Verify Tracking Targets
From the ISDemo main window select Tools->Optical Data Display. In the Optical Data Display window, select Display->Start Displaying Data. If the system has acquired the visible fiducials and is tracking properly, you will see a set of green crosses with white boxes around them, and the fiducial number displayed next to it.
The fiducials that are visible to the IS1200 will vary over time. To see a time averaged display, select Display->Persistence->All within 0.2 sec.
To see the wide angle view of all the targets, select Display->Field of View->Large.
If yellow crosses appear without white boxes, it means that the fiducials are being recognized, but the system cannot resolve the geometry it sees with the constellation file. Common causes of this are:
- Incorrect fiducial size. Check that the fiducial sizes in the constellation are correct.
- Incorrect normals. Check that the fiducial normals are correct in the 3D constellation window.
- Incorrect fiducial XYZ data. Make sure that the survey data was generated in the proper units (meters) and was taken with a sufficiently accurate measuring tool, such as a total station.
If a fiducial is red, it means that the error between the expected and visible position is large enough that SFServer cannot match it with the constellation file, and rejects it.
Insufficient accuracy in the tracking survey will manifest as ‘hunting’ in the XYZ solve, as the system oscillates back and forth between different geometric solutions for the 3D position.
Check Fiducial Error
To check the measured error of the fiducial markers, select Error Display->Error Display:ON. The error of each fiducial will be shown as a green line extending from the center of the fiducial green cross. Long lines indicate large errors, and the constellation should be re-surveyed.
Setting Default Conditions
In the main ISDemo window, select Display->Start Displaying Data, and move the IS1200 around to verify that it is tracking the motion properly. A virtual view of the IS1200 will appear in the window space that matches the orientation of the camera.
To set the current constellation file as the default startup condition, select File->Save Current Settings in the main ISDemo window.
Exit ISDemo by selecting File->Exit in the main ISDemo window. Exit SFServer by clicking on the sfServer window, and pressing q.