Check the Fiducial Size

By default, all fiducials loaded in through Lightcraft’s constellation file generation tools have the correct fiducial size already entered.

To reset multiple fiducial sizes at once (if needed), click and drag around the desired fiducials, right click, and select Properties.

Set the fiducial diameter to the correct diameter in meters, then click Apply.

To change to different direction of view, select Display->View->XY/XZ/YZ to pick which axes to view. Remember that the Intersense uses the axis convention of:

• +X: Forward (typically toward main cyc wall)
• +Y: Right
• +Z: Down

Check the Normals

To see the 3D position and orientation of the constellation, select Tools->Constellation3D. To rotate and zoom, use the sliders on either edge of the display. To see the fiducial IDs, select Display->Display Options->Hardware IDs.

Each fiducial is represented by a circle, with the green arrow representing the normal of the circle, and the blue arrow representing the right vector. The geometry solver only uses the fiducial position and green normal vector, so the fiducials can be rotated about their normal axis without compromising accuracy.

For fiducials on the ceiling, the green arrow should be pointed down — remember that for the Intersense coordinate system, +Z faces down. (In the Previzion application, this is converted to a more traditional coordinate system.)

To change fiducial normals, exit the 3D Constellation window with File->Exit. In the Constellation Configuration Tool window, highlight the fiducials that need normal fixes, right click, and select Properties. Edit the values under the Normal column with the following combinations:

• For fiducials on the ceiling, the normal vector is [0, 0, 1].
• For fiducials on the main cyc wall, the normal vector is [-1, 0, 0].
• For fiducials on the wall to the right of the main cyc wall, the normal vector is [0, -1, 0].
• For fiducials on the wall to the left of the main cyc wall, the normal vector is [0, 1, 0].

Click Apply after the normal has been entered. After the normals have been corrected, verify their new position in the 3D Constellation window.

Saving the Constellation File

Intersense saves complete constellation files in a .cfg format that includes position, normal orientation, and size. In the Constellation Configuration Tool window, select File->Save As and enter the name in the File area using the .cfg suffix. Click OK to save.

Sending Constellation to Tracker

In the Constellation Configuration Tool window, select Constellation->Send to Tracker. A dialog box will appear to show the progress of the send. To see if the IS1200 can now track, position the IS1200 so that it can see at least 4 of the fiducials in the field of view, and select Display->Start Displaying Data. If the IS1200 can acquire and track the fiducials properly, a green camera icon will appear in the window that will move in real time as the IS1200 is moved.