moven user manual

7/27/2019 Moven User Manual

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MovenUser

Manual

XsensTechnologiesB.V.

Pantheon6a phone +31(0)889736700

P.O.Box559 fax +31(0)889736701

7500ANEnschede email [email protected]

TheNetherlands internet www.moven.com

DocumentMV0301P

RevisionD,

June,

2008


2/103

MovenUserManual,2008,XsensTechnologiesB.V.

Revisions

Revision Date By Changes

A January22,2007 DRO Firstversion

A.1 March7,2007 DRO AddedBVHexportersettingsChangedfiguresofsuitconfiguration

AddedinformationoftheMVNXformat

B March16,2007 DRO ChangedMovenSoftware installationprocedureChangeddescriptionofshoesizecalibration

AddeddeclarationofconformityfortheMTx

C January2008 DRO MajorrevisionAddeddescriptionoffootmounts

Changed/addedcalibrationprocedures

Changed3Dviewportdescription

AddedMovenStudiopreferencesmenu

Changedexportpreferences

AddedFBXdescription

ChangedBVHdescription

Addedmovieexport

Addedcontactpointsediting

Addedpositionaiding

Addednetworkstreaming

Addedrelocatesensors

Addeduserscenarios

Addedsensorperformances

AddedMovenFusionEngineReset

Addedwirelessreceiverdescription

Addedbiomechanicalmodeldescription

Addedsensorandcablinglabeling

Addedcompatibilityv1v2.0

AddedXSIFBXtutorial

Addedtroubleshootsection

C.1 January2008 DRO AddedpelvisinsertionsectionExpandedSuitStatussection

D

June2008

DRO

Addedlist

of

abbreviations

and

default

folders

Addedreferencestovideotutorials

Addedcalibrationqualitydescription

UpdatedSuitStatusdescription

Updatedmagneticdisturbancevisualization

Addedfolderbatchexport

Addedcentercharacter

Updatedcontactpointeditingandpositionaidingdescription

UpdatedXbusMaster description

Addedcompatibilityv2.0v2.1

Addedsection7.6,7.8,updated7.7

2007

2008,

Xsens

Technologies

B.V.

All

rights

reserved.

Information

in

this

documentissubjecttochangewithoutnotice.

XsensisaregisteredtrademarkofXsensTechnologiesB.V.

MovenisatrademarkofXsensTechnologiesB.V.

3dsMax,MotionBuilderandMayaaretrademarksofAutodesk,Inc.

PoserisatrademarkofCuriousLabs,Incandefrontier,Inc.

XSIisatrademarkofSoftimageCo.

Allothertrademarksandtradenamesarethepropertyoftheirrespectiveowners.

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TableofContents

LISTOFABBREVIATIONS ...................................................................................................................VI

DEFAULTFOLDERS ............................................................................................................................VI

1 INTRODUCTION ........................................................................................................................ 1

1.1 PRODUCTDESCRIPTION .................................................................................................................. 11.2 OVERVIEWMOVEN ....................................................................................................................... 2

1.2.1 Contents .............................................................................................................................. 21.3 TYPICALUSAGE ............................................................................................................................ 3

1.3.1 MovenStudio ...................................................................................................................... 31.3.2 MovenStudioNetworkStreaming ................................................................................... 31.3.3 SoftwareDevelopmentKit(SDK)......................................................................................... 4

2 MOVENSETUP.......................................................................................................................... 5

2.1 SOFTWAREINSTALLATION............................................................................................................... 52.2 HOWTOPUTONTHEMOVENSUIT .................................................................................................. 6

2.2.1 Footmounts ........................................................................................................................ 82.2.2 Sizes............................................................................................................................... ...... 9

2.3 CALIBRATIONS.............................................................................................................................. 9

3 MOVENSTUDIO...................................................................................................................... 10

3.1 OVERVIEW............................................................................................................................... .. 103.1.1 MenuToolbar.................................................................................................................... 113.1.2 File&EditToolbar............................................................................................................. 123.1.3 PlaybackToolbar............................................................................................................... 123.1.4 Recording&CalibrationToolbar....................................................................................... 13

3.1.5 Status

bar.......................................................................................................................... 133.2 FUNCTIONALITIESINMOVENSTUDIO.............................................................................................. 143.2.1 Startup.............................................................................................................................. 143.2.2 Preview.............................................................................................................................. 143.2.3 SuitStatus ......................................................................................................................... 143.2.4 Calibrations ....................................................................................................................... 16

3.2.4.1 ActorDimensionandCalibrations ........................................................................... 163.2.4.2 Tpose ...................................................................................................................... 183.2.4.3 Neutralpose ............................................................................................................ 193.2.4.4 Handtouch .............................................................................................................. 203.2.4.5 Squat........................................................................................................................ 203.2.4.6 Handsoffcalibration ............................................................................................... 213.2.4.7 Calibrationquality ................................................................................................... 213.2.4.8 Calibrationinterface................................................................................................ 22

3.2.5 Recordingmotion.............................................................................................................. 233.2.5.1 Markers.................................................................................................................... 233.2.5.2 Centercharacter...................................................................................................... 24

3.2.6 Export/Saveas................................................................................................................. 243.2.7 Playback............................................................................................................................ 24

3.2.7.1 Zoomingintime....................................................................................................... 243.2.7.2 Cascade/Tilewindows ........................................................................................... 243.2.7.3 Linkedviews ............................................................................................................ 25

3.2.8 3Dviewport....................................................................................................................... 253.2.8.1 Cameracontrol........................................................................................................ 253.2.8.2 FollowCamera......................................................................................................... 253.2.8.3 Show

Magnetic

Disturbances.................................................................................. 26

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3.2.8.4 Shadowsandfloor................................................................................................... 283.2.8.5 EditFusionEngineSettings...................................................................................... 28

3.3 MOVENSTUDIOPREFERENCES ...................................................................................................... 293.3.1 Generalsettings ................................................................................................................ 293.3.2 Interfacesettings .............................................................................................................. 30

3.3.3 MVNXsettings................................................................................................................... 30

3.4 WORKINGWITHMVNANDMVNXFILES........................................................................................ 313.5 EXPORTMOVENFILES.................................................................................................................. 32

3.5.1 Exportsettings .................................................................................................................. 323.5.1.1 OverwritefirstframewithTpose ........................................................................... 323.5.1.2 Smoothing ............................................................................................................... 323.5.1.3 Outputscale ............................................................................................................ 333.5.1.4 Frameskip ............................................................................................................... 33

3.5.2 Folderbatchexport ........................................................................................................... 333.5.3 Movies............................................................................................................................... 34

3.6 CONTACTPOINTS ........................................................................................................................ 353.6.1 Selectionofsamples.......................................................................................................... 36

3.6.1.1 Undo/redo............................................................................................................... 363.6.2 Contactpointeditingoptions............................................................................................ 373.6.2.1 Removeuserdefined .............................................................................................. 373.6.2.2 Forcenodetection................................................................................................... 373.6.2.3 Nocontactsforselectedsegment........................................................................... 373.6.2.4 Setposition.............................................................................................................. 373.6.2.5 Setfloorlevel........................................................................................................... 373.6.2.6 FullReset ................................................................................................................. 373.6.2.7 Rigaroundselectedsegment .................................................................................. 37

3.6.3 Reprocessing ..................................................................................................................... 383.6.4 Contactpointeditingexamples......................................................................................... 38

3.7 POSITIONAIDING ........................................................................................................................ 413.8 NETWORKSTREAMING................................................................................................................. 43

3.8.1 MotionBuilderplugin ....................................................................................................... 443.9 RELOCATESENSORS..................................................................................................................... 44

4 USAGEGUIDELINES................................................................................................................. 45

4.1 GENERAL............................................................................................................................... .... 454.1.1 Userscenarios ................................................................................................................... 45

4.1.1.1 Default ..................................................................................................................... 454.1.1.2 Pelvisfixed............................................................................................................... 464.1.1.3 Feetfixed ................................................................................................................. 464.1.1.4 Other ....................................................................................................................... 46

4.1.2 Magneticdisturbances...................................................................................................... 464.1.3 Sensorperformances......................................................................................................... 474.1.4 Moven

Fusion

Engine

Reset............................................................................................... 47

4.2 HARDWARE ............................................................................................................................... 474.2.1 MTx ............................................................................................................................... .... 474.2.2 XbusMaster ...................................................................................................................... 48

4.2.2.1 Generalsetup .......................................................................................................... 484.2.2.2 PushButton ............................................................................................................. 494.2.2.3 XMStatusLED.......................................................................................................... 494.2.2.4 Connectors............................................................................................................... 494.2.2.5 Setupforserialcableconnection ............................................................................ 50

4.2.3 WirelessReceiver .............................................................................................................. 514.2.3.1 WRAStatusLED...................................................................................................... 52

4.3 OPERATINGTIME ........................................................................................................................ 52

