opportunity will be given to save the wanding timeline for future use This is highly recommended Tracking Tools 52 Three Marker Calibration Three marker calibration goes through multiple phases and can be adjusted dynamically allowing the user significant control over the time required and final overall precision of the system Immediately
67. he 3D Perspective view Default is 255 255 255 FFFFFF RGB Grid Transparency Selects the level of transparency applied to the ground plane coordinate grid in the 3D Perspective view Valid range is 0 to 100 Default 100 Grid Size Selects the area covered by the ground plane coordinate grid in the 3D Perspective view Valid range is 1 to 100 Default 30 Tracking Tools e 64 Ray Options E Ray Options Tracked Rays Enables the display of all camera rays Tracked Rays contributing to the position of the currently selected Untracked Rays False marker s Valid options are True default False Missing Rays False Tracked Ray Color 0 255 0 Untracked Rays Enables the display of all camera rays Untracked Ray Color 255 0 0 which were not used in reconstructing 3D markers This Missing Ray Color 255 255 0 option is useful for identifying background light interference Tracked Ray linea m and poor camera calibration Valid options are True False 5 default Untracked Ray Transparency 100 Missing Ray Transparency 100 Missing Rays Enables the display of rays from cameras Missing Ray Threshold 10 which are expected to be contributing to 3D markers but aren t This option is useful for identifying poor camera coverage or calibration Missing rays will not appear if the point is calculated to appear outside of the camera s field of view Valid options are True False default Tracked R
68. hese allow high soeed movements uncharacteristic of the Trackable to be ignored E Dynamic Constraints Translation Enables dynamic constraints on the translation of the E Translation rigid body Valid options are True False default Translation False u Translation Frame maximum distance in millimeters that Translation Frame 100 a Ss a rigid body can travel between two frames before the solver 800 considers it invalid Default is 100 Rotation False Rotaton Frame 30 Rotation Enables dynamic constraints on the rotation of the rigid body Valid options are True False default Max Rotation Frame The maximum number of degrees a rigid body can rotate between two frames before the solver considers it invalid Default is 30 Static Constraints Static constraints adjust the valid range of yaw pitch roll that a rigid Static Constraints body can experience before being considered invalid Each degree E Yaw of movement can be enabled or disabled independently and has its Vaw False own set of restraints Defaults for each are False disabled 90 and Greater Than 90 90 full rotation allowed Pe 90 Pitch Pitch False Greater Than 90 Less Than 90 El Roll Roll False Greater Than 90 Less Than 90 Tracking Tools e Dprilrack 78 Trackable Engine Statistics Trackable Engine Statistics Defined Trackables The total number of trackables
69. ial number of the hardware key or camera specified have finished press the activate button For assistance please visit www naturalpoint com optitrack Note If activating software for the first time please use the hardware key included with the purchase of your order If you did not purchase a hardware key the software can be activated by locking it to a camera License hash instead however this is not recommended by NaturalPoint A license locked to a camera is much less a portable than a hardware key which can easily be peg E moved from one computer to another Licenses locked to cameras are not eligible for transfer to hardware First name keys Last name Before activating please ensure you have an active internet connection Fill out all required fields in the activation tool then click Activate The License Tool will communicate with NaturalPoint verify your information and generate a license file Once the license file has been generated it is saved to your computer in the following folder 2 3 4 and earlier Tracking Tools Installation Directory OptiTrack License 2 3 5 and higher ALLUSERSPROFILE Application Data OptiTrack License Once the software is activated you should not need to access the License Tool again except when adding additional years of software maintenance to your license If you have already activated the software and are attempting to install the software on an
70. identified as not being a valid marker a red X will be displayed over it along with an explanation of why it was rejected in this case size filter Navigating the 2D Multi Camera view can be accomplished with the buttons defined in Application Settings Options By default the left click will draw masking Blocking on the camera while the middle button will pan the cameras for more precise aiming Additionally the scroll wheel will zoom in and out allowing the user to get close up views of individual camera pixels Toolbar The viewport toolbar contains many 2D Multi Camera view specific options for configuring the viewport The first four options affect the size of the camera view panes as they display in the viewport Sets all 2D camera views to one half their actual size in pixels Sets all 2D camera views to display as their actual size in pixels Sets all 2D camera views to double their actual size in pixels Ta Auto scales all 2D cameras to fit into the viewport window Tracking Tools Oprilrack 68 The toolbar also contains five options for adjusting the blocking mask features of Tracking Tools individually Block all markers visible in all cameras Remove all blocking masks from all cameras Draw a freehand blocking region Draw a rectangular blocking region Draw a circular blocking region Finally the toolbar contains an icon to enable a virtual camera reticle to display on the pane T
71. ilter Type Size amp Roundness default Min Marker Size 4 Max Marker Size 500 Min Roundness 0 6 Min Marker Size The minimum number of pixels a marker must be comprised of to be considered a valid marker Setting this option to a value higher than Max Marker Size will result in no markers considered valid This option is ignored if size filtering is disabled Default is 4 Max Marker Size The maximum number of pixels a marker can be comprised of to be considered a valid marker Setting this option lower than Min Marker Size will result in no markers considered valid This option is ignored if size filtering is disabled Default is 500 Min Roundness Sets the sensitivity of the roundness filter See glossary for more information Valid range is between 0 and 1 default 0 6 Tracking Tools e 59 Reconstruction Bounds Reconstruction Bounds Bound Reconstruction Visible Bounds Minimum X meters Maximum X meters Minimum Y meters Maximum Y meters Minimum Z meters Maximum Z meters Bound Reconstruction Selects whether reconstruction bounding is enabled See glossary for more information Valid options are True enabled False disabled default Visible Bounds Select whether the reconstruction bounds are displayed in the viewport This setting is ignored if Bound Reconstruction is set to False Valid options are True visible False invisible default Minimum Maximum Axis mete
