Vicon Tracker Guide

Vicon Tracker Guide
Vicon Tracker Guide
Contents
Introducing Vicon Tracker ............................................................................................................................4
Tracker license options .............................................................................................................................4
Tracker version information.....................................................................................................................4
About the Tracker Guide .......................................................................................................................... 5
Preparing the capture environment....................................................................................................... 5
Example of the effect of camera position on system accuracy .................................................. 5
Minimizing system inaccuracy............................................................................................................6
Motion capture with Tracker ................................................................................................................... 7
Tracker components ............................................................................................................................. 7
Components of a Vicon system architecture ..................................................................................8
Connecting cameras ............................................................................................................................. 9
Vicon file types used in Tracker ....................................................................................................... 10
Setting properties in Tracker................................................................................................................. 10
About the Tracker user interface ............................................................................................................. 14
Customizing the Tracker user interface.............................................................................................. 15
Using the mouse and keyboard............................................................................................................. 16
Controlling Tracker's appearance and behavior ........................................................................... 16
Moving the camera viewpoint .......................................................................................................... 16
Viewing the X- and Y-Axis .................................................................................................................. 16
About the Resources pane ......................................................................................................................... 18
About the System tab ............................................................................................................................. 22
Reorder Devices dialog box ............................................................................................................... 23
About the Local Vicon System node .............................................................................................. 24
About the Vicon Cameras node ....................................................................................................... 28
© Copyright 2013 Vicon Motion Systems Limited. All rights reserved.
Vicon Tracker Guide March 2013. For use with Vicon Tracker 2.0 and later.
Vicon Motion Systems Limited reserves the right to make changes to information in this document
without notice. Companies, names, and data used in examples are fictitious unless otherwise noted. No
part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by
any means, electronic or mechanical, by photocopying or recording, or otherwise without the prior
written permission of Vicon Motion Systems Limited.
Vicon® is a registered trademark of OMG plc. Vicon Tracker™, Vicon Active Wand™, Vicon Apex™, Bonita™,
Vicon MX™, and Vicon MX T-Series™ are trademarks of OMG plc. Other product and company names
herein may be the trademarks of their respective owners. Vicon Motion Systems is an OMG plc company.
Email: support@vicon.com. Web: www.vicon.com.
Tracker
Guide
About MX connectivity units ................................................................................................................. 37
Setting up MX Giganet units ............................................................................................................. 37
About MX Ultranet units ................................................................................................................... 40
About the Other Devices node ............................................................................................................. 43
Setting up analog devices ................................................................................................................ 43
About eye tracking ............................................................................................................................. 44
Calibrating and integrating eye tracking....................................................................................... 44
About Vicon Apex devices .................................................................................................................47
Setting up Vicon Apex devices ........................................................................................................ 48
Using multiple Vicon Apex devices................................................................................................. 49
About the Calibrate tab ......................................................................................................................... 49
Calibrate Vicon cameras ................................................................................................................... 50
Camera calibration parameters ........................................................................................................52
Camera calibration feedback ............................................................................................................53
Setting the volume origin ..................................................................................................................53
Changing the volume origin ............................................................................................................. 55
Managing camera calibrations ........................................................................................................ 55
About the Objects tab ............................................................................................................................ 56
Creating an object ............................................................................................................................... 57
Loading an existing object ............................................................................................................... 58
Snapping the rotation or position of an object to a marker...................................................... 59
Snapping a midpoint between markers ......................................................................................... 60
Adding and detaching markers......................................................................................................... 61
Managing objects ............................................................................................................................... 62
Snapping an object to the global coordinate system ................................................................. 62
Positioning an object in the global coordinate system .............................................................. 63
Reorder Markers dialog box ............................................................................................................. 63
Working with object properties ....................................................................................................... 64
Changing marker color ...................................................................................................................... 64
About the Recording tab ....................................................................................................................... 65
Recording live trials.............................................................................................................................67
Playing back recorded trials ............................................................................................................. 68
About the Communications pane ............................................................................................................ 69
Working with the Communications pane ........................................................................................... 69
Monitoring system activity ................................................................................................................... 70
About the View pane ................................................................................................................................... 71
About the 3D Perspective view pane...................................................................................................74
Viewing data in 3D Perspective view ..............................................................................................74
About the 3D Orthogonal view pane.................................................................................................... 75
Viewing data in 3D Orthogonal view ...............................................................................................76
About the Camera view pane ................................................................................................................ 77
Viewing optical data in Camera view ..............................................................................................78
Creating camera masks automatically ............................................................................................ 79
Creating camera masks manually.................................................................................................... 80
About Graph view pane.......................................................................................................................... 82
Viewing data in Graph view .............................................................................................................. 86
About the menu bar .................................................................................................................................... 88
2
March 2013
Tracker 2.0
Tracker
Guide
About the Options dialog box ................................................................................................................... 89
Working with VRPN..................................................................................................................................... 90
Using VRPN within Virtools .................................................................................................................. 90
Contacting Vicon.......................................................................................................................................... 91
Vicon Support resources ........................................................................................................................ 91
Telephone support .............................................................................................................................. 91
Email support....................................................................................................................................... 92
Vicon website support ....................................................................................................................... 92
Vicon online support .......................................................................................................................... 92
Vicon error reporting ......................................................................................................................... 93
Regulatory information .............................................................................................................................. 95
ISO Certification ...................................................................................................................................... 95
Certificate Schedule .......................................................................................................................... 95
ISO 9001: 2008 Certificate of Approval........................................................................................ 96
CE Declaration of Conformity ...........................................................................................................97
Glossary ......................................................................................................................................................... 98
Index ............................................................................................................................................................. 110
Tracker 2.0
March 2013
3
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Introducing Vicon Tracker
Vicon Tracker is a motion tracking software application that is easy to learn and use. It has
been designed specifically for engineering requirements, and its workflows are based on an
analysis of the needs of typical engineering users. Tracker makes it easy to perform daily
routine tasks while, at the same time, offering the customization and flexibility necessary to fit
the situation of particular users.
Tracker license options
Important: Some of the Tracker functionality described in this document is available only
if you have licensed the relevant options. To change your licensing options, contact
Vicon Support (see Contacting Vicon on page 91).
To check your currently licensed Tracker options:
1.
From the Help menu, click About Vicon Tracker.
2. In the window, click the License Info button.
After a few seconds, the currently licensed options are listed in the Listed features dialog
box.
3. When you have checked the options available, click Close.
Tracker version information
To check the version number of Tracker, from the menu bar, select Help > About Vicon
Tracker. This information may be requested if you contact Vicon Support with questions about
Vicon Tracker.
4
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the Tracker Guide
The Vicon Tracker Guide provides product information, user assistance, and operational
expertise to help you capture and analyze motion data. It will help you confirm your basic
understanding of any steps; investigate a process, step, or option in more detail; try more
advanced features; or pick up best practice tips.
Preparing the capture environment
Before you begin connecting up and using your Vicon system, to ensure its precision and
accuracy:
❙ Choose an optimal measurement volume for a given experiment
❙ Place cameras to achieve uniform precision in all directions
❙ Consider the mechanical stability of the cameras and their mountings.
As the resolution of Vicon cameras has increased, mechanical stability has become increasingly
important, because a very small shift in position can have an impact on system measurements,
as shown in the following example.
Example of the effect of camera position on system accuracy
A Vicon T160 camera with a standard 18mm lens has a horizontal field-of-view of 54°. Each
pixel subtends an angle of 0.0115° or 200 micro-radians.
In other words, a change of 200 micro-radians in the angular position of the camera and its
sensor represents a one pixel shift in the system’s measurements. This shift is equivalent to
about a quarter of the diameter of a 12mm marker at a range of 16m.
Note: This is a 2D shift. All 3D measurements are estimated from the intersection of
several 2D rays, so the resulting 3D shift may be smaller.
For further tips, see Minimizing system inaccuracy on page 6.
Tracker 2.0
March 2013
5
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Minimizing system inaccuracy
The most common causes of inaccuracy are:
❙ Mounting creep
❙ Vibration
❙ Temperature
Mounting creep
Scenario: Cameras are often clamped onto a framework that allows their position and
orientation to be easily adjusted. The framework is commonly cylindrical tube and the clamps
depend on friction.
Problem: If a camera is cantilevered so that its weight may rotate the clamp, the amount of
slippage or creep at the clamp/frame junction needed to introduce 200 micro-radians of
angular change is tiny: about 5 microns or about 1/50th of the diameter of a human hair. This
slippage is far too small to be seen.
Solution: Mount cameras so that their weight does not rotate their mounting point either by
bending the mounting frame or by causing a clamp to slip or creep.
Vibration
Scenario: Many buildings are of steel-frame construction. A steel framework can transmit
vibrations caused passing footsteps, elevators, and passing vehicles. Most building vibrations
are locally translational and, while undesirable, have little direct effect on camera rotation.
Problem: If a camera is mounted on a bracket or cantilever, building vibration combined with
the cantilevered mass of the camera can cause a rotational oscillation of the camera mount.
Solution: Ensure that camera mounting brackets, and the structure to which they are attached,
are extremely stiff and cannot wobble if there is any vibration in the building frame. This
applies whether the camera mounting is vertical or horizontal.
Temperature
Scenario: Thermal expansion and contraction in large structures such as a building can be very
large but the temperature changes that drive them tend to be relatively slow compared with
the duration of a Vicon calibration/trial cycle.
Problem: One part of the system that changes temperature much more quickly is the camera
itself. The inside of a Vicon camera reaches a steady temperature of around 50° Celsius. While
the camera is warming up from the ambient temperature of its surroundings, its internal
components inevitably change dimension. However, when the components reach operating
temperature, their dimensions remain stable.
Vicon measures the effects of warm-up and ambient temperature changes on all its cameras.
All current camera models reach their steady operating temperature in approximately 30
minutes. This time is relatively independent of ambient temperature over the normal operating
range of 0°–30°C. During warm-up, the equivalent positional change varies between 0.25 pixel
for lower resolution cameras to approximately 1 pixel for the T160.
Solution: Allow Vicon cameras to warm up for at least 30 minutes before calibration and
measurement.
6
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Motion capture with Tracker
To get started with Tracker, you set up your Vicon system and then prepare the objects for
motion tracking.
The user interface guides you through the various tasks. When you are familiar with the basics,
you can customize Tracker to look and behave the way you want it to.
Tracker components
Tracker is part of the fully integrated and expandable Vicon system that lets you build an
architecture best suited to your motion capture application.
T-Series diagram
Bonita diagram
In these architecture diagrams, Tracker is installed on the host PC.
Tracker 2.0
March 2013
7
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Components of a Vicon system architecture
You can include the following components in a Vicon system architecture:
Component
Description
Bonita cameras
Bonita Optical cameras can be used with Tracker, but cannot be
used simultaneously with MX cameras.
MX cameras
The following series of MX cameras can be used with Tracker:
❙ MX T-Series cameras: T160, T40-S, T20-S, T10-S, and T10
❙ MX F-Series cameras: MX-F40 (F40) and MX-F20 (F20)
❙ MX+ cameras: MX3+
Important: The Tracker documentation refers to MX
cameras. Unless otherwise noted, references to MX cameras
also apply to T-Series, F-Series, and MX+ cameras.
For additional information, see Connecting cameras on page 9.
MX connectivity units
Smart boxes that can be combined to create a distributed
architecture, enabling you to customize the number of Vicon
cameras:
❙ MX Giganet: Link between T-Series cameras and the host PC,
with a 5-port Ethernet switch for connection to the host PC,
other client PCs.
❙ MX Ultranet HD: Link between Vicon cameras and the host PC
in earlier Vicon MX F-Series systems.
❙ The T-Series, F-Series, and MX+ hardware units are RoHScompliant.
For additional information, see About MX connectivity units on
page 37.
Host PC
The main PC in the Vicon system architecture, with at least one
dedicated Ethernet port to enable Vicon system communications
(in addition to any other network ports on the PC). Vicon Tracker
application software is installed on this host PC. Remote PCs may
be used for other Vicon application software or third-party
applications connected to the host PC via Ethernet.
MX cables
The proprietary MX Gigacable plus a commercially available
Ethernet cable connect the Vicon MX T-Series system
components, providing a combination of power, Ethernet
communication, synchronization signals, video signals, and data.
Other cables are required for earlier MX F-Series, MX+, and MX
systems. For details on these cables, see the MX Hardware
System Reference book that came with your original MX system.
Vicon Apex
Hand-held tracking device that enables you to interact with virtual
objects in a 3D environment.
For more information, see About Vicon Apex devices on page 47.
8
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Component
Description
Vicon calibration device
Specialized device used to accurately calibrate the Vicon system.
Vicon accessories
Supplies for the Vicon system, which includes markers, tape, and
Velcro.
Vicon engineering
software
Vicon Tracker software, DataStream SDK and Vicon Virtual System.
Additional analog
devices
Depending on your licensing options, your Vicon system may also
include one or more additional devices, such as LVDTs,
accelerometers, and load cells.
For more information, see Setting up analog devices on page 43.
For further details on these components, see the Get Going and Go Further with Vicon MX TSeries reference books or the Vicon Bonita Quick Start Guide.
Connecting cameras
To connect cameras into your Vicon system, you must specify the correct IP address for the
network card that is connected to the PoE switch or Giganet.
To connect the cameras:
1.
Connect the PoE switch or Giganet to the PC.
2. Access the Windows network connections:
❙ Open the Control Panel, then click Network and Internet and on the right side of the
panel, under Network and Sharing Center, click View Network Status and Tasks; or
❙ Click the Network and Sharing Center icon on the right of the Windows toolbar and then
click Open Network and Sharing Center.
3. Right-click on the network card connected to PoE or Giganet and then click Properties.
4. In the Properties window, select TCP/IP.
5. Click the Properties button.
6. In the Properties window, click the Use the Following IP Address radio button.
7.
Enter the following IP Address – 192.168.10.1.
8. Enter the following Subnet Mask – 255.255.254.0.
9. Click OK.
Tracker 2.0
March 2013
9
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Vicon file types used in Tracker
During the motion capture workflow, you create and edit a number of configuration files, Vicon
Tracker generates a number of data files, and you can import files from and export files to other
Vicon applications or supported third-party software.
You create and edit the following Vicon configuration file types during motion capture and
analysis:
File type
Saved using configuration Description
controls in
.options
Options dialog box
Data view options
.system
Resources pane, System
tab
System settings
.ViewType
View pane
View options and layouts
.vsk
Resources pane, Objects
tab
Vicon skeleton file
.xcp
Resources pane, Calibrate Calibration parameters file. You can create, reset,
tab
and load an .xcp file but the .xcp file cannot be
edited. You can export an .xcp created in Tracker
to other Vicon application software and
supported third-party software.
Setting properties in Tracker
You can configure the way certain areas of Tracker look and behave by configuring settings in
the Properties pane. The properties you can configure depend on what is selected in the
Resources pane or the Options dialog box.
Some properties settings are automatically saved, so Tracker remembers them in subsequent
sessions. You must explicitly save other settings using the configuration management controls
for the relevant area of the Tracker window.
To configure Properties settings:
1.
10
In the Tracker window, click on the relevant tab or open the dialog box containing the
properties you want to configure:
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
❙ For system components, in the Resources pane, click the System tab
❙ For motion capture objects, in the Resources pane, click the Objects tab
Tracker 2.0
March 2013
11
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
❙ For view options, press F7 to open the Options dialog box
2. In the Properties pane, click the Show Advanced link to view all of the available properties.
3. Click the Hide Advanced link to show just the basic properties.
4. In the Properties pane, view or change the setting for the required property using its entry
field or control:
❙ Select or clear a check box to switch the property on or off.
❙ Click the current color in the entry field to display the Select color dialog box. In the Basic
colors area, click the square for the required color, or in the Custom colors area, define a
new color.
❙ Click the drop-down arrow and select an entry from the list.
❙ Move the slider to the left to decrease the value or to the right to increase the value
displayed in the entry field.
❙ Overtype the existing value.
12
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
5. If you are working in the following areas of the Tracker window, save your settings to the
appropriate configuration file using the configuration management controls:
❙ System tab
❙ View pane
❙ Options dialog box
Tracker 2.0
March 2013
13
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the Tracker user interface
The Tracker user interface is laid out so you can locate buttons, menus, and controls where you
expect to find them.
Component
Description
Resources
pane
Manage the different components of your Vicon system architecture and the
objects whose motion is to be captured.
View pane
Set up the way you want to visualize the capture data from one or more
cameras.
Communications View log information.
pane
Menu bar
14
Exit Tracker, undo/redo, open close panels, view help, software version, and
licensing information.
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
In the Resources pane and view pane, you use the tabs and buttons to access the tools and
options for a specific workflow.
Customizing the Tracker user interface
You can customize the appearance of the Tracker window to suit your preferences, using any
of the following procedures. The Tracker window maintains these settings until you adjust
them again.
To undock Resources or Communications panes:

Click the Dock Pane
button on the right side of the pane title bar.
To dock Resources or Communication panes:

Double-click the pane title bar. The pane is docked in its last fixed position.
To change the position of the Resources or Communications panes:
1.
Click and hold the pane title bar and drag the pane to the desired location in the Tracker
window.
2. Drop the pane anywhere in the window to change it into a floating pane.
To resize the Resources or Communications panes:
1.
Hover the mouse pointer over the inside edge of the pane or the top edge of a section so
that the pointer becomes a double-headed arrow and drag to resize as needed.
2. Click and drag the arrow to move the split line left or right to resize the pane width, or up
and down to resize the section height.
To hide or display the Resources or Communications panes:
1.
Click the Close Pane
button on the right side of the pane title bar.
2. From the Window menu, clear the required option to hide the Resources or
Communications pane and select the appropriate option to display the required pane.
To hide or display sections within the Resources panes:

Click the Hide Section
heading.
arrow or the Display Section
arrow to the right of the section
Tip: The view pane cannot be undocked or repositioned in the Tracker window. You can
open a separate floating view pane by selecting the New floating workspace option from
the Window menu. This floating workspace can be repositioned and resized.
Tracker 2.0
March 2013
15
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Using the mouse and keyboard
You control Tracker using the mouse and keyboard.
Controlling Tracker's appearance and behavior
Use the following keys to control the way Tracker looks and behaves.
Task
Keys
Display the Vicon Tracker help system
F1
Display full screen view for the selected view pane
F5
Display/Close Options dialog box
F7
Pause/Restart real-time data streaming
SPACE
Moving the camera viewpoint
Use the mouse to move the camera viewpoint in 3D Perspective, 3D Orthogonal, and Camera
view panes.
Action
Description
Mouse
Dolly/Zoom
Move camera viewpoint closer to or Right-click + drag forward or
further away from the focal point
backward
Orbit
Move camera viewpoint around the Left-click + drag left, right,
focal point
forward, or backward
Truck/Translate
Move camera viewpoint along a
horizontal or vertical axes
Click wheel button + drag left,
right, forward, or backward
Viewing the X- and Y-Axis
Use the mouse to view the x- and y-axis in a Graph view pane.
Graph Data
Keys and Mouse
Slide x-axis left
Click wheel button + drag left
Slide x-axis right
Click wheel button + drag right
Slide y-axis up
Click wheel button + drag forward
Slide y-axis down
Click wheel button + drag backward
Zoom x-axis in
Right-click + drag left
Zoom x-axis out
Right-click + drag right
Zoom y-axis in
Right-click + drag backward
Zoom y-axis out
Right-click + drag forward
16
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Zooming an axis (x or y)
All graph components in a single workspace maintain the same scale for both the x-and y-axes.
The x-axis is shared across all components, but each component has its own y-axis. The y-axis
may show different ranges, but represent the same number of values.
On the x-axis, the workspace is centered around zero, keeping the zero on the right edge of the
workspace and changing the values displayed on the left.
Tracker 2.0
March 2013
17
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the Resources pane
You manage the system components, calibration, objects, and recordings/playback of your
Tracker system in the Resources pane.
After you have prepared your Vicon system and selected the objects for motion capture in the
Resources pane, you use the view pane to view the data.
18
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
The Resources pane contains the following components:
Component
Description
System tab
Configure the components of your Vicon system.
Tracker 2.0
March 2013
19
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Component
Description
Calibrate tab
Calibrate your Vicon cameras.
20
Menu
bar
March 2013
Options
dialog
VRPN
Contact
Regulatory
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Component
Description
Objects tab
Manage object files for the objects whose motion data you want to track.
Recording tab
Save and play back recordings of trial data.
Tracker 2.0
March 2013
21
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Component
Description
Resources lists
Select the nodes and any sub-nodes to be configured in the resources lists.
The components of this section depend on whether you are using the
System, Calibrate, Objects, or Recording tabs.
Properties
pane
You view and change settings for the item selected in the resources list in
the Properties pane. The contents of this pane depend on the node selected
in the resources list.
About the System tab
You manage the components of your Vicon system in the System tab in the Resources pane.
The System tab may contain the following components:
Component
Description
System
configuration
management
You create, save, and manage configurations for the settings in the System
resources pane using the configuration management controls at the top of
the pane.
System list
You select the node for the system component you want to configure in the
System list:
22
Local Vicon
System
The Vicon system capture rate and the Tracker memory
buffer size; real-time processing settings; and the
identification and connection settings for the Tracker host
PC.
Vicon
Cameras
The identification and configuration settings for each Vicon
camera connected to your Vicon system.
MX
Connectivity
The identification and configuration settings for each MX
Giganet, MX Ultranet, and MX Ultranet HD unit attached to
your Vicon Tracker system.
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Tip: You can perform commands specific to a type of system component node or subnode by right-clicking on a node in the System list and selecting a command from the
displayed context menu.
