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DTrack2 User Manual v2.11.0

1. E P gt Cascaded System Settings a fms V scan LAN Selected Available Name IP Name IP atc 00006 10 10 5 8 Select atc io 10 10 5 16 Update slave hostname or IP address Tr V wake on LAN shutdown and reboot will be redirected to all connected slaves f ok Cancel Figure 4 20 Cascaded System Settings Click on the desired Controller and press Se ect in order to add it to the cascade Repeat these steps if you want to add more single controllers to the cascade Make sure that the checkbox wake on LAN is ticked This option will enable synchronized starting and shutting down of the master and all slave controllers Starting of the cascade will take 3 4 minutes as the master has to boot up first and then wake up the slave s If the option wake on LAN is not ticked the slave s WILL NOT be started or shut down automatically The changes will be accepted by the system if you press OK Settings e g flash in tensity sync groups of all cameras inside the cascade can now be edited through the Settings Cameras dialogue The next time you start the measurement all cameras 62 4 4 Setting up the Hybrid Motion Capture System inside the cascade can be viewed through the Monitor 2DOF display for synchronization has been established between master OUT1 and slave s EXT In Now you can proceed with calibrating the room as usual Please refer to cha
2. 70 4 5 1 2 Installation guide LINUX 6 en we eee ee ea we ws 71 Ce Ee A etek Be BO we a ee 72 4 5 1 4 Start DTrack2 frontend software 72 5 6 4 5 1 5 Connecting to the controlle 4 5 1 6 Adjustment of the cameras 4 5 1 7 Localizing and removing of disturbing reflections r 4 5 2 Room calibration oaoa a a a a a a a a 4 5 3 Body calibration oaa eh oe ce Soe Soe w eed 4 5 3 1 larget Library 0c eed ae ee es Stee ot ee ae ee 4 5 4 Body adjustment 6 2 2 0 468684 ese ee Re ee eee Ss 4 5 5 Filtering options in DIlrack2 02 220005 4 5 6 Menustructure 2 2 20 2 2 00 2 ee ee ee 4256 1 OVERVIEW 2 ok eo ee OE a ew we ae ee ee eee a ae re jg Je Mogae Cia ale G ak eek a 4 5 6 4 Menu Calibration 0 0 0 2 0 008 2 4 5 6 5 Menu Display 524 se O45 Shacks ee See ees 4 5 6 6 Menu lools 2 0 0 0 0 ee a 4 5 6 Menu About saa lala amp Hoek Rok a ee ke ad ae ee Interaction devices Didi PIYSUCKZ s amp se a a a ani e eee Goa Gre Ne oo oe Oud oe Shae a Se Bee FIVSUCKON a aca mt a ere ee eo cede ms Boe ie BS ne te ae oe ee ee 4h bh delet ee hw ake ee ak Pe ew 5 4 Measurement Tool 2020222 0 22 eee eee eee Frequently asked questions FAQ 6 1 BACKUP s s Se Cob eee a ka G deep ae eee eae oe Se oe oe 62 C meras i mama dose ayo tia Ge ee ah i Be ae we Ne eae bn oes 6 3 C
3. Performance Sensor resolution 1 3 MPixels Frame rate up to 300 Hz Field of view FoV Lens Camera mode Resolution Medium Speed 1 3 MPix 0 8 MPix 0 5 MPix 150 Hz 240 Hz 300 Hz F 3 5mm FoV horizontal x vertical 98 x 77 77 x 57 60 x 44 Max tracking range 5 5m 5 5m 5 5m 12mm markers F 4 5mm FoV horizontal x vertical 75 x 60 60 x 45 47 x 35 Max tracking range 6 3m 6 3m 6 3m 12mm markers F 6 0mm FoV horizontal x vertical 54 x 44 44 x 33 34 x 26 Max tracking range 7 5m 7 5m 7 5m 12mm markers Connectivity amp Power Supply single cable solution via Gigabit Ethernet RJ45 PoE IEEE 802 3at Standard max cable length 100m Voltage 44 57 V defined by the Standard max power consumption 17W Protection category ll Interface connectors RJ45 hosts data synchronization and power Operating conditions Temperature 0 38 C 183 A Technical specifications 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 Camera mode Resolution Medium Speed 1 3 MPix 0 8 MPix 0 5 MPix 150 Hz 240 Hz 300 Hz F 4 0mm FoV horizontal x vertical 89 x 71 71 x 52 56 x 42 Max tracki
4. EUROPEAN DECLARATION OF CONFORMITY STATEMENT 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 2006 95 EC Low Voltage Directive IEC 60950 1 A2 2013 EN 60950 1 A2 2013 2004 108 EC EMC Directive EN 55022 2010 EN 55024 2010 EN 61000 3 2 2006 A1 2009 A2 2009 EN 61000 3 3 2008 Weilheim i OB 14 11 2014 4 4 Dr A Weiss Managing Director Advanced Realtime Tracking GmbH Am ferl6 82362 Weilheim i OB Germany 175 N Se ab Q q9 io 7 General Information ARTP gt Advanced Realtime Tracking MANUFACTURER S FEDERAL COMMUNICATION COMMISSION DECLARATION OF CONFORMITY STATEMENT Advanced Realtime Tracking GmbH declares under its sole responsibility that the product ARTTRACKS5 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 2 this device must accept any interference received including interference that may cause undesired operation Weilheim i OB 14 11 2014 Dr A Weiss Managing Director Advanced Realtime Tracking GmbH Am Oferl6 82362 Weilheim i OB Germany 176 7 4 Declaration of conformity
5. Output The cameras have to be plugged in to the RJ45 connectors Synchronization and power is supplied with this connection e Firewire Please connect the TRACKPACK cameras with the controller using the delivered Firewire cables e USB port Please plug in the USB radio transceiver for the Flystick2 3 here refer to chapter 5 1 on page or chapter 5 2 on page 130 e Ethernet port Please connect the controller to your local network using an RJ45 cable 52 4 2 The Controllers of ART For connecting the TRACKPACK controller to your local network please refer to figure 4 15 on page 50 You may either use the controller as a DHCP client within your network figure Risse the tracking data is transmitted directly via your local network If due to your company security guidelines it is not allowed to connect the controller directly to your network you may install two network cards in your remote PC one is connected to the controller and the other one is connected to your local network figure 4 15 b In that case the DTrack2 Frontend will act as a router for the tracking data The controller is controlled by a remote PC via DTrack2 frontend software When deliv ered the controller is set up to support DHCP Connect the Ethernet cable to your local network and connect the power plug to a power socket If you want to set a specific static IP address before booting the controller please refer to chapter 4 2 4 on page 54 for m
6. Output You can either select this computer remote PC or enter an IP address of another computer you want to send data to By ticking the checkbox 6of2 you can define the Flystick data to be transmitted Please refer to chapter 4 5 6 3 0n page for more details Press Start to start the measurement In order to see the tracking data you have to enable the Flystick display by clicking Display Flystick 127 5 Interaction devices 5 2 Flystick3 The batteries must be removed before shipping the Flystick3 other wise the radio transmitter could be started by shock or vibration Description The Flystick3 is a lightweight input device for ART infrared optical tracking systems a active target discontinued b passive target standard Figure 5 6 Flystick3 Top view status LEDs green pulse gt button pressed or joystick position suc cessfully transmitted yellow pulse button pressed or joystick position could not be transmitted yellow flash low battery recharge soon ing trigger button press the trigger or any button to invoke an interaction which can and joystick be defined in the user application e g drag objects while button trigger pressed open a menu dialogue Table 5 3 Description of the Flystick3 It is equipped with an active or passive target a trigger three buttons and an analogue joystick for wireless interaction in a virtual environment Like with the Flystick2 all
7. especially the toothed washer is quite important You shall never open other screws on the cameras see chapter 1 2 on page 11 Otherwise the camera may be damaged and liability and warranty is void Please keep the distance between the cameras in a range of 2 to 3 metres Please con tact ART for more information Make sure to install the system in a way that you can easily access the cameras and its cables Be especially careful to mount the cameras firmly so they cannot fall down Unsecured cameras may pose a serious hazard to health and safety cilities might become necessary in that case A Avoid hard shocks at all times A new camera calibration at the AAT fa Use strong dowels and screws for mounting the cameras to walls or ceilings see figure 4 3 on page 27 If in doubt ask a skilled craftsman for assistance Use massive and long enough angle irons to provide the required stiffness and stability 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 42 4 2 The Controllers of ART are ok Please install the cables such that e no one can stumble over the cords e the cords cannot be damaged e the cords cannot damage the cameras due to mechanical strain e the line of sight of the cameras is not obstruc
8. 0 6461 0 0294 0 7627 0 0779 0 9915 0 1042 0 7593 0 1268 0 6383 9 2 18 5 52 0 27 8 65 0 46 3 30 1 52 2 39 9 0 4985 0 0406 0 8659 0 1099 0 9879 0 1096 0 8599 0 1499 0 4880 6 7 13 4 50 7 20 1 63 3 33 6 Additional Informations An optional extra output line with own identifier carries the number of defined hands Example one line glcal 1 209 B Technical Appendix 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 e The first number is the number of tracked additional markers e Blocks two consecutive follow for each marker id qu sp sy sz They contain ID number id starting with 1 and a quality value qu still unused and the position s Example one line 3d 6 79 1 000 210 730 90 669 108 554 83 1 000 61 235 165 625 3 217 87 1 000 123 633 107 836 0 110 88 1 000 212 383 133 640 77 199 90 1 000 326 455 187 055 109 589 91 1 000 303 185 239 771 114 861 B 2 12 Additional Informations Identifier 6dcal Optionally the number of the adjusted bodies not only of the tracked ones can be included in a data set This is done within an additional line like 6dcal 3 Note that this number does not include all calibrated bodies In particular it counts the calibrated bodies that show up in the output lines 6d 6df and 6dmt 210 Lis
9. 7 General Information UCB 10 10 182 p lt oO re _ ce bu 2 oa lt re pe cc kd 2 s x gt zi ou 25 fH I 27 ow o ZERTIFIKAT CERTIFICATE gt America CERTIFICATE No U8 14 09 52228 010 Holder of Certificate Advanced Realtime Tracking GmbH Am Oferl 6 82362 Weilheim GERMANY Production 52228 Facility ies Certification Mark Product Computer Model s Controller Parameters Rated voltage 100 240 VAC Rated frequency 50 60 Hz Rated current 4A Protection class l Tested UL 60950 1 2007 according to CAN CSA C22 2 No 60950 1 2007 The product was voluntarily tested according to the relevant safety requirements noted above It can be marked with the certification mark above The mark must not be altered in anyway This product certification system operated by T V S D America Inc most closely resembles system 3 as defined in ISO IEC Guide 67 Certification is based on the T V S D Testing and Certification Regulations T V S D America Inc is an OSHA recognized NRTL and a Standards Council of Canada accredited certification body Test report no 028 713041124 000 p pag Date 2014 09 09 G Page 1 of 1 A Technical specifications lt The specifications are subject to change without notice lt x 2s A 1 Cameras Q A 1 1 ARTTRACK5 amp IR Source invisible IR 850nm flash intensity adjustable in 100 steps
10. Press Scan and the system will identify all sensors in range Expect 15 inertial sensors for a complete ART Hybrid Motion Capture suit Tick the checkboxes of all sensors to be added to the configuration in the column Accept or add all sensors by ticking accept all Then press Apply and exit this dialogue 64 4 4 Setting up the Hybrid Motion Capture System P Add Sensor s ge santat accept all Device ID Model Channel Accept 1 WKFUF Colibri Wireless 35 2 WIPCHBH Colibri Wireless 55 __sen__ Ay Scanning channels done scanning Giannels 100 Exit Figure 4 22 Add Sensors ART delivers a pre calibrated hybrid motion capture suit i e both the optical target geometry as well as the HBC result are stored directly A on the sensor Unless the hybrid target is disassembled or becomes damaged it is sufficient to identify and add all sensors using the menu Settings Inertial Sensors Add Sensors There is no need to cali brate the targets manually The dialogue nertial Sensor Settings see figure 4 21 on 64 now shows all available dongles and sensors with the following properties e Device ID wireless icon e Model e g Colibri Wireless Name targets from Hybrid Motion Capture suit or user defined st ab Q k Firmware Version Currently used channel default 35 55 with this menu you can also change the radio channel of a single sensor Wake up m
11. 9 9 16 H 4 ms Delay Number of Targets 4 markers each 192 A 6 System latency TRACKPACK E TP E delays with 8 cameras 22 7 7 1 1 MPix 0 7 MPix oh 20 8 20 1 0 5 MPix a Zo 2 iia A aha 48 18 8 16 J E isa 15 6 gt 14 15 qd 1 v 13 6 a 13 2 4 12 1216 ri 12 2 11 2 10 8 10 10 8 T i T 0 5 10 15 20 Number of Targets 4 markers each lt x Z O Q a G lt ARTTRACK2 discontinued 20 2xARTTRACK2 4xARTTRACK2 gt 6xARTTRACK2 19 5 8xARTTRACK2 delay ms 16 5 o 5 10 15 20 number of tracked targets ARTTRACK3 discontinued 20 2xARTTRACK3 4xARTTRACK3 19 5 f 19 F delay ms 16 5 o 5 10 15 20 number of tracked targets 193 A Technical specifications TRACKPACK discontinued 22 2xTRACKPACK 2xTRACKPACK C 4xTRACKPACK 21 5 F 4xTRACKPACK C 21 20 5 20 delay ms 19 5 19 18 5 18 TRACKPACK Cascade discontinued 194 delay ms 5 10 15 20 number of tracked targets 22 21 5 f 2i f 20 5 20 19 5 19 18 4xARTTRACK2 amp 2xTRACKPACK C 4xARTTRACK2 amp 4xTRACKPACK C lt 2xTRACKPACK C amp 4xTRACKPACK 4xTRACKPACK C amp 4xTRA
12. ARTP gt Advanced Realtime Tracking EUROPEAN DECLARATION OF CONFORMITY STATEMENT 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 2006 95 EC Low Voltage Directive IEC 60950 1 A2 2013 EN 60950 1 A2 2013 EN 55022 2010 EN 55024 2010 2004 108 EC EMC Directive Weilheim i OB 11 12 2014 p a A Dr A Weiss Managing Director Advanced Realtime Tracking GmbH Am Oferl6 82362 Weilheimi OB Germany 177 N Se ab Q q9 io 7 General Information ARTP gt Advanced Realtime Tracking MANUFACTURER S FEDERAL COMMUNICATION COMMISSION DECLARATION OF CONFORMITY STATEMENT 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 2 this device must accept any interference received including interference that may cause undesired operation Weilheim i OB 11 12 2014 t Dr A Weiss Managing Director Advanced Realtime Tracking GmbH Am Oferl6 82362 Weilheim i OB Germany 178 7 4 Declaration of conformity ARTP gt
13. a 7 6df2 Flystick gl Fingertracking hand ke E gl Fingertracking hand E gical number of calibrated Fingertracking hands gical number of calibrated Fingertracking hands 6di 6D inertial body 6df Flystick old E act as router for tracking output only available if activated in Flystick settings checkbox use old output Cx cancel D format L Figure 4 46 Output settings Table 4 13 Output identifiers When using the timestamp please note the remarks on accuracy in chapter B 2 2 on page 203 In total up to 5 UDP channels for DTrack2 data output can be configured Tick the check box this computer to send data to the remote PC you are currently working at If you want to send data to any computer within your local network just enter the IP address of the re ceiver and a port number In addition it is possible to define a multicast output By ticking 105 4 System setup this checkbox the UDP data is sent to a group of addresses in the range of 224 0 1 0 to 239 255 255 255 In order to reduce the data of the UDP output data stream you may set the send data divisor to values from 1 to 10 The numbers have the following meaning e 1 every frame is transmitted e 2 every second frame is transmitted e 10 every tenth frame is transmitted The UDP output data may be routed by DTrack2 by ticking the checkbox act as router for tracking output This func
14. All cam A tance eras are assigned to the Exempt Group according to IEC62471 1 and therefore pose no risk or hazard to the human eye or skin at this dis To be on the safe side always double check if the markers of the target are seen properly by the cameras Therefore please use the Monitor 2DOF view e markers coloured in red are characterized by bad circularity small size or low inten sity this may result in poor tracking quality e markers coloured in yellow offer a good tracking quality e markers coloured in green offer a very good tracking quality 98 4 5 DTrack2 frontend software Increase the flash intensity until all markers are yellow or green recommended Syncgroup For ARTTRACKS5 ARTTRACKS C and TRACKPACK systems it is possible to configure the syncgroups via software You may change the syncgroups either on the All Cameras tab or on the one of the respective camera Possible values are Channel 7 Channel 2 or Channel 3 These settings correspond to the three syncgroups which can be setup via hardware daisy chain cabling for ARTTRACK systems Global camera mode ARTTRACK5 ARTTRACK5 C and TRACKPACK E only To switch the cam era mode select the appropriate entry e g 7 3 Mpix max 150 Hz Dependent on your application needs this function can give you access to e higher frame rates e lower latencies i e delay times approx 5 ms 0 5 Mpix Please refer to chapter A 6 on page 192 for
15. D 82362 Weilheim i OB Germany 49 0 881 92530 00 amp 49 0 881 92530 01 f http www ar tracking de What s new in version v2 11 Following a short overview of the main new features in DTrack2 version v2 11 e Support of new TRACKPACK E cameras with Controllers including Synccard3 see e g chapter 4 1 3 0n page 31 e Support of new ARTTRACKS5 C cameras for cave installations with Controllers in cluding Synccard3 see e g chapter on page 28 e Improvements of usability of Hybrid Motion Capture see chapter 4 4 on page 63 What s new in version v2 10 Following a short overview of the main new features in DTrack2 version v2 10 e Support of ARTTRACKS5 cameras with Controllers including Synccard3 see e g chapter on page 25 e Support of external sync source TTL signal both edges see e g chapter 4 5 6 3 on page 100 e New license model see e g table 4 3 on page 76 What was new in version v2 9 Following a short overview of the main new features in DTrack2 version v2 9 e Support for Hybrid Motion Capture chapter 4 4 on page 63 e Improved filtering options chapter 4 5 5 on page 90 e Support for 5DOF targets chapter 4 5 3 on page 83 e Support for ring markers chapter 3 1 on page 16 Contents Terms and d finitions ww ee ee ew 9 1 Safety 11 1 1 Symbols and their meaning o a 11 1 2 Safety warnings o oo 0 00 eee ee 11 14 3 Markers and targets
16. In order to see the tracking data you have to enable the Fingertracking display by clicking Display Fingertracking Resetting finger tip sequence The Fingertracking hardware will compensate short sync losses internally but in rare cases the sequence of the fingers can be lost after sync problems To regain the correct sequence the hand must be kept still with all fingers stretched and the thumb pointing to the side The system then automatically resets the correct finger tip order When using two hands both hands have to be separated by at least 50 cm This procedure also should be used when the Fingertracking tool has been removed from the hand and is being reused again by the same user Display tool Fingertracking Viewer The Fingertracking Viewer is a small graphical tool which shows the hand and finger position It can be installed on the PC that receives DTrack2 data After starting the viewer click the Go Online button and specify on which data port the viewer has to listen then click OK to connect the viewer to DTrack2 Afterwards choose the Hand ID you want to display If this ID is tracked or not is shown by the light right next to the Hand D setting green tracked red not tracked Then click on one of the hand signs to see your tracked fingers To start a small demo showing the handling of a virtual object press the Demos button this opens the demos menu You have a small number of simple demos available e g you can han
17. Room adjustment Shift F5 Adjust room coordinate system Body F6 Body calibration Body adjustment Shift F6 Adjust body coordinate system Hybrid Body Determine the relative rotation between optical and in ertial sensor Fingertracking Start calibration process for Fingertracking i e hand 92 Measurement Tool geometry Start tip calibration process for the Measurement Tool 4 5 DTrack2 frontend software Display Shortcut page Monitor 2DOF Graphical display of markers recognized by the cam eras monitor 2DOF view Data F10 Display measurement results 6DOF and or 3DOF Fingertracking Display Fingertracking measurement data Flystick Display Flystick measurement data Measurement Tool Display Measurement Tool data Events Display event messages generated by DTrack2 Set to default Reset the shown displays to default Tools Shortcut page Controller Update Start the assistant for the controller update Measurement Tool demo Provides a convenient way to perform measurements either by pressing a button or by performing a gesture with the Measurement Tool About Shortcut page DTrack2 Frontend software version Controller Backend software version What s new Overview of the new features What s this Shift F1 Help Table 4 7 DTrack2 menu structure overview wz 4 5 6 2 Menu DTrack2 ro g O DTrack2 Shortcut i fe Licenses Configurations Start Stop M Search hardware F2 Controller standby Controller reboot Quit Q
18. also note the imprinting lt lt INSERT lt lt on the battery pack Apply the cover of the battery compartment again and fix the screw i The battery pack includes 3 standard AAA rechargeable batteries The polarity of the batteries is indicated inside the battery pack The rechargeable batteries must be inserted into the battery pack in the in dicated polarity Dispose used batteries according to governmental regulations life cy cle approximately 2 years A Risk of explosion if battery is replaced by an incorrect type Charging jack The charging jack is at the bottom of the handle and has to be connected with the supplied battery charger By connecting the battery charger the Flystick2 electronics are disconnected to prevent damage Thus the Flystick2 cannot be used during the the charging process 125 5 Interaction devices Figure 5 5 Charging the battery of the Flystick2 The rechargeable batteries may only be charged with the supplied charger To ensure long battery life do not let the batteries become discharged completely Recharge whenever convenient Do not charge for gt 24 h Battery charger A battery charger is supplied with the delivered Flystick2 and must be used for charging the batteries For your convenience the battery pack may remain inside the Flystick2 for charging However during the charging process the Flystick2 cannot be used As soon as the battery pack is connected to the charge
19. cascaded systems license as well as a sufficient license for ALL cameras inside the cascade i e 16 cameras The TRACKPACK system discontinued can also be extended up to 16 cameras how ever more equipment is needed in this case One separate ARTTRACK Controller with a license for cascaded systems is needed to merge the data output streams of the separate stand alone TRACKPACK systems into one single stream Please refer to chapter 4 3 on page 58 for more information Which upgrade possibilities do have Please refer to table 4 1 on page 44 145 Chapter 6 6 Frequently asked questions FAQ 6 3 Controller gt 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 Please refer to chapter 4 2 on page 43 for more information gt cannot find my controller What can I do e Please make sure that the controller is connected properly to the Ethernet network e Switch on the controller e lt is possible that your controller has become unreachable due to wrong IP settings wrong IP address or IP address area etc Please refer to chapter on page e In case you are using a firewall please do not block D7rack2 communication For more information please also refer to chapter page 48 or chapter page 53 What is
20. internal video ttl ttlinv or ttlboth frequency Hz change the frequency in an interval of 10 Hz up to 300 Hz only for internal synchronization and dependent on camera mode when using ARTTRACK5 or TRACKPACKY E divisor for external signal reduce the tracking frequency only for external synchroniza tion Delay us configure the delay between the syncgroups 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 4 11 Overview of validated shutter glasses Inertial Sensor In this dialogue all available wireless transceivers dongles are shown Furthermore it is possible to set the frequency the sensors are operating at default 100 Hz Additionally all inertial sensors that have been previously added to the DTrack2 con figuration are listed with the following properties e Device ID wireless icon e Model e g Colibri Wireless e Name targets from Hybrid Motion Capture suit or user defined e Firmware Version st 2 ab Q re cS e Currently used channel default 35 55 e Wake up mode radio tapping USB button e Battery level e Temperature only during measurement The default channels for all dongles and sensors are 35 and 55 In case these WLAN frequencies are alrea
21. 000002 eee 95 4 45 Flexible Body Administration from DTrack2v2 9 0 103 4 46 Output settings eee 8S ES ee RG Me ee SO ee eS ee 105 4 47 A room calibration set consisting of angle and wand 111 4 48 Defining the coordinate system for the room calibration 112 ob hSRG oR ERM Se Bee ee GaSb ee 113 Del JIVSUCKA aie ce eee G Ke eee ee ee ee eRe ee ee 122 5 2 Flystick2 controlelements 2 00002 eee eee 123 5 3 USB Radio Transceiver3 264 se beh eee ee ee ee OS ee ee 125 5 4 Flystick2 inserting the battery pack 0 125 5 5 Charging the battery of the Flystick2 0 126 DO KINSICKE trie a E kee eke ed Bee wen 128 5 Flystick3 control elements 0 000050502 ee 129 5 8 The Fingertracking device 02 a 134 5 9 Fingertracking handtarget 00 000 eee eee eee 134 5 10 Modelofahumanhand 02200000 135 5 11 Comparison of the finger thimble sets AR and VR for Fingertracking 136 5 12 Inserting the battery io ake ee a eee ew OS OR Ew Oe Ow es 137 5 13 Connecting the finger LED connector with the hand target 138 5 14 Using the 5 finger AR finger thimble set 0 139 5 15 Measurement lool aoaaa aa ee 141 B 1 Allocation of ID number to the Flystick buttons 199 B 2 Model ota human hand 5 cucn coe eee dt ee be eee Pe eee 201 212 L
22. Am Ofer 6 82362 Weilheim GERMANY Certification Mark Product Scanner IR Tracking Camera The product was voluntarily tested according to the relevant safety requirements noted above It can be marked with the certification mark above The mark must not be altered in anyway This product certification system operated by TUV SUD America Inc most closely resembles system 3 as defined in ISO IEC Guide 67 Certification is based on the TUV SUD Testing and Certification Regulations TUV SUD America Inc is an OSHA recognized NRTL and a Standards Council of Canada accredited certification body Test report no 028 71317852 200 Date 2012 10 16 J pza Page 1 of 2 UCB 10 10 CERTIFICAT CERTIFICADO j lt x S a ss i IE IE pal v CERTIFICATE ZERTIFIKAT CERTIFICATE No U8 12 10 52228 006 Model s Parameters Tested ARTtrack 3 Type Rated voltage Rated power Weight Protection class Options Type Rated voltage Rated power Type Rated voltage Rated current Type Rated voltage Rated current Type Rated voltage Rated current 7 4 Declaration of conformity ARTtrack 3 48Vdc max 25W 1 5 kg Flystick2 Basisstation 24Vdc max 10W Flystick2 3 6Vdc 33mA supplied by battery pack Flystick3 5 0Vdc 150mA Charging Unit 5 3Vdc 1 0A UL 60950 1 07 2011 according to CAN CSA C22 2 No 60950 1A 0
23. DTrack2 itself is delivered via USB pen drive or can be downloaded in the latest version from our Download Center at http www ar tracking com support 4 5 1 Getting started Please refer to chapter A 5 on page for more information on supported operating systems 4 5 1 1 Installation guide Windows Run the installation executable DTrack2_v2 x x_win32_install exe and the installation wizard of DTrack2 starts z mn gt DTrad2 Setup bo Welcome to the DTrack2 Setup Wizard AR I gt This wizard will guide you through the installation of DTrack2 ed Realtime Trav It is recommended that you dose all other jons before starting Setup This will make it possible aes jate P ort aesa Rea maheuthaeg tsrehoot your Click Next to continue and to start the installation compute kpaa process for ART DTrack2 software Administra be tor rights are not necessary e J n gt DTrack2 Setup Ss Choose Install Location Choose the folder in which to install DTrack2 z enp Mi reas Ores he following folder To install in a different folder dick Browse select another folder Click Next to continue Now please choose the destination folder in which you want to install DTrack2 Space required 64 6MB Space available 11 2GB C C j 70 4 5 DTrack2 frontend software gt oTred2seup i Emm License Agreement Please review the license terms before in
24. 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 60 4 3 Setting up cascaded systems ARTTRACK system 2 14 cameras EERE switch optional a TRACKPACK system max 4 cam TRACKPACK system max 4 cam Seen camera network Controller no specific license needed Controller no specific license needed data out data out option 3 option 1 a E Controller suivant p gt Firewire license for RIAS cascaded systems AND for total number of B gt Coaxial BNC 75 Q cameras Notes symbolic drawing reduced to data transmission and synchronization total number of cameras in cascaded system max 16 Figure 4 19 Principle of cascading using the LAN option 1 or the internal camera net work option 3 master ARTTRACK controller discontinued The master controller is controlled by a remote PC via DTrack2 frontend software When delivered controllers are set up to support DHCP When building cascades via LAN op tion 1 see 4 18 on page 60 they will acquire an IP address automatically given that a DHCP server is running If you want to set a specific static IP address before booting the controllers please refer to chapter 4 2 4 on page 54 for more information If t
25. Hybrid Bodies As requirement for the following steps it is necessary to warm up the sensors to operating temperatures and to maintain a constant temperature during the calibration Otherwise the measured data and thus the calibration will have poor quality Additionally please double check that all sensors have been charged to at least 30 before you continue You can simply use the button Warmup start in the dialogue nertial Sensor Settings see figure 4 21 on 64 or in DTrack2 frontend top right and leave the process running for about 5 10 minutes The progress bar will stop at 100 progress bar turns green even though the warming up of the sensors continues This shall guarantee that the sensors work continuously until the calibration and the actual measurement take place Otherwise they would cool down again Administration of the bodies Within DTrack2 go to Settings Body Administration see figure 4 45 on page 103 All ART pre calibrated targets have their corresponding optical target geometries stored inside the inertial sensor Thus when adding the recognized inertial sensors all corresponding target geometries are also added to the tab standard bodies in the Body Administration F8 Unknown or custom hybrid targets however will show up as not calibrated in the column Calibration At this point the desired optical target and the corresponding inertial sensor have to be matched according to their body ID and device I
26. Measurement Tool while keeping the tip still at exactly one position Note that the progress bar is not continuing if the pointing device is not moved sufficiently Please refer to chapter 5 4 on page 141 for more information 4 5 6 5 Menu Display Display Shortcut Monitor 2DOF Data F10 Fingertracking Flystick Measurement Tool Events Set to default Table 4 17 Menu Display Monitor 2DOF The Monitor 2DOF display essentially is a graphical display of the field of view of the IR cameras and of the markers that are seen by the cameras The Monitor 2DOF display shows a black window for each IR camera equivalent to the field of view with a schematic display of positions and sizes of all recognized markers In case several ARTTRACK cameras are being used in one system it will be helpful that the number of cameras shown in the Monitor 2DOF display can be adjusted From DTrack2 v2 8 1 you may use the slider cameras per tab in order to achieve clear ar rangement Tabs containing the remaining cameras will be added to the Monitor 2DOF display The special tab most active cameras contains these cameras which see the markers of the targets most of the time Example consider a four camera system with camera01 thru camera04 and you have set the number of cameras per tab to two Now if you move a target in front of camera02 and camera03 most of the time these two cameras will then be shown in the most activ
27. Radio Info to see if the ART radio transceiver has been recognized e Go to Settings Flystick and assign your Flystick to be found in the available Flysticks list to any Flystick ID gt Why is the pressing of the Flystick buttons not recognized within the graphics application e Make sure that the battery is charged Press any button of the Flystick and the orange status LED should be switched on e Go to Settings Flystick and assign your Flystick to be found in the available Flysticks list to any Flystick ID e Go to Settings Output and check if the data output is configured correctly data receiver defined send to identifier 60 2 selected if you are using the old output format identifier 6df selected 163 Chapter 6 6 Frequently asked questions FAQ What is the maximum number of Flysticks to be used simultaneously type max number Flystick1 3 Flystick2 5 Flystick3 1 Please double check that the targets of the Flysticks that are used simultaneously are not identical If doubts remain please contact ART What is the MultiUser option for Flysticks The MultiUser option is an enhancement especially for VR AR applications when working with more than one Flystick Please refer to chapter 5 1 on page for more information gt The Flystick output data is not transmitted Go to Settings Output and check if the data output is configured correct
28. Table 4 8 Menu DTrack2 Licenses The capability of the tracking system is defined by licenses which can be managed here You can add functionality for Fingertracking the Measurement Tool or Cascaded Systems by simply entering a license code which can be provided by ART see figure 4 43 If you want to add Fingertracking for example go ahead as follows 93 4 System setup e Select the feature Fingertracking Click on Hardware Info Contact ART and communicate the serial number of the synccard or the MAC ad dress of the Ethernet port dentification in order to receive a license code e Enter the license code you received from ART in the field new license code Click on Add license r P Licenses Lo mem N lt new license code j 2 gt Hardware Information a Add license qurrently installed licenses DTrack2 extended license can be bound to feoture Ses Hardware Identification Track basic supported Ethernet 54 04 A6 9A 12 FA DTrack2 extended peppered Ethernet 00 11 68 00 48 70 DTrack2 full featured supported Synccard2 00631 Fingertracking supported Measurement Tool not supported f l i L d a Licenses overview b Hardware information Figure 4 43 Managing the licenses The process is the same for other modules Configurations _ It is possible to create different configurations e g with different tar gets or fla
29. any button to invoke an interaction which can and joystick be defined in the user application e g drag objects while button trigger pressed open a menu dialogue Table 5 1 Description of the Flystick2 The output data consists of e position and orientation of the Flystick e status of buttons and joystick e number of used Flysticks Please refer to chapter B for more information about the format of the output data Control elements The numbering sequence of the buttons is as follows e 1 trigger e 2 4 blue buttons right to left e 5 pressing the joystick status LEDs button joystick trigger Figure 5 2 Flystick2 control elements In neutral position the joystick transmits x 0 y 0 123 5 Interaction devices e Moving left creates negative x values moving right positive x values e Moving down creates negative y values moving up positive y values e Full extension into any direction creates values of 1 0 or 1 0 The Flystick2 device provides all functions buttons trigger and joystick simultaneously In case you need to carry out a factory reset for the Flystick2 you just have to plugin the charger into the charging jack Radio module The Flystick2 uses a radio module in the 2 4GHz band This band is standardized internationally and can be used without a license Range with line of sight is more than 7m but can be reduced when passing material e g projection screens Radio Transceiver T
30. attached dongles have been found with correct device ID model name firmware version and channel see figure 4 21 on page 64 Please also check the frequency the sensors are operating at default 100 Hz At this point only dongles and no wireless sensors should be listed Otherwise continue reading in chapter 4 4 on page 66 The default channels for all dongles and sensors are 35 and 55 out of 80 In case these frequencies are already occupied by other devices lt in range e g WLAN connection problems may occur ART recom mends to scan for available channels and to select free channels ac cordingly Keep a minimum distance of 10 channels between dongles or from otherwise unavailable channels for optimum connectivity Next scan the available radio channels by pressing Scan available channels After com pletion the drop down menu in the column Channel will show a list of all available chan nels for each dongle The currently used channels are marked in bold digits while all not 63 st 2 ab Q i CS 4 System setup P Inertial Sensor Settings Be Add sensor wakeup Mode tapping v frequency 100Hz gt Device ID Model Name Version Channel Wakeup Mode Battery Temperature Delete DNBIEHO Dongle USB v5 0 55 S WIPCHBH Colibri Wireless v1 71 55 gt tapping gt GRD x DPFNKJN Dongle USB v1 50 35 v s WKIFLIF Colibri Wireless v1 71 35 gt tapping gt GRD x Sc
31. camera calculates tracking data and generates the data output stream compatible to TRACKPACK and TRACKPACK C exchange data with Flystick or Tactile Feedback used for calculating the relative positions of the IR cameras precalibrated stick carrying two markers The wand belongs to the room calibration set and is used to generate a virtual point cloud and to scale the system 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 These warnings have to be considered otherwise user and equipment could be endangered the equipment could be damaged or the function of the equipment is not warranted Safety warning for infrared radiation These warnings have to be considered otherwise users eyes could be endangered Table 1 1 Symbols and their meaning 1 2 Safety warnings SF Safe operation of the equipment is only warranted if the warnings in this manual and on the equipment are observed e Never use the equipment if any part looks damaged e Safe operation is not possible if the housing is damaged any fluid attains in the housing objects attain inside the equipment the equipment shows any visible faults smoke sparks fire smel
32. cameras firmly so they cannot fall down Unsecured cameras may pose a serious hazard to health and safety cilities might become necessary in that case A Avoid hard shocks at all times A new camera calibration at the AAT fa Figure 4 3 on page 27 shows the correct mounting for a camera to a wall with a carrier using the example of an ARTTRACK2 camera Make sure to not fall below minimal distance to the wall so enough room is left for the cables and to allow readjustment of the camera angles and maintenance Use strong dowels and screws for mounting the cameras to walls or ceilings see figure 4 3 on page 27 If in doubt ask a skilled craftsman for assistance Use massive and long enough angle irons to provide the required stiffness and stability 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 Please install the cables such that e no one can stumble over the cords 27 lt t 2 ab Q i CS 4 System setup e the cords cannot be damaged e the cords cannot damage the cameras due to mechanical strain e 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 shou
33. changes its colour to red and stops flashing Once the battery is fully charged the Charge LED changes its colour to green again Now the battery may be used Inserting the battery The Fingertracking hardware uses standard CAN NB 4L batter ies Two batteries and a charger are provided with each Fingertracking set Squeeze the battery in with the contact side first and then gently press the battery into the compartment until it snaps in Wireless synchronization The black sphere on top of the Fingertracking hand target is a receiver for the modulated infrared signal which is used for synchronization see figure 136 5 3 Fingertracking a Step1 b Step2 Figure 5 12 Inserting the battery 5 9 This coded signal can be generated by all ART tracking cameras except for ART TRACK7 and older ARTTRACK2 up to SN 320 cameras Active targets need synchronization in order to make sure that the IR LEDs are flashing at the proper time To ensure wireless synchroniza tion the following points should be observed e The camera which emits the modulated flash has to be in sync group 1 For ARTTRACK systems this means that the cam era has to be connected to the OUT1 output of the Synccard2 TRACKPACK systems may be configured via software refer to chapter Syncgroup on page 99 e Note that the synchronization will not work near plasma screens e If two or more tracking systems using wireless synchronization are in the same
