<font size=2 face="sans-serif">That was it! Thanks Javier for the crystal
clear instructions!</font>
<br>
<br><font size=2 face="sans-serif">regards,</font><font size=3><br>
</font>
<p><font size=2 color=#001fe2 face="Verdana">Martin Azkarate</font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESA - European Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </font>
<p><font size=1 color=#8f8f8f face="Verdana"><b>ESTEC - European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands <br>
Martin.Azkarate@esa.int | </font><a href=www.esa.int><font size=1 color=#8f8f8f face="Verdana">www.esa.int</font></a><font size=1 color=#8f8f8f face="Verdana">
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </font>
<br>
<br>
<br>
<br><font size=1 color=#5f5f5f face="sans-serif">From:
</font><font size=1 face="sans-serif">Javier Hidalgo Carrió
<javier.hidalgo_carrio@dfki.de></font>
<br><font size=1 color=#5f5f5f face="sans-serif">To:
</font><font size=1 face="sans-serif">rock-dev@dfki.de</font>
<br><font size=1 color=#5f5f5f face="sans-serif">Date:
</font><font size=1 face="sans-serif">08/01/2014 18:54</font>
<br><font size=1 color=#5f5f5f face="sans-serif">Subject:
</font><font size=1 face="sans-serif">Re: [Rock-dev]
using the vicon component</font>
<br><font size=1 color=#5f5f5f face="sans-serif">Sent by:
</font><font size=1 face="sans-serif">rock-dev-bounces@dfki.de</font>
<br>
<hr noshade>
<br>
<br>
<br><font size=3>On 01/08/2014 04:57 PM, </font><a href=mailto:Martin.Azkarate@esa.int><font size=3 color=blue><u>Martin.Azkarate@esa.int</u></font></a><font size=3>
wrote:</font>
<br><font size=3>Hi there,<br>
<br>
Happy new year to everybody. <br>
<br>
<br>
We did some investigation and the error is not in the component not finding
the subject. The error comes from the fact that the Nexus software does
not calculate the coordinate system for the subject/segment in Live mode.
<br>
<br>
If you look at the subject_segment_definition image attached you will see
there a coordinate system clearly defined for it. We are using a wand with
5 markers, 3 of them are labeled and used to define the segment coordinate
system and 2 markers are left unlabelled. <br>
<br>
In the live_stream_data_SDKTest image you will see a snapshot of the Nexus
software running live (no capture process started) and another window showing
the output of a console application that is provided as a testing program
with the Vicon SDK v1.2. Note in this window that the Global Translation
and the Global Rotation Quaternion vectors for the segment are all zero
(which is an invalid quaternion value). Basically Nexus does not calculate
(in live mode) Global values for the segment but just positions of markers.
See position vectors for (3) labeled and (2) unlabeled markers are properly
calculated. <br>
<br>
If you look at the output image of the test_vicon ruby scripts (attached
script with slight modification to include another reader for the unlabeled
markers port) you will see that it shows NaN for the translation values
of whole subject rigidbodystate type (wrong quaternion screws the transformation
matrix values) but it shows the same values we could see in the live_stream_data
image for the unlabelled Marker #0 (or Maker #1) position values. <br>
<br>
So, we've been told by some colleagues at ESTEC that in fact <b>we need
to use the Vicon Tracker software to have this in live mode (the Nexus
is not enough)</b>, however I believe that when this component was developed
in first instance it was done using the Vicon Nexus, or that's what I was
told. So maybe we are missing something or we need to prepare the Nexus
software to calculate/provide this data in live mode too. <b>Anyone using
the Vicon component nowadays can tell us how does configure/prepare the
Vicon Nexus and define the subject/segments?</b> </font>
<br><font size=3><br>
Hi Martin,<br>
<br>
I remember there is a way in the Nexus software to set the real time kinematics
calculation. It seems you are missing this step.<br>
I don't know why but I think it is not set up by default. In order to do
that:<br>
<br>
1. Go to the "System" tab inside the "Resources" windows
(left part of the e.g.: live_stream_data_SDKTest image)<br>
2. Click in the "Local Vicon System [100Hz]"<br>
3. Below in "Properties" sub window, in "Core Processor"
field<br>
4. In "Processing level:" set it to "kinematic fit"
in the deployed list.<br>
<br>
I hope this is the way to set it up. Otherwise, it should be in the Nexus
documentation. It might change among different Nexus versions.<br>
<br>
Javier.<br>
<br>
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