You view or modify system components in the Properties pane. The properties displayed
depend upon the node selected in the System list.
Reorder Devices dialog box
To use the Reorder Devices dialog box to change the order in which Vicon devices are
displayed on the System tab in the Resources pane, right-click the Vicon Cameras node or
Other Devices node and then click Reorder.
In the Reorder Devices dialog box, choose from the following options:
Option
Description
Move Up
Moves the selected item up one position in the list
Move Down
Moves the selected item down one position in the list
Sort
Sorts the list of devices according to name and type. Remembered devices
are at the bottom of the list.
Clean
Removes the entries for the devices that are not used or referred to
(Remembered devices) in the current session.
Revert
Undoes all the changes you have made in this dialog box since you last
clicked OK.
Tracker 2.0
March 2013
23
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the Local Vicon System node
The Local Vicon System node enables you to configure the Vicon system capture rate and the
amount of memory allocated to Tracker for motion capture, manage the way Tracker is to
produce real-time 3D representations of the objects whose motion is being captured, and
specify the identification and connection settings for the Tracker host PC.
The Local Vicon System node is the top-level node that is displayed for the Tracker host PC.
This node contains sub-nodes for each device connected to your Vicon system under the
following nodes:
❙ Vicon Cameras
❙ MX Connectivity
❙ Other Devices
The node for the device designated as the MX system synchronization master is highlighted in
bold on the System tab in the Resources pane.
To configure the Local Vicon System:
1.
On the System tab, click the Local Vicon System node.
2. In the Properties pane, view or change settings for the desired properties to suit the needs
of your motion capture application.
When you first set up your Vicon system, you must configure at least the Requested Frame
Rate (Hz) property.
3. In the configuration management section, enter a name and click the Save current
configuration button
24
to save your system configuration settings.
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
MX System section
When you click the Local Vicon System node in the System Resources pane, you can access
the following system-wide settings in the MX System section of the Properties pane. These
settings affect all the connected cameras and devices:
Setting
Description
Genlock
Standard
The type of video standard supported by the connected video source: None,
PAL, NTSC, or Film.
Requested
Frame Rate
(Hz)
The rate (in Hertz) at which to synchronize the MX cameras and the external
video signal. Select from displayed values (multiples of the base frame rate of
the PAL, NTSC, or Film video standard specified in Standard) up to a
maximum of 2,000. The configured MX system capture rate is displayed in
square brackets beside the node. For example, if the MX system frame rate is
set to 100 Hz, the node title is displayed as Local Vicon System [100Hz].
Master Select
If multiple connectivity devices are present in the system, enables you to
select your preferred master connectivity device.
Buffer Size
(MB)
The size (in MB) of the memory buffer on the host PC when Tracker is
receiving data from MX hardware. Specify a value between 0-256. This buffer
is used if data comes in faster than Tracker can process it. The optimum size
of this parameter depends on the amount of memory on your PC.
MX Buffer
Reserve
The proportion of the total buffer size (see Buffer Size above) that is
reserved for Vicon video devices. The default of 0.5 results in half of the total
buffer size being reserved for Vicon video devices (MX and Bonita cameras).
The remaining buffer space is used by third-party video cameras. If you want
to maximize the buffer space reserved for Vicon MX or Bonita video cameras,
set this value to 1.0. If you are using only Basler cameras or third-party DV
cameras, set this value to 0.
Reboot All
Resets all of the MX hardware devices in the MX system. Use this button if a
camera has failed to boot, or if you need to reset the whole system for other
reasons. Alternatively, select the Reboot MX Hardware command from the
context menu.
Tracker 2.0
March 2013
25
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Core Processor section
The Core Processor receives data from the Vicon cameras and transforms the data to the
trajectories or segments that your MX system is tracking.
When you click on the Local Vicon System node on the System tab in the Resources pane, the
following settings are available in the Core Processor section of the Properties pane.
Setting
Description
Marker
Movement
Speed
The speed of marker movement specified as a value in the range 0-10, where
0 is almost stationary (such as turtle movements), and 10 is very fast (such as
a golf swing). This setting affects the Core Processor's ability to create
continuous trajectories. If you use the fastest setting, you can expect
continuous trajectories even for very fast moving markers, but if two markers
are close to each other there is an increased chance of a crossover (where
the 3D trajectory changes from one marker to the other). The default value
should be sufficient for typical captures where markers move at around 1-3
m/s. Increase the value for high speed movements such as a golf swing;
decrease it when markers are in close proximity but do not move very much.
Minimum
Cameras per
Marker
The minimum number of Vicon cameras, specified as a value in the range 210, that must contribute to a 3D marker position before it can be
reconstructed and its trajectory tracked.
Ray Intersection The factor, specified as a value in the range 0-10, by which the
Factor
reconstruction algorithm will be able to form a single reconstruction from
rays from different cameras. The higher the value, the more distance is
allowed between two rays that contribute to the reconstruction.
Minimum Recon The minimum distance, specified as a value in the range 0-100 millimeters,
Separation
allowed between 3D marker positions for them to be considered for
(mm)
reconstruction. If two candidate reconstructions are closer than this minimum
separation, only the most likely reconstruction (in terms of the number of
cameras contributing) is reported. The other is discarded. A higher value
decreases the likelihood of creating spurious reconstructions, but increases
the possibility that some genuine markers will not be reconstructed.
Filter On/Off
Enables or disables the smoothing feature. The filter smooths data in real
time, which affects rotation and position data of objects. This parameter
uses a weighted average algorithm.
Filter Window
Size
Adjusts the size of the filter window when using the smoothing feature. To
increase the amount of smoothing, increase the filter window size. An
appropriate value is between 3 and 10; however, this value is dependent on
the frame rate at which the system is running, the type of motion the object
is undergoing, and the quality of the system calibration.
26
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Setting
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Description
Note: Longer filter windows will increase the perceived latency of the
system with current data being averaged with previous data.
Motion Model
Enabled
The ability to detect static objects. When enabled, Tracker outputs a
constant position and orientation for an object from the time it is detected
as not moving to the time it resumes motion.
System Identification section
When you click Local Vicon System on the System tab in the Resources pane, you can view the
following setting in the Identification section of the Properties pane:
Setting
Description
Unique Name
The Windows computer name of the Tracker host PC.
Local Vicon System context menu
When you right-click on the Local Vicon System node on the System tab in the Resources pane,
you can select the following options from the context menu:
Option
Description
Reboot MX
Hardware
Resets all of the MX hardware devices in the MX system. Use this command
if a camera has failed to boot, or if you need to reset the whole system for
other reasons.
Tip: Alternatively, use the Reboot All button in the MX System section
of the Properties pane.
Reboot Core
Processor
Restarts the Core Processor and resets the labeler.
Resynchronize
Forces the MX system synchronization master to resynchronize the frame
rate for all connected cameras and third-party devices.
Reprogram MX
Firmware
Displays the Reprogram MX Firmware dialog box, in which you can view and
update firmware for certain MX devices present in your Vicon MX
architecture.
Tracker 2.0
Tip: Alternatively, press CTRL + R.
March 2013
27
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the Vicon Cameras node
You manage the identification and configuration settings for each Vicon camera connected to
your Vicon system with the Vicon Cameras node.
Configuring Vicon cameras ensures that all the camera settings are correct and appropriate for
your motion capture application. You can configure the settings for an individual camera,
several cameras, or all cameras at once.
This node is displayed under the Local Vicon System node. The Vicon Cameras node lists each
Vicon camera connected to your system. For each camera, the node name includes:
❙ The device position number
❙ Any display name specified in the Identification property
❙ The camera type listed in parentheses, for example, #1 Over Door (T160)
28
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
To configure Vicon cameras for optical data capture:
1.
From the view pane tool bar, select Camera. The 2D data being captured by each Vicon
camera selected in the System list in the Resources pane is shown in a separate Camera
view pane.
2. View your capture volume in either of the following ways:
❙ In the Options dialog box, under the General View Options section, select the Target
Volume option. In the Camera view pane tool bar, from the View drop-down list, select 3D
Overlay. A virtual representation of your target volume is overlaid on the 2D data from the
camera image.
❙ In the capture volume, place a selection of static markers on the floor to roughly outline
your target capture volume.
3. In the System list in the Resources pane, select the Vicon Cameras node whose properties
you want to configure.
4. In the Properties pane, view or change settings for the relevant properties.
When you first set up your Vicon system, you must configure at least the following
properties in the order shown:
Section
Property
Notes
Identification
Name
Only needed if you want to distinguish it from the others
Settings
Strobe
Intensity
and
Threshold
If adjusting these two settings does not easily enable
you to eliminate reflections, create camera masks to
eliminate reflections and other unwanted light sources
that occur in parts of the capture volume.
Gain
Normally, leave at the default x1 setting, but if the
markers seem faint or if the cameras have trouble
distinguishing them, adjust this setting as required.
Grayscale
Mode
Normally, leave at the default Auto setting. However,
during focusing, it can be helpful to change to All, then
change it back to Auto as soon as the camera is focused.
Important: These properties affect the quality of the motion capture data. Therefore,
it is important to optimize them before you collect data intended for later analysis. In
subsequent sessions, you may want to configure additional properties to suit the
needs of your motion capture application.
5. When you have finished adjusting the Vicon Camera properties, in the Settings area, ensure
that Grayscale Mode is set to Auto.
6. At the top of the System tab, click the Save current configuration button
to save your
system configuration settings to a .system file in one of the following folders:
❙ If you select Shared the file will be saved in C:\ProgramData\Vicon\Tracker\
❙ If you select Private it will be saved in
C:\Users\User Name\AppData\Roaming\Vicon\Tracker\
Tracker 2.0
March 2013
29
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Camera Identification section
When you click on a Vicon Cameras node or an individual camera node on the System tab in
the Resources pane, the following controls are available in the Identification section of the
Properties pane:
Control
Description
Name
A user-defined display name for the entire set of Vicon cameras or for each
individual Vicon camera. For example, if a camera is placed over a door, you
could name it Over Door.
Device ID
The unique identification number Vicon assigns to each Vicon camera during
manufacture. The top-level entry for all Vicon cameras is read-only.
Camera Settings section
When you click on a Vicon Cameras node or an individual camera node on the System tab in
the Resources pane, the following controls are available in the Settings section of the
Properties pane:
Control
Description
Strobe
Intensity
The amount of light emitted by camera strobe units. This value can be set
between 0-1 to minimize reflections and obtain clear marker images. The
higher the setting, the brighter the markers appear, but this may cause blobs
to be produced from reflections from other strobes. Lower settings make the
markers themselves less visible to the cameras.
You will almost always want to keep the intensity at its maximum level
because the system works by recording light from the strobes that is
reflected from the markers, thus the more light the strobes send out, the
more light the markers reflect.
However, if you are capturing a very fast moving object you may achieve
better results by reducing the strobe intensity. The strobe intensity affects
the time the strobe is on for each camera frame. The full strobe intensity
corresponds to 1ms (0.5ms with Bonita) for normal frame rates. Lower strobe
intensities mean that the markers are captured with the strobes on for less
time and, therefore, have less time to move during the frame.
30
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Control
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Description
Tip: It is advisable to use full strobe intensity and deal with reflection
problems by closing the camera lens aperture. Adjust this setting and
the Threshold setting until reflections are minimized or gone.
Threshold
The minimum brightness (intensity) for markers; pixels of an intensity lower
than this threshold are ignored. This value can be set between 0-1 to
determine the pixels to be considered for centroid fitting onboard the Vicon
cameras. Lower settings enable the camera to detect lower light levels, thus
making the markers appear larger, but may pick up unwanted reflections and
other light sources. Higher settings reduce the noise, but make the markers
themselves less visible.
This setting differentiates between markers and ambient light. A Vicon
camera records 10-bit grayscale data, which for each sensor pixel is a
measure of how much light fell on that pixel during a given amount of time.
However, the cameras will almost always pick up some ambient light in the
volume. To enable the cameras to distinguish between light that comes from
markers and light that does not, a threshold is applied. Anything above this
threshold is deemed to be a marker, anything below is deemed to be ambient
light. A value in the region of 0.2 to 0.5 is usually appropriate, but Vicon
strongly recommends that you use static markers in the volume in order to
establish an appropriate setting. If cameras are evenly spaced around the
volume, the same threshold value is usually sufficient for all cameras.
Adjust this setting, the Strobe Intensity, and the camera's aperture until
reflections are minimized or gone.
Gain
The amplification of the pixel value. Select a displayed value to determine the
intensity of the grayscale from the Vicon cameras: x1, x2, x4, or x8. (Note that
the available values are those supported by the camera.)
This setting is applied to the camera to change the dynamic range of the
recorded image. Increasing the Gain means that the marker has less variation
in grayscale intensity between its center and its edge, but in certain
circumstances, using a higher gain yields markers that are easier for the
camera to distinguish.
If the markers appear too faint or if the cameras have trouble distinguishing
them, adjust the Gain; otherwise, leave this property at the default x1 setting.
Grayscale
Mode
The type of data for processed grayscale blobs that the Vicon cameras send
to Vicon Tracker. The Vicon cameras process data to create 2D data for Vicon
markers. They generate grayscale blobs for reflections from objects in the
capture volume and then use centroid-fitting algorithms to determine which
of these are likely to be markers by comparing the shape of the grayscale
blobs to the Minimum Circularity Ratio and Maximum Blob Height settings.
During this processing, Vicon cameras can produce the following types of
data for grayscale blobs: centroid data (x, y coordinates and the radius of the
centroid calculated), grayscale data (pixel and line information), or
coordinate data (line information, that is, grayscale data without pixel
values). However, Bonita cameras do not perform centroid fitting.
You can specify which type of processed data Vicon cameras send to Tracker:
Tracker 2.0
March 2013
31
Tracker
Guide
About
Tracker
Control
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Description
Auto
Send grayscale data only of the grayscale blobs for which
centroids were not generated, that is, those below the threshold
specified for Minimum Circularity Ratio.
Send coordinates data of grayscale blobs for which one or more
line segments, or the total number of lines in the blob, exceeds the
value set for Maximum Blob Height.
If a marker can be centroid fitted by the Vicon camera, the
centroid is passed to the capture PC. If it cannot, the full grayscale
of the image is sent, allowing the data to be post-processed on the
PC. This is the default and recommended mode.
None
Send no grayscale or coordinates data; send only centroid data.
Any grayscale image that cannot be centroid fitted by the camera
will be discarded. Select this mode if you are capturing a large
number of markers and have redundancy in your capture setup
(i.e. the same marker is seen by more than the number of cameras
specified in Minimum Cameras per Marker in the Core Processor
section of the Properties for Local Vicon System.
All
Send grayscale data both of grayscale blobs for which centroids
were generated and of those for which centroids were not
generated, that is those below the threshold specified for
Minimum Circularity Ratio.
Send coordinates data of grayscale blobs for which one or more
line segments, or the total number of lines in the blob, exceeds the
value set for Maximum Blob Height.
Select this setting if you need to see exactly where the camera
calculates the centroid with respect to the grayscale marker
image, for example when adjusting parameters. This setting
results in much larger data rates and files; it may be useful for
diagnostic purposes, but do not use it in normal capture
situations.
Only
Send all grayscale and coordinates data; send no centroid data.
This setting is useful when focusing or making other adjustments
to the cameras themselves as you see exactly the image recorded
on the sensor.
Edges
Send only edge coordinates data; send no centroid or grayscale
data.
If data rates are very high, for example when there are too many
reflections, the camera automatically enters this mode. Use this
setting to manually force the camera into this mode.
No
Edges
Send grayscale data both of grayscale blobs for which centroids
were generated and of those for which centroids were not
generated; send no coordinates data.
Use this setting to prevent the Vicon camera from sending edge
coordinates.
32
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Control
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Description
Caution: Even if you have not specified a Grayscale Mode
setting that would have coordinates data sent to Tracker, a
Vicon camera automatically sends coordinates data – either
temporarily or permanently – if it is overloaded with data
(e.g., too many markers, too many reflections, hand or
reflective objects immediately in front of the camera, too
low a threshold or too high a gain). If a camera
automatically starts to present coordinates data, identify
the source of the overload and attempt to remedy it.
Minimum
Circularity
Ratio
The circularity threshold used by the centroid-fitting algorithms in a Vicon
camera. This value can be set between 0-1 to determine how similar a
grayscale blob must be to the internal model of a marker – that is a radially
symmetric object that has smooth, sharp edges and whose pixel intensity is
brightest at the center and gradually fades towards the edges. The Vicon
cameras consider grayscale blobs with circularity equal to or greater than
this threshold to be well-formed, circular marker images. The higher the
value, the more stringent the centroid fitter is; the lower the value, the less
stringent the centroid fitter is. You may want to apply higher settings for
camera calibration to ensure that Tracker selects the best markers and thus
provides the best possible calibration. A lower value may be appropriate for
data capture.
Maximum Blob
Height
The maximum number of pixels per line that a grayscale blob can contain in a
horizontal line. If the number of pixels exceeds this value, the Vicon camera
determines that the grayscale blob is not a marker, stops processing it, and
discards the pixel values (it preserves just the coordinates data, which can be
sent to Vicon Tracker, depending on the Grayscale Mode setting).
Set this value between 0–77500 to determine how large a grayscale blob can
be for a Vicon camera to consider it a candidate marker. The Vicon cameras
consider grayscale blobs with horizontal lines containing this number or
fewer pixels to be good-sized, circular marker images. The higher the value,
the larger a grayscale blob can be; the lower the value, the smaller a
grayscale blob must be.
Enable LEDs
Tracker 2.0
Whether or not to use the status lights on the lower right of the Vicon
camera strobe unit that provide feedback on the status of the camera (such
as its enabled, connection, or selection state and any processing feedback).
This is useful for motion capture applications in very dark environments (such
as Virtual Reality) where the brightness of these LED status lights can cause
problems. However, Bonita cameras do not have status LEDs.
March 2013
33
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Camera Status section
When you click on a Vicon Cameras node or an individual camera node on the System tab in
the Resources pane, the following controls are available in the Status section of the Properties
pane:
Control
Description
Connected
Whether or not the Vicon camera is currently connected to the Vicon
system.
Enabled
Whether or not the Vicon camera is currently enabled for use.
Sync Master
Whether or not the Vicon camera is designated as the synchronization
master for the MX system. (Not relevant to MX T-Series cameras or MX
devices with an Ultranet HD.)
Contributing
Centroids
Whether or not the Vicon camera is contributing centroid data during the
current motion capture.
Contributing
Grayscale
Whether or not there is a socket open to the Vicon camera capable of
receiving grayscale. This socket may be dropped when the system is under
heavy load, therefore this property is useful as a system status monitor. It is
not related to Grayscale property in Settings.
Contributing
Tracks
Whether or not the Vicon camera is contributing tracks (that is, labeling
centroids between frames) during the current session.
34
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
MX Hardware section
When you click on a Vicon Cameras node or an individual camera node on the System tab in
the Resources pane, the following controls are available in the MX Hardware section of the
Properties pane:
Setting
Description
Type
The type of MX camera (T160, T40 or T20). The MX Cameras node is readonly.
Strobe Type
The type of strobe unit attached to the front of the MX camera: Visible Red
(VR), Near Infrared (NIR), or Infrared (IR). MX T-Series T160, T40, and T20
cameras support only VR and NIR strobe units. Bonita cameras support NIR.
For an MX Cameras node, this setting is read-only.
Sensor Width
The width (in pixels) of the MX camera sensor.
Sensor Height
The height (in pixels) of the MX camera sensor.
MAC Address
The Media Access Control (MAC) address assigned to the MX camera during
manufacture. This is a hexadecimal value in the format ##.##.##.##.##.##.
For an MX Cameras node, this setting is read-only.
IP Address
The Internet Protocol (IP) address assigned to the MX camera on the Vicon
MX Ethernet network.
For an MX Cameras node, this setting is read-only.
MX Firmware section
When you click on a Vicon Cameras node or an individual camera node on the System tab in
the Resources pane, the following controls are available in the MX Firmware section of the
Properties pane:
Control
Description
Firmware
Version
The version number of the MX firmware currently installed on the Vicon
camera.
Firmware
Complete
Whether or not the currently installed MX firmware is complete. If not, you
can reprogram the MX firmware.
Tracker 2.0
March 2013
35
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Camera Commands section
When you click on a Vicon Cameras node or an individual camera node on the System tab in
the Resources pane, the following command is available in the Commands section of the
Properties pane:
Command
Description
Reboot
Stop and restart all cameras or the selected Vicon camera.
Vicon Cameras context menu
When you right-click on the Vicon Cameras node on the System tab, you can select from the
following options on the context menu:
Option
Description
Reorder
Devices
Display the Reorder Devices dialog box. This enables you to change the order
in which Vicon cameras are displayed in the System Resources list.
Reboot All
Cameras
Stop and restart all the Vicon cameras in the system.
Enable Preview
Mode
Displays a ‘video’ image from the optical sensor of an MX T-Series camera.
This enables you to aim cameras more quickly and easily during setup.
Note: This preview feature is for system setup purposes only. You
cannot capture camera data in Preview mode.
When you right-click on a node for a specific Vicon camera, you can select the following option
from the context menu:
Option
Description
Reboot
Stop and restart the selected Vicon camera.
36
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About MX connectivity units
You configure MX connectivity units — smart boxes that can be combined to create a
distributed architecture, enabling you to customize the number of Vicon cameras and
supported third-party devices in your Tracker system — with the MX Connectivity node on the
System tab in the Resources pane.
The MX Connectivity node is displayed under the Local Vicon System node when Vicon Tracker
is connected to the MX system. The MX Connectivity node lists each MX connectivity unit
connected to your MX system.
