Hello,
I am currently experimenting with OptiTrack to see whether I can simulate an indoor GPS.
I put three markers on a helicopter so I can get a reasonable position estimate of its center. With the position data, I can command the helicopter to move to a way point by position feedback in a control system that I have developed. So far, I was able to move around in an approximately 6'x6'x4' space with three cameras tracking markers. This is not a whole lot for a flying object to be moving around.
So, I have some questions.
From reading the forums, it seems that the general consensus for maximum capture volume for full body motion is 10'x10'x~9'. Now, I understand that this is for numerous markers tracking a human body. For my indoor GPS, I only want to track three, max five markers on a rigid body. How large can I extend this capture volume with six cameras?
In the event that I cannot explode my capture volume, can I use the upcoming Tracking Tools 2.0 to create multiple capture volumes to increase movement space for my helicopter? Will I be able to use a consistent coordinate system when transitioning from one capture volume to the other? When is this software going to be released?
P.S. Unrelated: This helicopter is being stabilized by gyro measurements from its IMU. For attitude measurements, I tried using its on-board accelerometers, but the helicopter vibrates way too much to be able to use it. Solution? I used the Rigid Body Toolkit on the same set of markers to get the roll, pitch, yaw values. Problem? The data was lagging by 84 ms. This wasn't adequate to stabilize my helicopter. However, using raw data from the Point Cloud Tool, I wrote my own algorithm to calculate roll, pitch, yaw angles, and brought down the latency to 24 ms. The helicopter is so stable, it seems like it's floating like a balloon.
Thanks for such a great product, and I will appreciate your responses.