34. e an active hand target for fixing on the back of the hand see figure 5 9 and table 5 4 Letters L and R indicate whether the hand target is dedicated for the right or left hand Wireless synchronization is provided with a modulated flash The low voltage power is provided with a rechargeable battery e three or five active finger markers each consisting of an IR LED with diffusing sphere a fixture for the finger tip and flexible wires These active markers are time sequentially addressed and controlled by the active hand target unit The output data consists of 133 5 Interaction devices a Fingertracking device b Fingertracking device with three active finger with five active finger markers markers Figure 5 8 The Fingertracking device status LEDs infrared sync receiver infrared LED infrared LED power switch configuration dial Figure 5 9 Fingertracking hand target position and orientation of the back of the hand e number of tracked fingers as well as a value to distinguish right and left hands position and orientation of the outermost phalanx given in the hand coordinate sys tem together with a radius position and orientation of the finger tip can be identified angles between the single phalanxes as well as their lengths These values are calculated using tracked markers and empirical data The data shown in the Fingertracking display is NOT the position of the E finger tip F
35. flash which interferes with this communica tion By synchronizing both systems the cameras emit their flash in a way that does not interfere Please refer to chapter on page 48 or chapter on page 52 gt When I connect the Extin the shutter emitters stop working Some projectors create only a weak sync signal TTL which is not strong enough to drive the Synccard2 Please contact ART to get a special high impedance version or synchronize against the video signal if available gt Tracking stops when no stereo image is displayed Some graphics adapters only create the shutter image when a stereo image is displayed If available use video synchronization Known behavior for NVidia adapters 6 6 DTrack2 and interfaces gt Pm using VRPN Which output identifiers have to be activated It is absolutely mandatory that you activate at least the 6q and 60ca output identifiers refer to table on page 105 Activate other output identifiers depending on your application e g if you re using a Flystick you have to activate 6d0 2 gt lm using VRPN and TrackD but 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 153 6 Frequently asked questions FAQ gt 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 Tr
36. from all sides and up to very high distances ws approx 20m suitable for outdoor tracking diameter 50mm weight 50g 4 Big active flat markers several single LEDs per marker covered with light scatter ing surface tracking up to very high distances approx 20m suitable for outdoor tracking magnetic base for easy positioning on metal surfaces the angular range of visibility is limited to less than 180 diameter 30mm All active markers provided by ART are controlled by a special PC board and need power supply Synchronization of active markers Active markers could in principle be activated in CW mode i e continuous light emission However this would not be very clever be cause tracking cameras have a very narrow time slot of sensitivity i e most of the light emitted by the markers would be useless for tracking As a consequence maximum dis tance between cameras and marker would be very short due to an upper limit of power dissipation allowed for each single LED Therefore all active markers provided by ART are emitting radiation only when the tracking cameras are sensitive thus having to be syn chronized with the cameras Synchronization can be done by a wired connection between the tracking system and the pc board controlling the active markers but can also be done in a wireless way 18 3 2 Active markers Y A aT gt diffusor ca glue IR LED IR LED a Si
37. in the output Identifier Type of data enable disable in fr frame counter always enabled ts timestamp Settings gt Output ts 6dcal additional informations Settings Output 6dcal 6d 6di standard bodies 6DOF Settings gt Output 6d 6di 3d additional markers 3DOF Settings gt Output 3a 6df 6df2 Flysticks 6DOF buttons Settings gt Output 6df 6df2 6dmt Measurement Tools 6DOF tip trafo Settings gt Output 6dmt 6dmtr Measurement Tool references 6DOF Settings gt Output 6dmtr 6dmt2 Measurement Tool with sphere tip 6DOF tip trafo Settings Output 6dmit2 sphere radius gl glcal Fingertracking hands 6DOF fingers Settings Output g l gical B 2 1 Frame Counter Identifier fr 202 B 2 Output of Measurement Data via Ethernet This line is always the first one It carries a frame counter counting with synchronization fre quency Example fr 21753 B 2 2 Timestamp Identifier ts A timestamp can be added to each datagram It shows the time at the measurement of this frame i e the time when the infrared flash of the cameras is fired The timestamp uses the internal clock of the controller giving back the seconds with an accuracy of 14s since 00 00 UTC midnight This implies that the timestamp value is reset to zero when passing midnight UTC The timestamp typically shows an accuracy of better than A ter
38. inter actions are transmitted wirelessly via a 2 4 GHz ISM radio connection Synchronization of the Flystick3 is provided wirelessly with a modulated flash by one camera 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 discontinued in December 2011 128 5 2 Flystick3 application via Ethernet The radio transmission and the active target are switched off after 15 minutes without usage Press any button to reactivate the Flystick3 and therefore tracking The output data consists of e position and orientation of the Flystick e status of buttons and joystick e number of used Flysticks Please refer to chapter Bjon page 195 for more information about the format of the output data Control elements The numbering sequence of the buttons is as follows e 1 trigger e 2 4 blue buttons right to left active target trigger battery status LEDs and charging jack Figure 5 7 Flystick3 control elements In neutral position the joystick transmits x 0 y 0 e Moving left creates negative x values moving right positive x values e Moving down creates negative y values moving up positive y values e 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 fac
39. may damage the camera or the connected partner Mounting The TRACKPACK C cameras are optimized for a predefined range of mea surement volumes System operation in smaller or bigger measurement volumes can lead to reduced accuracy or other malfunctions The measurement volume can be adjusted within certain limits simply by changing the flash intensity of the ART infrared cameras see chapter 4 5 6 3 on page 96 H The flash intensities should not be too high In general a flash inten sity of 3 4 might be sufficient 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 ART labs Be aware that a tracking system is very sensitive to camera movements Therefore the cameras have to be mounted in a way that reduces camera movements especially vibra tions as much as possible H Mounting on tripods may be sufficient for presentations and prelimi nary installations but is not recommended as a final solution Otherwise the carrier for the TRACKPACK C can be attached to the camera as shown in 41 st 2 ab Q a 4 System setup figure Figure 4 11 Camera TRACKPACK C with attached carrier Only use screws supplied with the ceiling mount for mounting it The screws used for sealing the housings are not sufficiently long for fixing the carrier Also use all the parts supplied with the ceiling mount
40. middle between the two markers with the largest distance to each other The orientation is defined by the marker with the smallest distance to the origin Its position has a negative sign The other two directions are undetermined due to the one degree of freedom B 1 2 5 Coordinate System Definition for two 5DOF Targets with cylinder markers Body calibration setting xy yx yz zy zx xz The body is expected to consist of two about perpendicularly connected 5DOF targets These are placed on the two axes The origin is placed at the position where the two 5DOF targets intersect The first axis is assigned to the 5DOF target which includes the marker with the largest distance to the origin The other 5DOF target is placed in the plane created by the two axes B 1 3 6DOF Results Position and Orientation Position and orientation of a target are expressed by an affine transformation 5 R that transforms a vector z from the body coordinate system to the room coordinate system Lroom R Lbody 3 l e the coordinates s give the position of the origin of the body coordinate system marker 1 or center of gravity as described above measured in room coordinates The 3 x 3 rotation matrix R describes the rotation part of the transformation The columns of the matrix R are the axes X Y Z of the body coordinate system expressed in room coordinates Description by Rotation Angles The rotation matrix can be replaced by three consecutive rotatio
41. mm 0 00 z mm 0 00 Body orientation x deg 0 00 y deg 0 00 z deg 0 00 Set origin to COG Adjust axes to room View position View orientation x y z x y z Reset view V use tracked orientation a Undo tb Ca Case cone Figure 4 42 Body Adjustment There is no need for a separate tool anymore and more important the body coordinate system may be defined very comfortable as desired For detailed information please refer to chapter 4 5 6 4 0on page 4 5 5 Filtering options in DTrack2 With the DTrack2 release v2 9 0 we introduce highly improved filtering options which allow for ideal settings according to the requirement for the tracking performance For example in applications where reference targets are used to get the position of a seating buck it is now possible to apply a strong filter for this specific target which results in abso lutely static tracking data Using three main settings for defining a filter i e strength prediction and mode it is possible to customize the tracking behaviour in general or for single targets according to the requirements Following a description of these settings 90 Setting 4 5 DTrack2 frontend software Description Usage Strength Prediction Predicts output for the specified time in the Sets the strength of the filter Low values mean less filtering with faster reaction but higher jitter High values mean stronger fil
42. more details by selecting smaller field of views Be aware that higher frame rates come at the cost of the cameras reduced field of view as well as a limited amount of targets that can be tracked simultaneously lesser amount of targets 300 Hz The max frame rate is defined by the camera with the largest field of view respectively the max frame rate of that individual camera In mixed systems ARTTRACK2 or ARTTRACK3 amp ARTTRACKS the max possible frame rate is always limited to 60 Hz Global display intensity ARTTRACK5 only f necessary the brightness of the status LEDs and the 2 digit LED matrix display can be dimmed from 0 100 e g when used in light sensitive environments global setting or individually Global display mode ARTTRACK5 only By default the status LEDs are activated while the 2 digit LED matrix display shows the currently assigned camera ID Alternatively select number of markers camera ID to display the number of markers in the camera s field of view during measurements The 2 digit LED matrix display can also be deactivated by selecting only status LEDs global setting or individually Modulated flash The ART tracking system can be used with active markers i e mark ers consisting of infrared LEDs instead of retro reflective material e g Fingertracking see chapter 5 3 on page 133 This allows both more robust and longer ranging targets These LEDs do not light continuously but also emit light fl
43. network using an RJ45 cable Mount the cameras at the desired position before connecting the cables The ART 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 The external switch itself has to be connected to the controller H Older switches sometimes do have uplink ports which are not suitable for connecting to the camera Only use the normal ports of the switch The controller is equipped with an internal switch 100 Base TX which serves for the connection to the cameras suitable for small systems i e lt 4 cameras Larger systems i e gt 4 cameras have to be equipped with an external switch which must be connected to any port except for the uplink port of the internal switch of the controller t oO Q rq CS The camera network is configured using H e IP address 172 28 0 1 e subnet mask 255 255 0 0 IP addresses are predefined in ARTTRACK cameras changes by the user are not pos sible 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 6 4jon page 146 There must be one continuous signal line from the BNC connector of the synccard to the 75Q terminating resistor with the cameras inserted to the line by T junctions It is neither a
44. not used for calculation then execute a new room calibration e Go to Settings Output Define a receiver for the tracking data and configure the type of data to be transmitted e Activate the tracking functionality within your graphics application gt lm having too many heavy reflections e Please double check that the flash intensities of the cameras are not too high In general a flash intensity of 3 4 might be sufficient e Make sure that no other strong infrared radiation sources e g sunrays or halogen lamps are present in the tracking volume If they cannot be removed you may use the reflex suppression feature of DTrack2 e f mutual blinding is possible please either try to adjust the cameras differently or try to arrange them in different syncgroups Does DTrack2 send data if no target is being tracked No tracking data is sent except for the frame number fr gt The application PC does not receive tracking data e Go to Settings Output Define a receiver for the tracking data and configure the type of data to be transmitted e Check the network connection physically and try to address the controller with a Ping e Double check with a UDP receiver if data is being sent by the controller e Activate the tracking functionality within your graphics application gt May I use passive and active targets at the same time Yes of course there ano restrictions on using passive and active targ
45. of standard 6DOF bodies The first number gives the number of defined Flysticks The data of each Flystick show up in blocks three consecutive like id qu bt sz Sy Sz 1 0 d bo b b2 b3 b4 b5 bg by bg They contain 1 ID number id starting with 0 quality value qu see below and button information bt see below 2 Position s and orientation angles 7 6 and 3 Orientation b of the Flystick The quality qu can so far just get the values 1 000 or 1 000 1 000 means that the target of the Flystick is not visible at the moment Even in that case a Flystick appears in the output data Then dummy values are used for position zero and orientation zero matrix Informations about buttons are valid as long as the wireless transmission is active When buttons of the Flysticks are pressed the decimal number bt changes It is coded binary i e switch 1 activated bit O set switch 2 activated bit 1 set Example one line 6df 1 0 1 000 2 261 103 116 520 41 085 19 6522 57 3530 116 5992 0 241543 0 968868 0 054332 0 482366 0 168461 0 859619 0 842010 0 181427 0 508039 B 2 7 Measurement Tools Identifier 6dmt H Only available if the Measurement Tool license is present for DTrack2 avail able since version v2 2 0 The output for Measurement Tools is similar to the format for Flysticks 206 The first number gives the number of defined Measurement Tools B 2 Output of Me
46. position of the tool s tip is measured in the DTrack2 room coordinate system which was fixed during room calibration Optionally the ART Measurement Tool can calculate the position relative to a reference body Then the Measurement Tool is measuring distances to the origin of the reference body coordinate system and not to the origin which was defined during room calibration The output data consists of e position and orientation of the tool s tip e number of the Measurement Tool e rotation matrix of the target Please refer to chapter Bjon page 195 for more information about the format of the output data Body calibration The calibration of the Measurement Tool is separated into two steps 1 body calibration of the Measurement Tool and 2 calibration of the tip First of all you have to define how many Measurement Tools you want to use Therefore please select Settings Measurement Too and define the number of Measurement Tools Now please calibrate the Measurement Tool with a standard body calibration see chap ter on page 83 select Calibration Body In the appearing dialogue the body 141 5 Interaction devices to be selected is named Measurement Too body 07 Please define the orientation of the body coordinate system relative to the body default setting is due to body Make sure that all markers of the Measurement Tool are seen by the cameras using the Monitor 2DOF display which appe
47. red code 01 hex button code 01 hex right switch on backside red code 02 hex button code 02 hex center switch on backside red code 04 hex button code 04 hex left switch on backside red code 08 hex button code 08 hex hat switch black to the left code 20 hex first controller 1 0 hat switch black to the right code 80 hex first controller 1 0 hat switch black up code 40 hex second controller 1 0 hat switch black nae code 10 hex second controller 1 0 B 1 5 2 Flystick2 Each Flystick2 is equipped with six switches buttons and a small joystick that produces two analogue values one for horizontal and one for vertical movement When using the old output format 6df the joystick values are transferred into hat switch actions two of the buttons cannot be accessed m x Switch labelled as 6df Output 6df 2 Output in figure B 1 front switch yellow id 0 code 01 hex button code 01 hex Q outer right switch on backside blue id 1 code 02 hex button code 02 hex Q inner right switch on backside blue id 2 code 04 hex button code 04 hex lt inner left switch on backside blue id 3 code 08 hex button code 08 hex outer left switch on backside blue id 4 button code 10 hex switch on joystick yellow id 5 button code 20 hex joystick yellow to the left code 20 hex first controller up to 1 0 joystick yellow i the right code 80 hex first controller up to 1 0 joystic
48. room then external synchronization of the sys tems might be necessary e g at tradeshows However Fingertracking may also be used with tracking systems where older ARTTRACK2 lt SN 320 or ARTTRACK7 cameras are used For this purpose an additional external flash can be purchased from ART The modulated flash is adjustable in Settings Cameras Just tick the checkbox mod ulated flash and select one camera which is in syncgroup 1 from the dropdown list Press OK to apply the changed settings On off button The small black button next to the configuration switch activates or deac tivates the target please refer to figure 5 9 When deactivated all IR LEDs are switched off and the microcontroller is put into sleep mode A certain minimal power consumption is inevitable So when the Fingertracking is not used for a longer period of time more than a week the batteries should be removed to prevent deep discharge which could destroy the battery 137 5 Interaction devices Configuration dial The configuration dial is used to select the LED brightness and the number of fingers used in the setup please refer to figure 5 9 ID no of sync finger Flash time us 25 50 75 100 25 50 75 100 mrrOoOOoOownwww OONODAaRWBNY O Table 5 6 Description of the configuration dial A detailed description of the configuration dial may be found in table 5 6 Hand target calibration First configure the number of ha
49. setting a static IP address and e carrying out a factory reset A Carrying out a factory reset will result in the loss of all your settings Following a description of the file e g ARTtrackController00117_setup txt format 1 ARTtrack Controller Setup 2 3 4 ethernet settings 5 uncomment just one of the lines starting with SETNET 6 7 ethernet settings DHCP 8 uncomment the following line to activate DHCP 9 SETNET dhcp 10 11 ethernet settings fix IP address and subnet mask 12 uncomment the following line to set a fix IP address and subnet mask 13 SETNET ip 192 168 0 1 255 255 255 0 14 15 name settings host name 16 uncomment the following line to set the host name 55 lt t ab Q g9 k 4 System setup 17 5ETHOSTNAME atc 18 19 name settings domain name 20 uncomment the following line to set the domain name 21 SETDOMAINNAME art site 22 23 name settings domain name server 24 uncomment one of the following lines to set or clear a domain name server 25 SETNAMESERVER 192 168 0 254 set DNS IP or hostname 26 SETNAMESERVER clear DNS 27 28 factory reset of all other settings 29 CAUTION use with care all your settings will be lost 30 uncomment the following line to reset all other Controller settings 31 RESETSETTINGS yes Example If you wanted to setup a static IP you would have to remove the sign and ent
50. single data output Please refer to chapter 4 3 on page 58 1 Check the cabling hardware issue e Please make sure that the coaxial cables are not damaged e 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 OUTS e Double check if no extensions between slave controller and terminating resistor have been made Master Slave 1 Slave 2 outi O ext m JO ext in out O ouT3 O Cameras Cameras Sync amp Power Sync amp Power e Double check if the terminating resistor is missing at the end of the signal line Master Slave ouT1 O Q fExtIn ouT2 O 5 ouT3 O B Cameras Sync amp Power e Splitting of the synchronization line is not allowed Master Slave 1 Slave 2 Cameras Cameras Sync amp Power Sync amp Power e Do not connect the cable directly to the slave controller Master Slave OUT 1 Ext in out O ouT3 O Cameras Sync amp Power 2 Check the cascade settings software issue e Go to Settings Cascaded System and double check the attached slave con trollers Please refer to chapter 4 3 on page 58 148 6 4 Synchronization e In case of simultaneous external synchronization please install the synchro nization on the master controller according to the instructions f
51. so they cannot fall down Unsecured cameras may pose a serious hazard to health and safety Avoid hard shocks at all times A new camera calibration at the ART fa cilities might become necessary in that case Figure 4 3 on page 27 shows the correct mounting for a camera to a wall with a carrier using the example of an ARTTRACK2 camera Make sure to not fall below minimal distance to the wall so enough room is left for the cables and to allow readjustment of the camera angles and maintenance Use strong dowels and screws for mounting the cameras to walls or ceilings see figure 34 4 1 The tracking cameras of ART 4 3 on page 27 If in doubt ask a skilled craftsman for assistance Use massive and long enough angle irons to provide the required stiffness and stability 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 Furthermore please make sure the ventilator holes are not covered For thermal rea sons the ventilator always has to be on the upper side of the ARTTRACK2 camera That means if the camera is to be mounted hanging the carrier must be mounted on top ven tilator side If it is to be mounted standing the carrier has to be on the bottom side of the housing Please install the cables such that e no on
52. system by XLmod RT Lorig i S where the rotation matrix R is calculated from 7 0 and like defined in section B 1 3 195 aa i Cc Q Q 2 lt x B Technical Appendix 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 197 The calibration can be done in three different ways to be selected in the menu Calibrate Body of the body calibration B 1 2 1 Definition of the Coordinates by the Body itself Body calibration setting due to body The body coordinate system is fixed by the markers of the rigid body according to a set of rules 1 Search the biggest distance between two markers of the rigid body These two markers 1 and 2 will define the X axis 2 Search for a third marker 3 that has the smallest distance to one of the two markers 1 and 2 The marker that has smallest distance to marker 3 becomes marker 1 It will define the coordinate origin The other marker will be 2 The positive X axis is directed from marker 1 to marker 2 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 B 1 2 2 Definition of the Coordinates by the Room Coordinate System with Origin in t
53. tering with smoother output but slower re action future to compensate tracking and render ing latency Note that too high positive values can increase jitter and reduce pre cision Negative values can be used for smoothing the output at the cost of higher latency a strong filter may be ideal for tracking seating bucks a negative prediction may be ideal for recording data as la tency doesn t matter so much Mode Adaptive fast Adaptive slow Fast Slow Static Reference target Specifies the elementary behavior of the fil ter Several options are available Automatically adapts to the observed mo tion Automatically adapts to the observed mo tion with stronger filtering of fast motions Optimized for fast motions without special filtering of slower motions Optimized for medium motions without spe cial filtering of slow motions Optimized for targets that are known not to move at all Optimized for generally static objects with automatic detection of occasional motions Moving targets that change be tween fast and slow motions such as Flysticks Moving targets with slow and medium motions Targets where quick reaction is important such as HMDs Targets where quick reaction is important but motions are slow Reference targets attached to non moving objects Reference targets attached to occasionally moving objects 91 2 ab Q rq CS 4
54. the cameras have to be mounted in a way that reduces camera movements especially vibra tions as much as possible H Mounting on tripods may be sufficient for presentations and prelimi nary installations but is not recommended as a final solution If you want to mount the camera on a tripod there s no carrier needed Otherwise the carrier for the ARTTRACK5 can be attached on both bottom and top side of the camera Attach the carrier with the T piece pointing to the back of the camera as shown in ouret page 26 Note the ceiling suspension is already connected to the carrier in figure Ceiling mount Figure 4 2 Attaching the ceiling mount to the ARTTRACK5 camera 26 4 1 The tracking cameras of ART M8 Wa Figure 4 3 Mounting a camera to a wall or a ceiling e g ARTTRACK2 camera Only use screws supplied with the ceiling mount for mounting it Also use all the parts supplied with the ceiling mount especially the A toothed washer is quite important You shall never open other screws on the cameras see chapter 1 2 on page 71 Otherwise the camera may be damaged and liability and warranty is void Feel free to contact ART in case you want to realise a more complex installation We will assist you in your planning Make sure to install the system in a way that you can easily access the cameras and its cables Be especially careful to mount the
55. the device s fingers 3 or 5 as well as a value to distinguish between right and left hand e position and orientation of the outermost phalanxes given in the hand coordinate system see figure on page 135 with the radius of the finger tip the position and orientation more exactly the surface of the finger tip can be identified e angles between the single phalanxes as well as their lengths These values are calculated using tracked markers and empirical data The hand coordinate system is defined as follows see figure B 2 on page 201 Figure B 2 Model of a human hand the origin is in the joint where the index finger is connected to the back of the hand e the X axis is oriented in direction of the outstretched index finger 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 coordinate sys tem Please note that the Z axis points up towards the back of the hand for a left hand but down for a right hand The finger coordinate system used to measure the orientation of the outermost phalanx relative to the hand coordinate system is defined by these rules see figure on page 135 e origin is the center of the partial sphere that forms the finger tip 201 aa 2 Q Q 2 lt B Technical Appendix e the X axis is oriented in direction of the outstretched finger e
56. the other one is connected to your local network figure 4 15 b In this case the DTrack2 Frontend will act as a router for the tracking data The controller is controlled by a remote PC via DTrack2 frontend software When deliv ered the controller is set up to support DHCP Therefore it will acquire an IP address automatically given that a DHCP server is running Double check if the cameras are connected properly to the controller and verify that the cameras are running Connect the Ethernet cable to your local network and connect the power plug of the ART Controller to a power socket If you want to set a specific static IP address before booting the controller please refer to chapter 4 2 4 on page 54 for more information Press the power switch on the front of the controller If the controller is booting without connected Ethernet cable it will use its fall back IP address H The fall back IP address of the controller is 192 168 0 1 subnet mask 255 255 255 0 You may configure another static IP address as follows e select Settings Controller e untick the checkbox DHCP client e enter P address and subnet mask 47 2 ab Q i cS 4 System setup e optionally enter gateway and nameserver e reboot the controller for the changes to take effect Please note that these settings are not part of your personal configura tion Changes in this menu will affect all users of your controller Your cont
57. 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 Description The TRACKPACK E infrared camera is intended for working environments with distances between camera and markers of up to 4 5 metres With its 3 5 mm lens a large field of view FoV is covered Refer to A 1 on page for the respective FoV RJ 45 port power data sync Label with serial number S N IR flash lens Power amp Status LEDs Figure 4 6 Camera TRACKPACK E Mounting The TRACKPACK E cameras are optimized for a predefined range of mea surement volumes System operation in smaller or bigger measurement volumes can lead to reduced accuracy or other malfunctions The measurement volume can be adjusted within certain limits simply by changing the flash intensity of the ART infrared cameras see chapter 4 5 6 3 on page 96 H 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 These changes have to be done at the ART labs Be aware that a tracking system is very sensitive to camera movements Therefore the cameras have to be mounted in a way that reduces camera movements especially vibra 31 st Sa oO Q rq al ey 4 System setup tions as much as possible H Mounting on
58. tool show up in blocks five consecutive like id qu nbt rd sz sy sz bo b b2 b3 ba b5 be by bg bt c11 c12 C13 C22 C23 c33 They contain 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 s of the tip 3 Rotation matrix b of the tip orientation 207 aa p Cc Q Q I lt B Technical Appendix 4 Button bt binary coded 0x01 measurement of a point is active 0x02 0x04 designate buttons of the Measurement Tool 5 Covarianz matrix c of the position of the tool tip in mm e The quality qu can so far just get the values 1 0 and 1 0 1 0 means that the target of the Measurement Tool is not visible at the moment e bo bg form a rotation matrix according to the scheme described in chapter on page 203 e The protocol is prepared for the future when the covariance matrix of the measurement tool tip is calculated Until then c is set to zero Example one line 6dmt2 1 1 0 1 000 4 2 000 326 848 187 216 109 503 0 911812 0 038421 0 408806 0 095040 0 988324 0 119094 0 399457 0 147444 0 904817 0 0 000e 00 0 000e 00 0 000e 00 0 000e 00 0 000e 00 0 000e 00 B 2 9 Measurement Tool references Identifier 6dmtr H Only available if the Measurement Tool license is present for DTrack2 avail able since version v2 2 0 The output for Measurement To
59. you can start tracking a room calibration has to be carried out During that cali bration the system identifies the position of the cameras inside the measurement volume and determines the three dimensional coordinate system Carrying out a room calibration always is the first step Without it body calibration and tracking will not be possible H The Show details option offers information about the date of the last room calibration Room calibration has to be carried out 77 4 System setup e after the first system setup e after any changes of IR camera positions Room re calibration e after any changes to the number of cameras e before a body calibration when system has been setup initially In principle it is recommended to always perform a room calibration after a certain oper ating time of the system especially if the system setup does not exclude camera move ments over time these camera movements may also be thermal drifts If a camera with 4 5mm lenses standard for ARTTRACKS is rotated by one tenth of a degree it will cause aberrations of the optical rays that are as high as 5 millimetres in 3 metres distance from the camera IS That means for the DTrack2 software standard settings that the ob servations of this camera are excluded from the calculation of target positions because these observations would generate unacceptable errors in the results of measurement l e a camera that is rotated by one tenth
60. 0 in Settings Flystick Tick the checkbox activate MultiUser function If you want to use a Flystick2 and a head target as data pair then you have to tick the checkbox use head targets as well Please refer to chapter B on page 195 for more details on the output format Body calibration First configure the number of Flystick2 you are using select Settings Flystick and configure the number of Flysticks You have to assign your Flystick2 to a Flystick ID by selecting for example F7 and selecting your Flystick2 out of the avail able Flysticks list Now press Select to finalize the assignment If the available Flysticks list doesn t contain your Flystick2 although i it is already present just press any button of the Flystick2 to register it at the radio transceiver Then select Calibration Body calibration In the appearing dialogue the body to be selected is named Flystick body 07 Please define the orientation of the body coordinate system relative to the body default setting is due to body Make sure that all markers of the Flystick2 are seen by the cameras using the Monitor 2DOF display which appears in the background Press Calibrate and the calibration starts within 5 seconds Please refer to page 83 for more information concerning body calibration Output settings Please define where the Flystick data has to be sent to In DTrack2 fron tend software select Settings
61. 0 7025 0150 0005 2066 77 SWIFT BIC BYLADEM1KMS 7 4 Declaration of conformity a Product Service CERTIFICATE No U8 05 01 52228 001 Holder of Certificate Advanced Realtime Tracking GmbH Am Ofer 6 82362 Weilheim GERMANY Production 52228 Facility ies Certification Mark Product Scanners IR Tracking Camera x TE c Lid 2 x Q TE cc Lid oOo be lt x as S Ss a Lid 5 fo Hy Model s ARTtrack 1 ARTtrack 2 ino H4 a Parameters ARTtrack 1 ARTtrack2 iino Rating voltage 100 240 VAC 12 VDC Rated frequency 50 60 Hz Rating Current max 230mA max 2A Protection class l il Tested UL 60950 1 2003 according to CAN CSA C22 2 No 60950 1 2003 The product was voluntarily tested according to the relevant safety requirements and mentioned properties It can be marked with the certification mark shown above See also notes overleaf Test report no 028 70086175 000 Date 2005 01 Page 1 of 1 ZERTIFIKAT CERTIFICATE T V Product StWice GmbH T V SUD Gruppe Zertifizierstelle Ridlerstrasse 65 80339 M nchen Germany Chapter 7 171 7 General Information UCB 10 10 172 CERTIFICADO CERTIFICAT lt x x S a LLI i if a at ZERTIFIKAT CERTIFICATE CERTIFICATE No U8 12 10 52228 006 Holder of Certificate Advanced Realtime Tracking GmbH
62. 01728 s 18 ls UE remaining time 24 seconds remaining time 1 seconds L a g L d a b Figure 4 33 Room calibration progress If necessary you may adjust the duration of the room calibration Show details in a range of 10s 100s Resetting the value to default is achieved by pressing the Set to default button default 30s 80 4 5 DTrack2 frontend software Changing the duration of the room calibration especially towards SF shorter durations may lead to bad room calibration results Please make sure that you are always able to cover two thirds of the tracking volume within the set time 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 It is used for calculation of IR cameras positions so moving the wand in only a very small volume will result in reduced accuracy of calibration Here a compromise has to be found between 1 too wide movements that often cause the failing of room calibration and 2 sparse movements that lead to a valid but inaccurate room calibration Avoid rapid and hectic movement see figure 4 34 SS eS SS a ka a maa a dine einen as pce hese es wee eee ee eel Figure 4 34 Room calibration process During calibration the two markers of the wand should be visible to all IR cameras as good as possible If in a s
63. 1 for more informa tion use head targets The data pair Flystick and head target of one user is made available as output data if MultiUser func tion is activated Table 4 14 Flystick settings Description of the checkboxes Below there are two more properties which can be configured for Flystick3 e sync groups Configure your active Flystick3 to send out IR flashes for one or more syncgroups syncgroup 1 syncgroups 1 and 2 default syncgroup 1 e flash intensity 107 oO Q g9 k 4 System setup Set the flash intensity of the active target of the Flystick3 default 3 by moving the slider If you change the number of Flysticks you will immediately recognize entries in the se lected Flysticks field The fields Model Serial and Port are empty by default Make sure that your Flystick is in the available Flysticks list if necessary compare the serial number listed here to the one printed on the battery compartment of the Flystick2 or on the back cover of the Flystick3 Now you have to assign your Flystick to the respective Flystick ID Therefore e mark the respective Flystick ID e mark the desired available Flystick and e press Select Repeat these steps if you want to use another Flystick Please refer to chapter 5 1 on page 122 to learn how to install the Flystick2 and refer to chapter 5 2 on page 128 for the Flystick3 There are one or two Flystick1 ent
64. 1 set witha maximum of 32 buttons per bt number Note that the number of bt numbers in the block can vary with different Flystick hardware If the device isn t equipped with buttons the output won t contain any bt number e Controller elements are transferred into floating point numbers ct reaching from 1 00 to 1 00 In the output line they follow the button informations one number for each controller Note that the number of ct numbers in the block can vary with different Flystick hardware If the device isn t equipped with controller elements the output won t contain any ct number Example one line for two devices one Flystick2 ID 0 and one Flystick1 ID 1 6df2 2 2 0 1 000 6 2 228 992 270 818 92 561 0 758006 0 652230 0 004807 0 651759 0 757133 0 044271 0 025236 0 036691 0 999008 5 0 13 1 00 1 1 000 4 2 0 000 0 000 0 000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 1 1 00 0 00 205 aa 2 O Q Q 2 lt x B Technical Appendix B 2 6 Flysticks Old Format Identifier 6df Note supported just for compatibility It is recommended to use the newer Flystick format 6df2 see chapter B 2 5 on page 205 whenever possible T Refer to chapter B 1 5 2 on page 199 to find out which buttons of the Flystick2 are NOT transmitted when using the old output format 6df This older format for Flysticks is quite similar to the format
65. 2 lt targets timestamp 105 190 tip calibration 200 tracking trademarks USB radio transceiver 124 virtual point cloud 81 Wake On LAN WOL 56 wake on power WOP wand warranty 168 215