4.3.1 Batteries............................................................................................................................ 52

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4.3.2 Externalpowerconnector ................................................................................................. 534.4 OPERATINGRANGE...................................................................................................................... 534.5 BUFFERINGANDPROCESSINGPOWER.............................................................................................. 534.6 UPPER/LOWERBODYCONFIGURATION............................................................................................ 54

5 MOVENKINEMATICSANDOUTPUT......................................................................................... 55

5.1 COORDINATESYSTEMS ................................................................................................................. 555.1.1 Jointangles ....................................................................................................................... 56

5.2 ANATOMICALMODEL................................................................................................................... 565.2.1 Definitionofsegmentaxes................................................................................................ 565.2.2 Bony/anatomicallandmarks............................................................................................. 565.2.3 MVNXfiledescription........................................................................................................ 60

5.3 MOVENEXPORTFORMATS............................................................................................................ 625.3.1 FBX ............................................................................................................................... ..... 625.3.2 BVH.................................................................................................................................... 645.3.3 Workingwithdifferentanimationapplications ................................................................ 66

6 SPECIFICATIONOVERVIEW...................................................................................................... 68

7 IMPORTANTNOTICES ............................................................................................................. 72

7.1 OPERATINGCONDITIONS .............................................................................................................. 727.2 ABSOLUTEMAXIMUMRATINGS...................................................................................................... 727.3 MAINTENANCE ........................................................................................................................... 737.4 WARRANTYANDLIABILITY ............................................................................................................ 747.5 CUSTOMERSUPPORT ................................................................................................................... 747.6 BLUETOOTHQUALIFICATIONINFORMATION..................................................................................... 757.7 FCCSTATEMENT ........................................................................................................................ 757.8 RADIOFREQUENCYEXPOSUREANDEMISSION .................................................................................. 767.9 CEDECLARATIONOFCONFORMITY ................................................................................................ 777.10 FCCDECLARATION OFCONFORMITY.............................................................................................. 78

8 PLACINGMTANDCABLESINSUIT........................................................................................... 79

8.1 FULLBODYCONFIGURATION......................................................................................................... 798.2 UPPERBODYCONFIGURATION ...................................................................................................... 828.3 LOWERBODYCONFIGURATION ..................................................................................................... 838.4 INSERTIONPELVISSENSOR............................................................................................................. 848.5 CABLES ............................................................................................................................... ...... 85

9 APPENDICES ........................................................................................................................... 86

9.1 QUATERNIONORIENTATIONREPRESENTATION .................................................................................. 869.1.1 Conversions ....................................................................................................................... 86

9.2 BODYPLANES ............................................................................................................................. 87

9.3 COMPATIBILITYMOVENSTUDIOVERSIONS ...................................................................................... 889.3.1 v1.22.0........................................................................................................................... 889.3.2 v2.02.1........................................................................................................................... 88

9.4 XSIFBXIMPORTWORKFLOW........................................................................................................ 899.5 TROUBLESHOOT.......................................................................................................................... 95

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ListofabbreviationsAPI ApplicationProgrammingInterface

BVH BiovisionHierarchycharacteranimationfileformat

FBX Filmboxanimationfileformat

IK Inversedkinematics

MTx MotionTracker

MVN Movennativefileformat

MVNX MovenopenXMLfileformat

SDK SoftwareDevelopmentKit

UDP UserDatagramProtocol(fordatastreaming)

WRA WirelessReceivers

XM XbusMaster

DefaultfoldersDescription Files LocationMainprogram movenstudio.exe C:\ProgramFiles\Xsens\Moven\Moven Studio

Documentation MovenUserManual.pdf

MovenQuickSetupsheet.pdf

Moven Motion Builder live plug

in.pdf

Moven

Tech

Whitepaper.pdf

C:\ProgramFiles\Xsens\Moven\Documentation

Importtemplatesfor

MotionBuilderand

XSI

MovenBVHCharacter.fbx

MovenFBXimport.fbx

MovenVirtualMarkerSet.fbx

Moven_FBX_import.tagt

C:\ProgramFiles\Xsens\Moven\Templates

FBXimportscript MKMoven01.py C:\ProgramFiles\Autodesk\MotionBuilder75

Ext2\bin\config\Scripts

C:\ProgramFiles\Autodesk\MotionBuilder75\

bin\config\Scripts

MovenMotionBuilder

Deviceplugin

moven.dll

moven.tiff(deviceicon)

C:\ProgramFiles\Autodesk\MotionBuilder75

Ext2\bin\win32\plugins


bin\plugins

C:\ProgramFiles\Autodesk\MotionBuilder75

Ext2\bin\system


bin\system

VideoTutorialsfor

calibrationsand

contactpointediting

MovenTutorial_nnn.wmv C:\Program

Files\Xsens\Moven\Documentation\Tutorials

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1 Introduction

TheMoveninertialmotioncapturesuitisaneasytouse,costefficientsystemforfull

body human motion capture. Moven is based on Xsens' stateoftheart miniatureinertial sensors and wireless communication solutions combined with advanced

sensorfusionalgorithmstakingintoaccountbiomechanics.

Movenisacompletelyportablesystem;itisnotrestrictedtoastudioorlab.Itcanbe

usedanywhere:outside,intheoffice,andontheworkfloor.Therearenolimitations

inmeasurementvolume(exceptthewirelessrange).

Examplesoffieldsofuse:

3DAnimationEnjoy

unprecedented

ease

of

use,

rich

and

smooth

data,

very

short

setup

time,

andtheabsenceofcumbersomepost processingofmarkersorlostdata.

Virtualreality,training&simulationBenefit from the highly portable system and a pricepoint enabling fullbody

insertion of (multiple) actors in VR for highest degree of immersion, low

latencysmoothmotiondata.

Biomechanics,health,rehabilitationBenefit from the fully ambulant measurement system, advanced functional

axes calibration, no need to palpate bony landmarks for marker placement,

direct lownoise measurement of acceleration and angular velocity enabling

easierinternal

forces/momentum

calculations.

1.1 Productdescription

A full body Moven system contains 16 inertial motion trackers (MTx). Each sensor

modulecomprises3Dgyroscopes,3Daccelerometersand3Dmagnetometers.Using

advancedsensorfusionalgorithms(MovenFusionEngine)theinertialmotiontrackers

give absolute orientation values which are used to transform the 3D linear

accelerations to global coordinates which in turn give the translation of the body

segments. The advanced articulated body model (23 segments and 22 joints

biomechanicalmodel) implementsjointconstraintstoeliminateany integrationdrift

orfootsliding.

Each joint is modeled as a ballandsocket joint specified by different statistical

parameterssuchasjointlaxityinbothpositionandorientation.3Djointpositionsand

positions of anatomical landmarks are determined by automated calibration

procedures and regression equations. An advanced biomechanical model is used to

computethekinematicsofthespineandshoulderblades.

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1.2 OverviewMoven

Movencomesinastrong,durableandwatertightflightcase.Foreasytransportation,

the case has wheels and an extendable handle. The suitcase dimensions meet the

requirementsfor

most

airline

hand

luggage

dimensions.

1.2.1 Contents

TheMovensystemcontainsthefollowingitems:

1xlycrasuitwith(dependingonyoursystemconfiguration)o Fullbodysystem

11embeddedinertialmotiontrackerswithembeddedwiring

2xGloveswithembeddedinertialmotiontrackers

1xHeadband

with

embedded

inertial

motion

tracker

2xShoecoversandfootmountswithembeddedinertialmotiontrackers

o Upperbodysystem


2xGloveswithembeddedinertialmotiontrackers

1xHeadbandwithembeddedinertialmotiontracker

o Lowerbodysystem


2xShoecoversandfootmountswithembeddedinertialmotiontrackers

2xXbusMasters

2x

Moven

Wireless

Receivers

8xAAtypebatteries+batterycharger

2x12VDCPoweradapter

MovenSoftwareo MovenStudio

o TemplatefilesforMotionBuilder&XSI

o (optional)MovenSoftwareDevelopmentKit

o (optional)MotionBuilderliveplugin

Aletterwithyourindividualsoftwarelicensecode

MovenUserManual(thisdocument)

MovenQuickSetupsheet

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1.3 TypicalUsage

1.3.1 MovenStudio

TheeasiestwaytogetstartedwithyourMovenSystem istouseMovenStudio.This

applicationuses

an

intuitive

Windows

user

interface

to

let

you

view

the

3D

character

inrealtime,record,editandexportMovenfiles.SeeChapter3.

1.3.2 MovenStudioNetworkStreaming

Within Moven Studio, the network streamer can be used to send the poses of the

active window (realtime or playback) using a UDP packet streaming protocol. See

Section3.7.

YoucanuseanetworkmonitoronanotherorsamePCtoreceivethisstream,orwrite

yourownreceiverinanotherapplication.