72. imum overlap of camera fields of view occurs in the area where most of the capture will take place If you are mounting cameras on walls or truss ensure you are using mounting equipment that has sufficient ability to adjust camera positioning before mounting them If you are using tripods ensure that they are placed in stable positions Any movement of a camera or camera mounting hardware after calibration will require recalibrating the volume Please note that V100 and V100 R2 cameras have maximum mount stud depths of 225 and damage to the camera may occur if a longer stud is used Cabling When placing cameras keep in mind any restrictions that you may be subject to with cable lengths Ethernet cameras are subject to the limitations of the PoE and Ethernet communications standards cables can be no longer than 100m USB Cameras operating with OptiSync must have no more than 5m of cable and no extensions between the camera and hub The hub must be connected directly to the computer with no more than one 5m USB cable and up to two 5m active USB extensions for a total of 15m between the computer and the hub USB cameras using Wired Sync instead of OptiSync may use cable extenders between the camera and the hub as long as the total cable length between the computer and the camera does not exceed 20m OptiHubs additionally require external power and synchronization cables must be connected between all OptiHubs USB Load Balancing When connecting hubs t
73. ingle Focal Requires solving of a single focal length instead of the 3rd Order Intrinsics False default behavior of solving horizontal and vertical focal lengths Highest Priority individually Can be enabled to help the solver in difficult situations Valid Apply Result Conse options are True False Default Lock Principal Point Requires the solver to assume that the camera s lens is perfectly centered over the image sensor Setting this can sometimes assist in difficult calibration calculations Valid options are True False Default Minimize Deviation Sets the solver to include the Standard Deviation along with the residual and the wand length as constraints for solving the calibration This option has been deprecated and is not in versions beyond 2 3 4 Valid options are True False Default Wand Constraint Tells the solver to use the wand length to scale the volume based on the wanding data Valid options are Disabled Initial Fit Always Default 3rd Order Intrinsics Enables a more complex model for lens distortion calculation but adds overhead to the calibration calculations and will likely cause a slowdown in the process This option should be enabled if you feel you need to try to get better calibration results Valid options are True False Default Solver Thread Allows the user to set the priority of the solver thread This can be adjusted if the solver is causing too much latency in other running programs on the
74. is an alternate method for reducing the frame rate See Frame Decimation Tracking Tools 99 High Power Mode V100 R2 cameras connected to OptiHub additionally may utilize a higher power IR LED mode for improved background light tolerance and longer range tracking V100 R2 camera operating in low power mode can only attain an IR intensity of 7 Best practice is to always use V100 R2 cameras in conjunction with an OptiHub and high power mode Intensity Intensity is a control for the IR LED rings on OptiTrack Flex V100 V100 R2 V120 Duo V120 Trio and S250e cameras The intensity of the IR LED ring is represented by a value between and 15 with being off and 15 being full power Default values for Flex V100 V100 R2 V120 Duo and V120 Trio cameras is 15 the default value for S250e cameras is 13 Additionally Flex V100 V100 R2 and S250e cameras can operate in both strobe mode and continuous on mode Strobe mode delivers the IR lighting in a burst at the beginning of the Frame and is generally more powerful and better at stopping fast motions than continuous on mode V120 Duo and V120 Trio cameras do not support continuous on mode NatNet A streaming protocol designed for use with OptiTrack software Versions 2 0 and earlier use older default addresses See Exporting and Streaming for more information MJPEG Mode sends MJPEG compressed gray scale video which consume less bandwidth than raw uncompressed g
75. isualization Valid range is 1 to 120 default 50 Opacity Sets the opacity of the volume visualization A value of 1 is transparent and 100 is opaque Valid range is 1 to 100 default 100 FOV Intensity Sets the opacity of the FOV visualization A higher value represents a more opaque volume visualization Valid range is 1 to 100 default 50 Block Regions Blocking Width pixels Sets the extra pixel coverage width for E Block Regions masking visible markers when the block visible function is used Valid Blocking Width pixels 4 range is determined by the resolution of the cameras default 4 Blocking Height pixels 4 Blocking Height pixels Sets the extra pixel coverage height for masking visible markers when the block visible function is used Valid range is determined by the resolution of the cameras default 4 Block Visible Updates the on camera blocking mask to hide all objects visible to the camera Clear Blocking Clears the entire blocking mask for all cameras Tracking Tools Oprilrack 39 Advanced Point Cloud Specifies the engine used to solve the point cloud Valid options E Advanced are Engine v1 0 Engine v2 0 default See glossary for more information on the Point Cloud Engine v2 0 differences between Engine V1 0 and Engine V2 0 Precision Cap byte 20000 Interleave Group False Precision Cap bytes Sets the upper limit for the amount of data transmitted Shutter Offset use 0 by each camer
76. ject Save Project As Export Tracking Data Save Camera Calibration Save Timeline Recording Save rackables Commands The commands tab lists all options that can be put onto a toolbar Icons are divided into separate categories and can be dragged from the window into an existing toolbar Commands with an icon next to them will place the icon on the toolbar If the command does not have an icon the entire text will be placed as a button on the toolbar Save Camera Calibration Save Timeline Recording Save Trackables Press new shortcut key Exit New Project Keyboard The keyboard tab allows the user to create hotkeys and assign them to various functions within Tracking Tools The functions are categorized through the drop down at the top of the window and hotkeys are placed by clicking the shortcut key textbox then pressing the key you would like to assign to the selected task Tracking Tools Show full menus after a short delay Reset menu and toolbar usage data Other 7 Large icons Show ScreenTips on toolbars 7 Show shortcut keys in ScreenTips Menu animations System default Options The options tab contains general options for toolbars in Tracking Tools Always show full menus Forces menus to show all items immediately Show full menus after a short delay Will show partial menus at first then auto expand after a pre determined amount
77. l request your permission to install the driver software if USB drivers are among the components to be installed Click Install this driver anyway to install the USB drivers Tracking Tools 10 you like to register Tracking Tools file types with the system E TRA Tracking Tools will attempt to register with all file types associated with the application Click yes to allow or no to keep the file types unassociated Setup Complete Setup has finished installing Tracking oole on your computer Click Finish to complete Setup Once setup is complete press finish to end the installer If you have not yet run the licensing tool on this computer you will need to before using the Tracking Tools software See Activation and Licensing for more information Tracking Tools e Dprilrack 11 ACTIVATION AND LICENSING Before the Tracking Tools software can be used you eM must first activate your software license The primary mode of activation and licensing is the OptiTrack License Tool installed with Tracking Tools The OptiTrack License Tool collects information required to activate your software If you have not previously activated your software it will perform the Ta activate your software and download a license please fill in the fields initial activation and lock your software license to the below using the information from your product license card When you ser