66. 6af format see B 2 6 Use it whenever possible The newer format for Flysticks is quite similar to the format of standard 6DOF bodies It provides tracking data for all Flysticks and other ART radio devices see B 1 5 e The first number after the identifier 6af2 gives the number of defined i e calibrated Fly sticks The second number gives the number of Flystick data that are following in the line The data of each Flystick show up in blocks four consecutive like id qu nbt nct s Sy sz bo b b2 b3 b4 b5 b by bg bto cto cty The four blocks contain 1 ID number id starting with 0 quality value qu see below and the number of avail able buttons and controllers nbt and nct 2 Position of the Flystick s 3 Orientation of the Flystick given as rotation matrix b like standard bodies 4 Status of buttons bt see below and controllers ct see below e The quality qu can so far just get the values 1 000 or 1 000 1 000 means that the target of the Flystick is not visible at the moment Even in that case a Flystick appears in the output data Then dummy values are used for position zero and orientation zero matrix Informations about buttons and controllers are valid as long as the wireless transmission is active e When buttons of the Flysticks are pressed the decimal numbers bt change They are coded binary i e switch 1 activated bit 0 set switch 2 activated bit
67. 7 2011 Production 52228 Facility ies Page 2 of 2 fi America 173 Chapter 7 7 General Information UCB 10 10 174 lt 1 TE j cc o So A lt x mE cc Lud lt x S A Lu em H a pal D oO a ZERTIFIKAT CERTIFICATE CERTIFICATE peri No U8 11 06 52228 005 Holder of Certificate Advanced Realtime Tracking GmbH Am Oferl 6 82362 Weilheim GERMANY Production 52228 Facility ies Certification Mark Product Scanner IR Tracking Camera Model s Trackpack ARTtrack TP ARTtrack TPC PC ATC1 Parameters Rated voltage 12 Vdc Rated power max 6W Protection class Il Tested UL 60950 1 2007 according to CANICSA C22 2 No 60950 1 2007 The product was voluntarily tested according to the relevant safety requirements and mentioned properties It can be marked with the certification mark shown above The certification mark must not be altered in any way This product certification system operated by TUV SUD America Inc most closely resembles that described by ISO IEC Guide 67 Conformity assessment Fundamentals of product certification System 3 See also notes overleaf Test report no 028 71338616 100 Date 2011 06 27 C Page 1 of 1 j T V SUD AMERICA INC 10 Centennial Drive Peabody MA 01960 USA www TUVamerica com Tuv 7 4 Declaration of conformity ARTP gt Advanced Realtime Tracking
68. ARTI Controler Sam ee Sy eee Go Be oe ee ee ee els HY we Be ee 189 ee E E e ee ee ee ee eee ee ee 190 A System lateney 226 cease BES e SAG a Oho ee OSES Eee he 192 195 B 1 Definition of Coordinates and Rotations 195 B 1 1 Room Calibration 2 6 i d k s 5 24 Awe eee RDS SBE eee S 195 B 1 1 1 Room Adjustment aoaaa 195 B 1 2 Body Calibration 22 0 5 e oe ewe woe eee eee ee eee 196 B 1 2 1 Definition of the Coordinates by the Body itself 196 without cylinder markers B 1 2 5 Coordinate System Definition for two 5DOF Targets with Be Gees Ms eds 8 er er he ee i 197 B 1 3 GOOF Results 6 6 ee eae ew Re ek ow ee Bee 2 ee 197 B14 SOO Dalal a amp ss eas eo Se a Be ey Be ee Se Se Eee 198 B 1 5 Flystick devices 22 2 eee ee ee a ek ee Ree Pe 198 B 1 5 1 _FIYSHICKI s racs 26 er Oe ee BEG Bele wo See 6 A 198 Blige IVSUCKEl 4c 6 6 Be kw oe ee Oh ke Bed 199 Bild FIVSUCKG oo bine oe bo eee RHE Ae ee ee Awe eu eS 200 Oba oe Pala Be ee eS Be Be BED 200 B 1 6 1 Orientation of a Measurement Tool 200 B 1 6 2 Using a reference body 200 Bice Pngertracking sows araca ea o aa MO e ee Ge a a 201 B 2 Output of Measurement Data via Ethernet oaoa 202 B 2 1 Frame Counter aoaaa tee ek eR ae ee eee e oawe 202 B 2 2_ Timestamp sa s 2c as we ty de ge Bae ee Sy amp 203 B 2 3 Standard 6DOF Bodies 2 2002 203 B 2 4 Standard 6DOF Bod
69. ARTP gt Advanced Realtime Tracking System user manual ARTtrack TRACKPACK amp DTrack version 2 11 April 2015 2015 A R T GmbH Contents are subject to change without notice 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 ART x x x ARTtrack ARTTRACK x x x DTrack DTrack2 x smARTtrack SIMARTTRACK x x x advanced realtime tracking GmbH x x x Microsoft and Windows are trademarks registered in the United States and other countries by the Microsoft Corporation The company names and product names written in this manual are trademarks or registered trademarks of the respective companies License agreement The license provider guarantees the license holder a personal right to use the DTrack2 software A single license entitles the license holder to use the software on all computers and networks of the license holder s branch subsidiary office In no event shall ART GmbH be liable for any incidental indirect or consequential damages whatsoever including without limitation damages for loss of business profits business interruption loss of business information or any other pecuniary loss arising out of the use of or inability to use the software or hardware 1999 2015 by ART GmbH ART gt Advanced Realtime Tracking Am Oferl 6
70. Advanced Realtime Tracking EUROPEAN DECLARATION OF CONFORMITY STATEMENT 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 2006 95 EC Low Voltage Directive IEC 60950 1 A1 2009 EN 60950 1 A12 2011 2004 108 EC EMC Directive EN 55022 2010 EN 55024 2010 EN 61000 3 2 2006 A1 2009 A2 2009 EN 61000 3 3 2008 Weilheim i OB 14 11 2014 h 4 Dr A Weiss Managig Director Advanced Realtime Tracking GmbH Am Oferl6 82362 Weilheimi OB Germany 179 N Se ab Q q9 io 7 General Information ARTP gt Advanced Realtime Tracking MANUFACTURER S FEDERAL COMMUNICATION COMMISSION DECLARATION OF CONFORMITY STATEMENT 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 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Weilheim i OB 14 11 2014 t Dr A Weiss Managing Director Advanced Realtime Tracking GmbH Am Oferl6 82362 Weilheim i OB Germany 180
71. B Germany To whom it may concern European Declaration of Conformity Manufacturer Advanced Realtime Tracking GmbH Am Oferl 6 D 82362 Weilheim i OB Germany Directives We the manufacturer hereby confirm that the products are in compliance with the general requirements of the following directives EMC Directive 89 336 EEC Low Voltage Directive 73 23 EEC modified by 93 68 EEC Products ARTTRACK2 infrared optical tracking camera ARTTRACK3 infrared optical tracking camera TRACKPACK infrared optical tracking camera SMARTTRACK integrated infrared tracking system Flystick2 Flystick input device and receiver Flystick3 Flystick input device charging unit and receiver Fingertracking Finger interaction device and chargers Controller with synccard and software DTrack2 Any related accessories cables Ethernet switch etc Standards compliance with DIN EN 60950 1 EN 61000 2 3 EN 55103 1 2 EN 55022 page 1 of 1 ART gt Advanced Realtime Tracking Weilheim 2013 05 28 Advanced Realtime Tracking GmbH Am Oeferl 6 82362 Weilheim i OB Germany T 49 0 881 92 530 04 F 49 0 881 92 530 01 www ar tracking de Managing Directors Dr Ing Konrad Ziirl Dr Armin WeiB Dr Ralf Rabatje Amtsgericht M nchen HRB 128 437 Tax ID 11912180990 VAT no DE205356303 Kreissparkasse Miinchen Starnberg Ebersberg Bank account no 520 66 77 Bank Code 702 501 50 IBAN DE4
72. By ticking the checkboxes 6dmi and 6d0mtr you can define the Measurement Tool data to be transmitted Please refer to chapter 4 5 6 3 on pag 105 for more details Press Start to start the measurement In order to see the tracking data you have to enable the Measurement Tool display by clicking Display Measurement Tool 142 6 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 Our goal is to offer the best support possible Therefore we ask you to have the system running and that you have internet access when you call us Sometimes it might be possible to locate your problem if you deliver the following files e the configuration export file Go to DTrack2 Configurations and press og settings Save this file to a location of your choice and mail it to us e the event log file Windows Go to C Documents and Settings username ART DTrack2 version and mail the file events yyyy mm dd log to us Linux In your home directory go to ART DTrack2 version and mail the file events yyyy mm dd log to us 6 1 Backup gt How do I create a backup of important configurations Fr
73. CKPACK S 2xARTTRACK2 amp 4xTRACKPACK C amp 4xTRACKPACK 8xARTTRACK2 amp 4xTRACKPACK C amp 4xTRACKPACK 5 10 15 number of tracked targets 20 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 X axis Z axis For example a room calibration of type normal would result in a coordinate system like the following 1 The marker located in the crossing point of the two arms is defining the origin of the coordi nate system 2 The longer arm of the calibration tool defines the X axis 3 The shorter arm of the calibration tool defines the Y axis i e the tool markers define the X Y plane 4 The Z axis is added in order to give a right handed coordinate system B 1 1 1 Room Adjustment DTrack2 allows to modify the room coordinate system by specifying these seven values e lz ly l for a translational offset denoted x y z in the GUI e 7 9 for a rotation denoted rx ry rz in the GUI e s for a scaling factor These offsets are defined as a shift and or rotation and or scaling of the room coordinate system relative to the original one Mathematically a point Zorig in the original room is transformed into a point Zmoa in the modified room coordinate
74. D For new hybrid targets a three step calibration procedure has to be performed 66 4 4 Setting up the Hybrid Motion Capture System 1 A standard optical body calibration needs to be carried out Just press Calibration and move around the target in front of the cameras Please refer to on 2 A hand eye calibration has to be performed to combine an inertial sensor with its corresponding optical target During this Hybrid Body Calibration process HBC the relative rotation of the two sensors is determined 3 Drift correction for the inertial sensors needs to be measured and applied Optical tracking data of the corresponding target allows for correction of residual drift of the inertial sensor Please perform all inertial sensor calibrations with warmed up sensors E in a constant temperature environment for optimum tracking perfor mance Hybrid Body Calibration Select the sensor to be calibrated and press Hybrid Body Cali bration see figure 4 23 on page 67 During this calibration the target has to be moved with moderate speed in any spatial direction of the inertial sensor please refer to the an imation in the HBC dialogue Select the desired target from the drop down menu Body D and check the sensor D of the inertial sensor for correspondence with the selected optical target Then press Calibrate The appearing dialogue will show the status of the calibration via a progress bar gt Hybrid Body Calibratio
75. OMMONER amp i ace saa oS gS a oh Do OS GOH ace amp ow Oke ow SS See eee ee ee ee ee ee ee ee 6 5 Dirack2and shutter glasses 02 22 eee eee 6 6 DTrack2 and INIGMACES vo 6 244 ea ee dee oo es oe ee ee Oe we rae BAG Ace Ge A A A He ek eG 6 8 allan 5 Sees eo ee we ee ok ee eS ee ee ee eo 6 9 MOCKING amp 2 are we pak ow Meee ke Be le we oe eo ee al I SUCRE sey se oc Sars BA ea ge Gece en ce awe eo Dae i enka Boers 6 11 Fingertracking 2 fs bbw bee he ee ee ee ee 6 12 Measurement MOUs wee a ee BE eee a SA BEM tok Be 6 13 Active largets 2 022 ee ee 6 14 ART tracking and 3D IVS sae 2 ce eee he we eke ee de es 6 15 Radio transceivers used in ART products 04 7 General Information e dos ee SNE ane dee se sce So ecg ee 7 2 Cleaning of the equipment 2 2 02222000 3 Warranty and liability a6 24 eee oe wo es ee eee ee we X 7 4 Declaration of conformity cine ee ee a we ek oe SG eae Se ee Ss A Technical specifications A 1 Cameras 0000 eee ee ee ee a aa 183 A 1 1 ARTTRACK5 a3 hee ee oe ee OR EY Eee eee Se 183 ee ee ee ee ee eee 184 6 ese et BY E ee oe eT Bs Gee ee Bid 185 A 1 4 ARTTRACK cameras discontinued 186 A 1 5 TRACKPACK cameras discontinued 187 A 2 PIYSUCKS eee ee i a oe ee ee ee ee ee eee ee i 188 Ad Fingertracking ois cic e bo whee bee ee oe ee Lew ee a ne we 189 A 4
76. P4 2GHz AMD gt K6 1 6Ghz gt 1GB Windows XP 32 64 Bit with Service Pack 3 SP3 Windows 7 32 64 Bit Windows 8 8 1 32 64 Bit Linux openSUSE gt 12 3 32 64 Bit Linux Ubuntu gt 10 04 32 64 Bit Linux CentOS gt 6 6 32 64 Bit 50105 for UDP amp TCP 50110 for UDP 191 lt x fas O S Q a O lt A Technical specifications A 6 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 The latency is a function of the number of cameras the number of targets enabled or disabled 3DOF tracking and additional reflexes e g single markers Another dependency which is quite important can be found in the software version of DTrack2 being used here v2 8 6 We recommend to always use the latest version in order to have the most recent features For ARTTRACKS ARTTRACK5 C and TRACKPACK E The ATC is trig gered externally with an arbitrary function generator at 20 Hz The output network card on the ATC is set up with 10 MBit ethtool s ethO speed 10 duplex full so that the network package with the tracking results can be triggered with an oscilloscope ARTTRACKS5 ARTTRACK5 C AT5 delays with 8 cameras r r T T T J 1 3 MPi 114 0 8 MPix e ae iat J J 0 5 MPix a 10 710 8 104 To 3104 f 4 J sla 10 4 Lae ae
77. System setup 4 5 6 Menu structure 4 5 6 1 Overview DTrack2 Shortcut page Licenses License overview Licenses can be added by entering a license key for Fingertracking for the Measurement Tool or for Cascaded Systems Configurations Create and save different configurations lock the used configuration and save its settings Start Stop M Start Stop measurement Search hardware F2 Search for newly added hardware Controller standby Force the controller to go into standby mode Controller reboot Reboot the controller Quit Q Quit DTrack2 Settings Shortcut page Cameras F7 Camera settings Synccard Synccard settings Inertial Sensor Settings for intertial sensors ART Radio Info Opens a dialogue where you can see available transceivers and devices within your setup Tracking General settings Body Administration F8 General settings for all targets and interaction devices Output F9 Set output channels and configure the data to be trans mitted Fingertracking Configure your Fingertracking or Tactile Feedback de vice Flystick Configure your Flystick Measurement Tool Configure your Measurement Tool Controller Configure the controller for your local network Cascaded System Configure a Cascaded System with available con trollers Calibration Shortcut page 110 Start static reflex scan for all Starts the static reflex scan enabled cameras Inertial Sensor Calibration Re calibrate the internal sensors of the inertial sensor Room F5 Room calibration
78. The Controllers of ART Usually all cameras are connected with the sync output no 1 OUT1 of the synccard like a chain that is finished by a 759 terminating resistor If the cameras have to be grouped into different syncgroups in order to avoid blinding two or three BNC chains are used at the sync outputs no 1 and 2 or 1 2 and 3 respectively of the synccard The set tings of the Synccard2 are defined by software DTrack2 All sync signals are transferred via BNC connections Furthermore the controller uses the single Ethernet plug 100 Base TX for data output to the remote PC or to any PC within the local network Figure 4 15 on page 50 shows two possibilities of connecting the controller to a local network You may either use the controller as a DHCP client within your network figure 4 15 a i e the tracking data is transmitted directly via your local network Or if due to your company security guidelines it is not allowed to connect the controller directly to your network you may install two network cards in your remote PC one is connected to the controller and the other one is connected to your local network figure 4 15 b In this case the DTrack2 Frontend will act as a router for the tracking data The controller is controlled by a remote PC via DTrack2 frontend software When deliv ered the controller is set up to support DHCP Therefore it will acquire an IP address automatically given that a DHCP server is runnin
79. To ensure wireless synchroniza tion the following points should be observed e The camera which emits the modulated flash has to be in sync group 1 For ARTTRACK systems this means that the cam era has to be connected to the OUT1 output of the Synccard2 TRACKPACK systems may be configured via software refer to chapter Syncgroup on page 99 e Note that the synchronization will not work near plasma screens e If two or more tracking systems using wireless synchronization are in the same room then external synchronization of the sys tems might be necessary e g at tradeshows The modulated flash is adjustable in Settings Cameras Just tick the checkbox mod ulated flash and select one camera which is in syncgroup 1 from the dropdown list Press OK to apply the changed settings However the Flystick3 may also be used with tracking systems where older ARTTRACK2 lt SN 320 or ARTTRACK71 cameras are used DTrack2 is required For this purpose an additional external flash can be purchased from ART If your system is configured with more than one syncgroup it is nec H essary to configure the Flystick3 as follows Go to Settings Flystick and increase the number of syncgroups according to the number of syncgroups used to set up the system MultiUser option The MultiUser option is an enhancement especially for VR AR appli cations when working with more than one Flystick Up to ten users can be equipped wit
80. UCB 10 10 et 2 ma ce bid fam lt i T ce Lab lt x So S A se i A IE x ov o ZERTIFIKAT CERTIFICATE 7 4 Declaration of conformity America CERTIFICATE No U8 14 09 52228 012 Holder of Certificate Advanced Realtime Tracking GmbH Am Oferl 6 82362 Weilheim GERMANY Production 52228 Facility ies Certification Mark Product Scanner IR Tracking Camera Model s ARTTRACK5 TRACKPACK E Parameters ARTTRACK5 Rated voltage 57 VDC Rated power 17W Protection class lll TRACKPACK E Rated voltage 57 V DC Rated power 5W Protection class ll Tested UL 60950 1 07 A2 2014 according to CANICSA C22 2 No 60950 1A 07 The product was voluntarily tested according to the relevant safety requirements noted above It can be marked with the certification mark above The mark must not be altered in anyway This product certification system operated by TUV SUD America Inc most closely resembles system 3 as defined in ISO IEC Guide 67 Certification is based on the TUV SUD Testing and Certification Regulations TUV SUD America Inc is an OSHA recognized NRTL and a Standards Council of Canada accredited certification body Test report no 028 713035454 000 Date 2014 09 22 K N Page 1 of 1 T V SUD AMERICA INC 10 Centennial Drive e Peabody MA 01960 USA www TUVamerica com TUV 181 N Sa jd Q L
81. able with bigger passive markers e g 30mm or active markers F 2 6mm 4 5m 4 5m 4 5m 4 5m F 3 5mm 4 5m 4 5m 4 5m 4 5m F 4 5mm 4 5m 6m 4 5m 6m F 6 0mm 4 5m 7m 4 5m 7m Maximum number of 6DOF targets simultaneously 60fps 50 50 50 50 Field of view FoV horizontal x vertical F 2 6mm 88 x 58 88 x 58 F 3 5mm 67 x 45 67 x 45 72 8 x 58 2 72 8 x 58 2 186 A 1 Cameras Max working distance with 12mm passive markers F focal length in mm Greater distances achievable with bigger passive markers e g 30mm or active markers F 2 6mm F 3 5mm F 4 5mm F 6 0mm Maximum number of 6DOF targets simultaneously 60fps 2 5m 3 5m 3 5m 3 5m 4 50 3 5m ARTTRACK2 2 ARTTRACK3 2 ARTTRACK2 ARTTRACK3 from S N 1800 from S N 400 IR flash 880nm 850nm 880nm 850nm F 4 5mm 52 x 35 57 9 x 45 3 57 9 x 45 3 F 6 0mm 42 9 x 33 0 42 9 x 33 0 other focal lengths on request A 1 5 TRACKPACK cameras discontinued TRACKPACK TRACKPACK C IR flash 850nm 850nm Power supply Nominal voltage 12V 12V Maximal current 0 5A 0 5A Maximal power 6W 6W Ext power supply Protection category Ext power supply Camera III IIl Interface connectors data IEEE1394 IEEE1394 synchronization RJ45 RJ45 power RJ45 RJ45 Operating conditions Temperature 0 38 C 0 38 C Relative humidity 5 50 5 50 non condensing non condensing Coolin
82. ackD module ART will provide information upon request Versions of trackd 5 5 which are older than February 2007 do not support data transmission for Flystick2 or Flystick3 If you don t want to change the module you may also use the o d output forma in Settings Flystick 6 7 Software DTrack2 gt Where do I get the software DTrack2 from The software DTrack2 is delivered on a USB flash drive with the tracking system Fur thermore you may register for the ART Download Center http www ar tracking com support in order to always have access to the latest release of DTrack2 gt Why is my frontend not starting up e Please refer to chapter A 5 on page 190 for a list of supported operating systems e f using Windows XP please check that you have installed Service Pack 3 SP3 e f using Linux some newer Linux distributions don t install the library libpng12 so 0 as default although it s part of the distribution Please install it using an appropriate package installer e f using 64 bit Linux please be sure that you have installed the 64 bit DTrack2 pack age To run 32 bit DTrack2 on 64 bit Linux you might have to install the 32 bit version of several libraries depending on your Linux distribution gt Some of my menu items are missing What can I do e Please check if the latest updates for your operating system are installed e Please refer to chapter A 5 on page 190 for a list of supported o
83. alid range 0 1 5 0 mm activate measurement start simula activate the start button simulation and enable the tion respective controls minimal angular variation deg specify the minimum angle that the Measurement Tool has to be tilted over to start a measurement valid range 10 120 maximum lead time for this angular waiting time before the measurement start by the variation s start button simulation Table 4 15 Measurement Tool settings On the Network tab you may change the hostname not recommended and the domain according to your network guidelines When the network cable has been plugged into the controller while booting the controller is a DHCP client and the checkbox is ticked If the network cable is unplugged while booting the controller uses its default IP address i e 192 168 0 1 You may also specify P address subnet mask gateway and nameserver as desired The MAC address of the controller is printed in the last line for your information ethernet MAC LAN On the Time tab you can set the UTC time of the controller Furthermore you can syn chronize the UTC Universal Time Coordinated time using NTP Network Time Proto col NTP is a protocol designed to synchronize the clocks of computers over a network Tick the checkbox activate NTP and enter hostname or IP address of your server If NTP is activated the controller is trying to connect to the NTP server repeatedly in or der to update its clock T
84. alue qu unused a number to distinguish left and right hands 1r 0 to denote a left 1 a right hand and the number of tracked fingers nf always 3 or 5 with current hardware 2 Position of the back of the hand s 3 Orientation of the back of the hand given as rotation matrix b like standard bodies 4 For each finger starting with the thumb aa Z O Q Q l lt a Position of the tip of the finger sf given in the hand s coordinate system b Orientation of the outermost phalanx bf like standard bodies given in the hand s coordinate system c Radius of the tip of the finger ri lengths of the phalanxes from the outermost L to the innermost i phalanx angles between the outermost and the middle phalanx afm as well as between the middle and the innermost phalanx af Note that the number of blocks vary because of the variable number of sup ported fingers per hand Example one line gl 1 0 1 000 1 5 25 835 221 498 135 999 0 603034 0 783519 0 149826 0 729406 0 617627 0 294114 0 322981 0 068077 0 943954 1 4 42 4 46 7 0 6110 0 3126 0 7273 0 5609 0 4773 0 6764 0 5586 0 8212 0 1163 11 6 23 7 42 9 39 6 22 6 59 4 36 4 12 8 56 0 0 4019 0 0429 0 9147 0 1640 0 9794 0 1180 0 9009 0 1975 0 3865 9 2 18 2 24 5 27 6 73 2 46 0 39 1 14 8 58 1 0 6598 0 1451 0 7373 0 0650 0 9885 0 1364 0 7487 0 0421 0 6616 10 4 20 7 46 2 31 3 74 7 52 2 36 3 31 3 55 9
85. an available channels _ W Warmup start Exit Figure 4 21 Inertial Sensor Settings recommended channels are greyed out If the current channel of a dongle is not suitable DTrack2 recommends another one marked green Please select an appropriate channel for each dongle The selected dongle will change its channel accordingly like for all assigned sensors Do not set both dongles to the same channel or on occupied frequencies from other devices in range Adding the inertial sensors to the configuration in DTrack2 This needs to be done initially in case the sensors are already connected please skip this step Please ensure that all sensors have been charged or alternatively attach the sensors to the supplied charging hub prior to the following steps In the menu Settings gt Inertial Sensors press Add sensor to identify and connect all inertial sensors in range In the appearing dialogue see figure 4 22 on you should find the Scan mode being default In this mode DTrack2 will search for the sensors on default channels 35 and 55 even if the dongles sensors have been set to different channels manually In this case please change the scan mode to single and select the corresponding channel in the adjacent selection box If you don t know the current radio channel of your sensors choose al takes some time With USB you can identify sensors that are connected to the ART Controller via a USB charging cable
86. and generates the data output stream compatible to ARTTRACK1 ARTTRACK2 ARTTRACKS infrared camera infrared camera infrared camera dedicated for multi sided projections teach the system the geometry of a rigid body rigid arrangement of several single markers see also target belongs to the room calibration set and defines origin and orien tation of the room coordinate system equipment to mount an infrared camera to the ceiling Linux based software which does all necessary calculations graphical user interface to control the controller is the area of interest captured on the cameraaAZs imager a fixture for the finger tip to hold the active marker s tracks the orientation of the hand and the position of the fingers wireless interaction device for virtual reality VR applications describes the dimensions of your hand and fingers fusion of optical and inertial data into one consolidated output an inertial measurement unit simultaneously measures 9 phys ical properties namely angular rates linear accelerations and magnetic field components not used along all 3 axes This is achieved using solid state gyroscopes for measurement of roll pitch and yaw and accelerometers for drift correction position measurement of bodies subjects or objects based upon infrared light and optical measurement procedures software key to unlock certain capabilities of the tracking system object either made of retro reflective material or LED for p
87. arget to be calibrated are in the field of view of the IR cameras during body calibration these mark ers will be assigned to the target That means the target is not correctly calibrated and therefore tracking problems may occur First the target that shall be calibrated has to be selected in the select list Body By de fault the type is set to standard which allows for calibrating a 6DOF target with spherical flat or active markers When you are using a target made of ring markers you would select the type according to the geometry of the target e 5DOF a target made of spherical markers which are aligned along one main axis The rotation around that axis cannot be detected by the system you loose one dimension of freedom Therefore we call it 5DOF target 5DOF cylinder a target made of ring markers which are aligned along one main axis e 2x 5DOF cylinder an L shaped target made of ring markers which delivers 6DOF data Selecting the coordinate system for 6DOF targets The type of body calibration can be set as due to body due to room or due to room zero in marker The difference 84 4 5 DTrack2 frontend software Target Library Custom Target Library Custom body body Brile standard body 03 al te calibration Brile Sd standard body 05 al aneo Save eG Ge EME Gre ext ext a Target type standa
88. ars in the background If you are working with a reference body you would have to calibrate it as well This is done by a standard body calibration Just select the body named Measurement Tool ref erence body 07 Press Calibrate and the calibration starts within 5 seconds Tip calibration After successful body calibration you have to calibrate the tip of the Measurement Tool select Calibration Measurement Tool Place the Measurement Tool in front of the cameras with the tip fixed at exactly one position Press Calibrate to start the calibration process Gently move the Measurement Tool while keeping the tip still at exactly one position i e tilt around its tip DTrack2 is calculating the position of the tip relative to the markers of the Measurement Tool i e the origin of the body coordinate system is tranformed into the Measurement Tool s tip re Note that the progress bar is not continuing if the pointing device is not moved sufficiently If the tip calibration has been successful the result is presented in the dialogue Mea surement Tool Tip Calibration Result Please check the information displayed and either Accep or Cancel the tip calibration Output settings Please define where the Measurement Tool data has to be sent to In DTrack2 frontend software select Settings Output You can either select this com puter remote PC or enter an IP address of another computer you want to send data to
89. ash Figure 4 8 Camera ARTTRACK3 Mounting The ARTTRACK3 cameras are optimized for a predefined range of measure ment volumes System operation in smaller or bigger measurement volumes can lead to reduced accuracy or other malfunctions The measurement volume can be adjusted within certain limits simply by changing the flash intensity of the ART infrared cameras see chapter 4 5 6 3 on page 96 H The flash intensities should not be too high In general a flash inten sity of 3 4 might be sufficient 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 ART labs Be aware that a tracking system is very sensitive to camera movements Therefore the cameras have to be mounted in a way that reduces camera movements especially vibra tions as much as possible A Mounting on tripods may be sufficient for presentations and prelimi nary installations but is not recommended as a final solution If you want to mount the camera on a tripod just mount the carrier on the bottom of the camera Otherwise the carrier for the ARTTRACK3 can be attached on both bottom and top side of the camera Attach the carrier with the T piece pointing to the back of the camera in a similar way to figure on page 26 Note the ceiling suspension is already connected to the carrier in figure 36 4 1 The tracking cameras of ART Only use screws supplied
90. ashes like the camera flash and thus have to be synchronized with the camera s timing This can either be achieved by a synchronization cable or by using a modulation on the flash The option modulated flash which only appears on the A Cameras tab allows selecting one of the cameras to emit the coded flash that triggers active targets Only one camera can emit the modulated flash The modulation reduces the flash intensity in lower flash settings so it might be necessary to increase the flash intensity In higher settings the 99 2 ab Q i cS 4 System setup reduction is insignificant The camera which emits the modulated flash has to be in syncgroup IS 1 For ARTTRACK systems this means that the camera has to be connected to the OUT1 output of the Synccard2 TRACKPACK systems may be configured via software refer to chapter Syncgroup above Display upside down The checkbox display upside down specifies how the ART camera is mounted upright or upside down This setting does not have any influence on the correct working of the tracking system because the orientations of the cameras are correctly determined by the photogrammetric algorithms in any case Details Here it is possible to change the settings concerning markers Description global marker mode configure the marker detection global maximum number of markers maximum number of markers that a camera is allowed to see global maximu
91. ask of the master is to gather all single data outputs from all slaves and to merge them into one single data output The DTrack2 frontend connects to the master only and allows to configure e g cameras output tracking etc the entire tracking system as usual The master has to be an ARTTRACK Controller with full featured li cense lt DTrack2 2 10 and a Synccard2 Starting with DTrack2 version v2 10 a new license model has been es tablished The master controller needs to have a dedicated cascaded systems license as well as a sufficient license for ALL cameras in the cascade e g 4 ARTTRACK5 4 TRACKPACK E cameras license for 8 cameras Depending on your setup there are different options how to connect the single tracking systems within a cascade Option 1 master all ART and ARTTRACK Controllers slave s ART Controllers with TRACKPACK E or TRACKPACK controllers discontinued Connect the data output of the slave controller s and the one of the master to the same local area network LAN e g application network see option 1 in fig 4 18 on page 60 and fig 4 19 on page 61 Option 2 master ART Controllers DTrack2 gt v2 11 slave s ART Controllers with TRACKPACK E or TRACKPACK controllers discontinued Connect the data output of the slave controller s to the cascaded network port of the master see option 2 in fig 4 18 on page 60 Please use a switch for two or more TRACKPACK slaves Option 3
92. asurement Data via Ethernet e The data of each tool show up in blocks three consecutive like id qu bt sz sy sz bo bi b2 b3 b4 bs be b7 bg They contain 1 ID number id starting with 0 quality value qu see below and button information bt unused 2 Measured position s of the tip 3 Rotation matrix b of the tip s orientation e The quality qu can so far just get the values 1 0 and 1 0 1 0 means that the target of the Measurement Tool is not visible at the moment e The protocol is prepared for future Measurement Tools equipped with buttons like Flysticks Until then bt is set to zero e bo bg form a rotation matrix R according to the scheme described in chapter B 2 3 on page Example one line 6dmt 1 0 1 000 0 326 848 187 216 109 503 0 911812 0 038421 0 408806 0 095040 0 988324 0 119094 0 399457 0 147444 0 904817 B 2 8 Measurement Tools with sphere tip Identifier 6dmt2 H Only available if the Measurement Tool license is present for DTrack2 avail able since version v2 9 1 To use the 6dmt2 output first deactivate the old output format 6dmt in Settings Measurement Tool use old output format Then activate Settings gt Output gt 6dmt2 The output for Measurement Tool with sphere tip is defined as follows e The first number gives the number of calibrated Measurement Tools e The second number gives the number the following target data e The data of each
93. at the calculation of 3DOF markers has to be activated in Settings gt Tracking by ticking the checkbox Otherwise the positions will not be calculated Additional information for inertial sensors n the Data Display additional information is pro vided for the inertial sensor e sensor ID e battery level e temperature in C The temperature values between single inertial sensors may vary The H operating temperature is reached as soon as there are no more tem perature changes inside the sensors indicated by a green status bar It is not dependent on the absolute temperature value Fingertracking The Fingertracking display shows the measurement results of the hands i e of each finger thumb index middle that are available in the measurement vol ume A simple colour code shows the status of the Fingertracking Fingertracking device is being tracked tracking data is displayed Fingertracking device is not being tracked instead of tracking data dashes are displayed white Fingertracking device is not calibrated columns are left blank The coordinate system of the measurement data may be switched by using the radio buttons hand and room You can distinguish between the hands either by the hand ID or by the name of the hand geometry Flystick The Fiystick display shows the measurement results of the position and orien tation of the Flystick Additionally the operation of the Flystick buttons and of the jo
94. ay tick the checkbox 3 gt 5 106 4 5 DTrack2 frontend software The software DTrack2 will move the two missing fingers parallel to the third finger It is possible to save several hand geometries in DTrack2 these will appear in available hand geometries So you can use your Fingertracking set with different people and most important you need to calibrate the Fingertracking set only once for each person From DTrack2 v2 8 1 on it is possible to export Save import Load and remove Delete available hand geometries Just press Save and select the hand geometries you want to export and save them at your desired location For importing a stored hand geometrie just press Loao and change to the respective di rectory select the appropriate file and press OK The hand geometrie may now be used as follows Now just assign the desired hand geometry to the respective hand ID and use Finger tracking Therefore e mark the respective hand ID e mark the desired hand geometry and e press Select Repeat the steps if you want to use another hand Please refer to chapter 5 3 on page 133 to learn how to install Fingertracking Flystick Inthe Fiystick Settings you can define the number of Flysticks to be used max 20 Checkbox Description use old output format Use the output format of the old Flystick1 see chap pe page 195 activate MultiUser function Refer to page 126 in chapter 5
95. ayed in Monitor 2DOF view If this is the case it will severely affect tracking in the involved image areas If these situations cannot be avoided by proper adjustment of the cameras i e position and orientation they can be arranged in different flash groups thus separating the IR flash of one camera from the image recording of the other camera on a time scale 75 t 2 ab Q q9 k 4 System setup On the one hand camera mounting has to ensure that tracking is possible over the entire measurement volume On the other hand attention has to be paid to the fact that at least two cameras have to see the calibration angle for room calibration completely Moreover the fields of view of the single cameras have to overlap sufficiently in order to enable the photogrammetric orientation of all cameras in a common coordinate system especially if not all IR cameras are able to see the calibration angle License overview Up to DTrack2 v2 10 different license models were available for ART TRACK and TRACKPACK systems e ARTTRACK systems extended and full featured licenses e TRACKPACK systems basic extended and full featured licenses Starting with DTrack2 version v2 10 a new license model has been established You may use 2 4 8 16 or up to 50 cameras in any combination with 4 10 30 or up to 50 targets depending on the license purchased Please refer to table 4 3 for a detailed overview Feature
96. be saved at a desired location on the remote PC This function is intended as a simple means for the user to easily create backups of calibrated bodies Body re calibration DTrack2 provides a possibility to re calibrate a rigid body When performing a body re calibration the origin of the initial coordinate system and the orien tation of the coordinate system as well are preserved 87 st 2 ab Q rq CS 4 System setup Ei IP Load Body Calibration Files ae path T Ulrich Probost flystick bOl txt flystick b01 standard b01 t standard b01 standard b02 tt standard b02 Figure 4 40 Import of calibration files You might need to re calibrate bodies in case their geometry is changed due to mechani cal impact 4 5 3 1 Target Library With the introduction of DTrack2 v2 8 1 it is possibe to make use of an integrated library that contains calibration data for most ART standard targets e g Motion Capture glasses targets etc When you go to Calibration Body choose Target Library refer to figure 4 41 The filter is set to Found Targets by default whereas the other options may be used in case only targets of this type are to be calibrated e g Motion Capture Body Calibration wer Vie Target Library Custom filter Found Targets v E accept all Short Name Name Calibrated Accept Glasses Target 5 no m found new targets 1in current g