AnoptionalMotionBuilderpluginallowslivestreamingtoMotionBuilderwithaccess

tothepowerfultoolssuchasretargetingofthemotiondatatoyourowncharacteror

inverse kinematic manipulation. MotionBuilder can also be used for multiple actor

recordingusingMoven.

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1.3.3 SoftwareDevelopmentKit(SDK)

TheoptionalSDKallowseasyintegrationoftheMovenSystemwithyourowncustom

application software. It provides realtime orientation and position data of body

segmentsusing

adynamic

link

library

(C

interface).

It

has

access

to

the

calibration

and

character definition routines and it can handle prerecorded MVN files for post

processing.

With the SDK, you can seamlessly combine the Moven System with aiding

technologies such as 3D position from optical systems, GPS or other systems (in

development, contact [email protected] for availability). Moreover, it allows for

multipleactorsrecording.

Fordetailedinformation,pleaserefertotheMovenSDKmanual.

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mailto:[email protected]:[email protected]


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2 MovenSetup

2.1 Softwareinstallation

Note: Do not connect yourXsens Wireless Receivers until you have completed the

softwareinstallproceduredetailedbelow.

Use the CD to run the Moven Installer (setup.exe) as a user with 'Administrator' or

'Power User' rights if you install on Windows NT/2000/XP/VISTA. The installer will

installMovenStudio,thedocumentationandalsothedrivers fortheXsensWireless

Receivers.

Followtheinstructionsonthescreen.

During installation,youwillbeasked foryour individualregistrationnumber,whichcanbefoundintheletteraccompanyingtheproduct.

SelecttheDestinationFolder(default:C:\ProgramFiles\Xsens\Moven)

Bydefault,the installerwill installthe32bitUSBhardwaredrivers.Ifyouareusinga64bitsystem,select theCustomSetupType installation andactivate

the64bitUSBDrivers

When connecting the USB connectors of the Wireless Receiver to yourcomputer,youwillseeanotificationFoundNewHardwareinyourSystem

TrayToolbarandthedriverswillautomaticallybeinstalled.

FordetailedinformationonhowtoconnectthesensorstotheXbusMastersreferto

Sections 4.2.2 and 8. For detailed information about theWirelessReceivers refer to

Section4.2.3.

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2.2 HowtoputontheMovenSuit

The Moven suit is made of a stretchable fabric (Lycra) and allows a surprisingly

variabilityinactorheightandweightwithinonesizeofthesuit.Pleasetakecarewhen

puttingonthesuit;youareworkingwithdelicatematerials.

The actor/subject can wear closely fitting shorts and a shirt underneath the Moven

Suit.OtherclothingcanbewornontopoftheMovenSuit,noconnectionor lineof

sight isneededtotheexternalworldother thanthewirelessdata link.Followthese

stepstoputonthesuit:

1. Beforeputtingonthesuit,takeouttheXbusMastersanddetachthegloves,

shoecoversandheadbandwithembeddedinertialmotiontrackerstoprevent

damagefromdropping.

2. Openthemainzipperandtwozippersattheendofthelegs.

3. Step

in

the

lower

part

of

the

suit

without

shoes

and

pull

it

up

until

it

fits

comfortably.Takecarenottosteporstandontopofasensororcable.

4. Put onearm in thesleeveanduse theother arm to pull thesuitaround the

shoulder.Followthesameprocedurefortheotherarm.

5. Tominimizeslidingofthesensorontheskinofupperarm,placethethumbs

throughtheloopsattheendofthesleeves.Thiscanalsobedoneafterputting

onthegloves.

6. Ifyouareusingthefootmounts,refertothefiguresonthenextpageonhow

toattach them toyourshoes. Ifyouareusing the footcovers,putyour feet

throughthefootcoversandpullthemupaboveyourankle.Putonyourshoes,

andplace

the

covers

around

the

shoes.

Connect

the

cables

to

the

sensors.

7. Closeallzippersandputontheheadband.

8. Putontheglovesandconnectthecablestothesensors.

9. Check that all sensors are in the approximate locations as indicated in the

figuresonthenextpage.

10.PuttheXbusMastersinthepocketsandconnectallcablestotheXbusMasters

(fordetailedinstructions,seeSection4.2.2andChapter8).

11. Youarenowreadyforcalibration(seeSections2.3and3.2.4).

TheMovenSuithaspredefinedpocketswhereeachsensorshouldbeplacedon the

body.When

putting

on

the

suit

it

is

possible

that

the

actual

position

of

the

sensor

on

thesegmentisnotoptimal.Eachsensorcanbepickedupandmovedaroundwithina

certain range. The following table and pictures give an overview of the optimal

positionofthesensorsforeachsegment.

NOTE: It is important that the pelvis sensor is flat on the pelvis (sacral bone). For

detailedinformationaboutthepelvissensorinsertion,seeSection8.4.Thepositive

Zaxisofthesensorshouldbe inthesagittalplanepointingawayfromthesubject.

Any vertical plane dividing a human body into left and right sections is called a

sagittalplane,seeSection9.2.

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Sensorontheupperleg

Sensorsonlowerlegs

Sensors onthefeet

Sensor

on

the

pelvis

Sensors on the

shoulderblades

Sensors on the

upperlegs

Sensor on the

hand

Sensor on the fore

arm

Sensor on the

upperarm

XbusMasters

Sensoronthehead

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Location Optimalposition

Foot Middleoftopoffoot

Lowerleg Flatontheshinbone(medialsurfaceofthetibia)

Upperleg Lateralsideaboveknee

Pelvis

Flaton

sacrum

(Z

axis

in

sagittal

plane)

Shoulder Scapula(shoulderblades)

Upperarm Lateralsideaboveelbow

Forearm Lateralandflatsideofthewrist

Hand Backsideofhand

Head Anycomfortableposition

2.2.1 Footmounts

The footmountsaredesigned to fitmany typesofshoesandarerecommended for

attachingthe

Motion

Trackers

to

the

feet

when

wearing

shoes.

Loosen

the

laces

of

yourshoesandplacethemountonthetongue.TheMovenlogo shouldbeonthe

sideof the toes.Thecurvedside flapsof themountscangounderoron topof the

fabric/leather of the shoes. Tighten the laces over the foot mounts. Then place the

MotionTrackersat45deg (seepicture)such that thecable leads to the lateralside

(outside)oftheankle.PulltherubberstrapstightlyovertheMotionTrackerontothe

hooksofthefootmount.ThenconnectthecablestotheMotionTracker.

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2.2.2 Sizes

TheMovenSuitisavailablein5differentsizes(Small,Medium,Large,ExtraLargeand

Extra Extra Large). The table below gives an indication about the body height and

weight of the actor and most appropriate suit. The fabric (Lycra) of the suit is

stretchablein

each

direction.

This

means

that,

for

example,

aMedium

size

suit

can

fit

tobothashortmuscularathlete(1.65m,70kg)andatallslimperson(1.78m,65kg).

Whenchoosingthesuitsize,makesurethatisfitstightlytothebody.

Size Bodyheight Weight

S 155165cm 5'1'' 5'5''ft 5060kg 110132lbs

M 160175cm 5'3'' 5'9''ft 5872kg 127159lbs

L 175190cm 5'9'' 6'3''ft 7088kg 154194lbs

XL 185195cm 6'0'' 6'5''ft 85100kg 187220lbs

XXL Up Up Up Up

2.3 Calibrations

Foranaccuratereconstructionofthecompletebodymovement,thefollowingshould

beprovided:

a) Adescriptionofthedimensionsoftheactoranddifferentsegments.

b) ThealignmentbetweeneachMTxhousingandthebodysegment.

Movenusesarobustandflexiblecalibrationschemewith instantfeedbackregarding

theexpectedaccuracy.Thebasiccalibrationproceduretakesonlyacoupleofseconds

andneedsonlysubject length,foot lengthandaTposecalibration.Payattentiontotheposeandmovementsofthesubjectwhenperformingthecalibrationssinceitwill

influencetheperformanceofthefollowingcapture.

Theadvancedcalibrations furtheroptimize trackeralignmentand/orsubjectspecific

dimensions. Each type of calibration can be called using a stepwise procedure. The

number and type of calibrations as well as target body segments can be specified.

Calibrationproceduresforsubjectswithlimitedrangeofmotionarepossible.

NOTE: When entering the subject or body segment dimensions, make sure they

matchthe

dimensions

of

the

active

actor/subject

wearing

the

Moven

suit

and

not

thedimensionsofacharacterforananimationsinceitwillinfluencetheaccuracyof

thesystem.

TheMovenStudiointerfaceforcalibrationisdescribedinSection3.2.4.

Videoinstructionsabouttheactordimensionsandsegmentcalibrationscanbefound

intheTutorialsfolderunderProgramFiles\Xsens\Documentation\Moven.