Depending on the type of Vicon MX system under which you are running Vicon Tracker, your
MX system architecture will contain one or more of the following MX connectivity units:
❙ MX Giganet − the primary connectivity unit in an MX T-Series system.
❙ MX Ultranet − the primary connectivity unit in an MX+ system.
❙ MX Ultranet HD − the primary connectivity unit in an MX F-Series system.
You can incorporate units and components from earlier MX Series systems into your MX TSeries system. See the Go Further with Vicon MX T-Series reference or contact Vicon Support
(see Contacting Vicon on page 91) for details on configuring a combined architecture.
Setting up MX Giganet units
The MX Connectivity node is displayed under the Local Vicon System node when Vicon Tracker
is connected to an MX system with at least one MX Giganet unit. The MX Connectivity node
lists each MX Giganet unit connected to your MX system. For each MX Giganet, the node name
includes the device position number, any display name specified in the Identification property,
and the device type listed in parentheses, for example #1 Name (MX Giganet).
To configure MX Giganet units for analog data acquisition:
1.
On the System tab, select the node whose properties you want to configure:
❙ MX Connectivity node for all MX Giganet units.
❙ A sub node for a specific MX Giganet unit — For Vicon MX systems, the MX Giganet subnodes in the System list correspond to the IDs assigned by Tracker. If an MX Giganet unit
has automatically been designated as the synchronization master for the MX system, its
node name is displayed in bold.
The colored icon beside an MX Giganet node identifies the status of the device:
− Green play button: Component OK (active or connected). If an analog device is
connected, this status does not reflect the analog device's status.
− Yellow pause button: Component is not fully set up or device has been disabled in the
Status section of Properties.
− Red stop button: Component down (unavailable or disconnected).
2. In the Properties section, view or change settings for the required properties.
When you first set up your MX system, you configure at least the Name property and, if you
are using synchronization functionality, the Sync Out properties. In subsequent sessions,
you may want to configure additional properties to suit the needs of your motion capture
application.
3. In the configuration management area at the top of the System tab, click the save button
to save your system configuration settings to a .system file.
Tracker 2.0
March 2013
37
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
MX Giganet Identification section
If MX Giganets are connected to your Vicon system, when you click on the MX Connectivity
node on the System tab in the Resources pane, the following controls are available in the
Identification section of the Properties pane:
Setting
Description
Name
A user-defined display name for the entire set of MX Giganets.
Type
The MX Connectivity node is read-only.
Device ID
The MX Connectivity node is read-only.
When you click on an individual MX Giganet node on the System tab, the following controls are
available in the Identification section of the Properties pane:
Setting
Description
Name
A user-defined display name for the selected MX Giganet.
Type
The MX device type.
Device ID
The unique identification number Vicon assigned to the MX Giganet during
manufacture.
MX Giganet Status section
When you click on an MX Giganet node on the System tab in the Resources pane, the following
controls are available in the Status section of the Properties pane:
Setting
Description
Connected
Whether or not the MX Giganet is currently connected to the Vicon system.
Enabled
Whether or not the MX Giganet unit is currently enabled for use.
Sync Master
Whether or not the MX Giganet is designated as the synchronization master
for the MX system.
MX Giganet Sync Out section
General Purpose Outputs (GPO) allow you to configure your system to trigger external
equipment on or around each camera frame sync pulse.
Other GPO functionality, available with other Vicon software, is not implemented with Vicon
Tracker.
For further information, see the hardware manual for your Vicon Giganet. For up-to-date
information about types of GPO triggers that are supported, contact your local Vicon Support
office (see Contacting Vicon on page 91).
38
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
MX Giganet MX Hardware section
When you click on the MX Connectivity node or on an MX Giganet node on the System tab in
the Resources pane, the following controls are available in the MX Hardware section of the
Properties pane:
Setting
Description
MAC Address
The Media Access Control (MAC) address assigned to the MX Giganet during
manufacture. This is a hexadecimal value in the format ##.##.##.##.##.##.
The MX Connectivity node is read-only.
IP Address
The Internet Protocol (IP) address assigned to the MX Giganet on the Vicon
MX Ethernet network.
The MX Connectivity node is read-only.
MX Giganet MX Firmware section
When you click on an MX Giganet node on the System tab in the Resources pane, the following
controls are available in the MX Firmware section of the Properties pane:
Setting
Description
Firmware
Version
The version number of the MX firmware currently installed on the MX
Giganet.
Firmware
Complete
Whether or not the currently installed MX firmware is complete. If not, you
can reprogram the MX firmware.
MX Giganet Commands section
When you click on an MX Giganet node on the System tab in the Resources pane, the following
command is available in the Commands section of the Properties pane:
Command
Description
Reboot
Stop and restart the MX Giganet.
MX Giganet context menu
If MX Giganets are connected to your Vicon system, when you right-click on the MX
Connectivity node on the System tab in the Resources pane, you can select the following
options from the context menu:
Option
Description
Reorder
Display the Reorder Devices dialog box in which you can change the order in
which MX Giganets are displayed on the System tab.
Reboot All MX
Giganets
Stop and restart all of the MX Giganets in the MX system.
When you right-click on a node for a specific MX Giganet, you can select the following options
from the context menu:
Tracker 2.0
March 2013
39
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
Option
Description
Reboot
Stop and restart the selected MX Giganet.
VRPN
Contact
Regulatory
Reset Timecode Reset the Timecode to 00:00:00:00.
About MX Ultranet units
References in this topic to MX Ultranet units also apply to MX Ultranet HD units.
You manage the identification and configuration settings for each MX Ultranet unit included in
your Vicon system architecture in an MX Ultranet node under the MX Connectivity node.
Important: This information applies only to MX systems containing an MX Ultranet
(generally those supplied before August 2008) or an MX Ultranet (generally those
supplied before November 2007), or an MX T-Series system incorporating one of these
units. Vicon MX T-Series systems use the MX Giganet as the single-unit controller for the
MX system.
You can incorporate components from earlier MX systems into an MX T-Series system by
connecting the MX Ultranet to the MX Giganet. For details on cameras and units that can be
incorporated in your MX system, see Tracker components on page 7.
This node is displayed under the Local Vicon System node when Vicon Tracker is connected to
a Vicon system with at least one MX Ultranet unit. The MX Connectivity node lists each MX
Ultranet unit (as well as each MX Giganet unit) connected to your Vicon system. For each
device, the node name includes the device position number, any display name specified in the
Identification property, and the device type listed in parentheses, for example #1 Name (MX
Ultranet).
Tip: If you select an MX Ultranet unit in the System list in the Resources pane, the red
Selected Unit LED on the rear panel of the MX Ultranet unit is lit. This is useful when you
are connecting MX cables.
MX Ultranet Identification section
If MX Ultranets are connected to your Vicon system, when you click on the MX Connectivity
node on the System tab in the Resources pane, the following controls are available in the
Identification section of the Properties pane:
Setting
Description
Name
A user-defined display name for the entire set of MX Ultranets.
Type
The MX Connectivity node is read-only.
Device ID
The MX Connectivity node is read-only.
40
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
When you click on an individual MX Ultranet node on the System tab, the following controls are
available in the Identification section of the Properties pane:
Setting
Description
Name
A user-defined display name for the selected MX Ultranet.
Type
The MX device type.
Device ID
The unique identification number Vicon assigned to the MX Ultranet during
manufacture.
MX Ultranet Status section
When you click on an MX Connectivity node on the System tab in the Resources pane, the
following controls are available in the Status section of the Properties pane:
Setting
Description
Connected
Whether or not the MX Ultranet is currently connected to the Vicon system.
Enabled
Whether or not the MX Ultranet is currently enabled for use.
Sync Master
Whether or not the MX Ultranet is designated as the synchronization master
for the MX system.
MX Ultranet Sync Out section
General Purpose Outputs (GPO) allow you to configure your system to trigger external
equipment on or around each camera frame sync pulse.
Other GPO functionality, available with other Vicon software, is not implemented with Vicon
Tracker.
For further information, see the hardware manual specific to your Vicon Ultranet. For up-todate information about types of GPO triggers that are supported, contact your local Vicon
support office (see Contacting Vicon on page 91).
MX Ultranet MX Hardware section
When you click on an MX Ultranet node or an MX Connectivity node on the System tab in the
Resources pane, the following controls are available in the MX Hardware section of the
Properties pane:
Setting
Description
MAC Address
The Media Access Control (MAC) address assigned to the MX Ultranet during
manufacture. This is a hexadecimal value in the format ##.##.##.##.##.##.
The MX Connectivity node is read-only.
IP Address
The Internet Protocol (IP) address assigned to the MX Ultranet on the Vicon
MX Ethernet network.
The MX Connectivity node is read-only.
Tracker 2.0
March 2013
41
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
MX Ultranet MX Firmware section
When you click on an MX Ultranet node on the System tab in the Resources pane, the
following controls are available in the MX Firmware section of the Properties pane:
Setting
Description
Firmware
Version
The version number of the MX firmware currently installed on the MX
Ultranet.
Firmware
Complete
Whether or not the currently installed MX firmware is complete. If not, you
can Reprogram the MX Firmware. If firmware is complete, True is displayed.
MX Ultranet Commands section
When you click on an MX Ultranet node on the System tab in the Resources pane, the
following command is available in the Commands section of the Properties pane:
Command
Description
Reboot
Stop and restart the MX Ultranet.
MX Ultranet context menu
If MX Ultranets are connected to your Vicon system, when you right-click on the MX
Connectivity node on the System tab in the Resources pane, you can select the following
options from the context menu:
Option
Description
Reorder
Display the Reorder Devices dialog box in which you can change the order in
which MX Ultranets are displayed on the System tab.
Reboot All MX
Ultranets
Stop and restart all of the MX Ultranets in the MX system.
When you right-click on a node for a specific MX Ultranet on the System tab, you can select the
following options from the context menu:
Option
Description
Reboot
Stop and restart the selected MX Ultranet.
Reset Timecode Reset the Timecode to 00:00:00:00.
42
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the Other Devices node
The Other Devices node is displayed under the Local Vicon System node when licensed
additional devices (that is, connected devices that are not cameras or connectivity devices) are
connected to the Vicon system. The Other Devices node lists each additional type of device
that is connected to your Vicon system.
Note: You can only use an additional device if you have the required license. To check
your current licensing options, from the Help menu, click About Vicon Tracker and in the
window, click the License Info button. After a few seconds, the currently licensed
options are listed. To change your licensing options, contact Vicon Support (see
Contacting Vicon on page 91).
Depending on the type of additional licenses you are using with Tracker and your Vicon system,
your MX system architecture may contain one or more of the following additional devices:
❙ Analog device such as accelerometers
❙ Dikablis Eye Tracker
❙ Vicon Apex
Setting up analog devices
The Other Devices node is displayed on the System tab in the Resources pane under the Local
Vicon System node when Vicon Tracker is connected to an MX system with at least one
additional device (that is, a device that is not a camera or a connectivity unit). Analog devices
such as accelerometers are connected to the Vicon system via an MX Giganet. You add analog
devices to the Vicon system in Tracker by right-clicking on the Other Devices node and
selecting Add Generic Analog. The Generic Analog node enables you to select the appropriate
options for your device.
To use an analog device with Tracker:
1.
Ensure that the analog device is connected to your Vicon system through a Giganet.
2. In Tracker, on the System tab, right-click Other Devices and then click Add Generic Analog.
A Generic Analog device appears beneath Other Devices.
3. Right-click Generic Analog and from the list, select your analog device.
4. To add outputs for the device, on the System tab, right-click the device and click the
number of components to add.
5. To change the properties of the output, edit the appropriate property in the Properties
pane, for example:
❙ Name
❙ A scaling factor from the voltage input to desired output
❙ Analog input pin
❙ Channel gain
6. To change the options for viewing data in the Graph view, in the view pane, select Graph
and then choose the appropriate option from the menu.
Tip: You can receive the raw analog data and relevant device information through the
DataStream SDK.
Tracker 2.0
March 2013
43
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About eye tracking
With Tracker, you can use the Dikablis Eye Tracking System to track movement of the eye’s
pupil to calculate the gaze vector.
The Dikablis Eye Tracking System is compatible with both T-Series and Bonita cameras. A
minimum of two cameras are required for use with the system.
Note: Eye tracking is not available with the evaluation license, but is an optional add-on
to the full version of the software and requires an additional license.
Calibrating and integrating eye tracking
To calibrate your system and use Tracker to track eye movement, complete the following
procedures:
❙ Calibrate the Dikablis system and connect it to your Vicon system.
❙ Calibrate your Vicon system and add in your Dikablis device.
❙ Specify the eye offsets.
❙ Calibrate the Dikablis eye tracker with Vicon Tracker.
❙ Save your settings.
Calibrate the Dikablis system and connect it to your Vicon system:
1.
Connect up the headset, transmitters and receivers that comprise the Dikablis eye tracking
system.
2. Ensure the subject is wearing the Dikablis headset and some markers for head tracking.
3. Start the Dikablis Recorder software on the Dikablis system and run the calibration wizard.
4. Connect the Dikablis laptop directly to your Vicon system PC with an Ethernet cable.
5. Set the IP addresses of the Network Interface Cards to an appropriate value. These
instructions use 10.0.0.1 on the Dikablis laptop and 10.0.0.2 on the Vicon system PC. (For
instructions on how to set IP addresses, see the Windows online help.)
44
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Calibrate your Vicon system and add in your Dikablis device:
1.
Aim your Vicon cameras to capture the required volume.
2. Calibrate your Vicon camera system in Tracker.
3. Set your origin pointing forwards by positioning the T of the wand with the flat part (the
top of the T) facing towards the front of the capture volume.
4. When you have a calibrated system, create an object in Tracker from the wand markers. To
do this:
a. In the 3D Perspective view pane, ALT+click and drag to select the relevant markers.
b. In the Resources pane, click the Objects tab and in the Create Object box, type Wand
and click Create.
5. Adjust the wand’s origin so it is positioned on the center marker on the cross of the T.
6. With your subject looking straight ahead, create an object from the head markers and give
it a suitable name, such as Head. (You can give it any suitable name, but ensure you use the
same name in the following steps.)
7.
On the System tab, right-click Other Devices and then click Add Dikablis Eye Tracker.
8. Select the Dikablis Eye Tracker and in the Properties pane, enter the following values:
❙ Name: Eye
❙ Head Object: Head
❙ IP Address: 10.0.0.1
(or the address of the PC running the Dikabilis software if different from 10.0.0.1)
❙ Calibration Object: Wand
9. Make sure the Eye Tracker remains selected on the System tab, change the view pane to
Graph view and in the Components list, select Components.
Two graphs are shown: X and Y, representing the 2D coordinates for the eye’s gaze.
The values are pixel values from the eye camera.
10. Check that the eye’s gaze is accurately represented by the X and Y values. To do this:
a. Get your subject to look left. The X value decreases.
Tip: To see all the data, you may need to click the Scale the graph to fit the
horizontal and vertical ranges of data button
pane.
at the top of the Graph view
b. Get your subject to look right. The X value increases.
c. Get your subject to look up. The Y value increases.
d. Get your subject to look down. The Y value decreases.
Tip: The X values should not go above 640 or below 0. The Y values should not go
above 480 or below 0.
Tracker 2.0
March 2013
45
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Specify the eye offsets:
1.
With the Eye Tracker selected on the System tab, in the Properties pane, enter appropriate
values. The following offsets are normally suitable:
❙ X (mm): -20
❙ Y (mm): -40
❙ Z (mm): -25
2. Change the view pane to 3D Perspective and look at the Head object.
The eyeball should be approximately where the eye is, relative to the Head markers.
Calibrate the Dikablis eye tracker with Vicon Tracker:
1.
Get your subject to stand with the wand in their hand so that both the Head and Wand
objects are clearly and consistently visible in the 3D Perspective view pane.
2. Get the subject to look at the marker at the center of the T on the wand.
3. In the Calibration area of the Eye Tracker Properties pane, click Add.
The Samples box displays 1.
Tip: If an error is made during calibration, you can remove the last sample you added
by clicking the Remove button. To delete multiple samples, repeatedly click the
Remove button.
4. Get the subject to move the wand and repeat step 3.
The number of samples goes up to 2.
5. Repeat step 4.
The number of samples goes up to 3 and an eye with an eye vector coming from it appears
in the 3D Perspective view pane.
In the Calibration area of the Properties pane, a Residual value is displayed.
6. Get your subject to keep their head still and move the wand around, following the marker at
the center of the T with their eyes.
In the 3D Perspective view pane, the eye vector now follows the wand.
7.
On the System tab, select the Eye Tracker. Change the view pane to Graph.
Ray X, Ray Y and Ray Z values are displayed, as well as X and Y values.
Save your settings:
1.
In the System Resources pane, click the Configuration menu button
and select Save As.
2. Enter the name DikablisTest.
3. When prompted, select Shared or Private.
46
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About Vicon Apex devices
Note: You can only use an Apex with Tracker if you have the required license. To check
your current licensing options, from the Help menu, click About Vicon Tracker and in the
window, click the License Info button. After a few seconds, the currently licensed
options are listed. To change your licensing options, contact Vicon Support (see
Contacting Vicon on page 91).
To add an Apex to your Vicon system:
1.
Ensure its bluetooth dongle is plugged into the relevant computer, then switch it on in the
capture volume.
2. After a few seconds, on the System tab, right-click the Other Devices node, click Add Apex
Device, and in the Add Apex Devices dialog box, select the required device and click Add.
On the System tab, the selected Apex is displayed under the Apex Device node.
3. To display all the Apex settings, ensure the Apex is selected on the System tab and if
necessary, at the top right of the Properties pane, click Show Advanced.
The following controls are available in the Properties pane:
Section
Control
Description
General
Name
A name that uniquely identifies the selected
Apex. The default name is of the format
ViconAP_nnn. If required, you can change the
name of the Apex.
Delay Compensation (s)
An adjustment (in seconds) to allow for any delay
in the datastream. The default is 0.
LED Intensity
Enables you to change the brightness of the
LEDs. The default is 2; the brightest setting is 3.
Continuous Mode
Enables you to change the LEDs to be on
continuously, instead of being strobed. If you
select this setting, to reduce power consumption,
the LED Intensity is automatically set to 1. To
further reduce power consumption, see also
Sleep and Sleep Timeout (below)
Sleep
When selected, enables the device to turn off the
tracking LEDs after the number of minutes of
inactivity specified in the Sleep Timeout box.
Sleep Timeout (min)
If Sleep is selected, enables you to specify the
number of minutes of inactivity by the joystick or
buttons after which the tracking LEDs are turned
off. To reactivate the LEDs, touch the joystick or
buttons.
Identify
Causes the selected Apex to vibrate, enabling it
to be easily identified.
Tracker 2.0
March 2013
47
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Section
Control
Description
Information
Serial Number
The four-digit serial number of the Apex. This
number is also visible on a sticker on the device.
Bluetooth Identity
The Bluetooth serial number of the Apex.
PCB Revision
The hardware revision number of the Apex.
Mechanics Revision
The mechanics code of the Apex.
Firmware Revision
The firmware revision number of the Apex.
Setting up Vicon Apex devices
To start the Apex, ensure it is sufficiently charged (see the Vicon Apex User Guide) and its
bluetooth dongle is plugged into the relevant computer, then switch it on in the capture
volume. The LEDs on the Apex flash until it is synchronized with the cameras.
Note: You will only be able to use an Apex with Tracker if you have the required license.
For more information, contact Vicon Support (see Contacting Vicon on page 91).
To set up an Apex to work with Tracker:
1.
Complete the following steps in the order shown:
a. Ensure the Apex is sufficiently charged (see the Vicon Apex User Guide) and switch it
on in the capture volume,
b. Plug the Apex’s Bluetooth dongle into the relevant computer.
c. Start Tracker.
The LEDs on the Apex flash until the Apex is synchronized with the cameras..
2. To add the Apex to the current configuration, on the System tab in the Resources pane,
right-click Other Devices and then click Add Apex Device.
3. In the Add Apex Devices dialog box, select the device to add and click Add.
After a few seconds, the Apex appears on the System tab. Its name is displayed in the
General area of the Properties pane.
In the capture volume, the tracking LEDs on the device illuminate and object tracking
begins.
4. To check that the Apex is working correctly, in the view pane, select Graph view and
operate the joystick and buttons. The graphs show the current status of the joystick (the
top two graphs are the x and y views) and the buttons.
5. To make the LEDs brighter or dimmer, to change the LEDs to be on continuously, or to use
haptics to identify an Apex in the capture volume, use the relevant control in the Properties
pane.
6. To enable Tracker to remember the device that you have added in future sessions, save the
current configuration, using the configuration management controls at the top of the
System tab.
48
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Using multiple Vicon Apex devices
You can use up to seven Apex devices simultaneously: each device comes with a unique name
that identifies it within Tracker. If required, you can change this name. When the device is
selected on the System tab, the name appears in the General section of the Properties pane.
You can also use the Identify button in Tracker to quickly identify a selected Apex.
To quickly identify an Apex:
1.
Ensure that the Apex is switched on and connected in the capture volume.
2. In Tracker, on the System tab, click one of the Apex devices to select it.
3. In the Properties pane, go to the General section and click Identify.
The selected Apex vibrates, enabling you to identify it.
About the Calibrate tab
Calibration is a two-stage process by which Vicon Tracker calibrates the cameras based on
specialized calibration objects (whose dimensions and relative marker positions are known):
1.
