Installation and Training
This Power Point file shows steps used to run a Qualisys Motion Capture
System.
Instruction and training is split into six sections:
• System Setup
• QTM Settings
• Calibration
• Capture
• Tracking
• Output
The section labels, at the bottom of each slide, shows which of the 6-section
you are in.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
1
System Setup
Camera Placement
Measurement Volume
Connecting the Cameras
System Synchronization
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
2
Camera Placement
• The cameras are placed at angles, so that a marker is “seen”
simultaneously by at least two cameras.
• Place the cameras up-high in the room, angled downwards, so that the
cameras are not affected by the near inferred light, (NIR) from a camera,
on the other side of the room.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
3
Measurement Volume
• Cameras should be placed evenly around the measurement volume. The
optimal positioning between each camera is approximately a 65 degree
angle.
• Figure 1, shows two cameras,
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
Figure 2, shows all 6 cameras.
CAPTURE
Setup
TRACKING
OUTPUT
4
Connecting the Cameras
• The host cable goes from the Ethernet port
on the PC, to the first camera’s data port.
• The bundled cable connects cameras in the
daisy-chain.
• A data cable connects the first 4-cameras, to
the next group of up to 4-cameras.
• One power unit runs a maximum of 4cameras at a time.
• A split trigger cable plugs into the back of
any of the cameras in the system.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
5
Connecting, Continued
• Plug the Ethernet end of the Data cable
into the PC.
• The Data cable is then connected. The ACT
light will glow green, as data is transferred
to and from the PC.
• Connect the Power cable.
• Each camera has a unique MAC no.
• The Control port is used when a trigger is
added to the system.
• In the future, cameras can be powered by
plugging in a Battery pack.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
6
Connecting, Continued
• The light in the upper left, is a status indication light,
(green- for normal function, yellow- capturing or redwarning).
• The “024” area in the lower left, shows the number of
markers detected by the camera.
• The “2” is the camera’s number/order in the daisy-chain.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
7
System Synchronization
• The top OLED display line, is a clock (blinking = syncing, not blinking =
synchronized). A “M” for Master camera or “S” for Slave and WLAN
antenna, (showing WLAN communication level).
• It is important that you wait, until all of the clocks stop blinking. This
indicates that the system is synchronized and that you can open a new file
in QTM.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
8
QTM SETTINGS
Install QTM
DHCP Setup, Start and Settings
Workspace Options
Connection and Linearization Files
Capture Rate
Processing
3D Tracking and Trajectories, Oqus 300
QTM SETTINGS
SYSTEM SETUP
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
9
Install QTM
• Load the QTM CD and follow the installation wizard.
• You will be asked to “run QDS automatically”, the box is checked.
• Enter your license key and user name , found in your QTM
documentation, (QTM\Toolbar\Help\About Qualisys Track Manager, this
view shows you which version you have).
• Go to www.qualisys.com\Client Login\Software download, check that
you have the most up-to-date version of QTM, by loging into to the
update page.
QTM SETTINGS
SYSTEM SETUP
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
10
DHCP Setup, Start and Settings
• The DHCP server distributes IP addresses to the Oqus cameras. This
application must be running, whenever you start the Oqus cameras.
• At the lower right of the screen, click on Taskbar arrow\Show hidden
icons\right click\Oqus camera icon\Oqus configuration wizard and follow
the instructions.
• You can reboot the cameras at any time, Taskbar\Show hidden
icons\right click\Oqus camera icon\Utilities\Reboot all Oqus cameras.
Note: the Oqus IP address must start with 192.168. It can for example be 192.168.20.1. It is
important to check that the first three numbers are not already used for an existing interface. The
subnet mask is 255.255.255.0
QTM SETTINGS
SYSTEM SETUP
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
11
Workspace Options
• Click on QTM\Toolbar\Wrench icon or Ctrl+w, to open the Workspace
Options view.
• The Camera system settings can be viewed by clicking on \Camera
system.
• This view is a diagnosis of the
system’s overall health. You can
double click on any of the Items in
the list, to go directly to that section
in QTM.
