PS-Tech PST Iris Instruction Manual

Optical tracker

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Instruction Manual

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Page 1 Instruction Manual...
Page 2 PS-Tech B.V. PS-Tech, the PS-Tech logo, PST, PST Iris (HD), PST Base (HD) and PST Pico are either reg- istered trademarks or trademarks of PS-Tech in the United States and/or other countries.
Page 3: Legal
This END USER LICENSE AGREEMENT (EULA) is shipped with each product, and is available on request at the o ﬁces of PS-Tech B.V. In no event shall PS-Tech be held liable for any incidental, indirect, or conse- quential damages whatsoever (including, without limitation, damages for loss of business proﬁts, business interruption, loss of business information, or any...
Page 4: Table Of Contents
Default coordinate system ....PST Iris and PST Base connections ....
Page 5 Contents New target creation ..... . . Using the PST Connecting to the PST ..... . Camera images .
Page 6: Item Check List
Item check list Check that all of the following items have been included with your PST. If any- thing is missing, contact PS-Tech or your supplier. The PST Iris (HD) package contains: PST Iris (HD) unit One coordinate reference card...
Page 7: Operating And Safety Precautions
If the PST is not used for a long time, unplug it and store it in a cool, dry, well-ventilated location. Do not scratch or otherwise damage the front windows of the PST Iris or Base. A scratched or damaged front window may cause measurement...
Page 8: Safety Notice
The maximum radiant intensity of the tracking system in the PST stays well below the ACGIH TLV for viewing distances of over cm from the tracking system. Nevertheless, PS-Tech recommends not to look di- rectly into the tracking system, in particular at very close distances (less than cm).
Page 9: Requirements
Requirements So tware requirements The PST so tware runs on the Microso t® operating systems Windows ®, Windows ® and Windows ®. The PST HD so tware is also available for Linux®. Hardware requirements Intel Core i processor or equivalent MB of RAM Free USB connections For a PST HD or PST Pico: two free USB .
Page 10: System Description
This manual covers the operation of all available types of PST optical tracking systems: the PST Iris, PST Base, PST Iris HD, PST Base HD and PST Pico. Figure . shows the PST Iris HD tracking system as an example. The PST is an optical mea- surement/tracking system that measures the D positions of either active or passive markers a ﬁxed to physical objects.
Page 11 Hz for the standard PST and Hz for the PST Pico. The PST Iris and PST Base can be triggered externally, such that it can be syn- chronized to external clock sources. This can for instance be used to prevent interference between the internal infra-red ﬂash and shutter glasses that are...
Page 12: Setup
Figure . : A PST Base HD depend on the choice of lenses and the model of mounted on a tripod. the PST (details can be found on the PS-Tech web- site). Default coordinate system The PST reports the D position and orientation of each tracking target in a...
Page 13: Pst Iris And Pst Base Connections
. . PST Iris and PST Base connections and orientation of this coordinate system is deﬁned relative to the PST unit. Figure . shows how the default reference coordinate system is deﬁned with respect to the PST. If the PST is positioned horizontally, facing the user, the x- axis points to the right (red), the y-axis points up (green), and the z-axis points in the direction of the user (blue).
Page 14: Pst Pico Connections
. . PST Pico connections Trigger output The right BNC connector can be used to synchronize an external system to the internal triggering of the PST. Figure . : The PST back panel. Figure . : The PST HD back panel. PST Pico connections Figure .
Page 15 . . Connecting the PST to your computer Figure . : The PST Pico back panel. Note: Using a USB hub in combination with the PST HD might prevent the PST HD from reaching the maximum Hz frame rate. The PST client so tware provides an easy way to connect to the PST. On start up, the so tware automatically searches for all connected PST units and connects with them.
Page 16: Turning O F The Pst
. . Turning o f the PST ware and USB drivers ﬁrst. This ensures correct detection of the system. Install the so tware following the instructions on the screen. . Secure the PST in a stable position by using, for instance, a tripod. .
Page 17: Target Construction
Target construction Tracking targets are physical objects that can be recognized by the PST and for which the D position and orientation can be determined. Just as a mouse can be used to position a pointer in D, a tracking target can be used to position an object in D with six degrees of freedom ( DOF).
Page 18: Retro-Reflective Markers
. . Retro-reﬂective markers Retro-reﬂective markers Retro-reﬂective markers are applied to objects to transform them into tracking targets. The PST uses these markers to recognize objects and to determine their pose. In order for the PST to be able to determine the pose of a target, at least four markers have to be applied.
Page 19 . . New target creation New target creation New tracking targets can be easily created. The procedure below can be used for both retro-reﬂective markers as well as for active markers. However, when designing an active tracking target, take into account that active markers will require a power source and electronics.
Page 20 . . New target creation care should be taken to ensure optimal performance: For the PST to identify and track an object, it should always have a clear sight of at least four markers on the object. Therefore, it is important to ensure that at least four markers are visible from each viewing angle.
Page 21 Using the PST Connecting to the PST Connect the PST (see Section . ) and check that the status LED on the front turns on. When the PST SDK has been installed together with the PST So tware, start the PST Server from the start menu. Then start the PST client so tware. The main window will appear.
Page 22 . . Camera images “Specify Location”: manually specify the directory where the required ini- tialization ﬁles can be found. “Specify Files”: (advanced) manually specify the individual initialization ﬁles for the le t and right PST camera. “Cancel”: cancel the initialization and close the PST client. When no internet connection is available, choosing the “Download”...
Page 23 . . Tracking the tracker and to accurately setup the system to cover a certain workspace. The camera images can be viewed by opening the “View” menu and selecting “Cam- era images”. A window as shown in Figure . is opened. Note that the viewing of the camera images is intended only for setup and veri- ﬁcation purposes.
