Art ARTTRACK1 System User Manual
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Art ARTTRACK1 System User Manual

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weisser Text als Fake ...
System user manual
ARTtrack
R
, TRACKPACK & DTrack
R
version 2.14
July 2018
c 2018 A.R.T. GmbH
Contents are subject to
change without notice
dasbetrifft die gesamte seitenbreite der seite des

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Summary of Contents for Art ARTTRACK1

  • Page 1 weisser Text als Fake ... System user manual ARTtrack , TRACKPACK & DTrack version 2.14 July 2018 c 2018 A.R.T. GmbH Contents are subject to change without notice dasbetrifft die gesamte seitenbreite der seite des...
  • Page 2 Trademarks The following overview shows the registered trademarks of A.R.T. GmbH (Advanced Re- altime Tracking GmbH): trademarks illustrated as in Germany in the EU in the USA A.R.T. ARTtrack ARTTRACK DTrack DTrack2 smARTtrack SMARTTRACK Microsoft and Windows are trademarks registered in the United States and other countries by the Microsoft Corporation.
  • Page 3 Warranty regarding further use of the open source software A.R.T. GmbH provides no warranty for the open source software programs contained in this product, if such programs are used in any manner other than the program execution intended by A.R.T. GmbH. The licenses define the warranty, if any, from the authors or licensors of the open source software.
  • Page 4 What’s new in version v2.14? Following, a short overview of the main new features in DTrack2 version v2.14: Integration of optical-inertial hybrid tracking (sensor fusion) Minor features (e.g. display IP address using DHCP, display ATC’s CPU tempera- ture) What’s new in version v2.13? Following, a short overview of the main new features in DTrack2 version v2.13:...
  • Page 5 What’s new in version v2.11? Following, a short overview of the main new features in DTrack2 version v2.11: Support of new TRACKPACK/E cameras with Controllers including Synccard3 (see e.g. chapter 4.3 on page 35) Support of new ARTTRACK5/C cameras for cave installations with Controllers in- cluding Synccard3 (see e.g.

  • Page 6: Table Of Contents

    Contents Terms and definitions ....... . . 12 1 Safety 1.1 Symbols and their meaning .
  • Page 7 6 Interaction devices 6.1 Flystick2 ........71 6.1.1 Control elements .
  • Page 8 7.2.2 Assigning the wired inertial sensor ....114 7.2.3 Hybrid Body Calibration ......115 7.2.4 Inertial Sensor Calibration .
  • Page 9 8.5.3 Inertial Sensor Settings ......154 8.5.4 ART Radio Info ......154 8.5.5 Tracking Settings...
  • Page 10 A.4 FINGERTRACKING2 Tactile ......243 A.5 ART Controller ........243 A.6 Overall system .
  • Page 11 B.1.2.3 Definition of the Coordinates by the Room Coordinate Sys- tem, with Origin in a Marker ....251 B.1.2.4 Coordinate System Definition for 5DOF Targets (with and without cylinder markers) .

  • Page 12: Terms And Definitions

    ARTTRACK2 ARTTRACK3 ARTTRACK5 ARTTRACK5/C TRACKPACK/E ARTTRACK Controller (discontin- calculates tracking data and generates the data output stream ued) (compatible to ARTTRACK1 ARTTRACK2 ARTTRACK3 ARTTRACK 2 & 3 (discontinued) infrared camera ARTTRACK5 infrared camera ARTTRACK5/C infrared camera dedicated for multi-sided projections...
  • Page 13 term definition syncgroup cameras being in one syncgroup receive the sync signal at the same time. Syncgroups are distinguished by a short time delay between their sync signals (i.e. mutual blinding may be avoided). synccard (Synccard2/3 or Sync- plug-in card for the controller which serves for synchronizing the cardTP) cameras Tactile Feedback...

  • Page 14: Safety

    1 Safety 1.1 Symbols and their meaning You can find the following symbols and their signification on the equipment or in the man- ual: Useful and important notes. Important notes, which may lead to system malfunction or to the loss of warranty by non-observance. Important safety warning to assure operation safety.
  • Page 15 The characteristics of the equipment can be found on the appliance rating plate or in chapter A on page 236. The appliance rating plates are on the equipment’s housing (ARTTRACK1 the lower side of the housing; ARTTRACK2...
  • Page 16 1 Safety Please install the cables such that – no one can stumble over the cords, – the cords cannot be damaged, – the cords cannot damage the cameras due to mechanical strain, – the line of sight of the cameras is not obstructed. Install a strain relief! Only use original authorized) components and accessories.

  • Page 17: Introduction

    2 Introduction tracking systems are infrared (IR) optical tracking systems. In this user manual we are going to perceive "tracking" as measurement of positional and rotational information (i.e. orientation) of objects or individuals that move in a defined space. Concept of tracking The simultaneous measurement of spatial position (X, Y, Z) and orientation (three independent angles) is called "six degrees of freedom"...
  • Page 18 2 Introduction Marker types Passive markers are covered with retro reflective material - they act as light reflectors. Active light emitters (i.e. based on infrared LEDs) are called active mark- ers (see chapter 3 on page 20). Tracking in detail The cameras send out synchronized IR flashes which are reflected back into the lens by retro-reflective material covering the markers of the target.
  • Page 19 drifting of IMUs (i.e. mostly from the 3-axis gyroscope) is compensated by fusing the inertial data with position measurements calculated from the optical tracking system A hybrid target is basically an optical target additionally equipped with an IMU, which it- self is connected to the controller.

  • Page 20: Markers And Targets (Rigid Bodies)

    3 Markers and targets (rigid bodies) 3.1 Passive markers Passive markers used in tracking systems are retro-reflective, which means they reflect a high fraction of the incoming light in a small cone around the incoming light’s direction (cat’s eye effect). More precise: the IR radiation is reflected into a narrow range of angles around the (opposite) direction of the incoming light.

  • Page 21: Active Markers

    3.2 Active markers 1. Triple mirrors, which are arranged such that their planes form angles of 90 by pairs, are reflecting light in the de- scribed way. Mostly foils with arrangements of many very small mirrors in a plane are used. 2.
  • Page 22 3 Markers and targets (rigid bodies) 2. Single LEDs with diffusor sphere: + for optimum angular range of visibility, - distance between marker and tracking camera is limited to a short distance (up to 4.5m). 3. Big active spherical markers: + several single LEDs per marker, covered with light scatter- ing spheres, + provide visibility from all sides and up to very high distances...
  • Page 23 3.2 Active markers (a) Single LED (b) Single LED with diffusor sphere Figure 3.1: Angular range of visibility markers supplied by are synchronized with the cameras to emit radiation only during exposure times. This allows both more robust and longer ranging targets. Synchronization can be done either by a wired connection between the tracking system and the pc-board controlling the active markers but also in a wireless way.

  • Page 24: Standard Targets

    3.3 Standard targets Type Description Weight approx. Dimension Marker size Hand target The hand target is designed for hand track- 25g / 0.9oz (110 28)mm 12mm ing in usability and assembly studies re- spectively. It is also frequently used as a small general-purpose target.
  • Page 25 Type Description Weight approx. Dimension Marker size Tree target Originally designed for tracking HMDs, the 75g / 2.65oz (195 120)mm 20mm tree target is a general-purpose target for tracking from longer distances. It is equipped with 20mm markers. Generic glasses target For head tracking mostly in passive stereo min: (270...
  • Page 26 Type Description Weight approx. Dimension Marker size CrystalEyes 2/3 target Target tailored to the shutter glasses of the 28g / 1oz (215 60)mm 12mm StereoGraphics active stereo system. It fits to both CrystalEyes 2 and 3. CrystalEyes 5 target Target tailored to the shutter glasses of the 19g / 0.7oz (195 40)mm...
  • Page 27 Type Description Weight approx. Dimension Marker size Volfoni EDGE target Target tailored to the Volfoni EDGE shut- 23g / 0.7 oz (230 60)mm 12mm ter glasses. NVIDIA 3D Vision Target tailored to the NVidia 3D Vision Pro 25g / 0.9 oz (225 60)mm 12mm...

  • Page 28: Standard Targets Overview

    Type Description Weight approx. Dimension Marker size Motion capture targets provides a complete set of targets for motion capture purposes. All targets are 6DOF targets and can be identified by the tracking system. A full MoCap target set consists of (subsets can be generated): 1 Glasses target (AGT4) 28g / 1.0oz (225...

  • Page 29: Art Tracking Cameras

    ARTTRACK5 infrared camera is intended for working environments with distances between camera and markers of up to 7.5 metres. By default the ART- TRACK5 is equipped with a 3.5 mm lens. Depending on the application and the setup the ARTTRACK5 can be equipped with other lenses (i.e.
  • Page 30 Tracking Cameras by changing the flash intensity of the infrared cameras (see chapter 8.5.1 on page 146). The flash intensities should not be too high. In general, a flash inten- sity of 50-60 might be sufficient. Major changes of the measurement volume may require different lenses and thus a new determination of camera parameters.
  • Page 31 Shock and vibration can permanently destroy the internal calibration of the cameras. De-calibrated cameras have to be recalibrated in the ART labs. Figure 4.3 on page 31 shows the correct mounting for a camera to a wall with a carrier...

  • Page 32: Arttrack5/C

    Tracking Cameras Please install the cables such that no one can stumble over the cords, the cords cannot be damaged, the cords cannot damage the cameras due to mechanical strain, the line of sight of the cameras is not obstructed. Inappropriate cabling may pose a serious hazard to health and safety.
  • Page 33 ARTTRACK5/C Figure 4.4: Camera ARTTRACK5/C Major changes of the measurement volume may require different lenses and thus a new determination of camera parameters. These changes have to be done at the labs. Be aware that a tracking system is very sensitive to camera movements. Therefore the cameras have to be mounted in a way that camera movements (especially vibrations) are reduced as much as possible.
  • Page 34 Shock and vibration can permanently destroy the internal calibration of the cameras. De-calibrated cameras have to be recalibrated in the ART labs. Figure 4.3 on page 31 shows the correct mounting for a camera to a wall with a carrier...

  • Page 35: Trackpack/E

    TRACKPACK/E no one can stumble over the cords, the cords cannot be damaged, the cords cannot damage the cameras due to mechanical strain, the line of sight of the cameras is not obstructed. Inappropriate cabling may pose a serious hazard to health and safety. Cable ducts or fixings should be used and a strain relief should be installed! Please refer to chapter 5.2 on page 60 for more information.
  • Page 36 Shock and vibration can permanently destroy the internal calibration of the cameras. De-calibrated cameras have to be recalibrated in the ART labs. Figure 4.3 on page 31 shows the correct mounting for a camera to a wall with a carrier...

  • Page 37: Arttrack2 (Discontinued)

    ARTTRACK2 infrared camera is intended for working environments with distances between camera and markers of up to 4 metres. By default the ART- TRACK2 is equipped with a 3.5 mm lens. Depending on the application and the setup the ARTTRACK2 can be equipped with other lenses (i.e.