QTM SETTINGS
SYSTEM SETUP
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
12
Connection and Linearization Files
• In the same view, click on \Connection\Locate System button. This will
automatically connect QTM to the cameras and load the linearization files,
(or prompt you to load linearization files from the CD).
• A CD with the linearization files comes with the system. Open the CD and
the QTM file from C:\Program Files\Qualisys\Qualisys Track
Manager\Linearization. Copy the
linearization files from the CD to the QTM
linearization file and close.
• Go back to Workspace\Linearization, click
On the \Load automatically button. You can
also double click on a line in the table, to
load a specific file.
QTM SETTINGS
SYSTEM SETUP
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
13
Capture Rate
• Click on \Camera system\Capture rate; enter the frames per second rate ,
(fps=Hz) that you will capture at.
QTM SETTINGS
SYSTEM SETUP
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
14
Processing
• Click on \Workspace\Processing. The Processing default view, looks like
this.
QTM SETTINGS
SYSTEM SETUP
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
15
3D Tracking and Trajectories, Oqus 300
• Click on \Processing \3D Tracking. Enter 15 and 5 in the \3D Tracking
Parameters area, for Oqus 300.
• Click on \Processing\Trajectories.
Enter 15 in the \Max frame
gap area.
QTM SETTINGS
SYSTEM SETUP
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
16
Calibration
Calibration Wand Kit
Calibration Wand Kit Settings
QTM Screen
Mode, Viewfinder
Focus and Aperture
Performing a Calibration
Wand Movement, Statistics and Quality
Add 8 camera cal screen shot + cal results
Playing and Closing the Calibration
CALIBRATION
SYSTEM SETUP
QTM SETTINGS
CAPTURE
System Setup
TRACKING
OUTPUT
17
Calibration Wand Kit Settings
• QTM can be calibrated different ways; the wand kit method will be
discussed in this documentation.
• Assemble the calibration wand and a calibration L. The L has four markers
on it, the point-of-origin at the base of the L. Two markers in the +x
direction and one marker in the +y direction.
• The wand has two markers at each end of the T.
• Set markers around the edge of the volume. This helps to identify each
camera’s field of view (FOV).
• As you move the wand in the volume, the camera positioning is found, in
relationship to the L’s global position in the volume.
CALIBRATION
SYSTEM SETUP
QTM SETTINGS
CAPTURE
System Setup
TRACKING
OUTPUT
18
Calibration Wand Kit Settings
• Click on \Capture\Calibration\Calibration Kit. Check to see that the
correct Calibration kit type is selected from the drop down list. Now look
at the label on the wand, enter the exact number that you see into the
\Exact wand length box.
• In the \Coordinate system orientation
area, you can change the (x,y,z)
orientation of the calibration “L”.
• Click Apply.
CALIBRATION
SYSTEM SETUP
QTM SETTINGS
CAPTURE
System Setup
TRACKING
OUTPUT
19
QTM Screen
Drop-down
lists 3D
Capture
Calibration
AIM
AIM file maker
Labeled
trajectories
Play back toolbar
3D window
Unidentified
trajectories
2D window
shows each
camera’s view
Discarded
trajectories
Frame indicator
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
20
Mode, Viewfinder
• Click on the QTM\Toolbar\New File icon in QTM or Ctrl+N.
• A 2D view of each camera in the system, shows in the QTM window.
• You can set of the order in which the cameras are displayed, right-click in
the \Camera window\Set camera position number.
• Once the cameras are in the order that you want them, right-click in the
2D Camera window\Mode\Video\Viewfinder. Then Camera
window\Mode\Viewfinder\Maximum visibility, the field is now shown in
low resolution video mode.
• Double click a window to enlarge or close it.
• Open the cameras by twisting the lens-filter-cap counterclockwise. You
can now adjust the camera lens’ focus and aperture.
CALIBRATION
SYSTEM SETUP
QTM SETTINGS
CAPTURE
System Setup
TRACKING
OUTPUT
21
Focus and Aperture
• Open the aperture all the way and then adjust the camera focus, (tip: the
marker gets larger when it is not in focus).
• Next, right-click in the \Camera window\Mode\Markers.
• You should now see the markers, as bright points on a black background.
