Pose estimation and localization software » optitrack-genom3

Hi

Great, I haven't tested it yet.

We will install the required version on our opti-track machine and test in the coming weeks.

I will create an issue if required then.

Thanks for your prompt reply and support.

Regards,
Youssef

What kind of streaming did you configure in Motive?

If multicast, is there any network equipment in between the Motive
host and the receiving side?

If unicast, did you check that the local interface setting is correct?

Anthony Mallet wrote in #note-5:

If multicast, is there any network equipment in between the Motive
host and the receiving side?

Thanks Anthony!

It was indeed a problem of communication, when it was connected directly to a local router, the problem has been solved and we can read the data.

One thing that is still not working properly is that the data that I receive from optitrack-genom3 is rotated -90 degrees around the z-axis:

• When I move the robot 0.5m in the positive x-axis, I read it as 0.5m in positive y-axis
• When I move the robot 0.5m in the positive y-axis, I read it as 0.5m in negative x-axis
• While z-axis is working properly

The same with rotation:

• When I rotate the robot 90 deg around x-axis, I read it as 90 deg around y-axis
• When I rotate the robot 90 deg around y-axis, I read it as -90 deg around x-axis
• While rotation around z-axis is working properly

In Motive Version 2.2.0 the default setting is that the y-axis is up (which can be changed to Z-up), and I noticed that optitrack-genom3 already rotates it such that the z-axis is pointing up, and when I change it to Z-up (just to see what will happen), the data is even more confusing.

Do you have any pointers that can help me?

Thanks again for your support!

On Friday 2 Dec 2022, at 13:34, Ayham Alharbat wrote:

One thing that is still not working properly is that the data that I
receive from optitrack-genom3 is rotated -90 degrees around the
z-axis:

• When I move the robot 0.5m in the positive x-axis, I read it
as 0.5m in positive
y-axis
• When I move the robot 0.5m in the positive y-axis, I read it
as 0.5m in negative
x-axis
• While z-axis is working properly

How do you read this? Did you change the default optitrack-genom3 frame
with set_transform()? (it should work out-of-the-box without any
particular configuration).

The values displayed in Motive are in a different frame (Y-up). In
particular, the L frame used for setting the origin should be
interpreted as follow : the printed Z label indicates the "X" axis of
optitrack-genom3. So if you move along the Z axis of the L frame,
optitrack-genom3 will show motion on the X axis (same direction).

In Motive Version 2.2.0 the default setting is that the y-axis is up
(which can be changed to Z-up), and I noticed that optitrack-genom3
already rotates it such that the z-axis is pointing up, and when I
change it to Z-up (just to see what will happen), the data is even
more confusing.

Yes, the setting should be Y-up in Motive. (this is because this
setting did not exist in previous versions: it was always Y-up. The
optitrack-genom3 software is by default configured like this).

Anthony Mallet wrote in #note-7:

The values displayed in Motive are in a different frame (Y-up). In
particular, the L frame used for setting the origin should be
interpreted as follow : the printed Z label indicates the "X" axis of
optitrack-genom3. So if you move along the Z axis of the L frame,
optitrack-genom3 will show motion on the X axis (same direction).

The problem was that the way we configured the coordinates in motive was a bit different. After following this comment from you, I rotated the 'volume' in motive 90 degrees around y-axis, and that solved the problem.

Thanks a lot Anthony!