Calibrating cameras During the first stage, the Tracker camera calibration process
calculates the physical position and orientation of each Vicon camera in the capture
volume based on the movement of the calibration object. Tracker uses this information to
determine each camera's physical position and orientation in the capture volume and
correct for any lens distortion.
2. Setting volume origin During the second stage, you set the volume origin in Tracker.
Tracker measures the position of the calibration object and uses this information to identify
Tracker 2.0
March 2013
49
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
the origin of the world and its horizontal and vertical axes. These volume origin and axes
are referred to as the global coordinate system. The global axes coordinates are given in
the form (x, y, z), where x is a horizontal axis, y is the horizontal axis perpendicular to x, and
z is the vertical axis.
The Calibrate tab contains the following sections:
Section
Description
Select calibration objects
Specify the calibration objects that will be used in the two stages
of the system calibration process:
Wand
The calibration object to be used during the
camera calibration process.
L-Frame
The calibration object to be used during the
camera calibration process.
Create Camera Masks
Automatically create cameras masks to obscure all reflections
visible to the Vicon cameras.
Calibrate Cameras
Calibrate the Vicon cameras to determine their positions,
orientations, and lens properties, which enables Tracker to
produce accurate 3D data from motion data captured throughout
the capture volume.
Set Volume Origin
Define the global origin and the axes of the world (in the context
of the capture volume).
Manage Camera
Calibration
Reset, load, or save camera calibration defining settings for the
Vicon cameras in your Tracker system.
Camera Calibration
Feedback
View system calibration processing progress and status
information.
Calibrate Vicon cameras
You specify settings for the calibration of Vicon cameras in the Resources pane, in the
Calibrate Cameras section of the Calibrate tab.
The Vicon camera calibration process describes the capture volume to the system, enabling
Tracker to determine the positions, orientations, and lens properties of all the Vicon cameras.
Tracker uses this information to produce accurate 3D data. During the camera calibration
process, Vicon Tracker creates a calibration parameters (.xcp) file. This file contains the
calibration settings and threshold data specified for the Vicon cameras in your Tracker system
and is used when data from these cameras is processed.
Important: As part of the first stage of the daily Tracker motion capture workflow, Vicon
recommends that you calibrate your Vicon cameras each day before you capture any
data. This ensures that any unexpected changes in your setup that may have occurred
when the system was unsupervised will not influence the quality of your data. You can
perform the level of camera calibration that suits your requirements: a full camera
calibration or a calibration refinement.
To perform a Vicon camera calibration, you need a dynamic calibration object, which is
supplied with your Vicon system.
50
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
To calibrate Vicon cameras in Tracker:
1.
In the view pane, display a Camera view.
2. On the System tab in the Resources pane, expand the Vicon Cameras node and select all
Vicon cameras.
3. On the Calibrate tab, from the Wand drop-down list select the type of dynamic calibration
object you are using.
4. In the Calibrate Cameras section, view or change settings for the required parameters (if
required, click Show Advanced to reveal additional settings), ensuring that you select the
appropriate option from the Calibration Type list: Full Calibration or Calibration
Refinement.
5. In the Calibrate Cameras section, click Start. The camera calibration process starts, and the
Start button switches to its Stop setting.
6. In the capture volume, wave the calibration wand throughout the area where you intend to
capture 3D data, ensuring that the markers on the calibration object are visible to the
cameras. Vicon Tracker begins to capture wand wave data.
7.
In each Camera view pane, check the display of colored lines identifying wand frames,
ensuring that a good number of wand frames are spread across the intended 3D capture
volume.
Tip: If no cameras are visible in the Camera view pane, make sure they are selected
on the System tab in the Resources pane.
8. On the Calibrate tab, in the Camera Calibration Feedback section, check the Wand Count
values returned for each Vicon camera.
9. In the Calibrate Vicon Cameras section, click Stop. Vicon Tracker automatically starts
processing the camera calibration data.
Tip: If you selected the Auto Stop option in the Parameters section, Tracker
automatically stops the calibration process when sufficient calibration information
has been acquired.
10. In the Camera Calibration Feedback section, monitor the progress bar until the camera
calibration process is complete and review the Wand Count and Image Error data. As a
general guideline, Tracker typically takes 15-60 seconds to complete its calculations for a
typical Vicon system setup. When the Vicon camera calibration has successfully completed,
it is automatically saved to an .xcp file.
Tip: Because calibration feedback values are based on factors such as the size of the
capture volume and the camera lens type, it is not possible to provide general guidelines
on typical or acceptable ranges. Therefore, to determine the optimal values for your
Vicon system, shortly after the system is installed establish a baseline against which you
can compare future daily calibration values.
Tracker 2.0
March 2013
51
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Camera calibration parameters
In the Calibrate Cameras section of the Calibrate tab, you can change the following settings:
Control
Description
Calibration Type The level of camera calibration to be performed when the camera calibration
process is started:
Full Calibration
A full camera calibration process enables the Vicon
system to determine each camera's physical position and
orientation in the capture volume and to correct for any
lens distortions, and to set internal camera parameters.
You must perform a full camera calibration when the
system is first installed and set up or if your camera set
up has changed.
Calibration
Refinement
A camera calibration refinement process enables you to
correct a simple problem with a camera calibration. The
Vicon system recalculates the previous calibration data
based on the current location of the cameras. You can
refine an existing calibration only if the camera positions
have not changed significantly.
Cameras To
Calibrate
A list of cameras to be included in the camera calibration process. Cameras
not included in this list are not calibrated. If this field is blank, all cameras are
calibrated. The selection of cameras is applied when you click the Stop
button in the Calibrate Cameras section.
Refinement
Frames
With auto stop selected, the minimum coverage (in number of frames)
required per camera in the final phase of the refine camera calibration
process.
Auto Stop
Whether or not Tracker is to automatically stop the camera calibration
process when sufficient data has been collected.
52
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Camera calibration feedback
On the Calibrate tab in the Resources pane, you can view the camera calibration processing
and status information in the Camera Calibration Feedback section. Camera Calibration
Feedback contains the following components:
Component
Description
Progress bar
This bar displays a percentage indicating the progress of the overall camera
calibration process.
Camera
This column contains the device ID for each Vicon camera being calibrated.
Wand Count
For each Vicon camera, this value identifies the number of frames it has
captured containing the calibration object. Initially, the entry for the number
of wand frames is displayed in red; the entry turns green when Vicon
Tracker has acquired enough wand data to calibrate that camera (by default
1000 frames). Because Auto Stop is not selected by default, the calibration
process only stops when you click the Stop button. If you have selected
Auto Stop, the calibration process stops when the Vicon camera with the
lowest frame count reaches the number of frames specified in the
Refinement Frames field in the Calibrate Cameras section.
Image Error
This value (in RMS distance in camera pixels) indicates the accuracy of the
3D reconstruction of the markers. This value represents the difference
between the 2D image of each marker on the camera sensor and the 3D
reconstructions of those markers projected back to the camera’s sensor.
Acceptable values depend on factors such as camera type. the size of the
capture volume, and the camera lens type.
Setting the volume origin
Setting the volume origin tells the Vicon system where the center of your capture volume is
and what its orientation is (x, y, and z axes), so that subjects are displayed the right way up in
the Tracker workspace and so that you can change the way data is visualized in the workspace.
You set the global coordinate system immediately after you calibrate your Vicon cameras.
Important: Before starting the set volume origin process, remove from the capture
volume all markers and the sources of any unwanted reflections that have not been
accounted for by camera masks previously created. To set the volume origin, you need a
calibration object, which is supplied with your Vicon system.
To set the global coordinate system:
1.
Display a 3D Perspective view pane.
2. On the Calibrate tab, in the Wand drop-down list, ensure that the same dynamic calibration
object you used when you calibrated the MX cameras, is selected.
Tracker determines the unit of length for calculating the volume based on the length of the
calibration wand. If you specify a wand that is a different length from the one you used
during the MX camera calibration, the volume will have the wrong unit of length, so Tracker
will be unable to locate the L-frame calibration object.
Tracker 2.0
March 2013
53
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
3. From the L-Frame drop-down list, select the type of static calibration object you are using
to set the volume origin.
4. In the capture volume, place the calibration object flat on the floor in the position and
orientation that you would like to be the origin of the global coordinate system.
5. In the Set Volume Origin section, click Start.
The calibration object tracking process starts, Tracker identifies the calibration object in
the capture volume, displays a 3D representation of it in the 3D Perspective view pane, and
switches the Start button to its Set Origin setting.
6. Click Set Origin to complete the calibration object tracking process.
Tracker sets the global origin and axes to correspond to the position and orientation of the
calibration object in the capture volume. In the 3D Perspective view pane, the floor grid is
displayed aligned with the capture volume floor and the representations of the cameras are
distributed in the position and orientation in which the physical cameras are located
around the capture volume. When the global coordinate system has been successfully set,
it is automatically saved to an .xcp file.
7.
Verify that the global coordinate system was set successfully by checking that the system
tracks the static calibration object.
If it does not, check the following:
❙ Was the correct dynamic calibration object selected from the Wand drop-down list at the
top of the tools pane?
If not, repeat this procedure from Step 2, ensuring that you select the correct entry for
the calibration wand you used for calibrating the MX cameras.
❙ Was the correct static calibration object selected from the L-Frame drop-down list at the
top of the Calibrate tab?
If not, repeat this procedure from Step 3, ensuring that you select the correct entry for
the L-frame you are using.
After you have set the global coordinate system, you can display the volume axis marker in the
lower-left corner of the 3D Perspective view pane.
You turn the display on or off in the Options dialog box by selecting or deselecting Volume Axis
under General View Options.
54
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Changing the volume origin
You can edit an existing calibration object to change the position of the volume origin.
To change the volume origin:
1.
After you have completed the usual calibration and setting volume origin procedures, load
the calibration object that you used for calibration. To do this, on the Objects tab, click the
Load an Object button
is:
and locate the relevant calibration object. The default location
C:\ProgramData\Vicon\Tracker\CalibrationObjects
2. On the Objects tab, click the Pause button
.
3. Move the calibration object in either of the following ways:
❙ On the System tab, click the object and in the Properties pane ensure Show Advanced is
selected, then edit the Global Position fields and Global Rotation fields as necessary; or
❙ Drag the object in the view pane.
4. When you are happy with the position of the calibration object, right-click it and click Save
Object As. Enter a suitable name, and click Save.
5. On the Calibrate tab, click the Reload button next to the L-frame list.
6. Click the L-frame list and select your new calibration object.
7.
In the Set Volume Origin section, click Start.
In the view pane, the cameras move to reflect the new position of the origin.
Managing camera calibrations
In the Manage Camera Calibration section of the Calibrate tab in the Resources pane, you can
reset, load, or save camera calibrations that define settings for the Vicon cameras in your
Tracker system.
During the Vicon camera calibration process, Vicon Tracker creates a calibration parameters
(.xcp) file. The changes in the .xcp file are automatically written to the calibration file, which
overwrites the current file. If you want to be able to load the previous calibration in later, you
must save it.
Changing a camera calibration can be useful in the following circumstances:
❙ To undo a poor calibration change.
❙ To compare calibration changes.
Tracker 2.0
March 2013
55
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
To manage camera calibration files in Tracker:

On the Calibrate tab, go to the Manage Camera Calibration section and click the required
button:
Button
Description
Reset
Removes all non-existing cameras, clears the calibrated position for existing
cameras, and reverts all calibration parameters to their default settings. This
enables you to recalibrate the system from a clean starting point.
Load
Displays the Choose a file dialog box, from which you can navigate to and
select the required .xcp file and click Open.
Save
Saves the current calibration.
About the Objects tab
Prepare and manage the objects whose motion data you want to track in Vicon Tracker on the
Objects tab in the Resources pane. Objects are a rigid, asymmetrical arrangement of at least
three markers. Multiple objects can be defined to track many rigid bodies at the same time.
The Objects tab contains the following components:
56
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Component
Description
Objects list
Lets you enable an object for motion capture and data recording. If a working
.vsk file exists for the object, the object symbol is orange and the object
name is gray. If the name is red, the .vsk file is not suitable for tracking (this
may be due to symmetry in the arrangement of markers, or similarity to
another enabled object). To display a tool tip identifying the problem, hover
the mouse pointer over the object.
To display or hide the model markers defined in the .vsk file, expand (+) or
collapse (-) the Markers list.
Tips
To manage specific objects, in the Objects list, right-click on the
relevant node and from the context menu select a command. The
Open Folder option, at the bottom of the context menu, provides a
quick way to locate a relevant file.
The color-coded symbols displayed for entries in the Markers list
correspond to the colors defined for each model marker in the .vsk file.
Properties pane
Enables you to view or edit object properties.
Creating an object
You must create an object for motion capture and data streaming recording. Objects are a
rigid, asymmetrical arrangement of at least three markers whose motion data you want to
track. Multiple objects can be defined to track many rigid bodies at the same time.
To create an object:
1.
If you are streaming live, on the Objects tab in the Resources pane, click Pause
.
2. In the view pane, zoom (right-click + drag forward or backward) in on the markers to be
defined as an object.
3. Select the markers you want to include by doing one of the following:
❙ To select markers individually, press and hold the CTRL key while you left-click on each
marker.
❙ To select a group of markers, press and hold the ALT key while you drag around the
markers to form a box around them.
4. With the object still selected, type a name in the Create Object box at the bottom of the
Objects tab.
Tracker 2.0
March 2013
57
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
5. You can now make the following optional changes:
❙ Left-click and drag the red, green, or blue axis lines emanating from the center of the
object (translation manipulator) to translate the origin of the object to the desired
position.
❙ Left-click the translation manipulator to toggle it to a rotation manipulator.
❙ Drag the rotation manipulator axes to orient the object to the desired pose.
6. Save the object by right-clicking it the Objects list and selecting Save Object from the
context menu.
Tracker saves the contents of the object in a .vsk file in the Objects folder.
Loading an existing object
You can open or load an existing .vsk file (object) in Tracker.
To load a .vsk file:
1.
On the Objects tab tool bar, click the Load an Object button:
2. In the Choose an Object File dialog box, navigate to an existing .vsk file, select it and then
click Open.
Caution: If the selected .vsk file has the same name as an object currently loaded in
Tracker, the contents of the selected .vsk file replace those in the currently loaded
object.
58
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Snapping the rotation or position of an object to a marker
You can change the orientation of an object in real time by snapping the rotation to a marker.
To snap the rotation to a marker:
1.
In the view pane, click a marker within an object.
2. Click any axis. Three circles associated with the axes are displayed.
3. Click on a circle and rotate it until you see a gray rectangular shape snap into place .
To snap the position of an object to a marker:
1.
In the view pane, click a marker within an object.
2. Click any axis and drag towards the marker until it snaps into place.
Tracker 2.0
March 2013
59
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Snapping a midpoint between markers
You can snap two markers together to measure the distance between the markers.
To snap a midpoint between markers:
1.
In the View pane, select two markers by pressing CTRL while left-clicking each marker.
A gray, projected marker is displayed at the midpoint between the two markers .
2. Left-click on the desired axis and move it towards the gray projected marker until it snaps
into the midpoint .
60
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Adding and detaching markers
You can easily add a marker to an existing object or detach a marker from an object.
To add a marker to an object:
1.
In the view pane, click the marker to add to select it.
2. At the bottom of the Objects tab, click Add next to Add Marker to Object.
The mouse pointer now displays Select Object.
3. Click in the view pane.
The marker is now part of the object and is displayed in the Object list.
To detach a marker from an object:
1.
In the view pane, right-click the marker to detach.
2. Select Detach Marker from the context menu.
The marker becomes disabled and is deleted from the object in the Object list.
Tracker 2.0
March 2013
61
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Managing objects
After you have loaded an existing .vsk file or created a new object, you can save or delete the
object, or move its centroid.
To save an object as .vsk file:
1.
On the Objects tab in the Resources pane, right-click the object.
2. Select Save Object from the context menu.
Tracker saves the contents of the object in a .vsk file in the Objects folder.
To delete an object:
1.
On the Objects tab, right-click the object and select Delete Object from the context menu.
2. In the Warning confirmation message, click Yes to proceed.
3. Tracker deletes the object from the Objects tab, unloads the .vsk, removes the labels from
the trajectories associated with that object, and permanently deletes it from the Objects
folder.
To move the centroid of an object:

In the view pane, click an axis and move along that axis until you reach the location you
want. Repeat for the other axis until your desired location for the centroid is reached.
You can also position an object in the global coordinate system (see Positioning an object in
the global coordinate system on page 63).
Snapping an object to the global coordinate system
Tracker enables you to snap an object’s axes to the global coordinate system, for accurate
positioning and aligning of objects.
To snap an object to the global coordinate system:
1.
On the Objects pane, click the Pause button
.
2. On the Window menu, click Options and in the dialog box, click Objects. Ensure Snap Global
is selected. If required, you can also change the Snap Distance (mm).
3. Ensure nothing is selected and then in the view pane, drag or rotate the object axes to
enable them to snap to the grid.
Tip: To change the distance between the lines of the grid to which objects can snap, in
the Options dialog box, select Floor Grid and adjust as required.
62
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Positioning an object in the global coordinate system
Tracker enables you to view and specify the values that determine the position of an object
within the global coordinate system.
To precisely position an object:
1.
On the System tab in the Resources pane, click the object and then in the Properties pane,
click Show Advanced.
2. In the view pane, drag or rotate the object’s axes and observe the change in the values in
the Global Position fields (the location of the object within the global coordinate system in
millimeters) and Global Rotation fields (the orientation of the object within the global
coordinate system in degrees).
3. If required, enter new values in the Global Position and Global Rotation fields.
The position of the object changes in the view pane.
Tip: To set the current position of the object to the global position of 0, 0, 0 (that is, the
origin), click the drop-down arrow to the right of the Global Position fields and select Set
to Default.
Reorder Markers dialog box
The Reorder Markers dialog box enables you to change the order in which markers are
displayed in the Objects list in the Resources pane.
To change the order in which markers are displayed:
1.
On the Object tab, if necessary, expand the node of the object whose markers you want to
change.
2. Right-click the Markers node and then click Reorder.
3. In the Reorder Markers dialog box, click to select the marker whose position you want to
change and choose from the following options:
❙ Move Up
❙ Move Down
Tracker 2.0
March 2013
63
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Working with object properties
When you click on an object on the Objects tab in the Resources pane, you can configure the
following setting in the Properties pane.
Setting Description
Name
The name of the selected object. This name is used when the Vicon Skeleton is saved
in a .vsk file.
To change the name, do any of the following:
❙ In the Name box in the Properties pane, select the current name and enter a
new one; or
❙ Click the button next to the Name box to display the Name dialog box, select
the existing object name and enter a new one; or
❙ On the Objects tab, double-click the current name and enter a new one.
Changing marker color
You can change the color of object markers.
To change color properties:
1.
Select the marker in either of the following ways:
❙ Select the marker in the Marker list:
or
❙ Click on the marker in the view pane:
2. In the Properties pane, click the currently displayed color in the Color box.
3. In the Select Color dialog box, assign a color in the Basic colors area, or define a new color
in the Custom colors area and then click OK.
64
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the Recording tab
Save and play back recordings of trial data, using the controls on the Recording tab in the
Resources pane.
Note: You will only see the Recording tab if you have the required license. For more
information, contact Vicon Support (see Contacting Vicon on page 91).
The Recording tab contains the following components:
Component
Description
Recording section
In the Recording section, specify your requirements for recording
live trials. When you have finished specifying your requirements,
click the Start button to begin recording.
Location
Select Private or Shared, depending on your requirements.
Open Folder
View the location of the saved files. The default file location
depends on whether the files are saved as Shared or Private data:
File
Type
File Location (English language version)
Private C:\Users\UserName\AppData\Roaming\
Vicon\Tracker\CapturedTrials
Shared C:\ProgramData\Vicon\Tracker\CapturedTrials
Note: For each trial recorded, at least three files are saved:
.x2d, .system, and .xcp files. If you are using an analog
device to capture data, an .x1d file is also saved.
Trial Name
Tracker 2.0
Enter a name for the new trial.
March 2013
65
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Component
Auto Increment
Trial Number
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Description
When selected, the trial number is automatically appended to the
file name.
Permit Overwrite When selected, existing captured trial data in the same folder (see
of Existing Files above table) is overwritten when the new file is saved.
Show/Hide
Parameters
Displays or hides additional controls, such as those for remote
triggering.
Start/Stop on
Remote Trigger
When selected, a remote trigger can be used to control capturing
start and stop times. The remote device must be connected to
your Vicon system.
Capture Before
Start (secs)
To capture data before the capture start is triggered either
manually (by clicking Start) or automatically (based on a remote
trigger), select this check box and enter the required number of
seconds.
Stop after
Duration (secs)
To end the trial automatically after a specified number of seconds,
select this check box and enter the required number of seconds.
Broadcast
Start/Stop
To make a UDP broadcast to a third-party application that capture
has started or stopped, specify the port number in the box and
then select the appropriate option from the list on the right
(either All or a specified IP address).
Arm button
To perform an Arm trial capture (that is, to enable the system to
accept a trigger signal for automatic capture based on a remote
control device), click this button.
Playback section
In the Playback section, click the Load Trial button to select the
trial you want to play back.
Tip: Before attempting to load a trial, in the Recording section, ensure that the relevant
Location setting is selected (Shared or Private), depending the option chosen for the
trial you want to load.
66
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Recording live trials
You specify your requirements for recording live trials on the Recording tab. If you use the
same setup each time, you can make subsequent recordings just by clicking the Start button.
To record trial data:
1.
Ensure your system is connected and calibrated and that Tracker is in Live mode.