Adjust the aperture; so that the each marker is just showing in the
window, the markers are about the same in each camera window.
• If necessary, goto \Camera system\Exposure\Time settings\Exposure
time, increase the exposure time to increase the amount of NIR ”flash”
form the cameras.
CALIBRATION
SYSTEM SETUP
QTM SETTINGS
CAPTURE
System Setup
TRACKING
OUTPUT
22
Camera Focus and Aperture, Continued
• Click on Toolbar\View\Data information window or Ctrl+D. The Data
information window shows the size of the marker, at the sub-pixel level.
The xSize should be greater than 200, (right click and choose the next
camera).
• The Data information window should be showing the same number of
lines, as you have markers, to many markers can be reflections, to few open the aperture or increase the \Exposure\Time\Exposure settings.
CALIBRATION
SYSTEM SETUP
QTM SETTINGS
CAPTURE
System Setup
TRACKING
OUTPUT
23
Performing a Calibration
• Go to the QTM\Toolbar\Calibration wand icon, click to open the
calibration view.
• There are a variety of settings here. Your setting could look like the ones in
the view below.
• A delay and a sound can be used to
help identify, when the calibration
starts and stops.
• The calibration’s progress is also shown
on the status bar.
• Click OK to start the calibration.
CALIBRATION
SYSTEM SETUP
QTM SETTINGS
CAPTURE
System Setup
TRACKING
OUTPUT
24
Wand Movement, Statistics and Quality
• The wand should be moved evenly, throughout the entire measurement
volume.
• Walk around the volume, as you rotate the wand, in the entire
measurement volume.
• Once the calibration is done, a view is displayed, giving you the
calibration’s statistics and quality, for each camera.
• Points – around the same number for each camera.
• Average res. (mm) – around the same number for each camera.
• Standard deviation of the wand length – should be low.
These valuses depend on a number of factors, e.g. number of cameras, marker size.
CALIBRATION
SYSTEM SETUP
QTM SETTINGS
CAPTURE
System Setup
TRACKING
OUTPUT
25
Playing and Closing the Calibration
• Click on \Track calibration, you now see the 3D view of the calibration.
• You can check the calibration by clicking QTM\Toolbar\Play or
Ctrl+spacebar.
• You can also use the display trace function,
to see how much of the volume you
covered, as you moved the wand in it.
• Click \Close\file. A prompt will open asking
if you want to save the file, click NO.
CALIBRATION
SYSTEM SETUP
QTM SETTINGS
CAPTURE
System Setup
TRACKING
OUTPUT
26
Capture
Marker Placement
Marker Models
Display Rates
Video Devices
Oqus High-speed Video Capture
Trigger Synchronization
A/D Connection
Force Plates
Force Plate Calibration
EMG
Starting the Capture Process
Capturing a Measurement
Batch Process Capturing
Checking Capture Data
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
27
Marker Placement
• Users have different methods of marker placement; however, there are
two main concepts to keep in mind.
• The first is the direct placement of markers on
skeletal sites, to identify specific locations and
joints, (shown as yellow markers).
• The second is the placement of groups of
markers called clusters. Marker clusters are
used to track body segments, for Inverse
Kinematics calculations, (blue on grey).
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
28
Marker Models
• QTM is flexible and can use virtually any existing, (e.g. hybrid Helen Hayes)
or custom designed marker model.
• Qualisys can recommend a marker model set-up and supply pre-labeled
QTM AIM files.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
29
Display Rates
• Click on QTM\Toolbar\Wrench icon or Ctrl+w, to open the Workspace
Options view.
• Click on QTM\Toolbar\Wrench icon\Display to open the Display view.
• The setting can look like this:
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
30
Video Devices
• QTM supports MS Windows driven video devices, such as: webcams,
personal video cameras, and high-speed cameras, e.g. Photon, Basler.
• Video devices are plugged directly into the PC.
• Click on QTM\Toolbar\Wrench icon\Capture\Camera system\Video
devices, check the box.
TIP: Install the external video device on your
computer, before you start QTM.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
31
Oqus High-speed Video Capture
• \Workspace\Capture\Camera system\Video, select the capture rate that
you want in fps/Hz, up to 500fps. Turn off NIR flash when using highspeed video.
