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Preparation

To use the CAD tracker, it first needs to be trained on the 3D CAD model file associated with the object of interest. The trainer extracts spatial features from the model and saves it to a local file so that it can later be used when loading the tracker. The CAD model does not need texture information as only geometry information is used for detection and tracking. There are however other requirements on the 3D model that must be fulfilled:

  • The model must be manifold
    • All surfaces need to be connected
    • The model must not have inner geometry
    • No self intersections
  • The vertex normals need to face outside of the model
  • The object model should contain less than ~3.000 faces
  • The origin of the 3D model should ideally be at the centroid of the object
  • The supported geometry definition file format is .OBJ
  • The dimensions of the 3D model are assumed to be in millimeter and align with the real dimension of the object
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