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3 MovenStudio

3.1 Overview

Moven Studio is an easytouse graphical user interface which can be used for real

timeviewingandrecording.Ithasalsofunctionalitiesforofflineplaybackandediting

ofearlierrecordedsessions.

File&EditToolbar

Calibration&Recording

Calibration&Recording

PlaybackToolbar

StatusToolbar

Globalorigin

3Dviewport

MenuToolbar

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3.1.1 MenuToolbar

Inthemenubar,youcanfindthefollowingmenuitems:

Menu

Tasks

Shortkey

File NewRecordingSession

Open

OpenNetworkMonitor

Save

SaveAs

SaveAll

Close

Properties

Export

Exit

Ctrl+N

Ctrl+O

Ctrl+M

Ctrl+S

Ctrl+Shift+S

Alt+Enter

Alt+F4

Edit Copy

PastetoMVNX

CopytoMVN

SelectAll

Centercharacter

Reverttooriginal

Reprocess

Preferences

NetStreamerSettings

Ctrl+C

Ctrl+V

Ctrl+B

Ctrl+A

Ctrl+0(zero)

Ctrl+Shift+P

Tasks

CalibrateSuit

StartNewRecordingSession

RecordMVNFile

Relocatesensors

ResetLiveFusionEngine

Ctrl+N

Ctrl+R

Ctrl+Alt+F

Playback Play/Pause

PreviousFrame

NextFrame

NavigatetoStart

NavigatetoEnd

Toggle

repeat

LinkedViews

SpaceBar

CursorLeft

CursorRight

Home

End

R

Ctrl+Shift+L

View Preview&RecordingWindow

SuitStatus

File&EditToolbar

PlaybackToolbar

StatusBar

Window Cascade

Tile

ArrangeIcons

Preview

&

Recording

Help AboutMovenStudio

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3.1.2 File&EditToolbar

IntheFile&EditToolbar,themostusedfunctionsforfilehandlingcanbefound.

Icon Task Shortkey

Startnewsession Ctrl+N

OpenMovenfile Ctrl+O

SaveMovenfile Ctrl+S

Copy Ctrl+C

Pasteto

new

Ctrl+V

3.1.3 PlaybackToolbar

InthePlaybackToolbar,thefamiliarplaybackoptionscanbefound.TheShiftbutton

activates the desired playback action for all active windows. For example: Shift +

Space=simultaneousplay/pause.

Icon Task Shortkey

Playbackspeed

Looprecorded

data

R(toggle)

Gotostart Home

Previousframe Cursorleft

Play/Pause

Space

bar

Nextframe Cursorright

Gotoend End

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3.1.4 Recording&CalibrationToolbar

Nexttotheplaybackbuttons,theCalibratebuttonandtheRecord/Stopbuttoncan

be found. On the lower toolbar, also the Reprocess and Marker buttons can be

found.

Icon Task Shortkey

Calibrate

Start/Stoprecording Ctrl+R

Reprocess Ctrl+Shit+P

Addmarker

Letter/number

3.1.5 Statusbar

ThestatusofthesuitcanbemonitoredintheStatusBar.Itshowsthefollowingitems:

Std/Advstandard/advancedmode

Suitstatusstatusofwirelessconnectiono Ready/Searching/LowPower/Disabled

Powerenergylevelsofbatteriesin%foreachXbusMaster

Radio

quality

of

wireless

connection

for

each

Xbus

Master

o Good/Moderate/Bad/Unknown

SampleFrequencyDefault100Hz

IftheRecordingwindow isoutof focus formorethan10secondsthehardwarewill

enterlowpowermode.Itwillpoweroffthesensorstosavebatteriesandnodatawill

be transferred. The wireless connection will be maintained. When the focus is

returnedtoPreviewandRecordingwindow,thesensorsareturnedonandtheXbus

Masterswillstarttosenddata.

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3.2 FunctionalitiesinMovenStudio

3.2.1 Startup

MovenStudio

can

run

both

with

and

without

the

suit

being

connected.

To

work

with

the suit, make sure that all sensors are connected correctly. Connect both Wireless

Receivers to the USB ports and switch on the 2 Xbus Masters. If any sensor is not

connectedcorrectly,theSuitStatuswindowwillappear.Inthe3Dviewport,onstart

up,thecharacterwillmost likelynotmatch theposeoftheactor.Proceedwith the

Calibrationprocedure(Section3.2.4)andstartanewsession(Section3.2.5).

Toplayandeditrecordedfileswithoutthesuit:openanMVNorMVNXfile.Bydouble

clickinganMVNorMNVXfileinWindowsExplorer,MovenStudiowillstartandopen

thefile.Youcanalsodrag&dropaMovenfiletoanactiveMovenStudio.

3.2.2 Preview

The Preview & Recording window shows the realtime performance of the actor

when the system is properly setup and the Xbus Masters are on. The Preview &

RecordingwindowshowsanRiconontheupperleftcornerofthewindow:

If this window does not show up during startup, it can be found under the menu

itemsView

or

Window.

3.2.3 SuitStatus

DetailedinformationaboutthesuitcanbefoundunderViewSuitStatus.Ifnotall

sensorsareconnectedproperlyorthewirelessconnectionfails,thefollowingpopup

windowisshown.IfyouhaveclosedMovenStudiowhilethePreviewandRecording

windowwasclosed,thenexttimeyoustartMovenStudio,thispopupdialogwillnot

show up. You can always review the Suit Status or activate the Preview and

Recordingwindowmanually.

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Moven Studio will automatically keep rescanning and try to establish a newconnectionbetweenthesuitandtheWirelessReceivers.

PressDisableScantodisabletheConnecttoMovenSuitoptionandgotoofflinemode.NexttimeyoustartMovenStudio,itwillnotsearchforthehardware.

PressIgnoretostartMovenStudioinofflinemodewhichenablesviewing,editingandexportingpreviouslyrecordeddata.NexttimeyoustartMovenStudio, itwillsearchforthehardwareagain.

PressViewStatustoopenthestatuswindowwithdetailedinformationaboutthestatusoftheXbusMastersandeachsensor:

XbusMasterorsensorworkingproperly

XbusMasterorsensorworkingproperlyafterrecoveryfromanerror

Sensorconnectedtothewrongstring(e.g.left/righthandswitched)

XbusMasterbatterylevelunder10%

XbusMasterorsensormissinginselectedconfiguration

Additional

sensor

has

been

detected

that

is

not

part

of

the

selectedconfiguration(unknownorduplicatesensorID)

When the Moven Suit is disabled (see Section 3.3.1), the hardware scan and the

ConnecttoMovenSuitoptioncanbeenabledbyclickingthebutton.

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3.2.4 Calibrations

ThecalibrationproceduresareonlyavailablewhentheMovenSuitisoperationaland

aconnectionhasbeenestablished.

3.2.4.1 ActorDimensionandCalibrations

InMovenStudio,clickontheTposebutton inthetoolbarorCalibratebutton inthe

lowerleftcorner.

Thebasicactordimensioncalibrationonlyrequiresthebodyheightoftheactorand

the shoe size, both in cm. Moven Studio will automatically calculate body segment

dimensions based on anthropometric models. This is generally enough for a quick

mocapsession.

In

advanced

mode

(see

Section

3.3),

body

segment

dimensions

can

be

evaluated and if necessary, adjusted for subject specific anthropometry. The model

basedvaluesarepresentedbetweenbrackets,e.g.kneeheight(50).Thespecificbody

segmentdimensionsarepresentedinthetablebelow.Theycanbefoundbypalpating

the anatomical landmarks and are presented in the figures on the next page.

However, ifyouarenotsurehowtodeterminethesedimensions,donotchangethe

defaultvalues.

Thescalingmodel isbasedontheheightofthepersonwithoutshoes.Theshoesole

thicknesscanbeaddedasanoffsettothe feet.Theheightoftheanklejointwillbe

adjusted

internally

and

other

segment

dimensions,

such

as

the

leg

length

will

notchange. When the actor and ankle height is measured with shoes on, all segment

lengthswillbescaledbasedonthislengthandtheshoesolethicknessshouldnotbe

enteredthen.

Videoinstructionsabouttheactordimensionsandsegmentcalibrationscanbefound

intheTutorialsfolderinProgramFiles\Xsens\Moven\Documentation\Tutorials.

All entered body dimensions can be saved in an actor file (MVNA) and loaded next

timethesamesubjectiswearingthesuit.Afterloadinganactorfile,itisstillnecessary

toperform

the

Tpose

calibration.

Once

afile

has

been

recorded,

it

is

also

possible

to

modifybodydimensions(seeSection3.2.8.5).

