Problems with MoCap calibration

osrf-migration commented 9 years ago

Original report (archived issue) by David Kluger (Bitbucket: DKluger).

When loading Motive for MoCap calibration, there are several issues:

Motive fails to find the OptiTrack Trio on first pass, and therefore cannot run because it cannot locate the license file. The USB cable has to be unplugged and plugged back in to the same exact USB port. Sometimes this doesn't work and the virtual Windows machine needs to be rebooted.
Motive cannot load any pre-saved project (*.ttp) files without failing to respond. Response failure happens when loading the haptix_osrf.ttp file from the file browser or from trying to open the file within Motive. The only workaround is to make a new haptix_osrf.ttp file from scratch.

On top of the aforementioned software bugs, when Motive does start working, the calibration is not consistent. Calibrations yield inconsistent MoCap even when following the same exact calibration steps. Sometimes HAPTIX will run with good MoCap right away, other times the need for re-calibration is obvious due to the scene being off-monitor or head/hand motions not being properly tracked.

osrf-migration commented 9 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

set milestone to "In Progress"

osrf-migration commented 9 years ago

Original comment by Jackie K (Bitbucket: jacquelinekay).

David,

Thanks for your feedback. I've broken them into two issues:

Motive failing to find the Optitrack is related to Issue #39. On that issue I posted a fix that we unfortunately can't deploy via software packages. If you're feeling skilled with a terminal, you can try implementing the fix yourself. Otherwise you can schedule a time with us to do remote support so that we can help fix it.
Inconsistent calibration. This will be fixed by the pose arithmetic proposal in #73 and other fixes, including a hardcoded offset to the arm and tracker.

The last issue is a known problem with running Motive in the VM. Note that you do not need to open Motive to run Gazebo. When you do want to open Motive with a project file, you won't be able to click directly on the project file to open it. You need to open Motive without a project file, enable Data Streaming, then open the project file. Otherwise Motive will crash.

osrf-migration commented 9 years ago

Original comment by Jackie K (Bitbucket: jacquelinekay).

changed state from "new" to "duplicate"

Duplicate of #73.

osrf / handsim

Problems with MoCap calibration #71