• You can capture in full camera resolution (SXGA for 1280x1040, Oqus 3).
• Reduce the image size, if you want to
capture at rates higher than 500fps.
Changing the image size, automatically
changes the maximum fps range,
shown on the capture rate area.
NOTE: you must have at least one
high-speed Oqus video camera, to
capture video in via format.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
32
Oqus High-speed Video Capture, Continued
• This camera can be used as a single video camera or as a camera
capturing video, while capturing marker data with the other cameras.
• For example, if you are capturing both marker and video at 240fps, you
have the a 1:1 synchronization rate for the data.
• Please keep in mind that additional lighting is needed when capturing
video at higher frames per second rates.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
33
Trigger Synchronization
• If the system was ordered with a synchronization trigger and cabling; you
can plug the trigger cabling into any of the Oqus cameras.
• QTM has several optional synchronization settings. Go to
QTM\Workspace \Capture\Camera system\Timing.
• You can choose between three different methods of triggering and
synchronizing the Oqus system and external equipment.
• External trigger
• Pre-trigger
• External time-base
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
34
A/D Connection
• Connect the synchronization cable into the back of the rack. Connect the
sync. and trigger cable, to the split cable. Connect the split cable to one
of the cameras in the system.
• Connect the PC to the A/D board using the USB connector. Plug in the
A/D power cord.
• In QTM\Workspace\Capture\Analog board, the A/D board view now
shows in QTM.
• Adjust the
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
35
Force Plates
• After the force plates have been installed, connect to them to the A/D
board’s connectors.
• QTM\Workspace\Processing\Force data\Add, to add a force plat to the
view.
• In \Force data\Force plate\Force plate type\force plate calibration
parameters, enter the dimension parameters, (in mm) for the force plate.
The parameters can be found in the force plate user manual. The
\Sensitivity matrix is used to calibrate the force plate. Enter the values of
the inverted sensitivity matrix (in SI-units). The values can be found in the
force plate manual or they can be loaded with the \Load from file button.
NOTE: This varies for different manufacturers; see the QTM manual for
detailed product installation information.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
36
EMG
• The EMG views are specific to different EMG manufactures, supported by
QTM. This is a general overview, used to demonstrate the concept of
connecting to an EMG system.
• Connect the to the EMG system through the A/D board or to the WLAN in
the PC, (if you are running a wireless EMG system).
• A new view field will be displayed in the QTM\Workspace options\ view.
This view is specific to each EMG system that QTM supports.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
37
Starting the Capture Process
• Click on the QTM\Toolbar\New File
icon in QTM or Ctrl+N.
• The 3D view, shows in the QTM window.
Click on Toolbar\2D icon. Now select
Toolbar Windows \Tile vertical, adjust
the views, (this shows both 2D and 3D
views in QTM).
• Go to the QTM\Toolbar\Capture icon
or Ctrl+M.
• Fill-in the settings that you want,
click \Start when you are ready
to capture.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
38
Capturing a Measurement
• After you start the capture, have the subject move through the
measurement volume.
• The \statusbar at the bottom of the QTM screen shows a readout of the
measurement’s progress:
• The statusbar shows which mode you are in, the number of seconds captured
and the percentage of the capture, thus far.
• GUI – the screen display rate.
• The Real-time capture rate.
• The marker capture rate.
• The “green calibration wand”, indicates that a valid calibration is being used.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
39
Batch Process Capturing
• The Batch Capturing feature in QTM, speeds up the processing of multiple
captures, of the same type.
• Click QTM\Toolbar\Capture icon or Ctrl+M
• In \Start capture\Automatic capture control, check the box and select the file
that each consecutive capture is saved in.
• Check the box\Add a counter starting at and choose the first file number.
• Check the box\Batch capture. Your \Capture settings will now be used for all
batch captures. At the end of each consecutive capture, you will be “asked” if
you want to perform a new capture. Each capture file will be saved with the
same named and a counter number. This number can be used as each
subject’s ID number.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
40
Checking Capture Data
• A quick check of the capture data, can be done, at the end of the capture
process.