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Dimension Description

Basic

Bodyheight Groundtotopofheadwhenstandingupright

Shoesize

Top

of

shoe

nose

to

end

of

the

heel

Advanced

Armspan TopofrightfingerstotopofleftfingersinTpose

Hipheight Groundtomostlateralbonyprominenceofgreatertrochanter

Kneeheight Groundtolateralepicondyleonthefemoralbone

Ankleheight Groundtodistaltipoflateralmalleolus

Hipwidth Righttoleftanteriorsup.iliasspine

Shoulderwidth Righttoleftdistaltipofacromion(acromialangle)

Shoesole

thickness

Averagethicknessofthesoleoftheusedshoes.Thisvaluewill

addanoffsettotheankleheight.

Arm span

Body height

Hip height

Knee height

Ankle height

Floor

Hip width

Shoulder width

Tposewithbodysegmentdimensions

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Anatomicallandmarksonleg(left)andarm(right)

Acromion

Radial styloid

Lateral epicondyle

Ant. sup. iliac spine

Lateral malleolus

Lateral epicondyle

rochanterGreater t

3.2.4.2 Tpose

The Tpose is the basic posture for calibration. When performing a calibration, take

careof

the

following:

Standuprightonahorizontalsurface.

Feetparallel,onefootwidthapart.

Kneesabovefeet.

Hipaboveknees.

Backstraightup.

Shouldersabovehip,donotpulltheshouldersup.

Armsextendedandhorizontally,thumbsforwards.

Faceforward.

Payattentiontosymmetry,forexample,keepthearmsatanequalheight.

Youcancheckthecorrectattitudeofthearmsbybendingyourelbows.Theforearms

shouldmoveinahorizontal(transverse)planewhenbending.However,donotmove

during the calibration procedure. Do not overextend the elbow, since

flexion/extension may be projected in other axes. The wrists, elbows and shoulders

shouldallbeonasingleline.

Thebasicideaisthatyoushouldtrytocopytheexactposeofthedemonstrationpose

associatedwiththeTposecalibrationinMovenStudio;seethefigureontheprevious

page. The total body can stand in any direction; it is not needed to stand in any

particulardirectionwithrespecttomagneticnorth.

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However, make sure that the calibration is performed at a location with minimal

magneticdisturbances(noredcirclesvisibleinthe3DviewportofMovenStudio,see

Section3.2.8.3).

Click

on

the

Calibrations

tab

in

the

Calibration

window.

Click

on

the

Calibratebutton:

TheTposeanimationisshowninthe3Dviewpane.

MoveintoTpose.

ClicktheNextbuttontobeginthecalibration.

HoldTposefor5seconds.

TheTposecalibrationprocedurehasnowbeencompleted.Inthecalibrationwindow,

the results of the calibration are presented. Before acceptance, a preview of the

calibratedcharactercanbeseeninthePreviewwindow.

Whenafterthecalibrationthelegsarecrossing intheanimationwhenstandingwith

thefeettogether,thefeetweretoofarapartduringtheTposecalibration.

MovenStudioperformsseveralchecksonthesensorsignalstodeterminethequality

ofthecalibration,seeSection3.2.4.7.

3.2.4.3 Neutralpose

TheneutralposecalibrationcanbeperformedaftertheTposetooptimizethetracker

alignment of the shoulders and arms. Click on the Neutral pose button in the

Calibration

tab.

Standuprightonahorizontalsurface,similartotheTpose.

Armextended,besidesbody(vertically),thumbsforwards.

Holdtheneutralposefor5seconds.

Checkthecorrectattitudeofthearmsbybendingyourelbows.Theforearmsshould

moveinthevertical(sagittal)planewiththepalmsofthehandsfacingeachother.Do

notmoveduringthecalibrationprocedure.

Neutralpose

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3.2.4.4 Handtouch

Forhigheraccuracyandamoresubjectspecificcalibrationoftheupperbody,ahand

touchcalibrationcanbeperformedaftertheTposeandoptionallytheneutralpose

(recommended).NotethatagoodTposeisnecessarytoobtainthebestresults.

Clickon

the

Hand

touch

button

in

the

Calibration

tab.

Placethepalmsofthehandstogether.

An example of the calibration movement is shown in the 3Dviewplane.

ClicktheNextbuttontobeginthecalibration.

Movethearmsaroundslowlywhilekeepingthehandstogetherand shoulders steady (10 seconds). You can try to imitate the

movie in the 3D window or you can perform a different

movement,forexample,makesmallcirclesinalldirections.

ClicktheNextbutton.

Thehandtouchcalibrationprocedurehasnowbeencompleted.Inthe

Preview window, the calibrated character can be evaluated. The

performedcalibrationcanbeaccepted,performedagainorcleared.

3.2.4.5 Squat

The squat calibration determines the functional axes of the legs and optimizes the

trackeralignment.

Standuprightonahorizontalsurface,similartotheneutralpose.

Feetparallel,slightlyapart.

Kneesabovefeet. Hipaboveknees.

Bendthekneesandholdfor1second.o Keepthekneesinthesagittalplane(seefigurebelow).

o Donotsquattoodeep(kneeangleshouldnotexceed80degrees).

Straightenthelegsandholdstillfor1second.

Repeatsquattwice.

Thesystemwillautomaticallydetectthesquatperiods.Ifnovalidsquatisdetectedan

errorisdisplayed.

Goodsquat

Bad

squat

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3.2.4.6 Handsoffcalibration

It is possible to perform a calibration without the help of another person. Click the

Handsoffcalibrationcheckboxonthebottomofthecalibrationwindowandselect

the delay time. Continue the calibration by clicking the Calibrate button. The

calibrationprocedure

will

now

automatically

be

executed

after

the

defined

delay.

3.2.4.7 Calibrationquality

Moven Studio will perform several checks on the sensor signals to determine the

quality of the calibration signals. These checks include: a measure for standing still,

theexpectedsensoralignmentsof thepelvisandhandsensors, thehomogeneity of

themagneticfieldandtheusabilityofthemagneticfield.

Therearefourlevelsofquality:

good

acceptablepoor

fail

Generally,withagoodoracceptablequalityindicationyoucancontinuewithother

calibrationsorwithrecording.Withapoorqualityindication,therewasforexample

toomuchmovementduringthecalibrationprocedureorthemagneticfieldwasquite

disturbed.However,youcanstillcontinuewithrecordingifyouaresatisfiedwiththe

qualityofthecaptureascanbeseeninthePreviewwindow.

The

results

of

the

calibration

procedure

are

presented

on

the

left

side

of

the

calibration pane. It will indicate the quality of the calibration in text. When the

calibration was not good, the reason is indicated in the text below. Read this

carefullyasitmighthelpyououttotroubleshootthereasonforthepoorcalibration.

Note that a good or acceptable quality

indication does not necessarily mean that the

actualcalibrationisaccurate.MovenStudiocan

only perform limited checks of the actual pose

of the actor during the calibration due to a

natural variation in body physique and sensor

locations on the body. Therefore, always pay

attention to the pose of the actor since it will

influencetheperformanceoftherecording.

Please refer to the instruction videos in the

Tutorials folder in Program

Files\Xsens\Moven\Documentation\Tutorials.

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3.2.4.8 Calibrationinterface

Anexampleofthecalibrationinterfaceispresentedinthefiguresbelow,thesubjectis

170cmandtheshoesare27cmlong.Thefollowingdimensionshavebeenenteredin

advanced

mode:

armspan

175

cm

and

hipheight

84

cm.

The

other

dimensions

arecalculatedbythesystemandpresentedbetweenbrackets,e.g.kneeheight(48).Each

valueascalculatedbythesystemcanalsobeoverruledbytheuser.Afteralldesirable

dimensionshavebeenentered,youmustpressApply.Thesystemwillautomatically

update all other dimensions of which no user input has been given. To clear an

entereddimension,pressDelete.

In the exampleof theright figure, theTposewas performedwith goodqualityand

during the neutral pose calibration, the quality of calibration was considered poor.

Thiscalibrationcanbeclearedbyselecting Npose followedby Clear. Itwilltakea

few

seconds

to

restore

the

previous

calibration

values.

Although

you

can

continue

with the calibration procedures when the Tpose calibration is not performed

properly, it isnotrecommended.AfterperforminganewTposecalibrationallother

performedcalibrationsarecleared.

TheCalibrationwindowcanbeclosedbyclickingtheXintherightuppercorner.

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3.2.5 Recordingmotion

To be able to save and export data, first you have to calibrate and make a new

recordingsession(Ctrl+N,FileNewRecordingSessionoricon).

All recorded and saved files will have the name of the session, with a trial number

added to it (e.g. session=running_take will result in trial recordings running_take

001.mvn, running_take002.mvn etc.). Press the red record button to start a trial

recording.Pressthesamebutton(thewhitecirclewillchangeintoawhitesquare)to

stoprecording.TheshortkeyforstartingandstoppingrecordingisCtrl+R.

Start Stop

3.2.5.1 Markers

During or after recording, markerscan beadded to the Timeline to indicateevents.

Duringrecording,youcanaddamarkerbyclickingthe-iconintheleftlowercorner.

You can also press any alphanumeric key on your keyboard and a marker with the

according name will be inserted. In the playback window, a marker can be added

and/oreditedbydoubleclickingorrightclicktheTimelineonaspecificframe.

AddMarker

Timeline

Whenthemarkerisset,itwillbecomeyellow.Markerscanbedeletedbypressingthe

deletebuttonafterselectingthemarker.

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3.2.5.2 Centercharacter

To set the position of the character to the origin during live preview or in between

recordings,pressCtrl+0orgotoEditCentercharacter.Offline,thiscanbedone

byclicking

on

asegment

and

set

the

position

of

acontact

point

to

zero

(see

Section

3.7).

3.2.6 Export/Saveas

After recording, a file can be saved (MVN / MVNX file) or exported (BVH / FBX /

movie). For a description of these file formats, see Sections 3.4 and 5.3. It is also

possibletosaveorexportonlyapartoftherecordingfromanMVNfile,e.g.aspecific

movement.Thiscanbedonebyselectinganumberofframes,copyingitandpastingit

to a new file (Ctrl+B for MVN and Ctrl+C followed by Ctrl+V for MNVX) or by

exportingthe

selection

directly

using

File

Export

Selection.

3.2.7 Playback

For playback button explanation, see Section 3.1.3. The Shift button activates the

desiredplaybackactionforallactivewindows.

3.2.7.1 Zoomingintime

Forlongtrials,itcanbeusefultozoominonareducednumberofframes.Movethe

mouseto

the

left

or

right

side

of

the

scrollbar

above

the

Timeline.

The

default

cursor

willchangeintoadoublearrow().Clicktheleftmousebuttonanddragthemouseto

selectthedesiredtimeframe.Thisactionisalsopossiblebyclickinganywhereonthe

Timelineandusingthescrollwheelofthemouse.

3.2.7.2 Cascade/Tilewindows

In Moven Studio, multiple trials can be opened, played back and edited

simultaneously.Duringplaybackofrecordedtrials,viewingofliveperformanceisstill

possible. Use the Window Cascade / Tile menu to select the layout of the

windows.

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The maximum number of windows that can be opened simultaneously in Moven

Studiois20,butmaydependontheprocessingpowerofyourPC.

3.2.7.3 Linkedviews

Whenmultiple

windows

are

active,

their

views

can

be

linked.

When

the

camera

view

in one of the windows is changed, the view in the other window will change

accordingly.UseCtrl+Shift+LorPlaybackLinkedViewstotogglethelinkedviews

option.

3.2.8 3Dviewport

The3DviewportshowsthemovementsoftheMovencharacterinrealtimeorduring

playback. It is automatically shown when the Preview & Recording window is

selected.Thedisplayframerateofthe3DviewportcanbesetintheGeneraltabof

theMoven

Studio

Preference

menu

(see

Section

3.3.1).

3.2.8.1 Cameracontrol

Theviewporthastobeinfocustochangethecameraview.Clickinthe3Dviewportto

giveitfocusandtocontrolthecameraview.

Cameramovement Action

Rotatecameraaroundviewpoint Holdleftmousebutton+movemouse

HoldCtrlandmovemouse

Pancamera Holdmiddlemousebutton+movemouse

HoldShift

and

move

mouse

Zoomin/out Mousescrollwheel

Ctrl+Shiftandmovemouse

Changepositionoflightsource Shift+leftmousebutton

Focusoncharacter Ckey

Right mouse button followed by Center on

character

Three types of camera control are available. The table above presents the default

mode(0).Inmode0,whenzoomingin/out,theviewpointismovedtogetherwiththe

camera.In

mode

1,

the

scroll

wheel

will

move

the

camera

along

the

viewing

line

but

maintaintheviewpoint.Zoomingbeyondtheviewpointisnotpossible.Inmode2,the

camerawillrotatearoundthecamerasposition.

3.2.8.2 FollowCamera

WiththeFollowCameraenabled,therelativepositionandangleofthecamerawith

respect to the character will automatically be updated according to the selected

modus. This can be useful when for example the character will walk for a long

distance.ThedesiredmoduscanbeselectedintheInterfacetaboftheMovenStudio

Preferencemenu(seeSection3.3.2).

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Modus Action

Fixedangle Theglobalheadingandpitchofthecameraarefixed.

Theheightofthecamerafollowstheheightofthepelvis.

Trailing

Thepitch

of

the

camera

is

fixed.

Thedistanceofthecameratothecharacterisfixed.


Thecameraheadingisdeterminedfromthepreviousandnew

characterposition.

Pelvislock Thepitchofthecameraisfixed.

Theheadingofthecameraisfixedtotheheadingofthepelvis

(so when the pelvis rotates, the camera rotates to look at it

fromthesameangleagain.


Fullfollow

Similar

to

the

fixed

angle

modus,

but

no

low

pass

filter

on

the

heightofthecamera.

Staticcamera1 Thepitchofthecameraisfixed.

Thepositionofthecameraisfixedinthehorizontalplane.

Thecameraorientationfollowsthecharacter.

Theheightofthecameraiscomputedfromtheabove.

Staticcamera2 Thepositionofthecameraisfixed.

Thecameraalwayslooksatthecharacter.

To switch the follow camera on or off, click on the right mouse button in the 3D

viewportandselecttheFollowCameraitem.

To toggle the Follow Camera on startup, select the checkbox Follow Camera by

defaultintheInterfacetaboftheMovenStudioPreferencesmenu.

3.2.8.3 ShowMagneticDisturbances

To determine the most appropriate location for your experiments or evaluate

unexpected performance, it can be useful to visualize disturbances in the Earth

magnetic field. Magnetic field properties are visualized by circles around the hands,

pelvis,headandfeetwhentheCalibrationpaneisopen.InthePreview&Recording

window,onlythecirclesatthefeetarepresentedsincemostunknowndisturbances

areusuallypresentinthefloor(ironreinforcedconcretestructures).

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The color of the circle is a measure for the magnitude of the disturbance. The

magnitudeisbasedonaveragemagneticfieldproperties(suchasthestrengthanddip

angle)offallsensors.

Thereare

three

levels/colors:

Green:themagneticfieldatthesensorissuitabletoperformacalibration

Yellow:themagneticfieldisdisturbed,ifpossiblelookforanotherlocation

Red:themagneticfieldistoodisturbedtoperformacalibration

Thespherescanbetoggledbyclickingtherightmouseandselectthisitem,similarto

theFollowCameraoption.

Inthe

example

above,

the

right

hand

sensor

shows

awarning

and

is

probably

close

to

a wall or an iron object. The rest of the circles are green which indicates that the

magneticfieldissuitabletoperformacalibration.Theadviceistomovetoadifferent

locationinsuchwaythattheredcirclebecomesyellowor(preferably)green.

When some circles are green and some are yellow or red, try to find a spot in the

room or building where the red circles disappear. When the red circles around the

feetremainatall locations,youcanstepontoanobjecttogainsomedistancefrom

the floor(e.g.youcanusetheMovensuitcase)andperformacalibrationontopof

thecase.Afterdoingthecalibrationyoucanthenstepontothefloorandworkthere

forquite

some

time

before

performance

degrades.

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Whenallcirclesareredandremainredwhenwalkingaround,theroomorbuildingis

not suitable for capturing with Moven. This is extremely rare, try to use another

locationifpossible.

Whenduring

amocap

session

acircle

turns

red

for

ashort

period;

it

indicates

that

the

field is locally disturbed. The Moven Fusion Engine offers a high grade of rejection

against temporary disturbances and you can continue with recording without

worrying.

3.2.8.4 Shadowsandfloor

Other features of the 3D viewport are the rendering of the shadow and floor. Both

optionscanbetoggledbyclickingontherightmousebutton inthe3Dviewportand

selectthedesiredmodus.

3.2.8.5 EditFusionEngineSettings

A recorded file can be reprocessed using a different scenario or with adapted body

segmentdimensions. Click on therightmousebutton in the 3Dviewportand select

EditFusionEngineSettings.Afterachangeinthesettings,pressapplyandreprocess

the file.Note thatthesesettingsarenotresetwhenreverting totheoriginal file,so

takecarewhenmanipulatingthem.NotallbodydimensionscanbeenteredwithMVN

filesrecordedwithaversion1.xofMovenStudio.

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3.3 MovenStudioPreferences

In the Preferences menu (see the Edit menu), general and interface settings of

Moven Studio can be modified and the contents of MVNX file can be selected. The

followingsection

gives

an

overview

of

the

settings.

A

more

detailed

description

can

be

foundintherelatedsections.

3.3.1 Generalsettings

ModifythegeneraloptionsofMovenStudio,suchassamplerate,userscenariosand

exportersettings.

Suit

SamplerateseeSection4.1o 60,100(default),120Hz

SuitconfigurationseeSection4.6o Full Body, Full Body No Hands, Lower Body, Upper Body, Upper Body

NoHands

UserscenarioseeSection4.1.1o Default(flatground)

o PelvisFixed

o Feetfixed

ConnecttoMovenSuit

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Display

Maxdisplayframerate(Hz) 5500seeSection3.2.8Reprocessing

CorrectoutofrangedataonreprocessseeSection4.1.3

Exporters

see

Section

3.5.1

OverwritefirstframewithTPose

Exportersmoothingo nosmoothing,lightsmoothing(default),heavysmoothing

Exporteroutputscaleo centimeters,decimeters,feet,inches,kilometers,meters,millimeters

Exporterframeskipo 0 10

3.3.2 Interfacesettings

Modifythe

user

interface

options

of

Moven

Studio,

such

as

the

follow

camera

modus.

Reenable notification dialogs that were disabled using a Dont show againcheckbox.

Automaticallyshowpreviewwindowwhenhardwareisready

Followcamerabydefault

ShowToolTips

Numberoffilesinrecentfileslisto 110

3DViewControlmodeseeSection3.2.8.1o Mode0,1,2

Followcameratype(whenenabled)seeSection3.2.8.2o Fixed angle, Trailing camera, Pelvis lock, Full follow, Static camera 1,

Staticcamera2

Enableadvancedoptions

3.3.3 MVNXsettings

ManagewhichkinematicdataareincludedwhenacreatinganewMVNXfile.

MVNXContentso Position(default)

o Velocity

o Acceleration

o Orientation(default)

o Angularvelocity

o Angularacceleration

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3.4 WorkingwithMVNandMVNXfiles

MVN(Movennativefile)isthemostcomprehensiveformatandcontainsallmeasured

inertialsensordata,andallkinematicdataofeachsegment.Itisabinaryproprietary

format

and

can

only

be

used

by

Moven

Studio

or

by

using

the

SDK.

The

MVN

files

contain all original data and can always be used to reprocess the motion capture

usingothersettingsandassumptionsorwithoverruledexternalcontacts, ifneeded.

TocopyapartofanMVNfiletoanewMVNfile,selecttheframesandgotoEdit

CopytoMVN,pressCtrl+BorrightclicktheTimeline.Whenyouareworkingwithan

MVNfile,thewindowshowsanMiconontheupperleftcorner:

MVNX

(Moven

Open

XML

format)

files

contain

3D

position,

3D

orientation,

(andoptionally;3Dacceleration,3Dvelocity,3Dangularrate,3Dangularacceleration,see

Section3.3.3)ofeachsegmentinXMLformat(ASCII).Whenyouareworkingwithan

MVNXfile,thewindowshowsanX'iconontheupperleftcorner:

For detailed information of the MVNX format and the definition and origin of each

segmentaxis,seeChapter5.

The

following

table

gives

an

overview

of

the

possibilities

with

MVN/MVNX

files.

By

doubleclickinganMVNorMNVXfileinWindowExplorer,MovenStudiowillstartand

openthefile.Youcanalsodrag&dropaMovenfiletoanactiveMovenStudio.

MVN MVNX

Full playback options (playback speed,

markers,multiplewindows,zooming,etc)

9 9

Visualizationofmagneticdisturbances 9 8

Contactpointediting 9 8

Export

to

BVH

/

FBX

/

movie 9 9

Edit(copy,pastetonewfile) 9 8

SavetoMVNX 9 8

Reprocessing 9 8

Readableinotherapplications(XML,ASCII) 8 9

Realtimenetworkstreaming 9 9

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3.5 ExportMovenfiles

Moven (MVN and MVNX) files can be exported to FBX or BVH format. Use File

ExportExportFileandselectthedesiredexportformat.Forbatchprocessingofall

activecaptures,

select

File

Export

Export

All

Open

Files.

For

batch

processing

of

acompletefolder,selectFileExportBatchexport(seeSection3.5.2).Toexport

only a selected portion of an MVN or MVNX file use File Export Export

Selection. For a description of these formats and how to import them in different

applications,seeSection5.3.

3.5.1 Exportsettings

The export settings apply for both the FBX and BVH outputs. See Moven Studio

Preferences(Section3.3.1).

3.5.1.1 Overwritefirst

frame

with

Tpose

Toalignthemocapdatawithananimationmodel,thedefaultTposecanbeaddedto

thefirstframeofthedata.Thepositionandorientationofallsegmentscanbefound

intheMVNXfileinthesection,seeSection5.2.3.

3.5.1.2 Smoothing

Thehighlysensitivesensormodulescaptureeverytwitchanddeliververycrispdata.

For some applications, more smoothed motion data is desired. Three options are

available:

Nosmoothing

Lightsmoothing Heavysmoothing

The Export Smoothing Filter does not introduce a phase lag. Light smoothing is

generallytherecommendedoption.

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3.5.1.3 Outputscale

Thesizeofthecharacter(andposition)canbescaledtothedesiredoutputunit.The

defaultsystemunitsforsomeapplicationsarelistedinthetablebelow.

Application Defaultunitscaling

3dsMax inches

MotionBuilder centimeter

Maya centimeter

3.5.1.4 Frameskip

The frame skip number (n) is used to reduce the frame rate of the output. The

exporter will perform down sampling by skipping every n frames of the original file

(aftersmoothing)

in

the

output.

The

output

rate

is

given

by:

original

sample

rate

/(1

+skipfactor).

Forexample,anMVNfilerecordedat100Hz:

frameskip=1,outputframerate=50Hz



Orforexample,anMVNfilerecordedat120Hz:


frame

skip

=

2,

output

frame

rate

=

40

Hz


So,takecarewhenselectingyourpreferredmotioncaptureupdaterateifyouneeda

specificoutputframerate,itcanmakeyourlifeeasier.

3.5.2 Folderbatchexport

For batch export of a complete folder containing MVN and/or MVNX files to a

specifiedformatintheoutputfolder,selectFileExportBatchexport.Enterthe

foldername

of

the

recorded

session

in

Input

path

and

the

desired

output

folder

in

Outputpath.Selecttheexportertype(BVH/FBX).Theexportersettingswillbeused

asspecifiedinthepreferencemenu.

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Tip: when you are only working with one type of exportformat (e.g. FBX) you can

remove

all

other

exporters

(e.g.

all

BVH

exporters)

from

the

Moven

Studio\Plugins

programfoldertospeeduptheexportingprocess.Makeanewfolder(e.g.PluginsOld)

andmove the other exporters to thatfolder in caseyou mightneed themforfuture

use.

3.5.3 Movies

Thisoptionrenderstheanimationtoamoviefile.Itwillusetheselectedcameramode

(seeSection3.2.8.2).Threetypesoffileformatsareavailable:

XVIDencoded.avifile

MPEGencoded.mpgfile AppleQuickTimeformat.movThe output frame rate can be 25, 33, 50 or 100 Hz. There are two presets for the

windowsize(PALandNTSC)oryoucanselectacustomwidthandheight.Thebitrate

isameasureforthequalityofthemovie(default48kbps).

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3.6 Contactpoints

TheMovenFusionEngineusesexternalcontactsofthebodywithitssurroundingsto

minimize position drift of the computed body model with respect to the Origin

(definedby

starting

point).

A

number

of

points

on

the

anatomical

model

have

been

definedthatarelikelytomakecontactwiththeexternalworld.Anoverviewofthese

potentialcontactpointsisgiveninthetablebelow.Thedetectionofexternalcontacts

is based on measured kinematics of relevant body parts. In some cases, it can be

desirable to overrule the automatically detected contact points. With MVN files

recordedwithearlierversionsofMovenStudio,notallpointsareavailable.

Contactpoint Description

HeelFoot Heelofthefoot

FirstMetatarsal Insideballoffoot

FifthMetatarsal

Outsideball

of

foot

PivotFoot Centerballoffoot

TibialTub Bonyelevationonupperpartoftheshinbone(tibia)

GreaterTrochanter Eminenceontheupperpartofthefemur

IschialTub Buttock

PX Bottomofsternum

T4SpinalProcess Vertebrabetweenshoulders

Acromion Shoulder

Olecranon Elbow

BallOfHand Ballofhand

TopOfHead

Topof

head

Whenclickingonabodysegmentwiththeleftmousebutton,theselectedmeshwill

lightupinred.Theselectedbodysegmentshowssphereswithexternalpointsofthat

segment.Thetimebarwillzoom inandexpandtoshowthedetectedcontactpoints

of the selected segment per frame. The colors of the spheres correspond with the

coloring and labeling in the contact bar. For example, on the foot, there are four

possible contact points: the heel (red), first metatarsal (green), fifth metatarsal

(yellow)andthepivotpointontheballofthefoot(blue).Whenanexternalpoint is

definedasacontact,therelatedspherewillenlargeforthecurrentlydisplayedframe.

Clickingon

asecond

segment

will

show

the

contacts

of

both

selected

segments.

Youcanzoominfurtherbydraggingthetimeline()totheleftorright,seeSection

3.2.7.1.Youcanstep through the time framesby the leftandrightcursor.Thetime

windowcanbemovedbythemiddlemousebutton:clickthescrollwheelinthetime

barandmovethemouse.

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3.6.1 Selectionofsamples

Theleftmousebutton(anddrag)willsetacontactfortheselectedcontactpoint.The

color of the userdefined contact point will be slightly darker than the color of the

original detected contact point. For each segment, only one contact point can be

selected. To select contact points for multiple segments, hold the shift key during

selectionwiththeleftmousebutton.

Therightmousebutton(anddrag)willshowthecontactpointeditingoptionsforthe

selectedframes.

To

set

options

for

ablock

of

contacts,

hold

the

shift

button

and

press

therightmousebuttononaframeintheblock.Inthenextsection,theseoptionswill

beexplained.

3.6.1.1 Undo/redo

Undo (Ctrl + Z) and redo (Ctrl + Y) the performed contact point editing actions.

Whenyousavethefilethechangesarecommittedandcannotbeundoneanymore.

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3.6.2 Contactpointeditingoptions

3.6.2.1 Removeuserdefined

Reverttotheoriginalrecordingfortheselectedsamples.

3.6.2.2 Forcenodetection

Removesalldetectedcontactsforallsegments.

3.6.2.3 Nocontactsforselectedsegment

The selected segment will not make contact for the selected samples. The Moven

FusionEnginewillmarkthemostlikelypointofanothersegmentasacontact.

3.6.2.4 Setposition

Setsthepositionanditsuncertaintyfortheselectedcontactpoint.SeeSection3.7.

3.6.2.5 Setfloorlevel

Sets the height of the floor. The contact detection will now be applied on the new

floor height for all following samples. You can set multiple floor levels in a file. The

currentfloorlevelispresentedinthesecondbox.ThecontactbarwillshowanFat

theframeatwhichthefloorlevelisset.

3.6.2.6 FullReset

PerformsafullresetoftheMovenFusionEngineatthecurrentframeandplacesthe

character back to origin, see Section 4.1.4. Never use this option in de middle of a

dynamicmovementorinaheavilydisturbedenvironmentsinceitwillcauseawrong

initializationoftheMovenFusionEngine.ThecontactbarshowsanXattheselected

frame.Aresetperformedduringrecording(Ctrl+Alt+F)willbemarkedwitha\and

centercharacteraction(Ctrl+0)willbemarkedwitha/.

3.6.2.7 Rigaroundselectedsegment

Thecharacterwillberiggedaroundtheselectedsegment.Thecontactbarshowsa/

attheselectedframe.

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3.6.3 Reprocessing

MVN filescontainalloriginaldataandcanalwaysbeused toreprocess themotion

captureusingother settingsand assumptions orwith overruled externalcontacts, if

needed.Toreprocessafile,pressCtrl+Shift+P,gotoEditReprocessorpressthe

button:

:reprocess

When theoutofrangedetection isenabled (Section4.1.3), theprogressbarwillbe

yellowonthe firstpass. Itwillbeperformedonlyonce.Theupperbarwillshowthe

progressofthecurrentlydisplayedframeswhenzoomed in.The lowerbarwillshow

the progress of the total file. Once the upper bar has been completed, you can

continueeditingframes inthecurrentwindow.Afterthe firstpass,theprogressbar

willbegreenandtheMovenFusionenginewillapplytheeditedcontactpoints.

Reprocess

progressbar

3.6.4 Contactpointeditingexamples

The following section illustrates how to use the contact editing toolbar. More

informationabouthowtousethecontacteditingtoolbarcanbefoundintheTutorials

folderinProgramFiles\Xsens\Moven\Documentation\Tutorials.

Example1

In the originally recorded MVN file, a contact on the mid foot has been wrongly

detected. The result is an unlikely position of the foot segment with respect to the

lower leg and a discontinuity in the position of the total character. Removing thiscontactwillimprovethedata.

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Click on the foot segment. Stepforwards and backwards in time to

identify the wrongly detected or

missingcontacts.

Select the identified time frames byclicking the left mouse button. The

selected frames will be highlighted.

Bymanuallydefiningacontactpoint,

allothercontactpointsofthatframe

will be removed including contact

points of segments other than

selected.

To add contact points withoutremoving exciting points, hold the

shift button when the releasing the

mouse button. This option should

not be used excessively, but maybe

useful to optimize discrepancies

whentwosegmentsmakecontactat

thesametimeframe.

If a wrong frame or contact point is

selected,you

can

undo

this

by

aclick

ontherightmousebuttonandselect

Removeuserdefined.

To remove all contact points suchthat no segment has contact, click

and drag the right mouse button on

the desired frames andselect Force

no detection. The contact bar will

thenshowagrayband.

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After editing the contact points,press the reprocess button or

Ctrl+Shift+P. The Moven Fusion

Engine will now recompute all

kinematics

using

the

original

inertialsensor data taking the overruled

contactpointsintoaccount.

Example2

IntheoriginallyrecordedMVNfile,thefootisalreadyonthegroundbutthecontactis

detected too late.Theresult is thatthecharacterseems tostickatawrongcontact

andthefootslidesback.

Click on the foot segment. Stepforwards and backwards in time to

identify the frames and possible

contact

points.

In

this

case,

the

heel

(redsphere)isthemostlikelycontact

point to have contact with the

ground.

In thecontactbar,select the framesof the heel (upper bar) with the left

mouse button. The selected frames

willbehighlighted.

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After editing the contact points,press the reprocess button. The

Moven Fusion Engine will now re

computeallkinematicsbasedonthe

overruledcontact

points.

Verifythemodifiedcontacts.Theredsphereshouldbeenlargedduringthe

selectedframesandfootslideshould

nolongeroccurduringtheseframes.

Toremovealleditedcontactpointsand lettheMovenFusionEnginedetectcontact

pointsautomatically,selectEditReverttooriginal.

Ifduringarecording(orinanMVNfile)manywrongcontactsaredetectedspecifically

ononesideofthebody,itismostprobablyduetoaninaccuratecalibration.Checkif

thesensorsonthelegsandpelvishavenotmovedinthesuitandwhethertheentered

dimensionsmatchthedimensionsofthesubject.Ifnecessary,performanew(Tpose)

calibration.Ensurethatthehipsensorisverticalandsafelyinitspocket.

Whenthe lower legsticksthroughthefootduringthe landingafterajump,thefoot

that was pushing off was probably detected as a contact too long. By removing the

contactsoflastfewframesbeforethetakeoff,thiscanbefixed.

Agoodindicationforthetimeinstancethefootstrikesthegroundisachange inthe

anglebetween footand lower leg.Theangle isusuallyconstant in the lastphaseof

the swing and will change when the foot strikes the ground. The change is often

restrictedtoonesample.Itmayhelptoremoveallcontactsforanintervalaroundthe

expectedcontactframetodeterminethetimeframeofcontact.

3.7 Positionaiding

With the position aiding interface, it is possible to set a contact point at a desired

coordinate(X,YandZseeSection5.1).Thiscanbeusefulinsituationswhicharenot

supported by one of the user scenarios (Section 4.1.1). Examples: (1) the starting

positionofarecordingcanbesettozero,(2)whenthesubjectishangingonabar,the

positionofthehandscanbefixedatagivenheight,(3)whenasubjectstepsontoan

object,theheightofthecontactcanbefrozentotheheightoftheobject,(4)whena

subjectjumpsdownfromanobject,thepositionofthefootcanbesettotheheightof

theobjectbeforejumping.Notethatsomesituations,suchaswalkingonanelevated

surface

can

also

be

accomplished

by

setting

the

floor

height.

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Clickonabodysegmentwiththeleftmousebutton,theselectedmeshwilllightupin

red. The time bar will zoom in and expand with the detected contact points of the

selected segment (see also the previous section). In the contact bar, click the right

mousebuttononthedesiredtimeframe(s)andselecttheSetPositionoption.Inthe

dialog,

the

X,

Y

and

Z

positions

of

the

selected

segment

point

of

the

current

timeframearegiven.

Thesd(standarddeviation) isameasure forhowmuchtheaidingpoint istrusted in

combinationwiththecomputedpositionoftheMovenFusionEngine.Thisoptioncan

alsobecreativelyusedforexampletocreateasoftlandingonamattress.Withthe

Force no contacts options, no other contacts will be detected during the selected

frames.Thecontactbarwillshowadotinthecentreoftheeditedframeandmarkall

othercontactpointsdark.The Absoluteoptioncompletelyoverrulesthecomputed

positionoftheMovenFusionEngine.Thecontactbarwillshowa Pattheselected

frame.Aftereditingthecoordinates,clickthereprocessbutton.

Alwayswork

chronologically

when

setting

moven user manual

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