ASTA motion capture: Difference between revisions

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== Description ==
[[File:Optitrack.png|600px]]


[[File:Optitrack.png|600px]]
== Specs ==
 
* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]


== Usage ==
== Usage ==
=== Power on ===
* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.
[[File:ASTA Reflectors.jpg|400px]]
* Find the motion capture computer located in the central shed, and turn it on by pressing on the "cooling master" logo.
[[File:ASTA_Optitrack_Computer.jpg|400px]]
* Plugin the green plug to power on the two network switch and the 16 cameras.
=== Calibration ===
* Start the Motive software.


=== ROS client ===
=== ROS client ===

Revision as of 23:55, 30 January 2021

Specs

  • Covered area: 16 m x 12 m
  • Accuracy: < 5 mm
  • Number of cameras: 16
  • Camera type: Prime 17W

Usage

Power on

  • Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

  • Find the motion capture computer located in the central shed, and turn it on by pressing on the "cooling master" logo.

  • Plugin the green plug to power on the two network switch and the 16 cameras.

Calibration

  • Start the Motive software.

ROS client

In case the system needs to be reassembled

Mount cameras on joints and joints on clamps

Make sure that the camera is not upside-down.

Prepare 16 safety ropes to prevent accidental camera drops

  1. Cut to 1 m length
  2. Use a lighter at both ends
  3. prepare 8-knots as in rock climbing

Mount cameras on truss and wire them with the two switches

Mount the 16 cameras in the corners and at each 1/4 of the edges. Use the safety ropes, and wire them to the two switches as below.

Orient cameras and adjust focus

Once the setup is up-and-running, adjust the focus of each camera using a marker at 2/3 of the working distance. Use a remote desktop app and ethernet connection.

  • In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

  • At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

  • At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

  • At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

  • At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.