  • Page 38: Camera Arttrack2

    Tracking Cameras Figure 4.7: Camera ARTTRACK2 Major changes of the measurement volume may require different lenses and thus a new determination of camera parameters. These changes have to be done at the labs. Be aware that a tracking system is very sensitive to camera movements. Therefore the cameras have to be mounted in a way that camera movements (especially vibrations) are reduced as much as possible.
  • Page 39 Shock and vibration can permanently destroy the internal calibration of the cameras. De-calibrated cameras have to be recalibrated in the ART labs. Figure 4.3 on page 31 shows the correct mounting for a camera to a wall with a carrier...

  • Page 40: Arttrack3 (Discontinued)

    Description The ARTTRACK3 ARTTRACK1 camera is the successor of which is no longer produced. Due to its larger IR flash it can be used for measurements in higher distances (up to 6 metres).
  • Page 41 Shock and vibration can permanently destroy the internal calibration of the cameras. De-calibrated cameras have to be recalibrated in the ART labs. Figure 4.3 on page 31 shows the correct mounting for a camera to a wall with a carrier...

  • Page 42: Trackpack (Discontinued)

    Tracking Cameras To avoid measurement problems, no light sources or highly reflecting areas should be visible to the camera. Especially strong point light sources like e.g. halogen lamps and direct or reflected sunlight may imply problems for the measurement (fluorescent lamps are ok).

  • Page 43: Camera Trackpack

    TRACKPACK (discontinued) Figure 4.9: Camera TRACKPACK Mounting The TRACKPACK cameras are optimized for a predefined range of measure- ment volumes. System operation in smaller or bigger measurement volumes can lead to reduced accuracy. The measurement volume can be adjusted within certain limits simply by changing the flash intensity of the infrared cameras (see chapter 8.5.1 on page 146).
  • Page 44 Shock and vibration can permanently destroy the internal calibration of the cameras. De-calibrated cameras have to be recalibrated in the ART labs. Figure 4.3 on page 31 shows the correct mounting for a camera to a wall with a carrier...

  • Page 45: Trackpack/C (Discontinued)

    TRACKPACK/C (discontinued) Please refer to chapter 5.3 on page 63 for more information. TRACKPACK/C (discontinued) Keep a distance of min. 20 cm when operating the camera ! The camera is assigned to the Exempt Group according to IEC62471-1 and therefore poses no risk or hazard to the human eye or skin at this dis- tance.
  • Page 46 Tracking Cameras The RJ45 connection between TRACKPACK/C camera and controller is used for power supply and synchronization signal. It is not a standard Ethernet connection! That is why connecting the RJ45 connector to any other than the equivalent port of the controller may damage the camera or the connected partner.
  • Page 47 Shock and vibration can permanently destroy the internal calibration of the cameras. De-calibrated cameras have to be recalibrated in the ART labs. Use strong dowels and screws for mounting the cameras to walls or ceilings (see figure 4.3 on page 31).

  • Page 48: Setting Up The Cameras

    Tracking Cameras 4.8 Setting up the cameras 4.8.1 Camera orientation After mounting and connecting the cameras to the controller, the next step is to adjust the orientation of each camera such that the measurement volume is covered completely by the field of view (FoV) of all cameras. On the one hand camera mounting has to ensure that tracking is possible over the entire measurement volume.

  • Page 49: Mutual Blinding

    4.8 Setting up the cameras strong IR sources (e.g. sunlight or sunrays, halogen lamps, ...), mutual blinding of opposing or adjacent cameras any kind of reflective material on clothes or shoes (e.g. reflective tape on safety vests), blank metal surfaces that act as mirrors, especially curved surfaces and polished surfaces with 90 angles, some types of packaging foils.

  • Page 50: Mutual Blinding Without Reflex Illustration

    Tracking Cameras Rarely there may also be mutual blinding that is not fully illustrated in the Monitor 2DOF display . Then only the simulated LED bar will indicate high levels of intensity whereas the presence of markers is missing (see figure 4.13 on page 50). Figure 4.13: Mutual blinding without reflex illustration This is a known behaviour of some ARTTRACK2...

  • Page 51: Room Calibration Overview

    4.8 Setting up the cameras the corners of the multisided projection and usually get a lot of unwanted reflections from the nearby walls. To gain good tracking results, these reflections should be suppressed. Be aware that the FoV / effective measurement volume will be decreased, which is why reflex suppression should always be the last option to be considered.

  • Page 52: Room Calibration Process

    Tracking Cameras create a virtual "point cloud" in the measurement volume that is used for calculating the relative positions of the IR cameras with high accuracy. Furthermore, the wand is scaling the system. That’s why damages of the wand (loose markers, bent poles, etc.) lead to miscalculations of the measurement volume.
  • Page 53 4.8 Setting up the cameras The point cloud should fill at least two thirds of the measurement vol- ume. Moving the wand in a restricted volume will result in reduced accuracy of calibration or failure. If in a system setup no sufficient part of the measurement volume is seen by all IR cam- eras simultaneously, the point cloud created by the wand movement has to connect all cameras in a way that ensures the arrangement of all cameras in a common room coordi- nate system.

  • Page 54: Art Tracking Controllers

    The cameras (refer to chapter 4 on page 29) and the interaction devices (refer to chapter 6 on page 71) have to be connected to the respective ports of the controller. ARTTRACK TRACKPACK DTrack2 Controller Controller Controller ARTTRACK1 ARTTRACK2 ARTTRACK3 ARTTRACK5 (from v2.10) ARTTRACK5/C (from v2.11) TRACKPACK TRACKPACK/C (from v2.5)

  • Page 55: Installation Of The Art Controller (Dtrack2 Since V2.10)

    ’soft power on’. All USB ports (front & back) can be used for plugging in the USB radio transceiver for the Flystick2/3 (refer to chapter 6.3.1 on page 80. Figure 5.1: ART Controller front view Please ensure unblocked airflow at all times for optimal operation of Controller ! 5.1.1 Ports &...
  • Page 56 Please use the accessible port without protective cap only. In cascaded systems please connect the external source to the master controller only. The slave controller is then synchronized by the master. – PoE+ ports: ARTTRACK1 ARTTRACK2 ARTTRACK3 ARTTRACK5 ARTTRACK5/C TRACKPACK/E cameras have to be plugged in here.

  • Page 57: Connecting Cameras

    Please use the accessible ports without protective caps only (see fig. 5.3 on page 57). To turn on the PoE+ switch, please connect it to mains. Figure 5.3: ART PoE+ switch front view Please allow min. 3 minutes for booting prior to starting the...

  • Page 58: Dynamically Adding / Removing Of Cameras

    Tracking Controllers Connection of ARTTRACK1 ARTTRACK2 ARTTRACK3 cameras (backwards compatible systems) All sync signals are transferred via BNC connections. When con- necting the synchronization cables it is important to correctly chain the cameras on the sync cable (see chapter 9.4 on page 195). There must be one continuous signal line ter- minated on both ends with 75Ω...
  • Page 59 5.1 Installation of the Controller (DTrack2 since v2.10) (a) standard connection (b) indirect connection ARTTRACK Figure 5.4: Connecting the Controller to a local network...

  • Page 60: External Synchronization

    Tracking Controllers DTrack2 frontend software on the remote PC. Please refer to chapter 8 on page 121 for more details. If the controller is not connected via an ethernet cable or no DHCP server is running, it will use its fall-back IP address (IP 192.168.0.1, subnet mask 255.255.255.0) You may configure a static IP address the following ways: using...
  • Page 61 71). Ethernet port: Please connect the controller to your local network using an RJ45 cable. ART- Mount the cameras at the desired position before connecting the cables. The TRACK cameras have to be connected via twisted pair cables either to the internal Eth- ernet switch of the controller or to an external Ethernet switch.
  • Page 62 IP address: 172.28.0.X subnet mask: 255.255.0.0 The controller is equipped with a PCI card for synchronization of the IR cameras (ART Sync- card2). When connecting the synchronization cables it is important to correctly chain the cameras on the sync cable (see chapter 9.4 on page 195). There must be one continuous signal line from the BNC connector of the synccard to the 75Ω...

  • Page 63: Installation Of The Trackpack Controller (Discontinued)

    5.3 Installation of the TRACKPACK Controller (discontinued) using DTrack2 (refer to chapter 8.2.2 on page 125) without the DTrack2 frontend (refer to chapter 8.2.4 on page 127) Please note that these settings are not part of your personal configura- tion. Changes of the IP address will affect all users of your controller! Your controller may become unreachable with wrong IP settings! Refer to chapter 8.2.4 on page 127).
  • Page 64 Tracking Controllers Please connect the TRACKPACK cameras with the controller using the delivered Firewire cables. USB port: Please plug in all USB based devices here (e.g. radio transceiver for Fly- stick2/3, Trivisio wireless transceivers, YEI wired inertial sensors, refer to chapter 6 on page 71).
  • Page 65 5.3 Installation of the TRACKPACK Controller (discontinued) system are also using infrared signals for controlling their equipment (e.g. if IR-controlled shutter glasses are used). The goal is to reduce or eliminate interference. The TRACK- PACK tracking system follows the external synchronization signal and chooses time slots when it is safe to emit infrared radiation without causing interference.

  • Page 66: Cascaded Systems

    Tracking Controllers 5.4 Cascaded systems Cascading means that two or more stand-alone tracking systems are combined to one large system in order to have only one consolidated data output. It is possible to cas- TRACKPACK/E ARTTRACK5 ARTTRACK5/C cade systems with or without and to build cascades out of ARTTRACK...

  • Page 67: Principle Of Cascading Using The Lan (Option 1) Or The Cascaded Network

    5.4 Cascaded systems Figure 5.5: Principle of cascading using the LAN (option 1) or the cascaded network port (option 2 - master Controller & DTrack2 => v2.11) Additionally to the aforementioned figures, please proceed according to the following de- scription: 1.

  • Page 68: Configuration Of A Cascade

    Tracking Controllers Figure 5.6: Principle of cascading using the LAN (option 1) or the internal camera network (option 3 - master ARTTRACK controller (discontinued)) 5.4.2 Configuration of a cascade Double-check if the cameras are connected properly to every controller. If applicable ver- ify that all power supplies are switched on and the cameras are running (indicated by two LEDs at the front side of the cameras).

  • Page 69: Cascaded System Settings

    5.4 Cascaded systems If the cascade is connected via the cascaded network port of the Controller (option 2, see 5.5 on page 67), all slave controllers must be set to a specific static IP address in the subnet 172.29.xxx.xxx with subnet mask 255.255.0.0 ! In case of using the internal camera network (option 3, see 5.6 on page 68), all slave controllers will acquire their IP addresses automatically.
  • Page 70 Tracking Controllers You can also enter a ’slave hostname or IP address’ directly in case you have set a spe- cific static IP address. Mark the desired controller and press ’Select’ to assign this controller to the cascaded system. It will then appear on the left-hand side of the dialogue in the list of the ’Selected’ controllers.

  • Page 71: Interaction Devices

    6 Interaction devices 6.1 Flystick2 The batteries must be removed before shipping the Flystick2, other- wise the radio transmitter could be started by shock or vibration. Description The Flystick2 is a wireless input device for infrared optical tracking systems. Figure 6.1: Flystick2 The Flystick2 has a trigger, four buttons and an analogue joystick with an additional button functionality.

