System Reference— Volume II · 2008-08-25 · System Reference— Volume II Revision 1.0 Vicon MX and V-series Systems Vicon iQ 2.5 Motion capture production and control software

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System Reference—Volume II

Revision 1.0

Vicon MX and V-series Systems

Vicon iQ 2.5Motion capture production and control software

ViconiQ_Reference_Vol2.book Page ii Monday, September 11, 2006 4:16 PM

© 2006 Vicon Motion Systems Limited. All rights reserved.

For use with Vicon iQ 2.5 in Vicon MX and V-series systems.

Vicon Motion Systems Limited reserves the right to make changes to information in this document without notice. Companies, names, and data used in examples are fictitious unless otherwise noted. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic or mechanical, by photocopying or recording, or otherwise without the prior written permission of Vicon Motion Systems Limited.

Information furnished by Vicon Motion Systems Limited is believed to be accurate and reliable; however, no responsibility is assumed by Vicon Motion Systems Limited for its use; nor for any infringements of patents or other rights of third parties which may result from its use. No license is granted by implication or otherwise under any patent rights of Vicon Motion Systems Limited.

Vicon® and BodyBuilder® are registered trademarks of OMG Plc. Vicon iQ™, Vicon MX™, Polygon™, RealTime Engine™, and Workstation™ are trademarks of OMG Plc.

Other product and company names herein may be the trademarks of their respective owners.

Oxford14 Minns Business Park, West WayOxford OX2 0JBUK

Tel: +44 (0)1865 261800Fax: +44 (0)1865 240527

Los Angeles5419 McConnell AvenueLos Angeles, CA 90066USA

Tel: +1 310 306 6131Fax: +1 310 437 4299

Denver7388 S. Revere Parkway, Suite 901Centennial, CO 80112USA

Tel: +1 (303) 799 8686Fax: +1 (303) 799 8690

Lake Forest9 Spectrum Pointe DriveLake Forest. CA 92630USA

Tel: +1 (949) 472 9140Fax: +1 (949) 472 9136

Vicon Motion Systems is an OMG Plc company

Email: [email protected]

Web: http://www.vicon.com

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Contents

Preface..............................................................................................viiAudience ....................................................................... viiStructure ...................................................................... viiiConventions .................................................................. viiiRelated documentation ..................................................... ix

Appendix A RealTime Engine Parameters.......................................A-1Circle Fitting Parameters................................................ A-2Data Sampling Parameters............................................. A-7Kinematic Fitting and Filtering Parameters........................ A-8Offline Data Streaming Parameters ................................. A-9Reconstruction Parameters............................................ A-12Trajectory Fitting Parameters ........................................ A-17Trajectory Labeling Parameters...................................... A-20

Appendix B View Options Parameters ............................................B-1Bones Parameters......................................................... B-3Bounding Boxes Parameters ........................................... B-4Calculate Volume Parameters ......................................... B-4Camera Masks Parameters ............................................. B-5Camera Positions Parameters ......................................... B-6Camera View Options Parameters ................................... B-7Circles Parameter ......................................................... B-8Construction Grid Parameters ......................................... B-8Continuity Chart Parameters........................................... B-9Edges Parameters ........................................................ B-10Event Bar Parameter .................................................... B-10Focal Point Parameters ................................................. B-11General Colors Parameters............................................ B-11Graph Parameters........................................................ B-12Grayscale Parameter .................................................... B-15HyperGraph Parameters................................................ B-15Manipulator Parameters ................................................ B-16Markers Parameters ..................................................... B-17Parameter Links Parameters.......................................... B-18Perspective Floor Grid Parameters.................................. B-19

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C o n t e n t s

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Points Parameters........................................................ B-20Reconstruction Volume Parameters ................................ B-20Reconstructions Parameters .......................................... B-21Segment Axes Parameter.............................................. B-22Selected Label Display Parameters ................................. B-22Sticks Parameters ........................................................ B-23Threshold Grid Parameter ............................................. B-23Time Bar Parameters.................................................... B-24Tool Tips Parameters.................................................... B-26Trajectories Parameters ................................................ B-26Trajectory Rays Parameter ............................................ B-27Volume Visualization Parameters.................................... B-27Widget Parameters....................................................... B-28Workspace Axes Parameter ........................................... B-28

Appendix C Operating Mode Parameters ........................................C-1Calibrate Operating Mode Parameters .............................. C-2

Calibrate Cameras Parameters ................................... C-2Calibrate Floor Plane Parameter ................................. C-4Camera Health Check Parameter ................................ C-4Camera Resection Parameters ................................... C-5 Capture Operating Mode Parameters ......................... C-7Create Object Parameters ......................................... C-7

Modeling Operating Mode Parameters .............................. C-8Mirror Segment Parameters ....................................... C-8

Post Processing Operating Mode Parameters..................... C-9Autocreate Camera Masks Parameters .......................C-10 Autocreate Thresholds Parameters ...........................C-12CircleFit, Reconstruct, Trajectory Fit Frame Range Parameters ..........................................................C-13Fill Gaps by Linear Interpolation Parameter ................C-19Fill Gaps Rigid Body Parameters ................................C-19Fill Gaps using Splines Parameter ..............................C-20Fill Gaps using Virtual Point Ordered Fill Parameters ....C-20Fill Gaps using Virtual Points Parameters ....................C-21Filter Using a Butterworth Function Parameters ...........C-22Filter Using Weighted Point Average Parameters ..........C-23Fit And Fill Gaps using Kinematic Model Parameters .....C-23Fix Discontinuities Parameters ..................................C-24Group Trajectory Labeler Parameters .........................C-24Marker Recalibration Parameters ...............................C-25

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Paste Edit Command Parameter ................................C-27Paste Pattern Edit Command Parameter .....................C-28Rigid Body Fill Associated Parameters ........................C-29Save Subject(s) Parameters .....................................C-29Subject Calibration Parameters .................................C-30Trim Tails Parameters ..............................................C-31Velocity Labeler Parameters .....................................C-32Setup Operating Mode Parameters ............................C-32Autocreate Camera Masks Parameters .......................C-33Autocreate Thresholds Parameters ............................C-34

Appendix D Command-line Processing ...........................................D-1Vicon iQ Command-line Syntax....................................... D-1

Example ................................................................. D-3

Index .......................................................................................Index-1

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vi Vicon iQ System Reference—Volume II

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Preface

This book is part of a two-volume reference that provides detailed information on the features and functionality of Vicon iQ, a motion capture production and control software application designed for animation and visual effects applications. This Volume II book describes parameters you can set in Vicon iQ as well as some advanced features not necessary to the basic operation of the system.

The information in this book applies to Vicon MX and to Vicon V-series systems that support the RealTime Engine (RTE) through the following Datastations: Vicon 460 (V460), Vicon 6 (V6), Vicon 612 (V612), Vicon 624 (V624), and Vicon 8i (V8i). The RealTime Engine is automatically incorporated in Vicon iQ in Vicon MX and Vicon V-series systems.

ImportantThis book assumes that your Vicon system, including the Vicon iQ application software, has already been set up and calibrated. Vicon iQ software is licensed using a HASP dongle. The licensing drivers must have been installed on the host PC, and the dongle must be plugged into an appropriate port (parallel or USB) on the computer while you are running the application software. Your Vicon iQ system may have been professionally installed by a Vicon Support Engineer. If you are installing the system yourself, see one of the following for full details on preparing your Vicon system for use: the “System Components and Assembly” module of the Essentials of Motion Capture for Vicon MX training video (Vicon MX) or “Preparation” in The Vicon Manual (Vicon V-series system).

Audience

This book is intended for individuals who will be using Vicon iQ for data capture and clean-up of animation production based on the movement of live actors and props.

Vicon iQ is typically used in the following types of animation production applications:

• Games, for games engines and computer-generated full motion video (CG FMV) production.

• Film & TV, for film or television production, full computer-generated (CG) character animation features, or visual effects (VFX) shots.

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This book assumes that you are familiar with Microsoft Windows operating systems. This book does not assume any previous experience with the Vicon iQ application software or the RealTime Engine. If you have used Vicon iQ or the RTE in Vicon V-series systems, you will notice some differences in terminology and functions in this release. All Vicon iQ features, functionality, and operation are described fully in this two-volume system reference.

Structure

This section describes how the information in this book is organized:

Appendix A RealTime Engine Parameters describes the parameters you can configure to manage the behavior of the RealTime Engine from Vicon iQ.

Appendix B View Options Parameters describes the parameters you can configure to manage the way data is displayed in the Vicon iQ workspace.

Appendix C Operating Mode Parameters describes the parameters you can configure to manage Vicon iQ’s behavior during the main stages of the system workflow.

Appendix D Command-line Processing describes some Vicon iQ processing operations you can perform from the command line.

Conventions

This table illustrates the typographical conventions used in this book.

Convention Description

This type Menus, commands, buttons, and options displayed in the GUI. Terms in a definition list or emphasis for important introductory words in a paragraph.

This type Text displayed by the system or extracts of program code.

This type Path names, file names, and extensions. Commands or text you are to enter in files or dialog boxes.

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Related documentation

This Vicon iQ System Reference—Volume II book is designed to be used in conjunction with the additional documentation providing information related to this release of Vicon iQ shown in the following table.

This type Cross-references to related information in another section or document.

This type A URL for a site on the World Wide Web.

Caution A caution alerting you to actions that could result in the loss of data.

Important A note giving information that emphasizes or supplements important points in the text or information that may apply only in special cases.

Tip A tip helping you to apply the techniques and procedures in the text to your specific use or to suggest an alternative method.

Warning A warning advising you of actions that could result in physical harm to yourself or damage to the hardware.

Convention Description

Document Description

Release Documents

Release Documents provide details on the current software release, including system requirements, new features and enhancements, issues addressed, and known problems as well as product feature and functionality changes from previous releases.

To access them, from the Windows Start menu, point to All Programs, then Vicon, then Documentation, then Release Documents, and select the desired release document.

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Books Product books are installed in PDF format (requires Adobe Acrobat version 5.0 or later). To access them, from the Windows Start menu, point to All Programs, then Vicon, then Documentation, then Books, then the type of book, and select the desired book.

The following types of books make up the Vicon product documentation set:

System Reference

System Reference books describe the features and functionality of a component of Vicon systems.

This Vicon iQ System Reference is a two-volume book:

• Volume I describes the features and functionality of Vicon iQ, including the overall system workflow and the user interface.

• Volume II describes the parameters you can set in Vicon iQ as well as some advanced features not necessary to the basic operation of the system.

System Tutorial

System Tutorial books provide step-by-step instructions on the intended way of using Vicon application software.

System Option

System Option books describe the general features and operation of a system option or plug-in that can be used with the Vicon application software.

Foundation Guide

Foundation Guide books, such as The Vicon Manual, describe the general features and operation of the hardware and application software in Vicon V-series systems (V460, V6, V612, V624, and V8i).

Those books may be supplemented by the System Reference, System Tutorial, and System Option books, which describe more recent features and functionality.


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Vicon Online Support (VOS)

VOS (at http://www.vicon.com/support/online_Support.html) is a Web-accessible knowledge base that enables customers to view previously answered product queries, submit new questions, and download updates to Vicon software and documentation.

Help Help panes provide descriptions of activity bars, control bars, and other user interface areas. To access a Help pane, click the desired Help tab on the left of the Vicon iQ window.


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AARea lT ime Engine Parameters

This appendix describes the parameters you can configure to manage the behavior of the RealTime Engine from Vicon iQ.

You specify the way the RealTime Engine captures, reconstructs, labels, and kinematically fits 3D data for the selected tracking objects in the RealTime Engine control bar. For details on the contents and operation of this control bar, see chapter Vicon iQ User Interface in the Vicon iQ System Reference—Volume I book.

You configure the parameters described in this appendix in the RealTime Engine - Edit Options dialog box. You may need to select the Show Advanced Parameters option to view all of the available parameters. For details on working with edit option dialog boxes in Vicon iQ, see chapter Vicon iQ User Interface in the Vicon iQ System Reference—Volume I book.

The following sections describe the parameters that can be viewed and specified in the RealTime Engine - Edit Options dialog box. Each entry indicates whether the parameter is applicable to Vicon MX, Vicon V-series systems, or both. Within each section, table entries are arranged in alphabetical order.

Parameters are grouped by function:

• Circle Fitting Parameters on page A-2

• Data Sampling Parameters on page A-7

• Kinematic Fitting and Filtering Parameters on page A-8

• Offline Data Streaming Parameters on page A-9

• Reconstruction Parameters on page A-12

• Trajectory Fitting Parameters on page A-17

• Trajectory Labeling Parameters on page A-20

Vicon iQ System Reference—Volume II A-1

RealTime Engine Parameters


Circle Fitting Parameters

Table A-1 describes the parameters that you can specify to control centroid fitting in Vicon MX or circle fitting in Vicon V-series systems.

Table A-1: Circle Fitting Parameters

Parameter System Description

Camera image noise level

Vicon MX The level of noise that the Robust fitter assumes to be in the camera image. This noise level is in relation to the internal model of a marker—that is a radially symmetric object that has smooth, sharp edges and whose pixel intensity is brightest at the center and gradually fades towards the edges.

Specify this as a value in the range 0.0-1.0:

• A higher value causes the Robust fitter to accept grayscale blobs whose appearance deviates more from the ideal. This increases the likelihood of the fitter identifying a number of circles in a single, grayscale blob.

• A lower value causes the Robust fitter to require grayscale blobs to be nearer to the ideal appearance before accepting them for centroid fitting.

This parameter is applied if either the Fit robust or Fit as appropriate option is selected in the RT engine circle fit method parameter.

Default: 0.20

Circle fitting error

V-series The circularity threshold (in pixels) that is applied to determine which circular blobs are to be considered for circle fitting in Vicon V-series systems.

The algorithm identifies a candidate circle center based on three randomly chosen edges of any given blob. The ideal circle given the proposed center and its radius is then evaluated against the remaining edges in the blob. If the actual edge is within the ideal edge, plus or minus the

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Circle fitting error (cont.)

value specified in this parameter, the edge in question is assigned to the circle. When a high enough proportion of edges (as specified in the Minimum circle fitting quality parameter) in any given blob has been assigned to a circle, the center of the circle is calculated using all the assigned edges.

Default: 1.3

Enable grayscale circle fitter

Vicon MX Enables or disables the RealTime Engine’s grayscale centroid fitter in Vicon MX.

Also see the RT engine circle fit method parameter.

Default: Disabled

Fast circle fit threshold

Vicon MX The circularity threshold that the Fast fitter applies to resolve markers. Grayscale blobs with a circularity equal to or greater than this value are considered well-formed circular images for which the fitter generates centroids.

