VTrak

(Disclaimer: This software is provided as is, without warranty.  It is not associated in any way with any company.  Use at your own risk)

Left: VTrak in a stereo configuration, Right: A typical tracked object

VTrak is a multiple camera optical tracking system that is primarily used for the virtual patients system. It is similar to the A.R.T. and VICON in that it tracks infrared markers configured in rigid constellations.  The system previously worked with any camera that supported Directshow or the Carnegie Mellon 1394 drivers.  Now it's been updated to use (CHEAP!!) specialized cameras from NaturalPoint (OptiTrack V100).  The new system does not work the same way, mainly due to synchronization issues...I don't care to make it work with any type of camera because I can't imagine why anyone would use anything other than the NaturalPoint cameras right now.  Supposedly, NaturalPoint is going to be coming out with their own software that is similar my software, but probably better...so you should check that out too.  

If you are interested in using VTrak (old or new) let me know, I will provide the software free of charge (you still have to buy the cameras, see NaturalPoint link above), and help you get it working, provided that 1) you can program 2) you try to figure things out on your own 3) you give me some credit somewhere for whatever you develop from it.  The only thing that you have to do is build the calibration boards (intrinsic and extrinsic) as seen below.  The same calibration board could be used for both, but the extrinsic calibration board needs to be sturdier and doesn't need as many points.   You could probably guess the intrinsics fairly well, or you could just use values from an already calibrated camera, and in that case, you just need to build the simpler extrinsics board.  

Left: Intrinsic Calibration board (ignore the colors, they aren't used), Right: Extrinsic calibration board

This is also a research system, so don't expect it to be perfect.  The documentation is well written source code, which I give you as well. 

Features and Specs (old)

Specs

Features

Features and Specs (new, changes only)

Specs

Features