97. calibration menu to configure your room calibration set concerning wand length and marker distances The wand length is printed on a label on the wand please enter the value here Figure 4 47 A room calibration set consisting of angle and wand Marker distances defines the type of room calibration set it can either be Room Cali bration Set TP Room Calibration Set 410 or Room Calibration Set 710 When choosing expert the angle of the room calibration set may be defined by the user Then the dis tances between the markers on the angle have to be configured Define the coordinate system as normal or powerwall The layout of the coordinate system is shown in the on page You may adjust the duration of the room calibration Show details in a range of 10s 100s Resetting the value to default is 111 st 2 oO Q i CS 4 System setup a normal b powerwall Figure 4 48 Defining the coordinate system for the room calibration achieved by pressing the Set fo default button default 30s Changing the duration of the room calibration especially towards shorter durations may lead to bad room calibration results Please make sure that you are always able to cover two thirds of the tracking volume within the set time If you are re calibrating your room use the checkbox re calibration in the bottom left cor ner to indicate it to the tracking system For more information about r
98. cense purchased Please refer to table 4 3 on page 76 for a complete license overview gt Where do get a license code from You may purchase additional licenses for your system Please contact us in case you need consultation For creating a new license code we will need some information from you Go to DTrack2 Licenses select the license you want to add and click on Hardware Info Contact ART and tell us the synccard number If you are using a TRACKPACK system discontinued please tell us the MAC address of the Ethernet adapter gt Where do I enter a new license code Go to DTrack2 Licenses and enter the code in line new license code gt Where do get a software update from The latest release of DTrack2 is always available at the ART Download Center http www ar tracking com support 155 Chapter 6 6 Frequently asked questions FAQ gt want to run a software update How do I preserve my data and my configurations Your data and your configurations are automatically preserved when running a software update But it is recommended to regularly create backups of your configuration s gt How do I run a software update Please contact ART to receive the latest software release and follow the instructions in chapter 4 5 1 3 on page 72 gt Do have to update the DTrack2 frontend software and the software of the controller at the same time We recommend to do so My speci
99. chapter on page 52 for more information 4 1 7 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 Description The TRACKPACK system may also be combined with the TRACKPACK C cam era in order to realize tracking in multi sided projection environments e g CAVE l Space In such an environment it is necessary to drill holes into the projections corners as the camera cannot see through the screen The TRACKPACK C camera has been designed to easily fit into such holes by separating the lens from the electronics part see figure 4 10 With its 3 5 mm lens a large field of view FoV is covered Refer to A 1 on page 183 for the respective FoV The TRACKPACK system either consists of TRACKPACK C cameras or it can be mixed with standard TRACKPACK cameras both variants are limited to a total number of four cameras per system and come with a TRACKPACK Controller 40 4 1 The tracking cameras of ART lens status LEDs data LED flash power supply and sync Figure 4 10 Camera TRACKPACK C The RJ45 connection between TRACKPACK C camera and controller is used for power supply and synchronization signal It is not a standard A Ethernet connection That is why connecting the RJ45 connector to any other than the equivalent port of the controller
100. controller You will see a list of the available controllers in your network In column Name every controller in your network will be listed If no controller or not the desired controller is listed there please press Update list Now the list should contain your desired controller If not please refer to chapter 6 on page You can identify the correct controller by comparing the serial number on the label on the back of the controller with the serial number listed in this window column Seria Controllers set in grey are used by other PCs in the network IP address listed at the bottom of the welcome screen It is only possible to connect to controllers set in black 72 4 5 DTrack2 frontend software IP Controller Selection T Specific Controller Scan subnet IP address e g 10 10 255 255 Name Serial Access Version no connection to Controller Update list hostname or IP address 192 168 0 1 a specific contro gt Controller Selection Lo mt Specific Controller hostname or IP address 192 168 0 1 Scan subnet IP address e g 10 10 255 255 IP TE Serial Access Version IP 10 10 1 55 f I atc 502 00502 full v2 8 2 10 10 9 99 ext ext J est eet ller b scan the network Figure 4 27 Controller Selection Select the entry which fits to The next time you start DTrack2 your controller is still known by the software and DTrack2 a
101. d A therefore poses no risk or hazard to the human eye or skin at this dis tance Description The ARTTRACKS infrared camera is intended for working environments with distances between camera and markers of up to 7 5 metres By default the ART TRACKS is equipped with a 3 5 mm lens Depending on the application and the setup the ARTTRACKS can be equipped with other lenses i e with different focal lengths Refer to A 1 on page 183 for a list of available focal lengths and the respective FoV Label with serial number S N RJ 45 port IR flash power data sync st 2 ab Q i lens 2 digit Status amp LED matrix display Power LEDS Figure 4 1 Camera ARTTRACK5 Mounting The ARTTRACK5 cameras are optimized for a predefined range of measure ment volumes System operation in smaller or bigger measurement volumes can lead 25 4 System setup to reduced accuracy or other malfunctions The measurement volume can be adjusted within certain limits simply by changing the flash intensity of the ART infrared cameras see chapter 4 5 6 3 0n page 96 H 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 These changes have to be done at the ART labs Be aware that a tracking system is very sensitive to camera movements Therefore
102. d ARTTRACK5 or TRACKPACK E cameras both variants are limited to a total number of 50 cameras per system Mounting The ARTTRACK5 C cameras are optimized for a predefined range of mea surement volumes System operation in smaller or bigger measurement volumes can lead to reduced accuracy or other malfunctions The measurement volume can be adjusted within certain limits simply by changing the flash intensity of the ART infrared cameras see chapter 4 5 6 3 on page 96 H 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 These changes have to be done at the ART labs Be aware that a tracking system is very sensitive to camera movements Therefore the cameras have to be mounted in a way that reduces camera movements especially vibra tions as much as possible H Mounting on tripods may be sufficient for presentations and prelimi nary installations but is not recommended as a final solution If you want to mount the camera on a tripod just mount the carrier on any side of the camera body and then the remote camera head on the opposite side using a ceiling mount Otherwise the carrier for the ARTTRACK5 C can be attached on all 4 sides of the camera body Attach the carrier with the T piece pointing to the back of the camera in a similar way to figure 4 2 on pa
103. dby mode or reboot if the master goes to standby mode or reboots Refer to chapter 4 3 on page 58 for more information on the cascaded system 4 5 6 4 Menu Calibration Start static reflex scan for all enabled cameras All ART cameras are able to sup press all reflexes in certain areas of the image sensor This is especially important for setups in multisided projections these cameras are mounted in the corners of the multi sided projection and usually get a lot of unwanted reflexes from the nearby walls To gain good tracking results these reflexes should be suppressed The feature can be enabled or disabled either globally for all cameras or individually for each camera in the camera settings Scanning for static reflexes allows searching the measurement volume for un wanted reflexes Areas are defined around the visible reflexes where all reflexes should 110 4 5 DTrack2 frontend software Calibration Shortcut Start static reflex scan for all en abled cameras Inertial Sensor Calibration Room F5 Room adjustment Shift F5 Body F6 Body adjustment Shift F6 Fingertracking Measurement Tool Table 4 16 Menu Calibration be suppressed later during measurements Be sure to remove all targets from the measurement volume before starting the scan Inertial Sensor Calibration This function carries out a drift correction for all inertial sensors Please refer to chapter 4 4 on page 63 for more information Room Use the room
104. denotation Values Possible license status Cascaded supported not supported Fingertracking supported not supported Measurement Tool supported not supported DTrack2 cameras not supported DTrack2 max C cameras C 2 4 8 16 supported DTrack2 all cameras supported DTrack2 max B bodies B 4 10 30 supported DTrack2 all bodies supported 1 Max 4 TRACKPACK discontinued or 8 TRACKPACK E cameras without cascaded system Table 4 3 Licenses overview The maximum number of bodies that may be used in the ARTTRACK or i TRACKPACK system includes the calibrated interaction devices Fin gertracking Flystick Measurement Tool 4 5 1 7 Localizing and removing of disturbing reflections Reflections may be detected when starting the Monitor 2DOF view in DTrack2 They are illustrated the same way as single markers i e with small coloured crosses But there may also be reflections that are not illustrated in the Monitor 2DOF view when mutual blinding of cameras occurs Then you can only tell from the bar display which is indicat ing high radiation intensities This is a known behaviour which in case of ARTTRACK2 can be solved easily with an update of the cameras s firmware Please contact ART in case you experience alike 76 4 5 DTrack2 frontend software problems Sources of disturbing reflections may be diverse Typically however the reflections are produced from one or more of the following e strong infrared radiat
105. dle a virtual sphere or cube To insert the virtual object in the tracking volume place the tracked hand at a convenient position and press the Grab object button The Fingertracking Viewer is only for demonstration and testing purposes and is only available as a 2D Viewer 5 4 Measurement Tool Introduction The ART Measurement Tool is a pointing device for measurement or med ical applications In this specialized field it is very important to measure positions of points in high accuracy For that reason the Measurement Tool is equipped with a measurement tip The position of the tip can be measured with the optical tracking system Description The Measurement Tool is an add on to the AAT tracking system and is integrated into DTrack2 by entering a license code which can be supplied by AAT For the creation of the license code we need the serial number of the synccard Click DTrack2 Licenses and Hardware Info to find out the serial number Go back to license overview and add the license key delivered by ART for your Measurement Tool refer to chapter 4 5 6 2 0n page 93 The pointing device carries a target that was developed to get optimal tracking quality for the use with two IR cameras You will get the best measurement results when the 140 5 4 Measurement Tool Figure 5 15 Measurement Tool pointing device is facing the cameras as shown in figure 5 15 i e markers have to be oriented towards the cameras Typically the
106. dy occupied by other devices re in range connection problems may occur ART recommends to scan for available channels and to select free channels accordingly Keep a minimum distance of 10 channels between dongles or from otherwise unavailable channels for optimum connectivity 101 4 System setup For optimal battery life ART recommends to switch all sensors to KS wake up mode USB button when not in use for a longer period of time For more information please refer to chapter 4 4 on page 63 ART Radio Info When you are using a Flystick for example you will get information about the used transceiver and the Flystick device itself The following information is of fered Description Model the model of the transceiver or the device respectively Serial the serial number Version the firmware version Is free only for Devices the device is not free no if it is assigned to an interaction device ID Is present the device or the transceiver is present in the tracking volume By clicking the button Show details you may change the channel the transceiver is trans mitting on Tracking In this dialogue you can configure whether 3DOF markers are calculated or not and you can enable or disable the automatic start of measurement after booting Also you can globally define the central axis for all 5DOF targets For these the rotation around the body axis cannot be measured by the tracking system This ro
107. e fined presets or customize it to your requirements A detailed descrip tion of the filtering options can be found in chapter 4 5 5 0n page po Directly access the Body Calibration dialogue and perform the calibra tion for the selected target A detailed description for body calibration can be found in chapter 4 5 3 on page Hybrid Body Directly access the Hybrid Body Calibration dialogue and perform the Calibration calibration for the selected hybrid target A detailed description for hy brid body calibration can be found in chapter on page Body Adjust Directly access the Body Adjustment dialogue and perform the neces ment sary adjustment for the selected target A detailed description for body adjustment can be found in chapter 4 5 4 on page 89 Calibration Output The dialogue Output determines the settings of data output via Ethernet Data output will be enabled when you tick the checkbox active Erer Identifier Description Channel 1 Channel 2 channel 3 Channel 4 channels fr frame counter V active ts timestamp send to UDP port 6dcal number of adjusted bodies nez s000 la 6d 6DOF standard body this computer send data divisor 3d 3DOF m arker multicast 224 0 0 0 239 255 255 255 1 B 6df2 Flystick ne o ss 6dmt Measurement Tool NI ts timestamp 6dmtr Measurement Tool reference D E Siea Gabet elds 6dmt2 Measurement Tool also for ball 7 6d 6DOF standard body QO 3d 3DOF marker probes
108. e button pressed events and configuring devices 167 7 General Information 7 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 A Never try to repair anything yourself Opening the equipment implies risks for health and environment as well as loss of war ranty and liability 7 2 Cleaning of the equipment Only the housing of the cameras may be cleaned Before cleaning shut down the system and disconnect the power cords Never use water or any chemicals Just use a dry lint free and antistatic tissue like lens cleaners for optical equipment A Do not open the housings Opening the housings implies risk for health and environment as well as loss of warranty and liability 7 3 Warranty and liability Hardware ART warrants the hardware to be free from defects in workmanship and ma terial under normal use and service and in its original unmodified condition for a period of 24 months from the time of purchase The time of purchase is defined as the day when the end user takes possession of the equipment If ART or any company authorized by ART installs the system the time of purchase is the time of the first installation In case of defects during the warranty period ART will repair or replace any defective parts Replaced parts become property of ART Software Software supplied either on the tracking PC or in cameras
109. e cameras tab 116 4 5 DTrack2 frontend software A simple color code signifies the size and the circularity of the markers green very good quality yellow good quality red poor quality Each marker is either displayed as acircle or as across This indicates the projected size of the marker on the CCD chip inside the camera i e circle big marker and cross small marker As a rule of thumb for measurement applications with high accuracy requirements the markers should be displayed in green for VR applications yellow markers are sufficient The Monitor 2DOF display is particularly useful for the final adjustment especially for ori entation adjustments of the IR cameras In the Monitor 2DOF display it is possible to interact with your mouse as certain functions are assigned to the mouse buttons e left mouse button Click and hold down to move a camera display within the Monitor 2DOF view e middle mouse button Click to hide all camera displays except for the one you pointed at Click once again and all camera displays are shown e right mouse button A menu is opened see table for more details Function Shortcut Grid G Shows a grid in the camera display Cross C Shows a cross in the camera display Fullscreen F Resizes Monitor 2DOF view to full screen and back One Camera Only show the view of the selected camera Display upside down Changes display orientation UD is displayed in the camera di
110. e back of the controller there is a BNC plug Extln which serves as input for the external synchronization signal The sync signal may be of type TTL or video see also chapter 4 5 6 3 on page 100 Typically external synchronization has to be used when other systems inside the tracking system are also using infrared signals for controlling their equipment e g if R controlled shutter glasses are used The goal is to reduce or eliminate interference The ART track ing system follows the external synchronization signal and chooses time slots when it is safe to emit infrared radiation without causing interference The effect is for example that active shutter glasses are not flickering but offer a stable picture for the user The external sync input is not internally terminated When synchronizing with a video input a T piece with an external 75 Q terminating resistor should be used if the signal line ends at the KS controller When using a TTL signal you should not use a terminating resistor However you should use a shielded cable for the synchronization with a TTL signal 4 2 3 Installation of the TRACKPACK Controller discontinued The following list introduces the ports of the TRACKPACK Controller e ART SynccardTP The syncgroups for TRACKPACK systems can be configured in the DTrack2 fron tend software Please refer to chapter 4 5 6 3 on page p6 Extln Please plug in the external source for synchronization here
111. e can stumble over the cords e the cords cannot be damaged e the cords cannot damage the cameras due to mechanical strain e the line of sight of the cameras is not obstructed Cable ducts or fixings should be used and a strain relief should be A Inappropriate cabling may pose a serious hazard to health and safety installed Please refer to chapter on page 48 for more information 4 1 5 ARTTRACKS3 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 Description The ARTTRACK3 camera is the successor of ARTTRACK7 which is no longer produced Due to its larger IR flash it can be used for measurements in higher distances up to 6 metres And because of its passive cooling system i e without fan the ARTTRACK3 is also suitable for dirty or noise sensitive environments By default the ARTTRACK 5 C is equipped with a 4 5 mm lens Depending on the ap plication and the setup the ARTTRACK3 can be equipped with other lenses i e with different focal lengths Refer to A 1 on page 183 for a list of available focal lengths and the respective FoV 35 2 ab Q rq a 4 System setup lens Typ ARTtrack 3 48V max 25W Waw artracking de LED on powered up and booted power supply ethernet LED on measurement active LED fl
112. e forced to enter a new password and your configuration is locked Please do not forget this password Existing configurations may be used by selecting the corresponding entry and clicking Apply Quit this dialogue by pressing Exit the configuration is loaded Existing configurations can be deleted if not in use any more Select the entry to be deleted and click Delete Log seitings saves the selected configuration in a text file which can be saved on the remote PC This function is mainly intended for supplying information to ART in case a problem arises From DTrack2 v2 8 1 it is possible to export and import configurations Save will export the complete active configuration Load imports previously saved configurations The imported configuration will automatically become the active configuration It s possible to import several configurations at a time Please refer to chapter 6 1 on page 143 for detailed information 95 t 2 ab Q rq CS 4 System setup When you export a configuration please make sure that you rename it before exporting for example by adding the exporting date e g Stan dard 07122012 Configurations with the same name e g Standard will be overwritten Start Stop Start Stop measurement Search hardware Search for newly added hardware and continue with the system setup without the need of restarting the controller Controller standby Force the controller t
113. e to body Make sure that all markers of the Flystick3 are seen by the cameras using the Monitor 2DOF display which appears in the background Press Calibrate and the calibration starts within 5 seconds Please refer to page 83 for more information concerning body calibration Output settings Please define where the Flystick data has to be sent to In DTrack2 fron tend software select Settings Output You can either select this computer remote PC or enter an IP address of another computer you want to send data to By ticking the checkbox 60f2 you can define the Flystick data to be transmitted Please refer to chapter 4 5 6 3 0n page for more details Press Start to start the measurement In order to see the tracking data you have to enable the Flystick display by clicking Display Flystick 5 3 Fingertracking Description The Fingertracking device is an add on to the AAT tracking system which allows to track the orientation of the hand and the position of the fingers if necessary for both hands It is integrated into DTrack2 by entering a license code which can be supplied by ART For the creation of the license code we need the serial number of the synccard Click DTrack2 Licenses and Hardware Info to find out the serial number Go back to license overview and add the license key delivered by AAT for your Fingertracking device refer to chapter 4 5 6 2 on page 93 The Fingertracking device consists of
114. een 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 with different focal lengths Refer to A 1 on page 183 for a list of available focal lengths and the respective FoV sync lens y y Typ ARTtrack2 S N 00651 12V max 25W made in Garman LED on powered up and booted st 2 ab Q i CS power supply ethernet LED on measurement active LED flash Figure 4 7 Camera ARTTRACK2 Mounting The ARTTRACK2 cameras are optimized for a predefined range of measure ment volumes System operation in smaller or bigger measurement volumes can lead to reduced accuracy or other malfunctions The measurement volume can be adjusted within certain limits simply by changing the flash intensity of the ART infrared cameras 33 4 System setup see chapter 4 5 6 3 on page 96 H The flash intensities should not be too high In general a flash inten sity of 3 4 might be sufficient 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 ART labs Be aware that a tracking system is very sensitive to camera movements Therefore the cameras have to be mounted in a way that reduces camera movements especially vibra tions as much as possible H Mounting on tripods may be s
115. ems are infrared IR optical tracking systems In this user manual we are going to perceive tracking as measurement of the position of objects or subjects that move in a defined space These objects or subjects to be tracked have to be equipped with single markers or rigid arrangements of markers rigid body or target Position and or orientation of those rigid bodies can be measured If only the spatial po sition X Y Z is measured we call this three degrees of freedom SDOF tracking The simultaneous measurement of position and orientation three independent angular coor dinates is called six degrees of freedom 6DOF tracking Single markers are sufficient if only 3DOF coordinates are needed For 6DOF tracking a rigid body is mandatory 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 markers see chapter 3 on page 16 IR flash synchronized BEN etro reflected light greyscale image greyscale image Figure 2 1 Principle of optical tracking stereo vision Figure 2 1 shows the principle of infrared optical tracking with a two camera system and a standard target 14 The cameras are sending out synchronized IR flashes which are reflected towards the lens by the retro reflective material which is covering the markers of the target Intelligent tracking cameras that are scanning a certain v
116. er 50 indicate poor room calibration quality The number of valid frames should be greater than 70 for each camera Please note that percentages of more than 70 may not be possible when chain calibra tion is executed DTrack2 reports the error message no angle tool detected What went wrong First of all please double check if all markers are visible and that there are no disturbing reflexes Sometimes it might help to move the calibration angle a little bit Please always verify the settings for the room calibration before repeating e wand length is printed on a label on the wand e select the correct calibration set and gt The progress bar of the room calibration stopped Please double check in the Monitor 2DOF display whether the calibration wand is recog nized by the cameras during its movement 158 6 8 Calibration What is a re calibration and when do have to perform one DTrack2 provides simplified room and body calibrations called room and body re calibration The main advantage of a re calibration is that DTrack2 preserves the origin and the ori entation of your coordinate system You may perform a room re calibration from time to time or if a camera moved slightly e g due to mechanical instabilities If your body fell down and the structure bent you should carry out a body re calibration Please refer to chapter on page 82 and chapter on page 87 for more informa tion What does scali
117. er 6di i The 6di format is only available when hybrid targets are being used Measurement data of all tracked standard 6DOF bodies i e all DOF bodies except Flysticks Measurement Tools and all hybrid bodies Bodies that are not tracked by the system at that moment do appear in the output e The first number gives the number of tracked bodies e The data of each tracked body show up in blocks three consecutive like id st er sz Sy sz bo b b2 b3 ba b5 b by bg 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 drift error estimate er 10 degree per minute when tracking inertially 2 Position s and 3 Rotation matrix b of the Body s orientation All numbers are separated by spaces hex 20 Nine values bo bg form the rotation matrix R bo b3 be R b b4 b7 b2 b5 bg To avoid problems with different definitions of the angles we recommend to only use rotation matrices Example one line 6di 2 0 1 2 135 326 848 187 216 109 503 0 940508 0 339238 0 019025 0 333599 0 932599 0 137735 0 064467 0 123194 0 990286 1 0 0 000 0 000 0 000 0 000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 204 B 2 Output of Measurement Data via Ethernet B 2 5 Flysticks Identifier 6df2 p Note this format version replaces the older
118. er the desired IP address here for example 123 123 0 1 before 13 SETNET ip 192 168 0 1 255 255 255 0 after 13 SETNET ip 123 123 0 1 255 255 255 0 4 2 6 The information file This file contains the current settings of the controller Following a description of the file format e g ARTtrackController00150_info txt ARTtrack Controller Information Name atc 150 Serial Number 00150 Ethernet LAN dhcp Ethernet IP LAN 10 10 5 22 255 255 0 0 10 10 0 253 Ethernet MAC LAN 00 24 1D 00 C3 B3 Domain Name Server 4 2 7 Wake On LAN The controller is capable of Wake On LAN WOL if it has been forced into standby mode before by the user DTrack2 Controller standby 56 4 2 The Controllers of ART There are two options for waking up the controller remotely 1 you may use DTrack2 or 2 use a separate tool Windows WOL program Linux console based command Option 1 WOL via DTrack2 Start the DTrack2 frontend software as usual The Con nect button will change its name into Wake On LAN refer to figure 4 16 DTrack2 A R I gt v2 8 2 November 28 2012 Copyright C 2007 2012 A R T GmbH Advanced Realtime Tracking E Figure 4 16 Welcome screen of DTrack2 with Wake On LAN option Please make sure that the controller is still connected to the local net A work DTrack2 cannot wake up the controller if no physical connection between remote PC and controller is es
119. ers of the target have been recognized during the DTrack2 body cali bration Further you may check if the single distances between the markers are correct refer to chapter on page 83 As a special service you may send us the calibration file and we are going to check it 6 9 Tracking gt My target active or passive is not recognized sporadically or only partly or even not at all e Go to Settings Cameras and tick the checkbox modulated flash The camera that sends out the modulated flash has to be on syncgroup 1 e Also take into account that the distance between active target and cameras should not exceed 4 5m e Deactivate the dynamic reflex suppression Go to Settings Cameras and untick the checkbox dynamic reflex suppression e Active targets cannot be used near or in front of plasma screens The IR emission of the plasma screen overdrives the IR receiver in the active target e Please perform a new room calibration e Double check if the marker surface is not dirty or dusty and that it doesn t appear to be worn out gt Tracking does not work e Please make sure that the measurement has been started and that the target is within tracking range of the cameras e f marker recognition is poor then increase the flash intensity 161 6 Frequently asked questions FAQ e Check number of markers that are used for calculation If all markers of the target are seen by the cameras but partly
120. erval of e 0 6 for ARTTRACK1 e 0 8 for ARTTRACK2 ARTTRACKS 97 t ab Q i cS 4 System setup a Reflex suppression edit mode P Reflex Suppression Area Edit Mode Help s c01 create new area Manual selection of the static reflex suppression areas using the Edit Mode left mouse drag delete area right mouse dick inside the area clear region ar i shift left mouse drag e move area drag and drop the area drag the area edge corner e 0 100 for ARTTRACKS5 ARTTRACK5 C and TRACKPACK E e 0 7 for TRACKPACK b Reflex suppression edit mode help When using ARTTRACK2 C cameras it is not possible to adjust the flash intensity of the respective external flashes with the DTrack2 fron H tend software Please contact ART in case you need to adjust the flash intensity of the external flashes These settings strongly depend on the working area and range If you have a small work ing area where you are close to the cameras small flash intensities may be sufficient Otherwise if your working area is far away from the cameras but still within tracking range of the cameras it may be necessary to change to greater flash intensities Generally speaking you should adjust the flash settings in a way that the recognized markers are coloured in green or yellow Keep a distance of min 20 cm when operating the cameras
121. esulting in a right handed coordinate system a Body calibration b Body calibration c Body calibration due to body due to room due to room zero in marker Figure 4 39 Defining the target coordinate system Body calibration setting due to room The origin of the body coordinate system is set to the center center of gravity of all markers building the rigid body The axes of the body co ordinate system are parallel to the axes of the room coordinate system in the beginning of the body calibration l e the result of a body calibration will depend on the angular po sition of the target during calibration A 6DOF measurement following calibration without having moved the body will give the angular coordinates 0 0 0 If the target was moved during calibration the angular position of the target at the begin ning of the calibration will be taken Body calibration setting due to room zero in marker A combination of the first two methods The direction of the axes of the body coordinate system will be set parallel to the room coordinate system in the moment of body calibration 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 Selecting the coordinate system for 5DOF targets Analogue to the settings for the standard targets it is also necessary to define the body s coordinate system in case of 5DOF tar
122. ets simultaneously But you will need an external modulated flash if you are using ARTTRACK7 discontin ued or ARTTRACK2 SN lt 320 discontinued Please contact ART in that case gt am moving my target upwards but within the Monitor 2DOF display it moves downwards The camera is set to display data upside down In the Monitor 2DOF display right click on the respective camera window and disable Display upside down 162 6 10 Flystick 6 10 Flystick The ART radio transceiver cannot be found Please make sure that the AAT radio transceiver is plugged in Then simply press F2 in order to perform a search for new hardware The radio transceiver should be detected now gt My Flystick is not presented within the available Flysticks list e Make sure that the battery is charged Press any button of the Flystick and the orange status LED should be switched on e Go to Settings ART Radio Info to see if the ART radio transceiver has been recognized gt Why is the pressing of the Flystick buttons not recognized within DTrack2 e Make sure that the battery is charged Press any button of the Flystick and the orange status LED should be switched on e Double check whether the button pressed events are recognized by DTrack2 There fore enable the Flystick Display Display Flystick blue rectangles should light up on each button pressed event in the Flystick Display e Go to Settings ART
123. ety warnings e 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 A Install a strain relief Only use original ART or ART authorized components and accessories Using non original components or accessories may damage the equipment cause mal functions or may void operation safety The provided components and original accessories can be found in chapters 4 on page 25 and 5 on page Only use the originally provided external power supply for operating the camera ART TRACK2 and ARTTRACK3 and if applicable only the provided PoE switch for ARTTRACKS amp ARTTRACKS C The equipment must not be dropped and or knocked Do not use any solvents or water to clean the cameras For more information about cleaning the cameras please read chapter 7 2 on page Never expose the equipment to high levels of humidity or condensating humidity Protect the cameras against water and chemicals The equipment must not be operated in environments with intensive formation of dust or hot environments where temperatures rise above 40 C 100 F ART explicitly denies any liability or warranty if the product is modified E in any way or not used according to this manual and the specification labels on the equipment Chapter 1 2 Introduction ART tracking syst
124. ew camera calibration at the ART fa cilities might become necessary in that case Figure on page 27 shows the correct mounting for a camera to a wall with a carrier using the example of an ARTTRACK2 camera Make sure to not fall below minimal distance to the wall so enough room is left for the cables and to allow readjustment of the camera angles and maintenance Use strong dowels and screws for mounting the cameras to walls or ceilings see figure 4 3 on page 27 If in doubt ask a skilled craftsman for assistance Use massive and long enough angle irons to provide the required stiffness and stability 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 Please install the cables such that e no one can stumble over the cords e the cords cannot be damaged e 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 30 4 1 The tracking cameras of ART Please refer to chapter on page 48 for more information 4 1 3 TRACKPACK E Keep a distance of min 20 cm when operating the camera The camera is assigned
125. f the tip of the tool It is necessary to perform an additional calibration procedure called tip calibration to provide the module with information about the tip B 1 6 1 Orientation of a Measurement Tool The module modifies the local coordinate system i e the body coordinate system of the tool s body as follows 1 The tip becomes the origin of the coordinate system 2 The marker with the largest distance to the tip defines the Z axis 3 The marker that is closest to the tip defines the Y Z plane This definition shall ease the use of the tip orientation For instance the orientation of all ART Mea surement Tools is approximately along the Z axis 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 a within the local coordinate system of the reference body gt S _ aS Troom 7 Rref Tref F Sref where Z om iS the position of the tip in room coordinates and 5 ef Ref position and orientation see B 1 3 of the reference body The orientation of the Measurement Tool is transformed in an analogous way 200 B 1 Definition of Coordinates and Rotations B 1 7 Fingertracking The Fingertracking device allows to track a human s entire hand including fingers It provides all necessary information to describe the tracked hand In detail e position and orientation of the back of the hand given in room coordinate system e number of
126. fer to chapter 5 1 on page or chapter 5 2 on page 130 r Please ensure unblocked airflow at all times for optimal operation of the ART Controller Controller power switch ss ae 2xUSB W ports soft power on Figure 4 12 ART Controller front view The following list introduces the ports of the ART Controller see fig on 45 e ART Synccard3 master amp slave 44 4 2 The Controllers of ART Extin Please plug in the external source TTL or video signal for synchronization here 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 All ARTTRACK1 ARTTRACK2 ARTTRACK3 ARTTRACKS5 ARTTRACKS5 C and TRACKPACK E cameras have to be plugged in here In larger systems gt 8 ARTTRACKS5 and ARTTRACK5 C cameras only please connect the external PoE switch to any of these ports OUT1 3 optional For cascaded systems please connect OUT1 to Extln of a slave controller see chapter on page 58 For backwards compatibility please connect ART TRACK1 ARTTRACK3 cameras here Please refer to chapter 4 2 2 on page 48 for more detailed information x OUT1 Defines syncgroup 1 The three different syncgroups are characterized by their time delay related to syncgroup 1 When using ARTTRACK7 ARTTRACK3 cameras at least one came
127. fic settings have been lost Please check if the correct configuration is selected go to Dirack2 Configurations and select the correct configuration gt 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 gt May I close the DTrack2 frontend software window after starting the measurement Yes the measurement continues even if the DTrack2 frontend software is not active What s the version of my DTrack2 software Go to About DTrack2 to find out the version of your DTrack2 frontend software The software version of your controller is shown when you select Controller gt There are greyish areas in my Monitor 2DOF display What do they indicate The static reflex suppression is currently active This is indicated with these greyish ar eas Markers in these areas will not contribute to tracking Please refer to chapter 4 5 6 3 on page 97 for more information 156 6 8 Calibration What do the abbreviations SR DR and UD mean SR static reflex suppression active DR dynamic reflex suppression active UD display orientation is upside down Please refer to chapter 4 5 6 5 on page 116 for more information gt The display bar in the Monitor 2DOF display is indicating very high radiation intensities although no markers are illustrated Where s the radiat
128. g Double check if the cameras are connected properly to the controller Verify that power supplies are switched on and the cameras are running Connect the Ethernet cable to your local network and connect the power plug of the ARTTRACK Controller to a power socket If you want to set a specific static IP address before booting the controller please refer to chapter 4 2 4 on page 54 for more information Press the switch next to the power plug to start the controller If the controller is booting without connected Ethernet cable it will use its fall back IP address H The fall back IP address of the controller is 192 168 0 1 subnet mask 255 255 255 0 You may configure another static IP address as follows e select Settings Controller e untick the checkbox DHCP client e enter P address and subnet mask e optionally enter gateway and nameserver e reboot the controller for the changes to take effect Please note that these settings are not part of your personal configura re tion Changes in this menu will affect all users of your controller Your controller may become unreachable with wrong IP settings Refer to chapter 4 2 4 on page 54 51 t 2 ab Q q9 k 4 System setup Finally start the DTrack2 frontend software on the remote PC Please refer to chapter 4 5 on page 70 for more details External synchronization Any ARTTRACK system controller can be synchronized with an external source On th