• In this 3D view, you see that
there are five markers in this
measurement. Four of the markers
are in red and one marker that has
been moved to the Labeled trajectories
area. This means that all the markers
were identified, without any breaks in
the tracking. NOTE: it is not unusual
to have more markers in the
Unidentified trajectories area,
(indicating gaps in the tracking).
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
41
Tracking
Mouse and Keyboard
Trajectory Information
Methods and Labeling
Tips for Identifying Markers
Known Physical Markers
Move Unwanted Markers
Gap Fill Function
Filling Gaps
Automatic Identification of Markers (AIM)
Saving and applying AIM
Processing and AIM
Retracking, (also called Re-Processing)
Real-time, (RT) Output
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
42
Mouse and Keyboard
• QTM uses many of the standard MS Windows shortcuts, e.g. Ctrl+click to
select multiple items, Ctrl+S to save, etc.
• In the 3D window, hold down the left mouse button. Move the mouse to
rotate the view. Hold down the right mouse button, to move the entire
figure in the 3D window. Use the up-down arrows or the scroll wheel, to
zoom in and out.
• Right click in the 3D window, for the Options drop down list.
• Right click on a trajectory, to choose other options, e.g. Color, Plot, Gap
fill, Analyze.
SYSTEM SETUP
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Setup
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43
Trajectory Information
• After a capture is made, a 3D view of the measurement is automatically
shown in QTM.
• At the right hand side of the QTM screen,
there are three Trajectory info windows.
Markers in red, show in Unidentified
trajectories (number of markers).
• The Unidentified trajectories (23) shows that
there are 23 markers, (matching the number
of physical markers). In the Fill level column,
100% of the frames have been measured.
The Range area shows that it covers
frames 1 through 1991.
SYSTEM SETUP
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CALIBRATION
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Setup
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44
Methods of Labeling
• If you want the markers to appear in a certain order in the list, click on a
marker in the 3D window. The corresponding marker in the Unidentified
trajectories area, will be highlighted.
• Click on, drag and drop the highlighted trajectory, into the Labeled
trajectories area.
• Double click and rename the marker.
Note: You only need to build a marker model once. Once you have built a marker
model, which meets your research needs, you can save it and apply it to other
measurements, (see the section on AIM).
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
45
Tips for Identifying Markers
• Even the most experienced people can have “false markers” or
trajectories that are not tracking correctly. In the following example, 36
physical markers are used. There are 44 trajectories or eight “false
markers” or split tracking markers, found in the 3D and Unidentified
trajectories windows.
• If you are working with a number of Unidentified trajectories, there are
some methods to quickly move them to the Labeled trajectories window.
• Move groups of markers that you know are correct, to the Labeled area; by
holding down the Ctrl key and clicking on multiple markers, move-name them.
• Click on a marker in Unidentified, Ctrl+Alt and click on a marker.
• \Right click\Color\Set random color, (it is easier to follow markers with
different colors). Use the trace function to “see” the tracking.
SYSTEM SETUP
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CALIBRATION
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Setup
TRACKING
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46
Known Physical Markers
• Next, compare the physical marker setup, to the captured3D markers.
Find the markers that you think are captured correctly and move them to
the Labeled trajectories window and name them. You are left with the
unidentified markers, (100% in the Fill level column, means that the
marker is tracked in all of the frames in the Selected range).
• If the marker has a Fill level of <100%, track the marker until it turns red.
Click on the red marker, move the highlighted trajectory to the Labeled
trajectory that it belongs to, this increases the total Fill level.
• Slide the Selected range at the start and finish of the tracking. This edits
the starting and end points of the capture. As you slide the Selected
range, the Fill level in the trajectories window, will get closer to 100%.
SYSTEM SETUP
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CALIBRATION
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Setup
TRACKING
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47
Move Unwanted Markers
• Some markers are obviously ghost markers. The large white marker below
is an example of a ghost marker. You can see by the Fill level, which is only
32.7 present of the total frames or from frame 4 through 200. Move them
to the Discarded trajectories window.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
48
Gap Fill Function
• Gaps form when a marker is covered for a few frames, during the capture.
QTM can calculate the estimated trajectory and will fill the gap.