78. lay with the ground plane at the bottom of the view Settings Export Clear Orientation Resets pane orientation to O degrees Tracking Projection Orientation Angle 0 Show Field of View Remove Camera Calculated Orientation Identity Clear Orientation Show Field of View Toggles the camera field of view representation on and off in the 3D viewport Remove Camera Removes the camera from Tracking Tools Identify Causes the camera to blink in both the 2D and 3D viewports for easy identification Tracking Tools e 34 CAMERA GROUPS Cameras on the same system can be divided into different groups to create multiple capture volumes or increase the effective frame rate Simultaneous capture with separate groups is useful for the deployment of multiple tracking volumes such as pods in a shooting gallery Additionally camera groups can be used to achieve higher frame rates with an interleaved configuration where cameras observing the same scene are divided into groups with different shutter timing offsets Setting up camera groups Camera Groups 1 To create a second camera group right click on camera groups in the Camera Groups project explorer and select Add Camera Group Add Camera Group When the second camera group appears in the project explorer you Camera Group 2 can adjust the properties for the camera group by right clicking on it Camera Group 2 and selecting properties See Camera G
79. ls e Dprilrack 32 Export Allows the user to save the current 2D camera 120 Trio 149101a frame a bitmap Video Type Frame Rate Camera Group Hardware Mask Save Frame As BMP Tracking Projection Orientation Show Field of View Remove Camera Identity Tracking Allows single camera vector and projection V120 Trio 149101a tracking options to be changed Video Type Frame Rate Camera Group Hardware Mask Settings Export Projection Projection Tracking Orientation Show Field of View Remove Camera Identify Tracking Tools e 33 Projection Allows the trackable image to be projected V120 Trio 149101 onto the view pane using Camera view The slider seen Video Type in this screen shot has been deprecated and is not Frame Rate available in Tracking Tools version 2 3 4 or later Camera Group Hardware Mask m Frame Image Projection Enables use of projection Settings Export Tracking Projection Distance 12000mm Orientation Show Field of View Frame Image Projection Remove Camera Identify Orientation Allows the user to rotate the orientation of the 2D camera display on screen to a more natural viewing Video Type angle The angle slider allows the user to rotate the pane Frame Rate in whole degree increments from 180 to 180 OP Camera Group Calculated Orientation Sets the orientation of the camera Hardware Mask to disp
80. lse 204 255 102 10 40 False Automatic LOD 4 40 1 True 60 False True True True False Camera Number 255 255 255 100 30 True False False 255 0 B 255 0 0 255 255 0 80 100 100 10 nx 4 The display tab options are broken into 5 sections to organize options into easily identifiable groups 2D Display Options Contains options for status overlay and marker display within individual camera 2D viewports Distortion Map Contains options for enabling and displaying camera lens distortion characteristics Multi Camera 2D Display Contains rendering options for the pane which displays multiple 2D viewport cameras 3D Display Options Contains visualization options for the 3D viewports Ray Options Contains options for rendering camera rays DOprilrack 61 2D Display Options 2D Display Options Camera Info Overlay True Verbose Camera Infc False Camera Health Infa True Camera Reticle False Backproject Markers True Object Filter True Object Centroids False Object Extents False Object Coordinates False Camera Info Overlay Enables text overlay of information on the 2D Multi Camera view panes Valid options are True default False Verbose Camera Info Enables the overlay of additional information on the 2D Multi Camera view panes including settings current time individual camera data rate Frame ID current display rat
81. lse Multicast Interfac 239 255 42 98 Stream Rigid Bodies Controls the streaming of rigid body name centroid and orientation data over NatNet Valid options are True default False Streamin gine Type Selects mode of broadcast for NatNet Valid options are Broadcast Frame Data Multicast Default Unicast VRPN Broadcast Port 2993 Command Port Specifies the port to be used for negotiating the Trackd Streaming Engine connection between the NatNet server and client Default is 1510 Broadcast Frame Data Data Port Specifies the port to be used for streaming data from the NatNet server to the client s Default is 1511 Local Interface Specifies the network adapter to use for streaming NatNet data Valid options are Preferred auto select default Local Loopback Available network adapters by IP address Multicast interface Specifies the multicast broadcast address Default is 239 255 42 99 Note When streaming to clients based on NatNet 2 0 or below the default multicast address should be changed to 224 0 0 1 and the data port should be changed to 1001 VRPN Streaming Engine Streams via the VRPN protocol Only frame by frame rigid body centroid location and orientation data is currently supported VRPN Broadcast Port Specifies the broadcast port for VRPN streaming Default is 3883 TrackD Streaming Engine Streams via TrackD Only frame by frame rigid body centroid location and orientatio
82. lume Translation and the X Z plane and enter the value in millimeters Once the E Capture Volume Translation mm desired vertical offset has been set click Set Ground Plane X 0 Y 0 0 Undo Apply Translation One Marker Calibration Setting the 1 ground plane during one marker calibration sets the volume scaling in addition to aligning the coordinate system When setting the ground plane ensure that the measurement between the two markers on the long side is accurate then press Set Ground Plane Capture Volume Translation Capture Volume Translation mm X 0 Y 0 0 The Capture Volume Translation window allows the origin of the capture volume to be moved using an offset for any of the three axes Negative numbers are valid for use within these fields Tracking Tools e 1 Calibration nx Calibration Ground Plane Accuracy P Ground Plane 400 mm Capture Volume Translation Capture Volume Translation mm X 0 0 Fi 0 Undo Apply Translation 56 POINT CLOUD PROPERTIES The point cloud properties pane allows solving and 3D point cloud reconstruction settings to be changed Point cloud properties are set for camera groups and can be accessed by right clicking on a camera group and selecting properties Systems with multiple camera groups can have separate solving properties for each group Point Cloud Enable Point Cloud Reconstruction Options