129. g 2 650z approx Dimension 195 x 170 x 120 mm Marker size 20mm Generic glasses target y INFITEC PREMIUM target For head tracking mostly in passive stereo systems tracking targets must be fixed to the stereo glasses ART offers several light weight standard targets for this pur pose Target tailored to the INFITEC PREMIUM passive stereo glasses min 14g 0 50z max 22g 0 70z 26g 0 90z 270 x 120 x 35 mm 225 x 85 x 80 mm 12mm 12mm Chapter 3 s 61e piepuels g g oo Type Description Weight approx Dimension Marker size CrystalEyes 2 3 target Target tailored to the shutter glasses of the 28g 10z 215 x 120 x 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 70z 195 x 105 x 40 mm 12mm StereoGraphics active stereo system It fits to the CrystalEyes 5 NuVision APG6000 Target tailored to the NuVision APG6000 17g 0 60z 220 x 125 x 75 mm 12mm and APG6100 target and APG6100 shutter glasses saipog piu sjabie pue siayiey y g Ez Type Volfoni EDGE target Description Weight Target tailored to the Volfoni EDGE shut 23g 0 7 oz ter glasses approx Dimension 230 x 95 x 60 mm Marker size 12mm NVIDIA 3D Vision Pro target NVisor SX 60 target Target tailored to the NVidia 3D Vision Pro 25g 0 9 oz
130. g system passive passive Dimensions Length 77 8mm 228mm Width 76 9mm 76 9mm Height 60mm 58mm Weight 0 45kg 0 45kg Performance Frame rate max 60fps max 60fps adjustable adjustable 187 lt x Z O S Q a O lt A Technical specifications TRACKPACK TRACKPACK C IR flash 850nm 850nm Field of view FoV horizontal x vertical F 2 6mm 93 5 x 77 2 F 3 5mm 72 8 x 58 2 72 8 x 58 2 F 4 5mm 57 9 x 45 3 F 6 0mm 42 9 x 33 0 other focal lengths on request A 2 Flysticks Flystick2 Flystick3 Power supply Rechargeable battery Continuous operation Battery charging duration 3 standard AAA batteries at least 10 hours lithium battery 850mAh 3 7V integrated in the handheld at least 8 hours Operation possible with con no yes nected charger USB transmitter Connection to the PC USB USB Radio range at least 7m at least 7m depending on setup location e g walls Radio module Type ID IEEE 802 15 4 IEEE 802 15 4 Frequency 2 4 GHz 2 4 GHz Transmission power 1 1 Operating conditions Operating temperature 0 40 C 0 38 C Relative humidity General features 5 50 non condensing 5 50 non condensing Target type Tracking range 3 5mm focal length Weight Size passive markers approx 4m 250g 220mm x 180mm x 100mm replacement after a period of 2 years is recommended 2 only valid for new batteries 188 pa
131. ge 26 Note the ceiling suspension is already connected to the Carrier in guna The ARTTRACKS5 C remote camera head should be installed using the M6 mounting threads on its back as shown in figure 4 5 on page 29 Label with serial number S N Cable bushing to camera body Ceiling mount Remote head M6 mounting threads Figure 4 5 Camera ARTTRACK5 C remote head back 29 st 2 ab Q g9 E 4 System setup The ARTTRACKS C remote head has to be connected to its corre sponding camera body During mounting please ensure matching se rial numbers for both parts Only use screws supplied with the ceiling mount for mounting it Do not use standard screws for connection of the remote camera head A due to limited space between thread and cable Also use all the parts supplied with the ceiling mount especially the toothed washer is quite important You shall never open other screws on the cameras see chapter 1 2 A on page 17 Otherwise the camera may be damaged and liability and warranty is void Feel free to contact ART in case you want to realise a more complex installation We will assist you in your planning Make sure to install the system in a way that you can easily access the cameras and its cables Be especially careful to mount the cameras firmly so they cannot fall down Unsecured cameras may pose a serious hazard to health and safety Avoid hard shocks at all times A n
132. gets The approach is a bit different but also straight forward Coordinate system setting for type 5DOF and 5DOF cylinder In the body coordinate system all markers of the target are on the selected axis The origin is in the middle between the two markers with the largest distance to each other The orientation is defined by the marker with the smallest distance to the origin Its position has a negative sign The other two directions are undetermined due to the one degree of freedom Coordinate system setting for type 2x 5DOF cylinder The body is expected to consist of two connected 5DOF targets with a roughly perpendicular and constant angle in between These are placed on the two axes The origin is placed at the position where the two 5DOF targets intersect The first axis is assigned to the 5DOF target which includes the 86 4 5 DTrack2 frontend software marker with the largest distance to the origin The other 5DOF target is placed in the plane created by the two axes A click type torque wrench is one the most prominent members of this class of bodies Due to the engineering backlash and other high mechanical tolerances in these devices often times the resulting body calibrations are error prone IS Please double check whether all markers of the rigid body have been recognized Then confirm the result with OK If this is done the geometry data of the calibrated target will be stored in the Backend After a new r
133. h configuration management controller ART Controller ARTTRACK Controller TRACKPACK Controller coordinate system 112 Data Display data output declaration of conformity DHCP Event Display external flash 137 field of view FoV 74 finger thimble set flash intensity hand geometry 106 infrared camera ARTTRACk2 ARTTRACKS 214 ARTTRACK5 ARTTRACKS5 C TRACKPACK TRACKPACK C TRACKPACK E infrared optical tracking system interaction device Fingertracking 133 Flystick2 122 Flystick3 Measurement tool IP address liability 168 license code line of sight MAC address marker active marker big active flat marker big active spherical marker passive marker measurement volume modulated flash Monitor 2DOF motion capture MultiUser option 126 mutual blinding 75 radio module reflex suppression automatic manual remote PC retro reflector rigid body 20 room adjustment room calibration set 78 Index send data divisor 106 sensor fusion service and support Settings shutter glasses validated software DTrack2 standby mode 96 static reflex scan synccard Synccard2 Synccard3 44 card TE BATON syncgroup P for TRACKPACK 99 for ARTtrack synchronization active marker synchronization external synchronization 100 internal synchronization 100 wireless synchronization 136 aa 2 Cc Q Q
134. h a Flystick and a head target usually mounted on glasses The software DTrack2 is able to track them all but only the data pair Flystick and head target of one user is available as output data Switching between the single users can be done by just pressing one of the Flystick buttons Depending on how many Flysticks you are using you have to configure the number of Flysticks max 10 in Settings Flystick Tick the checkbox activate MultiUser function If you want to use a Flystick and a head target as data pair then you have to tick the checkbox use head targets as well Please refer to chapter B for more details on the output format Body calibration First configure the number of Flystick3 you are using select Settings Flystick and configure the number of Flysticks You have to assign your Flystick3 to a Flystick ID by selecting for example F7 and selecting your Flystick3 out of the avail able Flysticks list 132 5 3 Fingertracking Now press Select to finalize the assignment If the available Flysticks list doesn t contain your Flystick3 although it is already present just press any button of the Flystick3 to register it at the radio transceiver Then select Calibration Body calibration In the appearing dialogue the body to be selected is named Flystick body 07 Please define the orientation of the body coordinate system relative to the body default setting is du
135. h the select list at the bottom you may define how the coordinate system of the room is created relative to the calibration angle refer to table 4 5 79 4 System setup Standard Powerwall In the Standard setting the With the Powervwall setting the angle defines the X Y plane X X Y plane is in the screen and at the long Y at the short the Z axis pointing out of the beam and Z upward screen This is the standard screen coordinate system of many VR systems e g OpenGL TrackD etc Table 4 5 Options for coordinate system definition After pressing Calibrate the room calibration is started with five seconds delay A window showing the progress of the room calibration appears see figure 4 33 a The progress is shown for each camera which is especially helpful for big systems As soon as the display for a camera changes its colour to green see enough data for calculation of the camera position has been collected for this camera ARTTRACKS only This progress is also displayed individually on each cameras corre sponding 2 digit LED matrix After collection of sufficient data the LED matrix changes back to its defined setting Please refer to chapter 4 5 6 3 on page 96 for detailed infor mation r fa gt Calibration Progress S P Calibration Progress 1 02 03 09 1 lt 22 03 09 tab 01 tab01 tab01 tab 01 tab 01 tab01 tab 01 tab 01 01725 01726 01727 01728 01725 01726 01727
136. he Center of the Markers Body calibration setting due to room The origin of the body coordinate system is set to the center center of gravity of all markers building the rigid body The axes of the body coordinate system are parallel to the axes of the room coordinate system in the beginning of the body calibration l e the result of a body calibration will depend on the angular position of the target during cali bration A DOF measurement following calibration without having moved the body will give the angular coordinates 0 0 0 If the target was moved during calibration the angular position of the target at the beginning of the calibration will be taken B 1 2 3 Definition of the Coordinates by the Room Coordinate System with Origin in a Marker Body calibration setting due to room zero in marker A combination of the first two methods The direction of the axes of the body coordinate system will be set parallel to the room coordinate system in the moment of body calibration 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 196 B 1 Definition of Coordinates and Rotations B 1 2 4 Coordinate System Definition for 5DOF Targets with and without cylinder markers Body calibration setting x y z In the body coordinate system all markers of the target are on the selected axis The origin is in the
137. he USB Radio Transceiver has to be plugged in to any free USB port of the controller In case this is done after the controller is switched on it is necessary to press F2 in order to search for new hardware The Radio Transceiver should then be recognized by the system Please make sure that either the old radio transceiver connected via the camera network or the new USB radio transceiver is connected to the controller Connecting both radio transceivers to one controller would lead to malfunction of the Flystick2 or Flystick3 Switch on the controller LED 2 which is framed by a circle see figure 5 3 lights con tinuously while controller is booting When DTrack2 is started LED 1 which is framed by a square see figure 5 3 is switched on and indicates that the radio transceiver was correctly initialized LED 2 extinguishes During measurement LED 1 is flashing whenever data is received from or transmitted to the Flystick In case of unsuccessful data transmission to the Flystick LED 2 starts flashing 124 5 1 Flystick2 Figure 5 3 USB Radio Transceiver3 Battery pack The battery compartment is at the lower end of the handle It is fixed with a single screw which can be opened with the supplied 2mm hexagon key Remove the screw and take off the cover of the battery compartment a Step 1 b Step 2 c Step 3 Figure 5 4 Flystick2 inserting the battery pack Insert the battery pack taking care of the polarity
138. he cascade is connected via the cascaded network port of the H ART Controller option 2 see on page 60 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 4 19 on page 61 all slave controllers will acquire their IP addresses automatically Press the power switches next to the power plug or on the front to start the master and the slave controller s Make sure the controllers are booted up with all necessary ether 61 ab Q re cS 4 System setup net connections otherwise the fall back IP address is applied H The fall back IP address of the controller is 192 168 0 1 subnet mask 255 255 255 0 Finally start the DTrack2 frontend software on the remote PC and establish a connection to the master H We recommend creating a new configuration for all cascaded systems DTrack2 Configurations New Now go to Settings Cascaded System and the main setup dialogue for the cascade will open up Basically you have the possibility to select single tracking systems to join in the cascade When using Option 1 Connection via LAN you can tick the checkbox scan LAN and DTrack2 will search automatically whether controllers are available to become slaves They will be listed in the table on the right hand side of the dialogue refer to figure 20
139. he values for reachability range between 0 100 typically They are a measure for the quality of the reachability of the NTP server Only NTP servers which are contacted over the internet may provoke some problems The quality of the syn chronization of the clocks is indicated with estimitated precision in the unit milliseconds ms H Synchronizing with NTP takes quite a long time Active measurements won t be disturbed Cascaded System Cascading means that two or more stand alone tracking systems are combined to one large system in order to have only one consolidated data out put It is possible to cascade TRACKPACK E systems with or without ARTTRACKS5 and ARTTRACKS C and to build cascades out of ARTTRACK discontinued with TRACK PACK systems discontinued Therefore the system is subdivided into one master and up to eight slaves However the total number of cameras in the cascaded system cannot exceed 16 for TRACKPACK E only systems and 50 for combined ARTTRACKS5 amp ART 109 2 ab Q i CS 4 System setup TRACK5 C and TRACKPACK E systems respectively The task of the master is to gather all single data outputs from all slaves and to merge them into one single data output The DTrack2 frontend connects to the master only and allows to configure e g Cameras output tracking etc the entire tracking system as usual The master has to be an ARTTRACK Controller with full featured li ce
140. he wand may be modified If camera positions changed you would have to mark them in the room calibration dialogue as movea Re calibration is possible as long as camera movements are not too large 82 4 5 DTrack2 frontend software r al P Room Calibration Lo imss wand length mm 410 00 marker distances Recalibration does not A 1 2 mm 384 0 affect the coordinate system type B 1 4 mm C 1 3 mm 225 0 l coordinate system V re calibration select static cameras Camera Status Model Serial v c01 static ARTTRACK2 01725 c02 moved ARTTRACK2 01726 es SATE a E SEER ENT o Ee duration 30 0 Set to default Date and time of the last room calibration 2012 11 30 11 32 52 He i Figure 4 36 Room re calibration dialogue It will fail e g if the mounting of cameras was changed To perform a re calibration no angle tool has to be present in the measurement volume only the wand has to be moved within the measurement volume in the same way as for a standard room calibration The main advantage of a room re calibration is that DTrack2 preserves the origin of your coordinate system and therefore the orientation of the coordinate system as well 4 5 3 Body calibration The process of teaching a target s geometry to the tracking system is called body calibra tion For a body calibration the target rigid body to be calibra
141. ies extended format 204 B20 FIYSUCKS ok bx ee eb eo ee ee we Oe ew we ee 205 B 2 6 _Flysticks Old Format 2 2 0 6 256 240866 eo ee we ee ee 206 ee ee ee eee ee ee 206 B 2 8 Measurement Tools with sphere tip 207 B 2 9 Measurement Tool references 2 22 208 B 2 10 Fingertracking Be ate aes Sra eed GY be e ee arene 210 ee he Ge Ge cg Ge ee Be Ge 210 List of Figures 211 213 214 Terms and definitions term 3DOF 6DOF 5DOF ART Controller ARTTRACK Controller ARTTRACK 2 amp 3 discontinued ARTTRACKS5S ARTTRACK5 C body calibration body rigid body calibration angle 410mm or 710mm ceiling suspension DTrack2 backend software frontend software Field of View FoV finger thimble Fingertracking Flystick hand geometry hybrid tracking inertial sensor infrared optical tracking license code license key marker Measurement Tool measurement volume modulated flash motion capture mutual blinding prediction room calibration room calibration set syncgroup synccard cardTP Synccard2 3 or Sync definition three degrees of freedom i e only position six degrees of freedom i e position and orientation five degrees of freedom i e one degree less in orientation calculates tracking data and generates the data output stream compatible to ARTTRACK2 ARTTRACK3 ARTTRACKS ARTTRACKS C TRACKPACKSE calculates tracking data
142. igure 4 3 on page 27 If in doubt ask a skilled craftsman for assistance Use massive and long enough angle irons to provide the required stiffness and stability 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 Please install the cables such that e no one can stumble over the cords e the cords cannot be damaged e the cords cannot damage the cameras due to mechanical strain e 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 3 sa pa ab Q qa k 4 System setup Please refer to chapter on page 48 for more information 4 1 6 TRACKPACK 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 Description The TRACKPACK is a two or four camera infrared optical tracking system for use in medium sized working volumes It is the best solution for Head and Flystick tracking in multi sided projection environments max 3 m x 3 m x 2 m or in front of medium sized projection screens u
143. in order to extract the files For ease of use you may create a shortcut on the desktop DTrack2 can be started with the command DTrack2 71 4 System setup 4 5 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 update please proceed as mentioned before in chapters 4 5 1 1 and 4 5 1 2 After installing DTrack2 on the host PC the Controller can be updated after establishing a connection to the Controller with the new Frontend 4 5 1 4 Start DTrack2 frontend software When you start DTrack2 on the remote PC you will see the following start window see figure 4 26 DTrack2 A R T gt v2 8 2 November 28 2012 Copyright C 2007 2012 A R T GmbH Advanced Realtime Tracking z o 2022 o8z 40 221 BIA 4034 229 4031 234 Controller atc 502 Oer Conta Emt Figure 4 26 Welcome screen of DTrack2 4 5 1 5 Connecting to the controller The first time you start DTrack2 no default controller will be found and another window will be opened automatically see figure 4 27 The radio button at position Specific Con troller will be ticked If you Know the name typically like atc 00069 or IP address of your controller you may enter it in line hostname or IP address and press Connect Otherwise you can select Scan if you don t know the hostname or the IP address of your
144. inued The following list introduces the ports of the ARTTRACK Controller with Synccard2 e internal Ethernet switch the cameras have to be plugged in here In larger systems please connect the external switch to any of these ports e external Ethernet switch the Allied Telesis AT FS708 is an eco friendly switch which is designed to minimize power consumption typical 3 5W through the use of a high efficiency power supply and a low power chipset It features an overnight mode i e reduction in power during after work hours as well as other power saving features Please refer to the Allied Telesis Installation Guide before connecting the power source e ART Synccard2 48 4 2 The Controllers of ART Extin Please plug in the external source for synchronization here Outi Defines syncgroup 1 The three different syncgroups are characterized by their time delay related to syncgroup 1 At least one camera has to be con nected here if you are using active targets e g Fingertracking Flystick3 Refer to chapter 5 3 on page 133 for more information Out2 Defines syncgroup 2 The time delay related to syncgroup 1 is 4804s Outs Defines syncgroup 3 The time delay related to syncgroup 1 is 9604s e USB port Please plug in the USB radio transceiver for the Flystick2 3 here refer to chapter 5 1 on page or chapter 5 2 on page 130 e Ethernet port Please connect the controller to your local
145. ion coming from Please check that the cameras are not in the field of view of each other to avoid mutual blinding Furthermore remove other strong IR radiation sources from the tracking volume or at least prevent them from interfering with the tracking system 6 8 Calibration gt How can I find out when the room has been calibrated last time Please go to Calibration Room and click Show details The date of the last room calibration is shown gt How do define position and orientation of the room coordinate system The calibration angle defines position and orientation of the room coordinate system de pending on how you place it within the tracking volume Please refer to table 4 5 on page DTrack2 offers a limited possibility to adjust the room coordinate system after the room calibration Please refer to chapter 4 5 6 4 on page 112 for more information How do I have to move the wand 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 on page 77 for more information gt do not succeed in performing a room calibration e Please make sure that the calibration angle is placed within the measurement vol ume such that it is seen completely by at least two cameras verify with Monitor 2DOF display If not all cameras see the angle be sure that a sufficient vol
146. ion sources e g sunlight or sunrays halogen lamps e mutual blinding of infrared cameras e active or passive targets that are still in tracking range of the cameras e any kind of reflecting material on clothes or shoes e blank metal surfaces especially curved surfaces and surfaces with 90 angles e some types of packaging foils For removing disturbing reflections there are different approaches e reduce the flash intensity of all cameras to 0 remaining reflections are originating from infrared radiation sources e g sunlight halogen lamps Try to localize and remove them e reduce the flash intensity for one camera after the other to 0 remaining reflections are caused by mutual blinding of the cameras Turn the cam era until the bar displays segments of the Monitor 2d display do not indicate radia tion any more You may also introduce new syncgroups in order to eliminate mutual blinding e try to localize the reflection by moving a target towards the origin of the reflection use the Monitor 2DOF display and proceed as mentioned above If reflections cannot be eliminated you may use the reflex suppression tools of DTrack2 please refer to 4 5 6 3 on page 97 1 static reflex scan reflexes will be suppressed automatically by DTrack2 upon detection 2 ab Q i CS 2 suppress static reflexes manually areas to be suppressed may be defined manually 4 5 2 Room calibration Before
147. is furnished on a tested As Is basis ART explicitly does not warrant that the software is error bug free 168 7 3 Warranty and liability If the users detect bugs AAT will provide a workaround or bug fix as soon as possible after the notification Liability ART products are not authorized for use in any circumstances where human life might be endangered by malfunction measurement errors or interrupted operation of the system without written approval of a managing director of ART It is the user s sole responsibility to check the results of the measurement data and to protect any consecutive system against malfunction measurement errors or interrupted operation of the systems supplied by ART Under no circumstances ART can be held liable for consequential damages or incidental costs including production downtimes whether arising from measurement errors interrupted operation or any other malfunction of the system Warranty restrictions All warranty and liability is void if the system e is not operated according to the manual shows damages or signs of abuse has been opened by non authorized people non members of ART and companies not authorized by ART has been modified by the user or any third party has not been used according to the specifications of this manual 169 Chapter 7 7 General Information 7 4 Declaration of conformity 170 Advanced Realtime Tracking GmbH Am Oeferl 6 82362 Weilheim i O
148. ist of Tables 1 1 Symbols and their meaning 3 3 Standard targets overview 4 1 Compatibility of the ART cameras and interaction devices 4 2 Description of the LEDs on the back of the TRACKPACK Controller 4 3 Licenses overview 4 4 Overview of the ART Room Calibration Sets RCS 4 5 Options for coordinate system definition 4 D Irack2 menu structure overview 4 8 Menu Dirack2 2 4 9 Menu Seitings 4 13 Output identifiers 4 10 Overview of the supported synccard modes 4 11 Overview of validated shutter glasses 12 Body Administration Detailed description of the actions 4 14 Flystick settings Description of the checkboxes 4 15 Measurement Tool settings 4 16 Menu Calibration 4 1 7 Menu Display 4 19 Menu Tools 4 20 Menu About 5 1 Description of the Flystick2 5 3 Description of the Flystick3 5 4 Description of the Fingertracking 5 5 Description of the finger markers 5 6 Description of the configuration dia 138 213 aa 2 Cc Q Q 2 lt x Index active stereo body adjustment calibration body calibration body re calibration calibration angle calibration Ale EAS room calibration room re calibration 82 camera adjustment Cascaded System ceiling mount D2 center of gravity coded flas
149. istance to the wall so enough room is left for the cables and to allow readjustment of the camera angles and maintenance Use strong dowels and screws for mounting the cameras to walls or ceilings see figure 4 3 on page 27 If in doubt ask a skilled craftsman for assistance Use massive and long enough angle irons to provide the required stiffness and stability 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 Please install the cables such that e no one can stumble over the cords e the cords cannot be damaged e the cords cannot damage the cameras due to mechanical strain 32 4 1 The tracking cameras of ART e the line of sight of the cameras is not obstructed Cable ducts or fixings should be used and a strain relief should be A Inappropriate cabling may pose a serious hazard to health and safety installed Please refer to chapter on page 48 for more information 4 1 4 ARTTRACK2 discontinued 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 Keep a distance of min 20 cm when operating the camera The Description The ARTTRACK2 infrared camera is intended for working environments with distances betw
150. ive humidity 5 50 non condensing Cooling system passive Dimensions Length 103 mm Width 70 mm Height 59 mm Weight 0 51 kg 185 A Technical specifications A 1 4 ARTTRACK cameras discontinued ARTTRACK2 2 ARTTRACK3 2 ARTTRACK2 ARTTRACK3 from S N 1800 from S N 400 IR flash 880nm 850nm 880nm 850nm Power supply Nominal voltage 12V 48V 12V 48V Maximal current 2A 1 4A 2A 1 4A Maximal power 25W 35W 25W 35W 12 2V 3A 40W 48V 0 8A 40W 12 2V 3A 40W 48V 0 8A 40W Ext power supply 12 5V 3A 40W Protection category Ext power supply Camera III Interface connectors 48 2V 0 8A 40W 12 5V 3A 40W 48 2V 0 8A 40W data RJ45 RJ45 RJ45 RJ45 synchronization BNC BNC BNC BNC power external external external external Operating conditions Temperature 0 38 C 0 38 C 0 38 C 0 38 C Relative humidity 5 50 5 50 5 50 5 50 non condensing non condensing non condensing non condensing Cooling system active fan passive active fan passive noise level of noise level of the fan 16 5dB A the fan 16 5dB A Dimensions Length 140mm 140mm 140mm 140mm Width 78mm 106mm 78mm 106mm Height 109mm 120mm 109mm 120mm Weight 0 96kg 1 45kg 0 96kg 1 45kg Performance Frame rate max 60fps max 60fps max 60fps max 60fps adjustable adjustable adjustable adjustable Max working distance with 12mm passive markers F focal length in mm Greater distances achiev
151. k yellow u code 40 hex second controller up to 1 0 joystick yellow d oie code 10 hex second controller up to 1 0 a Flystick2 b Flystick3 Figure B 1 Allocation of ID number to the Flystick buttons 199 B Technical Appendix B 1 5 3 Flystick3 Each Flystick3 is equipped with four switches buttons and a small joystick that produces two analogue values one for horizontal and one for vertical movement When using the old output format 6df the joystick values are transferred into hat switch actions Switch labelled as 6df Output 6df 2 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 button code 02 hex top middle switch blue id 2 code 04 hex button code 04 hex top left switch blue id 3 code 08 hex button code 08 hex joystick yellow to the left code 20 hex first controller up to 1 0 joystick yellow to the right code 80 hex first controller up to 1 0 joystick yellow up code 40 hex second controller up to 1 0 joystick yellow down code 10 hex second controller up to 1 0 B 1 6 Measurement Tools H Only available if the Measurement Tool license is present for DTrack2 avail able since version v2 2 0 The Measurement Tool license allows the use of Measurement Tools i e pointing devices with a special target geometry While tracking the module calculates position and orientation o
152. k2 fron tend The DTrack2 SDK is available from ART upon request Command string always preceded by dtrack2 Description tracking start Start the measurement tracking stop Stop the measurement set config active_config lt name gt Change the configuration to lt name gt set output net lt channel id gt udp lt host gt lt port gt Configure where the data has to be sent to set output net lt channel id gt multicast lt host gt lt port gt Configure where the data has to be sent to set output active lt channel id gt lt output type gt lt yes no gt Activate or deactivate the data output and specify the data to be transmitted system shutdown Force the controller to go into standby system reboot Shut down the controller and reboot automati cally afterwards 4 3 Setting up 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 cade TRACKPACK E systems with or without ARTTRACK5 and ARTTRACKS C and to build cascades out of ARTTRACK discontinued with TRACKPACK systems discon tinued Therefore the system is subdivided into one master and up to eight slaves However the total number of cameras in the cascaded system cannot exceed 16 for TRACKPACKY E only systems and 50 for combined ARTTRACK5 amp ARTTRACKS C and 58 4 3 Setting up cascaded systems TRACKPACKSE systems respectively The t
153. l for the final adjustment especially orientation adjustments of the IR cameras Additionally the intensity of the brightest pixel in the field of view is shown using a bar dis play for ARTTRACK2 ARTTRACK3 ARTTRACK5 and TRACKPACK cameras refer to figure 4 28 When using an ARTTRACK7 you ll find the bar display integrated in the camera on the front side A click with the right mouse button into one of the windows opens a menu see figure with settings for the respective camera Camera 1 Grid G Cross Fullscreen F One camera Display upside down Display blinking Static reflex suppression Active Start scan for all enabled cameras Edit reflex suppression areas E Figure 4 30 Monitor 2DOF view menu e g camera 1 By clicking and holding the left mouse button on one of the camera displays its position can be moved within Monitor 2DOF view A more detailed description of the features of the Monitor 2DOF view can be found in chapter 4 5 6 5 0n page Adjustment of the cameras During this adjustment the user should take care to avoid mutual blinding of the cameras If the IR flash of one camera is inside the field of view of another camera this situation can but has not necessarily to be visible in the Monitor 2DOF view Blinding is often indicated by the observation that the LED bar shows high intensity but no markers are inside the measurement volume and the camera does also not recognize any markers no marker displ
154. ld be installed Please refer to chapter on page 48 for more information 4 1 2 ARTTRACK5 C 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 Description The ARTTRACK5 or TRACKPACK E system may be combined with the ARTTRACK85 C camera in order to realize tracking in multi sided projection environments e g CAVE I Space In such an environment it is necessary to drill holes into the pro jections corners as the camera cannot see through the screen The ARTTRACK5 C cam era has been designed to easily fit into such holes by separating the lens from the elec tronics part see figure 4 4 With its 4 0 mm lens a large field of view FoV is covered Refer to A 1 on page 183 for more information Label with Power LED Label with serial number S N serial number S N RJ 45 port power data sync D Sub connector to camera body IR flash D Sub port Lens Remote head to remote head Camera body Figure 4 4 Camera ARTTRACK5 C head and camera body employs proprietary design Do not try to con nect the remote head to any other port e g COM port A The 26 pin D Sub connector between ARTTRACK5 C remote camera 28 4 1 The tracking cameras of ART The ARTTRACKS5 C system either consists of ARTTRACK5 C cameras only or it can be mixed with standar
155. llowed to extend the connec tion between the T piece and the camera nor to branch the signal line 49 4 System setup 50 1 1 1 1 i cam 1 cam2 camn i f 1 1 1 1 1 1 1 switch i optional 1 1 1 1 1 1 2 ARTtrack two virtua ports i ata output i H Controller remote control i 1 1 1 1 A R T tracking ethernet connection remote remote remote PC 1 PC 2 PC n local network en ar company infrastructure application graphics PC application s a standard connection company infrastructure ethernet connection LJ 1 1 cam 1 cam2 camn H i a 1 i 1 bd P 1 A switch i optional H L 1 a P 1 ARTtrack two virtual ports i Controller data output on remote control a i 1 eee eee eee A R T tracking disadvantages DTrack2 handles forwarding of the tracking data towards the application card1 card2 tracking data is delayed approx lt 1ms flexibility is lost oe T ED remote E 8 PC jg o O card 2 application graphics PC application s b indirect connection Figure 4 15 Connecting the ARTTRACK Controller to a local network 4 2
156. ls etc or the power cord is damaged e In any of the cases mentioned above or similar pull the power cord out of the power 11 Chapter 1 1 Safety 12 socket immediately Otherwise users or environment are endangered Please con tact the ART service Never change or alter the equipment neither mechanically nor electrically Only the components described by ART shall be used The conformity and the warranty of the producer ART expire by non compliance Never open the equipment Only personnel authorized by ART is allowed to open the equipment Inside of the equipment there are various hazards like high voltage electric shocks even if the equipment is disconnected which can lead to death on contact In case of malfunction of the equipment please contact the ART service Only peripheral devices which meet the safety requirements of EN IEC 60950 for extra low voltage may be attached on Ethernet BNC and the DC circuit of the equipment The cameras emit infrared light Keep a distance of min 20 cm when operating the cameras All cameras are assigned to the Exempt Group according to IEC62471 1 and therefore pose no risk or hazard to the human eye or skin at this distance Be sure that the cameras are firmly mounted in the correct position Do not touch the front pane of the cameras since the acrylic pane and the lens are highly sensitive surfaces Be careful to avoid permanent damages e g scratches Only to
157. ly e data receiver defined send to e identifier 6072 selected e if you are using the old output format identifier 6df selected 6 11 Fingertracking gt The Fingertracking hand target is not recognized sporadically or even not at all e Make sure that the battery is charged and the hand target is switched on e Go to Settings Cameras and tick the checkbox modulated flash The camera that sends out the modulated flash has to be on syncgroup 1 e The configuration dial has to be turned to the proper position for serial numbers gt 100 for serial numbers lt 100 ID no of fingers flash time us no of syncgroups flash time ys 0 3 25 1 25 1 3 50 1 50 2 3 75 1 100 3 3 100 1 200 4 5 25 3 25 5 5 50 3 50 6 5 75 3 75 7 5 100 3 100 8 m m 9 164 6 11 Fingertracking 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 What s the meaning of the status LEDs on the Fingertracking hand target The green LED indicates that the synchronization has been received whereas the red LED indicates missing synchronization If both LEDs are flashing you need to recharge the battery gt What is being configured when turning the configuration dial e for serial numbers lt 100 The configu
158. m geometry and can give information about the quality of calibration only to an experienced user The value Used Frames represents the percentage of valid i e used for room calibration data for each camera It should be as high as possible for all cameras Values under 50 indicate poor room calibration quality The number of valid frames should be greater than 70 for each camera The room calibration is confirmed i e the data are stored by pressing the button OK H Please note that percentages of more than 70 may not be possible when chain calibration is executed cameras Camera Residual Used Frames c01 0 31 mm 100 c02 0 31 mm 99 c03 0 31 mm 100 c04 0 31 mm wand residual wand range Figure 4 35 Room calibration result Room re calibration IR camera setups may change after a certain operation time if e g movement of single cameras due to mechanical instabilities cannot be excluded or thermal drifts occur In this case it is necessary to perform room calibrations periodically DTrack2 provides a simplified room calibration to revise an existing room calibration with out need of an angle tool called room re calibration Check the corresponding field in the room calibration dialogue see figure 4 36 to activate re calibration Most settings have to be the same as during the previous standard room calibration therefore most values of the dialogue cannot be changed settings regarding t
159. m size of markers maximum display size of a marker on the sensor global minimum size of markers minimum display size of a marker on the sensor Synccard This dialogue shows the model and the serial number of the synccard Fur thermore it offers a dropdown list to select the mode of synchronization Basically you can select between internal and external synchronization The further dif ferentiation is shown in table 4 10 supported synccard mode field of application internal generated signal 50 up to 300Hz ARTTRACKS external video signal external video signal for validated shutter glasses external video signal for validated shutter glasses divisor 2 active stereo projection with an analogue video sync signal VGA external TTL signal external TTL signal for validated shutter glasses external TTL signal for validated shutter glasses divisor 2 2 active stereo projection with a TTL sync signal direct settings advanced custom settings 1 predefined settings that should be used with the shutter glasses mentioned in table 2 if additionally the frequency of the external synchronization signal is greater than 60Hz this mode should be used Table 4 10 Overview of the supported synccard modes If you select direct settings you may use advanced options for configuring the synccard 100 4 5 DTrack2 frontend software Option Description source configure the type of synchronization to be
160. markers building the rigid body when due to room is used Please refer to chapter on page 83 for more information gt Do I have to move the target while performing a body calibration If possible we recommend to perform moderate movements because accuracy can be improved doing so However the body has to be visible to the cameras all the time May I change the position and the orientation of the body coordinate system later on Yes you may use the dialogue Body adjustment to alter position and orientation of the body coordinate system Please refer to chapter 4 5 6 4 on page 1 13 for more information How do I define a name for a target Go to Settings Body Administration F8 Double click into the name field and enter a name for the respective body 160 6 9 Tracking cannot increase the number of targets anymore The maximum number of targets including Flysticks and Fingertracking hand device to be tracked depends on the license code that is installed With the Basic and the Ex tended license you may only use 4 targets at the same time the Full featured license supports 50 targets 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 4 3 on page 76 for more information gt How shall I evaluate the body calibration results Verify that all mark