  • Page 72: Description Of The Flystick2

    6 Interaction devices # 1 trigger # 2 - # 4 blue buttons, right to left # 5 pressing the joystick Figure 6.2: Flystick2 control elements Top View Event Description green pulse button pressed or joystick position successfully transmitted status LEDs yellow pulse button pressed or joystick position could not be transmitted...

  • Page 73: Battery Pack

    6.1 Flystick2 The Flystick2 has no power switch. It is activated automatically within a few seconds after any button event and is deactivated after several minutes without usage. The Flystick2 is tracked via passive markers which are covered by an acrylic housing.
  • Page 74 6 Interaction devices Charging jack The charging jack is at the bottom of the handle and has to be connected with the supplied battery charger. Figure 6.4: Charging the battery of the Flystick2 By connecting the battery charger the Flystick2 electronics are disconnected to prevent damage.

  • Page 75: Radio Module

    6.2 Flystick3 status LED colour Description Yellow No battery pack connected or initialisation Orange Fast charge Green with Yellow flash Top-off charge (balancing) Green Trickle charge (charging completed) Flickering Orange - Green Error (disconnect !) Table 6.2: Status LEDs quick reference 6.1.3 Radio module The Flystick2 uses a radio module in the 2.4GHz band.

  • Page 76: Control Elements

    6 Interaction devices The software DTrack2 takes up the Flystick3 button and joystick events and correlates them with the 6DOF output data. Tracking and interaction data are then transmitted to the application via Ethernet. The radio transmission and the active target are switched off after 15 minutes without usage.

  • Page 77: Battery Pack

    6.2 Flystick3 Moving left creates negative x values, moving right positive x values. Moving down creates negative y values, moving up positive y values. Full extension into any direction creates values of 1.0 or -1.0. The Flystick3 device provides all functions (buttons, trigger and joystick) simultaneously. In case you need to carry out a factory reset for the Flystick3 you will find the reset button just on top of the charging jack.
  • Page 78 6 Interaction devices Figure 6.8: Insert new battery in Flystick3 Place the battery correctly within the cut-out. Risk of explosion if battery is replaced by an incorrect type! Dispose of used batteries according to governmental regulations. Apply the back cover again and tighten the screws carefully. Figure 6.9: Close the battery compartment of Flystick3...

  • Page 79: Radio Module

    This coded signal can be generated by all tracking cameras, except for ARTTRACK1 and older ARTTRACK2 (up to SN 320) cameras. However, the Flystick3 may also be used with...

  • Page 80: Flystick Installation

    Only one camera can emit the modulated flash, thus the se- lected one should have unobstructed view of the whole tracking area. Furthermore it has to be assigned to syncgroup #1 ! ART- TRACK5 ARTTRACK5/C TRACKPACK/E , &...

  • Page 81: Flystick Configuration

    6.3 Flystick Installation to the Flystick. In case of unsuccessful data transmission to the Flystick, LED (2) starts flashing. Figure 6.10: USB Radio Transceiver3 The Radio Transceiver is configured automatically. In case you need to change settings manually please refer to chapter 8.5.4 on page 154. 6.3.2 Flystick Configuration Next configure the number of Flysticks you are using: Select Settings...
  • Page 82 6 Interaction devices mark the respective Flystick ID, e.g. ’F1’, by selecting it from the ’available Flysticks’ list mark the desired available Flystick and press Select to finalize the assignment. If the ’available Flysticks’ list doesn’t contain your Flystick although it is already present, just press any button of the Flystick to register it at the radio transceiver.

  • Page 83: Flystick Calibration

    ’use head targets’ as well. Please refer to chapter B on page 250 for more details on the output format. 6.3.2.1 Flystick Calibration After assigning the Flystick to the ART radio transceiver, close the Flystick Settings dia- logue and select...
  • Page 84 6 Interaction devices three or five finger thimbles (a fixture for the finger tip), each featuring IR LEDs connected via flexible wires (see figure 6.19 on page 90) wireless synchronization using a receiver for a coded IR flash (modulated flash) rechargable batteries and a battery charger Additionally, the FINGERTRACKING2 Tactile has: one vibration motor for tactile feedback on each thimble...

  • Page 85: Standard Fingertracking Hand Targets

    6.4 Fingertracking Hand ID Finger ID to address each finger of each hand individually a value denoting the strength of the feedback Please refer to chapter B.3.1 on page 268 for details. 6.4.1 Standard Fingertracking Hand Targets Figure 6.13: Standard Fingertracking hand target Top View Event Description...

  • Page 86: Description Of The Configuration Dial (Standard Fingertracking)

    6 Interaction devices On/off button Pressing the small black button next to the configuration dial activates or deactivates the target (please refer to figure 6.13 on page 85). After turning on the hand target unit, the status LEDs light up according to table 6.5 on page 85. When deactivat- ing the hand target all IR LEDs are switched off and the microcontroller is put into sleep mode.

  • Page 87: Fingertracking2 Tactile Hand Targets

    6.4 Fingertracking (a) The finger thimble connector in detail (b) Order of flexible wires (5-finger AR thimble set) Figure 6.14: Connecting the finger thimble set to the hand unit (Standard Fingertracking) Inserting the battery The Fingertracking hardware uses standard CAN NB-4L batter- ies.

  • Page 88: Fingertracking2 Tactile Hand Target

    6 Interaction devices Figure 6.16: FINGERTRACKING2 Tactile hand target Top View Event Description continuously synchronization received and tracking green status LED flashing assigned to Controller, no active tracking active indicates radio communication red status LED flashing not assigned to Controller red battery LED continously battery low or discharged...

  • Page 89: Radio Module

    6.4 Fingertracking Set 1/2 switch To use two pairs of FINGERTRACKING2 Tactile sets simultaneously, configure one to Set and the other to Set 2. Select the Set configuration of the FINGERTRACKING2 Tactile handtargets during first-time installation only. Do not change the set- ting during routine operation or tracking will fail.

  • Page 90: Finger Thimble Sets

    6 Interaction devices (a) Plugging in the connector (b) Colored marking of thimble set and handheld red=right hand, blue=left hand Figure 6.18: Connecting the finger thimble connector with the hand target (FINGER- TRACKING2 Tactile) 6.4.3 Finger thimble sets Standard Fingertracking can be ordered as a 3-finger VR, a 3-finger AR or a 5-finger AR version, while FINGERTRACKING2 Tactile can be ordered as a 3-finger AR version only.

  • Page 91: Wireless Synchronization

    flash (i.e. modulated infrared signal) which is used for synchronization (see figure 6.13 on page 85 or 6.16 on page 88). This coded signal can be generated by all tracking cameras, except for ARTTRACK1 and older ARTTRACK2 (up to SN 320) cameras. How-...

  • Page 92: Fingertracking Installation

    6 Interaction devices Standard Fingertracking When you connect the battery charger to a power socket, the red LED ("Status") is switched on and the green LED ("Charge") starts flashing. As soon as you place the battery correctly in the charger, the "Charge" LED changes its colour to red and stops flashing.

  • Page 93: Fingertracking Available Hand Geometries

    6.4 Fingertracking Figure 6.20: Fingertracking Administration - Settings Next a body calibration for the hand target has to be assigned using the target library (refer to chapter 6.4.6.3 on page 94). 6.4.6.2 Fingertracking Available hand geometries It is also possible to (re-)assign previously calibrated hand geometries (i.e. position and orientation of the finger tips) to existing hand target calibrations.

  • Page 94: Fingertracking Body Calibration Via Target Library

    6 Interaction devices In case of multiple assignments (i.e. one hand geometry is to be as- signed to more than one hand target calibration) a warning message will pop up. Delete the current assignment prior to re-assigning. Import / Export of hand geometries You can also import previously saved hand ge- ometries by pressing the button ’Load’.

  • Page 95: Fingertracking Body Calibration Custom

    6.4 Fingertracking mark the appropriate entry in the target library (e.g. ’FINGERTRACKING2 Tactile left Hand Target 1’) by left-clicking and press Select The ’Name’ and ’Geometry ’ entries will be updated. The entry in the column Cal. will turn into a yellow tick. On the right side of the window the corresponding entry in column Used will turn into a green tick and marked ’yes’.

  • Page 96: Fingertracking Hand Geometry Calibration

    6 Interaction devices Mark the respective Hand ID from row ’H1...H4’ under selected hands by left-clicking and start the calibration by pressing the button Calibrate. You can also load a calibration from a calibration file instead by pressing ’Load’ after marking the corresponding Hand ID.
  • Page 97 6.4 Fingertracking Note: It is important that the hand is held inside the tracking volume and all markers are visible to at least two cameras when starting the calibration process. Click on the button Help to open a window where the calibration process is additionally explained and visual- ized.

  • Page 98: Fingertracking Tactile Assignment

    6 Interaction devices After data collection a calculation process is started which calculates the finger sizes from the movement of the finger tips. The length of the thumb is derived by the finger lengths. After successful calibration the ’Geometry ’ entry under selected hands will be updated.

  • Page 99: Fingertracking Tactile Test

    6.4 Fingertracking Figure 6.24: Fingertracking Administration - Tactile Device Assignment ING2 Tactile’ with ’serial number ’ XY) by left-clicking and press Select The ’Model’ and ’Serial Number ’ entries will be updated accordingly. The serial number of the tactile device can be found on the bottom of the hand target, e.g.

  • Page 100: Fingertracking Output Settings

    6 Interaction devices Figure 6.25: Fingertracking Administration - Tactile Device Test pressing the corresponding buttons Test thumb, Test index Test middle. The corre- sponding status LED will light up to indicate radio communication (see figure figure 6.16 on page 88 and table 6.7 on page 88). 6.4.6.8 Fingertracking Output settings The last step is to define where the Fingertracking data has to be sent to.

  • Page 101: Measurement Tool

    6.5 Measurement Tool press to connect the viewer to DTrack2 choose the Hand ID you want to display The light adjacent to the Hand ID setting indicates whether this hand is tracked or not (green=tracked, red=not tracked). Finally click on one of the buttons featuring a hand to see your tracked hand and fingers.

  • Page 102: Measurement Tool Configuration

    6 Interaction devices the use with two IR cameras. You will get the best measurement results, when the point- ing device is facing the cameras as shown in figure 6.26 on page 101 (i.e. markers have to be oriented towards the cameras). Typically, the position of the tool’s tip is measured in the DTrack2 room coordinate system which was fixed during room calibration.
  • Page 103 6.5 Measurement Tool In this dialogue you can define the ’number of Measurement Tools ’ as well as ’number of references’. Additionally several other parameters can be changed to suit your applica- tion. Control Description number of Measurement Tools configure the number of devices to be used number of references configure the number of reference bodies to be used use old output format...

  • Page 104: Measurement Tool Calibration

    6 Interaction devices checkbox activate measurement start simulation to enable the gesture detection. The gesture is simply tilting the the Measurement Tool along the tip axis similar to waving. You can configure the minimum angle of tilt that is necessary to detect the gesture. Enter the value in [deg] in the field minimal angular variation [deg].