Specify this threshold as a value in the range of 0.0-1.0:

• 0.0 causes the Fast fitter to accept all grayscale blobs regardless of circularity

• 1.0 causes the Fast fitter to accept only grayscale blobs with perfect circularity.

This threshold is applied if either the Fit fast or the Fit as appropriate option is specified in the RT engine circle fit method parameter.

Default: 0.6

Maximum circle diameter

Vicon MX and V-series

The maximum diameter (in pixels) of a grayscale blob that is to be considered for centroid fitting in Vicon MX. The maximum height (in scan lines) of a circular blob that is to be considered for circle fitting in Vicon V-series systems.

Grayscale/circular blobs larger than this are discarded. This is useful for filtering






Maximum circle diameter (cont.)

out unwanted noise such as reflections from body parts that are too close to the cameras.

Specify this diameter as a value in the range of 0-100 pixels/scan lines:

• A lower value results in the fitter attempting to resolve fewer grayscale/circular blobs.

• A higher value results in the fitter attempting to resolve more grayscale/circular blobs.

For example, the maximum value of 100 causes the fitter to attempt to resolve most grayscale blobs.

Also see the Minimum circle diameter parameter.

Default: 100

Minimum circle diameter


The minimum diameter (in pixels) of a grayscale blob that is to be considered for centroid fitting in Vicon MX. The minimum height (in scan lines) of a circular blob that is to be considered for circle fitting in Vicon V-series systems. Grayscale/circular blobs smaller than this are discarded.

Specify this diameter as a value in the range of 0-100 pixels/scan lines:

• A lower value causes the fitter to attempt to resolve more grayscale/circular blobs.For example, the minimum value of 0 (zero) causes the fitter to attempt to resolve any and all blobs.

• A higher value causes the fitter to attempt to resolve fewer grayscale/circular blobs.

Also see the Maximum circle diameter parameter.

Default: 0






Minimum circle fitting quality

V-series The proportion of edges from a circular blob that must be allocated to a candidate circle center before the circle fitting algorithm considers it to be a valid circle center. For example, the default 0.5 indicates that the candidate contains half the edges expected for its radius. If the proportion falls below this threshold, the algorithm discards the candidate center and chooses three new edges at random to generate a new circle candidate for that circular blob.

Also see the Circle fitting error parameter.

Default: 0.5

Robust circle fit threshold

Vicon MX The circularity threshold that the Robust fitter in Vicon MX applies to resolve markers. Grayscale blobs with a circularity equal to or greater than this value are considered well-formed circular images for which the fitter generates centroids.


• 0.0 causes the Robust fitter to accept all grayscale blobs regardless of circularity.

• 1.0 causes the Robust fitter to accept only grayscale blobs with perfect circularity.

This threshold is applied if either the Robust fit or Fit as appropriate option is selected in the RT engine circle fit method parameter.

Default: 0.40






RT engine circle fit method

Vicon MX The circle-fitting algorithm that the RealTime Engine is to use for centroid fitting in Vicon MX:

• Fit As AppropriateUse the Fast circle fitter first; if it does not generate any centroids, then use the Robust circle fitter.

• Fit RobustUse the Robust circle fitter, which is a more advanced circle-fitting algorithm than that in the MX cameras.

• Fit FastUse the Fast circle fitter, which is a replication in the RealTime Engine of the circle-fitting algorithm on the MX cameras.

• Fit Fast–Robust–FastUse the Fast circle fitter first, then the Robust, circle fitter, and then the Fast circle fitter again. This setting is useful to achieve optimum results, but it is necessarily slower.

You can specify whether or not the RealTime Engine is to use a circle-fitting algorithm in the Enable grayscale circle fitter parameter. You also can specify thresholds for the selected circle fitter in the Fast circle fit threshold and Robust circle fit threshold parameters.

Default: Fit As Appropriate






Data Sampling Parameters

Table A-4 describes the parameters that you can specify to control the amount of data the RealTime Engine samples for processing.

Table A-2: Data Sampling Parameters


Output Latency Vicon MX and V-series

The level of latency, or lag time, the RealTime Engine is to introduce during data streaming.

Specify this as a value in frames:

• A higher value, such as 20 frames, introduces more lag time. This allows the RealTime Engine more time to process data frames, which can provide better quality results. Higher values produce better labeling results.

• A lower value, such as 5 frames, introduces less lag time. This allows the RealTime Engine less time to process data frames, which can provide near zero-latency output. Unless lag is of critical importance to you application, you are recommended not to set this to a value below 5 as the RealTime Engine requires a minimum of five frames of data to start creating trajectories.

Default: 10

Window Size Vicon MX and V-series

The amount of data the RealTime Engine considers to perform labeling operations.

Specify this as a value in frames:

• Too high a value can affect performance speed somewhat.

• Too low a value provides only a limited view of the data to the labeler, which can result in poor labeling results.

Values between 20 and 120 produce good results in most applications.

Default: 20




Kinematic Fitting and Filtering Parameters

Table A-3 describes the parameters that you can specify to control kinematic fitting and filtering.

CautionThese are advanced parameters that enable Vicon support engineers to fine-tune processing in exceptional circumstances. The default settings of these parameters should not be changed for most applications. If you feel your application requires such fine-tuning, please contact Vicon support for assistance.

Table A-3: Kinematic Fitting and Filtering Parameters


Kinematic fit convergence factor


Kinematic fitting is an iterative process, during which the fitter attempts to match the appropriate model markers to observed trajectories. This parameter is used to calculate the number of iterations the kinematic fitter applies to each frame of data.

Specify a value in the range 0-0.01:

• A lower value results in a slower kinematic fitting process, but reduces the possibility of fitting errors. For example, 0 (zero) results in unlimited iterations.

• A higher value results in a faster kinematic fitting process, but increases the possibility of fitting errors.

Default: 0.02

Kinematic fit work factor


The amount of processing the kinematic fitter performs during each iteration of the kinematic fitting process.

Specify a value where:

• A lower value provides more accurate processing results but increases the processing time. For example, 0 (zero) results in full processing.

• A higher value provides less accurate processing results but reduces the processing time.




Offline Data Streaming Parameters

Table A-4 describes the parameters that you can specify to control the type of offline data the RealTime Engine streams

CautionThe default values for these offline data streaming parameters are predefined macro entries, which point to the path of the active Eclipse session. These macro variable assume that the RealTime Engine (RTE) is running on the host PC along with Vicon iQ and the Eclipse database. In a distributed Vicon system architecture, you must ensure that the RTE is able to locate the data files on the host PC on which Vicon iQ is installed. To do this, on the RTE computer create a mapped drive to the drive on which the data files are contained on the Vicon iQ host PC, using the same drive letter. For example, if the data files on the Vicon iQ host PC are located in directory F:\Files\Vicon\Userdata\MyFiles, on the RTE computer, in the Windows MAP Network Drive dialog box, set Drive to F:. For further details on mapping network drives, see the Microsoft Windows help. For details on how to specify an explicit path and file name in edit options dialog boxes, see chapter Vicon iQ User Interface in the Vicon iQ System Reference—Volume I book.

Kinematic fit work factor (cont.)

For each iteration specified in the Kinematic fit convergence factor parameter, the kinematic fitter performs an amount of processing specified in this Kinematic fit work factor parameter.

Default: 0.0005

Table A-3: Kinematic Fitting and Filtering Parameters


Table A-4: Offline Data Streaming Parameters


CP file name Vicon MX and V-series

The full path and file name of the camera calibration (.cp) file corresponding to the raw data file, that is, the .tvd file specified in the TVD file name parameter (for Vicon V-series systems) or the .x2d file specified in the X2D file name parameter (for Vicon MX).

Default: ECLIPSE_ACTIVE_CAL




MSK file name V-series The full path and file name of the .msk file corresponding to the .cp file specified in CP filename parameter.

The .msk file contains camera masks created to obscure unwanted data visible to Vicon V-series cameras that is to be excluded from data processing.

Default: ECLIPSE_ACTIVE_MASK (the path of the active Eclipse session)

Skip rate Vicon MX and V-series

The processing rate for streaming real-time data from the offline .x2d file specified in the X2D file name parameter (for Vicon MX) or the .tvd file specified in the TVD file name parameter

Specify one of the following values:

• 0/Emulate RealtimeThe RealTime Engine treats the .x2d/.tvd file as if it were a real-time data

source to emulate the performance that would be achieved if running live.

• 1/Process AllThe RealTime Engine processes every frame from the .x2d/.tvd file as fast as it can. The .x2d/.tvd file data is streamed as quickly as possible.

• 2/Process every 2ndThe RealTime Engine processes every second frame of the .x2d/.tvd file. This could mean that the processing happens either slower or faster than it would have in real time, depending on how much data the .x2d/.tvd file contains and on the capacity of the processing hardware.

• 3/Process every 3rdThe RealTime Engine processes every third frame of the .x2d/.tvd file.






Skip rate (cont.) • 4/Process every 4thThe RealTime Engine processes every fourth frame of the .x2d/.tvd file.

In Vicon iQ, you can continue to specify every nth frame, where n is a positive number.

Default: 1/Process All

TVD file name V-series The full path and file name of the .tvd file corresponding to the .cp file specified in CP filename parameter.

The .tvd file contains raw data previously captured in Vicon V-series systems that is to be streamed through the RealTime Engine. You can control the rate at which data is streamed from this file using the Skip rate parameter.

Default: ECLIPSE_ACTIVE_TVD (the path of the active Eclipse session)

VTT file name Vicon MX The full path and file name of the .vtt file corresponding to the .cp file specified in CP filename parameter.

The .vtt file contains Vicon threshold tables created to obscure unwanted data visible to Vicon MX cameras that is to be excluded from data processing.

Default: ECLIPSE_ACTIVE_THRESHOLD (the path of the active Eclipse session)

X2D file name Vicon MX The full path and file name of the .x2d file corresponding to the .cp file specified in CP filename parameter.

The .x2d file contains raw data previously captured in Vicon MX that is to be streamed through the RealTime Engine. You can control the rate at which data is streamed from this file using the Skip rate parameter.

Default: ECLIPSE_ACTIVE_X2D (the path of the active Eclipse session)






Reconstruction Parameters

Table A-5 describes the parameters that you can specify to control reconstruction.

Table A-5: Reconstruction Parameters


Camera noise factor


The factor of the confidence in the camera calibration, which indicates how likely it is that the reconstruction algorithm will be able to form a single reconstruction from rays from different cameras.

Specify this factor as a value in the range of 0-10:

• A lower value indicates high confidence in the calibration, which means two rays must pass close to each other in order to be considered contributors to the same reconstruction.

• A higher value indicates low confidence in the calibration, which means two rays can pass further away from each other and still be considered for the reconstruction. In cases such as when cameras are using very wide-angle lenses, it is reasonable to assume that the extra field of view introduces extra uncertainty in the circle-fitting algorithm. In this case, a higher factor may be appropriate.

Default: 2.0

Clear camera data from memory


Whether or not to clear camera data from the trial to reduce memory consumption. MX cameras can generate grayscale, centroids, and coordinates data. Vicon V-series cameras produce edges data. For details on these types of camera data, see chapter Introduction in the Vicon iQ System Reference—Volume I.

Default: No




Include/exclude certain cameras


Whether or not the RealTime Engine is to use the cameras specified in the List of cameras to include/exclude parameter in the reconstruction process (or any other processes).

Select one of the following values from the drop-down list:

• Include camerasSpecified cameras are used in the reconstruction process.

• Exclude camerasSpecified cameras are not used in the reconstruction process.

This parameter is useful for large, high-camera count systems where many cameras may be used to capture data. To speed real-time data streaming, a subset of the full camera count can be specified for use by the RealTime Engine.

Default: Exclude cameras

List of cameras to include/exclude


A comma-separated list of cameras to include in or exclude from the reconstruction process. How the cameras listed in this parameter are used depends on the setting of the Include/exclude certain cameras parameter.

Leave this field blank to specify all cameras.

Default: Blank

Maximum marker diameter


The maximum diameter (in mm) of a 3D marker position that is to be considered for reconstruction. 3D marker positions smaller than this are discarded. This is useful for filtering out large markers.

Specify this diameter as a value in millimeters corresponding to a Vicon marker size. For example, setting this to






Maximum marker diameter (cont.)

a value of 3 mm prevents the reconstruction algorithm from producing reconstructions for 9.5 mm, 14 mm, or 25 mm body markers.

Also see the Minimum marker diameter parameter.

Default: 10000

Minimum cameras in min. recon. Separation


The minimum number of Vicon cameras that must be used for reconstruction if cameras are closer than the allowed distance specified in the Minimum reconstruction separation (mm) parameter.

Whether or not this parameter is used depends on the setting of the Use minimum cameras in minimum reconstruction separation parameter.

Default: 3

Minimum cameras to reconstruct


The minimum number of Vicon cameras that must contribute to a 3D marker position before it is reconstructed.

Specify this as a value in the range of 2-n, where n is the number of cameras included in your Vicon system architecture:

• A lower value increases the possibility of creating spurious reconstructions that are not likely to correspond to any real markers.

• A higher value decreases the possibility of creating spurious reconstructions that are not likely to correspond to any real markers.

Default: 2






Minimum marker diameter


The minimum diameter (in mm) of a 3D marker position that is to be considered for reconstruction. 3D marker positions larger than this are discarded. This is useful for filtering out small markers.

Specify this diameter as a value in millimeters corresponding to a Vicon marker size. For example, setting this to a value of 8 mm prevents the reconstruction algorithm from producing reconstructions for 3 mm facial markers.

Also see the Maximum marker diameter parameter.

Default: 0

Minimum reconstruction separation (mm)


The minimum distance allowed between 3D marker positions for the RealTime Engine to consider them for reconstruction. If two candidate reconstructions are closer than this minimum separation, only the most likely reconstruction (in terms of the number of cameras contributing) will be reported. The other will be discarded.

Specify this as a value in the range of 0-100 millimeters:

• A lower value increases the likelihood of creating spurious reconstructions that are likely to be ghost markers. For example, the minimum value of 0 (zero) causes the RealTime Engine to attempt to reconstruct any and all 3D marker positions.

• A higher value decreases the likelihood of creating spurious reconstructions, but increases the possibility that some real markers will not be reconstructed.

Default: 0.00






Overwrite Circles with Grey Circles


Whether or not to overwrite the centroids (Vicon MX) or circles (Vicon V-series systems) already present in the trial data with those calculated from grayscale blobs.

Unless you are reprocessing data for with all grayscale was capture, you are advised to leave this parameter set to No.

Default: No

Ray noise factor Vicon MX and V-series

The scale factor describing the confidence in the circle fitting performed.

Specify this factor as a value in the range of 0-10:

• A lower value indicates high confidence in the circles, which means two rays must pass close to each other in order to be considered contributors to the same reconstruction.

