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There are several things I can think of may cause the feet to lift:
1. Make sure you have feet tracking enabled.
2. It's possible that the Actor is not fitting your physical volume correctly. Adjust the scale and proportions of the Actor (I think proportions is only for Kinect--need to check. Scale is important for both systems.) For many people, a little taller seems to work better but this really depends on your body proportions. Experiment to see what works best for you. Remember to save your Actor template so you can call it up again later.
3. You may need to occasionally hit Refit Pose to insure good tracking results. If you're using PS3 Eye, it sometimes helps to hit Analyze Actor and Refit Pose every now and then to correct for changing light/shadows. Don't worry about the colors iPi chooses for the Actor...let it work with what it wants.
4. Poor calibration may also cause problems. With Single Kinect, calibration is automatic so if there is a problem, it may have to do with the environment. Avoid rooms that have a lot of black or extremely bright or reflective surfaces (like windows.) This applies to both Kinect and PS3 Eye (though for slightly different reasons.) For twin Kinect or multiple PS3 Eye, make sure you follow calibration instructions carefully. If you're calibration is bad, all your motion data is pretty much useless.
5. Make sure you have a clean BG video--without this, iPi Studio cannot isolate the performer from the background and it will result in poor tracking results. If you didn't record the BG video at the head, try to find a couple of seconds at the end--you can define the range for the BG video anywhere on the timeline by sliding it, just like Takes.
If you have all that, iPi DMC should be able to give you good results with good feet tracking.
Now if the feet movement is jitter related, that's different. Use Configurable Jitter Removal to apply stronger jitter removal on the legs. This will 'lock down' the feet solidly in most situations involving jitter.
If the feet are turning (as opposed to lifting,) it's because the iPi Actor has are limits imposed on the hip joints and it is unable to twist/roll it's thighs. This is not a bug; my understanding is that it's designed this way to prevent more severe issues that can happen if the rig didn't have these limits. If you see this problem you can easily correct it in a mocap editing program. I use Motion Builder but many other 3D programs should have tools that let you do this. Fortunately, it doesn't occur very often and sometimes it's not that noticeable.
Good luck.
G.
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