5DT Data Glove Ultra Series User`s Manual
Contents
1. COMPUTER INTERFACE POWER SUPPLY SAMPLING RATE Black stretch lycra 12 bit A D for each sensor Minimum dynamic range is 8 bits Data Glove 14 Ultra Proprietary fiber optic based flexor technology 2 sensors per finger 1 sensor between each finger Data Glove 5 Ultra Proprietary fiber optic based flexor technology 1 sensor per finger measures average of knuckle and first joint Full speed USB or HS 232 3 wire GND TX RX 115kbps 8 data bits 1 stop bit no parity Maximum 5 V DC Center positive DC power connector The full hand all available sensors may be sampled at least 60 times per second At 5DT we constantly try to improve our products As a result these specifications are subject to change without prior notice 39 Appendix B Serial Protocol The data glove is connected to the RS 232 port of the computer The 5DT Data Glove Ultra Wireless Kit is a transmit only device as it does not respond to any commands sent to it The 5DT Data Glove Ultra has the following serial settings e 115200 bits per second e 8 data bits 1 stop bit no parity e Hardware handshaking none The glove data arrives in packets If two gloves data is present on the data stream then the packets will alternate from one glove then the other It is possible to distinguish the two by identifying the glove type from the type byte The data packet sent by the glove is structured as follows Start 17 10Lu 10LI2. JaneDoe cal Sek Fal JohnDae cal hy Recent Documents Desktop hy Documents My Computer My Network File name I aneD oe cal Places Files of type Calibration files cal d L ancel Figure 21 The File Open Dialog for Calibration Files Select a calibration file extension cal and click on the button to open the file Save Glove calibration values may be saved to file by clicking the cat button by selecting the Calibration Save Calibration Values menu option or by using the Alt S shortcut key The file save dialog box will appear 18 Save In 3 Calibrations Ej JohnDoe cal My H ecent Documents Desktop My Documents May Computer hy Network File name I ane oe cal Flaces save as type Calibration files call Cancel Figure 22 The File Save Dialog for Calibration Files Type in your file name and click the button to save the calibration values to file The file format is also compatible with the 5DT Data Glove SDK 4 7 Recording Record The incoming glove data may be recorded by clicking the button by selecting the Recording Record menu option or by using the Ctrl R shortcut key This will cause GloveManager to record the latest raw and scaled values at a fixed rate of 60 Hz Only the sensors selected for recording in the sensor setup view see section 4 5 will be recorded These values are recorded in memory and will be lost unless
3. EE oo NEM E 3 Version 9 11LI 12HI EE m NEM oco i Eo 3HI 3Lu 2200 1311 114HI 3LI 4HI 28 14Lu ALI EE C UU I 5HI 5Lu 25 15H 16HI 5LI 6HI 26 16Lu tell LN m oaa Checksum m m Uu m ee 7LI 8H LN m m a m 9H 9Lu La jm p Table 5 5DT Data Glove 14 Ultra Packet Description The bytes of the packet are defined as follows Header Packet start byte defined as the lt character Hex value Ox3c 40 Glove Type The glove type identifier byte The following values are defined 0x00 Data Glove14 Ultra wired right hand glove 0x01 Data Glove14 Ultra wired left hand glove 0x02 Data Glove14 Ultra wireless right hand glove Port A 0x03 Data Glove14 Ultra wireless left hand glove Port A 0x06 Data Glove14 Ultra wireless right hand glove Port B 0x07 Data Glove14 Ultra wireless left hand glove Port B 0x10 Data Glove 5 Ultra wired right hand glove 0x11 Data Glove 5 Ultra wired left hand glove 0x12 Data Glove 5 Ultra wireless right hand glove Port A 0x13 Data Glove 5 Ultra wireless left hand glove Port A 0x16 Data Glove 5 Ultra wireless right hand glove Port B 0x17 Data Glove 5 Ultra wireless left hand glove Port B Version The firmware version byte The upper nibble Vmaj represents the version major the lower nibble Vmin represents the version minor XHI The upper four bits of the