83. lve V100R2 cameras could be interleaved into 2 groups of 6 cameras each with identical coverage patterns By offsetting the shutter time of one group by 5ms the effective frame rate of the capture will be 200fps Each camera group must have its own master and its own synchronization chain to function properly Example 2 A volume with 24 5250 cameras can operate with one camera group featuring 24 cameras at 250fps or you can segment the cameras into two groups of 12 cameras each and offset the shutter of the second group 2000 microseconds to effectively capture at 500fps Additionally you could divide the volume further into 4 groups of 6 cameras each with offsets at 1000 2000 and 3000 microseconds for an effective frame rate of 1000fps The number of groups involved in an offset depends on the number of cameras you have available If you are creating multiple groups of cameras it is important to keep camera synchronization mind S250e cameras will auto handle synchronization offsets V100 V100 R2 and V120 Slim cameras will need to have an individual sync chain per camera group See Synchronization for more information Tracking Tools Oprilrack 36 CAMERA GROUP PROPERTIES Camera group properties allow the user to adjust settings for cameras on a group wide basis Any setting changed within the camera group properties window will affect all cameras within that group Camera Group Properties Camera Group Camera Settings E
84. n Mode Power Mode High Power Illumination Sets brightness level for IR LED rings on all cameras in the group Frame Rate 100 Valid range is off to 15 full See glossary for more information on Illumination intensity Illumination Type Sets IR LED rings to use either strobed or continuous IR mode Availability of modes is based on camera type See glossary for more information on illumination type Video Type Selects the on camera image preprocessing mode Availability of modes is dependent on camera type See glossary for more information on video modes Power Mode Sets cameras to use low or high power IR LED mode Available modes will depend on camera type and whether the cameras are connected to an OptiHub See glossary for more information on power modes Frame Rate Sets cameras to operate at a specified frame rate The rate will appear as either a percent or frames per second count depending on camera type See glossary for more information on Frame Rate Options Name Sets the name for the selected camera group E Options Name Camera Group 1 Camera Color Sets the color for camera group members as they appear in the odas 255 153 0 3D viewport Color values are input as standard RGB triplets Marker Color 255 255 255 Visible Cameras True Numeric LEDs True Show Markers True Marker Color Sets the color for point cloud markers generated by members of the camera group Color values are input as sta
85. n data is currently supported Tracking Tools e 84 TECHNICAL SUPPORT NaturalPoint is committed to providing best in class technical support In order to assist our customers as quickly as possible we recommend the following procedure 1 Update to the latest software For the latest versions of OptiTrack software drivers and SDK samples please visit our downloads section http www naturalpoint com optitrack support downloads html Check out the OptiTrack FAQs http www naturalpoint com optitrack support opti faq html Check the forums Very often a similar issue has been reported and solved in the forums http forum naturalpoint com Contact technical support Phone 541 753 6645 Fax 541 753 6689 Email support naturalpoint com Mail NaturalPoint Corporation P O Box 2317 Corvallis OR 97339 Tracking Tools e 85 APPENDIX A TECHNICAL DRAWINGS OPTITRACK V100 Tracking Tools e 86 OPTITRACK V100 R2 Tracking Tools 1 4 20 Threaded Hole 0 225 Max Fastener Depth e 2 56 Socket Head Cap Screw x3 use 5 64 Hex Key to remove OptiTrack V100R2 Scale 1 1 9 17 10 87 OPTITRACK V120 DUO NENNEN Tracking Tools 11 106 e 88 OPTITRACK V120 TRIO r Optional Ball Mount Opriirack
86. nd angle of the wand to give the camera different perspectives to record the data Cameras will only record samples if the wand is within a specific range of angles in relation to the camera If samples are not being collected then try to adjust the wanding path and angle If a region of the desired capture volume will not record samples after taking all of the steps above cancel the calibration and re aim the cameras to obtain better camera overlap for that area After wanding has been completed check the calibration panel for feedback on the number of samples collected The window will give a Sufficiency rating which defines whether sufficient samples were recorded to meet the minimum requirements for low medium high or very high am Wanding Sufficient for Quality Very High Camera 1 1396 0558 quality The rating only takes into account minimum samples so a higher 2 832 0 539 sample quantity should be used for larger volumes 6 camera system 3 1456 0 582 1537 0 608 will calibrate properly with an average of 1000 samples per camera For 5 1888 0 705 higher camera counts the average number of samples per camera should 6 1680 0 728 be about 200 225 multiplied by the number of cameras 1600 per camera for an 8 camera system 3200 3600 per camera for a 16 camera system If there are any cameras with a significantly lower number of samples than the rest as camera two has in this example picture attempt to
87. ndard RGB triplets Visible Cameras Selects whether cameras in the group are displayed in the viewport Valid options are True enabled default False disabled Numeric LEDs Selects whether cameras in the group are displayed in the viewport Valid options are True enabled default False disabled Show Markers Selects whether camera group 3D point cloud markers are displayed in the viewport Valid options are True markers are visible default False markers are hidden Tracking Tools 38 Capture Volume Visualization E Capture Volume Visualization Show Volume Selects whether the capture volume is displayed in the viewport Show Volume False Valid options are True False default Camera FOV True Camera Overlap 3 Camera FOV Selects whether camera FOVs are displayed in the viewport Camera FOV accurately depicts the angle of view while depth is artificially capped Actual depth may vary depending on the marker used Valid options are True default False Volume Resolution 50 Opacity 100 FOV Intensity 50 Camera Overlap Sets the minimum number of cameras which a region must be visible to in order for it to be considered as part of the visualized capture volume Higher numbers will tend to reduce the size of the visualized capture volume Valid range is 1 to 25 default 3 Volume Resolution Sets the resolution of the capture volume visualization A higher number represents a more detailed v
88. ng calibration See glossary for more information Valid range is between and 1 Default 0 8 Tracking Tools e 48 ONE MARKER CALIBRATION One marker calibration is a method available for use in older systems and should only be used if access to the newer more flexible and more accurate three marker calibration is not available ce one marker calibration wizard consists of four buttons a progress bar and two ars sections of options to organize the interface into easily usable sections Start Wanding This button starts the calibration wanding process and instructs a Tracking Tools to look for the marker Calibration Accuracy Low Fast Wanding Time Secon 10 Approximate Volume Cubic Meters Reset This button stops the calibration process without calculating the results This et button is only available during wanding m Selection Distributed Camera Group Camera Group 1 Wand Filtering E Filter Type Size amp Roundness Status Bar This bar is active during the wanding process and shows the amount of M ase wanding time that has elapsed The bar will turn from gray to green as samples are MinRoundness 02 M collected and will be fully green when there are sufficient samples Calibration Engine M a5 Calibration Options Contains options for to the calibration methods and environment Single Marker Calibration Engine Copyright C NaturalPoint