  • Page 105: Measurement Tool Output Settings

    6.5 Measurement Tool the Measurement Tool while tilting it around its tip in all axes (Note: Keep it positioned at exactly one point, i.e. do not lift it from the surface). DTrack2 will calculate the position of the tip relative to the markers of the Measurement Tool , i.e.

  • Page 106: Hybrid Tracking

    7 Hybrid tracking With introduction of v2.14.0 DTrack2 supports advanced sensor fusion of optical and in- ertial tracking data. Compatible hybrid targets available from are communicating with the DTrack2 sys- tem either via wireless 2.4 GHz ISM radio connection or via wired USB connection. 7.1 Hybrid motion capture suit Wireless hybrid targets are distributed together with an antenna and two wireless transceivers (’Dongles’) for communication with the inertial sensors as a part of our Hybrid Motion Cap-...

  • Page 107: Inertial Sensor Settings - Connecting Wireless Transceivers

    7.1 Hybrid motion capture suit Figure 7.1: Inertial Sensor Settings - Connecting wireless transceivers Temperature (n/a) Frequency (n/a) Calibration Status (n/a) Delete function (n/a) At this point only dongles should be listed, otherwise check that all previously added sen- sors show up together with their corresponding dongle. Please refer to figure 7.4 on page 110.

  • Page 108: Connecting The Wireless Inertial Sensors

    7 Hybrid tracking Please select an appropriate channel for each dongle now. The selected dongle will change its channel accordingly and likewise all assigned sensors. Do not set both don- gles to the same channel or on occupied frequencies from other devices in range. The default channels for all dongles and sensors are 35 and 55 (out of 80).

  • Page 109: Adding Wireless Inertial Sensors

    7.1 Hybrid motion capture suit 7.1.2.1 Adding wireless inertial sensors In the menu Settings Inertial Sensor , press Add sensor to identify and connect all inertial sensors in range (see figure 7.1 on page 107). Figure 7.3: Adding wireless inertial sensors In the upcoming dialogue (see figure 7.3 on page 109) you should find the Scan mode being ’USB’.

  • Page 110: Inertial Sensor Settings - Wireless Transceivers And Sensors Added

    7 Hybrid tracking Figure 7.4: Inertial Sensor Settings - Wireless transceivers and sensors added Device ID sensor + wireless icon (e.g. PUPULEQ) Model (e.g. Colibri Wireless) Name (target name from Hybrid Motion Capture suit or user-defined) Firmware Version Currently used radio channel (default: 35 / 55); use the drop-down menu to change the radio channel of the corresponding dongle Wake-up mode (radio, tapping, USB/button) Battery level (%)

  • Page 111: Calibration Of Custom Wireless Hybrid Targets

    7.2 Wired hybrid targets Selecting the pulse generating source Please refer to chapter 7.2.5 on page 119 for further details. It is NOT recommended to select a wireless inertial sensor as pulse generator due to the nature of the connection (i.e. high latencies and timing jitter).

  • Page 112: Connecting The Wired Inertial Sensor

    7 Hybrid tracking 4. An inertial sensor calibration needs to be applied to compensate drift from the iner- tial sensor. Start by pressing the button Inertial Sensor Calibration. Please refer to chapter 7.2.4 on page 117. Repeat all steps for each hybrid target and finally set the pulse generating source that drives the tracking frequency according to your application’s requirements.

  • Page 113: Adding Wired Inertial Sensor

    7.2 Wired hybrid targets Figure 7.6: Adding wired inertial sensor In the upcoming dialogue (see figure 7.6 on page 113) you should find the Scan mode being ’USB’. Press Scan and the system will identify all attached sensors. Tick the checkbox of the sensors to be added to the configuration in the column Accept or add all sensors by...

  • Page 114: Assigning The Wired Inertial Sensor

    7 Hybrid tracking Name (empty unless user-defined) Firmware Version Currently used channel (USB) Wake-up mode (n/a) Battery level (n/a) Temperature ( C, only after measurement) Current tracking frequency (Hz, only after measurement) Calibration Status (not calibrated, optical only fully calibrated) Delete function Tracking frequency Finally please check the tracking frequency the sensors are oper- ating at (default for wired sensors: 700 Hz).

  • Page 115: Hybrid Body Calibration

    7.2 Wired hybrid targets mark the appropriate entry ’Device ID’ under available inertial sensors by left-clicking press Select. You can always delete the assignment by pressing the button Deselect. The inertial sen- sor will be available again for assignment. If the inertial sensor is already in use a green tick is shown in the col- Used on the right side of the window.
  • Page 116 7 Hybrid tracking Figure 7.9: Hybrid Body Calibration speed around all axes of the inertial sensor (please refer to the animation in the dialogue see figure 7.9 on page 116). After the countdown disappears the upcoming dialogue will show the status of the calibration via a progress bar (see figure 7.10 on page 116.) Figure 7.10: Hybrid Body Calibration - Progress Bar In the upcoming result window (see figure 7.11 on page 116) the residual of the calibration and the sensor delay of the inertial tracking data is displayed.

  • Page 117: Inertial Sensor Calibration

    7.2 Wired hybrid targets The residual specifies how well the rotational data from the inertial sensor matches the optical tracking data. Thus it is a measure of the accuracy of the hybrid body calibration. Values up to 1 are ideal, while anything less than 3 is still acceptable.

  • Page 118: Warm-Up Of Inertial Sensors

    7 Hybrid tracking touch it during the following calibration ! In the upcoming result window (see figure 7.13 on page 118 the residual of the drift correction is displayed. Figure 7.13: Inertial Sensor Calibration - Result Window The residual specifies the drift correction for the inertial sensor. Values below 0.1 are ideal, while still being acceptable up to 0.2 .

  • Page 119: Selecting The Pulse Generating Source

    Figure 7.15: Hybrid Tracking Settings - Inertial Sensors available (license necessary) You can switch between the following sources by ticking the corresponding radio button in the subdialogue Inertial Sensor Setting Tracking frequency ’as ART cameras’: The controller’s synccard is used. The tracking frequency is set according to the Synccard Settings menu.
  • Page 120 7 Hybrid tracking ’as inertial sensor ’: An inertial sensor is used (only available, if attached). If using multiple inertial sensors use the adjacent drop-down menu to select the appropriate one. The tracking frequency is set according to the Inertial Sensor Settings menu.

  • Page 121: Dtrack2 Frontend Software

    Run the installation executable "DTrack2_v2.x.x_win32_install.exe" and the installation wizard of DTrack2 starts. Click Next to continue and to start the installation process for ART DTrack2 software. Administra- tor rights are not necessary. Now, please choose the destination folder in which you want to install DTrack2...

  • Page 122: Installation Guide (Linux)

    DTrack2 frontend software Please read the license terms carefully and press I Agree if you agree indeed. A new win- dow shows the installation progress. The installation of the DTrack2 software is com- plete now. DTrack2 has been installed on your computer.

  • Page 123: Software Update

    8.1 Getting started DTrack2 can be started with the command ./DTrack2. 8.1.3 Software update The latest DTrack2 software is always available from our Download Center at http://www.ar- tracking.com/support/. For the installation of the frontend dupdate, please proceed as mentioned before in chapters 8.1.1 and 8.1.2. DTrack2 After installing on the host PC the controller can be updated after establishing a...

  • Page 124: Connecting To The Controller

    DTrack2 frontend software Command line parameter Description -directstart Connect with the last used controller (can be combined with -measure) -help Shows a window with these command line pa- rameters and additional examples -host <name or IP> Connect with given controller (by name or IP number) (can be combined with -measure) -measure After connecting, start measurement...

  • Page 125: Setting A Static Ip Address Inside Dtrack2

    8.2 Connecting to the controller Scan LAN To scan your LAN simply select Scan followed by pressing Update list. You will see a list of all controllers in your network. Controllers set in grey are used by other remote PCs in your network ( IP address listed at the bottom of the welcome screen), whereas available controllers for connection are set in black.

  • Page 126: Wake On Lan

    DTrack2 frontend software 8.2.3 Wake On LAN The controller is capable of Wake On LAN (WOL) when powered down in standby mode by the user (DTrack2 Controller standby There are two options for waking up the controller remotely: DTrack2 1. you may use 2.

  • Page 127: Configuring Your Controller Without The Dtrack2 Frontend

    8.2 Connecting to the controller Option 2 - WOL via separate tool You will need the hostname of the controller as well as its MAC address. To get this information, either refer to 8.2.4 on page 127 or en- DTrack2 and go to Settings Controller...

  • Page 128: The Information File

    file beforehand (please refer to 8.4.2.1 and 8.4.2.2 on page 143). Following, a description of the file (e.g. ART_Controller_00117_setup.txt) format: # ART Controller Setup: # ethernet settings: - uncomment just one of the lines starting with ’SETNET’...

  • Page 129: Remote Command Strings

    - uncomment the following line to set the host name #SETHOSTNAME="atc" # name settings: domain name - uncomment the following line to set the domain name #SETDOMAINNAME="art.site" # name settings: domain name server - uncomment one of the following lines to set (or clear) a domain name server #SETNAMESERVER="192.168.0.254"...

  • Page 130: Remote Command Strings

    DTrack2 frontend software Command string Description dtrack2 tracking start Start tracking dtrack2 tracking stop Stop tracking dtrack2 system shutdown Shut down controller (WOL active) dtrack2 system reboot Reboot controller dtrack2 get config active_config Get currently active config ID, e.g. ’con- fig20160808102933552’...
  • Page 131 8.2 Connecting to the controller When using the DTrack2 CLI tool, please make sure to send commands and parameters as one argument by using quotes: DTrack2CLI myATC -set "config active_config" "config20170724121806418" DTrack2CLI myATC -get "config active_config" config20170724121806418 DTrack2CLI atc-301604025 -cmd "dtrack2 set config active_config config20160808102933552" DTrack2CLI atc-301604025 -get "config active_config"...

  • Page 132: Main Gui

    DTrack2 frontend software 8.3 Main GUI The graphical user interface of DTrack2 can be divided into the following parts (see figure 8.5 on page 132): the menu bar with access to all settings (please refer to chapter 8.3.1 on page 132) the toolbar with graphical elements regarding the status of the tracking system (please refer to chapter 8.3.2 on page 134) the docking displays with graphical information (see chapter 8.3.3.1 on page 135)

  • Page 133: Synccard Settings

    Camera settings (e.g. flash intensities, syncgroup as- signment) Synccard Synccard settings (e.g. tracking frequency, external synchronisation) Inertial Sensor Settings for inertial sensors ART Radio Info Settings for radio transceivers and devices within your setup Tracking Activate 3DOF calculation, automatic start of measure- ment...

  • Page 134: Toolbar

    Shows the number of tracked targets (6DOF) / single markers (3DOF) ART Radio Status Displays the currently selected channel of the ART radio transceiver (greyed out, if not installed) ART InertialSensor Sta- Displays the currently selected channel of the inertial dongles (wireless only) and the status of the sensor’s warm up process...