Page 24 . . Tracking user can change which targets are tracked by clicking the checkmark in front of the target name. The PST is immediately updated when the list is changed. In the last column of the target list a target identiﬁer is displayed.
Page 25 . . Tracking gets stronger when moving further away from the PST. To counter these e fects the pose of each reported tracking target can be ﬁltered using a motion ﬁlter. The strength of the position and orientation ﬁltering can be adjusted by moving the slider between zero and one, where zero means no ﬁltering and one means maximum ﬁltering.
Page 26 . . Training Right mouse button and drag up/down: zoom in/out. Note that the tracking view serves only as feedback to the user to check if targets are tracked properly. Training The training page is selected by pressing the “New target model” tab in the main window (see Figure .
Page 27 . . Training points corresponding to the visible markers. An example training ses- sion is shown in Figure . . The colors encode the di ferent markers in the target model. Grey cubes indicate that a previously visible marker is occluded and its position is being predicted by the PST.
Page 28 . . Model editing Figure . : Example of an object and its trained model Model editing The target models present in the target list can be edited. The model editing page allows the user to alter properties of a model, such as its name and ref- erence coordinate system location and orientation.
Page 29 . . Model editing dicates if the PST should track the target. Any changes to these parameters are not applied directly, but need to be committed by pressing “Save changes”. A tracking target can be erased by pressing “Remove”. Please take care using this function is permanent: once removed, a target will have to be retrained (as described in section .
Page 30 . . Model editing mine the origin of a tracking target by pivoting the tracking target around the desired origin. The procedure to establish a new target origin using the “Register Origin” option is as follows: . With the target model selected, click the “Register Origin” button. This will open a new dialog.
Page 31 . . Multi-PST setup Multi-PST setup Note: The PST HD and PST Pico are not able to work in a Multi-PST setup. Multiple PST systems may be connected and can work together in the same en- vironment. This may serve two purposes: Reduce problems with occlusion, i.e.
Page 32 . . Multi-PST setup Figure . : Possible setup with four PST units the registration device is clearly visible to the trackers and that the mo- tion is smooth. During recording, the data is plotted as trajectories in di ferent colors representing each PST. Figure .
Page 33 . . Multi-PST setup still be incorrect. Check that all PST units have a set of D points, drawn in a di ferent color for each unit (see Figure . ). Figure . : PST client in registration mode Figure . : Registration results .
Page 34 . . Reference coordinate system the registration. An error below . can generally be considered a good value. In case the PST is not tracking objects properly a ter registration, or if the recorded point trajectories are not neatly placed on top of each other, the fac- tory default calibration of every currently connected PST can be restored by pressing “Reset”.
Page 35 . . Reference coordinate system Figure . : Select reference device dialog When no reference device is available the option “None” can be selected. The selected reference device will show up in the target list as “Reference”. Reference target Important: Do not throw away and store carefully.
Page 36 . . Reference coordinate system The live view also shows a grid with the current reference coordinate system. The next step is to bring the target to the desired location within the workspace. Once the coordinate system deﬁned by the target is positioned at the desired location, press “Set reference”.
Page 37 Communicating with other systems The PST uses a proprietary interface to communicate its tracking data to the computer over the USB connection. An application that needs the tracking data can communicate with the client tracking so tware using di ferent interfacing options.
Page 38 . . SDK The PST So tware Development Kit (SDK) is installed by selecting the “PST SDK” component during installation. Installing the PST SDK creates a Development directory in the installation folder containing all the required ﬁles and docu- mentation for using the PST SDK. Extensive documentation on the API and how to use the SDK can be found in the “PST SDK Manual”...
Page 39 . . VRPN n: An ASCII string containing the target name. : The position of the target (meters). With a x, y, z . α, β, γ: Rotation of the target deﬁned in Euler angles (degrees). The number of marker positions (integer) For each marker found, the following data is reported: [i] [p where:...
Page 40 . . DTrack emulation DTrack emulation The DTrack emulation interface is a communication layer that enables users of A.R.T. tracking systems to transparently exchange their tracking system with a PST. The DTrack emulation interface can send tracking data to one or more clients.
Page 41 . . trackd q: Quality value (not used). : Marker position (meters). With a x, y, z 6dcal <integer> The number of tracked targets. The convention for the Euler angles is: ( . ) R = R (α)R (β)R (γ) with: (α) = 0 cos α...
Page 42 Troubleshooting . Problem: Unable to turn on the PST. Possible cause: The power is not connected properly. Remedy: Connect the power adapter included with the PST to the power input of the PST unit and a suitable wall socket. . Problem: The status LED does not turn on. Possible cause: The power cable or USB cable is not connected properly.
Page 43 Remedy: Start the PST Server manually from the start menu before start- ing the PST Client. . Problem: Conﬁguration information is not saved properly when using the PST REST server (e.g. frame rate, target status, reference system). Possible cause: File access rights to PST conﬁguration ﬁles might not be set correctly while using a non-admin Windows account.
Page 44 A JSON Model Deﬁnition In order to provide a human readable alternative for the binary psm target model ﬁles, models can be exported and imported as a JSON ﬁle. This enables inspecting and editing trained target models, as well as creating new target models manually from scratch.
Page 45 Note: When creating a custom target model, the uuid string should be re- moved. Furthermore, when it is not known which markers will be visi- ble at the same time, the edges array can be removed as well. In that case, the PST client will assume all markers are potentially visible at the same time and create a fully connected visibility graph.