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Motion Capture Camera Calibration

If a camera goes down or is replaced, the system must be recalibrated.

Steps

  1. Remove all robots with markers from the camera field of view

  2. Place the robots in a locker or cover them to avoid interference.

  3. Set the OptiTrack reference

  4. Obtain the wand and the OptiTrack calibration square.
  5. Place the OptiTrack at the lab coordinate origin.
  6. Align the square so its axes match the lab coordinate axes. coordinate

wand

OptiTrack placement

  1. Start wanding
  2. Launch Motive.
  3. Click Start Wanding.

  4. Move the wand throughout the lab so that all cameras collect samples.

  5. Calculate calibration

  6. Continue wanding until each camera collects several thousand samples.

  7. Click Calculate.

  8. Apply calibration

  9. Click Apply Result.

  10. Save the calibration file.

  11. Set ground plane

  12. Click Set Ground Plane to finalize the coordinate frame.