  • Page 135: Docking Displays

    8.3 Main GUI (a) yellow: 5 - 10 frames per (b) orange: 10 - 15 frames per (c) red: > 15 frames per minute minute lost minute lost lost Figure 8.6: Visualization of the synchronization frequency decrease orange: 10 - 15 frames per minute lost red: >...
  • Page 136 DTrack2 frontend software in order to achieve a clear arrangement. Move the slider ’cameras per tab’ to the left to decrease the amount of cameras. Tabs containing the remaining cameras will be added below the Monitor 2DOF display The special tab ’most active cameras’...

  • Page 137: Monitor 2Dof View Menu (E.g. Camera 2)

    field of view is shown using a simulated LED bar display (refer to figure 8.5 on page 132). Note: Except for ARTTRACK1 cameras where the bar display is integrated into the camera on the front side.

  • Page 138: Data Display

    DTrack2 frontend software Function Shortcut Grid Shows a grid in the camera display. Cross Shows a cross in the camera display. Fullscreen Resizes Monitor 2DOF view to full screen and back. One Camera Only show the view of the selected camera.

  • Page 139: Fingertracking

    Flystick green ... Flystick is being tracked; tracking data is displayed ... Flystick is not being tracked (e.g. Flystick has not been assigned to ART radio transceiver); instead of tracking data dashes are displayed blue ... button is being pressed white ...

  • Page 140: Measurement Tool

    DTrack2 frontend software 8.3.3.5 Measurement Tool Measurement Tool display is split into two parts: 1. position and orientation of the Measurement Tool ’s tip and the respective reference body 2. position and orientation of the reference body A simple colour code indicates the status of the Measurement Tool and the reference body, respectively: green ...

  • Page 141: Menu Dtrack2

    8.4 Menu DTrack2 8.4 Menu DTrack2 DTrack2 Shortcut Licenses Configurations Start/Stop Search hardware Controller standby Controller reboot Quit Table 8.5: Menu DTrack2 8.4.1 License management The capability of the tracking system is defined by licenses which can be managed here. Up to DTrack2 v2.10 different license models were available for...

  • Page 142: Configuration Management

    DTrack2 frontend software (a) Licenses overview (b) Hardware information Figure 8.8: Managing the licenses Select the feature Measurement Tool Click on Hardware Info. Contact and communicate your version of DTrack2 together with the serial number of the synccard or the MAC address of the Ethernet port (=Identification) in order to receive a valid license code.

  • Page 143: Backup Of Configurations

    8.4 Menu DTrack2 (a) Select a configuration (b) Create a new configuration Figure 8.9: Managing the configurations ’clone current configuration’ all existing calibrations (room and body calibration) and flash settings are inherited from the currently active configuration. ’create with default values’...

  • Page 144: Export System Information

    DTrack2 frontend software When exporting single or multiple configurations please assign mean- ingful filenames (e.g. exporting date ’Standard 07122012’). Configura- tions using the standard filename (e.g. "Standard") will be overwritten 8.4.2.2 Export System Information The export function is intended for saving an information file (i.e. number and types of camera, validity of room calibration, number and types of targets, current settings, event display logs, etc.) in case you need to contact tech support at Export...

  • Page 145: Search For New Hardware

    8.4 Menu DTrack2 8.4.4 Search for new hardware Without the need of restarting the controller you can dynamically analyse your system for changes in configuration (e.g. added or removed cameras, radio transceiver). Therefore proceed as follows: connect a new camera to the controller wait until the camera has finished booting within DTrack2...

  • Page 146: Menu Settings

    DTrack2 frontend software 8.5 Menu Settings Settings Shortcut Cameras Synccard Inertial Sensor ART Radio Info Tracking Body Administration Output Fingertracking Flystick Measurement Tool Controller Cascaded System Table 8.7: Menu Settings 8.5.1 Cameras Settings This dialogue (see figure 8.11 on page 146) shows a list of all cameras currently con- nected to the system as well as all cameras that have been removed since the last valid room calibration.

  • Page 147: All Cameras Tab

    Shows the status of room calibration (i.e. ’no’ for newly added but not yet calibrated cameras) Flash settings The flash intensity may be changed within an interval from 0 .. 6 for ARTTRACK1 0 .. 8 for ARTTRACK2 ARTTRACK3 ARTTRACK5...
  • Page 148 3’. These channels correspond to the three syncgroup outputs (#1: 0 s - #3: 960 s on the Controller) for ART- TRACK systems (see also chapter 5.1 on page 55). To change the predefined time delays please refer to 8.5.2 on page 151.
  • Page 149 8.5 Menu Settings a room recalibration. Thus, a recalibration is necessary for the corresponding camera to contribute to the tracking. Please refer to chapter 5.1.3 on page 58 on how to add new cameras dynamically. DTrack2 is able to operate when cameras have been added or removed; for best performance it is highly recommended to perform a recalibra- tion Global settings Tick the checkboxes to adjust the corresponding setting for all cameras...

  • Page 150: Individual Tabs

    Only one camera can emit the modulated flash, thus the selected one should have unobstructed view of the whole tracking area. Further- more it has to be assigned to syncgroup #1 ! ARTTRACK5 ART- TRACK5/C TRACKPACK/E , & TRACKPACK systems may be config-...

  • Page 151: Synccard Settings

    Select the camera mode (available modes depend on model) Diplay upside down Switch display orientation by 180 . ’UD’ is displayed in the Monitor 2DOF display Display intensity (ART- Adjust the brightness of the status LEDs and the 2-digit LED TRACK5 only) matrix display...

  • Page 152: Direct Settings

    DTrack2 frontend software Figure 8.13: Synccard Settings Supported synccard mode field of application internal generated signal (values dependent on camera model) run the controller without external synchronization external video signal active-stereo projection with an external video signal, for validated shutter glasses analogue video sync signal (=VGA) external video signal, for validated shutter glasses, divisor 2 external TTL signal...
  • Page 153 8.5 Menu Settings Brand Type RealD CrystalEyes 1, 2, 3, 5 NuVision APG6000, APG6100 XPand X101, X103 (with NuVision Long-Range Emitter), X104LX NVidia 3D Vision Pro (RF sync’ed) Volfoni EDGE (with Volfoni or NuVision LR Emitter) Virtalis ActiveWorks 500 Table 8.9: Overview of validated shutter glasses Option Description source...

  • Page 154: Inertial Sensor Settings

    8.5.4 ART Radio Info Here you can configure the settings of the radio transceiver. Additionally you will get information about all attached interaction devices (e.g. Flystick). Figure 8.14: ART Radio Info Settings The following information is offered: Info Description Model...

  • Page 155: Tracking Settings

    8.5 Menu Settings Set channel number By default the radio transceiver is automatically selecting a radio channel during booting, the drop-down menu is set to (’auto’). You may also select a specific channel manually. The selected setting is saved persistently. 8.5.5 Tracking Settings In this dialogue you can enable / disable the calculation of 3DOF markers as well as the automatic start of measurement after booting.

  • Page 156: Body Administration (From Dtrack2 V2.9.0)

    DTrack2 frontend software the targets appear in the data display (refer to chapter 8.3.3 on page 135. DTrack2 Figure 8.16: Body Administration (from v2.9.0) Using the different tabs on the top you can configure standard bodies or interaction de- vices. Please use the tabs Flystick Measurement Tool and Fingertracking.

  • Page 157: Body Administration - Detailed Description

    8.5 Menu Settings Info / Action Description number of bod- Increase / Decrease the number of accessible slots (i.e. body IDs) for calibration of targets. The targets are sorted in ascending order (i.e. increasing body ID). Active Activate or deactivate a target by ticking. Data of deactivated targets will not be transmitted in the data stream.

  • Page 158: Filtering Options For 6Dof Tracking Data

    DTrack2 frontend software 8.5.6.1 Filtering options for 6DOF tracking data DTrack2 incorporates advanced filtering options for enhanced 6DOF tracking performance. One can choose between recommended presets or customize filtering options in order to optimize tracking behaviour individually for each target. For example in applications where reference targets are used to calculate the position of a seating buck it is possible to apply a strong filter for these targets which results in practically noise-free tracking data.

  • Page 159: Filtering Of 6Dof Tracking Data - Detailed Description Of The Presets

    8.5 Menu Settings Presets optical tracking Description custom Customizable preset. A detailed description of the parameters can be found in table 8.13 on page 160. default Standard filtering without prediction or smoothing. Flystick Recommended setting for use with a Flystick (responsive filter- ing, designed for fast to slow motions).

  • Page 160: Output Settings

    DTrack2 frontend software ’Adaptive slow’ Automatically adapts to the ob- Moving targets with slow served motion, with stronger filter- and medium motions ing of fast motions. ’Fast’ Optimized for fast motions without Targets where quick reac- special filtering of slower motions. tion is important, such as HMDs.

  • Page 161: Fingertracking

    8.5 Menu Settings Identifier Description frame counter timestamp 6dcal number of adjusted bodies 6DOF standard body 3DOF marker 6df2 Flystick 6dmt Measurement Tool 6dmtr Measurement Tool reference 6dmt2 Measurement Tool (also ball probes) Fingertracking hand glcal number of calibrated Fingertracking hands 6D inertial body Flystick (old)

  • Page 162: Flystick Settings

    DTrack2 frontend software act as router enabled act as router disabled (default) Figure 8.19: Depiction ’act as router’ functionality Fingertracking. 8.5.9 Flystick Settings Inside this dialogue you can manage the number of Flysticks (max. 20) as well as the corresponding settings to be used. For installation of Flystick2 please refer to chapter 6.1 on page 71.

  • Page 163: Ntp Configuration

    8.5 Menu Settings (a) Network Configuration (b) NTP Configuration Figure 8.20: Advanced Controller Settings If the network cable is unplugged or the DHCP support is unavail- able while booting the controller uses its default IP address (i.e. 192.168.0.1). By unticking the checkbox DHCP you may also specify a static address,...

  • Page 164: Cascaded System Settings

    DTrack2 frontend software entry fields [hh:mm:ss] or automatically by the master clock which itself has to be syn- chronized to UTC time beforehand. To activate the synchronization, tick the checkbox activate NTP and enter hostname or IP address of your server. When NTP is activated controller is trying to connect to the NTP server repeatedly in order to update its clock.

  • Page 165: Menu Calibration

    8.6 Menu Calibration 8.6 Menu Calibration Calibration Shortcut Start static reflex scan for all en- abled cameras Inertial Sensor Calibration Room Room adjustment Shift + F5 Body Body adjustment Shift + F6 Fingertracking Measurement Tool Table 8.15: Menu Calibration 8.6.1 Static reflex suppression This starts the function of automatic reflex suppression.

  • Page 166: Inertial Sensor Calibration

    DTrack2 frontend software clear regions, resize areas and move areas. (a) Reflex suppression edit mode (b) Reflex suppression edit mode help Figure 8.21: Reflex suppression Reflex suppression areas are enabled as soon as you leave the edit mode (right click on the respective camera window, then de-select ’Edit reflex suppression ar- eas’) and accept the changes.