2. In the Resources pane, click the Recording tab.
3. In the Location area, select whether your trial will be saved as Shared or Private files.
4. In the Trial Name box, enter a name for the new trial. If you want a number to be
automatically appended to the file name, ensure Auto Increment Trial Number is selected.
5. If you want existing captured trial data in the same folder to be overwritten when a new
trial is saved, select the Permit Overwrite of Existing Files box.
6. Do one of the following:
❙ If you don’t want to select any further parameters, go to step 7; or
❙ If your trial requires any further setup, for example, if you are using remote triggering,
click Show Parameters and supply the necessary information:
− Start/Stop on Remote Trigger To use a remote trigger to control capturing start and
stop times, select this check box. The remote device must be connected to your Vicon
system via a Giganet.
− Capture before Start (secs) To capture data before the capture start is triggered
either manually (by clicking Start) or automatically (based on a remote trigger), select
this check box and enter the required number of seconds.
− Stop after Duration (secs) To end the trial automatically after a specified number of
seconds, select this check box and enter the required number of seconds.
− Broadcast Start/Stop To make a UDP broadcast to a third-party application that
capture has started or stopped, specify the port number in the box and then select
the appropriate option from the list on the right (either All or a specified IP address)
− Arm button To perform an Arm trial capture (that is, to enable the system to accept
a trigger signal for automatic capture based on a remote control device), click this
button.
7.
When you are ready to begin recording, click Start.
The Frames Captured number increases as frames are captured.
If you did not specify a number of seconds in the Stop after Duration box or if you decide to
end the capture before the specified time, click Stop when you have finished capturing.
To abandon the trial without saving any data, click Cancel.
You can play back the captured trial immediately.
Tracker 2.0
March 2013
67
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Playing back recorded trials
You load and play back recorded trials using the Recording tab and the view pane.
To play back recorded data:
1.
On the Recording tab, in the Recording area ensure that the relevant Location setting is
selected (Shared or Private), depending on the option chosen for the trial you want to load.
2. In the Playback area, click Load Trial to access the location of the last saved trial. If you
want to load a different trial, browse to the appropriate location. Click Open.
The recorded trial is loaded, a time bar appears beneath the view pane and Tracker
automatically enters Offline mode (if this was not already selected).
3. To play the recorded trial, click the Play button on the time bar. To stop or pause the replay,
click Stop or press the space bar on the keyboard. To view a particular part of the trial, drag
the slider along the time bar, or to move through the trial, press the forward or back arrow
keys.
To select from further options for examining the recorded data, click the More option
beneath the Play button on the time bar.
❙ Zoom to Trial – After zooming in to a selected range, resets the time bar scale to include
the whole trial
❙ Zoom to Region-of-Interest – After zooming out, resets the time bar scale to zoom in to
the selected range
❙ Replay Speed – Enables you to select from preset options (in multiples of real time) or to
specify your own custom speed
Tip: To select a region of interest, drag the beginning and end markers (small green
triangles) to the start and end of the required range on the time bar. To return the
markers to their original positions at the start and end of the trial, double-click them.
68
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the Communications pane
Monitor the activity of your Vicon system in the Communications pane. You can view the
updates in the Communications pane during any stage of the Tracker motion capture
workflow. The Communications pane contains a single window, which displays a continual
update of Tracker system activity since start up as well as feedback on some motion capture
and processing operations.
Tip: Vicon Support may ask you for log information if you contact them to report a
system problem.
The default position of the Communications pane is at the bottom of the Tracker window. You
can resize this pane, detach it from its current location, and move it to another location within
the Tracker window.
The Communications pane contains the following information:
Information type
Description
Time
The timestamp for the operation being executed in the hh:mm:ss
format.
Category
The general Tracker function being performed, for example
Calibration Manager.
Text
The specific action and its success or failure.
Working with the Communications pane
To filter the log, right-click in the Communications pane.
You can choose to view or hide the following types of entries:
❙ Info – Information entries
❙ Warn – Warning entries
❙ Error – Error entries
You can also change scrolling behavior and delete and restore entries:
❙ Auto-scroll – Automatically scrolls to the bottom of the list of entries
❙ Clear – Deletes all entries from the Communications pane
❙ Recover – Restores previously deleted entries.
Tracker 2.0
March 2013
69
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Monitoring system activity
You can monitor the activity of your Vicon system in the Communications pane. Its default
position is at the bottom of the Tracker window.
A new log is written each time you start Tracker. New entries recorded during the current
session are appended at the bottom of the log. You can copy all or part of the information in
the log and save it to an external file, such as a Rich Text Format (.rtf) or plain text (.txt) file.
To monitor system activity:
1.
In the Communications pane, view the entries for system activity and processing
operations.
2. Use the scroll bar to move down or back up the displayed entries.
To copy entries to external files:
3. Drag the cursor across the required entries.
4. Right-click and in the context menu click Copy. Tracker copies the text to the clipboard.
5. Open a text editor, such as Microsoft Notepad, and paste the copied text.
70
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the View pane
The view pane allows you to view the data of one or more cameras. In the view pane, you view
the objects selected in the Resources pane during any stage of the Tracker workflow.
Depending on the type of view pane selected, there are additional lists and buttons available to
you to manage the display options for that type of view pane.
Tip: By default, the view pane is above the Communication pane and to the right of the
Resources pane. You cannot detach or change the position of this pane, but you can
resize it. In addition, you can open a new floating workspace that can be displayed on a
second monitor, if required.
The view pane contains the following components:
Component
Description
Configuration
management
controls
Enable you manage the configurations that you create in the view pane.
Saved configurations include the layout of view panes as well as any
cameras, hardware devices, and object components selected in the
Resources pane, on the System tab, the Calibration tab, the Objects tab,
and/or the Recording tab when the configuration was created.
View pane list
The view pane list allows you to configure the way in which you view Tracker
data. Select from the following types of view panes:
Tracker 2.0
March 2013
71
Tracker
Guide
About
Tracker
User
interface
Component
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Description
3D
Reconstructed motion capture data from all active Vicon
Perspective cameras in 3D.
72
3D
Orthogonal
Motion capture data in 3D viewed from a specified point of
sight or direction of the capture volume.
Camera
Raw 2D motion capture data from an individual Vicon camera.
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Component
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Description
Graph
Various values of one or more selected items, such as the x, y,
and z components of a marker trajectory, plotted against each
other or against time.
By default, a single view pane is displayed in the workspace.
Specify the number of view panes using the following buttons:
Horizontal
Split the current view horizontally into two view
panes.
Vertical
Split the current view vertically into two view
panes.
Close
Close the current view pane. You cannot close
the default view pane in the center of the Tracker
window.
View pane
workspace
The workspace enables you to view and manipulate data displayed in the
view pane.
View pane time
bar
Enables you to play back recorded trials. Click More or right-click the time bar
to access further options for examining recorded trial data:
Zoom to
Trial
After zooming in to a selected range, resets the time bar scale to
include the whole trial
Zoom to
After zooming out, resets the time bar scale to zoom in to the
Region-of- selected range
Interest
Replay
Speed
Enables you to select from preset options or to specify your own
custom speed
Tip: To select a region of interest, drag the beginning and end markers (small green
triangles) to the start and end of the required range. To return the markers to their
original positions at the start and end of the trial, double-click them.
Tracker 2.0
March 2013
73
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the 3D Perspective view pane
You view the reconstructed motion data from all active Vicon cameras in 3D.
The 3D Perspective view pane contains the following components.
Component
Description
3D Perspective
view pane tool
bar
You manage the display of 3D data in the active workspace by selecting the
following button:
Center camera on Position the currently selected data in the center of the
selection
view pane. This option does not automatically zoom in on
the selected data. When selecting an object to "follow",
the camera also rotates with the object.
3D Perspective
view pane
workspace
You view and manipulate 3D data in the workspace. For example, the view
can be oriented (see Using the mouse and keyboard on page 16), so you can
focus on items of interest.
Viewing data in 3D Perspective view
View reconstructed motion capture data from all active Vicon cameras.
When you have displayed a 3D Perspective view pane:
❙ You can highlight the representations of specific cameras by selecting one or more cameras
under the Vicon Cameras node on the System tab in the Resources pane.
❙ You can configure display options in the Options dialog box.
To view data in a 3D Perspective view pane:
1.
Stream live camera data.
2. From the view pane tool bar, select 3D Perspective. The reconstructed 3D data from all
cameras is displayed in a single 3D Perspective view pane.
3. Select a marker and perform an action on it in either of the following ways:
❙ On the Objects tab, examine the reconstruction and labeling and edit any errors or
inconsistencies.
❙ Right-click and select an option from the context menu.
74
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Tips
To select multiple objects, hold down the ALT key and drag around the objects you want
to select.
To detach a marker, in the 3D Perspective view pane, right-click the marker and in the
context menu, click Detach Marker.
About the 3D Orthogonal view pane
View motion capture data in 3D perspective viewed from a specified point of sight, or direction,
of the capture volume.
The 3D Orthogonal view pane contains the following components:
Component
Description
3D Orthogonal
view pane tool
bar
Manage the display of data in the active workspace with the following list
and button in the 3D Orthogonal view pane tool bar:
Orthogonal view
Set the point of sight by selecting one of the following
orthogonal projections (also called orthographic
projections):
❙ Top (default)
❙ Bottom
❙ Left
❙ Right
❙ Front
❙ Back
Camera Centered
on Selection
3D Orthogonal
view pane
workspace
Tracker 2.0
Position the currently selected data in the center of the
view pane. This option does not automatically zoom in on
the selected data.
View and manipulate 3D data in the workspace.
March 2013
75
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Viewing data in 3D Orthogonal view
View motion capture data in 3D perspective viewed from a specified point of sight, or direction,
of the capture volume. You can view 3D data from an orthogonal perspective live in real time or
from a previously saved trial.
When you have displayed a 3D Orthogonal view pane, you can:
❙ Manage the visualization of graph data in the workspace.
❙ Highlight the representations of specific cameras in 3D Orthogonal view pane workspace by
selecting one or more cameras.
To view data in a 3D Orthogonal view pane:
1.
Stream live camera data.
2. From the view pane tool bar, select 3D Orthogonal. The reconstructed 3D data from all
cameras is displayed in a single 3D Orthogonal view pane, initially from the Top view.
3. From the View list in the 3D Orthogonal view pane tool bar, either leave the default or
select another orthogonal projection to set the view to a different point of sight:
❙ Top (default)
❙ Bottom
❙ Left
❙ Right
❙ Front
❙ Back
4. In the 3D Orthogonal view pane, select a marker and perform an action on it in either of the
following ways:
❙ On the Objects tab, check the reconstruction and labeling and edit any errors or
inconsistencies.
❙ Right-click and select a command from the displayed context menu.
Tip: You can select the Detach Marker command from the context menu displayed when
you right-click on a marker in the 3D Perspective view pane.
76
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the Camera view pane
View raw 2D motion capture data from an individual Vicon camera.
The Camera view pane contains the following components:
Component
Description
View
Manage the way camera data is viewed in the active Camera view pane by
selecting the following options on the View drop-down list:
Tracker 2.0
3D Overlay
Overlay multiple Camera view panes on top of each
other, so all camera views are displayed in a single view
pane. Each camera is rendered in a unique color.
Rotated
Rotate the camera view, so it is corrected to the vertical
axis defined in the system calibration (which
corresponds to the earth's vertical axis). It also enables
you to manually rotate the view by dragging the view left
or right. Information from the camera calibration is
required to present the rotated view.
Combined
Correctly model lens distortions and display a corrected
camera view with the 3D workspace rendered
underneath the camera view.
Zoom to Fit
Zoom the selected Camera view pane to fit the full
workspace.
March 2013
77
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Component
Description
Masks
You can create a mask to hide any unwanted reflections and light sources
visible to an Vicon camera (such as stray reflections from other objects or
surfaces in the capture volume, opposing strobe units, and direct light
sources) with the following buttons in the Camera view pane tool bar:
Paint a mask onto Paint over any cells in the camera grid (displayed when
the camera
the button is clicked) that contain unwanted reflections.
When a cell is painted, its background color changes
from black to blue. The camera mask consists of all blue
cells obscuring unwanted reflections.
Erase a mask from Erase a previously painted cell from a mask. When an
the camera
individual cell is erased, its background color changes
from blue to black, and any reflection that had previously
been obscured is visible again.
Clear the mask
from the camera
Automatically remove a previously painted mask. When
the mask is cleared, the background color of any
previously painted cells changes from blue to black, and
any reflections that had previously been obscured are
visible again.
Lock / Unlock
Selection Set
Lock the current Camera view pane, so that it is effectively detached from
the selection set and is not affected by any subsequent selections in other
open view panes. This is useful for displaying views from different cameras in
multiple Camera view panes.
Camera
workspace
You view and manipulate 2D data in the workspace. You can manage the
visualization of camera data, for example, you can orbit, truck, dolly, and
zoom the displayed data.
Viewing optical data in Camera view
View 2D optical data from Vicon cameras in the Camera view pane.
To view data in a Camera view pane:
1.
Stream live camera data.
2. On the System tab in the Resources pane, select one or more cameras.
3. Expand the Vicon Cameras node and then click on the sub-node for one or more specific
Vicon cameras.
4. From the view pane tool bar, select Camera.
The 2D data from each camera selected on the System tab is displayed in a separate
Camera view.
78
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Creating camera masks automatically
You can automatically create camera masks in the Create Camera Masks section on the
Calibrate tab in the Resources pane.
The automatic camera mask creation tool automatically creates masks to eliminate any
reflections in the capture volume that are visible to the cameras. You can subsequently create
masks manually to eliminate any remaining or additional reflections.
Important: Before using the automatic mask creation tool, ensure that you remove from
the capture volume any unnecessary objects, such as calibration objects. For best
results, the capture volume should be entirely free from objects likely to cause
background interference.
To automatically create camera masks:
1.
On the System tab, select all Vicon cameras.
2. On the view pane tool bar, select Camera to display the 2D data being captured by each
selected Vicon camera in a separate Camera view pane.
3. From the View drop-down list at the top of the Camera view pane tool bar, ensure that the
3D Overlay and Combined options are cleared.
4. Press F7 to open the Options dialog box and under General View Options, ensure that
Threshold Map is selected.
5. Any reflections are visible in the Camera view pane, typically as non-circular areas of
grayscale or edge data. Note that reflections can severely affect the camera data rates, and
you may find that the camera overloads. In this case, the camera automatically sends edge
data instead of full grayscale data.
6. On the Calibrate tab, in the Create Camera Masks section, click Start.
The Start button changes to display Stop. Tracker starts recording the data visible to each
of the Vicon cameras connected. Any camera masks that are created are displayed as blue
cells in the Camera view panes for the affected cameras. If there is no data visible to a
particular camera, Tracker does not create any masks for it. About 30 seconds of recording
is generally sufficient to enable Tracker to collect the data visible to the cameras.
7.
If you have selected Auto Stop, the calibration process ends when the maximum number of
refinement frames has been reached for each camera, otherwise click Stop when Tracker
has collected sufficient data.
Tracker 2.0
March 2013
79
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Creating camera masks manually
You can manually create camera masks (a technique used to obscure selectively or hold back
parts of an image while allowing other parts to show) with the Masks buttons in the Camera
view pane tool bar, which eliminate any reflections in the capture volume that are visible to the
cameras. If you have a large number of reflections in your capture volume, it is a good idea to
initially create camera masks automatically.
Important: Before manually creating any masks, ensure that you remove from the
capture volume any unnecessary objects, such as calibration objects. For best results,
the capture volume should be entirely free from objects likely to cause background
interference.
To manually create camera masks:
1.
On the System tab in the Resources pane, select all Vicon cameras.
2. On the view pane tool bar, select Camera to display the 2D data being captured by each
selected Vicon camera in a separate Camera view pane.
3. From the View drop-down list in the Camera view pane tool bar, make sure that the 3D
Overlay and Combined options are cleared.
4. Press F7 to open the Options dialog box and under General View Options, make sure that
Threshold Map is selected.
Tip: The Threshold Map default color is blue, but you can change the color in the
Options dialog box.
5. Remove any unnecessary objects, such as calibration objects, from the capture volume. For
best results, the capture volume should be entirely free from objects likely to cause
unwanted reflections.
Any reflections are visible in the Camera view pane, typically as non-circular areas of
grayscale or edge data. Note that reflections can severely affect the camera data rates, and
you may find that the camera overloads. In this case, the camera automatically sends edge
data instead of full grayscale data.
6. From the Camera view pane tool bar, use the following buttons to hide any unwanted
reflections that are visible from the selected camera. (When you click any of these buttons,
a grid of small blue tiles is superimposed over the camera image in each Camera view
pane.)
80
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Button
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Usage
Paint a mask Click an individual tile, click and drag across multiple consecutive tiles, or
onto the
hold down ALT and click while dragging the mouse across an entire area
camera
of unwanted reflections visible in the camera grid. You can drag the
mouse horizontally, vertically, or diagonally.
When a cell is painted, its background color changes from black to blue.
The camera mask consists of all blue cells obscuring unwanted
reflections.
Erase a mask Click an individual tile, drag the mouse across multiple tiles, or hold down
from the
ALT and click while dragging the mouse across an entire area of blue
camera
cells in the camera grid. You can drag the mouse horizontally, vertically,
or diagonally.
When an individual cell is erased, its background color changes from blue
to black, and any reflection that had previously been obscured is visible
again.
Clear the
mask from
the camera
Click the button to automatically remove the entire mask from the
camera.
When the mask is cleared, the background color of any previously
painted cells changes from blue to black, and any reflections that had
previously been obscured are visible again.
Tip: To zoom in on the view pane, right-click and drag the mouse pointer forward (to
zoom in) or backward (to zoom out). To pan the image, click both mouse buttons and
drag. The camera masks are applied in real time and are saved along with your camera
calibration.
To save a configuration:

In the configuration management section at the top of the System resources pane, click
the Save
button to save your system configuration settings to a .system file in one of
the following systems configurations folders:
If you select Shared the file will be saved in
C:\ProgramData\Vicon\Tracker\Configurations\Systems.
If you select Private it will be saved in
C:\Users\UserName\AppData\Roaming\Vicon\Tracker\Configurations\Systems.
Tracker 2.0
March 2013
81
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About Graph view pane
You view and manipulate various values of one or more selected items (such as the x, y, and z
components of a marker trajectory) against time.
The Graph view pane contains the following components.
Component
Description
Graph view pane You manage the display of graph data in the workspace with the following
tool bar
controls and buttons on the Graph view pane tool bar at the top of the view
pane. The Graph view pane tool bar is designed to lead you left to right
through the normal flow of operations required to plot a graph for the
selected elements.
Graph type
You select the type of graph to be displayed in the workspace from under
the categories in this drop-down list (graph types that are not available for
the current selection are dimmed):
Devices
82
Components - Displays graphs for the components of
analog signals from force plates, or other analog devices,
such as EMG devices or accelerometers.
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Component
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Description
Trajectories
❙ Components - The X, Y and Z position of a trajectory
over time.
❙ Distance From Origin - The linear distance between a
trajectory and the origin.
❙ Distance Between - The distance between two
selected trajectories.
❙ Distance Between (xyz) - The absolute distance (as a
vector) between two selected trajectories.
❙ Angle Between - The angle between three selected
trajectories.
❙ Trajectory Count - The number of trajectories being
reconstructed.
Metrics
❙ Latency - A measure of the time taken by Tracker to
perform some task. As data is received from the
hardware and is processed, Tracker takes timestamps
that are used to calculate the latency estimate.
There are two different kinds of latency that are
graphed if you are using Firmware 222.
❙ Data Delivered – The amount of time taken between
the sync packet being received and the data for that
frame being delivered from the hardware. This is the
integration period of the camera - the time that it
takes the camera to process the sample and any
Ethernet overheads.
❙ Data Processed – The amount of time between the
sync packet being received and the completion of
data processing.
Object
Quality - The RMS error of a rigid body compared to its
model (VSK).
Segments
❙ Global Angle - The global position and orientation of a
rigid body.
❙ Relative Pose - The difference in orientation between
two objects. The relative pose graph shows the
transformation from object A (the first object
selected) relative to object B (the second object
selected).
Differentiate
the Graph
You specify for the displayed graph the current variable, its first derivative
(velocity or angular velocity), or its second derivative (acceleration or angular
acceleration) by selecting the desired options from this drop-down list:
❙ x (none)
❙ x' (velocity)
❙ x" (acceleration)
A graph of a trajectory will have X, Y, and Z axes, but when differentiated to
x' (velocity) will change to X', Y', and Z' axes.
Tracker 2.0
March 2013
83
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Component
Description
Graph
Components
You specify the components of the selected graph type to be plotted in the
active Graph view pane by selecting the required options from this dropdown list (only components that you have selected for graph view are
available):
❙ Components - Dependent on the type of graph you have chosen. For
example, the count for the Trajectory Count graph.
❙ Select None
❙ Select All
This option enables you to focus on a component of particular interest,
which occupies more of the workspace. When multiple components are
plotted, each is always shown on a separate axis, and the components
shown are applied to all channels visible in the workspace. The number of
vertically stacked graphs displayed in the workspace depends on the type of
graph selected and the number of components selected from this
component list.
Rotation Order
If you select an object on the Object tab in the Resources pane, you can
select Global Angle from the Graph view tool bar. This enables the Rotation
Order button. Clicking on the Rotation Order button lists the angle
convention choices of Helical (default), XYZ, XZY, etc. This essentially allows
you to choose either a Helical axis angle definition or an Euler angle
convention. The Euler angle convention itself has multiple rotation order
conventions represented by XYZ, XZY, etc.