• You can identify \Labeled trajectories with gaps. They can have a + in
front of the name and tend to have a total Fill level of < 100%.
• Right click on the + and you will see that it is made up of a combination of
trajectories. These are “added together” to form one complete trajectory.
NOTE: Gap Fill values were set in the QTM Settings\3D Tracking and Trajectories
section. See the Retrack section.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
49
Filling Gaps
• There are two ways to fill gaps in trajectory data. The first is described
below; the second is described in the Retrack section.
• Identify the Labeled trajectory that has gaps and right click on the
trajectory, \Gap fill with preview. Gaps are shown as areas between
yellow lines. As you move the mouse over the gap graph, a magnifying
glass is shown. Click and drag a box around one of the gaps. Point at and
move the line, to fill the gap and smooth the trajectory.
• Repeat this process or select all track trace, if there are other gaps in the
trajectory.
• Click OK.
Note: Keep in mind that this process calculates the trajectory, replacing calculated
3D data.
SYSTEM SETUP
QTM SETTINGS
CALIBRATION
System
CAPTURE
Setup
TRACKING
OUTPUT
50
Automatic Identification of Markers (AIM)
AIM is a dynamic way of identifying markers and their trajectory. AIM uses
distance between markers, marker patterns and movement, to “teach the
system” what to identify. AIM allows you to track anything that moves,
accurately.
• Choose or design a marker setup, used during the movement capture.
• Have a subject move through the volume. They should move in a way that
you expect the actual subjects to move in the volume. The more
movement, the better.
• After the capture, label the markers, create color groups, add bones, etc.
• Click QTM\Toolbar\ “Camera”-Generate AIM model, generate an AIM
model.
SYSTEM SETUP
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CALIBRATION
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Setup
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51
Saving and applying AIM
• Name and save it in the AIM model folder. The model is ready to use.
• Perform a capture and apply the model by clicking on QTM\Toolbar
\”Walking figure”-Apply AIM model, to open the AIM view.
• Click \Add a model\AIM models\Your AIM file.
• The \AIM models application parameters, can be adjusted.
• \Subject size in % …, once an AIM model is established, it can be applied to
subjects that have different sizes. For example, the first subject is 5’ tall; the
second is 4’ tall. Change the percentage to 80% of the original AIM model.
• \Relative marker to marker distance …, the default is 30%.
• \Absolute marker to marker …, if you have many markers that are close
together, set the value to a little less than the smallest distance between the
markers.
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Processing and AIM
• The AIM model can be applied post-processing, to captured data, by
clicking on the \”Walking man”-Apply AIM model, or:
• Once the AIM model is saved, it can be automatically applied to future
captured measurements, (using the same marker model/set up).
• In \Toolbar\Wrench-Workspace\Processing\Capture actions\Apply the
current AIM models, check the box.
• If you would like to apply an existing AIM model to streaming data,
\Toolbar\Wrench-Workspace\Processing\Real time actions\Apply the
current AIM models, check the box.
• The AIM model will be applied each time you perform a new capture.
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Retracking, (also called Re-Processing)
• If there are problems tracking a measurement, you can retrack it with
different tracking parameters, (calibration and/or processing, e.g. the
cameras were bumped – they need to be recalibrated and the file
retracked).
• Click on \Toolbar\Capture\Retrack\File reprocessing, choose a new
calibration, \Calibration file\Load other…
• Or change the settings in \Processing\3D Tracking or
\Processing\Trajectories.
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Real-time (RT) Output
• In \Workspace\Processing\Real time actions\TCP/IP output. QTM can
stream real time data (3D, 6DOF, force, etc.) over a Transmission Control
Protocol (TCP) or (TCP/IP) connection, to real time clients.
• These settings allow you to stream
Identified data in real time
to clients.
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Output
Plot Marker Trajectories
Analyze
Save QTM files
QTM Export File Formats
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Plot Marker Trajectories
• In \Labeled trajectories\marker id\right click\Plot\3D x position. QTM
generates a graph of the x position.
• A moving purple line, shows where in the graph, the data is found.
• Use the magnifying glass to zoom in on an area or hover over the line to
display the data value.