  • Page 167: Room Calibration Settings (E.g. Rcs 410)

    8.6 Menu Calibration Monitor 2DOF display is automatically started in the background. Doublecheck to verify that all markers of the angle are seen by the cameras. It is recommended to perform a room (re-) calibration on a regular ba- sis (e.g. after a certain operating time of the tracking system) and especially if the camera setup was subject to extreme vibrations or changing environmental conditions e.g.

  • Page 168: Room Calibration Progress

    DTrack2 frontend software Expert settings Marker distances of the calibration angle can also be set manually using the setting marker distances expert. The numbering of the markers is as seen in figure 8.23 on page 168. Figure 8.23: Marker distances (including numbering) on the angle and definition of room coordinate system The longer arm of the angle defines the X axis (refer to figure 8.23);...

  • Page 169: Room Calibration Results

    8.6 Menu Calibration Normal Powerwall In the Normal setting the angle With the Powerwall setting the defines the X/Y plane (X at the X/Y plane is in the screen and long, Y at the short beam) and the Z axis pointing out of the Z upward.

  • Page 170: Room Re-Calibration

    DTrack2 frontend software (’wand residual’) and the maximum deviation (’wand range’) of wand length during the calibration process. The value ’Used Frames’ represents the percentage of valid (i.e., used for room calibration) data for each camera. Try to achieve a low ’mean wand residual’...

  • Page 171: Room Adjustment

    8.6 Menu Calibration Figure 8.26: Room re-calibration dialogue To re-calibrate your room tick the checkbox re-calibration in the bottom left corner of the room calibration dialogue (see figure 8.26 on page 171). Most settings are greyed out and thus are not allowed to be changed in comparison to the last valid standard room cal- ibration.

  • Page 172: Room Adjustment Dialogue (Coarse)

    DTrack2 frontend software 0.1 on 5m length equals 8.7 mm deviation) shift and / or rotate the camera coordinate system to match a reference coordinate system, e.g. from CAD models maintaining a specific coordinate system / orientation when using mobile installa- tions of cameras, i.e.

  • Page 173: Room Adjustment Dialogue (Fine)

    8.6 Menu Calibration with a defined color-coding (x-axis: red, y-axis: green, z-axis: blue), while the xy-plane is shown as a yellow grid. The current and the transformed room coordinate systems are marked with (’O’) and (’T’) respectively. Figure 8.28: Room adjustment dialogue (fine) View position View orientation may be moved along and / or rotated around all...

  • Page 174: Transform The Room Coordinate System

    DTrack2 frontend software Action Description Zero point offset translate the room coordinate system along its axes in steps of [mm] Reset vector reset the zero point offset to the unmodified state (0.00 mm) Rotation angles rotate the room coordinate system around its axes (from -180 to [deg] +180 ) Reset angles...
  • Page 175 8.6 Menu Calibration The import strictly follows the sequence from the ASCII text file. Still in some cases the data might be ambigous regarding its 3-D orientation. Toggle the tickbox pre- serve order of points to lock the order in the table reference points.

  • Page 176: Body Calibration

    DTrack2 frontend software to confirm the resulting transformation and to close the dialogue. Pressing Apply accepts the current changes and leaves the dialogue open. Discard all changes by pressing Cancel. 8.6.5 Body calibration 8.6.5.1 Body calibration overview The process of teaching a target’s geometry to the tracking system is called body calibra- tion.

  • Page 177: Body Calibration Procedure

    8.6 Menu Calibration 8.6.5.2 Body calibration procedure Open the dialogue Calibration Body to start a body calibration . (a) Target type "standard" (b) Target type "5DOF" (c) Target type "5DOF (cylinder)" (d) Target type "2x 5DOF (cylinder)" Figure 8.31: Body calibration dialogue First, the target that shall be calibrated has to be selected in the select list Body .

  • Page 178: Body Calibration Result

    DTrack2 frontend software ’2x 5DOF (cylinder)’ .. an L-shaped target made of ring markers which delivers 6DOF data. To re-calibrate a body tick the checkbox re-calibration next to the drop-down menu. For more information about body re-calibration please refer to chapter 8.6.5.7 on page 182. After pressing Calibrate, the body calibration is started within five seconds delay.

  • Page 179: Selecting The Coordinate System For 5Dof Targets

    8.6 Menu Calibration 3. Marker # 3 defines the X/Y plane, together with markers # 1 and # 2. Marker # 3 has a positive Y coordinate. 4. The Z axis is already defined by these rules, resulting in a right-handed coordinate system.

  • Page 180: Calibration With A Calibration File

    DTrack2 frontend software The rotation around the body axis is reduced to a minimum. We recommend that you choose the 5DOF central axis according to a direction which is the least often parallel to the tracked body axis (e.g. floor to celling for glasses targets). Please refer to chapter 8.5.5 on page 155 to select the central axis in the menu Settings Tracking.
  • Page 181 8.6 Menu Calibration Press ’Save file(s)’ option in the Body calibration dialogue to store the calibration file(s) of the currently used bodies. You can also load calibrations . Press Load file(s) (see figure 8.34) and choose the cali- bration file(s) for your targets. The format of the file name has to be according to "standard b01.txt"...

  • Page 182: Body Re-Calibration

    DTrack2 frontend software emission cones is to import an appropriate calibration file which are available on request. These files are created at on site performing a body calibration in a defined environ- ment or measurement volume respectively. 8.6.5.7 Body re-calibration DTrack2 provides a possibility to re-calibrate a rigid body in case its geometry is affected due to e.g.

  • Page 183: Body Adjustment

    8.6 Menu Calibration DTrack2 compares the geometry of the physical target with the calibra- tion data of the target library. In some cases a re-calibration might be necessary, e.g. when a clip-on target is applied to the glasses bending is possible. If you haven’t increased the number of targets before the system will ask you if this number should be adjusted automatically.

  • Page 184: Graphic View

    DTrack2 frontend software Figure 8.36: Body Adjustment 8.6.6.1 Graphic View By default a cartesian coordinate system is displayed on the left side of the window de- picting the selected rigid body’s geometry (’Graphic view’). On the right hand side the body’s coordinate system can be manipulated.

  • Page 185: Changing Of Body Geometry

    8.6 Menu Calibration view’ is depicting movements / rotation of the target in the "real world"). The visualisation can be changed by clicking the right mouse button to open a menu with the following options. (De-)select the appropriate ones by (un-)ticking. Option Description ’Small...

  • Page 186: Hybrid Body Calibration

    DTrack2 frontend software Special Choose from the following predefined transformations: due to body The body coordinate system is completely defined by the target geometry (see page 178). due to room (origin in COG) The coordinate system is rotated and aligned collinear to the room coordinate sys- tem with the origin set in the center of gravity (COG) (see page 179).

  • Page 187: Menu Display

    8.7 Menu Display 8.7 Menu Display Display Shortcut Monitor 2DOF Data Fingertracking Flystick Measurement Tool Events Set to default Table 8.18: Menu Display Monitor 2DOF Monitor 2DOF display is a graphical display of the field of view of the cameras to visualise all markers that are seen by the cameras. It is activated by default.

  • Page 188: Menu Tools

    DTrack2 frontend software Tools Shortcut Controller Update Measurement Tool Demo Table 8.19: Menu Tools 8.8 Menu Tools 8.8.1 Controller Update After updating the DTrack2 frontend software the controller and cameras are updated automatically, if necessary. In case you aborted this process you can re-open the update assistant by clicking Tools Controller...

  • Page 189: Menu About

    8.9 Menu About supported. Figure 8.38: Measurement Tool Demo The measurement of a point is started either by pressing the button Measure point per- forming a gesture with the Measurement Tool . Tilt over the Measurement Tool as defined in 8.5.10 on page 162. Control Description Measure point...
  • Page 190 DTrack2 frontend software About Shortcut DTrack2 About Qt What’s new? What’s this? Shift + F1 Table 8.20: Menu About Figure 8.39: About DTrack2 Information About Qt Offers information about the Qt software toolkit used in DTrack2 What’s new? Provides information about the new features that have been released with the current version.
  • Page 191 8.9 Menu About Figure 8.40: What’s new Information What’s this? By clicking What’s this, you may use our context-sensitive help function DTrack2 within frontend software. Just point the mouse cursor on any feature of the DTrack2 GUI, then click on the left mouse button to receive additional information.

  • Page 192: Frequently Asked Questions (Faq)

    9 Frequently asked questions (FAQ) Within this FAQ chapter we are offering solutions for easy-to-solve questions that our sup- port encounters from time to time. The questions are grouped into specific topics to make it more convenient for you to find a solution. In case you do not find a proper solution for your specific problem, please do not hesitate to contact us.
  • Page 193 9.2 Cameras is working. If the fan stops, rising temperatures inside the camera will cause an emergency shutdown of the internal control unit. If you are using an external switch, please make sure that no camera is connected to the uplink port and, if applicable, the switch is powered up. Finally, reboot the cameras, the external switch and the controller.
  • Page 194 ARTTRACK cameras are expandable up to a total number of 50 cameras (from DTrack2 v2.8.1). A tracking system with ARTTRACK1 ARTTRACK5 ARTTRACK be expanded by simply adding additional cameras. Please double-check your current license and the need to purchase a license for more cameras (e.g. 8 or 16) and an additional PoE+ switch.

  • Page 195: Controller

    9.3 Controller 9.3 Controller What are the possibilities to start the controller? The controller is equipped with a switch that you have to press for the initial start-up. If you want to power up your controller remotely, you may either use Wake On LAN (WOL) or wake-on-power (WOP).
  • Page 196 9 Frequently asked questions (FAQ) Synchronization failed in ARTTRACK5 & TRACKPACK/E systems Due to the single cable solution, the camera is both powered and synchronized over Eth- ernet. There is no need to guide or check additional cables dedicated to synchronisation of the cameras.
  • Page 197 9.4 Synchronization 1. Check the cabling (hardware issue): Please make sure that the coaxial cables are not damaged. Take care of using the correct ports: – EXT.In: input of the external synchronization (slaves) – OUT1: output for synchronization of slave controllers (Do not use OUT2 or OUT3 !) Double-check if no extensions between slave controller and terminating resistor have been made.
  • Page 198 9 Frequently asked questions (FAQ) How do I guide the synchronization cables correctly in cascaded systems ? When using one TRACKPACK/E master and one TRACKPACK/E slave controller the correct cabling would look as follows: TRACKPACK When using one Controller as master and two slave controller the correct cabling would look as follows: Synchronization failed in...
  • Page 199 9.4 Synchronization double-check if the terminating resistor is missing at the end of the signal line. Splitting of the synchronization line is not allowed. Do not connect the cable directly to the camera. 2. Check the synchronization settings (software issue): Go to Settings Synccard...
  • Page 200 9 Frequently asked questions (FAQ) When using three syncgroups the correct cabling would look as follows: Active stereo: when using external synchronization (video) the correct cabling would look as follows: Active stereo: when using external synchronization (TTL) the correct cabling would look as follows: Synchronization failed in TRACKPACK...
  • Page 201 9.4 Synchronization – the RJ45 plugs below the BNC plug must be used for connecting the cam- eras – EXT.In: input of the external synchronization 2. Check the synchronization settings (software issue): Go to Settings Synccard and double-check the settings (internal or external synchronization) for the synccard.