Show Legend
This button allows you to show a legend to the right of the graph trace for
each component being plotted.
Scaling
You manage the scale of the graph to ensure that the desired portions of the
selected traces are visible using the following buttons:
Zoom out the x-axis to show the complete range
of the trace for 100 frames. This is useful if you
have zoomed in a long way and now want to see
the entire graph again.
Fit Horizontally
Lock the horizontal graph axis so that the
current zoom level is maintained.
Lock Horizontal Axis
Scale the y-axis so that all the data in selected
traces for the currently visible x-axis is visible. If
there are multiple traces in the selected
components, they are all set to the same range
required to show all the data for all traces.
Fit Vertically
84
Lock Vertical Axis
Lock the vertical graph axis so that the current
zoom level is maintained.
Fit Both Horizontally and
Vertically
Scale the x and y axes simultaneously to fit the
horizontal and vertical ranges of data.
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Component
Description
Lock/Unlock
Selection Set
Lock the current Graph view pane, so that it is effectively detached from the
selection set and is not affected by any subsequent selections in other open
view panes. This is useful for displaying different elements in multiple Graph
view panes.
Graph view pane You view and manipulate graph data in the workspace.
workspace
The workspace contains rulers and axes along the right and bottom edges
and graph traces for the item being plotted.
The y-axis vertical ruler is on the right side of the graph and the x-axis
horizontal ruler is below the graph. The y-axis represents the selected
component. The x-axis represents the time (in frames). It starts on the right
side, which is labeled 0 (current frame) and is labeled from right to left with
decreasing negative values to reflect the number of frames away from the
live frame.
Tips:
To change the default number of samples to display when a new realtime graph is opened, press F7 to open the Options dialog box, click
Graph on the left, and on the right side, change the Default X-axis
length value.
When zooming into or out of graph data, the display of grid lines in the
workspace can be set to guide the eye toward the selected area of
focus. Major grid lines remain at their normal weight, while any minor
grid lines gradually fade. To obtain this behavior, press F7 to open the
Options dialog box, ensure Graph is selected and in the Properties
area, select Show Minor Grid Lines.
Tracker 2.0
March 2013
85
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Viewing data in Graph view
You can display graphs of motion capture data in the Graph view pane .
The Graph view pane displays graphs for the types of data that can be produced in a motion
capture trial.
Graphs of trajectories data display three graphs of the X, Y, and Z components of trajectories
for two or more selected 3D markers, or a single graph of the trajectory count for all 3D marker
trajectories, against time. This is useful for analyzing 3D marker trajectories and identifying
gaps to be filled.
To view 3D trajectories in a graph:
1.
Stream live camera data.
2. Select the markers to be graphed in either of the following ways. (The number of markers
you select depends on the type of graph you want to view, as described in step 3 below.)
❙ On the Objects tab in the Resources pane, expand the required Object node, expand the
Markers node, and then select one or more markers; or
❙ In a 3D Perspective view pane, select one or more markers.
3. From the view pane tool bar, select Graph. A single Graph view pane is displayed with the
default Components graph type plotting the X, Y, and Z components of each selected
marker.
Tip: When you have displayed a Graph view pane, you can select additional markers to
add to the Graph view pane. Each trajectory is displayed in a different color trace. To
identify the color trace used for each trajectory, click the Show Legend button
(or
hover the mouse pointer over it) in the Graph view pane tool bar. If the trace for any
additional markers is not visible, use the Fit Horizontally, Fit Vertically, or Fit Both
Horizontally and Vertically buttons.
86
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
4. From the Graph Type list in the Graph view pane tool bar, select another option under the
Trajectories section to plot the selected marker trajectories in a different type of graph:
❙ Distance From Origin: Plots the distance from the capture volume origin to each selected
marker. This is useful for later plotting velocity or acceleration of markers.
❙ Distance Between: Plots the absolute distance between two selected markers. This is
useful, for example, for seeing how the distance between two markers that are assumed
to have a rigid relationship, changes over time.
❙ Angle Between: Plots the angle between the two vectors formed by three selected
markers. This is useful for seeing how the group of markers move over time.
❙ Trajectory Count: Plots the total number of trajectories over time visible to the MX
cameras (if streaming Live data in real time) or processed in trial (if viewing previously
captured data in a file).
5. If you want to save a particular graph view (for example, specific trajectories that you have
selected), save your configuration using the view pane configuration management controls.
Tracker 2.0
March 2013
87
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the menu bar
The Vicon Tracker menu bar contains the following menus.
Menu
Options
Description
Tracker
Undo
Undoes the last action. This command is available only
after a relevant action has been performed.
Redo
Reinstates the previously undone action. This command
is available only after an Undo command has been
performed.
Exit
Closes the Tracker application window.
If you have not saved any changes, Tracker displays a
prompt to enable you to save changes before it closes.
Window
Help
88
New Floating
Workspace
Opens a separate floating view pane.
Resources
Displays or hides the Resources pane in which you
manage the components of your Vicon Tracker system
and the objects whose motion is to be captured. To
display the pane, select the check box next to the option.
Communications
Displays or hides the Communications pane in which you
view the state of your Vicon Tracker system. To display
the pane, select the check box next to the option.
Options
Displays the Options dialog box in which you control the
way data is displayed in view panes. The Options dialog
box can also be displayed by pressing F7.
Contents
Opens the Vicon Tracker Help system.
About Vicon
Tracker
Displays the Vicon Tracker startup screen, in which you
can view version information about the installed release
of Tracker.
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
About the Options dialog box
To control the way data is visualized in the view panes, you use the controls in the Options
dialog box.
You access this dialog box from the Window menu or by pressing F7. You can save the settings
that you make in this dialog box, which enables you to customize sets of options to use for
different types of motion capture projects.
To configure settings in the Options dialog box:
1.
Press F7 or from the Window menu, select Options. The Options dialog box is displayed.
2. In the Options list on the left, select or clear the relevant check box(es), depending on the
functionality you require.
3. To view or change the settings for an option, click on the option to select it. The properties
for that option are displayed in the Properties section.
Tip: To see any available additional settings, click Show Advanced. To show basic
settings only, click Hide Advanced.
4. In the Properties section, change the settings for the properties, as needed.
5. To save the changes you have made in the Options dialog box:
a. Go to the configuration management area:
b. Click the Save button
.
The Save As window is displayed.
6. Enter a name for the configuration and click OK.
Tip: To indicate that you have made changes to a configuration but the changes have
not yet been saved, an asterisk (*) is displayed after the configuration name in the
configuration management list.
Tracker 2.0
March 2013
89
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Working with VRPN
The Virtual-Reality Peripheral Network (VRPN) is a library that provides an interface between
3D immersive applications and tracking systems used for Virtools. Vicon Tracker has a built-in
VRPN server that will stream data natively into these applications or will allow for the
development of simple interfaces using VRPN.
Using VRPN within Virtools
Virtools, a commercial application, has support for VRPN and can be configured to connect
with Vicon Tracker as follows.
A full VRDevice.cfg file is included below.
Note: Head@TrackerPC is the way Virtools connects to the VRPN server within Tracker.
The format is object_name@PC_Name. This configuration file will look for an object
called “Head” on the Tracker server called “TrackerPC.”
=======================================
vrpnTracker_0
Head@TrackerPC
neutralPosition_0
0.0 0.0 0.0
neutralQuaternion_0 0.0 0.0 0.0 1.0
axisPermute_0 0 2 1
axisSign_0 1 1 1
trackerScale_0 1
TrackerGroup_0 T0:0:6
This VRDevice.cfg also contains other directives that:
❙ Map the Vicon coordinates properly to the Virtools coordinates:
axisPermute_0 0 2 1
axisSign_0 1 1 1
❙ Add a tracker group with:
TrackerGroup_0 T0:0:6
Do the following to complete the process:
❙ Add the VRPN settings to a VRPack.cfg file, which is in the same folder as the .cmo. That way
it can be tested with Virtools Dev.
❙ For versions of Tracker before 1.2 in the composition, activate the "Use Scale" option and
change the value of trackerScale_0 in your VRDevice.cfg file to 0.001 (converts Vicon mm to
Virtools m).
Please refer to the Virtools documentation for a full description of any of these configuration
options.
For sample files that use VRPN to connect Virtools to a tracked object within Vicon Tracker,
please contact Vicon Support (see Contacting Vicon on page 91) or download from the Vicon
Support website.
90
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Contacting Vicon
For further information on Vicon Tracker and other Vicon products, please contact your nearest
Vicon office or email info@vicon.com.
OXFORD
14 Minns Business Park
West Way
Oxford
OX2 0JB
UK
Tel: +44 (0)1865 261800
Fax: +44 (0)1865 240527
DENVER
7388 S. Revere Parkway
Suite 901
Centennial
CO 80112
USA
LOS ANGELES
5419 McConnell Avenue
Los Angeles
CA 90066
USA
Tel: +1 310.306.6131
Tel: +1 800.745.7325
Fax: +1 310.437.4229
SINGAPORE
8 Cross Street #11-00
PWC Building
Singapore 048424
Tel: +65 6400 3500
Tel: +1 303.799.8686
Tel: +1 800.745.7325
Fax: +1 303.799.8690
Vicon Motion Systems is an OMG plc company.
Vicon Support resources
Vicon offers telephone, email, and online technical support where you can discuss feature
requests, bugs, and other support issues.
Telephone support
You can speak with Support engineers in our UK and US offices:
Location
Contact Details
OXFORD
Tel: +44 (0) 1865 261800
09:00 to 17:00 Greenwich Mean Time
DENVER
Tel: + 1 303.799.8686
Tel: + 1 800.745.7325
09:00 to 5:00 Mountain Time
LOS ANGELES
Tel: + 1 310.306.6131
Tel: + 1 800.745.7325
09:00 to 5:00 Pacific Time
Tracker 2.0
March 2013
91
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Email support
support@vicon.com
Vicon website support
To access support areas and FAQs in the Vicon knowledge base, visit Vicon Online Support:
http://www.vicon.com/support/
Vicon online support
If you are a licensed user and have a valid Vicon System Maintenance Agreement, you can
access the Vicon Support knowledge base at www.vicon.com/support/.
Tip: To access Vicon online support, you must have a Vicon online support User ID and
password. If you do not have a User ID and password, or need assistance with logging in
to Vicon online support, contact Vicon Support.
Online support resources
The following resources are available from Vicon online support:
Resource
Description
Downloads
Obtain latest firmware and other software patches, models and
scripts, and product documentation.
FAQs
Locate topics providing answers to frequently asked questions
about Vicon hardware, software, plug-ins, and licensing as well as
third-party software.
Submit questions or
report problems
If you cannot locate the information you need in the FAQs, submit
your own question or report a problem. You can then track
responses to your questions and updates to your problems.
To log in to Vicon online support
1.
Enter the URL for Vicon online support:
http://www.vicon.com/support
2. The Vicon Support + Services page is displayed.
3. In the Log-in area, enter your Vicon online support Username and Password.
4. After reviewing the terms and conditions, select the Agree to terms and conditions check
box and click Enter.
5. The online support page is displayed.
92
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Vicon error reporting
The Vicon error reporting system provides a quick and convenient way for you to contact Vicon
in the event that your Vicon application software stops responding. It enables Vicon to
investigate particular problems and to take your feedback into consideration in further product
updates.
Using the Vicon error reporting system
If an error occurs that causes the Vicon application software to stop responding, two events
are triggered:
❙ A Vicon error report file (named OMG*.tmp) is automatically created in the Temp directory
(by default, C:\Users\< User_Name>\AppData\Local\Temp\)
This file contains information including the operating system version and the state of the
application when it stopped responding. It does not contain any personal information.
❙ Τhe Vicon Error Reporting dialog box is displayed.
You can choose to do one of the following:
❙ Continue with your work without sending a report. Make a note of the Incident ID number in
case you want to report the incident later.
❙ Send an automatically generated report, which is the most efficient way to report an error,
and is the method recommended by Vicon.
❙ Email an error report, if you cannot send an automatically generated report, for example if
you do not have internet access from the Vicon host PC.
To continue without sending a report:
1.
Take a note of the number in the Incident ID field in the Vicon Error Reporting dialog box.
2. Click Don’t Send to close the dialog box.
3. After the Vicon software has completely closed, restart the application.
Tracker 2.0
March 2013
93
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
To send an automatically generated error report:
1.
In the Comments field, enter the following details:
❙ A brief description of the problem, including steps to reproduce the problem if possible.
❙ Clear step-by-step details on the actions leading up to the application closing helps Vicon
to isolate the probable cause of the problem and identify a solution.
❙ Your name and/or organization name to enable Vicon to contact you if additional
information is needed to investigate the problem.
2. Make a note of the Incident ID for future reference.
3. Click Send Report.
The automatically generated error report is sent to Vicon, where it is processed and
forwarded to the appropriate engineer for investigation.
To email an error report to Vicon:
1.
In the Subject line, include Vicon Error Report.
2. In the body of your email, include the following details:
❙ Incident ID from the Vicon Error Reporting dialog box.
❙ A brief description of the problem, including steps to reproduce the problem if possible.
❙ Clear step-by-step details on the actions leading up to the application closing helps Vicon
to isolate the probable cause of the problem and identify a solution.
❙ Your name and/or organization name to enable Vicon to contact you if additional
information is needed.
3. Attach the Vicon error report file (OMG*.tmp) to your email.
By default, the Temp directory is
C:\Documents and Settings\<User_Name>\Local Settings\Temp.
4. Send your email to support@vicon.com.
94
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
Regulatory information
ISO Certification
Certificate Schedule
Tracker 2.0
March 2013
95
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
ISO 9001: 2008 Certificate of Approval
96
March 2013
Tracker 2.0
Tracker
Guide
About
Tracker
User
interface
Resources
pane
Comms
pane
View
pane
Menu
bar
Options
dialog
VRPN
Contact
Regulatory
CE Declaration of Conformity
Declaration of Conformity
We, Vicon Motion Systems Limited
Unit 14 Minns Estate
Oxford OX2 0JB
United Kingdom
declare that the VICON Tracker Software Version 2.0 designed and supported by VICON
MOTION SYSTEMS LIMITED using an ISO9001:2008 Quality Management System certified by
Lloyd’s Register Quality Assurance, for the design and support of motion capture software. The
Software is tested to the following minimum performance:
Environmental Measurement Criteria
●
Independent of the lens fitted to each camera.
●
Controlled lighting (no greater than 100 lux) and temperature (17–25°C)
Rigid Bodies
The mean position of a standard Vicon cluster origin from a sample size no less than 1000
samples shall not exceed 1mm away from its known position. The standard deviation of this
position will be no more than 1mm. The orientation of the standard Vicon cluster origin from a
sample size no less than 1000 samples shall not exceed 1 degree from its known orientation.
The standard deviation of this position shall be no more than 1 degree. Tests are performed
using a minimum of four supported cameras(1), at a range of 3 meters. The volume exercised
shall be no greater than 1 meter cubed. The 70mm sided cluster shall be fitted with a minimum
of 4 markers.
T.M.L. Shannon PhD FIE (Aust), CPEng (Biomedical)
Director of Regulatory Compliance
1st March 2013
Not suitable for use in life- or safety-critical environments, or applied as a medical device.
1) No fewer than two supported cameras (T-series, F-series, MX3+, Bonita).
Tracker 2.0
March 2013
97
Tracker
Guide
Glossary
3
3D Workspace: A type of view pane in a Vicon application software window in which
reconstructed data from all active cameras is displayed in 3D. Also see View pane.
A
Accessory kit: A collection of specialized Vicon accessories for use with its motion capture
systems. The kit typically contains items such as marker fixing tape, licensing dongles,
Velcro™, Lycra™ suit, and retroreflective markers.
Algorithm: A well-defined procedure that transforms one or more given input variables into one
or more output variables in a finite number of steps.
Angle of view: The total area, expressed as an angle, that the camera lens can reproduce as a
sharp, focused image. Also see Field of view.
Aperture: The diameter of the camera lens opening, which determines the amount of light that
can pass through the lens in a given time. The size of the lens opening is controlled by
an iris and is expressed in f-stop values (f1.4, f2, f2.8, f4, f5.6, f8, f11, f16, f22). Smaller fstop values represent wider apertures that allow more light to pass through. Larger fstop values represent narrower apertures that allow less light to pass through. Also see
Depth of field and Field of view.
Aspect ratio: The proportional width and height of a picture, expressed in the format w:h.
B
Blob: In Vicon V-series systems, a continuous area of above-threshold data from the camera.
Blobs are submitted as candidates to Vicon circle-fitting algorithms to determine which
are likely to be markers. Also see Grayscale blob.
Blooming: The defocusing of a picture due to excessive brightness. This can occur when a
Vicon marker is close to a camera with high sensitivity or whose aperture is too wide.
This can be resolved by altering sensitivity and/or the aperture or possibly by moving
the camera. Also see Aperture and Marker.
Bounding box: A semitransparent 3D box drawn around each segment defined in the kinematic
model for a subject (as specified in the .vsk or .vst file). This display is optional and is
used for visualization purposes only. Also see Object and .vsk file,
C
Calibration: See camera calibration.
Calibration kit: A collection of specialized Vicon calibration objects for use in the Dynamic
Calibration (DynaCal) process for calibrating Vicon systems and cameras. Also see
Calibration object and Camera calibration.
Calibration object: A specialized piece of equipment used to calibrate the capture volume and
Vicon cameras. There are two basic types of calibration object: a frame and a wand.
Both types are typically made of metal and have retroreflective markers attached. The
Vicon application software uses the known physical dimensions and distance between
the markers on a calibration object to calculate calibration parameters. Also see
Calibration kit, Calibration wand, Camera calibration, and Static calibration object.
98
March 2013
Tracker 2.0
Tracker
Guide
Calibration volume: The three-dimensional area of the capture space (length, width, and depth)
calculated by the camera calibration process. This volume can be visualized in the 3D
Workspace in Vicon application software. Also see 3D Workspace, Capture volume, and
Reconstruction volume.
Calibration wand: A calibration object used in the camera calibration process. Pieces for
constructing different types of calibration wand are supplied in the Vicon calibration
kit. Also see Calibration kit, Calibration object, and Camera calibration.
Camera calibration: Also known as system calibration and dynamic calibration (DynaCal). The
two- stage process by which Vicon application software calibrates the system. During
the dynamic stage, a calibration wand is used to measure the physical position and
orientation of each Vicon camera in the system and determine any lens linearization
correction required. During the static stage, a static calibration object is used to set the
global coordinate system for the capture or tracking volume. The camera calibration is
used in reconstructing the 3D motion from all the cameras. Also see Calibration wand,
Capture volume, Global coordinate system, Static calibration object, and Tracking
volume.
Camera mask: In Tracker, a grid of small blue tiles superimposed over the camera image in a
Camera view pane, each cell of which can be set to obscure raw 2D camera data, such
as unwanted reflections, opposing camera strobe units, and direct light sources that
are seen by a camera. In Vicon V-series systems, a simple shape that is used to obscure
raw 2D camera data, such as unwanted reflections, opposing camera strobe units, and
direct light sources that are seen by a camera. You can have Vicon application software
automatically create camera masks, or you can create them yourself. The equivalent
functionality for Vicon MX systems is generally provided by threshold grids. Also see
.msk file, Tracker, Vicon MX, Vicon V-series system, and Threshold grid.
Camera ray: A line displayed in the 3D Workspace identifying the Vicon camera that
contributed to the reconstruction of a marker. Also see 3D Workspace, Marker, and
Reconstruction.
Camera video sensor: A device that measures illumination and converts it to a digital signal.
Also see MX Camera, Sensor, and Vicon V-series system.
Camera view pane: A type of view pane in a Vicon application software window in which raw,
2D camera data for an individual camera is displayed. Also see View pane.
Capture: See Motion capture.
Capture data: A single, contiguous period of motion capture data acquired by a Vicon system.
This can include video data from Vicon cameras.
Capture space: The full dimensions (length, width, and depth) of the room being used as a
Vicon motion capture studio (for entertainment applications) or laboratory (for life
sciences applications).
Capture volume: The area of the capture space in which Vicon cameras are able to capture the
motion of trial subjects. Also see Capture space, Calibration volume, Reconstruction
volume, and Subject.
CCD: Charge Coupled Device. An image sensor consisting of a grid of pixels made up of
capacitors sensitive to light. An image is projected through a lens onto the capacitor
array, causing each capacitor to accumulate an electric charge proportional to the light
intensity at that location. This charge is subsequently converted into a voltage, and the
voltage for each pixel is read out from the sensor. Also see CMOS and Sensor.
Center of Mass: The theoretical point of a segment or body at which the whole mass may be
considered as concentrated. Also see Segment.
Tracker 2.0
March 2013
99
Tracker
Guide
Centroid: In Vicon MX, a 2D circle with cross-hairs for the horizontal and vertical radii fitted
around the center of intensity calculated for a grayscale blob viewed by an MX camera.
The equivalent for Vicon V-series systems is a circle. Also see Circle, Centroid fitting,
and Grayscale blob.
Centroid fitting: In Vicon MX, the process by which algorithms in MX cameras or in Vicon
application software calculate the center of intensity for a grayscale blob and fit a
centroid around it. The equivalent functionality for Vicon V-series systems is provided
by circle fitting. Also see Centroid, Circle fitting, and Grayscale blob.
Centroids data: In Vicon MX, the x,y coordinates and the radius of the centroid calculated for a
grayscale blob. Also see Centroid and Grayscale blob.
CG plug-in: Computer Graphics plug-in. A software module that facilitates the import of Vicon
data into a third-party animation package. Also see Plug-in.