• A higher value indicates low confidence, which means two rays can pass further away from each other and still be considered contributors to the same reconstruction.

The final circle uncertainty used in reconstruction is the circle fitting uncertainty calculated by the RT engine circle fit method parameter multiplied by the value in this Ray Noise Factor parameter plus the camera calibration uncertainty from the calibration file multiplied by the value in the Camera noise factor parameter.

Default: 1.00

Use minimum cameras in minimum reconstruction separation

Whether or not the RealTime Engine is to apply the Minimum cameras in min. recon. Separation parameter.

Default: No






Trajectory Fitting Parameters

Table A-6 describes the parameters that you can specify to control trajectory fitting.

Table A-6: Trajectory Fitting Parameters


Minimum cameras to start trajectory


The minimum number of Vicon cameras that must contribute to a trajectory before it is reconstructed.

Specify this as a value in the range of 2-n, where n is the number of cameras included in your Vicon system architecture:

• A lower value results in more reconstructions being incorporated into trajectories, however, it may increase the chance of spurious trajectories being generated.

• A higher value makes it less likely that the trajectory fitter will generate spurious trajectories, however, it may result in fewer trajectories being generated.

The value of this parameter must be equal to or larger than that for the Minimum cameras to reconstruct parameter.

Default: 3

Trajectory prediction error (mm/s)


The accuracy with which marker trajectories can be predicted over time. This algorithm attempts to predict the locations of all markers when a new frame comes in. As markers move in unpredictable ways, this algorithm is used to establish a radius of uncertainty around the prediction. If the measured marker falls within this radius, this algorithm concludes that the measured marker is the same as the predicted one.

Predictions are useful in reconstructions for aiding in reconstruction speed and for resolving conflicts in ray assignment—that is, a given ray from one camera




Trajectory prediction error (cont.)

intersects two or more rays from another camera within the limit set by the Ray noise factor and Camera noise factor parameters. In this situation, knowledge of where the marker is most likely to be, based on historical information, is very likely to resolve the conflict.

The predictions also are used to aid the labeler. In this case, the prediction and its radius of uncertainty provide the labeler with a certain number of candidate reconstructions for a given label. If the radius of uncertainty is such that only one marker falls within this radius, the task is simple, but if two or more markers fall within the radius, the task becomes more complicated.

Specify this as a value in the range of 10-500 millimeters per second:

• A lower value results in a more accurate prediction, but increases the possibility of a broken trajectory if a marker moves too fast. A lower value, such as 35 mm/s, is appropriate if marker movement is generally quite slow.However, if the value is too low, the radius of uncertainty around a given marker is small, so a fast-moving marker will have a higher likelihood of falling outside this radius. If this happens, the benefits of the prediction are lost, and ray conflicts may not be solvable, which can result in spurious marker reconstructions, mislabeled markers, or slow labeling.

• A higher value results in a less accurate prediction, but decreases the possibility of a broken trajectory if a marker moves too fast. A higher value is appropriate if the application is tracking a lot of fast movement or movements that stop completely






Trajectory prediction error (cont.)

on contact with the floor and quickly change direction (such as foot strike events).

However, if the value is too high, the likelihood of more than one marker falling within the radius of uncertainty increases, so the trajectory labeler may find it more difficult to determine which marker corresponds to the tracked one. This can cause labeling problems.

Default: 70.00

Trajectory startup factor


The amount of time the RealTime Engine is to spend in each frame trying to construct trajectories from existing reconstructions.

Specify this scale factor as a value in the range of 0.0-10.0, where 0.0 means spend no time producing trajectories:

• A lower value results in less time being spent each frame on constructing trajectories.

• A higher value results in more time being spent each frame on construction trajectories.

Values between 0.3 and 1.0 produce good results in most applications.

Default: 1.0






Trajectory Labeling Parameters

Table A-7 describes the parameters that you can specify to control trajectory labeling.

Table A-7: Trajectory Labeling Parameters


Entrance Threshold


The proportion of markers attached to the subject in the capture volume that must be visible to the Vicon cameras before the labeler starts the labeling process. This parameter is useful for multi-subject trials where subjects enter the capture volume at different times.

Specify this as a value in the range 0.0–1.0:

• A lower value (such as 0.3) results in the labeler being less cautious in its initial labeling of a subject entering the capture volume. This may produce faster labeling results, but increases the possibility of partial or incorrect labeling.

• A higher value (such as 0.95) results in the labeler being more cautious in its initial labeling of a subject entering the capture volume. This may produce slower labeling results, but reduces the possibility of partial or incorrect labeling.

Default: 0.92

Fixed labeling tolerance


The fixed amount to add to the threshold for comparing the measured distance between two markers and the previously calculated distance between them.

The RealTime labeler labels markers by looking at distance statistics. These are precalculated values that could either be from the subject calibration or, in case of rigid body tracking, from the object definition. The labeler compares the candidate markers against the precalculated (or calibrated) known




Fixed labeling tolerance (cont.)

distances between pairs of markers.

The information used to calculate the distances between marker pairs is stored in the subject's .vsk file. When considering a group of markers for labeling, the labeler calculates the distances from each marker to all the other ones. It then uses an algorithm to try to assign labels based on the similarity of these measured distances to the calibrated ones. A distance between two markers is deemed to be similar enough to a calibrated distance when the measured distance falls within the calibrated distance plus/minus a labeling threshold.

This fixed amount is in addition to the percentage specified in the Proportional labeling tolerance parameter. Thus, the combined labeling tolerance is this fixed labeling tolerance plus the proportional labeling tolerance multiplied by the original calibrated marker distance variation (from the calibration file).Specify this tolerance as a value in millimeters in the range 0-50:

• A lower value means that distance between markers is not allowed to exceed the calibrated distance by much.

• A higher value means that distance between markers can exceed the calibrated distance more significantly.

Default: 3.0

Fixed marker recalibration tolerance


The fixed amount to add to the marker positions in the .vsk file for a subject to allow for minor deviations in the physical placement of markers on the subject in subsequent trials. Marker positions are calculated during the subject calibration process. If markers are reapplied to the






Fixed marker recalibration tolerance (cont.)

subject for later trials without generating a new subject calibration, the previously calculated marker positions can be inaccurate, which will affect the quality of labeling. This parameter is useful for labeling trials of the same subject with the same marker arrangement without having to perform a new subject calibration each time the markers are applied.

Specify this tolerance as a value in millimeters. For example, set this to a higher value if you are labeling data using a slightly inaccurate subject calibration.

Default: 10

Incremental labeling decisiveness


The amount by which the labeler multiplies the starting value specified in the Initial labeling decisiveness parameter for each subsequent iteration of the labeling process.


• A lower value results in a slower labeling process, but reduces the possibility of labeling errors.

• A higher value results in a faster labeling process, but increases the possibility of labeling errors.

This parameter and the Initial labeling decisiveness parameter work together. In general you are recommended to set both parameters either to:

• A lower value to maximize the quality of the labeling process.

• A higher value to maximize the speed of the labeling process.

Default: 1.3






Initial labeling decisiveness


The value at which the labeler starts the labeling process. Labeling is an iterative process, during which the labeler continuously improves its assessment of which markers correspond to which reconstructions until it is confident in its result.


• A lower value results in a slower labeling process, but reduces the possibility of labeling errors.

• A higher value results in a faster labeling process, but increases the possibility of labeling errors.

For each subsequent iteration, the labeler multiplies the starting value specified in this Initial labeling decisiveness parameter by the value specified for the Incremental labeling decisiveness parameter.

The settings of the two parameters work together. In general you are recommended to set both parameters either to:

• A lower value to maximize the quality of the labeling process.

• A higher value to maximize the speed of the labeling process.

Default: 0.40

Maximum label iterations


The maximum number of iterations the labeler is to perform during every capture frame.

Specify a value in the range 3-1,000:

• A lower value causes the labeler to run fewer iterations. This results in a faster labeling process, but increases the possibility of labeling errors.

• A higher value causes the labeler to run






Maximum label iterations (cont.)

more iterations. This results in a slower labeling process, but decreases the possibility of labeling errors. This is appropriate for an application that has few markers but requires highly accurate labeling.

Default: 20

Proportional joint range tolerance


The amount a joint is allowed to deviate from its calibrated range. The range is calibrated during the RoM trial and stored in the subject's .vsk file. This parameter applies to multi-segment models linked by joints.

Specify this tolerance as a percentage between 0-200 of the calibrated range:

• A lower value means that the joint’s movement is not allowed to exceed the RoM by much. For example, a tolerance of 10 means that the subject’s movement can exceed the RoM by only 10%.

• A higher value means that the joint’s movement can exceed the RoM more significantly.

Default: 20.0

Proportional labeling tolerance


The percentage of the calibrated distance between two markers that is to be added to the threshold for comparing the difference between the measured distance between two markers and the previously calculated distance between them.

Specify this value as a percent in the range of 0-500:

• Lower values result in fewer labeling errors, but an increased possibility of leaving more trajectories unlabeled.

• Higher values result in more trajectories being labeled, but with an increased possibility of labeling errors.






Proportional labeling tolerance (cont.)

This percentage is in addition to the fixed amount specified in the Fixed labeling tolerance parameter. Thus, the combined labeling tolerance is the fixed labeling tolerance plus this proportional labeling tolerance multiplied by the original calibrated marker distance variation (from the calibration file).

Default: 20.0








BBV iew Opt ions Parameters

This appendix describes the parameters you can configure to manage the way data is displayed in the Vicon iQ workspace.

You specify what data is to be displayed and how the tracking volume is visualized in the View Options control bar. For details on the contents and operation of this control bar, see chapter Vicon iQ User interface in the Vicon iQ System Reference—Volume I book.

You configure the view options parameters described in this appendix in the appropriate edit options dialog box unless otherwise specified. Double-click the desired option or sub option to display its edit options dialog box. You may need to select a Show Advanced Parameters option in an edit options dialog box to view all of the available parameters. For details on working with edit options dialog boxes, see chapter Vicon iQ User interface in the Vicon iQ System Reference—Volume I book.

The following sections describe the parameters that can be viewed and specified in the View Options control bar under the Options List and Camera Options configuration areas. Within each section, table entries are arranged in alphabetical order.

The parameters are grouped by view option and sub option names, which are listed in alphabetical order:

• Bones Parameters on page B-3

• Bounding Boxes Parameters on page B-4

• Calculate Volume Parameters on page B-4

• Camera Masks Parameters on page B-5

• Camera Positions Parameters on page B-6

• Camera View Options Parameters on page B-7

• Circles Parameter on page B-8

• Construction Grid Parameters on page B-8

• Continuity Chart Parameters on page B-9

• Edges Parameters on page B-10

• Event Bar Parameter on page B-10

• Focal Point Parameters on page B-11

Vicon iQ System Reference—Volume II B-1

View Options Parameters


• General Colors Parameters on page B-11

• Graph Parameters on page B-12

• Grayscale Parameter on page B-15

• HyperGraph Parameters on page B-15

• Manipulator Parameters on page B-16

• Markers Parameters on page B-17

• Parameter Links Parameters on page B-18

• Perspective Floor Grid Parameters on page B-19

• Points Parameters on page B-20

• Reconstructions Parameters on page B-21

• Reconstructions Parameters on page B-21

• Segment Axes Parameter on page B-22

• Selected Label Display Parameters on page B-22

• Sticks Parameters on page B-23

• Threshold Grid Parameter on page B-23

• Time Bar Parameters on page B-24

• Tool Tips Parameters on page B-26

• Trajectories Parameters on page B-26

• Trajectory Rays Parameter on page B-27

• Volume Visualization Parameters on page B-27

• Widget Parameters on page B-28

• Workspace Axes Parameter on page B-28

B-2 Vicon iQ System Reference—Volume II



Bones Parameters

Table B-1 describes the parameters you can specify in the Bones — Edit Options dialog box to determine how bones (segments) in a kinematic model are visualized in Vicon iQ.

Table B-1: Bones Parameters

Parameter Description

Bone Color The color in which to display bones (segments) between joints.

Default: Blue-grey

Bone Radius The radius of bones (segments), specified in millimeters.

Default: 12

Bone Resolution The display resolution at which to render bones (segments). The higher the value, the higher the quality of rendering for the bone.

Not applicable to Vicon Tracker.

Default: 10

Joint Color The color in which to display the joints between segments.

Default: Blue-grey

Joint Detail The level of detail at which to render skeleton joints: Low, Normal, High, or Super.

Default: High

Joint Size The size of joints, specified in millimeters.

Default: 28

Use Default Bone Color

Whether or not to use the default color specified in the Bone Color parameter. If not, the color defined for segments in the subject .vsk file is used.

Default: No

Use Default Joint Color

Whether or not to use the default color specified in the Joint Color parameter. If not, the color defined for segments in the subject .vsk file is used.

Default: No




Bounding Boxes Parameters

Table B-2 describes the parameters you can specify in the Bounding Boxes — Edit Options dialog box to determine how bounding boxes for a segment are visualized in Vicon iQ.

Calculate Volume Parameters

Table B-3 describes the parameters you can specify in the Calculate Volume — Edit Options dialog box to determine how the tracking volume is displayed in Vicon iQ.

Table B-2: Bounding Boxes Parameters


Box Color The color in which to display the transparent sides of bounding boxes.

Default: Blue-grey

Box Style The style in which to render bounding boxes: Wireframe, Transparent, or Both.

Default: Both

Use Default Box Color Whether or not to use the default color specified in the Box Color parameter. If not, the color defined for segments in the subject .vsk file is used.

Default: No

Table B-3: Calculate Volume Parameters


Calculate with selected cameras

A comma-separated list of camera channels to be used to calculate the volume information.

Leave this field blank to use all cameras.

Default: Blank

Include cameras? Whether or not to use the cameras specified in the Calculate with selected cameras parameter when calculating the volume.

Default: Yes




Camera Masks Parameters

Table B-4 describes the parameters you can specify in the Camera Masks — Edit Options dialog box to determine how camera masks are visualized in Vicon iQ. The Camera Masks view option is displayed only if the V Series system type is specified in the Hardware Config activity bar. Masks are visible only in a Camera view pane.

Maximum distance (m)

The maximum distance (in meters) a camera can be from an area of the tracking volume that is the size specified in the Voxel Size (m) parameter and still contribute to the creation of a voxel for that area.

Default: 8

Min number of Cameras

The minimum number of cameras that must be able to see an area of the tracking volume that is the size specified in the Voxel Size (m) parameter in order for a voxel to be created for that area.

Default: 3

Volume Limits (m) The width, height, and depth (in meters) of a cube that delimits the area of the tracking volume over which camera coverage is measured. This cube is centered around the volume origin.