89. ng of markers and highlights potentially low quality ones with high residuals in red Valid options are True False default Orientation Enables the display of a rigid body s local coordinate axes Valid options are True False default Model Replace Enables replacing the rigid body visualization with a valid 3DS model Valid options are True False default 3DS Model Specifies the path and filename for a 3DS model to replace the standard visualization The standard visualization will be used if Model Replace is set to True but no information is entered into the 3DS Model field Scale Changes the size of the 3DS Model Default is 1 Yaw Pitch Roll Offsets the orientation of the 3DS Model in relation to the rigid body to correct for orientation discrepancies X Y Z Offsets the translation the position of the 3DS Model relative to the centroid of the rigid body Tracking Tools e 76 Display History E Display History Position History Enables display of the path that the rigid body is Position History False traveling on Valid options are True False default Orientation History False ay tenth 500 Orientation History Enables display of previous orientations Valid Orientation Spread 10 options are True False default Orientation Size 10 History Length Selects the number of frames worth of position or orientation history that Tracking Tools displays Valid range is 1 to 1000 Default i
90. o not interfere with installation Tracking Tools e License Agreement Please read the following license agreement carefully Press the PAGE DOWN key to see the rest of the agreement sections LICENSE LIMITATIONS PROPRIETARY RIGHTS RESERVED NATURALPUINT RESTRICTIONS INDEMNIFICATION LICENSEE TERMINATION LIMITED WARRANTY LIMITATION OF LIABILITY SURVIVAL GENERAL LON TACT INFORMATION have any questions about this EULA ar if you want to contact MaturalP eint any reason please visit aur websites for current contact information at naturalpeint com __ NaturalPoint Tracking oole and OptiT rack are trademarks of MaturalPaint Inc you accept all the terns of the preceding License Agreement IF you choose the setup will close To install TrackingT ools you must accept this agreement No Please read all terms and conditions as outlined in the End User License Agreement presented during installation If you agree to the terms and conditions click yes If you do not or have questions click no to end installation and contact NaturalPoint for clarification Tracking Tools e 6 Setup Choose Destination Select folder where Setup wall install files Setup will install Tracking cols the following folder To install to this folder click install ta a different folder click Browse and select
91. o the computer load balancing becomes important Most computers have several USB ports on the front and back all of which go through two USB controllers It is recommended especially in larger camera count systems that you ensure the cameras are evenly split between the USB controllers to best make use of the available bandwidth as multiple cameras running in gray scale mode can easily overwhelm the bus The controller each camera is associated with can be viewed in the Project Explorer Network Setup OptiTrack Ethernet cameras connect to the computer through a standard Ethernet port A gigabit 1000 Mb second Ethernet port is recommended in order to accommodate the high data rate of multiple cameras Camera network traffic should be segmented from the office or other local area network to avoid interference and congestion If the computer used for capture is connected to an existing network then use a second Ethernet port or add on network card for connecting the computer to the camera network For best performance do not connect devices other than the capture computer to the camera network Add on network cards should be installed if additional network ports are required Tracking Tools 29 CAMERA CONTROLS A context menu for changing camera settings is available by right clicking on a camera name in the project explorer a camera view in the 2D viewport or on the camera icon in the 3D viewport V120 Trio 1491014 Video
92. omers Cong 2 tationary Markers oc Camera Group Group 1 Display options Contains options to control visualizations during calibration Lens Distortion Show Cameras Show WandingProjection Show Advanced Options Contains options that can affect the overall quality and speed of the 2 Projection E Sh ees calibration Options within this submenu should only be changed under advisement of wend mm 510 technical support ample Spacing E Advanced Options Lens T Auto Select E mie Wand Acquisition Contains constraints for detecting markers on the wand Lock Principal Point False Minimize Deviation False Wand Constraint Always 3rd Order Intrinsics False Solver Thread Highest Priority Apply Result Continuous Wand Acquisition Imager Border pixels 16 Min Object Size pixels 2 Max Object Size pixels 500 Min Feature Size pixels 28 Min Camera Distance mr 300 Min Object Roundness 0 80 Tracking Tools e 44 Solver Options E Solver Options Quality Selects the quality level at which the calibration will run Quality Quality Medium directly affects the number of samples used in solving the calibration Calibration Type Full Indirectly increasing the quality of calibration will increase the amount of solver scope All time required to solve See Wanding and Calculating for tips on selecting L OptiWand Small 250mm a quality
93. playback and examination of data but are not able to record new data One particular use for project files outside of session storage is settings persistence Once the user interface layout and options have been customized a project file can be saved to store the changes Tracking Tools can then be launched by double clicking on the project file or dragging the project file onto the Tracking Tools icon and will load with all settings and panes as they were when the file was created This can be useful as Tracking Tools does not normally store settings when closed Project files can also be used to store settings for use with the Tracking Tools See Guide for more information Tracking Tools e 71 PROJECT EXPLORER The Project explorer shows all components of the current project as well as all detected hardware assets The Project explorer is interactive right clicking on a component of the project will bring up a context menu for the object Project al F E Explorer zi E Mail NaturalPoint Cameras 6 li 4 OptiTrack ll 5 OptiTrack V1 amp 1 OptiTrack V1 Gm 2 OptiTrack V1 3 OptiTrack amp e 6 OptiTrack Devices 4 OptiHub 9495 Q0 R2 129150 148107 148112 OO R2 141011 00 62 148110 OO R2 141010 3 E Camera Groups 1 Egi Camera Group 1 OptiTrack V1 OptiTrack