161. master ARTTRACK controllers discontinued slave s TRACKPACK con trollers discontinued Connect the data output of the slave controller s to the camera network of the master see option 3 in fig on page 61 59 st oO Q E 4 System setup ARTTRACK system 2 48 cameras TRACKPACKIE system 2 8 cameras Tp acpACK E system 2 4 cameras option 1 Controller no specific license needed data out option 2 Controller license for cascaded systems AND for total number of cameras saves p gt R45 TP E option 1 gt B45 AT2 3 5 B gt Coaxial BNC 75 Q e g application network Notes e symbolic drawing reduced to data transmission and synchronization total number of cameras according to license on master controller e g 16 Cascade network port Figure 4 18 Principle of cascading using the LAN option 1 or the cascaded network port option 2 master ART Controller amp DTrack2 gt v2 11 Additionally to the aforementioned figures please proceed according to the following de scription 1 mount the cameras as usual at the defined positions 2 connect all cameras to their corresponding controller as usual 3 establish a BNC connection between the master s OUT1 connector and the EXT In of the slave s for synchronisation of cascade The USB Radio Transceiver2 for Flystick2 and Flystick3 has to be con nected to the master controller
162. matically according to the right hand rule 112 4 5 DTrack2 frontend software COE Ma gt Room Adjustment ES gt Room Adjustment Corse aaa Camera coordinates D Ene _Camera o fmm y mm z mm hich tins cc Camera ximm y Imm zimm 01 26598 1376 09 1373 51 01 26598 1376 09 1373 51 02 500 09 1347 07 1659 74 03 607 41 1395 26 1367 70 04 249 25 1325 66 1653 13 Rotation angles 20 ox deg 0 00 02 500 09 1347 07 1659 74 03 607 41 1395 26 1367 70 04 249 25 1325 66 165313 ry deg 0 00 rz deg 0 00 Zero point offset x mm 0 00 y mm 0 00 z mm 0 00 Scaling 5 factor 1 0000 Reset Reset scaling i l J The transformation values shift rotate scale the room coordinate system relative to the original one SS Sor Ca Coe a coarse b fine Figure 4 49 Room adjustment dialogue Fine The offsets in this menu are the coordinates of the new desired coordinate system in the original coordinate system given by the calibration angle E g when the angle was placed on the ground with standard coordinate system Z axis up the desired origin is 1m above the floor and the marker center was 42mm above the ground then the value for Z is 958mm Angular corrections are allowed at any value in any direction The transformation values shift rotate and scale the room coordinate system relative to the original one Bod
163. move around While this movement the targets must be visi ble for the tracking system Finally one after the other target should be recognized and appear in the display Tick the checkbox accept al and start the measurement in order for your application to receive tracking data In case you need to adjust the order of the targets please go to Settings Body Admin istration F8 4 5 4 Body adjustment The Body adjustment function is a tool to manipulate calibration data of rigid bodies i e the body coordinate system may be changed relative to the markers of the body This tool adds the functionality of the formerly separate tool ABCMan directly into DTrack2 Body adjustment is not available for 5DOF targets The main features of Body adjustment are adjust body coordinate system of each target within the DTrack2 frontend online mode i e the representation of the target in the graphical view may be moved by moving the real target available adjust axes of body coordinate system to the axes of the room coordinate system without changing the origin use predefined body coordinate systems move the origin of the body coordinate system set the origin of the body coordinate system in selected marker 89 2 ab Q rq CS 4 System setup P Body Adjustment ea Body ww Flystick2 Target 1 Flystick body 02 v General Special Body position x mm 0 00 gt y
164. n body ID Hand Target right inertial Rev 2 0 standard b37 v sensor ID WQDEJQA During the Hybrid Body Calibration move the target as shown in the picture Help Calibrate Exit Figure 4 23 Hybrid Body Calibration As a result you will receive a value for the residual of the calibration This residual is a representation of how well the rotational data from the inertial sensor matches the optical tracking data Thus it is a measure of the accuracy of the HBC Values ranging from 1 to 2 are ideal Anything less than 3 is still acceptable Please refer to figure 4 24 on page In case the values are acceptable you can assign the calibration and return to the Body Administration Now the sensor should show fu in the column Calibration Repeat this procedure for each sensor 67 sa pa ab Q q9 k 4 System setup Hybrid Body Calibration Result 3 eE calibrated body HTX standard b37 inertial sensor WQDEJQA residual in deg 1 42 Figure 4 24 Hybrid Body Calibration Result Please perform all inertial sensor calibrations with warmed up sensors KS ina constant temperature environment for optimum tracking perfor mance indicated by a green temperature bar Inertial Sensor Calibration After successful calibration of all hybrid bodies a drift correc tion for all inertial sensors should be measured and applied To this end please select Calibration I
165. n be tracked simultaneously provided a certain minimal distance approx 20cm between the hands The finger thimble sets Fingertracking can be ordered as a 3 finger VR a 3 finger AR or a 5 finger VR version The difference between the AR and VR versions can be found 135 5 Interaction devices in the position of the LED on the finger thimble for the VR version the LED is placed on the tip of the thimble whilst for the AR version it is placed on top of the thimble see figure 6 11 AR thimble set f for all fingers VR thimble set ARAR thimble set for all fingers for the thumb Figure 5 11 Comparison of the finger thimble sets AR and VR for Fingertracking For the ordered version three pairs of different sizes of thimble sets are delivered with the Fingertracking package see table 5 5 Finger size Scope of delivery Small sized fingers Diameters of 16mm thumb and 12 14mm other fingers Medium sized fingers Diameters of 18mm thumb and 14 16mm other fingers Large sized fingers Diameters of 20mm thumb and 16 18mm other fingers Table 5 5 Description of the finger markers Battery charger A battery charger is supplied with the delivered Fingertracking and must be used for charging the batteries When you connect the battery charger to a power plug the red LED Status is switched on and the green LED Charge starts flashing As soon as you place the battery cor rectly in the charger the Charge LED
166. nal cables dedicated to synchronisation of the cameras Still hardware issues regarding the controller can arise when using ex ternal trigger units e g projectors or graphics cards 1 Check the cabling hardware issue e Please make sure that the coaxial cables are not damaged e Take care of using the correct ports EXT In input of the external synchronization e Active stereo when using external synchronization video the correct cabling would look as follows ExtIn O Cameras Sync amp Power l j e Active stereo when using external synchronization TTL the correct cabling would look as follows 2 Check the synchronization settings software issue e Go to Settings Synccard and double check the settings external video sig nal or TTL for the Synccard e Incase of external synchronization please make sure that the synchronization signal is being sent by the external source Synchronization failed in 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 Therefore the system is subdivided into one master and up to eight slaves The task of the master is to synchronize all slave controllers attached and gather all single 147 Co pa ab jm Q i 6 Frequently asked questions FAQ data outputs from all slaves and to merge them into one
167. nds you are using select Settings Fingertracking and configure the number of hands Then a standard body calibration of the hand target has to be carried out The process of calibrating a 6DOF body is described in chapter 4 5 3 on page 83 Select the body names hand H1 and hand H2 for the hand targets Connecting the finger thimble set with the hand target Just plug in the connector of the finger thimble sets into the hand target as shown in figure 6 13 E w a Figure 5 13 Connecting the finger LED connector with the hand target Then apply the finger thimbles to your thumb and fingers H Please observe the order shown in figure 5 14 when using the 5 finger AR set 138 5 3 Fingertracking index middle thumb om ring little Figure 5 14 Using the 5 finger AR finger thimble set Finger calibration Select Calibration gt Fingertracking to open the calibration menu It is important that the hand is completely within the tracking volume and all markers are visible for at least two cameras when starting the calibration process After pressing Calibrate the countdown for the first step of calibration begins In this phase all fingers have to be stretched and must not be spread Only the thumb has to be spread Take care that there is no space between the fingers Neither the fingers nor the thumb should be moved A progress bar shows the progress of the calibration After step 1 has been completed the countd
168. nertial Sensor Calibration see figure 4 25 on page 69 Put all sensors in the tracking volume pre condition a successful Hybrid Body Calibration for each inertial sensor or put them anywhere on a level surface Do not move or touch them during the following calibration Tick the checkboxes in the column Calibrate of all sensors to be calibrated and press Calibrate Values around 0 1 are ideal and still acceptable up to 0 2 values indicate possible movement during the calibration When the calibration is done you can apply the drift correction either to single sensors by ticking the appropriate checkboxes in the column Accept or by ticking accept all for all sensors in range Press Apply and exit the dialogue H After the Inertial Sensor Calibration has been performed and applied its result is stored directly on the sensor for future use 68 4 4 Setting up the Hybrid Motion Capture System Warmup is running 23 calibrate all E DevicelD Body Residual deg Calibrate Accept 1 WCDMIHF standard body b01 O 2 WLKBIQB standard body b02 3 WFPJOKL standard body b03 4 WLCHFAL standard body b04 O 8 0 0 i Cancel Figure 4 25 Inertial Sensor Calibration t 2 ab a Q rq CS 69 4 System setup 4 5 DTrack2 frontend software The software DTrack2 is intended to run on a remote PC Windows or Linux The Con troller can be controlled remotely via Ethernet The software
169. nfiguration Manual on Controller DEMO ATC 19 Figure 4 28 Graphical user interface of DTrack2 l ill sync 60Hz J F ll sync 60H2 m a yellow 5 10 frames per b orange 10 15 frames per c red gt 15 frames per minute minute lost minute lost lost Figure 4 29 Visualization of the synchronization frequency decrease 4 5 1 6 Adjustment of the cameras So far the cameras have been mounted and connected to the controller The next step is to adjust the orientation of each camera such that the measurement volume can be tracked completely It is especially important that blinding of one camera by another one is excluded Therefore DTrack2 provides the Monitor 2DOF display that essentially is a graphical display of the field of view of the IR cameras and of the markers that are seen by the cameras presented two dimensional Monitor 2DOF display The Monitor 2DOF view shows a black window for each IR cam era equivalent to the field of view with a schematic display of positions and sizes of all recognized markers A simple colour code signifies the size and the circularity of the 74 4 5 DTrack2 frontend software markers green very good quality yellow good quality red bad quality As a rule of thumb for measurement applications with high accuracy requirements the markers should be displayed in green for VR applications yellow markers are always ok The Monitor 2DOF display is particularly usefu
170. ng 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 tape measure The determined scaling error can thus be adjusted with the DTrack2 scaling factor refer to chapter B 1 1 1 Please contact AAT if you require further information cannot calibrate my target e Please check if the markers of the target are seen by the cameras in good quality i e at least yellow a slight change of the target position might help If necessary increase the flash intensities of the cameras Therefore go to Settings Cameras e Make sure that when starting the body calibration every marker of the target is visible to the cameras e A body calibration can be carried out only if a valid room calibration has been carried out before Otherwise the button Calibrate is grey and cannot be clicked Check in the Event Display if there is a warning saying no valid room calibration In that case please carry out a new room calibration e Please make sure using the Monitor 2DOF display that no marker is overlapped i e merged by another one If necessary rearrange the target and restart the body calibration e Try to carry out the body calibration with a moving target Therefo
171. ng range 4 5m 4 0m 3 5m 12mm markers Connectivity amp Power Supply single cable solution via Gigabit Ethernet RJ45 PoE IEEE 802 3at Standard max cable length 100m cable length to remote 60cm camera head Voltage 44 57 V defined by the Standard max power consumption 12 W Protection category III Interface connectors RJ45 hosts data synchronization and power Operating conditions Temperature 0 38 C Relative humidity 5 50 non condensing Cooling system passive Dimensions remote camera head Diameter 37mm Length 73mm Weight 160g Dimensions camera body 184 A 1 Cameras Length 55mm Width 100mm Height 100mm Weight 540g A 1 3 TRACKPACK E IR Source lt invisible IR 850nm gs flash intensity adjustable in 100 steps Performance 2 Sensor resolution 1 1 MPixels a Frame rate up to 120 Hz Field of view FoV Lens Camera mode Resolution Medium Speed 1 1 MPix 0 7 MPix 0 5 MPix 60 Hz 90 Hz 120 Hz F 3 5mm FoV horizontal x vertical 97 x 79 97 x 51 97 x 36 Max tracking range 4 5m 4 5m 4 5m 12mm markers Connectivity amp Power Supply single cable solution via Gigabit Ethernet RJ45 PoE IEEE 802 3af Standard max cable length 100m Voltage 44 57 V defined by the Standard max power consumption 5 W Protection category ll Interface connectors RJ45 hosts data synchronization and power Operating conditions Temperature 0 38 C Relat
172. ngle LED b Single LED with diffusor sphere Figure 3 1 Angular range of visibility For wireless synchronization a coded IR flash is being sent out by a tracking camera The active marker s PC board recognizes the coded flash and activates the LEDs Chapter 3 19 S 3 3 Standard targets Type Description Weight approx Dimension Marker size Hand target Large hand target The hand target is designed for hand track ing in usability and assembly studies re spectively It is also frequently used as a small general purpose target Due to the small size this target is easily occluded by the hand carrying it Therefore proper ar rangement of tracking cameras has to be used in order to avoid occlusions This hand target is designed for hand track ing in a two camera tracking system Its large size allows to move the hand in al most all directions without losing tracking 25g 0 90z 30g 1 102 110 x 80 x 28 mm 170 x 120 x 35 mm 12mm 12mm Claw target The claw target looks just the same as the hand target But it comes in a bigger size and is equipped with bigger markers 35g 1 20z 160 x 110 x 30 mm 16mm saipog piu sjabie pue siayieyy Lo Type Tree target e a Description Originally designed for tracking HMDs the tree target is a general purpose target for tracking from longer distances It is equipped with 20mm markers Weight 75
173. ns R x rotation angle x rotation axis i The angles as given in the DTrack2 data output are defined by the equation R Rz n R 0 R Expressed in trigonometric functions that means cos cos 0 sin dcos 0 sin 0 R sing cosy cosdsin sinyn cosdcosy sindsin dsinyn cos sinn sin sin n cos osin 0 cosy cos sinn sin sinf cosyn cos cosy Note that per definitionem the angles can only have the values 180 lt lt 180 90 lt 6 lt 90 180 lt lt 180 197 aa 2 Cc Q Q 2 lt x B Technical Appendix Note rotation angles can show strange behaviour at certain orientations In particular for orientations close to 6 90 the other two angles can experi ence large odd looking changes When connecting DTrack2 to an application often problems appear caused by different definitions of rotation angles To avoid that we recommend to use rotation matrices B 1 4 3DOF Data Besides the tracking of DOF bodies DTrack2 is able to calculate the coordinates of single mark ers i e markers that can not be recognized as part of a rigid body The output values are the coordinates of these markers measured in room coordinates In some situations a rigid body within the measurement volume is temporarily not correctly recognized by the software In these cases its markers appear as 3DOF objects 3DOF markers are tracked as long as possible and labeled wi
174. nse lt DTrack2 2 10 and a Synccard2 Starting with DTrack2 version v2 10 a new license model has been es tablished The master controller needs to have a dedicated cascaded systems license as well as a sufficient license for ALL cameras in the cascade e g 4 ARTTRACK5 4 TRACKPACK E cameras license for 8 cameras In order to configure the cascaded system you have to start the DTrack2 frontend soft ware and establish a connection to the master Go to Settings Cascaded System to enter the configuration dialogue for the cascaded system Basically you have the choice between scan LAN or entering a s ave host name or IP address directly For the latter one you need to know the hostname or the IP address of your slave s when using DHCP or in case you have set a specific static IP address The button Update refreshes the list On the right hand side of the dialogue you will be presented a list of Avai able controllers i e which can become a slave in the cascaded system Mark the desired controller and press the button Se ec 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 Se ected controllers Mark controllers in the list of the Se ected controllers to remove them from the cascaded system by clicking the button Deselect If the checkbox wake on LAWN is ticked all connected slaves will go to stan
175. o go into standby mode with this command You can restart the controller by using Wake On LAN Please refer to chapter on page 56 for more details Controller reboot Reboot the controller with this command Quit Quit DTrack2 frontend software the active measurement doesn t have to be stopped 4 5 6 3 Menu Settings Settings Shortcut Cameras F7 Synccard Inertial Sensor ART Radio Info Tracking Body Administration F8 Output F9 Fingertracking Flystick Measurement Tool Controller Cascaded System Table 4 9 Menu Settings Cameras This dialogue shows the information about the cameras connected to the sys tem and recognized by the software e model e serial number e version number of the camera s firmware and 96 4 5 DTrack2 frontend software e focal length It allows changes of flash intensity and camera orientation as well as settings for modu lated flash either globally for all cameras or individually The modulated flash may only be used with active targets It is used to synchronize an active target Changes to the following settings can be made either for all cameras at once or for each camera separately Each camera is represented by a single tab within this window Reflex suppression DTrack2 is capable of suppressing reflexes e g sunrays on the floor in a static way However reflex suppression should always be the last option to be con sidered If possible try adjusting the cameras in
176. ode radio tapping USB button Battery level Temperature only during measurement Take care that all inertial sensors use a radio channel of one of the re dongles otherwise this sensor won t be used during measurement Also take care that approximately the same number of sensors are assigned to each dongle 65 4 System setup The temperature values between single inertial sensors may vary The H operating temperature is reached as soon as there are no more tem perature changes inside the sensors indicated by a green status bar It is not dependent on the absolute temperature value For warming up the sensors to operating temperature press the button Warmup siart All inertial sensors are turned to stand by mode after a pre defined idle time which cor responds to the selected wake up mode via radio idle time 1 min i e the sensors are switched on as soon as they are ad dressed by the controller via tapping idle time 3 min older sensors only i e the sensors are switched on by tapping on the sensors with your fingertip or tapping the sensors on a hard surface e g table via USB button idle time 10 min i e the sensors are switched on by pressing the button on the sensor for 3 4 seconds or by connecting them to the supplied charging hub For optimal battery life ART recommends to switch all sensors to KS wake up mode USB button when not in use for a longer period of time Calibration of
177. ody Calibration 2 424 ase dew wee oe ew ewe ee ee 67 4 24 Hybrid Body Calibration Result 222 004 68 4 25 Inertial Sensor Calibration 2 220 0000 00008 69 de 6 hehe GPG ee a ae GC A gh ee a 72 be ee i oe a ee ee a ee 73 be So ia a aie h a amp Beam i 8 74 29 Visualization of the synchronization frequency decrease 74 4 30 Monitor 2DOF view menu e g camera 1 2 2 2005 75 4 31 Room calibration settings e g RCS 410 oaaae 79 4 32 Marker distances including numbering on the angle and definition of room coordinate system ss kk tee a Ew Re Ce PES Ee 79 211 List of Figures 4 33 Room calibration progress 0 0202 eee ee eee 80 4 34 Room calibration process 00 00022 eee eee 81 4 35 Room calibration result 2 20 2 202 ee ee ee 82 4 36 Room re calibration dialogue 2 020 ee ee eee 83 4 37 Recognized target in DTrack2 Monitor 2DOF display 84 4 38 Body calibration dialogue 2 ee ee ee 85 4 39 Defining the target coordinate system 00 86 4 40 Import of calibration files a oa 02 2220 0000 2008 88 4 41 Calibrate bodies with the target library ao oaoa a 88 4 42 Body Adjustment aon aa Be ee Bo 2 a we ee 90 4 43 Managing the licenses ooo eee ee ee ee 94 4 44 Managing the configurations ooa
178. of a degree does not contribute to tracking any more For that reason a room calibration should be carried out whenever any uncertainty re garding the mechanical stability or the thermal behaviour of the setup occurs For room calibration the calibration angle of the room calibration set is inserted into the field of view of the IR cameras The position of the calibration angle defines the room coordinates At least two IR cameras have to see all markers of the calibration angle Therefore DTrack2 s Monitor 2DOF display is started in the background when selecting Calibration Room Here you can verify that all markers of the angle are seen by the cameras The longer arm of the angle defines the X axis refer to figure 4 32 the shorter one the Y axis The center of marker 1 defines the origin of the room coordinate system at a height of 43mm The pre calibrated stick carrying two markers is called the wand Its function is to 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 mis calculations of the measurement volume The room calibration dialogue allows the input of the marker distances of the calibration angle the input of the wand length and marker quality the input of the offset and the input of the calibration
179. ol references is defined as follows e The first number gives the number of defined Measurement Tool references e The second number gives the number of tracked Measurement Tool references e The data of each tracked reference show up in blocks three consecutive like Lid qu Sz Sy sz bo b b2 b3 b4 bs be b7 bg They contain 1 ID number ia starting with 0 quality value qu see below 2 Measured position s of the Measurement Tool reference 3 Rotation matrix b of the Measurement Tool reference e The quality qu can so far just get the values 1 0 and 1 0 1 0 means that the Measure ment Tool reference is not visible at the moment e bo bg form a rotation matrix R according to the scheme described in chapter on page Example one line 6dmtr 1 1 0 1 000 485 245 67 217 38 328 0 681257 0 315034 0 660790 0 477531 0 875410 0 074967 0 554845 0 366620 0 746817 208 B 2 Output of Measurement Data via Ethernet B 2 10 Fingertracking Identifier g1 and gical The output data include all necessary data to reconstruct the hand with all fingers and phalanxes The output format in detail e The first number gives the number of tracked hands e The data for each hand show up in blocks several consecutive like id qu lr nf ss sy 52 bo b bz b3 ba bs be br bg s s sf tol of of of of of bf of bfl Ord If afm Ih of f They contain 1 ID number ia starting with 0 a quality v
180. olume detect the IR radiation that is re flected by the markers and create a greyscale image based on the received IR radiation During the preprocessing the camera calculates the 2D marker positions with high accu racy using pattern recognition A mean 2D accuracy of 0 04 pixels 0 1 pixels maximum 2D deviation is standard in ART tracking cameras Then the 2D data are being sent to the Controller via Ethernet Now the controller has to calculate 3DOF or 6DOF data The base for this calculation is that the cameras field of views are overlapping DTrack2 calculates the path of the optical rays from the cameras to the markers and delivers the ray intersections in three dimensional coordinates These intersections are the positions of the markers The position and orientation of the cameras are known from the room calibration During body calibration DTrack2 identifies certain marker arrangements as rigid bodies Based upon this DTrack2 is able to calculate 6DOF data and finally knows position and orien tation of the target and therefore of the object or subject to be tracked In optical tracking systems you have to be aware that tracking is only possible as long as the target is positioned in tracking range of the cameras and is not occluded by any other objects or the object to be tracked More in detail at least four markers of a target have to be visible for a minimum of two cameras to enable tracking 15 Chapter 2 3 Marker
181. om DTrack2 v2 8 1 it is possible to export and import configurations DTrack2 Con figurations Save will export the complete active configuration In case of an accidental deleting of a configuration it will be possible to restore the configuration presuming that an export has been carried out before Then it could even be a replacement Controller to Load the exported configuration on Please note that a room calibration might be necessary especially in case the number of cameras or the cameras themselves have changed 6 2 Cameras DTrack2 doesn t recognize the correct number of cameras connected What can I do e First of all please check whether cabling is correct 143 6 Frequently asked questions FAQ Please make sure for all cameras that the LED to indicate that the camera is pow ered up is switched on Within DTrack2 press F2 in order to perform a search for new hardware The cameras should be detected now In case of ARTTRACK2 discontinued please make sure that the camera s fan is working If the fan stops rising temperatures inside the camera will cause an emergency shutdown of the internal PC 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 Finally reboot the cameras the external switch and the controller gt What is the meaning of the red LEDs at the front of the camera They a
182. ommended similar type In order to replace a main fuse of the ART Controller always unplug the power cord Two main fuses are existing since two power supplies are installed So the device is possibly still under power although a fuse has blown A A A 5 Overall system System parameters number of cameras max number of targets max number of hands max number of Flysticks Flystick2 Flystick3 Scalability Accuracy of the timestamp 2 50 max 16 for TRACKPACK E and TRACKPACK systems discontinued 50 4 5 1 ARTTRACK system fully scalable 2 50 cameras TRACKPACK E and TRACKPACK systems discontinued cascadable up to 16 cameras additional controller necessary with a Synccard2 3 Aterr 0 1ms with a SynccardTP Aterr 10ms Operating conditions Temperature Relative humidity Compatible shutter glasses 0 38 C 5 50 non condensing NuVision APG6000 NuVision APG6100 NVidia 3D Vision Pro RealD CE1 RealD CE2 RealD CE3 RealD CE4 RealD CE5 Volfoni EDGE XPand X103 XPand X101 XPand X104LX Virtalis ActiveWorks 500 DTrack2 frontend software 190 radio synchronization x xX X X X X with Volfoni or NuVision Long Range Emitter with NuVision Long Range Emitter x xX X XK XK X System requirements Free disk space Processor RAM Operating systems Settings firewall remote PC used ports A 5 Overall system gt 200MB Intel gt
183. oom calibration or room re calibration it is not necessary i to perform a new body calibration Only if the body itself changes you have to calibrate the body again The previous body calibration will be lost if you carry out a new body E calibration If you want to save the previous body calibration please use the Save file s option in the Body calibration dialogue Calibration with a calibration file The calibration files for our targets are available on request Each file is specific for just one type of target It contains the dimensions of the target and the distances between the markers The file is created at ART on site perform ing a body calibration in a defined environment or measurement volume respectively Press Load file s see figure 4 38 and choose the calibration file s for your targets The format of the file name has to be according to standard b01 txt the identifier b01 refers to the ID of the target IS The previous body calibrations will be lost if you load new calibration files DTrack2 automatically assigns the calibration file to the respective target by using the identifier in the file name i Invalid or corrupt files are not loaded by DTrack2 This is indicated by an error message in the confirmation dialogue see figure 4 41 Press Load to confirm the import of the body calibration files Press Save file s to store the body calibration files of the currently used bodies The files can
184. oom re calibration please refer to page 82 Please refer to chapter on page 77 for the details on how to perform a room calibra tion Room adjustment In many cases it might be necessary to shift or rotate the coordinate system after calibration For a good calibration the angle should be placed such that as many cameras as possi ble can see it The corner marker of the angle defines the origin of the coordinate system For software configuration it is more suitable to have the origin at a well defined point e g in the center of the screen If a tracking system already in use has to be calibrated again due to camera movement the angle might have been put slightly different than in the previous calibration To avoid re configuration of all installed software the tracking coordinate system should be moved to exactly reproduce the previous calibration The calibration angle should be put exactly parallel to one of the screens On large sys tems even very small angular errors might lead to substantial deviations over the full width of the projection 0 1 on 5m length is 8 7 mm deviation In all these cases the coordinate system must be altered after calibration This function ality is called from Calibration Room adjustment Coarse The Coarse menu offers the opportunity to manipulate the orientation of the room coordinate system with just one click You can define the orientation of two axes the third one will be oriented auto
185. or ARTTRACK5 and TRACKPACK E systems Please refer to chapter 6 4 on page gt How do I guide the synchronization cables correctly in cascaded systems e When using one TRACKPACK E master and one TRACKPACK E slave controller the correct cabling would look as follows OUT3 O i Cameras Wj Sync amp Power e When using one ART Controller as master and two TRACKPACK slave controller the correct cabling would look as follows Master Slave 1 OUT1 fi out O OUT3 O Cameras uo Sync amp Power Synchronization failed in ARTTRACK 2 amp 3 systems discontinued Here we have to distinguish between hardware issues camera and external synchroniza tion and software issues 1 Check the cabling hardware issue e Please make sure that the cables themselves are not damaged e Take care of using the correct ports OUT1 to OUTS synchronization of the cameras EXT In input of the external synchronization Co pa ab jm Oo i e Double check if no extensions between camera and terminating resistor have been made 149 6 Frequently asked questions FAQ Ext In 7 OUT 1 C ouT2 ouT3 2 Check the synchronization settings software issue e Go to Settings Synccard and double check the settings internal or external synchronization for the synccard e In case of external synchronization please make s
186. or calculating the finger tip position you need to consider radius R like shown in figure 5 10 134 5 3 Fingertracking Top view status LEDs green LED continuously synchronization received red LED continuously no synchronization received red and green LED flashing battery low or discharged infrared LEDs LEDs activate the flashes power switch activate or deactivate the Fingertracking hand target configuration dial select the LED brightness and the number of fingers infrared sync receiver receiver for the modulated infrared synchronization signal Table 5 4 Description of the Fingertracking Figure 5 10 Model of a human hand Please refer to chapter Bjon page 195 for more information about the format of the output data Principle The finger movement is limited by the structure of the finger bones and ten dons Medical studies of the human hand have proven that without external forces the movement of the fingers can be derived from palm and finger tip position Therefore only the palm and the finger tips have to be tracked The active markers for the finger tip are sequentially addressed to allow the tracking sys tem to discriminate between the single fingers Therefore the update rate of the fingers is only one third or one fifth of the update rate for the hand e g 20 Hz for a 60 Hz mea surement with three fingers or 12 Hz for a 60 Hz measurement with five fingers Up to four hands with three or five fingers each ca
187. order to minimize reflexes Please refer to chapter 4 5 1 7 on page 76 for more details You should always be aware that reflex suppression results in remov ing of the area in which the reflex originated from the tracking volume There are two possibilities to carry out a reflex suppression 1 Mark the checkboxes for each camera when you want to suppress reflexes Af terwards select Calibration Start Static Reflex Scan for all enabled cameras to make sure that static reflexes will be suppressed 2 While measurement is running you may define the areas to be suppressed manu ally In the Monitor 2DOF display right click on the respective camera window and enable Eadit reflex suppression areas Alternatively you may use the shortcut E to enable this mode shown in figure 4 45 a on page 98 Within the edit mode you may also refer to figure 4 45 b on page 98 e create new areas e delete areas e clear regions e resize areas and e move areas Reflex suppression areas are enabled when you leave the edit mode by disabling Edit reflex suppression areas and accept the changes The single areas defined are stored in the controller and can be edited each time you enter this mode If you want to disable all reflex suppression areas for a camera at the same time just right click on the respective camera and deactivate the option Active Flash settings The flash intensity may be changed within an int
188. ordinate system into the target s center of gravity Set axis activate two markers sequentially in the graphic view by left clicking with the mouse The first one is highlighted in white the second one in grey Additionally the button Set axis is activated Pressing this button opens a dialogue to configure the transformation Adjust axes to room pressing this button aligns the body coordinate system in parallel to the room coordinate system Special manipulation Choose from the following predefined transformations e due to body The body coordinate system is completely defined by the target geometry See page 85 e due to room origin in COG The coordinate system is rotated in order to be aligned in parallel to the room coor dinate system with the origin to be in the center of gravity COG see page 86 In order to use this function the checkbox use tracked orientation has to be ticked e due to room origin in marker The coordinate system is rotated in order to be aligned in parallel to the room coor dinate system with the origin to be in the marker see page 86 In order to use this function the checkbox use tracked orientation has to be ticked The default view for the calibration data of the rigid body is the Graphic view Press the right mouse button and a menu with the following options pops up 114 4 5 DTrack2 frontend software Option Description Small markers reduce the size of the marker
189. ore information Press the switch next to the power plug to start the controller If the controller is booting without connected Ethernet cable it will use its standard IP address H The fall back IP address of the controller is 192 168 0 1 subnet mask 255 255 255 0 You may configure another static IP address as follows e select Settings Controller e untick the checkbox DHCP client e enter P address and subnet mask e optionally enter gateway and nameserver e reboot the controller for the changes to take effect Please note that these settings are not part of your personal configura re tion Changes in this menu will affect all users of your controller Your controller may become unreachable with wrong IP settings Refer to chapter 4 2 4 on page 54 Finally start the DTrack2 frontend software on the remote PC Please refer to chapter 4 5 on page 70 for more details pa ab Q iq ol External synchronization The TRACKPACK system and therefore the TRACKPACK con troller can be synchronized with an external source On the back of the controller there is a BNC plug ExtIn which serves as input for the external synchronization signal The sync signal may be of type TTL or video see also chapter 4 5 6 3 on pag 100 Typically external synchronization has to be used when other systems inside the tracking system are also using infrared signals for controlling their equipment e g if R controlled
190. osition tracking 3DOF a pointing device which allows to measure the position of the tool s tip with high accuracy defines the volume where optical tracking is possible infrared signal which is used for wireless synchronization track movements of a human body one camera sees disturbing reflections caused by the infrared flashes of another one predicts output for the specified time in the future to compensate tracking and rendering latency teach the system the position of each camera and define origin and orientation of the room coordinate system consists of angle and wand 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 plug in card for the controller which serves for synchronizing the cameras term Tactile Feedback target tracking TRACKPACK discontinued TRACKPACK C discontinued TRACKPACK E TRACKPACK Controller discontin ued USB radio transceiver RT2 RT3 virtual point cloud wand 10 definition system for finger based interactions in immersive virtual reality applications wires touch the inside of the finger tips and provide an impression when they are shortened rigid arrangement of several single markers rigid body position measurement of bodies that move in a defined space infrared camera infrared camera dedicated for multi sided projections infrared
191. ot fall down Unsecured cameras may pose a serious hazard to health and safety Avoid hard shocks at all times A new camera calibration at the ART fa cilities might become necessary in that case Figure 4 3 on page 27 shows the correct mounting for a camera to a wall with a carrier using the example of an ARTTRACK2 camera Make sure to not fall below minimal distance to the wall so enough room is left for the cables and to allow readjustment of the 39 pa Q rq ol es 4 System setup camera angles and maintenance Use strong dowels and screws for mounting the cameras to walls or ceilings see figure 4 3 on page 27 If in doubt ask a skilled craftsman for assistance Use massive and long enough angle irons to provide the required stiffness and stability 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 Please install the cables such that e no one can stumble over the cords e the cords cannot be damaged e the cords cannot damage the cameras due to mechanical strain e 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