Default: 5

Voxel Size (m) The size (in meters) of the area in the tracking volume to be represented by a voxel when calculating and displaying volume information. A voxel (volume pixel) is the smallest distinguishable box-shaped part of a 3D image.

Default: 0.5

Table B-3: Calculate Volume Parameters


Table B-4: Cameras Masks Parameters


Mask Border Color The color in which to render the border of camera masks drawn in the Camera view pane.

Default: Red




Camera Positions Parameters

Table B-5 describes the parameters that you can specify in the Camera Positions — Edit Options dialog box to determine how the camera positions are visualized in Vicon iQ.

Mask Fill Color The color with which to fill camera masks drawn in the Camera view pane.

Default: White

Table B-4: Cameras Masks Parameters


Table B-5: Camera Positions Parameters


Color The color in which to render a camera position in the Live 3D Workspace view pane when the camera is not selected.

Default: White

Drawing Scale The amount above the default size by which to scale the camera positions drawn in the Live 3D Workspace view pane.

Default: 1

Extended Frustum When to use an extended frustum when visualizing the tracking volume in the Live 3D Workspace: Off, All cameras, Selected cameras. The view frustum represents the camera’s field of view of the tracking volume.

Default: Off

Extended Frustum length (m)

The length (in meters) by which to extend the camera view frustum.

Default: 8

Proportion Unassigned Threshold

The maximum proportion of unassigned rays for a camera above which the calibration will be considered unhealthy.

Default: 0.4




Camera View Options Parameters

Table B-6 describes the parameters you can specify in the Camera View Options — Edit Options dialog box to determine how the camera view is visualized in Vicon iQ.

RMS Distance Threshold

The maximum RMS (root mean squared) distance that will be considered to be within acceptable limits. It is calculated as the distance between the image of each of the markers on the camera sensor and the 3D reconstructions of those markers projected back to the camera’s sensor.

Default: 20

Show Camera Health Whether or not to display the calibration health check status lights under camera positions in the Live 3D Workspace view pane. These are used to indicate the current calibration quality, assessed using RMS Distance Threshold and Proportion Unassigned Threshold parameters.

Default: Yes

Table B-5: Camera Positions Parameters


Table B-6: Camera View Options Parameters


Aspect Correct Whether or not to correct the aspect ratio of raw camera data from Vicon V-series cameras (including those integrated in a Vicon MX system using an MX Bridge unit) if the Corrected button is not on in the Camera view pane (for details, see chapter Vicon iQ User Interface in the Vicon iQ System Reference—Volume I book). The Corrected button manages lens distortion corrections, including the aspect ratio. This Aspect Correct parameter ensures that 2D marker images look circular.

Default: Yes




Circles Parameter

Table B-7 describes the parameter you can specify in the Circles — Edit Options dialog box to determine how the camera data is visualized in Vicon iQ.

Construction Grid Parameters

Table B-8 describes the parameters you can specify in the Construction Grid — Edit Options dialog box to determine how construction grids are visualized in Vicon iQ.

Do Warped Trucking Whether or not, when trucking, the view should act like a pinhole camera orthogonal to the direction corresponding to the center of the field of view. This has the effect of ensuring that 2D circles remain circular, provided that they are brought to the center of the field of view.

Default: No

Table B-6: Camera View Options Parameters


Table B-7: Circles Parameter


Draw Sticks Whether or not to draw sticks (colored connecting lines) between circles in a Camera view pane. This requires sticks to be defined in the subject .vsk file and both the Labels and Ray Assignments options to be selected in the RealTime Engine Output configuration area of the RealTime Config activity bar under the Setup operating mode.

Default: Yes

Table B-8: Construction Grid Parameters


Division size in millimeters

The width (in millimeters) of the square divisions (tiles) in the construction grid.

Default: 1000




Continuity Chart Parameters

Table B-9 describes the parameters you can specify in the Continuity Chart — Edit Options dialog box to determine the appearance of Continuity Chart data identifying gaps in trajectory labeling.

Grid size in millimeters

The width (in millimeters) of the square construction grid displayed in an Ortho view pane.

Default: 10000

Major Grid Color The color in which to render the major grid lines.

Default: White

Minor Grid Color The color in which to render the minor grid lines.

Default: Light grey

Table B-8: Construction Grid Parameters


Table B-9: Continuity Chart Parameters


Display Camera Contributions

Whether or not to display camera contributions in the continuity chart. You are advised to leave this at the default setting of No while you are editing any data.

Default: No

Display Unlabeled Trajectories

Whether or not to display unlabeled trajectories in the continuity chart.

Default: Yes

Display Virtual Points Whether or not to display virtual points in the continuity chart.

Default: Yes

Pack Unlabeled Trajectories

Whether or not to pack all unlabeled trajectories into display spots in the continuity chart.

Default: Yes




Edges Parameters

Table B-10 describes the parameters you can specify in the Edges — Edit Options dialog box to determine how edge data is visualized in Vicon iQ.

Event Bar Parameter

Table B-11 describes the parameter you can specify in the Event Bar — Edit Options dialog box to determine the events to be displayed in the Event Bar area of the Time Bar in Vicon iQ.

Table B-10: Edges Parameters


Connect Edges Whether or not to draw a connecting line to visualize the start and end point of edges.

Default: No

Draw masked edges Whether or not to draw the edges that fall under a camera mask. Edges are the end points of the lines (rows of pixels) of video data identified by a Vicon camera sensor.

Default: Yes

Table B-11: Event Bar Parameter


Display All Events Whether or not to display all events defined for all subjects in the trial. If not, only events for the subject selected in the Active Subjects configuration area of the Subjects activity bar under the Post Processing operating mode are displayed.

Default: Yes




Focal Point Parameters

Table B-12 describes the parameters you can specify in the Focal Point — Edit Options dialog box to determine how the focal point is visualized in Vicon iQ.

General Colors Parameters

Table B-13 describes the parameters you can specify in the General Colors — Edit Options dialog box to determine what colors are used for data visualized in Vicon iQ.

Table B-12: Focal Point Parameters


Color The color in which to render the focal point for the workspace. This is the diamond-shaped point around which the 3D view rotates and which is the focus for zooming of the Live 3D Workspace view pane.

Default: Orange

Interest Scale The amount above the default size by which to scale the focal point displayed in the Live 3D Workspace view pane.

Default: 1

Table B-13: General Colors Parameters


Assigned Color The color in which to render labeled data.

Default: Turquoise

Background Color The color in which to render the background of the workspace.

Default: Black

Primary Selected Color

The color in which to render data when most recently selected.

Default: Bright green

Secondary Selected Color

The color in which to render data that are selected but are not the primary selection.

Default: Yellow




Graph Parameters

Table B-14 describes the parameters you can specify in the Graph — Edit Options dialog box to determine the appearance of graphs displayed in a Graph view pane in Vicon iQ.

TipFor details on graphs in Vicon iQ and on gap fill tools available in the Editing activity bar, see the chapters Vicon iQ User Interface and Post Processing Operating Mode in the Vicon iQ System Reference—Volume I book.

Unassigned Color The color in which to render unlabeled data.

Default: White

Table B-13: General Colors Parameters


Table B-14: Graph Parameters


Anti-aliased Whether or not to use antialiasing when rendering plots in the graph to smooth the jagged appearance of curved or diagonal lines that can be caused by poor monitor resolution. Using antialiasing may impact performance.

Default: No

First plot color The color in which to render the first data point plotted in the graph. A key in the horizontal axis ruler indicates the color assigned to each selected marker trajectory.

Default: Red

Follow Mode The mode in which to frame the graph in follow mode: Time Axis Only (just the horizontal axis) or Time and Value Axes (both the horizontal and vertical axes).

Default: Time Axis Only

Fourth plot color The color in which to render the fourth data point plotted in the graph. A key in the horizontal axis ruler indicates the color assigned to each selected marker trajectory.

Default: Dark yellow




Gap color The color in which to render the graph background to identify any unfilled gaps in a trajectory.

Default: Light Blue

Kinematic filled data color

The color in which to render the graph background to identify gaps in a trajectory that have been filled using the Kin Model fill tool.

Default: Dark Pink

Linear filled data color The color in which to render the graph background to identify any gaps in a trajectory that have been filled using the Linear fill tool.

Default: Dark Pink

Link graph zoom Whether or not to link the plots for all data points, so that when the display of one is zoomed, any other plots are zoomed simultaneously.

Default: No

Measure Distances Whether or not to plot the distances between two selected points. If not, the positions of the points are graphed.

Default: No

Pattern filled data color

The color in which to render the graph background to identify any the gaps in a trajectory that have been filled using the Paste Pattern edit tool.

Default: Dark Pink

Primary color The color in which to render the background of a graph.

Default: White

Rigid body filled data color

The color in which to render the graph background to identify any gaps in a trajectory that have been filled using the Rigid Body fill tool.

Default: Dark Pink

Ruler color The color in which to render the ruler of a graph.

Default: Light Gray






Second plot color The color in which to render the second data point plotted in the graph. A key in the horizontal axis ruler indicates the color assigned to each selected marker trajectory.

Default: Green

Secondary color The color in which to render the text and grid lines in a graph.

Default: Black

Show Statistics Whether or not to show statistics (range, mean, and standard deviation) on the vertical axis.

Default: No

Spline filled data color The color in which to render the graph background to identify any gaps in a trajectory that have been filled using the Spline fill tool.

Default: Dark Pink

Third plot color The color in which to render the third data point plotted in the graph. A key in the horizontal axis ruler indicates the color assigned to each selected marker trajectory.

Default: Blue

Use Assigned Marker Colors

Whether or not to render graph plots in the color corresponding to the selected marker. If not, the appropriate color defined in the Graph – Edit Options dialog box is used.

Default: No

Virtual Point filled data color

The color in which to render the graph background to identify any gaps in a trajectory that have been filled using the Virtual Pts fill tool.

Default: Dark Pink






Grayscale Parameter

Table B-12 describes the parameter you can specify in the Grayscale — Edit Options dialog box to determine how thresholded grayscale data is visualized in Vicon iQ.

HyperGraph Parameters

Table B-16 describes the parameters you can specify in the HyperGraph — Edit Options dialog box to determine the appearance of hypergraphs displayed in a HyperGraph view pane in Vicon iQ.

Table B-15: Focal Point Parameter


Draw Thresholded Pixels

Whether or not to display grayscale pixels that have been thresholded out in the Threshold Grid for Vicon MX cameras. If displayed, this enables you to view the effects of the threshold grid in the Live 3D Workspace view pane.

Default: Yes

Table B-16: HyperGraph Parameters


Background Color The color in which to render the background of the HyperGraph view pane.

Default: Black

Camera Node Color The color in which to render camera nodes.

Default: Blue-Gray

Display Cameras Whether or not to display camera nodes in the HyperGraph structure.

Default: Yes

Display Markers Whether or not to display marker nodes in the HyperGraph structure.

Default: Yes

Display Model Markers

Whether or not to display model marker nodes in the HyperGraph structure.

Default: Yes




Manipulator Parameters

Table B-17 describes the parameters you can specify in the Manipulator — Edit Options dialog box to determine how kinematic model element manipulators (translation manipulators, rotation manipulators, and scale manipulators) are visualized in Vicon iQ.

Display Subjects Whether or not to display Subject nodes in the HyperGraph structure.

Default: Yes

Draw Icons Whether or not to draw icons identifying the node type in the nodes.

Default: Yes

Marker Node Color The color in which to render marker nodes.

Default: Dark Turquoise

Model Marker Node Color

The color in which to render model marker nodes.

Default: Teal

Segment Node Color The color in which to render segment nodes.

Default: Light Blue

Text Color The color in which to render text on nodes.

Default: White

Use Default Colors Whether or not to use the colors specified in this HyperGraph – Edit Options dialog box for the nodes. If not, colors specified elsewhere in Vicon iQ are used.

Default: No.

Table B-16: HyperGraph Parameters


Table B-17: Manipulator Parameters


Cone Length in mm The length (in millimeters) of cones on a translation manipulator.

Default: 50

Cube width in mm The width (in millimeters) of cubes on a scaling manipulator.

Default: 20




Markers Parameters

Table B-18 describes the parameters you can specify in the Markers — Edit Options dialog box to determine how markers on a kinematic model (model markers) representing the physical markers attached to a subject are visualized in Vicon iQ.

Hoop Width in mm The width (in millimeters) of hoops on a rotation manipulator.

Default: 10

Show Position on Grid Whether or not to show the position of the manipulator at floor level during translation.

Default: Yes

Table B-17: Manipulator Parameters


Table B-18: Markers Parameters


Additional Selected Scale

The amount above the default size by which to scale a model marker when it is selected in the Live 3D Workspace or 3D Workspace view pane.

Default: 1.2

Display Marker Covariance

Whether or not to display the ellipsoid for a marker's covariance. This represents how much the marker is allowed to move in relation to its associated segment or joint during the subject calibration process.

Default: No

Draw Markers On Sticks

Whether or not model markers are drawn on sticks attached to their parent segment.

Default: Yes

Marker Color The color in which to render model markers.

Default: Turquoise

Marker Covariance Color

The color in which to render the ellipsoid representing the marker covariance.

Default: Lime




Parameter Links Parameters

Table B-19 describes the parameters you can specify in the Parameter Links — Edit Options dialog box to determine how parameter links between selected markers and segments for a subject are visualized in Vicon iQ.

Marker Covariance Detail

The level of detail at which to render marker covariance ellipsoids: Low, Normal, High, or Super.

Default: High

Marker Detail The level of detail at which to render model markers: Low, Normal, High, or Super.

Default: Normal

Marker Sticks Color The color in which to render the sticks joining model markers to their segment.

Default: Yellow

Use Default Marker Color

Whether or not to use the default color specified in the Marker Color parameter. If not, the color defined for markers in the subject .vsk file is used.

Default: No

Table B-18: Markers Parameters


Table B-19: Parameter Links Parameters


Cone Scale The amount above the default size by which to scale the cones linking markers and segments drawn in the Live 3D Workspace view pane.

Default: 1

Marker Link Color The color in which to render the cone drawn to indicate a link between a marker and one or more other selected markers.

Default: Pale blue




Perspective Floor Grid Parameters

Table B-20 describes the parameters you can specify in the Perspective Floor Grid — Edit Options dialog box to determine how the grid representing the floor of the tracking volume is visualized in Vicon iQ.

Segment Link Color The color in which to render the cone drawn to indicate the link between a marker and one or more selected segments.

Default: Bright pink

Show parameter Links for

The parameter associations between markers and segments to be displayed: All Selected or Primary Selection Only.

Default: All Selected

Table B-19: Parameter Links Parameters


Table B-20: Perspective Floor Grid Parameters


Floor Color 1 The color in which to render either the major grid lines or the first floor tile, depending on the value specified in the Floor Style parameter.

