Pitch and Yaw angle coupling!?

[sams]

Hi,

I am using Optitrack Camera SDK 1.2.2 with TrackIR v5 and Vector Clip Pro. I am
also using the sample code from VectorTracking, which I modified and included
into a user-defined class "TrackIR" (C++).

Code: Select all

// Initialize TrackIR-camera
bool TrackIR::StartTrackIR() {
	// Initialize connected cameras
	CameraManager::X().WaitForInitialization();
	// Get a connected camera
	camera = CameraManager::X().GetCamera();
	// If no device connected, pop a message box and exit
	if(camera==0) {
		std::cout << "Please connect a camera, No Device Connected\n" << std::endl;
		return 1;
	}
	// Set Video Mode
	camera->SetVideoType(SegmentMode);
	//camera->SetVideoType(PrecisionMode);
	camera->SetExposure( EXPOSURE );
	camera->SetThreshold( THRESHOLD );
	camera->SetIntensity( INTENSITY );

	// Start camera output
	camera->Start();
		
	// Turn on some overlay text so it's clear things are
	// working even if there is nothing in the camera's view.
	camera->SetTextOverlay(false);

	// setup vectors for position-calculation
	vec = cModuleVector::Create(); //new cModuleVector();
    vecprocessor = new cModuleVectorProcessing();

	camera->GetDistortionModel(lensDistortion);

	// Plug distortion into vector module
	cVectorSettings vectorSettings;
	vectorSettings = *vec->Settings();

	vectorSettings.Arrangement = cVectorSettings::TrackClipPro; // --> VectorClip or TrackClipPro
	vectorSettings.Enabled     = true;
    
	cVectorProcessingSettings vectorProcessorSettings;

	vectorProcessorSettings = *vecprocessor->Settings();

	vectorProcessorSettings.Arrangement = cVectorSettings::TrackClipPro; // --> VectorClip or TrackClipPro
    vectorProcessorSettings.ShowPivotPoint = false;
    vectorProcessorSettings.ShowProcessed  = false;
	//// smoothing and speed
	vectorProcessorSettings.SmoothingRotational = ROTSMOOTHING;
	vectorProcessorSettings.ScaleRotationPitch = PITCHSCALE;
	vectorProcessorSettings.ScaleRotationYaw = YAWSCALE;
	vectorProcessorSettings.TrueView = true;
    vecprocessor->SetSettings(vectorProcessorSettings);

	// Plug in focal length in (mm) by converting it from pixels -> mm
	vectorSettings.ImagerFocalLength =  (lensDistortion.HorizontalFocalLength/((float) camera->PhysicalPixelWidth()))*camera->ImagerWidth();

	vectorSettings.ImagerHeight = camera->ImagerHeight();
	vectorSettings.ImagerWidth  = camera->ImagerWidth();

	vectorSettings.PrincipalX   = camera->PhysicalPixelWidth()/2;
	vectorSettings.PrincipalY   = camera->PhysicalPixelHeight()/2;

	vectorSettings.PixelWidth   = camera->PhysicalPixelWidth();
	vectorSettings.PixelHeight  = camera->PhysicalPixelHeight();

	vec->SetSettings(vectorSettings);

	return 0;
}


// update positions
bool TrackIR::Update() {

	// Fetch a new frame from the camera 
	Frame *frame = camera->GetFrame();

	if(frame) {
		// select first frame
		vec->BeginFrame();

		for( int i=0; i<frame->ObjectCount(); i++ ) {
			cObject *obj = frame->Object(i);

			float x = obj->X();
			float y = obj->Y();

			Core::Undistort2DPoint(lensDistortion,x,y);

			vec->PushMarkerData(x, y, obj->Area(), obj->Width(), obj->Height());
		}
		vec->Calculate();
		vecprocessor->PushData(vec);

		// update results
		//vecprocessor->GetPosition(x, y, z);
		vecprocessor->GetOrientation(yaw, pitch, roll); // raw values
		smoother->update( TrackIR::getCurvePitch(), TrackIR::getCurveYaw() ); // smoothed curve values
		
		//vecprocessor->Smooth(1.0, 1.0, 1.0, 40.0, x, y, z, yaw, pitch, roll);
		// frame release
		frame->Release();
	}
	return 0;
}

First I start TrackIR with "StartTrackIR()" and then I update every frame with "Update()".

My problem is, that I get coupling effects with yaw and pitch angles. If I look "just" to the right
or left (yaw) I also get an up and down movement (pitch)??! Are there any possibilities to
get rid of these coupling effects....or did I just made something wrong??
If I am using the TrackIR v5 software, everything works fine without coupling!

Best Regards
Michael

[sams]

I think the Problem ist the "Track Clip Pro"!!

Everthing works fine with the "Head Clip" - no angle coupling and smooth precise
movement! Is it a known problem of the SDK or is an additional code line necessary,
to get the things to work?

Best Regards
Michael