View source for ASTA motion capture

== Specs ==

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

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Usage ==

=== Power on ===

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


[[File:ASTA Reflectors.jpg|400px]]


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


[[File:ASTA_Optitrack_Computer.jpg|400px]]


* Plugin the green plug to power on the two network switched and the 16 cameras.

=== Calibration ===

* Start Motive.


[[File:ASTA Motive Desktop.png|100px]]


=== ROS client ===

== In case the system needs to be reassembled ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

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

=== Mount cameras on truss and wire them with the two switches ===

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

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

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

[[File:Asta optitrack.png|600px]]

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

[[File:Asta optitrack type1.png|400px]]

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

[[File:Asta optitrack type2.png|400px]]

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

[[File:Asta optitrack type3.png|400px]]

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

[[File:Asta optitrack type4.png|400px]]

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

[[File:Asta optitrack type5.png|400px]]