How-to-Calibrate-the-Camera-System.md

+# How to calibration the camera system
+
+On the computer Coover 3050-07, open the Tracking Tools program. Make sure you have all the tools required which include a 
+wand and ground plane component. These are usually kept on top of the cabinets in the corner of Coover 3050. In addition to 
+these instructions see the [DANC wiki page](https://wikis.ece.iastate.edu/distributed-autonomous-and-networked-control-lab/index.php/Distributed_Autonomous_and_Networked_Control_Lab_Wiki)
+which may have more information as well as the [OptiTrack Wiki](https://v20.wiki.optitrack.com/index.php?title=Calibration).
+
+All steps take place on the OptiTrack - Tracking Tools software on the Coover 3050 computer co3050-07.
+
+Below shows the OptiTrack - Tracking Tools Software on initial opening, many of the steps will refer to actions that can be seen
+on this image.
+
+![alt text](./images/OptiTrack_Tracking_Tools.PNG "OptiTrack - Tracking Tools")
+
+1. Open up a new project with "New Project" button, directly under File drop down menu. Or navigate to "File->New".
+2. If the "3-Marker Calibration" window is shown on the screen, usually on the right side, continue to next step. 
+   If not go to "Tools->3-Marker Calibration".
+3. Now that the 3-Marker Calibration tool is open make sure to remove as much of the IR disturbance as possible, 
+   more disturbance leads to worse calibration. Usually you need to ensure all window blinds are down and that 
+   all IR reflective components (like the Quad) are out of the camera system view.
+4. After as much of the IR reflective components are removed from view click "Block Visible" in the "3-Marker Calibration" 
+   window to remove the left over spots.
+5. Before you start wanding check that the following configuration options are set.
+    * Quality -> Very High
+    * OptiWand -> Large (500mm)
+	
+6. Click "Start Wanding", directly next to the "Block Visible" button in the "3-Marker Calibration" window.
+7. This step will take awhile (approx. 10 minutes) as you wand the entire area of the camera system. Make sure to get at least 5000 samples
+   for each of the cameras. Try not to exceed 10,000 samples as this can lead to worse calibration results. Walk around the camera area moving
+   the wand in a variety of different movements to try to cover the full camera volume.
+8. After sufficient samples have been taken click "Calculate" within "Calibration Engine" and wait until all cameras have exceptional
+   listed next to them before continuing. This process takes 5-6 minutes on average.
+9. Click "Apply Results" then "Apply" when the next windows comes up. It will prompt you to save a timeline, just click "Save".
+10. The next step is to set the ground plane. This window should be automatically switched to after you save, but if not you can switch at the 
+    top of the window within the "3-Marker Calibration" window by clicking "Ground Plane".
+11. Set up the ground plane component as shown in the window above. The Z direction should point towards the ceiling, X direction towards the 
+    white boards, and the IR balls should be facing towards the door. If you lift up the carpet tiles you can use the lines on the floor to
+	orient the piece in the correct X direction. Additionally, the levels in the lab may help with this process to get the best results.
+	
+	![alt text](./images/CameraGroundPlane.jpg "Camera Ground Plane")
+
+12. Once everything is set, check that the "Vertical Offset (mm)" is set to 55, this value can be measured with a meter stick and it
+    is the distance from the ground to the height of the lower IR ball. Next, click "Set Ground Plane". This will prompt you to save a 
+	file, just click "Save".
+13. Save the project, with the "Save Project" button or go to "File->Save Project".
+14. The last step is to enable streaming to VRPN. If you test the backend within the ground station directory without the following steps
+    to complete it will not connect to the VRPN system.
+15. The OptiTrack Tracking Tool software support streaming to VRPN go to "View->Streaming Pane".
+16. In the "Streaming Properties" windows enable "Broadcast Frame Data" within "VRPN Streaming Engine" and ensure that the 
+    "VRPN Broadcast Port" is 3883.
+17. Save the project, and you are now done!
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