192. own for step 2 is started During step 2 of the calibration the fingers still have to be stretched and not spread Gently move all of your fingers up and down at the same time until calibration process is finished As a rule of thumb you should keep the angle between starting and ending position at approximately 60 Take care that you do not bend or cross your fingers The thumb is still soread and does not move during this phase The configuration program indicates data collection while it is active 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 If the calcu lation was successful it is automatically activated in the Fingertracking settings menu If the calculation terminates with an error message the calibration has to be repeated Sometimes it may be necessary to repeat the calibration of the hand target as well Output settings Please define where the Fingertracking data has to be sent to In DTrack2 frontend software select Settings Output You can either select this com puter remote PC or enter an IP address of another computer you want to send data to By ticking the checkboxes g and g ca you can define the Fingertracking data to be transmitted Please refer to chapter 4 5 6 3 on page 105 for more details 139 5 Interaction devices Press Start to start the measurement
193. p to 4 5 m wide The system consists of two or four TRACKPACK cameras and a TRACKPACK Controller By default the TRACKPACK is equipped with a 3 5 mm lens Depending on the applica tion and the setup the TRACKPACK camera can be equipped with other lenses i e with different focal lengths Refer to A 1 on page 83 for a list of available focal lengths and the respective FoV The RJ45 connection between TRACKPACK camera and controller is used for power supply and synchronization signal It is not a standard A 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 AN itracki TP Figure 4 9 Camera TRACKPACK 38 4 1 The tracking cameras of ART 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 or other malfunctions The measurement volume can be adjusted within certain limits simply by changing the flash intensity of the ART infrared cameras see chapter 4 5 6 3 on page 96 H The flash intensities should not be too high In general a flash inten sity of 3 4 might be sufficient 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 ART labs Be aware that a tracking system is very sensi
194. perating systems gt Where is the Monitor 2DOF display e Please check if the latest updates for your operating system are installed e Please make sure that your firewall is not blocking DTrack2 even partly e Please refer to chapter A 5 on page 190 for a list of supported operating systems 154 6 7 Software DTrack2 gt My target is not visualized within the Monitor 2DOF display e Please make sure that the target is inside the tracking volume and within tracking range of the cameras e Double check the settings for the flash intensities of the cameras refer to chapter 5 6 3jon page 96 e In case you are using active targets please make sure that you have activated the modulated flash The camera to emit the modulated flash has to be on syncgroup 1 When using a Flystick3 you have to doublecheck additionally how many sync groups are activated for the Flystick3 active target Settings Flystick gt How do I define the number of targets to be tracked Go to Settings Body Administration and change the number of 6DOF bodies What is the maximum number of targets The maximum number of targets including Flysticks and Fingertracking hand devices is depending on the license type e Basic and Extended license 4 e 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 li
195. pter 4 5 2 on page 77 where room calibration is explained A Before continuing please double check whether a BNC connection 4 4 Setting up the Hybrid Motion Capture System With the introduction of v2 9 0 DTrack2 supports inertial sensors which are distributed with our Hybrid Motion Capture suit The main advantage of hybrid targets is that inertial sensors still deliver information through the rotation of the target even when the optical target may not be tracked any longer due to viewing limitations or occlusions On the other hand drift correction of the inertial sensors is achieved by fusing their output with position measurements calculated from the optical tracking system Inertial sensors are communicating with the DTrack2 system via a 2 4 GHz ISM radio connection Connecting the wireless transceivers The wireless antenna comes pre assembled with two transceivers Dongles for communication with the inertial sensors First con nect the USB plugs of these dongles to any free USB port of the controller using the supplied extension cables The dongles are activated after rebooting the controller or calling DTrack2 Search hardware Be sure just to use active USB 2 0 extension cables like the supplied ATEN UE250 to connect transceivers Dongles to an ART Con troller Otherwise proper function of the transceivers cannot be guar anteed Now within DTrack2 go to Settings Inertial Sensors and check that all
196. r 0 01ms f with a Synccard2 used in ARTTRACK systems With a SynccardTP used in TRACKPACK systems one can only expect an accuracy of A terr 0 5ms Example ts 39596 024831 B 2 3 Standard 6DOF Bodies Identifier 6d Measurement data of all tracked standard 6DOF bodies i e all DOF bodies except Flysticks Measurement Tools Bodies that are not tracked by the system at that moment don t appear in the output e The first number gives the number of tracked bodies less or equal to the number of cali brated bodies e The data of each tracked body show up in blocks three consecutive like id qu sr sy sz n 0 dl bo b b2 b3 b4 b5 be bz bs They contain 1 ID number id starting with 0 quality value qu unused 2 Position s orientation angles 7 0 and 3 Rotation matrix b of the Body s orientation All numbers are separated by spaces hex 20 Nine values bo bg form the rotation matrix R bo 63 be R b b4 b7 b b5 bg 1Coordinated Universal Time Greenwich Mean Time 203 aa 2 Q Q I lt B Technical Appendix To avoid problems with different definitions of the angles we recommend to only use rotation matrices Example one line 6d 1 0 1 000 326 848 187 216 109 503 160 4704 3 6963 7 0913 0 940508 0 339238 0 019025 0 333599 0 932599 0 137735 0 064467 0 123194 0 990286 B 2 4 Standard 6DOF Bodies extended format Identifi
197. r The data and control commands are interchanged via a TCP IP connection between the controller and the DTrack2 frontend software on the remote PC Data output to the application or graphics workstation is done via a UDP con nection The cameras refer to chapter 4 1 on page 25 and the interaction devices refer to chapter 5 on page 122 have to be connected to the respective ports of the controller 43 2 ab Q rq lt 4 System setup ART ARTTRACK TRACKPACK _ DTrack2 Controller Controller Controller ARTTRACK1 x x x ARTTRACK2 x x x ARTTRACK3 x x x ARTTRACK5 x x from v2 10 ARTTRACK5 C x x from v2 11 TRACKPACK x x TRACKPACK C x x from v2 5 TRACKPACK E x x from v2 11 Flystick1 x x x x Flystick2 x x x x Flystick3 x x x x from v2 2 Fingertracking 2 x x x x Measurement Tool x x x x from v2 2 1 an appropriate license may be necessary refer to table 4 3 2 for Fingertracking it is recommended to use six cameras for ideal operation Table 4 1 Compatibility of the ART cameras and interaction devices 4 2 1 Installation of the ART Controller D7rack2 gt v2 10 The ART Controller DTrack2 gt v2 10 comes in a 19 inch housing compatible for rack mounting see fig 4 12 on page 44 To turn on the controller flip the power switch to l for restart from standby mode press the button soft power on The USB ports can be used for plugging in the USB radio transceiver for the Flystick2 3 re
198. r the initialisation starts status LED Yellow After a few seconds the charger switches to the fast charge mode status LED Orange Once the battery pack is fully charged approx 1 h the charger switches to the top off charge mode to balance the cells inside the battery pack status LED Green with inter mittent yellow flash This helps to extend battery life Hereafter the charger goes into trickle charge mode automatically status LED Green Now the battery pack may be used again Please also refer to table 5 2 for an overview of the status LEDs on the battery charger MultiUser option The MultiUser option is an enhancement especially for VR AR appli cations when working with more than one Flystick2 Up to ten users can be equipped with a Flystick2 and a head target usually mounted on glasses The software DTrack2 is able to track them all but only the data pair Flystick2 and head target of one user is available as output data Switching between the single users can be done by just pressing one of 126 5 1 Flystick2 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 5 2 Status LEDs quick reference the Flystick buttons Depending on how many Flysticks you are using you have to configure the number of Flysticks max 1
199. ra has to be connected here if you are using active targets e g Fingertracking Flystick3 Refer to chapter 5 3 on page 133 for more information x OUT2 Defines syncgroup 2 The default time delay related to syncgroup 1 is 480s OUTS Defines syncgroup 3 The default time delay related to syncgroup 1 is 960s st 2 ab I Q k External Sync In Ww YW o Q Q uw Ww O o a a lt t Cascade network po t _ Lan network port R s Power Plug lt WE i TSsSlave Master 100 240V a 4xUSB ports i Synccard3 Synccard3 Figure 4 13 ART Controller back view e USB port Please plug in the USB radio transceiver for the Flystick2 3 here refer to chapter 5 1 on page 124 or chapter 5 2 on page 130 45 4 System setup e LAN network port Please connect the ART Controller to your local network using an RJ45 cable e Cascaded network port For cascaded systems please connect a slave controller to the ART Controller mas ter Please refer to chapter 4 3 on page 58 for more detailed information e Power inlet Please connect to mains 100 240V H The power inlet is fuse protected 2x4A anti surge type T and features a line filter for EMV protection IP addresses are predefined in ARTTRACK and TRACKPACK E cameras changes by the user are not possible The camera network ports are configured using A e IP address 172 28 0 X e s
200. ras do not bend stretch or cross your fingers do not move your thumb e Make sure that you selected the correct handedness and type of fingerset 3 finger vs 5 finger in Calibration Fingertracking e Double check that the diffusor spheres 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 e data receiver defined send to e identifiers g and gical selected gt Is it possible to upgrade to the 3 finger or the 5 finger version Yes if you are currently using the 3 finger version you may also use 5 finger thimble sets and vice versa Please contact ART to receive more information 6 12 Measurement Tool gt m using the Measurement Tool demo but I cannot measure any points Please check whether both the Measurement Tool and the Measurement Tool reference body if assigned are tracked gt It is not possible to perform a tip calibration Please check whether both the Measurement Tool and the Measurement Tool reference body if assigned are tracked Then try to keep the tip in the same position while doing the tip calibration Therefore tilt the Measurement Tool in both room directions not only in one direction i e left and right as well as back and forth When rotating around one axis only a tip position cannot be defined 166 6 13 Active Targets 6 13 Active Targe
201. ration dial is used to configure the LED brightness and the number of flash groups used in the system one syncgroup position 0 to 3 three syncgroups position 4 to 7 unused position 8 to 9 e for serial numbers gt 100 The configuration dial is used to select the LED brightness and the number of fingers used in the setup refer to table 5 6 on page 138 What s the maximum number of hands to be used You may use two Fingertracking sets i e four hands in your tracking system at the same time However the targets of the hand devices should be different gt How do I assign a hand geometry to a hand ID Go to Settings gt Fingertracking Select a hand geometry and the hand ID you want to assign it to and press Select gt The finger calibration fails What do I do wrong e The configuration dial has to be turned to the proper position for serial numbers lt 100 one syncgroup position 0 to 3 x three syncgroups position 4 to 7 x unused position 8 to 9 for serial numbers gt 100 x 3 finger version position 0 to 3 165 6 Frequently asked questions FAQ x 5 finger version position 4 to 7 e Go to Settings Cameras and tick the checkbox modulated flash The camera that sends out the modulated flash has to be on syncgroup 1 e Please observe the calibration rules defined in chapter 5 3 on page 139 the marker on the thumb has to be visible to the came
202. rd b Target type 5DOF Target Library Custom Target Library Custom body body standard body 02 x te calibration standard body 02 x re calibration Load file s save file s Calibrate Load file s Save file s Calibrate aiia C Ext c Target type 5DOF cylinder d Target type 2x 5DOF cylinder Figure 4 38 Body calibration dialogue between these calibration types is to be found in the orientation of the body coordinate system relative to the body During body calibration DTrack2 defines a local coordinate system body coordinate system for each target st ab Q i CS Body calibration setting due to body The body coordinate system is fixed by the markers of the rigid body according to a set of rules 1 Search the biggest distance between two markers of the rigid body These two markers 1 and 2 will define the X axis 2 Search for a third marker 3 that has the smallest distance to one of the two markers 1 and 2 The marker that has smallest distance to marker 3 becomes marker 1 It will define the coordinate origin The other marker will be 2 The positive X axis is directed from marker 1 to marker 2 3 Marker 3 defines the X Y plane together with markers 1 and 2 Marker 3 has a positive Y coordinate 85 4 System setup 4 The Z axis is already defined by these rules r
203. re shift the starting position of the target for calibration often a shift of 10 or 20cm is enough to enable calibration again e Make sure that no other markers or targets but the one you want to calibrate are inside the tracking volume 159 6 Frequently asked questions FAQ e Please carry out a new room calibration gt ld like to save all my body files for backup reasons but I receive less files than configured bodies DTrack2 only creates body files for calibrated bodies For example if you configured 15 targets for tracking but only 4 of them are calibrated you will only receive 4 calibration files gt 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 You may only calibrate bodies if you have the Extended or the Full featured license With a Basic license you are only able to calibrate bodies using a calibration file Starting with DTrack2 version v2 10 a new license model has been established Thus you are always allowed to manually calibrate up to 4 bodies at least Go to Dirack2 Licenses to see which license you have What is the difference between due to body and due to room When selecting due to body the body coordinate system is fixed by the markers of the rigid body The origin of the body coordinate system is set to the center of gravity of all
204. re indicating the status of the camera ARTTRACK2 ARTTRACKS discontinued The left LED shows that the camera is powered up and booted Whereas the right LED indicates that the measurement is active In case of an error e g sync loss the left LED extinguishes and the right LED starts flashing Please refer to figures 4 7 and 4 8 on pages 33 and 36 for the visualization of the cameras ARTTRACKS The lower LED shows that the camera is powered up and booted Whereas the upper LED indicates that the measurement is active In addition to the two status LEDs the 2 digit LED matrix on the left displays the assigned camera ID default and the number of markers in the camera s corresponding field of view when activated under camera settings Please refer to figure 4 1 on page 25 for the visualization of the camera ARTTRACKS8S C The red LED on the camera body shows that the camera is pow ered up and booted Please refer to figures 4 4 on page 28 for the visualization of the cameras TRACKPACK E The lower left LED show that the camera is powered up and booted Measurement active is indicated by the lower right LED Please refer to figure 4 6 on page 31 for a visualization of the camera TRACKPACK discontinued The lower left LED show that the camera is powered up and booted Measurement active is indicated by the lower right LED Please refer to figure 4 9 on page 38 for a visualization of the camera gt One of m
205. ries in the list available Flysticks even if no Flystick1 is present in the volume This is due to the fact that the Flystick1 connects via serial COMport which cannot be polled automatically If you are using a Flystick1 please refer to the Flystick1 manual Measurement Tool Within the Measurement Tool dialogue you may define the number of Measurement Tools and the number of references It is limited to a total number of four each Below there are several fields where you may change the default values within the allowed ranges to suit your application If you are working with a reference body you may assign it to a specific Measurement Tool ID e mark the respective Measurement Tool e mark the reference body and e press Select Repeat these steps if you want to assign references to other Measurement Tools Please refer to chapter 5 4 on page to learn how to install the Measurement Tool Controller The menu for the Advanced Controller Settings is divided into two tabs Net work and Time 108 4 5 DTrack2 frontend software 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 measurement duration s configure the time to perform a measurement with the Measurement Tool valid range 0 2 10 0 sec tool tip tolerance mm specify the range within which the tip is assumed to be static v
206. rigid bodies 16 3 1 Passive markers oaao ee Ee ON ee b oe eek SO 16 3 2 Active markers eee oe ew ee ER Oe ye a ee 17 Se Beg ah he ho ke Se ego Beg hile Ge ose de Gund eh Bs he es 20 4 System setup 25 4 1 The tracking cameras of ART 220 00005000505 25 4 1 1 ARTIRACKS enc os 2 oo ke ee ee oe SES eee od 25 srl Sie ok Gers Maced ib ee he 28 dbe deaa eS ee ee ed ee ee a 31 4 1 4 ARTTRACK2 discontinued 5 33 4 1 5 ARTTRACK3 discontinued oaa 35 4 1 6 TRACKPACK discontinued 5 38 4 1 7 TRACKPACK C discontinued 5 40 jad eR ee Ee eo Se eh ee ee 43 4 2 1 Installation of the ART Controller DTrack2 gt v2 10 44 4 2 2 Installation of the ART TRACK Controller discontinued 48 2 3 Installation of the TRACKPACK Controller discontinued 4 2 4 Setting a static IP address without the Dirack2 Frontend available EE E E EE 54 4 2 5 The setup filej oaa cs oe ee we gos ee oO Be 55 eh echo eho ae Basse GAC et i Aen o 56 4 2 7 Wake On GAN occa os eR ee Se OM oe ee me eee we a 56 4 2 8 Remote command strings 2200 082s 58 4 3 Setting up cascaded systems e ee eee eee 58 aero ee eee 63 4 5 DtTrack2 frontend software 0 00 cee ee ee 70 4 5 1 Getting started aoe ca em aw Hw ew a Sw Oe ee 70 4 5 1 1 Installation guide Windows
207. rmed changes are sent to the controller and the dialogue closes H Pressing Apply only results in a confirmation of the changes only for the currently selected body the body will directly be reloaded after wards If the MultiUser function for Flysticks is enabled the Body Adjustment module will only load standard bodies If you want to adjust the body LE calibration data of your Flystick please make sure that the MultiUser function is disabled Settings Flystick a label MultiUser function should be disabled will appear at the bottom of the dialogue Hybrid Body This function performs a hand eye calibration to combine an inertial sen sor with its corresponding optical target Please refer to chapter 4 4 0n page 66 for more information Fingertracking Define a new or select an existing hand geometry name Configure handedness as being eft or right Select the type of fingerset When clicking on the button He p a pop up window appears where the calibration process 115 st 2 ab Q i a 4 System setup is explained and visualized Please refer to chapter 5 3 on page for more information Measurement Tool Perform a tip calibration for the Measurement Tool that is currently inside the tracking volume DTrack2 automatically detects the ID of the Measurement Tool and assigns the tip calibration Just press Calibrate to start the calibration process During calibration please move the
208. roller may become unreachable with wrong IP settings Refer to chapter 4 2 4 on page 54 Finally start the DTrack2 frontend software on the remote PC Please refer to chapter 4 5 on page 70 for more details External synchronization An ART Controller can be synchronized with an external source On the back of the controller there is a BNC plug Extln which serves as input for the external synchronization signal The sync signal may be of type TTL or video see also chapter 4 5 6 3 on page 100 Typically external synchronization has to be used when other systems inside the tracking system are also using infrared signals for controlling their equipment e g if R controlled shutter glasses are used The goal is to reduce or eliminate interference The ART track ing system follows the external synchronization signal and chooses time slots when it is safe to emit infrared radiation without causing interference The effect is for example that active shutter glasses are not flickering but offer a stable picture for the user The external sync input is not internally terminated When synchronizing with a video input a T piece with an external 75 Q terminating resistor should be used if the signal line ends at the KS controller When using a TTL signal you should not use a terminating resistor However you should use a shielded cable for the synchronization with a TTL signal 4 2 2 Installation of the ARTTRACK Controller discont
209. rom DTrack2 v2 8 1 Body Administration The menu allows for administering all targets e g Standard Flystick etc in the system refer to figure 4 45 The number of 6DOF bodies represents the number of targets that should be tracked In this context the number of targets does not include the interaction devices e g Flystick Fingertracking or Measurement Tool These are completely configurable in separate tabs However the maximum total number of bodies that may be used in i ART systems includes the calibrated interaction devices Fingertrack ing Flystick Measurement Tool Standard _Flystik_ _ Measurement Tool _ _Fingertrackng number ofbodies 8 Min number of bodies Can t remove body with inertial sensor Adtive m n Name Model Device ID Calibration Filter Delete Reset Vv Test 1 Custom not active p 2 M Brille 5d Custom default 3 M Hand Custom default 3 4 not calibrated 5 D Brille Custom not active 3 j6 W Upper Leg right Colibri Wireless JWAYTMW Full default 2 7 WI Upper Arm right Colibri Wireless KKLUGGH Optical default x 8 Foot right Colibri Wireless KXVPSAR not calibrated x Hie GcGatbration a Hybrid Body Calibration odyadjustment d j Figure 4 45 Flexible Body Administration from DTrack2 v2 9 0 Here you can activate delete or reset target calibrations and change the order of the single targets Additionally yo
210. roup 1 total 0 accepted calibrated 1 ja Exit Figure 4 41 Calibrate bodies with the target library With the Found Targets filter all targets presented i e shown to the system will be found In the unlikely case that a target is not found by the system it needs to be cal ibrated using the standard body calibration The calibrations for all found targets only need to be accepted either by ticking the checkbox accepi al or one at a time Finalize 88 4 5 DTrack2 frontend software the assignment of the targets by pressing Apply DTrack2 compares the geometry of the physical target with the calibra re 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 Press Ok if you want the system to do so Typical usecase Motion Capture targets without Inertial sensors For this descrip tion we re assuming that a room calibration for eight cameras has already been carried out and that the full featured or max 8 cameras license is available First fit the targets to the test person and make sure that the person is in the calibrated volume Then start the calibration Calibration Body Target Library Calibrate and allow the test person to
211. s Colored markers show the markers in different colours default greyish Long axes extend the vector arrows of the body coordinate system by infinite dashed lines Show COG show the center of gravity when changing the orientation of the view Show XY plane show the XY plane Show YZ plane show the YZ plane Show XZ plane show the XZ plane Show room orientation shows the room coordinate system only available when check box use tracked orientation is ticked Add line between markers add a line between two selected markers option greyed out until two markers are selected Delete line between markers remove a line between two selected markers option greyed out until line is selected Data view switch to the data view The View position and View orientation may be changed according to the customer s choice The graphic view may be moved along and or rotated around the axes This may be achieved in two different ways 1 hold down the Strg key and the left right mouse button to change the position orientation 2 use the six control dials to adjust position and orientation To restore the default view just press Reset view Tick the use tracked orientation checkbox if you want to rotate or move the target in the graphic view by rotating or moving the real target within the measurement volume If you press OK the changes which have been done for all bodies will be confi
212. s and targets rigid bodies 3 1 Passive markers The passive markers used in ART tracking systems are retro reflectors These markers reflect the incoming IR radiation into the direction of the incoming light More precise the IR radiation is reflected into a narrow range of angles around the opposite direction of the incoming light Passive markers can be either 1 spherical markers excellent visibility from any perspective expensive fabrication sensitive surface target requires larger volume danger of mechanical damage 2 flat markers cheap flat targets possible robust surface because cover may be applied the angular range of visibility is limited to approx 45 3 ring markers cheap cylindrically shaped targets possible robust surface the angular range of visibility is limited to approx 45 Passive markers are mostly spheres covered with retro reflecting foils However they can also be stickers made from retro reflecting material Retro reflecting sheets or foils available on the market can be based on two different op tical principles 16 3 2 Active markers surface coating 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 Glass spheres with a proper refraction index are fo cussing incoming ligh
213. sh settings These are related to the name of the user and thus are easily accessible When creating a new configuration you need to describe your configuration in a few words description and enter your name owner The configuration can be changed later on with Edit see also figure 4 44 Your personal configuration is created using the values of the current configuration gt clone current configuration or default values create with default values respec tively e clone current configuration all existing calibrations room and body calibration and flash settings are inherited e create with default values the system will start from scratch i e as manufactured That means you will not have a room calibration or any body calibrations 94 4 5 DTrack2 frontend software H P Configurations 2 mt Description Owner Locked Cava_5CAM no standard no r P New Configuration a Delete anen 5 description owner write active configuration to log file Log settings l done current configuration export import 5 create with default values Load l Save Exit a Main window b Create a new configuration Figure 4 44 Managing the configurations Just press Create and the configuration is saved on the controller It is possible to protect the used configuration by pressing the button Lock Then you will b
214. shutter glasses Target tailored to the NVisor SX 60 head 55g 1 940z mounted display 225 x 100 x 60 mm 300 x 215 x 35 mm 12mm 12mm Chapter 3 s 61e prepuels g g N Type Description Weight approx Dimension Marker size Motion capture targets ART 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 ART MoCap target ae set consists of subsets can be generated Po 4 zZ me E 1 Glasses target AGT4 28g 1 00z 225 x 180 x 95 mm 12mm t Y 2 Shoulder targets UT 44g 1 550z 90 x 75 x 35 mm 12mm i 1 Dorsal target DT 84g 2 960oz 150 x 65 x 35 mm 12mm 7 a 2 Upper arm targets HBT 52g 1 830z 150 x 70 x 35 mm 12mm a 2 Forearm targets UBT 50g 1 760z 150 x 65 x 35 mm 12mm 2 Hand targets HT 25g 0 90z 110 x 80 x 28 mm 12mm 1 Waist target WT one piece 195g 6 90z 390 x 140 x 50 mm 14mm 1 Waist target WT multi part each 30g 1 102 90 x 60 x 50 mm 16mm 2 Upper leg targets FBT 99g 3 490z 220 x 120 x 40 mm 16mm 2 Lower leg targets TBT 58g 2 050z 205 x 70 x 35 mm 16mm 2 Foot targets FT 65g 2 290z 95 x 105 x 70 mm 16mm Table 3 3 Standard targets overview saipog piu sjabie pue suaysey y 4 System setup 4 1 The tracking cameras of ART 4 1 1 ARTTRACK5S Keep a distance of min 20 cm when operating the camera The camera is assigned to the Exempt Group according to IEC62471 1 an
215. 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 The effect is for ex ample that active shutter glasses are not flickering but offer a stable picture for the user 53 4 System setup A The external sync input is not internally terminated When synchronizing with a video input a T piece with an external 759 terminating resistor should be used if the signal line ends at the con troller When using a TTL signal you should not use a terminating resistor However you should use a shielded cable for the synchronization with a TTL signal Be aware of the following specialty of the TrackPack system The TRACKPACK cameras get power supply and sync via the RJ45 cable Therefore the status of the synchronization is indicated with two LEDs orange and green located on the synccard of the controller Depending on the operating condition of the ART tracking system the LEDs are triggered respectively Table 4 2 shows how the LEDs are triggered according to the type of synchronization two LEDs on each port of the camera network card orange green 4 4 4 4 ON OFF ON OFF 4 4 4 4 flashin permanently measurement controller controller Status 9 lit inactive switched ON s
216. smitted e yellow 5 10 frames per minute lost e orange 10 15 frames per minute lost 73 t 2 ab Q i cS 4 System setup e red gt 15 frames per minute lost Pr Drea 2 ort eee e nua of bodies tracked D rack2 Settings Calibration Display Tools About Stop el Sane oe arpa see x a Pea C _ radio channel Monitor 2DOF tab 01 fre uenc zA ax Sj oma markers ET Sensor WAFMUP anesse 2 ge c02 dee 7 7 aooo c03 a 21 9 maoni arkers se reflex ua Monitor 2D0OF most active Monitor 2DOF tab 02 Monitor 2DOF tab 01 Data Display ax body ID name filter sensor ID x mm y mm z mm r deg ry deg rz deg battery temp C 3DOF ID x mm y mm z mm Test1 0 00 0 00 0 00 0 00 0 00 0 00 645 676 54 65263 33 33 Brille 5d active 34 35 458 30 5 94 88 37 8390 130 00 1385 951 72 166 42 105 96 Hand active 163 61 402 70 113 8 71 3799 178 60 1466 67434 6292 36 71 4 1467 39 44 406 45 41 21 Brill 0 00 0 00 0 00 0 00 0 00 0 00 1468 323 24 124 29 36 68 Upper Leg right active JWAYTMW 889 99 1067 85 302 06 17 49 0 81 5670 Ez Ex 1498 748 82 945 23 44 23 Upper Arm right active KKLUGGH 580 12 1334 50 274 48 0 54 1 84 26 59 EE Ex 3 avesar D EO inertial sensor ID inertial sensor inertial sensor battery level temperature Event Display 2013 05 13 14 14 22 DTrack2 calibration started 2013 05 13 14 14 49 DTrack2 calibration applies ed 2013 05 13 14 16 09 DT rack2 measurement started Co
217. splay Display blinking ARTTRACKS5 only Activates deacti vates blinking of 2 digit LED matrix and status LEDs for easy identification of camera Static Reflex Suppression Active Enable static suppression of reflexes SR is displayed in the camera display Start scan for all enabled cameras Initiates a scan for static reflexes En abled only if Active is ticked Edit reflex suppression areas E Enter the reflex suppression area edit mode in order to interactively suppress unwanted reflexes Table 4 18 Features of the Monitor 2DOF view Data On the left hand side the Data display shows the 6DOF measurement results of the position and orientation of the body relative to the room coordinate system The rota tion angles are rotations around the X Y and Z axis The mathematical definition can be 117 2 ab Q i CS 4 System setup found in chapter B on page A simple colour code indicates if the body is tracked or not body is being tracked tracking data is displayed body is being tracked only by the means of the intertial sensor only rotational data body is not being tracked instead of tracking data dashes are displayed white body is not calibrated columns are left blank On the right hand side the 3DOF calculation for single markers or uncalibrated targets is shown All recognized single markers that are have not been assigned to a calibrated 6DOF body are shown here Note th
218. ss you may continue using your Flystick3 As soon as the battery pack is connected to the charger the red LED Charge is switched on Once the battery pack is fully charged the charger switches off the Charge LED the green Ready LED is switched on Now the battery pack may be used again The rechargeable batteries may only be charged with the supplied charger An error during charging occured in case the green LED is switched on permanently and the red LED is flashing at the same time This indicates for example that either the battery isn t inserted correctly or it is defective Inserting the battery For inserting the battery into the Flystick3 you have to take off the back cover completely Risk of explosion if battery is replaced by an incorrect type A Dispose used batteries according to governmental regulations 130 5 2 Flystick3 Therefore loosen the four screws using the 2 5mm hexagon key and remove the back cover Wireless synchronization only for active variant The receiver for the modulated in frared signal which is used for synchronization is located in the middle of the joint between transparent target and handpiece see figure 5 7 This coded signal can be generated by all ART tracking cameras except for ARTTRACK7 and older ARTTRACK2 up to SN 320 cameras 131 5 Interaction devices Active targets need synchronization in order to make sure that the IR LEDs are flashing at the proper time
219. ssive or active markers IR LEDs 880nm approx 4 5m 120g 245m x 90mm x 75mm A 3 Fingertracking Function A 3 Fingertracking Synchronization Battery Battery charger via modulated IR flash NB 4L Li lon battery 3 7V 700 mAh Input Power supply Continuous operation 12V 500mA 230V 50Hz 12W approx 10 hours Weight incl power supply 380g Operating conditions Operating temperature 0 38 C Relative humidity 5 50 non condensing Dimensions Thimble set available in 3 different sizes small medium large Weight 60g Performance Frame rate handtarget Frame rate thimbles 3 finger version Frame rate thimbles 5 finger version Tracking range only valid for new batteries A 4 ART Controller 60Hz 20Hz 12Hz 4m depending on focal length of the cameras Dimensions Rackmount 19 Size 480mm x 345mm x 135mm Weight 9 75 kg Power Supply Voltage 110 240 V max power consumption 360 W Connectors 1 BNC Video Signal 759 TTL LVTTL Synchronization in Camera ports Data out USB 6 Operating conditions 8 Ethernet 1 GBit s PoE 1 Ethernet 1 GBit s Operating temperature 0 38 C Relative humidity 5 50 non condensing 189 lt Z O S Q a G lt A Technical specifications Hazard notes for service personnel Risk of explosion if the mainboard battery is incorrectly replaced Re place only with the same or from manufacturer rec
220. stalling DTrack2 Press Page Down to see the rest of the agreement In no event A R T GmbH shall be liable for any incidental indirect or consequential damages whatsoever induding without limitation damages for loss of a ee ee ee Please read the license terms carefully and Copyright 2012by Advanced Realtime Trading GmbH press Agree if you agree indeed A new win dow shows the installation progress If you accept the terms of the agreement dick I Agree to continue You must accept the agreement to install DTrack2 Ge Coe gt oreas a aa Installation Complete al Setup was completed successfully Completed ee The installation of the DTrack2 software is com plete now DTrack2 has been installed on your computer Click Next gt oraaa M em Completing the DTrack2 Setup Wizard A R I p DTrack2 has been installed on your computer Advanced Realtime Tracking Click Finish to dose this wizard Press Finish to complete the DTrack2 setup wiz ard Now you can use DTrack2 st ab Q i cS 4 5 1 2 Installation guide Linux The software 32 bit and 64 bit package available is packed in an archive DTrack2_v2 x x_linux32 tar gz You do not need to have administrator rights to extract all files to a user defined folder In a shell change to the user defined folder and type in the command tar xvf DTrack2_v2 x x_linux32 tar gz
221. t approximately to the opposite sur face of the ball A layer of microscopic glass spheres car ried by a reflecting material acts as a retro reflector These foils can be fabricated on a flexible carrier material thus they are widely used for equipping spherical markers with retro reflecting surfaces H ART spherical markers are covered with retro reflecting foils based on the glass spheres principle The quality of the markers decreases when they are in contact with dust dirt fat liquids glue or comparable contaminants Please make sure that the markers are not touched or damaged ap ab Q q9 te 3 2 Active markers Basics Active markers are light i e infrared light emitting elements mostly LEDs In ART tracking systems four types of LED based active markers may be used depend ing on the application 1 Single LEDs without diffusor sphere can be covered with acrylic protection film results in simple and robust markers providing visibility up to high distances up to 10m the angular range of visibility is limited to approx 60 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 CF a short distance up to 4 5m R 3 Big active spherical markers several single LEDs per marker covered with light scatter ing spheres provide visibility
222. t of Figures 2 1 Principle of optical tracking stereo vision 8 14 3 1 Angular range of visibility 2 2 0200022 eee eee 19 4 1 Camera ARTTRACKS5 0 00002 eee es 25 2 Attaching the ceiling mount to the ARTTRACK5 camera 26 4 3 Mounting a camera to a wall or a ceiling e g ARTTRACK2 camera 27 aay ete we Bee oe ee Ge ee Se es Stee 28 N 4 5 Camera ARTTRACK5 C remote head back 29 7 E EE E ee 31 5 e E a ah eS a a a E 33 S ee ee ee ee ee eee 36 2 EE E amp amp EEE E 38 Bd Rene ek eee e SO ee ce ee ee 41 lt 4 11 Camera TRACKPACK C with attached carrier 42 Ea A a Ay amp od a ee ee Wk ed 44 ee ee ee ee ee ee ee ee 45 Tere eee Se ee ee ee 46 4 15 Connecting the ARTTRACK Controller to a local network 50 4 16 Welcome screen of Dirack2 with Wake On LAN option 57 17 Wake On LAN progress bar 18 Principle of cascading using the LAN option 1 or the cascaded network port option 2 master ART Controller amp DTrack2 gt v2 11 4 19 Principle of cascading using the LAN option 1 or the internal camera net work option 3 master ARTTRACK controller discontinued 4 4 4 20 Cascaded System Settings onoo 0022s 62 4 21 Inertial Sensor Settings oaoa 00002 eee eee 64 4 22 Add SENSO eeu ook 42 26a cee ewe SG Aw owe oe ee eG 65 4 23 Hybrid B
223. tablished Press the Wake On LAN button and DTrack2 is trying to wake up the controller this may take up to two minutes as the controller has to boot up see figure 4 17 r gt OTrack2 wake on LAN atc 502 waking up can take 1 2 minutes Figure 4 17 Wake On LAN progress bar If Wake On LAN was successful DTrack2 will automatically establish the connection with this controller and start the frontend software Option 2 WOL via separate tool You will need the hostname of the controller as well as its MAC address To get this information please press Settings Controller and re member the hostname and its MAC address ethernet MAC LAN 57 st pa ab pa Q q9 k 4 System setup If you are a Windows user you need a separate WOL program to use this feature Please refer to the manual of the WOL program you are using to find out how to configure the WOL function When using Linux you only need to switch to the console and type in the following com mand and your controller restarts for Linux openSUSE wol lt MAC address of your ATC gt e g wol 00 1D 92 3A 58 5F for Ubuntu wakeonlan lt MAC address of your ATC gt e g wakeonlan 00 1D 92 3A 58 5F 4 2 8 Remote command strings The following commands may be used in combination with the DTrack2 SDK to control the tracking system remotely e g with your media control and without the DTrac