Default: White

Floor Color 2 The color in which to render either the minor grid lines or the second floor tile, depending on the value specified in the Floor Style parameter.

Default: Grey

Floor Style The style in which to render the floor: Grid, Solid, or Shiny.

Default: Grid

Grid size in millimeters

The width (in millimeters) of the square floor grid.

Default: 10000

Number of divisions The number of square divisions (tiles) into which the grid should be divided along each axis.

Default: 10




Points Parameters

Table B-21 describes the parameters you can specify in the Points — Edit Options dialog box to determine the appearance of virtual points in a 3D Workspace view pane in Vicon iQ.

Reconstruction Volume Parameters

Table B-22 describes the parameters you can specify in the Reconstruction Volume — Edit Options dialog box to determine the appearance of the 3D representation of the reconstruction volume in a 3D Workspace in Vicon iQ.

Underneath Color The color in which to render the underside of the floor.

Default: Dark yellow

Table B-20: Perspective Floor Grid Parameters


Table B-21: Points Parameters



The amount above the default size by which to scale a virtual point when it is selected in the 3D Workspace view pane.

Default: 1.2

Virtual Point Detail The level of detail at which to render virtual points: Low, Normal, High, or Super.

Default: High

Virtual Point Scale The amount above the calculated value by which to scale virtual points in the 3D Workspace view pane.

Default: 1

Table B-22: Reconstruction Volume Parameters


Box color The color in which to display the sides of the reconstruction volume.

Default: Gray




Reconstructions Parameters

Table B-23 describes the parameters you can specify in the Reconstructions — Edit Options dialog box to determine how marker reconstruction data is visualized in Vicon iQ.

Display Bottom Only Whether or not to display just the bottom of the reconstruction volume. If No, the four sides and the top are displayed along with the bottom.

Default: No

Table B-22: Reconstruction Volume Parameters


Table B-23: Reconstructions Parameters



The additional amount by which to scale selected reconstructions above their normal scaled value.

Default: 1.2

Draw Fake Reconstructions

Whether or not to draw virtual points as spiked spheres in a Live 3D Workspace or 3D Workspace view pane. If not, they are drawn as normal spherical reconstructions.

Default: No

Draw Labeled Whether or not to draw labeled reconstructions in a Live 3D Workspace or 3D Workspace view pane.

Default: Yes

Draw Unlabeled Whether or not to draw unlabeled reconstructions in a Live 3D Workspace or 3D Workspace view pane.

Default: Yes

Labeled Reconstruction Scale

The amount above the calculated value by which to scale labeled reconstructions drawn in a Live 3D Workspace or 3D Workspace view pane.

Default: 1

Reconstruction Detail The level of detail at which to render marker reconstructions: Low, Normal, High, or Super.

Default: Normal




Segment Axes Parameter

Table B-24 describes the parameter you can specify in the Segment Axes — Edit Options dialog box to determine how the axes of segments in a subject are visualized in Vicon iQ.

Selected Label Display Parameters

Table B-25 describes the parameters you can specify in the Selected Label Display — Edit Options dialog box to determine the appearance of label tips identifying the name of a label selected for a subject displayed in a 3D Workspace in Vicon iQ.

Unlabeled Reconstruction Scale

The amount above the calculated value by which to scale unlabeled reconstructions drawn in a Live 3D Workspace or 3D Workspace view pane.

Default: 1

Table B-23: Reconstructions Parameters


Table B-24: Segment Axes Parameter


Axis Length The length (in millimeters) of each axis.

Default: 150

Table B-25: Selected Label Display Parameters


Circle Color The color of the circle surrounding the selected marker in the 3D Workspace.

Default: White

Scale Value The amount above the size of the selected marker by which to render the selected label circle.

Default: 0.2




Sticks Parameters

Table B-26 describes the parameters you can specify in the Sticks — Edit Options dialog box to determine how sticks in a subject are visualized in Vicon iQ.

Threshold Grid Parameter

Table B-27 describes the parameter you can specify in the Threshold Grid — Edit Options dialog box to determine how threshold grids, determining the brightness of raw camera data visible to a Vicon MX camera that should be either passed for processing or discarded, are displayed in Vicon iQ.

Table B-26: Sticks Parameters


Stick Color The color in which to render sticks (colored connecting lines) between subject markers.

Default: Turquoise

Stick Size The width (in screen pixels) in which to draw sticks.

Default: 1

Use Default Stick Color

Whether or not to use the default color specified in the Stick Color parameter. If not, the color defined for sticks in the subject .vsk file is used.

Default: No

Table B-27: Threshold Grid Parameter


Grid Color The color in which to render the lines in the threshold grid superimposed over the image displayed in a view pane workspace by an MX camera.

Default: Blue




Time Bar Parameters

Table B-28 describes the parameters you can specify in the Timebar — Edit Options dialog box to determine the appearance of the Time Bar in Vicon iQ.

Table B-28: Timebar Parameters


Left Stop Color The color in which to render the Start Range frame cursor on the Time Bar ruler.

Default: Green

Line Color The color in which to render the lines and text on the Time Bar ruler.

Default: Black

Options Button Color The color in which to render the Options button in the Data Playback controls.

Default: Gray

Right Stop Color The color in which to render the End Range frame cursor on the Time Bar ruler.

Default: Red

Ruler Background Color

The color in which to render the background of the Time Bar ruler.

Default: Blue-gray

Scroll Bar Color The color in which to render the Time Range slider on the Time Bar ruler and the Playback Speed slider on the Data Playback controls.

Default: Blue

Scroll Bar Text Color The color in which to render the text on the Time Range slider on the Time Bar ruler.

Default: White

Show transport Whether or not to display the Data Playback controls.

Default: Yes

Time Code Background Color

The color in which to render the background of the current timecode display in the Data Playback controls.

Default: Light Gray




Time Cursor Background Color

The color in which to render the background of the current time cursor on the Time Bar ruler.

Default: Light Blue

Time Cursor Color The color in which to render the foreground of the current time cursor on the Time Bar ruler.

Default: Dark Blue

Toggle bounce/cycle The way in which end ranges are interpreted: Cycle or Bounce.

Default: Cycle

Toggle page/scroll The way in which updates to the Time Bar are displayed during trial playback: Page or Scroll.

Default: Page

Trajectory Slider Color The color in which to render the trajectory sliders on the Time Bar ruler.

Default: Medium Blue

Transport Button Color

The color in which to render the buttons in the Data Playback controls.

Default: Blue

Transport Button Highlight Color

The color in which to render the button that has been selected in the Data Playback controls.

Default: Medium Blue

Transport Button Symbol Color

The color in which to render the symbols on the buttons in the Data Playback controls.

Default: Blue Gray

Table B-28: Timebar Parameters





Tool Tips Parameters

Table B-29 describes the parameters you can specify in the Tool Tips — Edit Options dialog box to determine how tool tips, providing brief descriptions of the names of buttons and boxes on tool bars, are displayed in Vicon iQ.

Trajectories Parameters

Table B-30 describes the parameters you can specify in the Trajectories — Edit Options dialog box to determine how trajectories are visualized in Vicon iQ.

Table B-29: Tool Tips Parameters


Background Color The color in which to render the background of a tool tip box.

Default: Grey

Border Color The color in which to render the border of a tool tip box.

Default: White

Text Color The color in which to render text in a tool tip box.

Default: White

Table B-30: Trajectories Parameters


Draw Mode Which trajectories will be drawn: Selected or All.

Default: Selected

Gap Color The color in which to display the dashed line specified in Show Gap.

Default: Bright Green

Min Unlabeled Trajectory Length

The minimum number of frames required for an unlabeled trajectory to be displayed.

Default: 1

Show Gaps Whether or not to draw a dashed-line to indicate gaps in trajectories.

Default: Yes




Trajectory Rays Parameter

Table B-31 describes the parameter you can specify in the Trajectory Rays — Edit Options dialog box to determine how camera ray information is visualized in Vicon iQ. The Rays option and its other sub options do not have edit options dialog boxes.

Volume Visualization Parameters

Table B-32 describes the parameters you can specify in the Volume Visualization — Edit Options dialog box to determine how the 3D representation of the camera coverage within the tracking volume is visualized in Vicon iQ. Colored cubes (voxels) identify the number of cameras that covered specific areas of the construction volume.

Table B-31: Trajectory Rays Parameter


Contribution Mode Whether or not to display actual ray information, with rays following their natural path through the marker reconstruction. If not, rays are drawn starting from the camera and ending at the marker reconstruction, which makes is appear as though they intersect at a common point.

Default: No

Table B-32: Volume Visualization Parameters


Clip to floor Whether or not to display voxels under the perspective floor grid.

Default: Yes

Color Count The total number of discrete colors to be used to illustrate the range between high and low coverage.

Default: 10

Cube Width (mm) The width (in millimeters) to draw voxels in the workspace.

Default: 100

High Color The color in which to render the voxels used to identify higher coverage areas.

Default: Red




Widget Parameters

Table B-33 describes the parameters you can specify in the Widget — Edit Options dialog box to determine the appearance of the virtual point translation widget in Vicon iQ.

Workspace Axes Parameter

Table B-34 describes the parameter you can specify in the Workspace Axes — Edit Options dialog box to determine how the workspace axes, representing the global coordinate frame and global axes definition (X, Y, Z), are visualized in Vicon iQ.

Low Color The color in which to render the voxels used to identify lower coverage areas.

Default: Yellow

Table B-32: Volume Visualization Parameters


Table B-33: Widget Parameters


Link Selection Whether or not to automatically display the virtual point widget when a calculated virtual point trajectory is selected.

Default: Yes

Manipulator Scale The amount above the default size by which to scale the virtual point widget displayed in the 3D Workspace view pane.

Default: 1

Table B-34: Workspace Axes Parameter


Axes Lengths in pixels The length (in pixels) to draw each axis.

Default: 50



CCOperat ing Mode Parameters

This appendix describes the parameters you can configure to manage Vicon iQ’s behavior during the main stages of the system workflow in the Setup, Calibrate, Capture, Post Processing, and Modeling operating modes.

TipThere are no parameters in the Data Management operating mode.

You configure the operating mode parameters described in this appendix in the appropriate edit options dialog box. You may need to select a Show Advanced Parameters option in an edit options dialog box to view all of the available parameters. For details on working with edit options dialog boxes, see chapter Vicon iQ User Interface in the Vicon iQ System Reference—Volume I book.

The following sections list (in alphabetical order) and describe the parameters that can be viewed and specified in activity bars under the Vicon iQ operating modes:

• Calibrate Operating Mode Parameters

• Capture Operating Mode Parameters on page C-7

• Modeling Operating Mode Parameters on page C-8

• Post Processing Operating Mode Parameters on page C-9

• Setup Operating Mode Parameters on page C-32

Vicon iQ System Reference—Volume II C-1

Operating Mode Parameters


Calibrate Operating Mode Parameters

You can configure parameters to manage the way the camera and system calibration processes are performed in Vicon iQ. The following sections describe the parameters that can be viewed and specified in the Calibrate activity bar under the Calibrate operating mode:

• Calibrate Cameras Parameters on page C-2

• Calibrate Floor Plane Parameter on page C-4

• Camera Health Check Parameter on page C-4

• Camera Resection Parameters on page C-5

Each entry indicates whether the parameter is applicable to Vicon MX, Vicon V-series systems, or both. Within each section, table entries are arranged in alphabetical order. For an overview of when to adjust these parameters and details on accessing the appropriate edit options dialog boxes, see chapter Calibrate Operating Mode in the Vicon iQ System Reference—Volume I book.

Calibrate Cameras Parameters

Table C-1 describes the parameters you can specify in the Calibrate Cameras — Edit Options dialog box to determine how Vicon iQ interprets wand movements during the camera calibration process.

Table C-1: Calibrate Cameras Parameters


Cameras To Calibrate


A comma-separated list of camera channels to be included in the camera calibration process. Cameras not included in this list are not calibrated.

If this field is blank, all cameras are calibrated. The Macro button can be used to set this value to SELECTED_CAMERAS, which indicates the cameras currently selected in the Camera view pane.

The selection is applied when the Stop Wand Wave button in the 1. Calibrate Cameras configuration area of the Calibrate operating mode is pressed.

Default: Blank

C-2 Vicon iQ System Reference—Volume II



Initial frames Vicon MX and V-series

The minimum coverage (in number of frames) required per camera in the initial phase of the camera calibration process. This value can be lowered to speed up the initial phases of calibration.

Default: 100

Lens Distortion Model


The degree of lens distortion to expect during the camera calibration process: High lens distortion (two parameter lens model), Normal lens distortion (single parameter lens model), No lens distortion, or No lens distortion, focal length or principal point varying.

Default: High lens Distortion (two parameter lens model)

Refinement frames


The minimum coverage (in number of frames) required per camera in the final phase of the refine camera calibration process.

Default: 1000

Wand Ratio Tolerance


The amount by which the ratio of the distance between two markers on a calibration wand is allowed to deviate from that specified in its .vsk file and still have the camera calibration process recognize the calibration wand and label its markers in 2D.

Default: 0.2

Wand Straightness Tolerance


The amount by which the alignment of markers on a calibration wand is allowed to deviate from that specified in its .vsk file and still have the camera calibration process recognize the calibration wand and label its markers in 2D.

Default: 0.2

Table C-1: Calibrate Cameras Parameters





Calibrate Floor Plane Parameter

Table C-2 describes the parameter you can specify in the Calibrate Floor Plane — Edit Options dialog box to determine the position of the floor plane.

Camera Health Check Parameter

Table C-3 describes the parameter you can specify in the Camera Health Check — Edit Options dialog box to determine the cameras whose calibration state Vicon iQ checks.

Table C-2: Calibrate Floor Plane Parameter


Lower Plane By Vicon MX Distance (in mm) by which to lower the calculated floor plane. For example, if you are placing spherical markers on the floor, specify the marker radius.

Default: 0

Table C-3: Camera Health Check Parameter


Camera Channels


The camera channels to be included in the calibration health check. Cameras not included in this list are not checked.

If this field is blank, all cameras are checked. By default, the Macro button in this field is initially selected and contains the value SELECTED_CAMERAS, which indicates the cameras currently selected in the Camera view pane. You can change this by pressing the Macro button and in the empty entry field entering a comma-separated list of specific camera channel numbers.

Default: SELECTED_CAMERAS




Camera Resection Parameters

Table C-4 describes the parameters you can specify in the Camera Resection — Edit Options dialog box to determine how Vicon iQ repairs a camera calibration.

Table C-4: Camera Resection Parameters


Circle Matching Distance in Pixels


The maximum distance (in pixels) between the image of each marker on the camera sensor and the 3D reconstructions of those markers projected back to the camera’s sensor.