Circle: In Vicon V-series systems, a 2D circular shape fitted to a series of horizontal video lines
for a blob. Also see Blob and Circle fitting. For Vicon MX systems, see Centroid.
Circle fitting: In Vicon V-series systems, the process by which algorithms in Vicon application
software calculate a central coordinate for a marker based on three or more horizontal
video lines. The equivalent functionality for Vicon MX systems is provided by centroid
fitting. Also see Algorithm, Centroid fitting, and Circle.
CMOS: Complementary Metal-Oxide-Semiconductor. An approach to the design and
implementation of digital circuits on silicon chips. Image sensors produced by the
CMOS process are an alternative to CCD sensors and offer the advantage of requiring
less power. CMOS sensors consist of a grid of pixels each made up of a photodetector
and several transistors. An image is projected through a lens onto the sensor, and a
voltage is read from each pixel proportional to the light intensity at that location. Also
see CCD and Sensor.
conf file: An XML file with extension .conf which contains Vicon Tracker configuration settings.
This file is created by Tracker. Also see Tracker.
Constraint: The mathematical relationship between one element in a kinematic model and
another element whose behavior it controls. For example, a segment may be
constrained by a marker, the path a muscle takes over a segment may be constrained
by a wrap object, or the position of a segment or model marker may be constrained in
the local coordinate system. Also see Local coordinate system, Marker, and Segment.
Context: The condition or circumstance that relates data in an event (e.g. left and right foot
events in gait analysis). Also see Event.
Coordinates data: In Vicon MX, the x and y location of the start and end points of a line of
illuminated pixels in a grayscale blob; it is the grayscale data without the pixel values.
Coordinates data can be displayed as just the start and end edges of each line of
grayscale, or with connecting lines between the start and end edges. The latter looks
similar to edge data from Vicon V-series cameras. Also see Edges and Grayscale blob.
cp file: Calibration Parameters file. A text file with extension .cp, which contains the calibration
parameters specified for a set of Vicon cameras. This file is created during the camera
calibration process and used when data from these cameras is processed. A copy of the
.cp file is saved to the active Session folder of the open database. Similar functionality
is provided by the .xcp file in Vicon Tracker application software. Also see Camera
calibration, Tracker and .xcp file.
100
March 2013
Tracker 2.0
Tracker
Guide
D
Data acquisition: The process by which Vicon motion capture and analysis systems convert
information from real-world sources to digital form in which it may be stored,
manipulated, analyzed, and displayed. Also see Data streaming and Motion capture.
Data file: Related pieces of data organized in a specific manner. Data files contain information
but not instructions or programs.
Data streaming: The passing of real-time motion data from some Vicon application software to
Vicon or third-party visualization software. Also see Data acquisition, Motion capture,
and Visualization software.
Depth of field: The distance between the nearest object in focus and the furthest object in
focus within a scene as viewed by a particular camera lens. Outside this area, moving
towards or away from the lens, the focus becomes progressively less sharp and the
image appears out of focus. Depth of field varies with subject-to-camera distance, lens
focal length, and lens aperture. Also see Aperture and Focal length.
Dolly: The moving of a camera along a horizontal axis closer to (dolly in) or further from (dolly
out) the subject. Also see Pan, Tilt, and Truck.
Driver: A hardware device or software program that controls a specific hardware device, such
as a video driver.
E
Earth: See Ground.
Edges: In Vicon V-series systems, the start and end points of horizontal lines of video data for a
blob. This looks similar to the display of Vicon MX coordinates data with connecting
lines. Also see Blob and Coordinates data.
Edit options: A dialog box in which users can configure parameters to control the behavior of a
specific feature or function in Vicon application software.
Ethernet network: A local area network (LAN) architecture based on the IEEE 802.3 standard
for contention networks. Standard Ethernet supports data transfer rates of 10 Mbps.
100Base-T (or Fast Ethernet) supports data transfer rates of 100 Mbps. Gigabit
Ethernet supports data transfer rates of 1 Gigabit. A Vicon system runs over its own
dedicated Ethernet network; Vicon MX uses Gigabit Ethernet communications. Also see
LAN.
Euler angles: The three angles defining the three rotation matrices of an object about an axis.
These angles are used to relate two orthogonal coordinate systems in a kinematic
model for a motion capture subject. Also see Kinematic model and Rotation.
F
F-20: See MX-F20.
F-40: See MX-F40.
F-series Camera: A range of high-resolution, digital, motion capture cameras: MX-F40 and MXF20. This range of Vicon cameras was supplied with Vicon MX systems after April 2007.
F-series Cameras provide high-speed, low-latency motion capture. F-series Cameras are
made of lead-free components to comply with environmental regulations. Each F-series
Camera is fitted with the proprietary Vicon Vegas CMOS sensor and a strobe unit with
surface-mount LEDs. Each is programmed with Vicon application firmware to control its
operation and enable it to perform its own onboard processing. Also see MX-F20, MXF40, Firmware, MX Camera, MX+ Camera, RoHS compliant, and Vegas sensor.
Tracker 2.0
March 2013
101
Tracker
Guide
F-stop: See Aperture.
Field: An assembly of alternate lines of video information. For interlaced video, an interlaced
frame is composed of two fields (odd and even scanning lines of the picture). Also see
Frame and Frame rate.
Field of view: The total area that can be seen through the camera lens. Also see Aperture and
Depth of field.
Firmware: A set of software routines stored in the read-only memory (ROM) of MX cameras and
of some MX hardware units to control their operation and enable them to perform their
own processing. Also see MX Bridge, MX Camera, and MX Control.
Focal length: The distance from the center of the camera lens to a focused image with the lens
focused on infinity. Short focal lengths offer a broad field of view, while long focal
lengths offer a narrow field of view. Zoom lenses have variable focal lengths.
G
Gain: A multiplicative increase (or decrease) in a voltage or digital signal by a specified
magnitude. Adjusting the gain in a Vicon camera increases or decreases the intensity of
a marker displayed in the workspace. Also see Marker and Workspace.
Ghost marker: Also known as ghost trajectory. A spurious marker trajectory produced by the
reconstruction process. A ghost marker is a false reconstruction that appears as an
additional trajectory very close to an existing one over a short duration. Also see
Reconstruction and Trajectory.
Global coordinate system: The coordinates defining the origin (0,0,0) and the axes (x,y,z) of the
world in the context of the Vicon capture volume. Also see Capture volume, Volume
origin and Workspace axes.
gpo file: General Purpose Output file. An XML file with extension .gpo, which specifies the
characteristics of a synchronization signal through the GPO ports of an MX Control or
MX Ultranet HD unit. For example, .gpo files supplied with the Vicon Reference Video
system option specify the relationship of the frame rate of a connected reference video
camera with that of the MX cameras. Also see Frame rate, MX Camera, MX Control, MX
Ultranet HD, and Reference video.
Grayscale blob: In Vicon MX systems, the raw, 2D grayscale data MX cameras generate for
reflections from objects in the capture volume. Such data is submitted as candidates to
MX centroid-fitting algorithms to determine which are likely to be markers. Also see
Blob and Centroid fitting.
Grayscale data: In Vicon MX, the complete pixel and line information for a grayscale blob. Also
see Grayscale blob.
Ground: Also known as earth. A point that is assumed to be at a zero voltage potential.
H
Host PC: The computer in a Vicon system architecture that contains a dedicated Ethernet port
for Vicon system communications and on which the core Vicon application software is
installed. The host PC enables communications between the Vicon application software
and other Vicon system components. Additional network ports and Vicon application or
third-party software may be installed on the host PC, depending upon the computer
specification. Also see Vicon application software.
102
March 2013
Tracker 2.0
Tracker
Guide
I
Image circle: The diameter of the sharp, circular image that the camera lens casts onto the
sensor. This indicates the maximum area of usable quality image that the lens can
produce.
Impedance: The total opposition to the flow of alternating or direct current specified for signal
input/output connections.
Interpolation: The process by which Vicon application software fills a gap in a trajectory by
calculating a smooth curve between the broken ends. Also see Trajectory.
Iris: The device inside the camera lens that controls the aperture size. Also see Aperture.
K
Kinematic fitting: The process by which Vicon application software positions the segments in
the kinematic model so that segments on the model fit to the labeled trajectories. Also
see 3D Workspace, Kinematic model, Segment, Trajectory, and .vsk file.
Kinematic model: A mathematical description of a moving object. Kinematic models for objects
whose motion is being captured or analyzed in a Vicon system are contained in Vicon
Skeleton (.vsk) files. A representation of the kinematic model for a subject can be
displayed in the 3D Workspace. Also see Kinematics, Kinematic fitting, and .vsk file.
Kinematics: The study of motion without reference to its cause or its mass. Vicon application
software is concerned with angular and linear displacements, velocity, and
acceleration. Also see Forward kinematics and Inverse kinematics.
L
L-frame: A type of static calibration object. Also referred to as an ergo calibration frame. Also
see Static calibration object and Ergo calibration frame.
Label: A name by which a point or the trajectory of a marker is identified in Vicon application
software. The labels to be used to identify the reconstructed 3D markers are defined in
kinematic model (.vst or .vsk file) for the subject or in the associated marker (.mkr) file.
Also see Marker, .mkr file, Trajectory, and .vsk file.
LAN: Local Area Network. A short-distance data communications network—typically within a
single building or group of buildings—used to connect computers in order to share data
and peripheral devices (such as printers, CD-ROM drives, and modems). Each device on
a LAN is known as a node; nodes are connected by cables through which messages are
transmitted. Also see Ethernet network.
LEMO® connector: An electronic connector for attaching electro-optic devices. Connects with
a push-pull self-latching mechanism. Also see BNC connector.
Live 3D Workspace: See 3D Workspace.
Local coordinate system: A coordinate system whose origin (0,0,0) and axes (x,y,z) are fixed
with respect to a particular segment or element in a kinematic model, as opposed to
the global origin and axes directions. Also see Capture volume, Global coordinate
system, Kinematic model, Volume origin, and Workspace axes.
Tracker 2.0
March 2013
103
Tracker
Guide
M
Marker: 1) A sphere, hemisphere, or disk coated with a highly retroreflective material which is
attached to a subject or object whose motion is being captured or analyzed in a Vicon
system. The Vicon cameras are designed to capture the pattern of light reflected from
such a marker and convert it into an image that represents the position and radius of
the marker. Also see Subject and Object. 2) The 3D representation of a retroreflective
marker generated by Vicon application software (also referred to as a model marker).
The expected location of all markers attached to a subject whose motion is being
captured or analyzed in a Vicon system is defined in the kinematic model .vsk file) for
the subject or in the associated marker (.mkr) file. These can be visualized as elements
of the 3D representation of the subject. Also see Kinematic model, .mkr file, Object, and
.vsk file.
Marker covariance: A 3D representation in Vicon application software of how much a marker is
allowed to move in relation to its associated segment or joint, based on the subject’s
RoM trial. Also see Marker, Range of Motion (RoM) trial, and Segment.
Mask: See Camera mask.
MCam: A high-resolution, high-speed digital CMOS sensor camera used in a Vicon V-series
system. Also see CMOS, Vicon MX, and Vicon V-series system.
MCam2: A high-resolution, high-speed digital CMOS sensor camera used in a Vicon V-series
system. Also see CMOS, and Vicon V-series system.
Model marker: See Marker definition 2.
Motion capture: The recording of motion data with a Vicon system from retroreflective markers
attached to a subject or object. Also Marker and Object.
MX Camera: A range of high-resolution, digital, motion capture cameras: MX40, MX13, and
MX3. This range of Vicon cameras was supplied with Vicon MX systems before July
2006; MX Cameras were superseded by MX+ Cameras. MX Cameras provide high-speed
and low-latency motion capture. Each MX Camera is fitted with a commercially
available CMOS sensor and a strobe unit with through-hole LEDs. Each is programmed
with Vicon application firmware to control its operation and enable it to perform its
own onboard processing.
MX Ultranet HD: An MX hardware unit that supplies power, synchronization, and
communications for up to 10 connected MX F-series, MX+, and MX Cameras (or
optionally subordinate MX Control units) and the host PC. It also supplies direct
powered and unpowered synchronization out functionality to connected Gigabit
Ethernet cameras. It provides the interface between Vicon MX and third-party capture
or remote control devices. The MX Ultranet II replaces the MX Control, MX Ultranet, and
MX Sync units available in Vicon MX systems before November 2007. Also see F-series
Camera, MX+ Camera, MX Camera, MX Control, MX Sync, and MX Ultranet.
MX-F20: An F-series camera providing 2 megapixel resolution used in Vicon MX systems from
April 2007. Also see F-series Camera and Vicon MX.
MX-F40: An F-series camera providing 4 megapixel resolution used in Vicon MX systems from
April 2007. Also see F-series Camera and Vicon MX.
MX+ Camera: A range of high-resolution, digital, motion capture cameras: MX40+, MX20+,
MX13+, and MX3+. This range of Vicon cameras was supplied with Vicon MX systems
after July 2006; MX+ Cameras were superseded by MX F-series cameras in April 2007.
MX+ Cameras provide high-speed, low-latency motion capture. MX+ Cameras are made
of lead-free components to comply with environmental regulations. Each MX+ Camera
is fitted with a commercially available CMOS sensor and a strobe unit with surfacemount LEDs. Each is programmed with Vicon application firmware to control its
operation and enable it to perform its own onboard processing.
104
March 2013
Tracker 2.0
Tracker
Guide
MX3+: An MX+ Camera providing 0.3 megapixel resolution used in Vicon MX systems after July
2006. Also see MX+ Camera and Vicon MX.
mxe file: A file with extension .mxe, which contains updates to the Vicon MX firmware in MX
cameras and certain MX hardware units. Also see Firmware, MX Camera and MX
Ultranet HD.
N
Noise: Random or systematic background interference that is unrelated to the data being
collected (such as hum or hiss in audio data, or snow or graininess in video data), or
random spikes or jitters in motion data. Some noise is generally present in most data
collected. Typical examples are noise caused by human error in digitizing, electrical
interference in EMG, mechanical vibrations in force plates, or non-seamless camera
tracking of markers during motion capture. Different types of noise require different
techniques to eliminate it.
O
Object: The target of a trial, usually a single-segment inanimate article, to which Vicon markers
are attached and subsequently tracked by a Vicon system. Also see Trial and Tracking
volume.
Occlusion: The state of a marker that has been completely obstructed from the view of one or
more cameras. This is generally caused by the marker being covered by a body part or
by another motion capture subject. Also see Marker.
Operating mode: A window in some Vicon application software that provides access to the
activities required during a specific stage of motion capture and processing.
Options file: An XML file with extension .Options, which contains configuration settings for
view options created in the Options dialog box in Vicon Tracker. Also see Tracker.
Origin: See Volume origin.
Ortho view pane: A type of view pane in a Vicon iQ or Tracker application software window in
which the point of sight, or direction, from which to view the capture volume (or
tracking volume) in the workspace can be set. The available views are based on
orthographic projection (also called orthogonal projection): top, bottom, front, back,
right side, and left side. Also see View pane, Capture volume, Tracking volume, and
Workspace.
Orthogonal axes: Three axes which are at right angles to each other. Vectors may be analyzed
into components in any orthogonal system of axes, and the components added
according to normal vector algebra.
Tracker 2.0
March 2013
105
Tracker
Guide
P
Pan: The rotation of a stationary camera in a horizontal plane about a vertical axis (pan left or
pan right). Also see Dolly, Tilt, and Truck.
Parameter links: A visual representation in Vicon application software of the parameter
associations between specified markers and segments in a subject.
Pixel: Picture (pix) element. The smallest unit of the composition of an image capture or display
device.
Point: A location in space specified by 3D coordinates. A trajectory (or segment of a trajectory)
consists of a time-series of points. A point is stored in a .c3d file as three spatial
coordinates and a residual, identified by a label. Points may represent the measured
positions of real markers. In some Vicon application software, points may be virtual
(created by modeling). The terms point and marker are often used interchangeably. Also
see .c3d file, Label, Marker, and Virtual point.
R
Real-time processing: The process of converting raw, 2D motion data being streamed live by
Vicon cameras into 3D data. Also see RealTime Engine (RTE).
RealTime Engine (RTE): Vicon application software that produces 3D data based on the raw
motion data acquired by Vicon MX or V-series cameras. The RTE (known as Tarsus in
Vicon V-series systems) reconstructs, labels, and optionally kinematically fits this realtime motion data, which can then be viewed and incorporated in Vicon iQ, Polygon, or
third-party visualization software. Also see Polygon, Tracker, Vicon iQ, and Workstation.
Reconstruction: The process by which Vicon application software calculates the position of
markers in three-dimensional space and links these points frame-by-frame into a
trajectory. Also see Frame, Marker, and Trajectory.
Reconstruction entity: A 3D representation generated by Vicon application software showing
the reconstructed markers. Also see Marker and Reconstruction.
Reconstruction volume: The 3D representation of the capture volume displayed in some Vicon
application software. This enables the user to visualize the space within which the
Vicon system attempts to reconstruct marker data. The dimensions of this volume are
user configurable. Also see Calibration volume, Capture volume, Marker, and Trajectory.
Resolution: A measure of the fineness of detail with which a camera or monitor can produce an
image with good definition. This measurement is based on the total number of pixels
displayed horizontally and vertically on the camera video sensor or the video monitor.
Also see Camera video sensor and Pixel.
Retroreflective marker: See Marker definition 1.
Rigid body: A virtual object formed from a specified group of markers with a relatively fixed
proximity to one another. Also see Object.
RoHS compliant: Vicon hardware that complies with Directive 2002/95/EC concerning the
Restriction of the Use of certain Hazardous Substances in Electrical and Electronic
Equipment (RoHS). This European Commission Directive provides that new electrical
and electronic equipment put on the market for the first time from 1 July 2006 should
not contain lead, cadmium, mercury, hexavalent chromium, polybrominated biphenyls
(PBB) or polybrominated diphenyl ethers (PBDE). Also see WEEE compliant.
Rotation: A movement about a specified axis. In Vicon application software, the rotation of a
kinematic model element can be manipulated to change its displayed orientation in a
3D Workspace. Also see 3D Workspace, Scale, and Translation.
106
March 2013
Tracker 2.0
Tracker
Guide
S
Scale: 1) The enlargement or reduction of an image by proportionally adjusting its size. In Vicon
application software, the scale of a kinematic model element can be manipulated to
change its displayed size in a 3D Workspace. Also see 3D Workspace, Rotation, and
Translation. 2) The alteration of values from one unit of measure to another. Vicon
application software can scale incoming voltage signals (e.g. from a force plate) from
bits to Newtons (N) for forces and Newton millimeters (Nmm) for moments.
Sensor: A device that measures or detects a physical quantity such as pressure, motion, sound,
or light and converts it into an analog or digital representation. Also see Camera video
sensor.
Static calibration object: A calibration object used for setting the global coordinate system in
the capture volume. An ergo calibration frame is one type of static calibration object.
Also see Calibration kit, Calibration object, Calibration volume, Ergo calibration frame,
and Global coordinate system.
Stick: A visual aid to illustrate the connection between reconstructed marker positions or
between virtual points in a kinematic model for a subject whose motion is being
captured or analyzed in a Vicon system. This can be visualized as an element of the 3D
representation of the subject. Also see Kinematic model, Marker, and Subject.
Strobe unit: A specialized piece of illumination equipment attached to the front of a Vicon
camera. The strobe unit generates a bright flash of light, which illuminates the
retroreflective markers attached to the subject or object whose motion is being
captured or analyzed in a Vicon system. The strobe unit’s flash coincides with the time
the camera’s shutter (if present) is open. Strobe units can be fitted with Visible Red
(VR), Near Infrared (NIR), or Infrared (IR) Light Emitting Diodes (LEDs).
Synchronization: The process by which a signal change common to all camera view used to
match them in time. This causes analog and/or video data from different sources to
match exactly. Also see Analog, Datastation, and MX Control.
System calibration: See Camera calibration.
System file: An XML file with extension .System, which contains configuration settings for
Vicon system hardware managed by Tracker application software. This file is created in
the System resources pane in Tracker.
T
Threshold grid: In Vicon MX, a grid superimposed over the image displayed in a camera view
pane in which raw, 2D camera data can be manually marked to be used for processing
or to be discarded. This enables grayscale blobs generated from unwanted light sources
such as stray reflections from other objects or surfaces in the capture volume and
opposing strobe units to be ignored. You can have Vicon application software
automatically create threshold grids, or you can create them yourself. The equivalent
functionality for Nexus and for Vicon V-series systems is provided by camera masks.
Also see Camera mask, Capture volume, Grayscale blob, Vicon MX, Vicon V-series
system, and .vtt file.
Tilt: The rotation of a stationary camera in a vertical plane about a horizontal axis (tilt up or tilt
down). Also see Dolly, Pan, and Truck.
Tracker: Vicon application software for 3D optical tracking in virtual environments, simulators,
and visualization systems. Tracker is the core motion capture and processing software
for engineering applications.
Tracker 2.0
March 2013
107
Tracker
Guide
Tracking volume: The area of the capture space in which Vicon cameras are able to capture the
motion of specified tracking objects. Also see Reconstruction volume, Calibration
volume, and Capture volume.
Translation: The movement of an object along a specified axis. In Vicon application software,
the translation of an object can be manipulated to change its displayed position in a 3D
Workspace. Also see 3D Workspace, Rotation and Scale.
Truck: The moving of a camera side to side along a horizontal axis (truck left or truck right).
Also see Dolly, Pan, and Tilt.
V
Vector: A quantity that has both direction and magnitude. For example, velocity is a vector
quantity whose magnitude is a body’s speed and whose direction is the body’s direction
of motion. Vicon application software uses vectors to describe and analyze elements of
kinematic models of subjects or objects whose motion is being analyzed. Also see
Kinematic model.