  • Page 202: Dtrack2 And Shutter Glasses

    9 Frequently asked questions (FAQ) DTrack2 and shutter glasses What types of shutter glasses can be used with the tracking system RealD CrystalEyes 1, 2, 3 and 5 NuVision APG6000 and APG6100 XPand X101, X103 (with NuVision Long-Range Emitter), X104LX NVidia 3D Vision Pro (RF sync’ed) Volfoni EDGE (with Volfoni or NuVision LR Emitter) Virtalis ActiveWorks 500...

  • Page 203: Software Dtrack2

    9.7 Software DTrack2 I’m using VRPN and TrackD but I only succeed in receiving data via just one of them. Please make sure that you are using two separate output channels with different port numbers. I’m having problems with the Flystick2 or Flystick3 data transmission via TrackD. Please make sure that you are using the latest version of the TrackD module - will provide information upon request.
  • Page 204 9 Frequently asked questions (FAQ) Where is the Monitor 2DOF display? Please check if the latest updates for your operating system are installed. DTrack2 Please make sure that your firewall is not blocking , even partly. Please refer to chapter A.6 on page 244 for a list of supported operating systems. Why is the Monitor 2DOF display crossed out for some cameras? Please check if all the cameras used during room calibration are connected.
  • Page 205 9.7 Software DTrack2 Full-featured license: 50 Starting with DTrack2 version v2.10 a new license model has been established. You may activate and calibrate 4, 10, 30 or up to 50 targets depending on the license purchased. Please refer to table 8.6 on page 141 for a complete license overview. Where do I get a license code from? You may purchase additional licenses for your system.
  • Page 206 9 Frequently asked questions (FAQ) Is it possible to automatically start the measurement after booting the controller? Yes, go to Settings Tracking and tick the checkbox ’automatic start of measurement after booting’. Please refer to chapter 8.5.5 on page 155 for further details. May I close the DTrack2 frontend software window after starting the...

  • Page 207: Calibration

    9.8 Calibration Please check your firewall settings and ensure that it is not blocking DTrack2 application, even partly. 9.8 Calibration How can I find out when the room has been calibrated last time? Please go to Calibration Room and click Show details.
  • Page 208 9 Frequently asked questions (FAQ) Restart the room calibration. Move the wand gently within the measurement volume, in order to generate a virtual point cloud. This point cloud should fill at least about two thirds of the measurement volume. Please refer to chapter 4.8.3 on page 51 for more information. I cannot cover two thirds of the measurement volume within the set time for the room calibration.
  • Page 209 9.8 Calibration What does ’scaling factor’ mean? Performing a room calibration results in a certain scaling error. This might be a problem when applications do have very high accuracy requirements (e.g. when performing mea- surements with the Measurement Tool ). The scaling error can be determined, for instance, by measuring points on a defined scale (e.g.
  • Page 210 9 Frequently asked questions (FAQ) I’d like to calibrate a body but the body calibration dialogue is greyed out. Please ensure that you have performed and accepted a valid room calibration prior to body calibration. Check in the Event Display if there is a warning saying ’no valid room calibration’.

  • Page 211: Tracking

    9.9 Tracking Starting with DTrack2 version v2.10 a new license model has been established. You may activate and calibrate 4, 10, 30 or up to 50 targets depending on the license purchased. Please refer to table 8.6 on page 141 for more information. How shall I evaluate the body calibration results? DTrack2 Verify that all markers of the target have been recognized during the...
  • Page 212 May I use passive and active targets at the same time? Yes, of course, there are no restrictions on using passive and active targets simultane- ously. But you will need an external modulated flash if you are using ARTTRACK1 (dis- continued) or ARTTRACK2 (SN <...

  • Page 213: Flystick

    My Flystick is not listed under the available Flysticks list. Make sure that the battery is charged. Press any button of the Flystick and the orange status LED should be switched on. Go to Settings ART Radio Info to see if the radio transceiver has been recognized. Go to...

  • Page 214: Fingertracking

    9 Frequently asked questions (FAQ) Go to Settings Output and check if the data output is configured correctly: – data receiver defined (’send to’), – identifier ’6df2’ selected, – if you are using the old output format: identifier ’6df ’ selected. What is the maximum number of Flysticks to be used simultaneously? type max.
  • Page 215 9.11 Fingertracking ter 6.4.1 on page 85. Increase the brightness of the LEDs on FINGERTRACKING2 devices. Please refer to chapter 6.4.2 on page 87. When using Fingertracking, there are always some markers that are flashing alternately in the Monitor 2DOF display. This is not bug, but rather it is due to the sequential activation of the finger thimble markers in order to achieve a separation of the fingers.

  • Page 216: Measurement Tool

    9 Frequently asked questions (FAQ) etry calibration. Double-check that the diffusor spheres (not applicable for FINGERTRACKING2) are not broken or missing. The Fingertracking output data is not transmitted. Go to Settings Output and check if the data output is configured correctly: data receiver defined (’send to’),...

  • Page 217: Art Tracking And 3D Tvs

    9.14 tracking and 3D TVs 9.14 tracking and 3D TVs Synchronization 3D TVs are primarily consumer products which have not been designed to fulfill the re- quirements of professional users. In fact, this especially applies when it comes to synchro- nizing the 3D TV and the tracking system.

  • Page 218: General Information

    10 General Information 10.1 Service It is recommended to maintain the equipment every three years. If you experience any problems please do not hesitate to contact our support. Never try to repair anything yourself!! Opening the equipment implies risks for health and environment as well as loss of war- ranty and liability.
  • Page 219 10.3 Warranty and liability Software Software supplied either on the tracking-PC or in cameras is furnished on a tested "As Is" basis. explicitly does not warrant that the software is error (bug) free. If the users detect bugs, will provide a workaround or bug fix as soon as possible after the notification.

  • Page 220: Declaration Of Conformity

    10 General Information 10.4 Declaration of conformity...
  • Page 221 10.4 Declaration of conformity...
  • Page 222 10 General Information...
  • Page 223 10.4 Declaration of conformity...
  • Page 224 10 General Information...
  • Page 225 10.4 Declaration of conformity UROPEAN ECLARATION OF ONFORMITY TATEMENT Advanced Realtime Tracking GmbH declares under its sole responsibility that the product ARTTRACK5 to which this declaration relates is in conformity to the following standard(s) or other normative document(s) 2014/35/EC (Low Voltage Directive): EN 60950-1:2006 + A11:2009 + A1:2010 + A12:2011 + A2:2013...
  • Page 226 10 General Information ’ ANUFACTURER EDERAL OMMUNICATION OMMISSION ECLARATION OF ONFORMITY TATEMENT Advanced Realtime Tracking GmbH declares under its sole responsibility that the product ARTTRACK5 to which this declaration relates is in conformity to the following standard: FCC 47 CFR Part 15, Subpart B Class B digital device Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and...
  • Page 227 10.4 Declaration of conformity UROPEAN ECLARATION OF ONFORMITY TATEMENT Advanced Realtime Tracking GmbH declares under its sole responsibility that the product ARTTRACK5/C to which this declaration relates is in conformity to the following standard(s) or other normative document(s) 2014/35/EC (Low Voltage Directive): EN 60950-1:2006 + A11:2009 + A1:2010 + A12:2011 + A2:2013...
  • Page 228 10 General Information ’ ANUFACTURER EDERAL OMMUNICATION OMMISSION ECLARATION OF ONFORMITY TATEMENT Advanced Realtime Tracking GmbH declares under its sole responsibility that the product ARTTRACK5/C to which this declaration relates is in conformity to the following standard: FCC 47 CFR Part 15, Subpart B Class A digital device Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and...
  • Page 229 10.4 Declaration of conformity UROPEAN ECLARATION OF ONFORMITY TATEMENT Advanced Realtime Tracking GmbH declares under its sole responsibility that the product TRACKPACK/E to which this declaration relates is in conformity to the following standard(s) or other normative document(s) 2014/35/EC (Low Voltage Directive): EN 60950-1:2006 + A11:2009 + A1:2010 + A12:2011 + A2:2013...
  • Page 230 10 General Information ’ ANUFACTURER EDERAL OMMUNICATION OMMISSION ECLARATION OF ONFORMITY TATEMENT Advanced Realtime Tracking GmbH declares under its sole responsibility that the product TRACKPACK/ E to which this declaration relates is in conformity to the following standard: FCC 47 CFR Part 15, Subpart B Class B digital device Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and...
  • Page 231 ECLARATION OF ONFORMITY TATEMENT Advanced Realtime Tracking GmbH declares under its sole responsibility that the product ART Controller to which this declaration relates is in conformity to the following standard(s) or other normative document(s) 2014/35/EC (Low Voltage Directive): EN 60950-1:2006 +...
  • Page 232 ONFORMITY TATEMENT Advanced Realtime Tracking GmbH declares under its sole responsibility that the product ART Controller to which this declaration relates is in conformity to the following standard: FCC 47 CFR Part 15, Subpart B Class B digital device Operation is subject to the following two conditions:...
  • Page 233 10.4 Declaration of conformity...
  • Page 234 10 General Information...
  • Page 235 10.4 Declaration of conformity...

  • Page 236: A Technical Specifications

    A Technical specifications The specifications are subject to change without notice. A.1 Cameras A.1.1 ARTTRACK5 IR Source invisible IR 850nm flash intensity adjustable in 100 steps Performance Sensor resolution 1.3 MPixels Frame rate up to 300 Hz Field of view (FoV) Lens Camera mode Resolution...

  • Page 237: Arttrack5/C

    A.1 Cameras Relative humidity 5 .. 50% (non-condensing) Cooling system passive Dimensions Length 92mm Width 100mm Height 100mm Weight 0.96 kg A.1.2 ARTTRACK5/C IR Source invisible IR 850nm flash intensity adjustable in 100 steps Performance Sensor resolution 1.3 MPixels Frame rate up to 300 Hz Field of view (FoV) Lens...

  • Page 238: Trackpack/E

    A Technical specifications Dimensions camera body Length 55mm Width 100mm Height 100mm Weight 540g A.1.3 TRACKPACK/E IR Source invisible IR 850nm flash intensity adjustable in 100 steps Performance Sensor resolution 1.1 MPixels Frame rate up to 120 Hz Field of view (FoV) Lens Camera mode Resolution...

  • Page 239: Arttrack Cameras (Discontinued)

    A.1 Cameras A.1.4 ARTTRACK cameras (discontinued) ARTTRACK2 ARTTRACK3 ARTTRACK2.2 ARTTRACK3.2 from S/N #1800 from S/N #400 IR flash 880nm 850nm 880nm 850nm Power supply Nominal voltage Maximal current 1.4A 1.4A Maximal power Ext. power supply 12.2V / 3A / 40W 48V / 0.8A / 40W 12.2V / 3A / 40W 48V / 0.8A / 40W...

