# SICK LightTrack Setup

## Add camera receivers

1. Open **Devices**
2. Add **SICK Visionary Camera Receiver** for each camera
3. Rename each receiver
4. Click **Receive**

#### Depth filtering

Navigate down to **Device Settings** and start reducing **Max depth** until the floor is completely black *(the number should be similar to the measured vertical height)*. Once okay, start increasing **Min depth** value, to fine-tune the tracking area.

<figure><img src="https://3312042618-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9sVaJpWJhPbmscipukhh%2Fuploads%2F5i2tXebXylbiJvt9mQ3h%2FLightTrack.gif?alt=media&#x26;token=f180e827-ac4e-47ab-8740-2554a9d313c9" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
With Min and Max depth values, we set the range of the tracking. Tracked objects have to be as close to white color on the stream as possible. Unwanted objects have to be as close to the black.
{% endhint %}

## Add LightTrack sensors

1. Drag **LightTrack Sensor** into viewport
2. Add one sensor per camera
3. Rename sensors

#### Sensor positioning

Set Position values as measured in physical space *(Y = height and X = horizontal distance between each camera)*.

Example:\
Camera 1: X = 0, Y = measured height, Z = 0\
Camera 2: X = measured distance, Y = measured height, Z = 0\
Camera 3: X = measured distance, Y = measured height, Z = 0

#### Assign sources

For each LightTrack sensor:\
Properties → Source → select corresponding SICK Visionary Camera Receiver

#### Set camera FOV

Set [camera FOV](https://www.sick.com/be/en/catalog/products/machine-vision-and-identification/machine-vision/visionary-t-mini/v3s145-1aaaaaa/p/p673906?tab=detail) for all sensors:\
HFOV = 70°

## Add LightTrack system

1. Add **LightTrack System** to viewport
2. Open Properties
3. Add all sensors under **Sources**
4. Under **Tracking** select **LightTrack**
5. Click **Start**

#### Threshold setup

Select receiver node.

1. Hold CTRL
2. Click darkest area you want to track
3. Use value as Threshold

{% hint style="info" %}
Place test objects in the tracking area while tuning the settings.
{% endhint %}

#### Blob tracking settings

Navigate to **Input** and adjust Min diameter, Max diameter and Min distance. Objects closer than minimum distance are merged.

#### Overlap alignment

Place object in overlap area, adjust **Inward offset** and align blobs across cameras.