Default: 1.25

Max Frames To Sample


The maximum number of frames within the selected frame range to sample.

Default: 50

Max Rotation Vicon MX and V-series

The maximum rotation (in radians) around the view direction that will be corrected for.

Default: 1

Max Scale Tolerance


The maximum factor to use when correcting for scale. Specify this tolerance as a proportion, using either a positive or negative value.

Default: 0.2

Rotate And Scale Vicon MX and V-series

Whether or not to correct for rotation and translation along view direction. If set to No, the camera repositioning as limited to movement along its current plane.

Default: Yes




Transform Failure Rate


The level of perseverance the camera repair operation uses when attempting to repair a camera calibration:

• A lower value (such as 0.05) causes the camera repair operation to persevere with its attempts. This increases the likelihood of a successful calibration repair, but also increases the time the operation takes.

• A higher value (such as 0.1) causes the camera repair operation not to persevere with its attempts. This decreases the likelihood of a successful calibration repair, but also decreases the time the operation takes.

You are recommended to leave this parameter at its default setting unless past camera repair operations have always succeeded but have taken too much time. In this case, you can try setting this parameter to a higher value. Conversely, if the operation has always failed, you can try setting this parameter to a lower value.

Default: 0.02

Table C-4: Camera Resection Parameters





Capture Operating Mode Parameters

You can configure parameters to manage the way new kinematic models are created in Vicon iQ. The following section describes the parameters that can be viewed and specified in the Create/Edit Objects activity bar under the Capture operating mode:

• Create Object Parameters

Each entry indicates whether the parameter is applicable to Vicon MX, Vicon V-series systems, or both. Within each section, table entries are arranged in alphabetical order.

For an overview of when to adjust these parameters and details on accessing the appropriate edit options dialog boxes, see chapter Capture Operating Mode in the Vicon iQ System Reference—Volume I book.

TipThere are no parameters in the Capture or Active Objects activity bars under the Capture operating mode.

Create Object Parameters

Table C-5 describes the parameters you can specify in the Create Object — Edit Options dialog box to determine how Vicon iQ creates new kinematic models.

Table C-5: Create Object Parameters


Color Vicon MX and V-series

The color to be assigned to the segments and bounding boxes of a kinematic model.

Default: White

Covariance Radius in mm


The size (in millimeters) of the radius of the ellipsoid for a marker's covariance.

This is based on three standard deviations and represents how much the marker is allowed to move in relation to its associated segment or joint.

Default: 3




Modeling Operating Mode Parameters

You can configure parameters to manage the way existing model template (.vst) and subject (.vsk) files are edited in Vicon iQ. The following section describes the parameters that can be viewed and specified in the Create/Edit Objects activity bar under the Modeling operating mode:

• Mirror Segment Parameters on page C-8


For an overview of when to adjust these parameters and details on accessing the appropriate edit options dialog boxes, see chapter Modeling Operating Mode in the Vicon iQ System Reference—Volume I book.

TipThere are no parameters in the other activity bars under the Modeling operating mode.

Mirror Segment Parameters

Table C-5 describes the parameters you can specify in the Mirror Segment — Edit Options dialog box to determine what properties of the selected segment Vicon iQ copies when it creates the mirror segment.

Name Vicon MX and V-series

The name to be assigned to a new kinematic model.

Default: Default

Table C-5: Create Object Parameters


Table C-6: Mirror Segment Parameters


CopyMarkers Vicon MX and V-series

Whether or not to include the parent segment’s markers in the mirrored copy of the segment.

Default: Yes




Post Processing Operating Mode Parameters

You can configure parameters to manage the way offline data is processed in Vicon iQ. The following sections describe the parameters that can be viewed and specified in the activity bars under the Post Processing operating mode:

• Autocreate Camera Masks Parameters on page C-10

• Autocreate Thresholds Parameters on page C-12

• CircleFit, Reconstruct, Trajectory Fit Frame Range Parameters on page C-13

• Fill Gaps by Linear Interpolation Parameter on page C-19

• Fill Gaps Rigid Body Parameters on page C-19

• Fill Gaps using Splines Parameter on page C-20

• Fill Gaps using Virtual Point Ordered Fill Parameters on page C-20

• Fill Gaps using Virtual Points Parameters on page C-21

• Filter Using a Butterworth Function Parameters on page C-22

• Filter Using Weighted Point Average Parameters on page C-23

• Fit And Fill Gaps using Kinematic Model Parameters on page C-23

• Fix Discontinuities Parameters on page C-24

• Group Trajectory Labeler Parameters on page C-24

• Marker Recalibration Parameters on page C-25

• Paste Edit Command Parameter on page C-27

• Paste Pattern Edit Command Parameter on page C-28

• Paste Edit Command Parameter on page C-27

• Save Subject(s) Parameters on page C-29

Plane Vicon MX and V-series

The plane of the parent segment’s coordinate system from which to create a mirrored copy of the segment: Y-Z, X-Z, or X-Y.

Default: Y-Z

Table C-6: Mirror Segment Parameters





• Subject Calibration Parameters on page C-30

• Trim Tails Parameters on page C-31

• Velocity Labeler Parameters on page C-32


For an overview of when to adjust these parameters and details on accessing the appropriate edit options dialog boxes, see chapter Post Processing Operating Mode in the Vicon iQ System Reference—Volume I book.

Autocreate Camera Masks Parameters

Table C-28 describes the parameters you can specify in the Autocreate Camera Masks — Edit Options dialog box to determine how Vicon iQ creates new camera masks to be applied to offline data.

Table C-7: Autocreate Camera Masks Parameters (Post Processing)


End Frame V-series The frame of trial data at which to stop running the automatic camera mask creation tool.

By default, the Macro button in this field is initially selected and lists the following variables: CURRENT FRAME, FIRST_SELECTED_FRAME, FIRST_FRAME_PLUS_120, FIRST_FRAME_PLUS_50, LAST_FRAME_MINUS_120, LAST_FRAME_MINUS_50, or LAST_FRAME. You can enter a specific frame number by pressing the Macro button typing in the desired number.

Default: LAST_SELECTED_FRAME

Mask Type V-series The shape of masks that will be created: Rectangle, Ellipse, Non Rotated Rectangle, or Non Rotated Ellipse.

Default: Ellipse




Remove Existing V-series Whether or not to remove any existing camera masks before running the automatic camera mask creation tool.

Default: Yes

Slack V-series A factor by which to increase or decrease the size (in pixels) of the mask relative to the data displayed in the camera view. For example, a setting of 1.5 creates a mask that is 50% larger than the data displayed in the camera view.

Default: 1.2

Start Frame V-series The frame of trial data at which to start running the automatic camera mask creation tool.


Default: FIRST_SELECTED_FRAME

Table C-7: Autocreate Camera Masks Parameters (Post Processing)





Autocreate Thresholds Parameters

Table C-29 describes the parameters you can specify in the Autocreate Thresholds — Edit Options dialog boxes to determine how Vicon iQ creates new camera threshold grids to be applied to offline data.

Table C-8: Autocreate Thresholds Parameters (Post Processing)


End Frame Vicon MX The frame of trial data at which to stop running the automatic threshold creation tool.



Maximum Edge Size

Vicon MX The minimum size (in pixels) of the coordinates data for a grayscale blob that is to be considered for automatically setting a threshold. Coordinates data below this size are not thresholded out.

Default: 2500

Minimum Edge Size


Default: 0

Remove Existing Vicon MX Whether or not to remove any existing thresholding data before running the automatic threshold creation tool.

Default: Yes




CircleFit, Reconstruct, Trajectory Fit Frame Range Parameters

Table C-5 describes the parameters you can specify in the CircleFit, Reconstruct, Trajectory Fit Frame Range — Edit Options dialog box to refine the reconstruction process.

TipThis dialog box is the same as that available from the CircleFit, Reconstruct, Trajectory Fit Frame Range operation in the Pipeline activity bar under the Post Processing operating mode. Many of these parameters are also available from the RealTime Engine — Edit Options dialog box accessed from the RealTime Config activity bar under the Setup operating mode or from the RealTime Engine control bar.

Start Frame Vicon MX The frame of trial data at which to start running the automatic threshold creation tool.



Table C-8: Autocreate Thresholds Parameters (Post Processing)


Table C-9: CircleFit, Reconstruct, Trajectory Fit Frame Range Parameters


Camera image noise level


See section Circle Fitting Parameters in Appendix A RealTime Engine Parameters.

Default: 0.2




Clear camera data from memory


See section Reconstruction Parameters in Appendix A RealTime Engine Parameters.

Default: No

Disable Circle Fitting or Reconstruction


Whether to disable circle fitting or reconstruction:

• Disable circle fittingUse this setting only if you are reconstructing data using camera centroids.

• Disable reconstructionUse this setting only if you are circle fitting for camera calibration.

• Run Circle fit and reconstruction normally

Default: Run Circle fit and reconstruction normally

Discourage camera changes


The factor by which to discourage the reconstruction algorithm from using rays from cameras not used previously.

Specify a value in the range 0-1, where 0 means no discouragement and 1 means the algorithm refuses to use rays from cameras not used in the previous frame.

Default: 0

Dynamic Model Order


How the trajectory fitter is to move between possible dynamic models:

1 - Constant position

2 - Constant velocity

3 - Constant acceleration

You can specify values between these to smoothly vary between the desired dynamic models. A value between 2 and 3 is appropriate for most applications.

Default: 3






Fast Circle Threshold



Default: 0.6

Fast Circle Threshold 2


The circularity threshold that the Fast fitter in Vicon MX applies to resolve markers the second time it is run in the same circle-fitting process. This parameter is applied only if the As Appropriate With Second Fast Pass value is specified in the Which circle fit method? parameter.

Default: 0.4

Grayscale Circle Intensity Threshold


The intensity threshold used to determine whether a grayscale blob is likely to be a marker.


• 0.0 causes the grayscale circle fitter to accept only grayscale blobs whose pixel intensity is brightest at the center and gradually fades towards the edges.

• 1.0 causes the grayscale circle fitter to accept any grayscale blobs regardless of the spread of pixel intensity.

This threshold is applied if the Use New Grayscale Circle Fitter parameter is set to Yes.

Default: 0.3






Grayscale Circle Quality Threshold


The circularity threshold used to determine whether a grayscale blob is likely to be a marker.


• 0.0 causes the grayscale circle fitter to accept all grayscale blobs regardless of circularity.

• 1.0 causes the grayscale circle fitter to accept only grayscale blobs with perfect circularity.

This threshold is applied if the Use New Grayscale Circle Fitter parameter is set to Yes.

Default: 0.3

Include/exclude certain cameras



Default: Exclude cameras

List of cameras to include/exclude



Default: Blank

Maximum circle diameter



Default: 100

Maximum Marker Diameter



Default: 10000

Minimum cameras in min. recon. Separation



Default: 3






Minimum circle diameter



Default: 0

Minimum Marker Diameter



Default: 0

Minimum reconstruction separation (mm)



Default: 0

Overwrite Circles with Gray Circles



Default: No

Prediction Match Factor


The weighting factor describing the importance of having a good match to predictions when creating reconstructions. Larger values mean the prediction is important.

Default: 2

Radius SD Vicon MX and V-series

The standard deviation (variation) the circle-fitting algorithm is to expect in a radius.

Specify this as a value in pixels, where a value of 0 (zero) allows any radius change, values just greater than 0 disallow almost any change in radius, and very large values allows some change in radius.

Default: 0

Robust Circle Threshold



Default: 0.4






Split Blobs Vicon MX and V-series

Whether or not the circle fitting algorithm is to attempt to split grayscale blobs. If set to No, the algorithm does not produce a centroid for merged markers.

Default: Yes

Use minimum cameras in minimum reconstruction separation



Default: No

Use New Grayscale Circle Fitter


Whether or not to use the improved version of the grayscale circle fitter introduced in the RealTime Engine (Tarsus 3.0) integrated in Vicon iQ 2.5. If set to No, the grayscale circle fitter available in the RealTime Engine (Tarsus 2.5) integrated with Vicon iQ 2.0 is used.

Default: Yes

Which circle fit method?


This parameter is the same as the RT engine circle fit method parameter in the RealTime Engine — Edit Options dialog box.The As Appropriate With Second Fast Pass value in this parameter is the same as the Fit Fast–Robust–Fast value in the RTE parameter.

Default: Fit As Appropriate






Fill Gaps by Linear Interpolation Parameter

Table C-5 describes the parameter you can specify in the Fill Gaps by Linear Interpolation — Edit Options dialog box to determine the size of gaps to be interpolated by the linear interpolation operation.

Fill Gaps Rigid Body Parameters

Table C-5 describes the parameters you can specify in the Fill Gaps Rigid Body Fill Associated — Edit Options dialog box to determine the rigid body template (.rbt) file to use and how rigid bodies are used to fill gaps.

Table C-10: Fill Gaps by Linear Interpolation Parameter


Maximum Gap Vicon MX and V-series

The maximum gap in the selected trajectories accepted by the linear interpolation operation.

Default: 10

Table C-11: Fill Gaps Rigid Body Parameters


Fill Associated Vicon MX and V-series

Whether or not the rigid body fill operation should use the average position of one or two remaining markers to fill gaps when a rigid body falls below three markers.

Default: No

Fill Associated Only


Whether or not the rigid body fill operation should attempt to fill gaps that have three or fewer markers.

Default: No

Template Filename


The full path and file name of the rigid body template (.rbt) file to be used.

Default: Blank




Fill Gaps using Splines Parameter

Table C-5 describes the parameter you can specify in the Fill Gaps using Splines — Edit Options dialog box to determine the size of gaps to be interpolated by a cubic spline interpolation operation.

Fill Gaps using Virtual Point Ordered Fill Parameters

Table C-5 describes the parameters you can specify in the Fill Gaps using Virtual Point Ordered Fill — Edit Options dialog box to determine how a virtual marker is used by the ordered fill operation to fill gaps.

Unbounded Fill Vicon MX and V-series

Whether or not the rigid body fill operation should attempt to find the best fit for the rigid body trajectory within a destination gap that has not been completely filled.

Default: Yes

Table C-11: Fill Gaps Rigid Body Parameters


Table C-12: Fill Gaps using Splines Parameter



The maximum gap in the selected trajectories accepted by the cubic spline interpolation operation.

Default: 10

Table C-13: Fill Gaps using Virtual Point Ordered Fill Parameters


Fill Unbounded Gaps


Whether or not to fill gaps in trajectories that are below the value specified in the Minimum Tail In/Out parameter or above that specified in the Maximum Tail In/Out parameter.

This is useful if gaps exist in the trajectory of the virtual marker being used to fill




Fill Gaps using Virtual Points Parameters

Table C-5 describes the parameters you can specify in the Fill Gaps using Virtual Points — Edit Options dialog box to determine how how virtual points are used by the virtual points fill operation to fill gaps.