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Analyze
• Choose a trajectory \Labeled trajectories\marker id\right click\Analyze.
• QTM can perform calculations. \Calculation \Magnitude or Components,
choose to graph Position, Velocity or Acceleration.
• By choosing more than one Labeled
trajectory, you can calculate, e.g. angles
between three markers.
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Save QTM files
• Saving files is a standard MS Windows action, \Toolbar\file\save as or
\Toolbar\file\save or Ctrl+S.
• Tip: You may want to save the QTM, batch QTM files, the corresponding
AIM file and any 6DOF files, in a separate folder.
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QTM Export File Formats
• QTM supports four export formats:
• \Toolbar\file\Export\c3d
• \Toolbar\file\Export\TSV
• \Toolbar\file\Export\Directly into Matlab™
• RT TCP/IP client
• Qualisys has plug-ins for additional formats, please contact Qualisys sales
or support for additional details.
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This Guide
• You have now installed and gone through the QTM software.
• There are more functions in QTM, which were not covered in this
introduction. For more detailed information on the Oqus cameras and
QTM, please refer to the manual, included with the software.
• Please remember that you can also contact our support group,
[email protected].
THANK YOU, FOR USING OQUS AND QTM!
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Industry - 6DOF
Rigid Body Marker Setup
Acquire the 6DOF Rigid Body
Translate the Body’s Position
Save and Load an Existing Body
6DOF Data Tracking and Export
Patrik said, Add some screen shots to this – other wize good.
INDUSTRY
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Rigid Body Marker Setup
6DOF allows you to capture more movement data, it captures not only the
(x,y,z) coordinates but, also the roll, pitch and yaw.
• A rigid body is used as the “platform” for marker placement. This can be,
e.g. a marker cluster, a “hard” scale model or a rigid area, on the item that
you are measuring.
• A minimum of three markers are applied to a rigid platform. All three
markers must be visible by at least two cameras at all times.
• Each rigid body must have a unique marker pattern. This unique grouping,
allows QTM to identify, acquire and track each rigid body; when several
bodies are present in the measurement volume.
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Acquire the 6DOF Rigid Body
• Open a \New folder in QTM.
• Place the rigid body with markers, in the volume.
• Open \Toolbar\Wrench-Workspace\Processing\6DOF Tracking.
• Click the \Add body button. A rigid body is added to the \Rigid bodies
area.
• Click the \Acquire body button. The system automatically finds the
markers on the rigid body and identifies the unique marker pattern of
each rigid body.
• Double click on the body name, to rename the body.
• You can double click in other areas of the \Rigid bodies view, to make
other changes to the body.
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Translate the Body’s Position
• \Processing\6DOF Tracking click on a body in the view and then the
\Translate button, to open the \Translate body view.
• QTM has different orientation options for the rigid body, in relationship to
the volume’s (x,y,z) coordinates.
• This is useful if you have several bodies. All of the bodies start with a roll,
pitch and yaw of (0,0,0). You can “translate” each body’s position to match
the requirements of your measurement situation.
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Save and Load an Existing Body
• In the \Rigid bodies view.
• Click on the \Save bodies button to save a file.
• In the same view, you can Load the saved file. Keep in mind that this loads
all bodies that were in the saved file and replaces any bodies that are in
the \6DOF Tracking \Rigid bodies area.
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6DOF Data Tracking and Export
• Click on Toolbar\View\Data information window or Ctrl+D. In the data
window, right click, select \Display 6DOF data.
• The 6DOF data is shown in the window. Each row in the window,
corresponds to the 6DOF label’s order, as they are found in the \Rigid
bodies view, e.g. row one =label 1 in the .
• In \Processing, check the box, \Calculate 6DOF. 6DOF data will be
processed and saved in the file. Any data from \Toolbar\File\Export\ will
be exported with the roll, pitch and yaw data included.
• If you also check the \Real time (TCP/IP), the 6DOF data is included in the
streaming data.
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Preparation Before the System Installation
• If the cameras will be mounted on the wall, please have all cabling drawn
before the system installer is scheduled to visit your location.
• All force plates and related force plate equipment must be securly
mounted in place before the installation/setup.
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