94. rack 54 GROUND PLANE Once the cameras have been calibrated a ground plane must be used to align their 3D coordinate system with the physical capture volume The ground plane is an L shaped bracket with Markers attached at specific positions to form a 90 degree triangle The center of the marker in the corner of the ground plane represents the origin of the coordinate plane Long Arm 400mm points down the positive Z axis Short Arm 300mm points down the negative X axis right handed coordinate plane default Top of Plane Upwards from the plane marker side points down the positive Y axis The coordinate plane generated by the ground plane is right handed by default To switch to a left handed coordinate plane see the option in Application Settings Options Tracking Tools e 55 Three Marker Calibration 3 Marker Calibration x Once the volume is calibrated use the calibration square to set Calibration Lae 4 b the coordinate system The vertical offset is preset to 53mm and indicates the distance between the ground and the center of Ground Plane the markers This allows the ground plane to sit directly on the Vertical Offset mm 55 ground and have the ground act as the X Z plane This should only be changed if the ground plane is not placed on the surface that the origin should be on such as if it is on a tripod In this case measure the distance between the center of the markers Capture Vo
95. rayscale mode Object Mode sends basic information about the centroid location and size of a marker It provides the most efficient USB bandwidth and host PC CPU utilization For V100 V120 series cameras this mode is less precise than precision mode Precision Mode A highly precise mode for marker detection which uses full grayscale information for each marker This mode requires more bandwidth than the other modes used for detecting markers Cameras operating in this mode should have unwanted light sources carefully blocked masked during calibration in order to prevent excessive bandwidth utilization Residual The minimum distance in millimeters that two camera rays must come within each other to have their intersection be considered a valid 3D marker Roundness A metric for determining how round an object is Roundness can be used to filter out reflections of oddly shaped objects or off angle non round markers The algorithm factors in shape size brightness of individual pixels and other information Roundness is rated between and 1 with meaning the least roundness possible and 1 meaning perfectly round Lowering the value of roundness will allow more irregularly shaped objects to be treated as valid markers The default roundness filter setting during capture is set to 0 6 and is set to 0 8 during calibration Segment Mode Sends selected threshold data from the camera to the PC software for final processing This mode provides a b
96. re Every Eighth Frame Tracking lH i Projection Orientation Show Field of View Remove Camera Identify Camera Group Allows the user to switch the group V120 Trio 149101a the camera is assigned to See Cameras Camera Video Type Groups for more information Frame Rate Hardware Mask Move to Camera Group 2 Settings i Export Tracking Projection rientation Show Field of View Remove Camera Identity Tracking Tools 2 Dprilrack 31 V120 Trio 1491014 Video Type Frame Rate Camera Group Block V Markers Clear Blocking Tracking Projection Orientation Show Field of View Remove Camera Identify Settings Allows the user to adjust primary camera control settings See the glossary for definitions for all camera settings Hardware Mask Allows the user to perform camera hardware mask operations Block Visible Markers will mask out all regions 2D camera view with detected markers Additionally all current markers can be cleared See the glossary for more information on blocking V120 Trio 1491014 Video Type Frame Rate Camera Group Hardware Mask k Exposure 50 Export Tracking d Threshold 200 Projection Orientation Show Field of View Intensity 15 Remove Camera Identify Advanced Settings Automatic Gain Control High Quality MJPEG Strobed IR Block Region Masking Tracking Too
97. re required to see a marker to consider the sample valid The number of cameras is always rounded up Valid range is 1 100 Default 20 Stationary markers Instructs the software to automatically block stationary markers Markers are considered stationary if their centers are in one position for more than a few seconds Valid options are Block default unblocked Camera Group Selects the camera group to be calibrated Valid options are all currently assigned camera groups Tracking Tools e 45 Display Options Display Options Solver Visualizations Lens Distortion Cameras Wanding Projection Projection Error Residual Error mmm Wand Error mm Sample Spacing Show Show Show Show 6 00 8 00 1 Solver Visualizations Selects whether solver visualizations should be displayed during wanding and calculations In some cases disabling this can free resources to speed calibration solving Valid options are Show Default Hide Lens Distortion Selects whether lens distortion solver visualizations on the 2D multi camera view should be displayed during calculations Valid options are Show Default Hide Cameras Selects whether camera adjustment visualizations in the 3D perspective view screen should be visible during calculations Valid options are Show Default Hide Wanding Projection Selects whether wand visualizations in the 3D perspective view should be visible during wanding Valid options
98. roup Properties for more Properties information Identify Remove Camera Group 2 00 2 148110 OptiTrack 100 2 2148110 Video Type Frame Rate Camera Group Hardware Mask Move to Camera Group 2 Settings Export Tracking Projection Orientation Show Field of View Remove Camera Identify To move a camera to a new camera group right click on the camera in the project explorer select the camera group menu then select Move to Camera Group where is the camera group you would like to move the device to When the camera has been successfully moved to the new camera group it will appear in the project explorer under the correct heading The project explorer can be used to identify which cameras are placed in which group Tracking Tools e 35 Once the cameras have been segmented into groups you can select a color for the cameras within a particular group See Camera Group Properties for more information on changing camera group visualization Camera Groups 2 Camera Group 1 m OptiTrack 100 2 141010 all Camera Group 2 Opti Track V100 R2 148110 Opt Track V 100 2 141010 Master 1 Master 1 Interleaving Multiple camera groups observing the same capture volume can have their shutter times offset from one another to create an interleaved volume with a higher frame rate See Camera Group Properties for interleaving settings Example 1 Twe
99. rs Sets the distance from the origin on each axis in meters for each of the 6 reconstruction bounds See glossary for more information Defaults are 6 for maximums 6 for minimums Tracking Tools DOprilrack 60 CHAPTER 4 VISUALIZATION APPLICATION SETTINGS DISPLAY The display tab in the application settings pane contains options for adjusting 2D and 3D visualization Ap gene Options Display Camera Info Overlay Verbose Camera Info Camera Health Info Camera Reticle Backproject Markers Object Filter Object Centroids Object Extents Object Coordinates Object Aspect Ratio Object Size Object Roundness Object Label Pixel Inspection Visual FPS Target Background Color Distortion Map Show Distortion Overlay Color Overlay Transparency Overlay Resolution Show as Predistortion Multi Camera 2D Display Display Mode Pane Gap LOD Threshold Raster Priority 3D Display Options Camera Mames Text Size Sync Cable Solid Camera Marker History Selected History Only Show Marker Labels Display Mode Background Color Grid Color Grid Transparency Grid Size Ray Options Tracked Rays Untracked Rays Missing Rays Tracked Ray Color Untracked Ray Color Missing Ray Color Tracked Ray Transparency Untracked Ray Transparency Missing Ray Transparency Missing Ray Threshold Tracking Tools True False True False True True False False False False False False False False 65 240 240 240 Fa
