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Fast moving rigid body tracking using the TT api

Posted: Sat Sep 26, 2009 3:16 am
by oschnit

My colleges and I use a c++ program we wrote to control an autonomous vehicle using position and orientation feedback from the tracking tools api (we have a 12 camera indoor setup).
1. In our program we have a main loop which we desire to run in a constant duration of 10 milli-sec so we can receive each frame. All our calculation and other code in the loop is timed to be 1-3 milli-sec. We were surprised to time the Update_frame() method to be 10-11 msec. In the past we timed it to be 3 msec. How is this possible? Is this because we added more tracked bodies (currently 3 rigid bodies, 13 markers altogether)? Maybe this has to do with wrong settings of the body in tracking tools?
2. We are controlling a Radio Controlled Helicopter which tends to vibrate while flying. The heli moves very fast. What settings do you suggest we use when defining the body in tracking tools?


Ory Schnitzer

Re: Fast moving rigid body tracking using the TT api

Posted: Mon Sep 28, 2009 3:07 pm
by beckdo
In the rigid body settings there is a 'max calculation time' that you can set per rigid body. If you've got 13 markers total for 3 rigid bodies that would suggest you have a 5 marker rigid body in there. As you go to higher marker counts per rigid body the calculation time can increase dramatically. You might want to consider reducing your tracking to three 4-marker rigid bodies.