Stage Alignment
To correctly align the optical axis of the camera to the sensor axis, you will need a model that matches known real world locations to a high degree of accuracy. The easiest way to do this is to create a 3D model automatically from the Intersense constellation survey file.
Maya Python Script
The Maya Python script used to generate the file is here.
To use:
Place script into the /maya/scripts directory where existing Maya projects reside.
Open the Maya script editor (Window->General Editors->Script Editor) and click on the Python tab.
Load the script into the Python tab in the Script Editor. (File->Load.)
Select all the text in the lower area of the window and execute it by pressing Ctrl-Return. This loads the code into memory.
Type in the following function: importIntersense(), and press Ctrl-Return
This script will pop open a file dialogue window where you will select the appropriate *.cfg file. In the example, this is 612_Venice_02.cfg.
This script automatically generates cones.
Save your scene and export to FBX.
Maya File Generation
The generated Maya scene should look like the image above. The cones are generated with a diameter equal to the diameter of the fiducial markers, and with the base of the cone at the center of the fiducial marker.
FBX Export
To export the file, follow the FBX export directions as described here.
To register the camera with the scene, follow the camera offset instructions as described here.
Automatic Cones Generation
To automatically generate the FBX cones file, run the python script discussed here