100. s 500 Orientation Spread Sets an orientation mark to appear every N number of frames Valid range is 1 to 100 Default is 10 Orientation Size Sets the size of the orientation history icon in the 3D Perspective View Valid range is 1 to 100 Default is 10 Smoothing Settings Translation Adjusts the amount of translation smoothing for the E Smoothing Settings rigid body Valid range is 0 to 1 Default is O disabled See glossary Translation 0 for more information on smoothing Rotation 0 Rotation Adjusts the amount of rotation smoothing for the rigid body Valid range is 0 to 1 Default is 0 disabled See glossary for more information on smoothing Marker Location E Marker Locations Marker locations lists the X Y and Z coordinates of a given marker Marker 0 with respect to the centroid of the rigid body in millimeters This X mm 3 276471 information is set automatically when a rigid body is defined based Y mm 56 556852 on the measured position of the markers The values should only be Z mm 44 085860 adjusted if the precise measurements of the rigid body are known El Marker 1 mm 34131356 Y mm 27 891334 Z 25 319874 El Marker 2 X mm 37 407834 mm 28 765514 mm 18 765926 Tracking Tools e Dprilrack 77 Dynamic Constraints Dynamic constraints are solving options which can be used to limit the amount of distance and rotation allowed for a Trackable from one frame to the next T
101. s and highly erratic tracking Valid options are True enabled and false disabled Tracking Tools e Oprilrack 25 Interface 2D Viewport Interface 20 Viewport Left Mouse Button Selects the function of the left mouse button Left Mouse Button Draw Mask in the 2D viewport window Valid options are Draw mask Middle Mouse Button Pan Viewport default Pan Viewport Middle Mouse Button Selects the function of the middle mouse button in the 2D viewport window Valid options are Draw mask Pan Viewport default Interface 3D Viewport Left Mouse Button Selects the function of the left mouse button Interface 3D Viewport in the 3D viewport Valid options are Pan Viewport Rotate Left Mouse Button Select viewport Select default Middle Mouse Button Pan Viewport Right Mouse Button Rotate Viewport Middle Mouse Button Selects the function of the middle mouse BEES Pan Sensitivity 100 button in the 3D viewport Valid options are Viewport Rotate Sensitivity 100 default Rotate viewport Select Invert Pan False Invert Rotate False Right Mouse Button Selects the function of the right mouse button the 3D viewport Valid options are Pan viewport Zoom To Mouse True Rotate Viewport default Select Pan Sensitivity Allows the user to make mouse panning more or less sensitive A higher value will allow for faster movement Conversely a lower number will allow for more deliberat
102. s the current timeline camera data to a tim file Save Trackables Saves the current defined trackables to a tra file Exit Closes Tracking Tools Tracking Tools 16 Edit The Edit menu provides options for cropping and deleting timeline data access to the application settings pane anda way to restore application defaults Tracking Tools Settings Opens the application settings pane which can be used to set preferences and change application behavior See Application Settings Options and Application Settings Display for more information Edit gt Tracking Tools Settings Reset Application Defaults Reset Application Defaults Resets all application options to the default state as if starting a new project Default settings for all options within the Tracking Tools application can be found throughout this manual Timeline This sub menu contains functions for cropping and clearing the currently loaded timeline data Clear timeline Erases all currently loaded timeline data Timeline Clear Timeline 2 gt Tracking Tools Settings L Delete Before Current Position Delete Before Current Position Deletes all capture data in the timeline prior to the Reset Application Defaults Delete After Current Position current timeline scrubber position See Recording and Playback for more information Delete After Current Position Deletes all capture data in the timeline after the current
103. se to the next automatically Once the solver reaches the final optimization phase it will continue to refine the solution until the user opts to apply the result As the final optimization continues the overall quality of the calibration and accuracy of the system will improve You should allow each camera to reach Good as a minimum baseline for accurate motion tracking though it is recommended to continue until Global O imization Initial each reaches Excellent or above Once each camera reaches Ove erall Re Great Exceptional however the solver will hit a point of diminishing returns as Overall Quality Medium it takes successively longer to receive smaller gains in calibration quality to Apply For high precision calibrations aim for a mean error of 0 145 or lower on leanEr each camera Ave Excellent 0 06 0175 Wand Exceptional 0 56 0 353 1 17 Exceptional 3 599 012 0 138 2 12 Exceptional 3 603 015 0142 3 13 Exceptional 3 607 014 0 148 4 13 Excellent 3 629 012 0173 5 12 Great 3 609 017 0205 6 11 Great 3 40 018 0 242 Tracking Tools Oprilrack 53 m Pana TIP To maximize sample count and calibration quality increase the Global Optimization Final 2 MEM quality setting incrementally during the final optimization phase Overall Result Exceptional Overall Quality Medium Ready to Apply Start on medium quality Once each camera reaches excellent or higher move to high
104. t length to object height as a decimal accurate to 01 pixel Valid options are True False default Object Size Displays the area of the object in pixels accurate to 01 pixel Valid options are True False default Object Roundness Displays the roundness of an object A value of 1 indicates maximum roundness while a value of 0 indicates no roundness Object Label Displays the object label assigned by the software to facilitate tracking them from frame to frame Valid options are True False default Pixel Inspection Enables display of information about the camera pixel currently pointed to by the mouse Valid options are True False default Visual FPS Target Sets a maximum display rate for the 2D camera view Default is 65 Background Color Selects the color to display in the viewport between camera panes Default is 240 240 240 FEFEFE RGB Tracking Tools 62 Distortion Map E Distortion Map Show Distortion Enables visualization of the camera lens Show Distortion False distortion map over the individual camera in the 2D Multi Overlay Color 204 255 102 Camera View Valid options are True False default Overlay Transparency 10 Overlay Resolution 40 Overlay Color Selects the color of the lens distortion map display Default is 204 255 102 CCFF66 RGB Show as Predistortion False Overlay Transparency Selects the level of transparency for the lens distortion map Valid rang
105. tartup News Check Show Quick Start Launches the application quick start pane About Tracking Tools Startup News Check Toggles whether Tracking Tools should check for news updates on startup If enabled and there is a news update then it will be automatically displayed after Tracking Tools has finished loading About Tracking Tools Displays licensing and version information connected devices and a list of installed software components Tracking Tools e 20 TOOLBAR The Toolbar allows one click access to many of the functions of Tracking Tools The Toolbar comes standard with basic icons and can be further customized via the View menu File Edit View Layout Tools Community Help Hea S7 BBN m e 3 30 000 D 2188 9 e E Customize Toolbar By clicking on customize toolbar you have the option to add or remove icons from the toolbar and even remove entire bars from the system The customize window is divided into 4 tabs Commands Keyboard Options Standard Toolbars This tab allows the user to add and remove toolbars from the Tracking Tools header by checking or unchecking a particular toolbar Users can add additional toolbars by clicking New and giving the new toolbar a name Tracking Tools e 21 To add command to a toolbar select a category and drag the command out of this dialog box to a toolbar Save Pro