Fill Unbounded Gaps (cont.)

gaps. If the gap between the real marker data and the fitted trajectory falls within the minimum and maximum values, the ordered fill operation uses linear interpolation to remove discontinuities.

Default: Yes


The maximum gap in the selected trajectories accepted by the ordered fill operation.

Default: 1000000

Maximum Tail In/Out


The maximum number of frames required by the ordered fill operation.

Default: 10

Minimum Tail In/Out


The minimum number of frames required by the ordered fill operation.

Default: 1

Table C-13: Fill Gaps using Virtual Point Ordered Fill Parameters


Table C-14: Fill Gaps using Virtual Points Parameters


Combination Mode


The way multiple virtual points aliased to the selected marker are handled, according to their defined certainty:

• Automatic CombinationThe virtual points are averaged together.

• Use Highest CertaintyThe virtual point with the highest certainty is used.

Default: Automatic Combination




Filter Using a Butterworth Function Parameters

Table C-5 describes the parameters you can specify in the Filter Using a Butterworth Function — Edit Options dialog box to determine the filter frequencies used by the Butterworth frequency cut off filter.

Fill Unbounded Gaps


Whether or not to fill gaps in trajectories that are below the value specified in the Minimum Tail In/Out parameter or above that specified in the Maximum Tail In/Out parameter.

This is useful if gaps exist in the trajectory of the aliased virtual points being used to fill gaps. If the gap between the real marker data and the fitted trajectory falls within the minimum and maximum values, the virtual points fill operation uses linear interpolation to remove discontinuities.

Default: Yes


The maximum gap in the selected trajectories accepted by the virtual points fill operation.

Default: 1000000

Maximum Tail In/Out


The maximum number of frames required by the virtual points fill operation.

Default: 10

Minimum Tail In/Out


The minimum number of frames required by the virtual points fill operation.

Default: 1

Table C-14: Fill Gaps using Virtual Points Parameters


Table C-15: Filter Using a Butterworth Function Parameters


X Cut Off Frequency (Hz)


The cut-off frequency for the x axis.

Default: 8




Filter Using Weighted Point Average Parameters

Table C-5 describes the parameters you can specify in the Filter Using Weighted Point Average — Edit Options dialog box to determine the size and strength of the a weighted average filter.

Fit And Fill Gaps using Kinematic Model Parameters

Table C-5 describes the parameters you can specify in the Fit and Fill Gaps using Kinematic Model — Edit Options dialog box to determine how Vicon iQ the way the kinematic skeleton is used by the kinematic model fill operation to fill gaps.

Y Cut Off Frequency (Hz)


The cut-off frequency for the y axis.

Default: 8

Z Cut Off Frequency (Hz)


The cut-off frequency for the z axis.

Default: 8

Table C-15: Filter Using a Butterworth Function Parameters


Table C-16: Filter Using Weighted Point Average Parameters


Filter Size Vicon MX and V-series

The window size (in frames) for the filter.

Default: 3

Filter Strength Vicon MX and V-series

The strength of the filter to be applied across the window size specified in the Filter Size parameter: Very Strong, Strong, Medium, Light, or Very Light.

Default: Medium

Table C-17: Fit and Fill Gaps using Kinematic Model Parameters



The maximum gap in the selected trajectories accepted by the kinematic model fill operation.

Default: 100000




Fix Discontinuities Parameters

Table C-5 describes the parameters you can specify in the Fix Discontinuities — Edit Options dialog box to determine the size of jump to be considered a discontinuity.

Group Trajectory Labeler Parameters

Table C-5 describes the parameters you can specify in the Group Trajectory Labeler — Edit Options dialog box to determine how Vicon iQ tracks and labels groups of trajectories.

Tail In Vicon MX and V-series

The number of frames to search backward from the gap being filled to start the discontinuity fixing.

Default: 1

Tail Out Vicon MX and V-series

The number of frames to search forward from the gap being filled to end the discontinuity fixing.

Default: 1

Table C-17: Fit and Fill Gaps using Kinematic Model Parameters


Table C-18: Fix Discontinuities Parameters


Threshold in mm Vicon MX and V-series

The threshold (in mm) that the fix discontinuities filter considers a discontinuity. The filter attempts to fix any jumps or spikes in trajectory data above this threshold.

Default: 1

Table C-19: Group Trajectory Labeler Parameters


Fixed Segment Tolerance


The maximum amount (in mm) by which the distance between markers in the group is allowed to deviate from their defined relative positions.

Default: 10




Marker Recalibration Parameters

Table C-5 describes the parameters you can specify in the Marker Recalibration — Edit Options dialog box to determine how Vicon iQ runs the marker recalibration process.

Segment Stretch Tolerance


The maximum amount (in mm) by which any individual marker in the group is allowed to stretch. If this limit is exceeded, the group track tool stops tracking and labeling the group of markers.

Default: 5

Stop If Multiple Candidates


Whether or not the group track tool is to stop tracking and labeling the group when the trajectory of more than one of its markers exceeds the value specified for the Fixed Segment Tolerance or Segment Stretch Tolerance parameters. If set to No, the group track tool uses the closest candidate marker (this may provide less accurate results).

Default: Yes

Table C-19: Group Trajectory Labeler Parameters


Table C-20: Marker recalibration Parameters


AutoSave Vicon MX and V-series

Whether or not the marker recalibration process is to automatically save results to the subject.vsk file of the same name in the current session in the Eclipse database.

Default: No




Calibration Quality


The level of the marker recalibration process: Very Low, Low, Medium, High, or Very High.

A higher value increases the quality of the calibration process, but also increases the time the operation takes.

Default: Medium

End Frame Vicon MX and V-series

The frame of trial data at which to stop the marker recalibration process.



Selected Markers Only


Whether or not to recalibrate only the currently selected markers. If set to No, all markers are recalibrated.

Default: No

Start Frame Vicon MX and V-series

The frame of trial data at which to start the marker recalibration process.



Table C-20: Marker recalibration Parameters





Paste Edit Command Parameter

Table C-5 describes the parameter you can specify in the Paste Edit Command — Edit Options dialog box to determine where and how to paste data from the clipboard.

Table C-21: Paste Edit Command Parameter


Range Mode - Paste


The range of frames for the selected trajectory into which to paste the data from the clipboard:

• From StartAligns the start of the clipboard trajectory with the left/start range indicator on the Timebar and begins pasting from that point forward.

• From MiddleAligns the middle of the clipboard trajectory with the middle of the selected range of frames and pastes from that point forward and backward.

• From EndAligns the end of the clipboard trajectory with the right/end range indicator on the Timebar and pastes from that point backward.

• And Fit to Selected RangeExpands or condenses the clipboard trajectory to fit within the selected range of frames.

Default: From Start




Paste Pattern Edit Command Parameter

Table C-5 describes the parameter you can specify in the Paste Pattern Edit Command — Edit Options dialog box to determine where and how to paste pattern data from the clipboard.

Table C-22: Paste Pattern Edit Command Parameter


Range Mode - Paste Pattern


The range of frames for the selected trajectory into which to paste the pattern data from the clipboard:

• From StartAligns the start of the clipboard trajectory with the left/start range indicator on the Timebar and begins fitting the pattern from that point forward.

• From MiddleAligns the middle of the clipboard trajectory with the middle of the selected range of frames and fits the pattern from that point forward and backward.

• From EndAligns the end of the clipboard trajectory with the right/end range indicator on the Timebar and fits the pattern from that point backward.

• And Fit to Selected RangeExpands or condenses the clipboard trajectory pattern to fit within the selected range of frames.

Default: From Start




Rigid Body Fill Associated Parameters

Table C-5 describes the parameters you can specify in the Rigid Body Fill Associated — Edit Options dialog box to determine how the associated markers are used by the associated fill operation to fill gaps.

Save Subject(s) Parameters

Table C-5 describes the parameters you can specify in the Save Subject(s) — Edit Options dialog box to determine how Vicon iQ saves new subject calibration (.vsk) files.

Table C-23: Rigid Body Fill Associated Parameters


Fill Associated Vicon MX and V-series

Whether or not the associated fill operation should use the average position of one or two remaining markers to fill gaps when the selected associated markers falls below three.

Default: Yes

Fill Associated Only


Whether or not the associated fill operation should attempt to fill gaps if there are fewer than three associated markers.

Default: No

Unbounded Fill Vicon MX and V-series

Whether or not the associated fill operation should attempt to find the best fit for the selected marker trajectory within a destination gap that has not been completely filled.

Default: No

Table C-24: Save Subject(s) Parameters


File Name Vicon MX and V-series

The full path and file name in which to save a copy of the .vsk file.

Default: Blank




Subject Calibration Parameters

Table C-5 describes the parameters you can specify in the Subject Calibration — Edit Options dialog box to determine how Vicon iQ runs the subject calibration process.

Use File Name Vicon MX and V-series

Whether or not to use the file name and path specified in the File Name parameter. If set to No, the .vsk file is copied to the current session in the Eclipse database.

Default: No

Table C-24: Save Subject(s) Parameters


Table C-25: Subject Calibration Parameters


AutoSave Vicon MX and V-series

Whether or not the subject calibration process is to automatically save results to the subject.vsk file of the same name in the current session in the Eclipse database.

Default: No

Calibration Quality


The level of the subject calibration process: Very Low, Low, Medium, High, or Very High.

A higher value increases the quality of the calibration process, but also increases the time the operation takes.

Default: Medium

End Frame Vicon MX and V-series

The frame of trial data at which to stop the subject calibration process.

By default, the Macro button in this field is initially selected and lists the following variables: CURRENT FRAME, FIRST_SELECTED_FRAME, FIRST_FRAME_PLUS_120, FIRST_FRAME_PLUS_50, LAST_FRAME_MINUS_120, LAST_FRAME_MINUS_50, or




Trim Tails Parameters

Table C-5 describes the parameters you can specify in the Trim Tails — Edit Options dialog box to determine the number of frames to remove before and after every gap.

End Frame (cont.)

LAST_FRAME. You can enter a specific frame number by pressing the Macro button typing in the desired number.


Measure Range Of Movement


Whether or not the subject calibration process is to generate a mean pose and joint covariance information from the trial data. If set to No, the current mean pose and joint covariance information is left unchanged.

Default: Yes

Start Frame Vicon MX and V-series

The frame of trial data at which to start the subject calibration process.



Table C-25: Subject Calibration Parameters


Table C-26: Trim Tails Parameters


Tail In Vicon MX and V-series

The number of frames to remove before every gap.

Default: 1




Velocity Labeler Parameters

Table C-5 describes the parameters you can specify in the Velocity Labeler — Edit Options dialog box to determine how Vicon iQ velocity labels unlabeled trajectories.

Setup Operating Mode Parameters

You can configure parameters to manage the way Vicon iQ handles unwanted reflections in the tracking volume. The following sections describe the parameters that can be viewed and specified in the

Tail Out Vicon MX and V-series

The number of frames to remove after every gap.

Default: 1

Table C-26: Trim Tails Parameters


Table C-27: Velocity Labeler Parameters



The maximum gap (in frames) across which the velocity labeler tool is to attempt to label a marker.

Default: 5

Prediction Error Vicon MX and V-series

The accuracy with which the velocity labeler tool can predict the location of previously labeled markers.

Default: 30

Start Up Error Vicon MX and V-series

The startup error (in mm) the velocity labeler.

Default: 50

Stop If Multiple Candidates


Whether or not the velocity labeler tool is to stop labeling when the trajectory of more than one of marker exceeds the value specified for the Maximum Gap parameter. If set to No, the velocity labeler tool uses the closest candidate marker (this may provide less accurate results).

Default: Yes




Masks (V-series systems) or Thresholds (Vicon MX) activity bars under the Setup operating mode:

• Autocreate Camera Masks Parameters on page C-33

• Autocreate Thresholds Parameters on page C-34


For an overview of when to adjust these parameters and details on accessing the appropriate edit options dialog boxes, see chapter Setup Operating Mode in the Vicon iQ System Reference—Volume I book.

TipThere are no parameters in the other activity bars under the Setup operating mode.

Autocreate Camera Masks Parameters

Table C-28 describes the parameters you can specify in the Autocreate Camera Masks — Edit Options dialog box to determine how the automatic camera mask creation tool creates new camera masks to be applied at the time of capture.

Table C-28: Autocreate Camera Masks Parameters (Setup)


Mask Type V-series The shape of masks that will be created by the automatic camera mask creation tool: Rectangle, Ellipse, Non Rotated Rectangle, or Non Rotated Ellipse.

Default: Ellipse

Slack V-series A factor by which to increase or decrease the size (in pixels) of the mask relative to the data displayed in the camera view. For example, a setting of 1.5 creates a mask

Slack (cont.) that is 50% larger than the data displayed in the camera view.

Default: 1.2




Autocreate Thresholds Parameters

Table C-29 describes the parameters you can specify in the Autocreate Thresholds — Edit Options dialog boxes to determine how the automatic threshold creation tool creates new camera threshold grids to be applied at the time of capture.

Table C-29: Autocreate Thresholds Parameters (Setup)


Do All Cameras Vicon MX Whether or not to include all cameras in the automatic threshold grid creation process.

Default: No

Maximum Edge Size


Default: 2500

Minimum Edge Size


Default: 0

Remove Existing Vicon MX Whether or not to remove any existing thresholding data before running the automatic threshold creation tool.

Default: Yes



DDCommand- l ine Process ing

This appendix describes some Vicon iQ processing operations you can perform from the command line.

When you run Vicon iQ from the command prompt, you can load the data and configuration files required for processing a Vicon iQ pipeline file (.plf) that contains user-specified operations to be run on the data. Such a pipeline can include any of the standard save/export operations for generating a desired file type and specifying its location. It is also possible to have Vicon iQ generate a trial file from the command prompt. For further information on Vicon iQ file types, see chapter Introduction and for details on the pipeline, see chapter Post Processing Operating Mode both in the Vicon iQ System Reference—Volume I book.

Vicon iQ Command-line Syntax

The command-line syntax is:

ViconiQ -argument [parameter] …where:

ViconiQ is the command. You must run this command from the directory in containing the Vicon iQ executable file (this varies with the release version, e.g. ViconIQ 25.exe). By default this is under C:\Program Files\Vicon\ViconiQ 2.x.

-argument [parameter]

is one or more of the following flags (including any required parameters) or other information to control the command processing:

-r Run pipeline.

-high_priority Run task at high priority.

-low_priority Run task at low priority.

-q Quit Vicon iQ when pipeline finishes running.

This argument must be specified if the -r argument is used.

Vicon iQ System Reference—Volume II D-1

Command-line Processing


TipAll of the command-line arguments are optional. You can specify them in any order.

-s “<output_trial_ file>”

The full path and file name— enclosed in double quotation marks (“”)—of the trial file in which results are to be saved.

-SaveErrorLog “<output_log_ file>”

The full path and file name— enclosed in double quotation marks (“”)—of the error log file in which errors are to be saved.

-Set_Range <Left_Value Right_Value>

The frame range for selection.

-Set_Load_Range <Start_Value End_Value>

The frame range for loading.

“<VSK_fle>” “<VST_fle>”

The full path and file name— enclosed in double quotation marks (“”)—of the Vicon Skeleton file or Vicon Skeleton Template file to be loaded.

“<TVD_fle>” “<X2D_file>” “<TRIAL_file>” “<C3D_file>”

The full path and file name— enclosed in double quotation marks (“”)— of the data files to be loaded.

.tvd/.x2d files require a .cp file to be loaded.

“<MSK_file>” The full path and file name— enclosed in double quotation marks (“”)—.of the mask file to be loaded for Vicon V-series systems.

“<VTT_file>” The full path and file name— enclosed in double quotation marks (“”)—of the threshold table file to be loaded for Vicon MX systems.

“<CP_file>” The full path and file name— enclosed in double quotation marks (“”)—of the camera calibration file to be loaded.

“<PLF_file>” The full path and file name— enclosed in double quotation marks (“”)— of the pipeline file to be loaded.

D-2 Vicon iQ System Reference—Volume II



To run Vicon iQ processing operations from the command prompt:1. Open a Windows command prompt:

a. From the Windows Start menu, select Run.

b. In the Run dialog box, type cmd in the Open field and click OK.

2. In the Windows command prompt, change to the directory containing the Vicon iQ executable file (this varies with the release version, e.g. ViconIQ 25.exe):

a. Change to the appropriate drive (if it is not the current drive). For example:

Current_drive:> C:

b. Navigate to the appropriate directory using the cd command. For example:

C:> cd Program Files\Vicon\ViconiQ 2.5

Alternatively, you can drag the Vicon iQ executable file from Windows Explorer or from the My Computer dialog box.

3. Enter the command to be run, according to the syntax described above.

If you are running Vicon iQ command line options from a script, Vicon iQ returns one of the following flags in order to allow failures to be detected:

• TRUE(1) if the command-line operation failed.

• FALSE(0) if the command-line operation succeeded.

Example

This example shows a Vicon iQ command line for processing a pipeline file that includes reconstruction, autolabeling, gap filling, and filtering, then exporting the results to a .c3d file. The example assumes that the command prompt is already set to the location of the Vicon iQ executable file and that the specified data files are contained in a directory called C:\Program Files\Vicon\Userdata \MyFiles.

ViconiQ -r -high_priority -q “C:\Program Files\Vicon\Userdata\MyFiles\Mytvd.tvd” “C:\Program Files\Vicon\Userdata\MyFiles\CameraCalibration.cp” “C:\Program Files\Vicon\Userdata\MyFiles\MySubject.vsk”

Vicon iQ System Reference—Volume II D-3



“C:\Program Files\Vicon\Userdata\MyFiles\MyMask.msk” “C:\Program Files\Vicon\Userdata\MyFiles\MyPipeline.plf”

This command line starts Vicon iQ, loads the Mytvd.tvd, CameraCalibration.cp, MySubject.vsk, MyMask.msk, and MyPipeline.plf files, runs the pipeline at high priority, and then exits Vicon iQ when finished.

D-4 Vicon iQ System Reference—Volume II


Index

Aautocreate camera masks

parameters C-10, C-33end frame C-10mask type C-10, C-33remove existing C-11slack C-11, C-33start frame C-11

autocreate thresholds parameters C-12, C-34

do all cameras C-34end frame C-12maximum edge size C-12, C-34minimum edge size C-12, C-34remove existing C-12, C-34start frame C-13

Bbones parameters B-3

bone color B-3bone radius B-3bone resolution B-3joint color B-3joint detail B-3joint size B-3use default bone color B-3use default joint color B-3

bounding boxes parameters B-4box color B-4box style B-4use default box color B-4

Ccalculate volume parameters B-4

calculate with selected cameras B-4

include cameras B-4maximum distance (m) B-5min number of cameras B-5volume limits (m) B-5voxel size (m) B-5

calibrate cameras parameters C-2cameras to calibrate C-2initial frames C-3lens distortion model C-3refinement frames C-3wand ratio tolerance C-3wand straightness tolerance C-3

calibrate floor plane parameters C-4lower plane by C-4

Calibrate operating mode parameterscalibrate cameras C-2calibrate floor plane C-4camera health check C-4camera resection C-5

camera health check parameters C-4camera channels C-4

camera mask parameters B-5mask border color B-5mask fill color B-6

camera positions parameters B-6color B-6drawing scale B-6extended frustum B-6extended frustum length (m) B-6proportion unassigned

threshold B-6RMS distance threshold B-7show camera health B-7

camera resection parameters C-5circle matching distance C-5max frames to sample C-5max rotation C-5max scale tolerance C-5rotate and scale C-5transform failure rate C-6

camera view options parameters B-7aspect correct B-7do warped trucking B-8

Capture operating mode parameterscreate object C-7

Vicon iQ System Reference—Volume II Index-1

Index


circle fitting parameters A-2camera image noise level A-2circle fitting error A-2enable grayscale fitter A-3fast circle fit threshold A-3maximum circle diameter A-3minimum circle diameter A-4minimum circle fitting quality A-5robust circle fit threshold A-5RT engine circle fit method A-6

circlefit, reconstruct, trajectory fit frame range parameters C-13

camera image noise level C-13clear camera data from memory

C-14disable circle fitting or

reconstruction C-14discourage camera changes C-14dynamic model order C-14fast circle threshold C-15fast circle threshold 2 C-15grayscale circle intensity

threshold C-15grayscale circle quality

threshold C-16include/exclude certain

cameras C-16list of cameras to include/

exclude C-16maximum circle diameter C-16maximum marker diameter C-16minimum cameras in min. recon.

separation C-16minimum circle diameter C-17minimum marker diameter C-17minimum reconstruction

separation (mm) C-17overwrite circles with gray

circles C-17prediction match factor C-17radius SD C-17robust circle threshold C-17split blobs C-18

use minimum cameras in minimum reconstruction separation C-18

use new grayscale circle fitter C-18

which circle fit method C-18circles parameters B-8

draw sticks B-8construction grid parameters B-8

division size in millimeters B-8grid size in millimeters B-9major grid color B-9minor grid color B-9

continuity chart parameters B-9display camera contributions B-9display unlabeled trajectories B-9display virtual points B-9pack unlabeled trajectories B-9

.cp files A-9create object parameters C-7

color C-7covariance radius in mm C-7name C-8

Ddata sampling parameters A-7

output latency A-7window size A-7

dongle vii

Eedges parameters B-10

connect edges B-10draw masked edges B-10

event bar parameters B-10display all events B-10

Ffiles

.cp A-9

.msk A-10–A-11

.rbt C-19

.tvd A-11

.vsk A-21, B-3–B-4, B-18, B-23

Index-2 Vicon iQ System Reference—Volume II

Index


.x2d A-11fill gaps by linear interpolation

parameters C-19maximum gap C-19

fill gaps rigid body parameters C-19fill associated C-19fill associated only C-19template filename C-19unbounded fill C-20

fill gaps using splines parameters C-20

maximum gap C-20fill gaps using virtual point ordered fill

parameters C-20fill unbounded gaps C-20maximum gap C-21maximum tail in/out C-21minimum tail in/out C-21

fill gaps using virtual points parameters C-21

combination mode C-21fill unbounded gaps C-22maximum gap C-22maximum tail in/out C-22minimum tail in/out C-22

filter using butterworth function parameters C-22

X cut off frequency C-22Y cut off frequency C-23Z cut off frequency C-23

filter using weighted point average parameters C-23

filter size C-23filter strength C-23

fit and fill gaps using kinematic model parameters C-23

maximum gap C-23tail in C-24tail out C-24

fix discontinuitiesparameters C-24

fix discontinuities parametersthreshold C-24

focal point parameters B-11color B-11interest scale B-11

Ggeneral colors parameters B-11

assigned color B-11background color B-11primary selected color B-11secondary selected color B-11unassigned color B-12

graph parameters B-12anti-aliased B-12first plot color B-12follow mode B-12fourth plot color B-12gap color B-13kinematic filled data color B-13linear filled data color B-13link graph zoom B-13measure distances B-13pattern filled data color B-13primary color B-13rigid body filled data color B-13ruler color B-13second plot color B-14secondary color B-14show statistics B-14spline filled data color B-14third plot color B-14use assigned marker colors B-14virtual point filled data color B-14

grayscale parameters B-15draw thresholded pixels B-15

group trajectory labeler parameters C-24

fixed segment tolerance C-24segment stretch tolerance C-25stop if multiple candidates C-25


Index


HHASP dongle viihost PC viihypergraph parameters B-15

background color B-15camera node color B-15display cameras B-15display markers B-15display model markers B-15display subjects B-16draw icons B-16marker node color B-16model marker node color B-16segment node color B-16text color B-16use default colors B-16

Kkinematic fitting parameters A-8

kinematic fit convergence factor A-8

kinematic fit work factor A-8

Llag A-7latency A-7licensing dongle vii

Mmanipulator parameters B-16

cone length in mm B-16cube width in mm B-16hoop width in mm B-17show position on grid B-17

marker recalibration parameters C-25

autosave C-25calibration quality C-26end frame C-26selected markers only C-26start frame C-26

markersinternal model A-2

markers parameters B-17additional selected scale B-17display marker covariance B-17draw markers on sticks B-17marker color B-17marker covariance color B-17marker covariance detail B-18marker detail B-18marker sticks color B-18use default marker color B-18

mirror segment parameters C-8copymarkers C-8plane C-9

Modeling operating mode parametersmirror segment C-8

.msk files A-10–A-11

Ooffline data streaming

parameters A-9CP file name A-9MSK file name A-10–A-11skip rate A-10TVD file name A-11X2D file name A-11

Pparameter links parameters B-18

cone scale B-18marker link color B-18segment link color B-19show parameter links for B-19

paste edit command parameters C-27

range mode paste C-27paste pattern edit command

parameters C-28range mode paste pattern C-28

perspective floor grid parameters B-19

floor color 1 B-19floor color 2 B-19floor style B-19grid size in millimeters B-19


Index


number of divisions B-19underneath color B-20

points parameters B-20additional selected scale B-20virtual point detail B-20virtual point scale B-20

Post Processing operating mode parameters

fill gaps by linear interpolation C-19

fill gaps rigid body C-19fill gaps using splines C-20fill gaps using virtual point

ordered fill C-20fill gaps using virtual points C-21filter using butterworth

function C-22filter using weighted point

average C-23fit and fill gaps using kinematic

model C-23fix discontinuities C-24group trajectory labeler C-24marker recalibration C-25paste edit command C-27paste pattern edit command C-28reconstruction C-13rigid body fill associated C-29save subjects C-29subject calibration C-30trim tales C-31velocity labeler C-32

R.rbt files C-19reconstruction parameters A-12

camera noise factor A-12clear camera data from

memory A-12include/exclude certain

cameras A-13list of cameras to include/

exclude A-13

minimum cameras to reconstruct A-14

minimum marker diameter A-13, A-15

minimum reconstruction separation (mm) A-15

ray noise factor A-16reconstruction volume

parameters B-20box color B-20display bottom only B-21

reconstructions parameters B-21additional selected scale B-21draw fake reconstructions B-21draw labeled B-21draw unlabeled B-21labeled reconstruction scale B-21reconstruction detail B-21unlabeled reconstruction

scale B-22rigid body fill associated

parameters C-29fill associated C-29fill associated only C-29unbounded fill C-29

RTE parameters A-1circle fitting A-2data sampling A-7kinematic fitting A-8offline data streaming A-9reconstruction A-12trajectory fitting A-17trajectory labeling A-20

Ssave subjects parameters C-29

file name C-29use file name C-30

segment axes parameters B-22axis length B-22

selected label display parameters B-22

circle color B-22


Index


selected label display parametersscale value B-22

Setup operating mode parameters C-32–C-33

autocreate camera masks C-10, C-33

autocreate thresholds C-12, C-34sticks parameters B-23

stick color B-23stick size B-23use default stick color B-23

subject calibration parameters C-30autosave C-30calibration quality C-30end frame C-30measure range of

movement C-31start frame C-31

system setup vii

Tthreshold grid parameters B-23

grid color B-23timebar parameters B-24

left stop color B-24line color B-24options button color B-24right stop color B-24ruler background color B-24scroll bar color B-24scroll bar text color B-24show transport B-24time code background color B-24time cursor background

color B-25time cursor color B-25toggle bounce/cycle B-25toggle page/scroll B-25trajectory slider color B-25transport button color B-25transport button highlight

color B-25transport button symbol

color B-25

tool tips parameters B-26background color B-26border color B-26text color B-26

trajectories parametersdraw mode B-26gap color B-26min unlabeled trajectory

length B-26show gaps B-26

trajectory fitting parameters A-17minimum cameras to start

trajectory A-17trajectory prediction

error (mm/s) A-17trajectory startup factor A-19

trajectory labeling parameters A-20entrance threshold A-20fixed labeling tolerance A-20fixed marker recalibration

tolerance A-21incremental labeling decisiveness

A-22initial labeling decisiveness A-23maximum label iterations A-23proportional joint range

tolerance A-24proportional labeling

tolerance A-24trajectory rays parameters B-27

contribution mode B-27trim tails parameters C-31

tail in C-31tail out C-32

.tvd files A-11

Vvelocity labeler parameters C-32

maximum gap C-32prediction error C-32start up error C-32stop if multiple candidates C-32

Vicon V-series systems x


Index


view optionsvolume visualization B-27

view options bones parametersbones B-3

view options parameters B-1bounding boxes B-4calculate volume B-4camera mask B-5camera positions B-6camera view options B-7circles B-8construction grid B-8continuity chart B-9edges B-10event bar B-10focal point B-11general colors B-11graph B-12grayscale B-15hypergraph B-15manipulator B-16markers B-17parameter links B-18perspective floor grid B-19points B-20reconstruction volume B-20reconstructions B-21segment axes B-22selected label display B-22sticks B-23threshold grid B-23timebar B-24tool tips B-26trajectory rays B-27widget B-28workspace axes B-28

volumeorigin B-5

volume visualization parameters B-27

clip to floor B-27color count B-27cube width (mm) B-27

high color B-27low color B-28

.vsk files A-21, B-3–B-4, B-18, B-23

Wwidget parameters B-28

link selection B-28manipulator scale B-28

workspace axes parameters B-28axes lengths in pixels B-28

X.x2d files A-11


Index

