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Properties: Rigid Body

Rigid Body Properties

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Rigid Body Tab

General Properties

Create From Visible: Creates a rigid body out of all visible, unassigned markers on the screen.

Create From Selection: Creates a rigid body from all selected markers.

Name: Allows a custom name to be assigned to the rigid body. Default is "Rigid Body X" where x is the Rigid Body ID.

Smoothing: Applies Double Exponential Smoothing to position and orientation data. Increasing can smooth out noise in the rigid body data, but excessive smoothing can introduce lag. Valid range is 0 to 100. Default is 0 (disabled).

Deflection: The maximum distance in millimeters that a marker may deviate from its expected position before it is not considered as part of the rigid body. Lower deflection settings force the solver to be more strict with marker positions, creating a more accurate solve, but with higher risk of gaps in the data. Higher deflection settings can allow for more continuous data, but with the potential for less accuracy in the rigid body solve.

Display Options

Color: Selects a color for the rigid body in the 3D Perspective View. Color is a standard RGB triplet.

Label: Selects whether or not to display the rigid body name in the 3D Perspective View. If selected, a small label in the same color as the rigid body will appear over the centroid in the 3D Perspective View.

Tracked: Selects whether or not to show the rigid body in the 3D Perspective View when it is tracked.

Untracked: Selects whether or not to show the last known position of a rigid body in the 3D Perspective View after tracking has been lost. If enabled, the rigid body will appear somewhat remain frozen in the last known position before tracking was lost, until tracking is regained.

Pivot: Selects whether the pivot point of the rigid body is displayed.

Untracked Markers: When enabled, all markers that are part of the rigid body definition will be dimmed, but still visible, when not present in the point cloud.

Quality: Enabling will turn the connecting lines between markers in a rigid body red as the distance between the markers deviates from what was defined during the rigid body creation.

Marker Quality: Enables ranking of markers and highlights those with higher residuals in red. This setting can be useful in determining marker detection quality and troubleshooting issues based on detection.

Orientation: Enables the display of a rigid body's local coordinate axes. This option can be useful in visualizing the orientation of the rigid body, and for setting orientation offsets.

Position History: Shows a history of the rigid body’s position.

Orientation History: Shows a history of the rigid body’s orientation.

History Options

History Length: Selects the number of frames’ worth of position or orientation history that is displayed when either option is turned on. Valid range is 1 to 1000. Default is 500.

Orientation Spread: Sets the number of frames between orientation history markers in the 3D Perspective View. Increasing this value will cause the markers to appear less frequently, which can improve visualization if the object is rotating at a slower pace. Valid range is 1 to 100. Default is 10.

Orientation Size: Sets the size of the orientation history icon in the 3D Perspective View. Valid range is 1 to 100. Default is 10.

Advanced Settings

Rigid Body ID: Assigns a numeric Identifier to the Rigid Body. Default is the lowest available positive whole number.

Min Marker Count: The minimum number of markers required to solve and track the rigid body. Default is dependent on number of markers in the rigid body. At minimum, 3 markers are required to accurately determine position and orientation of the rigid body. Increasing this can help to prevent improper solutions in environments with high marker counts, though it will make the Rigid body more prone to remaining unsolved if markers are occluded from camera view.

Share Markers: Allows markers for this rigid body to be shared with other rigid bodies. In order for two rigid bodies to share markers, both must have this option set to true. Enable this only if the same marker is used in multiple rigid bodies as a pivot point.

Calculation Time: Defines the maximum amount of time in milliseconds that can be spent searching for the rigid body. If the rigid body is not found in this time, it will be abandoned for the frame. Decreasing this value can assist if latency values begin to rise. Default is 5.

Acquisition Delay: Defines the number of frames to wait between search attempts for the rigid body when it is in the untracked state. Increasing this value can delay the finding of a rigid body, but will assist in reducing the performance hit caused by a high calculation time in high marker environments. Default is 1.

Marker Locations

Lists X, Y, and Z marker positions for each marker in the rigid body, relative to the center of the rigid body. These positions can be manually entered, if precise marker locations are known in advance.

Orientation Tab

Rigid Body Pane - Orientation tab.

Rigid Body Pivot-Point Translation: Sets a translation offset for the centroid of the rigid body. Reported values for the location of the rigid body, as well as the 3D visualization, will be shifted by the amount provided in the fields on either the X, Y, or Z axis. Values are entered in meters.

Rigid Body Orientation: Sets the orientation offset for the rigid body around its centroid. Reported values for the orientation of the rigid body, as well as the 3D visualization, will be rotated around the centroid by the amount provided in the fields for Yaw, Pitch, and Roll. Values are entered in degrees. Additionally, the orientation can be reset to match the current tracked orientation of the rigid body by pressing the “Reset to current orientation” button.   NOTE: For both translation and orientation offsets, the “Apply” buttons will add the values in the boxes to the current offsets, while the “Undo” buttons will add the inverse of the values to the current offsets.