Vicon application software: Software for motion capture, processing, and analysis by Vicon
systems. A range of software is available for use in a variety of engineering,
entertainment, and life sciences applications. Also see BodyBuilder, Plug-in, Polygon,
Tracker, Vicon iQ, and Workstation.
Vicon MX: Vicon integrated system for digital optical motion measurement and analysis, based
on video cameras that perform centroid processing. It consists of specialized cameras,
illumination equipment, controlling hardware units, application software, and a host PC.
MX network equipment, accessories, calibration apparatus, and cables are supplied
with the system. Third-party devices can be integrated with the system. Also see
Accessory kit, Host PC, Calibration kit, MX Bridge, MX Control, MX Link, MX Net, MX
Sync, MX Camera, and Strobe unit.
View pane: The area in the middle of a Vicon application software window that enables users
to specify the type of data from one or more Vicon cameras to be viewed. Each type of
view pane may contain its own menu bar, toolbar, and workspace. Also see View pane
menu bar, View pane toolbar, and Workspace.
View pane menu bar: A set of menus from which the type of view pane to display in the
workspace is selected. Also see 3D Workspace, Camera view pane, Frame rate view
pane, Fullscreen preview, Ortho view pane, View pane, and View pane button bar.
View pane toolbar: A set of buttons with which the number and arrangement of view panes
displayed in the workspace is specified. Also see View pane and View pane menu bar.
ViewType file: Vicon Tracker view pane layout configuration file. An XML file with extension
.ViewType, which contains configuration settings for view pane layouts in the Tracker
window.
Virtual point: A virtual marker that is derived through calculations based on a specified group
of markers—or other virtual points—whose proximity to one another is relatively fixed.
Visualization software: Vicon or third-party application software in which motion data can be
visualized and manipulated in real time.
Volume: See Capture volume, Calibration volume, Reconstruction volume, and Tracking volume.
Volume origin: The coordinates (0,0,0) identifying the origin of the world in the context of the
capture volume or tracking volume. The volume origin is specified during the system
calibration process. Also see Capture volume, Tracking volume, and System calibration.
108
March 2013
Tracker 2.0
Tracker
Guide
vsk file: Vicon Skeleton file. An XML file with extension .vsk, which contains a kinematic model
that describes the relationships between the segments, joints, and Vicon markers for a
specific subject or object of the type described in the associated Vicon Skeleton
Template (.vst) file. For example, if the .vst file represents a human being, the .vsk file
contains a kinematic model of an individual person. The Vicon application software
uses the .vsk file to track and label markers and segments for that subject. By default,
.vsk files are saved to the active Session folder of the open database. Also see,
Kinematic model, Marker, and Object,.
W
Wand: See Calibration wand.
WEEE compliant: Vicon hardware that complies with Directive 2202/96/EC concerning the
disposal of Waste Electrical and Electronic Equipment (WEEE). This European
Commission Directive provides for the disposal of certain equipment that may not be
treated as household waste. Also see RoHS compliant.
Workspace: The area in the view pane in which data can be viewed and manipulated. The type
of workspace displayed depends on the type of view pane selected. Also see View pane
and 3D Workspace.
Workspace axis: A visual representation in some Vicon application software of the X, Y, and Z
axis in the global coordinate system. These axis are specified as part of the system
calibration process. They can be visualized in the 3D Workspace. Also see 3D
Workspace, Global coordinate system, and System calibration.
X
xcp file: An XML file with extension .xcp, which contains the calibration parameters and
threshold data specified for Vicon cameras in Vicon Tracker. This file is created during
the MX camera calibration processes and used when data from these cameras is
processed. A copy of the .xcp file is saved to the active Session folder of the open
database. Similar functionality is provided by the .cp and .vtt files in earlier Vicon
application software. Also see .cp file, and Tracker.
xml file: eXtensible Markup Language file. A condensed form of SGML (Standard Generalized
Markup Language) which defines a language standard used to create customized tags
for organizing and presenting types of information in documents that can be published
on the World Wide Web. A number of Vicon file types are in XML format. Also see .vsk
file.
Z
Zoom lens: A camera lens with a variable focal length and whose angle of view can be changed
without moving the camera. See MCam2, MX13/MX13+, and MX40/40+.
Zoom ratio: The ratio of the longest and shortest focal length of a zoom lens. Also see Focal
length and Zoom lens.
Tracker 2.0
March 2013
109
Tracker
Guide
Index
.
Calibrate tab.......................... 18, 49, 53, 55, 79
.options files ................................................... 10
Calibrating cameras ...................30, 50, 52, 53
.system files .................................................... 10
.ViewType files ............................................... 10
.vsk files ...........................10, 55, 56, 57, 58, 62
.x1d files ........................................................... 65
.x2d files .......................................................... 65
Calibration object............................. 50, 53, 55
Calibration Refinement option ............. 50, 52
Calibration Type list ................................ 50, 52
Camera Calibration Feedback section .......53
Camera Centered on Selection button ...... 75
.xcp files .......................................10, 50, 53, 55
Camera Commands section ........................ 36
2
Camera overload .................................... 79, 80
2D data .................................. 28, 30, 53, 77, 78
Camera settings ............................................ 30
Camera name ................................................. 30
Camera view pane.................................... 77, 78
3
3D data ............................. 28, 53, 71, 74, 75, 76
3D Orthogonal view .......................... 71, 75, 76
3D Overlay option .................................... 28, 77
3D Perspective view.................................71, 74
3D reconstructions........................................ 53
3D trajectories in Graph view ......................86
Cameras
calibrating ............................................49, 53
configuring ................................................. 28
connecting .................................................... 9
failure to boot ............................................. 27
managing calibration settings ............... 55
mounting .......................................................6
viewing in 3D Perspective view ..............74
A
Accelerometers .............................................. 43
Cameras To Calibrate list ..............................52
Accuracy, of Vicon system ............................. 5
Capture Before Start option ....................... 65
Add Apex Device option ........................ 47, 48
Capture environment, preparing ................... 5
Add Generic Analog option ......................... 43
Captured trials, playing back ...................... 68
Adding markers .............................................. 61
Capturing trial data........................................67
Advanced properties ..................................... 10
CE Declaration of Conformity certificate ..97
Analog devices ............................................... 43
Center camera on selection button ...........74
Angle Between graph type ................... 82, 86
Center, finding in object .............................. 60
Apex .............................................43, 47, 48, 49
Centroids
Arm button ...................................................... 65
fitting ........................................................... 30
Auto Increment Trial Number option ........ 65
moving......................................................... 62
Auto Stop check box................. 50, 52, 53, 79
Certificate of Approval ................................. 96
Auto-scroll option ..........................................69
Changing orientation of object .................. 59
Choose and Object File dialog box ............ 58
B
Clean button ................................................... 23
Bluetooth, Apex device ................................48
Clear option, Communications pane ......... 69
Bonita cameras ................................... 7, 30, 35
Clear the mask button............................ 77, 80
Broadcast Start/Stop options ..................... 65
Close view pane button ................................ 71
Buffer Size (MB) setting............................... 25
Color, changing marker ................................ 64
C
Combined option ............................................ 77
Calibrate Cameras section .................... 49, 50
110
Communications Pane
March 2013
Tracker 2.0
Tracker
Guide
about ............................................................ 69
Distance Between graph type ............. 82, 86
customizing ................................................. 15
Distance From Origin graph type ........ 82, 86
displaying ................................................... 88
Docking panes ................................................ 15
using ............................................................ 70
Dollying in view pane .................................... 16
Components option (graph types) ............. 82
Components, Tracker ....................................... 7
Configuration management
Options dialog box ....................................89
Properties pane ......................................... 10
Resources pane ........................... 22, 28, 80
system settings .......................................... 24
view pane ..................................................... 71
Connected setting............................ 34, 38, 41
Connecting cameras ....................................... 9
E
Edge data................................................. 79, 80
Email Vicon ...................................................... 91
Enable LEDs check box ................................ 30
Erase a mask button ............................... 77, 80
Error entries, Communications pane......... 69
Error reporting ............................................... 93
Exiting Tracker............................................... 88
Eye tracking ................................................... 44
Connecting Vicon systems .......................... 37
F
Connection settings for host PC ................ 24
File types in Tracker ...................................... 10
Context menus ............................................... 22
Continuous Mode .......................................... 47
Contributing Centroids check box ............. 34
Contributing Grayscale check box ............. 34
Contributing Tracks check box ................... 34
Copying log entries ....................................... 70
Core Processor
Filter On/Off setting ..................................... 26
Filter Window Size setting .......................... 26
Firmware Complete check box ...... 35, 39, 42
Firmware version information ....... 35, 39, 42
Firmware, updating ........................................ 27
Fit Both Horizontally and Vertically button
...................................................................... 82
restarting .................................................... 27
Fit Camera view to workspace .................... 77
section ......................................................... 26
Fit Horizontally button ................................. 82
Create Camera Masks section ............. 49, 79
Fit Vertically button ...................................... 82
Create Object box.......................................... 57
Floating workspace ................................ 15, 88
Creating
Floor Grid check box..................................... 62
camera masks automatically................... 79
camera masks manually .......................... 80
objects ......................................................... 57
Floor grid, aligning with capture volume
floor...............................................................53
Frame Rate
Customizing Tracker .....................................89
resynchronizing .......................................... 27
D
specifying ................................................... 24
setting ..........................................................25
Datastream SDK ............................................. 43
Frames Captured number.............................67
Default calibration settings ......................... 55
Full Calibration option............................ 50, 52
Deleting objects............................................. 62
Detaching markers .................................. 61, 74
Device ID ......................................................... 30
Devices graph type........................................ 82
Differentiate the graph drop-down list ..... 82
Dikablis eye tracking system ................ 43, 44
Displaying Tracker panes ....................... 15, 88
Tracker 2.0
G
Gain setting ..............................................28, 30
Gaze vector .................................................... 44
General Purpose Outputs (GPO) .......... 38, 41
Generic Analog node .................................... 43
Genlock Standard setting .............................25
March 2013
111
Tracker
Guide
Global Angle option....................................... 82
Lock Horizontal Axis button ....................... 82
Global coordinate system
Lock Vertical Axis button ............................ 82
definition of ................................................49
Lock/Unlock Selection Set button....... 77, 82
setting.......................................................... 53
Log entries ................................................69, 70
snapping to ................................................. 62
specifying coordinates in ........................ 63
Global Position field ...................................... 63
Global Rotation field ..................................... 63
GPO functionality .................................... 38, 41
Graph view pane ......................... 16, 71, 82, 86
Grayscale Mode setting......................... 28, 30
Grid, aligning with capture volume floor .. 53
M
MAC Address setting ........................ 35, 39, 41
Manage Camera Calibration section ...49, 55
Marker Movement Speed setting .............. 26
Markers
adding .......................................................... 61
changing color........................................... 64
detaching .................................................... 61
H
minimum required for object .................. 56
Haptics, Apex devices ...................................48
reordering ................................................... 63
Help menu ...................................................... 88
snapping rotation ..................................... 59
Hiding Tracker panes .............................. 15, 88
snapping to mid point .............................. 60
Horizontal view button.................................. 71
Host PC .................................................. 7, 24, 25
Masks
Camera view controls................................ 77
creating automatically ....................... 49, 79
I
Identification section ..24, 27, 28, 30, 38, 40
Identify button ........................................ 47, 49
Image Error setting ....................................... 53
Incident ID number ....................................... 93
Info entries, Communications pane ...........69
IP Address setting ............................ 35, 39, 41
IP address, network card ................................ 9
creating manually ..................................... 80
when to use ............................................... 28
Master Select setting ....................................25
Maximum Blob Height setting ................... 30
Mechanical stability ........................................ 5
Memory buffer ................................................25
Menu bar ................................................... 14, 88
Metrics graph type........................................ 82
K
Midpoint between markers ......................... 60
Keyboard shortcuts ....................................... 16
Minimum Cameras per Marker setting ..... 26
Minimum Circularity Ratio setting............. 30
L
Minimum Recon Separation (mm) setting26
Latency option ............................................... 82
Motion Model Enabled setting ................... 26
Latency, Filter Window Size setting .......... 26
Mounting creep ................................................6
L-Frame option ...............................................49
Mouse actions ................................................ 16
Live trials
Move Down button ........................................ 23
capturing ..................................................... 67
Move Up button ............................................. 23
playing back................................................68
Moving centroids .......................................... 62
Load an Object button .......................... 55, 58
Multiple Apex devices .................................. 49
Load camera calibration button ................. 55
MX cables ................................................... 7, 40
Load Trial button ........................................... 65
MX cameras ....................................................... 7
Local Vicon System node .. 24, 25, 26, 27, 28,
37, 40, 43, 48
MX Connectivity node . 24, 37, 38, 39, 40, 41,
42
112
March 2013
Tracker 2.0
Tracker
Guide
MX connectivity units ................................ 7, 37
configuration management ..................... 10
MX Firmware section ....................... 35, 39, 42
displaying.................................................... 88
MX Giganet node .............................. 37, 38, 39
displaying volume axis marker ................53
MX Giganet units ........................................... 37
grid lines in Graph view ........................... 82
MX Hardware section ...................... 35, 39, 41
using ............................................................ 89
MX System section........................................ 25
Orbiting in view pane .................................... 16
MX T-Series diagram ........................................ 7
Orientation in view pane ..............................53
MX Ultranet Commands section ................ 42
Orthogonal perspective view ................ 75, 76
MX Ultranet HD node ................................... 37
Other Devices node ...................23, 43, 47, 48
MX Ultranet node ....................... 37, 40, 41, 42
P
N
Paint a mask button ............................... 77, 80
Naming
Panes, customizing ........................................ 15
cameras ....................................................... 30
Pausing data streaming ................................ 16
host PC ........................................................ 27
PC memory buffer ..........................................25
MX Giganets ............................................... 38
PC, Vicon host ................................................ 24
MX Ultranets ............................................. 40
Permit Overwrite of Existing Files box ......67
objects .........................................................64
Permit Overwrite of Existing Files option 65
Network card, connecting ............................. 9
Playback area .......................................... 65, 68
New Floating Workspace option .... 15, 71, 88
Playing back recorded trials................. 65, 68
Number, version ............................................... 4
PoE switch, connecting ..................................9
Positioning objects ....................................... 63
O
Object graph type .......................................... 82
Objects
about ............................................................ 56
changing Name property .........................64
Positioning panes .......................................... 15
Preparing capture environment .................... 5
Private configuration files ...... 28, 44, 65, 80
Properties pane ................................. 10, 18, 22
changing orientation ................................ 59
R
deleting ....................................................... 62
Ray Intersection Factor setting ................. 26
loading ......................................................... 58
Reboot All button ...........................................25
positioning .................................................. 63
Reboot All Cameras option ......................... 36
Properties pane ......................................... 56
Reboot All MX Giganets option .................. 39
saving ........................................................... 62
Reboot All MX Ultranets option ................. 42
snapping to global coordinate system .. 62
Reboot Core Processor option .................... 27
Objects tab......................................... 18, 56, 57
Reboot MX Giganet command ................... 39
Objects, creating............................................ 57
Reboot MX Hardware option ....................... 27
Online Support contact details................... 92
Reboot MX Ultranet command .................. 42
Optical data, viewing .................................... 78
Reboot Vicon cameras ................................. 36
Options dialog box
Reconstruction algorithm ........................... 26
Recording tab ............................. 18, 65, 67, 68
Recover option, Communications pane ... 69
Redo option .................................................... 88
Refinement Frames setting .........................52
Tracker 2.0
March 2013
113
Tracker
Guide
Reflections
objects................................................... 57, 62
masking automatically ............................. 79
system configurations ............................. 80
masking manually ..................................... 80
system log .................................................. 70
Reload button ................................................ 55
view pane configuration........................... 71
Remembered devices ................................... 23
Sections, hiding and displaying................... 15
Remote PCs ....................................................... 7
Segments graph type ................................... 82
Remote triggering ......................................... 65
Segments settings ........................................ 26
Reorder Devices dialog box ..... 23, 36, 39, 42
Select All option ............................................ 82
Reorder Markers dialog box ........................ 63
Select Color dialog box ................................ 64
Replay speed ..................................................68
Select None option ....................................... 82
Replay Speed option ...................................... 71
Selected Unit LED ......................................... 40
Replaying recorded trials .............................68
Selecting
Reporting errors ............................................. 93
calibration object ............................... 49, 50
Reprogram MX Firmware option ................ 27
objects in view pane..................................74
Requested Frame Rate (Hz) setting .......... 25
Sensor Height setting ...................................35
Reset camera calibration button ............... 55
Sensor Width setting .....................................35
Reset Timecode option ......................... 39, 42
Set Volume Origin section........................... 49
Resizing panes ................................................ 15
Setting volume origin ............................. 53, 55
Resources pane
Settings section ......................................28, 30
about ............................................................ 18
Shared configuration files ...... 28, 44, 65, 80
customizing ................................................. 15
Show Advanced link ...................................... 10
displaying ................................................... 88
Show Legend button ............................. 82, 86
Restart cameras command.......................... 36
Show Minor Grid Lines option .................... 82
Restarting
Show Parameters option ..............................67
data streaming ........................................... 16
Sleep controls .................................................47
MX Giganet ................................................. 39
Smoothing data ............................................. 26
MX Ultranet ................................................ 42
Snap Distance setting .................................. 62
Vicon cameras............................................ 36
Snap Global check box ................................. 62
Resynchronize option ................................... 27
Snapping
Revert button ................................................. 23
rotation to a marker ................................. 59
Rotated option ................................................ 77
to global coordinate system ................... 62
Rotating objects ............................................ 59
to mid point between markers ............... 60
Rotation Order button .................................. 82
Sort button ...................................................... 23
Rulers in Graph view ..................................... 82
Start/Stop on Remote Trigger .................... 65
Static objects, detecting ............................. 26
S
Save calibration button ................................ 55
Save current configuration button ..... 24, 28
Save Object As option .................................. 55
Save Object option ........................................ 57
Saving
Status section .......................................... 38, 41
Stop after Duration option .................... 65, 67
Stop cameras command .............................. 36
Strobe Intensity setting .........................28, 30
Strobe Type setting .......................................35
Subnet Mask ..................................................... 9
Sync Master check box ....................34, 38, 41
Sync Out section ..................................... 38, 41
114
March 2013
Tracker 2.0
Tracker
Guide
Synchronization master ........... 24, 34, 38, 41
V
Synchronization with external equipment
................................................................ 38, 41
Version information ..................................4, 88
System accuracy.............................................. 5
System activity log ........................................69
System inaccuracy .......................................... 6
Vertical view button ...................................... 71
Vibration problems ..........................................6
Vicon Calibration Device ................................ 7
minimizing .................................................... 6
Vicon Cameras node.... 23, 24, 28, 30, 35, 36,
78
System reset ................................................... 27
Vicon contact Information ........................... 91
System tab ................................................ 18, 22
Vicon error reporting .................................... 93
Vicon file types ............................................... 10
T
Target Volume option ................................... 28
TCP/IP ................................................................ 9
Technical Support contact details....... 91, 92
Temperature, effect of ................................... 6
Threshold Map option ........................... 79, 80
Vicon Online Support ................................... 92
Vicon Support ................................................ 92
Vicon Tracker
introduction ..................................................4
View pane
3D Orthogonal ..................................... 75, 76
Threshold property ........................................ 28
3D Perspective ...........................................74
Threshold setting .......................................... 30
Camera ................................................... 77, 78
Tracker
configuration management ............... 10, 71
components................................................... 7
customizing................................................ 89
file types ...................................................... 10
displaying floating pane .......................... 88
User Interface ............................................ 14
Graph .................................................... 82, 86
Trajectories
list.................................................................. 71
graph type ................................................... 82
mouse and keyboard shortcuts............... 16
settings........................................................ 26
orientation...................................................53
viewing in graphs ......................................86
tool bar ................................................... 71, 74
Trajectory Count graph type .......................86
Trajectory Count option ............................... 82
Translating in view pane .............................. 16
workspace ............................................. 71, 74
Viewing
optical data .................................................78
Trial Name box ............................................... 67
Triggering
capture start and stop....................... 65, 67
external equipment ............................ 38, 41
Trucking in view pane................................... 16
Type setting (cameras) ................................. 35
Types of files................................................... 10
U
UDP broadcast ............................................... 65
Undo option ................................................... 88
Undocking panes ............................................ 15
Unique Name setting.................................... 27
User interface................................................. 14
Tracker 2.0
x- and y-axis in graphs .............................. 16
Virtools ............................................................ 90
Virtual-Reality Peripheral Network ............ 90
Volume Axis check box .................................53
Volume Origin ................................... 49, 53, 55
VRDevice.cfg .................................................. 90
VRPN................................................................ 90
W
Wand Count setting................................ 50, 53
Wand option ................................................... 49
Warn entries, Communications pane ........ 69
Window menu ................................................ 88
Workspace
March 2013
115
Tracker
Guide
3D data in.................................................... 75
Y
about ............................................................. 71
y-axis, using mouse to view ......................... 16
orientation .................................................. 53
viewing graphs in ...................................... 82
Z
viewing raw 2D motion capture data in 77
Zoom to Fit option ......................................... 77
viewing reconstructed motion data in 3D
.................................................................. 74
Zoom to Trial option ............................... 68, 71
Zoom to Region-of-Interest option ..... 68, 71
Zooming in view pane ................................... 16
X
x-axis, using mouse to view ......................... 16
116
March 2013
Tracker 2.0
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising