- Place the rocket in the view of the cameras. For convenience, orient the rocket in the standard qualisys frame (x axis towards pc, y axis towards doors) such that body y points along qualisys x and body z points towards the door
- In Qualisys, Press gear icon and go to ‘6DOF Tracking'
- Register the markers on the rocket as points for a new model
- use the ‘rotate’ menu to make sure frame aligns with the one shown on the rocket (x up and z away from the raspberry pi, consult the sticker on the rocket)
- Move the frame to the center of mass:
- The center of mass is approximately where the coordinate sticker is located
- Open the transalte tab and select 'So that point in the body has local coordinates (in mm)'
- Select the vicon marker which is at the CoM (the one to the left of the RPi) and enter (x,y,z)=(5,25,3)mm
- you can also measure to make sure that it is approximately correct
- You can double check the alignment to see if the x axis passes through the intersection of lines spanned by the vicon markers on the top
- Line up rocket y axis with global x axis and rocket z axis with global y axis
- select the ‘coordinate system’ tab and press ‘record orientation’
- round to nice numbers so the frame is at least somewhat aligned with the qualisys frame (should be -90° roll and 90° yaw)