106. ternal sync generator A logic high signal will enable the internal sync generator while a logic low signal will disable it Low Gated Implies the use of the internal sync generator A logic low signal will enable the internal sync generator while a logic high signal will disable it Frame Decimation The on camera auto frame discarding decimation feature This allows the cameras to expose at fast shutter speeds while delivering a reduced data load and frame rate every Nth to the PC This method of reducing the effective frame rate is typically preferred over reducing the actual camera frame rate for V100 120 series cameras because it does not change exposure timing and potentially cause motion blurring See Frame Rate Frame Rate The number of frames captured by a camera per second The frame rate listed for a given camera will refer to the maximum frame rate it can operate at Flex V100 and V100 R2 cameras operate at a maximum of 100fps V120 Slim V120 Duo and V120 Trio cameras operate at maximum of 120fps and S250e cameras operate at a maximum of 250fps in precision and object modes 125fps in greyscale video and mjpeg modes For V100 V120 series cameras a decrease in the actual frame rate will cause an increase in the exposure time unless the exposure setting is also changed afterward Increases in the exposure sample motion over a longer period of time which may result in motion blur and less accurate position data Frame decimation
107. tion within the timeline _ It also allows navigation of the timeline by dragging the bar forward and backward in time 4 gt Length window This shows the total length of the current timeline _ 0 008 0 0 POS window This shows the current position within the timeline 0 00s Size window This window shows the size of the current timeline file in Status Live Video megabytes Pauses playback and moves position to frame 1 lt Plays back recorded data in reverse Stops playback of recorded data and switches to live video mode Starts recording data Recorded will be appended to end of the current timeline gt Plays back recorded data 4 Pauses playback and advances position to the last recorded frame EI Pauses playback and steps back one frame Pauses playback and steps forward one frame Tracking Tools e Dprilrack 82 EXPORTING AND STREAMING Save Project a Save Project As Export Tracking Data 5ave Camera Calibration Save Timeline Recording Save lrackables Exit Tracking Tools supports exporting recorded timeline data to both CSV and C3D files To perform an export load the desired timeline and click File Export Tracking Data A window will be presented to enter the filename and destination folder Save in m Tracking Tools Data E Ej t Name Date modified Type lt
108. ts e Intel Core 15 or i7 processor 8GBRAM gt 4GB available HDD space 2 available USB ports on separate USB controllers for v100 and v120 cameras 1available USB port for hardware key e Additional network interface card for S250e cameras e Radeon FirePRO or NVIDIA Quadro series video card with minimum 1GB memory e Windows 7 64 bit Tracking Tools e 4 INSTALLATION To install Tracking Tools please download the latest version allowable under your licensing and save to your hard drive If you need more information about versions you can use you can check the valid dates of your license on our website at http www naturalpoint com optitrack support Please ensure that you have the appropriate permissions to install software on your computer If you are unsure or are using a computer on a domain or other organizational structure please contact a system administrator to verify that Tracking Tools can be installed on the machine If you are using Windows Vista or 7 start the installation by right clicking on the installer and selecting Run as administrator to ensure that the installer has the appropriate rights Welcome to Tracking cols Setup This program will install TrackingTools on your computer is strongly recommended that you exit all Windows programs before running this Setup program When installing Tracking Tools it is strongly recommended that all other programs be closed so that they d
109. xposure Threshold Illumination Illumination Type Video Type Power Mode Frame Rate Options Mame Camera Color Marker Color Visible Cameras Numeric LEDs Show Markers x The Camera Group Properties panel is divided into 4 sections which group 200 15 Strobed Precision Made High Power 10056 m Camera Group 1 7 255 153 0 255 255 255 True True True Capture Volume Visualization Show Volume Camera Camera Overlap Volume Resolution 50 Tracking Tools False True 3 yr related settings together Camera Settings Camera settings which will apply to all cameras within the group Options Visualization settings for the camera group Capture Volume Visualization settings for the capture volume created by the camera group Block Regions Allows the user to specify the amount of over masking to apply when masking is used within the camera group Advanced Advanced options which will apply to all cameras within the group e DOprilrack 37 Camera Settings Exposure Sets the exposure levels for all cameras within the camera group Camera Settings Valid range depends on cameras group See glossary for more information exposure Threshold 200 steht Threshold Sets the threshold for all cameras within the group Valid range is 1 Illumination Type Strobed IR 255 See glossary for more information on threshold Video Type Precisio
110. ync cable in daisy chain fashion While technically possible the use of mixed Wired Sync and OptiSync configurations are not officially supported Wired Sync Wired sync provides camera to camera sync using an extra set of cables in a daisy chain arrangement in addition to the USB cables The Y shaped sync adapter is required in addition to sync cables Wired Sync should be used if one or more non V100 R2 cameras are present or if any of the cameras are not plugged into OptiHubs Wired Sync can be used instead of OptiSync if desired for V100 R2 cameras Wired sync is available for Flex V100 Slim V100 V100 R2 and V120 Slim cameras Wired sync with an OptiHub in the chain requires the master OptiHub to be at the start of the sync chain If using the external trigger input capabilities of an OptiHub then the first camera in the daisy chain must be connected to the Hub Sync Out jack of the OptiHub V100 cameras can be used in the same Wired Sync chain with V100 R2 cameras All other cameras C120 V120 Slim cannot be mixed with other camera types Synchronization x The Synchronization Pane in Tracking Tools allows the user to select OptiHub Sync Control between common usage scenarios The Default Synchronization setting 734 allows the cameras to auto detect their synchronization mode Wired Default Synchronization M St Sync OptiSync or Ethernet Sync and has no external synchronization Apply options enabled If you are planning on syn

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