  • Page 240: Trackpack Cameras (Discontinued)

    A Technical specifications ARTTRACK2.2 ARTTRACK3.2 ARTTRACK2 ARTTRACK3 from S/N #1800 from S/N #400 IR flash 880nm 850nm 880nm 850nm @ F = 4.5mm 57.9 45.3 57.9 45.3 @ F = 6.0mm 42.9 33.0 42.9 33.0 other focal lengths on request A.1.5 TRACKPACK cameras (discontinued)

  • Page 241: Flysticks

    A.2 Flysticks TRACKPACK TRACKPACK/C IR flash 850nm 850nm Field of view (FoV, horizontal vertical) @ F = 2.6mm 93.5 77.2 @ F = 3.5mm 72.8 58.2 72.8 58.2 @ F = 4.5mm 57.9 45.3 @ F = 6.0mm 42.9 33.0 other focal lengths on request A.2 Flysticks Flystick2...

  • Page 242: Standard Fingertracking

    A Technical specifications A.3 Standard Fingertracking Function Synchronization via modulated IR flash Battery NB-4L Li-Ion battery, 3.7V, 700 mAh Battery charger Input 12V, 500mA Power supply 230V, 50Hz, 12W Continuous operation approx. 10 hours Weight (incl. power supply) 380g Operating conditions Operating temperature 0 ..

  • Page 243: Fingertracking2 Tactile

    4m (depending on focal length of the cameras) valid for new batteries 300 Hz tracking frequency, LED brightness setting high, 1 vibration per second 300 Hz tracking frequency, LED brightness setting high A.5 ART Controller Dimensions Rackmount (19") Size 480mm...

  • Page 244: Overall System

    A Technical specifications Operating temperature 0 .. 38 C Relative humidity 5 .. 50%, non-condensing Hazard notes for service personnel: Risk of explosion if the mainboard battery is incorrectly replaced. Re- place only with the same or from manufacturer recommended similar type.
  • Page 245 A.6 Overall system XPand X104LX Virtalis ActiveWorks 500 DTrack2 frontend software System requirements - Free disk space 200MB - Processor Intel: P4 2GHz AMD: K6 1.6Ghz - RAM Operating systems Windows 7 32/64 Bit Windows 8/8.1 32/64 Bit Windows 10 32/64 Bit Linux openSUSE 12.3 32/64 Bit Linux Ubuntu...

  • Page 246: System Latency

    A Technical specifications A.7 System latency System Latency Definition of the system latency: The system latency is defined as the time delay between sending out the IR flash by the cameras and the availability of the tracking data at the Controller’s Ethernet output.
  • Page 247 A.7 System latency TRACKPACK/E 8 Camera System TRACKPACK/E 12 Camera Cascade (4 Master + 8 Slaves) TRACKPACK/E 16 Camera Cascade (8 Master + 8 Slaves)
  • Page 248 A Technical specifications ARTTRACK2 (discontinued) ARTTRACK3 (discontinued) TRACKPACK (discontinued)
  • Page 249 A.7 System latency TRACKPACK Cascade (discontinued)

  • Page 250: B Technical Appendix

    B Technical Appendix B.1 Definition of Coordinates and Rotations B.1.1 Room Calibration The calibration angle defines origin and axes of the coordinate system. This can be done in two different ways: Type longer arm shorter arm ’normal’ +X axis +Y axis ’powerwall’...

  • Page 251: Body Calibration

    B.1 Definition of Coordinates and Rotations B.1.2 Body Calibration During the body calibration DTrack2 is fixing a local coordinate system (body coordinate system) for each rigid body. Both coordinate systems define the later 6DOF output (see chapter B.1.3 on page 252). The calibration can be done in three different ways (to be selected in the menu Calibrate / Body of the body calibration):...

  • Page 252: Coordinate System Definition For 5Dof Targets (With And Without Cylinder Markers)

    B Technical Appendix - like done with setting due to room. The origin of the body coordinate system is given by one marker of the body, according to the rules given for setting due to body B.1.2.4 Coordinate System Definition for 5DOF Targets (with and without cylinder markers) Body calibration setting In the body coordinate system all markers of the target are on the selected axis.

  • Page 253: 3Dof Data

    B.1 Definition of Coordinates and Rotations Expressed in trigonometric functions, that means: cos cos sin cos sin cos + cos sin sin cos cos sin sin sin cos sin sin sin cos sin cos cos sin + sin sin cos cos cos Note that per definitionem the angles can only have the values: Note: rotation angles can show strange behaviour at certain orienta-...

  • Page 254: Flystick1

    B Technical Appendix Output Format Number of Buttons Order of Buttons Number of Controllers 8 (fix) “right to left” — device dependent “right to left” device dependent 6df2 B.1.5.1 Flystick1 The Flystick1 carries eight switches (buttons); four of them form the so-called hat switch. When using output format 6df2, hat switch actions are transferred into two analogue controller values (getting the values 1 0, 0 0 and 1 0).

  • Page 255: Measurement Tools

    B.1 Definition of Coordinates and Rotations (a) Flystick2 (b) Flystick3 Figure B.1: Allocation of ID number to the Flystick buttons Switch labelled as 6df Output 6df2 Output (in figure B.1) bottom switch (yellow) id 0 code 01 (hex) button code 01 (hex) top right switch (blue) id 1 code 02 (hex)

  • Page 256: Using A Reference Body

    B Technical Appendix B.1.6.2 Using a reference body When using a reference body for a Measurement Tool , the module calculates the position of the tip within the local coordinate system of the reference body: room where is the position of the tip in room coordinates, and ( ) position and room orientation (see B.1.3) of the reference body.
  • Page 257 B.1 Definition of Coordinates and Rotations the +Y axis is defined parallel to the back of the hand, indicating towards the ring finger. the +Z axis is defined with these specifications, resulting in a right-handed coordi- nate system. For the left hand see figure B.2 on page 257, for the right hand see figure B.3 on page 257): Figure B.2: Model of a human left hand Figure B.3: Model of a human right hand...

  • Page 258: Output Of Measurement Data Via Ethernet

    B Technical Appendix origin is the center of the (partial) sphere that forms the finger tip, the +X axis is oriented in direction of the outstretched finger, the +Z axis is defined to form a normal on the finger nail, pointing upwards, the +Y axis is defined with these specifications, resulting in a right-handed coordi- nate system.

  • Page 259: Frame Counter

    B.2 Output of Measurement Data via Ethernet Identifier Type of data enable/disable in frame counter always enabled timestamp Settings Output (’ts’) additional informations Settings Output (’6dcal’) 6dcal standard bodies (6DOF) Settings Output (’6d / 6di’) 6d/6di additional markers (3DOF) Settings Output (’3d’) Flysticks (6DOF + buttons)

  • Page 260: Standard 6Dof Bodies (Extended Format)

    B Technical Appendix Flysticks, Measurement Tools . . . ). Bodies, that are not tracked by the system at that moment, don’t appear in the output. The first number gives the number of tracked bodies (less or equal to the number of calibrated bodies).

  • Page 261: Flysticks

    B.2 Output of Measurement Data via Ethernet [id st er][ They contain: 1. ID number (id, starting with 0), status of the tracking (st, 0: not tracked, 1: inertial tracking, 2: optical tracking, 3: inertial and optical tracking), current drift error estimation (er, unit: [deg], estimate rising by 10 degree per minute when tracking inertially) 2.

  • Page 262: Flysticks (Old Format)

    B Technical Appendix 1. ID number (id, starting with 0), quality value (qu, see below) and the number of available buttons and controllers (nbt and nct). 2. Position of the Flystick ( 3. Orientation of the Flystick, given as rotation matrix ( , like standard bodies).

  • Page 263: Measurement Tools With Sphere Tip

    B.2 Output of Measurement Data via Ethernet The first number gives the number of defined Flysticks. The data of each Flystick show up in blocks (three consecutive []) like: [id qu bt][ They contain: 1. ID number (id, starting with 0), quality value (qu, see below) and button infor- mation (bt, see below), 2.

  • Page 264: Measurement Tool References

    B Technical Appendix 1. ID number (id, starting with 0), quality value (qu, see below) number of buttons (nbt) and the radius of the Measurement Tool tip sphere (rd). 2. Measured position ( ) of the tip 3. Rotation matrix ( ) of the tip orientation.

  • Page 265: Measurement Tools (Old Format)

    B.2 Output of Measurement Data via Ethernet 2. Measured position ( ) of the Measurement Tool reference, 3. Rotation matrix ( ) of the Measurement Tool reference. The quality (qu) can (so far) just get the values 1 0 and 1 0 means that the 1 0.

  • Page 266: Fingertracking

    B Technical Appendix B.2.10 Fingertracking Identifier gl and glcal. Only available, if the Fingertracking license is present for DTrack2 The output data include all necessary data to reconstruct the hand with all fingers and phalanxes. The output format in detail: The first number gives the number of tracked hands The data for each hand show up in blocks (several consecutive []) like: [id qu lr nf][...

  • Page 267: Additional 3Dof Markers

    B.2 Output of Measurement Data via Ethernet Additional Informations An optional extra output line (with own identifier) carries the number of defined hands. Example (one line): glcal 1 B.2.11 Additional 3DOF Markers Identifier 3d. The format of additional markers (all markers that don’t belong to a 6DOF object) looks like a reduced format of standard bodies: The first number is the number of tracked additional markers.

  • Page 268: Input Of Special Control Data Via Ethernet

    B Technical Appendix B.3 Input of Special Control Data via Ethernet DTrack2 is using ethernet (UDP/IP datagrams) to receive special control data from other applications. They have to be sent to the fixed port 50110 of the corresponding Con- troller. The following data types are supported: Identifier Type of data...
  • Page 269 B.3 Input of Special Control Data via Ethernet tfb 2 [0 0 1.0 0.5][0 1 0.8 0.5]...

  • Page 270: List Of Figures

    4.15 Room calibration process ......52 5.1 ART Controller front view ......55 5.2 ART Controller back view .
  • Page 271 List of Figures 6.10 USB Radio Transceiver3 ......81 6.11 Flystick Settings ....... . . 81 6.12 All Fingertracking devices .
  • Page 272 8.13 Synccard Settings ....... . 152 8.14 ART Radio Info Settings ......154 8.15 Tracking Settings .

  • Page 273: List Of Tables

    List of Tables 1.1 Symbols and their meaning ......14 3.3 Standard targets overview ......28 5.1 Compatibility of the cameras and interaction devices .

  • Page 274: Index

    75, 79, 89 coded flash, 23 configuration management, 142 MAC address, 127, 163 controller marker ART Controller, 55 active marker, 21 ARTTRACK Controller, 54, 60, 162 big active flat marker, 22 TRACKPACK Controller, 54, 63, 162 big active spherical marker, 22...
  • Page 275 Index service and support, 218 Settings, 146 shutter glasses (validated), 153 software DTrack2, 121, 121 Overview, 132 standby mode, 145 synccard Synccard2, 61, 151 Synccard3, 55, 151, 152 SynccardTP, 63, 151 syncgroup, 13, 56, 61 for TRACKPACK , 50 for ARTtrack, 199 synchronization active marker synchronization, 22 wireless synchronization, 91...

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