224. tation is there fore set to a certain value by the system Thus the 5DOF central axis is only important if you intend to use the rotation around the body axis The most important properties are e f the 5DOF body is positioned parallel to the 5DOF central axis the rotation around the body axis remains undetermined e The rotation around the body axis is reduced to a minimum We recommend that you choose the 5DOF central axis as the direction which is the least often parallel to the tracked body axis e g floor to celling for glasses targets H The best choice for the 5DOF central axis may be found when using the tracking data in your appplication Details of the definition In addition to the 5DOF central axis the system selects an axis for each body in the body coordinate system i e pulled axis The rotation around the body axis is set to the value minimizing the angle between the pulled axis and the 5DOF central axis The pulled axis is always perpendicular to the body axis In addition the following criteria are used e f the 5DOF central axis is not the body axis the pulled axis is the axis minimizing the angle to the 5DOF central axis 102 4 5 DTrack2 frontend software e f the 5DOF central axis is the body axis the pulled axis has a random direction in the plain The automatic restart of measurement after loss of sync signal option is set to active by default and therefore it is not shown anymore f
225. ted Inappropriate cabling may pose a serious hazard to health and safety A Cable ducts or fixings should be used and a strain relief should be installed Please refer to chapter on page 52 for more information 4 2 The Controllers of ART With the introduction of DTrack2 a new principle of controlling the tracking system is im plemented The tracking system itself consists of cameras interaction devices optional targets and the AAT Controller the ARTTRACK Controller discontinued or TRACK PACK Controller discontinued respectively The software DTrack2 consists of frontend and backend software The frontend software is installed on a remote PC which is connected to the controller via Ethernet A GUI for easy handling enables the user to control the tracking system completely from the remote PC The benefit is that the system becomes more flexible i e different users can con trol the tracking system at any one time but not simultaneously from different working places Furthermore DTrack2 provides the possibility to control its functions via Ethernet i e without the DTrack2 frontend software This is done by establishing a TCP IP connec tion with the controller and exchanging short command strings refer to chapter 4 2 8 on page 58 Please contact ART if you are interested in using this feature The backend software runs on the controller all necessary calculations 3DOF 6DOF data are done by the controlle
226. ted has to be in the field of view of the IR cameras The number of bodies to be tracked has to be configured in Settings Body Administration After pressing Calibrate the body calibration is started within five seconds delay The body can be moved during body calibration always considering that the cameras should see each marker of the body at the best If the body is not moved during the body calibration it should be considered that each marker of the target has to be seen by at least two cameras and should be seen by as many cameras as possible If two markers seen from one camera s point of view are merging to one reflex body calibration may be affected These merging marker 83 2 ab Q i CS 4 System setup situations should be avoided during body calibration i e the target should be oriented in a way that reduces merging markers to a minimum The target orientation can be checked before starting the body calibration using DTrack2 s Monitor 2DOF display which is opened automatically in the background after selecting Calibration Body The following figure 4 37 shows a rigid body with five markers that are all correctly seen by the IR camera c02 i gt 5 0 MEMM Figure 4 37 Recognized target in DTrack2 Monitor 2DOF display Furthermore the absence of any additional markers in the measurement volume has to be ensured for body calibration If additional markers that are not part of the t
227. th an ID number When a 3DOF marker vanishes or is recognized as part of a 6DOF body its ID number will not be used any more as long as the tracking is active B 1 5 Flystick devices DTrack2 is supporting the following input devices e Flystick1 e Flystick2 and e Flystick3 Each of the afore mentioned devices is equipped with buttons 4 8 and a small joystick Input transactions are transmitted wirelessly to the controller and added to the 6DOF tracking result of the Flystick body There are two types of output formats available called 6df and 6df2 details see chapter B 2 5 on page 205 and chapter B 2 6 on page 206 they differ in the number of carried input controls Only the newer 6df2 format is capable of processing analogue values or controllers as produced by a joystick Both formats use the same order of buttons details see below Output Format Number of Buttons Order of Buttons Number of Controllers 6df 8 fix right to left 6df2 device dependent right to left device dependent 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 The following table shows how each input action appears in the output data 198 B 1 Definition of Coordinates and Rotations Switch 6df Output 6df 2 Output front switch
228. the Z axis is defined to form a normal on the finger nail pointing upwards e the Z axis is defined with these specifications resulting in a right handed coordinate sys tem Given the length of each phalanx and the angles between them it s possible to reconstruct the entire finger Note that the joint between innermost phalanxes and back of the hand can move This corresponds to a bending of the hand s back B 2 Output of Measurement Data via Ethernet DTrack2 uses ethernet UDP IP datagrams to send measurement data to other applications The IP address and the port of the application and the computer it runs on can be configured in Settings Output Each datagram carries all the results of a single measurement coded in ASCII format One data gram is sent after each measurement of the cameras i e following the synchronization frequency The send data divisor in Settings Output offers the possibility to decrease the data output frequency foutput fsync ddivisor i All data are given in units millimeter mm or angular degree deg ART provides free sample source code DTrack2SDk in C to receive and parse the output data Please contact ART to get it A UDP datagram in ASCII format contains several lines separated by CR LF hex oD 0A Each line carries data of a specific type and starts with an identifier In Settings Output you may configure which lines or data types should be included
229. the DTrack2 GUI and you will receive an information with a click on the left mouse button 121 0b z 5 Interaction devices 5 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 ART infrared optical tracking systems Figure 5 1 Flystick2 The Flystick2 has a trigger four buttons and an analogue joystick with an additional button functionality All interactions are transmitted wirelessly via a 2 4 GHz ISM radio connec tion The software DTrack2 takes up the Flystick2 button amp joystick events and correlates them with the 6DOF output data Tracking and interaction data are then transmitted to the application via Ethernet The Flystick2 has no power switch It is activated automatically within a few seconds after any button event and is deactivated after several H minutes without usage The Flystick2 is tracked via passive markers which are covered by an acrylic housing This means that 6DOF tracking is still valid when the Flystick2 electronics is off 122 5 1 Flystick2 Top view status LEDs green pulse gt button pressed or joystick position suc cessfully transmitted yellow pulse button pressed or joystick position could not be transmitted yellow flash low battery recharge soon ing trigger button press the trigger or
230. the IP address of my controller You may use a standard USB stick and plug it in to the controller at any time If not running yet please switch on the controller Its settings IP address etc will be saved to a setup file on the USB stick This file may be opened and modified in any editor Please refer to chapter on page 54 for more information How can assign a specific IP address to my controller There are two options to do this 1 Modify the setup file i e enter the IP address save it to a USB stick and plug it in the controller Please refer to chapter 4 2 4 on page 54 for more information 2 Within DTrack2 go to Settings Controller On the General tab untick the check box DHCP client and enter the desired P address and subnet mask Please refer to chapter 4 5 6 3 on page for more information 6 4 Synchronization gt Synchronization failed in ARTTRACK5 systems If you have connected ARTTRACK5 or ARTTRACK5 C cameras via a PoE switch please check the model of the switch Some acquirable PoE switch models might not be suitable for usage with ART cameras Use the recommended Netgear Prosafe 146 6 4 Synchronization GSM7212P or if not possible contact ART support gt Synchronization failed in ARTTRACK5 amp 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 additio
231. tings Synccard and double check the settings internal or external synchronization for the synccard e In case of external synchronization please make sure that the synchronization signal is being sent by the external source How do I guide the synchronization cables correctly in TRACKPACK systems discontinued TRACKPACK systems do not have hardware based syncgroups Up to three syncgroups may be defined within the DTrack2 software Settings Cameras gt syncgroup e The cables should be guided according to the following sketch Extin Cameras i Sync amp Powe E e Active stereo when using external synchronization video the correct cabling would look as follows Cameras E Sync amp Power gt e Active stereo when using external synchronization TTL the correct cabling would look as follows 152 6 5 DTrack2 and shutter glasses 6 5 Dirack2 and shutter glasses gt What types of shutter glasses can be used with the AAT tracking system e RealD CrystalEyes 1 2 3 and 5 e NuVision APG6000 and APG6100 e XPand X101 X103 with NuVision Long Range Emitter X104LX e NVidia 3D Vision Pro RF sync ed e Volfoni EDGE with Volfoni or NuVision LR Emitter e Virtalis ActiveWorks 500 gt When start tracking the shutter glasses don t work correctly Most shutter glasses use infrared signals to synchronize the glasses with the image The tracking cameras produce a strong infrared
232. tionality is especially important for customers where it is not allowed to connect the controller to their local network due to security reasons UDP whole Host PC DTrack2 Controller UDP receiver 1 receiver 1 receiver 2 a act as router enabled b act as router disabled The mandatory requirement to use this function is that the PC where DTrack2is installed needs to have two separate Ethernet plugs one for connecting to the controller and one for the respective local network The DTrack2 frontend reads the data from the controller and routes it to the local network where the application PC is connected to H Using this function will cause a short delay during forwarding of the data lt Do not use this function if the application PC and the controller are in the same network Please refer to chapter B on page for the format of the data output Fingertracking Here you can define the number of hands to be used values O 4 Based upon this value the correct number of selected hands is shown By default the hand geometry is none and the field Simulate 5 Fingers is empty until you carried out a calibration of the fingers hand geometry Then the hand geometry will change into the name you defined during calibration of the fingers If you are using a three finger thimble set but want to get output data for five fingers you m
233. tive to camera movements Therefore the cameras have to be mounted in a way that reduces camera movements especially vibra tions as much as possible H Mounting on tripods may be sufficient for presentations and prelimi nary installations but is not recommended as a final solution If you want to mount the camera on a tripod just mount the carrier on the bottom of the camera Otherwise the carrier for the TRACKPACK can be attached on both bottom and top side of the camera Attach the carrier with the T piece pointing to the back of the camera ina similar way to figure on page 26 Note the ceiling suspension is already connected to the carrier in figure Only use screws supplied with the ceiling mount for mounting it The screws used for sealing the housings are not sufficiently long for fixing A the carrier Also use all the parts supplied with the ceiling mount especially the toothed washer is quite important You shall never open other screws on the cameras see chapter 1 2 on page 71 Otherwise the camera may be damaged and liability and warranty is void Please keep the distance between the cameras in a range of 1 to 2 metres Depending on the lens and the focal length it may be possible to achieve other range values Please contact AAT for more information Make sure to install the system in a way that you can easily access the cameras and its cables Be especially careful to mount the cameras firmly so they cann
234. to the line by T junctions It is neither al lowed to extend the connection between the T piece and the camera nor to branch the signal line Usually all cameras are connected with the sync output no 1 OUT1 of the synccard like a chain that is finished by a 759 terminating resistor If the cameras have to be grouped into different syncgroups in order to avoid blinding two or three BNC chains are used at the sync outputs no 1 and 2 or 1 2 and 3 respectively of the synccard3 The settings are defined by software DTrack2 All sync signals are transferred via BNC connections ARTTRACK2 and ARTTRACKS3 cameras have to be connected via any lt external Ethernet switch or the ART PoE switch and may not be con nected directly to the PoE ports of the ART Synccard3 Please refer to chapter 4 2 2 on page 48 for more detailed information Furthermore the controller uses the LAN ethernet plug 1000 Base TX for data output to the remote PC or to any PC within the local network Figure 4 15 on page 50 shows two possibilities of connecting the controller to a local network You may either use the controller as a DHCP client within your network figure 4 15 a i e the tracking data is transmitted directly via your local network Or if due to your company security guidelines it is not allowed to connect the controller directly to your network you may install two network cards in your remote PC one is connected to the controller and
235. tory reset for the Flystick3 you will find the reset button just on top of the charging jack You may use a paper clip to press the reset button 129 5 Interaction devices Radio Transceiver The USB Radio Transceiver has to be plugged in to any free USB port of the controller In case this is done after the controller is switched on it is necessary to press F2 in order to search for new hardware The Radio Transceiver should then be recognized by the system Please make sure that either the old radio transceiver connected via the camera network or the new USB radio transceiver is connected to the controller Connecting both radio transceivers to one con troller would lead to malfunction of the Flystick2 or Flystick3 Switch on the controller LED 2 which is framed by a circle see figure 5 3 lights contin uously while the controller is booting When DTrack2 is started LED 1 which is framed by a square see figure 5 3 is switched on and indicates that the radio transceiver was correctly initialized LED 2 extinguishes During measurement LED 1 is flashing whenever data is received from or transmitted to the Flystick In case of unsuccessful data transmission to the Flystick LED 2 starts flashing Battery charger A battery charger is supplied with the delivered Flystick3 and must be used for charging the batteries For your convenience the battery pack may remain in side the Flystick3 for charging During the charging proce
236. tripods may be sufficient for presentations and prelimi nary installations but is not recommended as a final solution If you want to mount the camera on a tripod there s no carrier needed Otherwise the carrier for the TRACKPACK E can be attached on both bottom and top side of the camera Attach the carrier with the T piece pointing to the back of the camera in a similar way to figure on page 26 Note the ceiling suspension is already con nected to the carrier in figure Only use screws supplied with the ceiling mount for mounting it A Also use all the parts supplied with the ceiling mount especially the toothed washer is quite important You shall never open other screws on the cameras see chapter 1 2 A on page 11 Otherwise the camera may be damaged and liability and warranty is void Feel free to contact ART in case you want to realise a more complex installation We will assist you in your planning Make sure to install the system in a way that you can easily access the cameras and its cables Be especially careful to mount the cameras firmly so they cannot fall down Unsecured cameras may pose a serious hazard to health and safety Avoid hard shocks at all times A new camera calibration at the ART fa cilities might become necessary in that case Figure 4 3 on page 27 shows the correct mounting for a camera to a wall with a carrier using the example of an ARTTRACK2 camera Make sure to not fall below minimal d
237. ts gt Operation near plasma screen A plasma screen is a very strong IR source which overdrives the IR receiver in the active target e g Flystick3 Fingertracking Thus active targets may not work properly near plasma screens If possible use passive targets as alternative 6 14 ART tracking and 3D TVs gt 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 Typically there s no defined synchronization output which could be used easily In some rare cases ART might be able to assist gt Shutter glasses IR synchronized shutter glasses might not work with ART tracking systems Due to the increasing variety ART only validated a few of these shutter glasses However we may support customers who are performing tests with not validated shutter glasses Please contact us to receive information on this issue 6 15 Radio transceivers used in AAT products Can ART radio transceivers pose any security issue Radio transceivers for Flysticks Measurement Tool or Tactile Feedback use a protocol based on IEEE 802 15 4 which was developed in house at ART specifically for these devices There are no other devices which can understand this protocol The design of the ATC ensures that use of this protocol is limited to transfering measurement data lik
238. type as well as the calibration duration To choose the marker distances of the calibration angle three predefined settings are pos sible representing the common ART Room Calibration Sets Marker distances of the calibration angle can also be set manually using the setting ex pert The numbering of the markers is as seen in figure 4 32 78 4 5 DTrack2 frontend software WP Room Calibration wand length mm marker distances Room Calibration Set 410 N A 1 2 mm 384 0 B 1 4 mm C 1 3 mm Normal C re calibration If duration 30 0 Setto default Date and time of the last room calibration 2012 12 07 12 01 04 Hide details Exit Figure 4 31 Room calibration settings e g RCS 410 wand length marker height H TRACKPACK ARTTRACK2 ARTTRACK3 ARTTRACK5 diameter see Fig RCS TP 410 0mm 20mm 58mm x RCS 410 410 0mm 20mm 43mm x x x RCS 710 710 0mm 20mm 43mm x x x RCS 710 720 0mm 30mm 48mm x x x Table 4 4 Overview of the ART Room Calibration Sets RCS detailed view st 2 ab Q i CS k Figure 4 32 Marker distances including numbering on the angle and definition of room coordinate system The wand length has to be set manually in this dialogue it is written on the label of the wand tion to wrong system scaling or to an abortion of the whole room A Incorrect input data for this dialogue will lead to a poor room calibra calibration process Wit
239. u your desired controller and press Connect tomatically searches for it The welcome screen shows the name of your controller If this is the one you want to connect to just press Connect The graphical user interface The graphical user interface of DTrack2 offers different views which can be switched on and off by the user 1 Monitor 2DOF 2 Event Display 3 Data Display 4 Fingertracking 5 Flystick 6 Measurement Tool Graphical display of markers seen tracked by the cameras Colour code signifies the circularity or the size of the mark ers respectively Displays DTrack2 events e g no valid room calibration Displays measurement results 6DOF and or 3DOF Shows the measurement results of the hands Shows the measurement results 6DOF and the operation of the buttons and the joystick Shows the measurement results of the Measurement Tool and if assigned the reference body By default the first three are shown see figure 4 28 In the status bar a button for starting and stopping of the measurement is integrated Additionally you may retrieve information regarding the cameras connected the synchro nization frequency the number of bodies tracked and the number of single markers seen The synchronization frequency field is changing its colour to yellow orange and red in case the effective frequency is decreasing see figure 4 29 e grey max 5 frames per minute lost i e 3600 frames per minute are tran
240. u get the information by which means the target has been calibrated e Custom means that the standard body calibration has been used e Target Library means that the predefined calibration file from the system has been used For a detailed description of the single actions please refer to table 103 2 ab Q i CS 4 System setup Action Description Active Activate or deactivate a target Data of deactivated targets will not be transmitted in the data stream The target order will not be affected Delete Deletes the calibration of a target effective immediately after confirm ing the security query The target order will not be affected Reset In case the target has been calibrated initially with the 7arget Library and re calibrated later by the user it is possible to reset the calibration to Target Library Change order With the arrows on the right hand side of the window you may change the order of the targets The data output will change accordingly Table 4 12 Body Administration Detailed description of the actions 104 4 5 DTrack2 frontend software As mentioned before you can administer interaction devices as well Therefore you may use the tabs Flystick Measurement Tool and Fingertracking In the bottom right of the dialogue you will find four buttons Button Description Filter Activate or deactivate the filter for each target You can either use d
241. ubnet mask 255 255 0 0 In larger systems gt 8 ARTTRACK5 and ARTTRACK5 C cameras only please use the Netgear Prosafe GSM7212P PoE switch authorized by ART It features 12 PoE Ports for connection to ARTTRACKS5 and ARTTRACK5 C cameras Please use the accessible ports without protective caps only see fig 4 14 on page 46 To turn on the PoE switch please connect it to mains IS Please allow min 3 minutes for booting prior to starting the ART Con troller Figure 4 14 ART PoE switch front view Mount the cameras at the desired position before connecting the cables The ARTTRACKS5 ARTTRACK5 C and TRACKPACK E cameras have to be connected via twisted pair cables min Cat 5 max length 100 m to the internal ART Synccard3 of the ART Controller or to an external PoE switch for systems gt 8 cameras only ART TRACK5 and ARTTRACKS C The external PoE switch itself has to be connected to the Synccard3 The ART Synccard3 is designed as a single cable solution and is therefore used both for power and synchronization of the IR cameras Connection of ARTTRACK1 ARTTRACK2 or ARTTRACK3 cameras backwards compatible systems When connecting the synchronization cables it is important to 46 4 2 The Controllers of ART correctly chain the cameras on the sync cable see chapter on page 146 There must be one continuous signal line from the BNC connector of the synccard to the 759 terminating resistor with the cameras inserted
242. uch the housings of the cameras The ventilation holes of the ARTTRACK2 camera must not be covered Air circu lation is necessary to prevent the cameras from overheating If the air circulation is restricted overheating will damage the cameras The minimum distance between equipment and environmental objects has to be greater than 3 cm The equipment has to be attached to a power socket with grounding If the ground ing wire is defective the requirement of the safety and the electromagnetic compat ibility EMC are not guaranteed To check the function of the grounding wire ask your regional located electrician Before switching on any device verify that voltage and frequency of your electric installation are within the allowed ranges of the equipment The characteristics of the equipment can be found on the appliance rating plate or in chapter A on page The appliance rating plates are on the equipment s housing ARTTRACK1 on the lower side of the housing ARTTRACK2 ARTTRACK3 on external power sup ply ARTTRACKS amp ARTTRACKS5 C TRACKPACK E on camera housing all con trollers on the backside of the housing The power switch on the backside does not completely separate the devices from the electricity network To completely separate the equipment from the electricity network the power plug must be disconnected from the power socket The power plug has to be accessible freely The power socket must be close to the equipment 1 2 Saf
243. ufficient for presentations and prelimi nary installations but is not recommended as a final solution If you want to mount the camera on a tripod just mount the carrier on the bottom of the camera Otherwise the carrier for the ARTTRACK2 can be attached on both bottom and top side of the camera To attach the carrier remove the screws from the holes 1 and 2 and attach the carrier with the T piece pointing to the back of the camera in a similar way to figure on page 26 Note the ceiling suspension is already connected to the carrier in ono Only use screws supplied with the ceiling mount for mounting it The screws used for sealing the housings are not sufficiently long for fixing the carrier Also use all the parts supplied with the ceiling mount especially the toothed washer is quite important You shall never open other screws on the cameras see chapter 1 2 A on page 11 Otherwise the camera may be damaged and liability and warranty is void Feel free to contact ART in case you want to realise a more complex installation We will assist you in your planning It is recommended to install the power supply for the cameras in a way that enables the switching of all cameras by one main switch If this is done the system can be easily turned off and on without changing camera positions Make sure to install the system in a way that you can easily access the cameras and its cables Be especially careful to mount the cameras firmly
244. ume connects each camera to the others No other marker except for the ones belonging to the calibration angle should be visible e Please make sure that the correct calibration set Room Calibration Set TP Room 157 6 Frequently asked questions FAQ Calibration Set 410 or Room Calibration Set 710 is selected in the settings for room calibration e Please make sure that no reflections are seen by the cameras If it is not possible to eliminate the reflections you may use static suppression of reflections to remove them e Please make sure that the markers positioned on the calibration angle are not dam aged or misarranged e Increase the flash intensities of the cameras until all markers are of good quality i e at least yellow Restart the room calibration Use the wand to create the virtual point cloud within the measurement volume Avoid rapid and hectic movement gt cannot cover two thirds of the measurement volume within the set time for the room calibration How do extend the time for the calibration process Please open the dialogue room calibration from the Calibration menu and press the button Show Details There you can extend the time for the calibration process gt How shall evaluate the room calibration results The value Used Frames represents the percentage of valid i e used for room calibra tion data for each camera It should be as high as possible for all cameras Values und
245. ure that the synchronization signal is being sent by the external source How do I guide the synchronization cables correctly in ARTTRACK 2 amp 3 systems discontinued e When using only one syncgroup the correct cabling would look as follows Ext In OUT 1 OUT2 C OUT3 O e When using two syncgroups the correct cabling would look as follows 150 6 4 Synchronization Ext In OUT 1 O ouT2 C3 OUT3 C Ext In OUT1 5 ouT2 CY OUT3 C e Active stereo when using external synchronization video the correct cabling would look as follows e Active stereo when using external synchronization TTL the correct cabling would look as follows Ext In CX ouT 1 G ouT2 C OUT3 O Synchronization failed in TRACKPACK systems discontinued Here we have to distinguish between hardware and software issues 1 Check the cabling hardware issue e Please double check whether the cables are connected correctly and that they are not loose Co pa ab jm Oo i O e Please make sure that the cables themselves are not damaged e Take care of using the correct ports 151 6 Frequently asked questions FAQ 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 e Go to Set
246. ve the selected point from the list Save list Export the list of points to a file e g may be im ported to a spreadsheet program Clear list Delete the entries of the list The measurement of a point is started either by pressing the button Measure point or by tilting over the Measurement Tool as defined in Settings An active measurement is indicated by a blue rectangle in the Measurement Tool display H If the Measurement Tool is not tracked a measurement cannot be per formed 4 5 6 7 Menu About About Shortcut DTrack2 Controller What s new What s this Shift F1 Table 4 20 Menu About DTrack2 Offers information about the software version and release date of the DTrack2 fron tend software By clicking on the button Show details you receive a list of every single software module with the respective software version 120 4 5 DTrack2 frontend software Controller Offers information about the software version and release date of the DTrack2 back end software Additionally name and serial number of the controller are shown What s new Provides information about the new features that have been released with the respective version By clicking on Show more you can access the history of introduced features during the last versions What s this By clicking What s this you may use our context sensitive help function within DTrack2 frontend software Just use the mouse cursor to point on any feature of
247. witched OFF 4 4 master sync slave sync source drain Table 4 2 Description of the LEDs on the back of the TRACKPACK Controller 4 2 4 Setting a static IP address without the DTrack2 Frontend available from controller software version v2 2 It is possible to configure the IP address of the controller without the DTrack2 frontend software You only need a standard USB stick FAT32 formatted on which you save a setup file format see below e Plug in the USB stick to the controller It doesn t matter if the controller is running or not e f necessary start up the controller e Wait some time approx 20 30 seconds until announced by two beeps for the controller to write the two files onto the USB stick 54 4 2 The Controllers of ART e Unplug the USB stick e Now you may view the information file or edit the setup file with any editor instruc tions given in the setup file e In case you changed the setup file please plug in the USB stick to the controller again e Wait some time approx 20 30 seconds until announced by three beeps for the controller to read the setup file e Reboot the controller for the changes to take effect Now your controller is configured according to your requirements 4 2 5 The setup file This file is used to configure the controller without using the DTrack2 frontend software regarding three parameters which are e configuring the controller to be a DHCP client e
248. with the ceiling mount for mounting it The screws used for sealing the housings are not sufficiently long for fixing the carrier Also use all the parts supplied with the ceiling mount especially the toothed washer is quite important You shall never open other screws on the cameras see chapter 1 2 A on page 71 Otherwise the camera may be damaged and liability and warranty is void Feel free to contact ART in case you want to realise a more complex installation We will assist you in your planning It is recommended to install the power supply for the cameras in a way that enables the switching of all cameras by one main switch If this is done the system can be easily turned off and on without changing camera positions Make sure to install the system in a way that you can easily access the cameras and its cables Be especially careful to mount the cameras firmly so they cannot fall down Unsecured cameras may pose a serious hazard to health and safety Avoid hard shocks at all times A new camera calibration at the ART fa cilities might become necessary in that case Figure 4 3 on page 27 shows the correct mounting for a camera to a wall with a carrier using the example of an ARTTRACK2 camera Make sure to not fall below minimal distance to the wall so enough room is left for the cables and to allow readjustment of the camera angles and maintenance Use strong dowels and screws for mounting the cameras to walls or ceilings see f
249. y Select the body you want to calibrate and tick the checkbox if you want to perform a re calibration Define the type and the coordinate system which should be used for the calibration If you want to use body calibration files for calibrating your target just click Load file s and select the appropriate calibration file s By clicking on Save file s you can save your body calibrations in separate text files Please refer to chapter on page 83 for the details on how to perform a body calibra tion Body adjustment f you want to manipulate calibration data of rigid bodies this menu offers the solution Just select the body you want to manipulate from the drop down list which appears at the top of the window Then you have the choice between a general or a special manipulation General manipulation The body coordinate system may be defined in a general manner i e aS desired by the user 113 2 ab Q i CS 4 System setup Action Description Body position mm translate the body coordinate system along its axes in steps of 1mm Body orientation deg rotate the body coordinate system around its axes Set origin activate a marker in the graphic view by left clicking with the mouse The marker is highlighted and the button Set origin is activated Pressing this button translates the origin of the body coordinate system into the center of the selected marker Set origin to COG translate the origin of the body co
250. y cameras recognizes a reflection which I can t eliminate What can do You may enable the suppression of static reflexes within DTrack2 But carefully read the notes on page 97 144 6 2 Cameras gt How many cameras may be connected to the tracking system The number of cameras depends on the used license and the tracking system itself max number of bodies cameras ARTTRACK system Extended 4 2 Full featured 50 50 TRACKPACK system Basic 4 2 Extended 4 4 4 Full featured 50 Starting with DTrack2 version v2 10 a new license model has been established You may use 2 4 8 16 or up to 50 cameras in any combination with 4 10 30 or up to 50 targets depending on the license purchased Please refer to table 4 3 on page 76 for a complete license overview gt I d like to expand my system Is it possible Tracking systems with ARTTRACK cameras are expandable up to a total number of 50 cameras from DTrack2 v2 8 1 It i e a tracking system with ARTTRACK1 ART TRACKS can be expanded by simply adding additional ARTTRACK cameras given that the license allows to do so In some cases it might be necessary to purchase a license for more cameras e g 8 or 16 and an additional PoE switch TRACKPACK E systems can be expanded up to 16 cameras through means of cascading 2 separate systems One ART Controller will function as master while the other works in slave mode The master controller needs to have a dedicated
251. y the Monitor 2DOF the Data and the Events displays are shown refer to figure 4 28 on page 74 4 5 6 6 Menu Tools Tools Shortcut Controller Update Measurement Tool Demo Table 4 19 Menu Tools 119 0b Q Ec O 4 System setup Controller Update If you update your D7rack2 frontend software it is mandatory that you also update the software of the Controller An assistant will guide you through the process of the software update In case you abort the update of the Controller software not recommended during this process you can carry it out later Just click Tools gt Controller update and follow the instructions of the assistant given during this process It is necessary to restart the Controller when the assistant is finished H Personal settings and configurations e g room and body calibration output settings etc will be preserved during update Measurement Tool Demo This demo provides a convenient way to do measurements with the Measurement Tool Points may be collected by using up to four Measurement Tools The distances between adjacent points are computed automatically You may add or delete points from the list and if wanted you may save it to a file Control Description Measure point Place the Measurement Tool at the position you want to measure and press this button Insert point Add an additional point to the list above the se lected point Delete point Remo
252. ystem setup no sufficient part of the measurement volume is seen by all IR cameras 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 coordinate system More concrete cameras that see the calibration an gle are oriented first Then every additional camera has to be connected by a sufficient volume with at least two already oriented cameras In this way the calibration is stepping forward from camera to camera e g cameras 1 and 2 are seeing the angle camera 3 overviews a certain volume together with cameras 1 and 2 camera 4 finally overviews a volume together with cameras 1 and 3 Calibrating cameras which do not observe the angle directly is called chain calibration Chain calibrated cameras propagate inaccuracies from the previously calibrated cameras It is recommended to place the calibration angle in a point where as many cameras as possible can see the angle After a successful room calibration the DTrack2 info window with the calibration results is displayed This window shows the mean residuals for the single cameras here Residual 81 ab Q i CS 4 System setup mean residual of rays during marker detection as well as the mean deviation wand residual and the maximum deviation wand range of wand length during the calibration process These values depend on the syste
253. ystick are shown A simple colour code shows the status of the Flystick 118 4 5 DTrack2 frontend software Flystick is being tracked tracking data is displayed Flystick is not being tracked instead of tracking data dashes are displayed button is being pressed white Flystick is not calibrated columns are left blank Measurement Tool The 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 if the Measurement Tool or the reference body respec tively are tracked tool is being tracked tracking data is displayed tool is not being tracked instead of tracking data dashes are dis played measurement is being performed white toolis not calibrated columns are left blank A Measurement Tool which a reference body has been assigned to can only be tracked if the reference body is tracked as well Events The Event display presents the status of the tracking system It offers feedback of the operational state concerning errors or warnings Furthermore it informs the user about successful room or body calibrations Each entry is associated with a timestamp and date Set to default If for some reason the appearance of the DTrack2 Frontend got messed up you may reset all views and the size of the window back to default values This means that onl

DTrack2 User Manual v2.11.0

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