4. 2 2 Connecting the Glove Connect the glove to the PC as shown in Figure 1 5DT Data Glove14 Ultra Rj12 Connector USB A Connector PC Data Glove Series USB Cable Figure 1 Connecting the Glove to the PC You can use GloveManager to test the operation of the glove Detail on this is given in Section 4 of this manual 3 Software Installation Your package comes with a CD that contains documentation and utilities to help you get up and running with the gloves as quickly as possible Most of the supplied programs and software are intended for 32 bit Windows and require Windows 98 ME 2000 or XP The setup program should run when you insert the CD but if it doesn t run the program setup exe in the install directory and follow the on screen instructions When prompted check the 5DT Data Glove Ultra box to install the software for this product 3 1 CD Contents The CD contains the following directories Acrobat This copy of Adobe Acrobat Reader will allow you to read the documentation DirectX The CD ROM also contains the redistributable version of DirectX 9 0 You will need this if you want to run the DirectX implementations of the Glove Demos DirectX and OpenGL demos are supplied To install DirectX 9 0 open the folder and run dxsetup exe Install This contains the software installation files 3 2 Installed Software By default the setup program will install your files to t
5. fdGetNumSensors Remarks The sensor range is a value from zero to the value defined by the fdSetSensorMax and fdSetSensorMaxAl1 functions The glove driver defaults to a range of 0 1 The automatic calibration process is described in section 6 The enumerated type EfdSensors defines the finger mapping for each sensor float fdGetSensorScaled fdGlove pFG int nSensor Obtains the most recent scaled auto calibrated value for a specific sensor from the currently connected glove Return value Returns a floating point sensor value Parameters pFG Pointer to a glove device This is the value returned by aopen nsensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by aGetNumSensors minus one Remarks The sensor range is a value from zero to the value defined by the fdSetSensorMax and fdSetSensorMaxAll1 functions The glove driver defaults to a range of 0 1 The automatic calibration process is described in section 6 The enumerated type E dSensors defines the finger mapping for each sensor int fdGetNumGestures fdGlove pFG Obtains the number of available gestures that can be recognized by the glove driver 46 Return value Returns the number of available gestures Currently 16 different gestures are supported Refer to section 5 for details Parameters PEG Pointer to a gl
6. int nSensor float pUpper float pLower Obtains the current gesture recognition threshold settings of the driver for a specific sensor 51 Return value None Parameters pFG Pointer to a glove device This is the value returned by fdOpen noensor Index of the sensor that is being queried The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by aGetNumSensors minus one pUpper and pLower Pointers to floating point numbers that will contain the maximum and minimum threshold values Refer to section 6 for details Remarks None void fdSetThresholdAll fdGlove pFG float pUpper float pLower Sets the current gesture recognition threshold settings of the driver Return value None Parameters PEG Pointer to a glove device This is the value returned by aopen pUpper and pLower Arrays of floating point numbers that contains the maximum and minimum threshold values The size of each array must always match the value returned by fdGetNumSensors Refer to section 6 for details Remarks None void fdSetThreshold fdGlove pFG int nSensor float fUpper float fLower Sets the current gesture recognition threshold settings of the driver for a specific Sensor Return value None Parameters PEG Pointer to a glove device This is the value returned by aopen nsensor Index of the sensor that is being set The valu
7. 12 bit sensor value or the lower nibble of the MSB of the 12 bit sensor value xLh The middle four bits of the 12 bit sensor value or the upper nibble of the LSB of the 12 bit sensor value XLI The lower four bits of the 12 bit sensor value or the lower nibble of the LSB of the 12 bit sensor value Checksum The 8 bit checksum is computed by adding all the data bytes Footer Packet stop byte defined as the gt character Hex value 0x3e 41 Appendix C SDK Function Descriptions The following functions are available in the SDK fdGlove fdOpen char pPort Initializes the glove device on the specified port Return value Returns a pointer to the glove device fdGlove NULL is returned if an error occurred Parameter pEoOrt Pointer to a zero terminated ASCII string containing the name of the communication port Valid values on Windows range from COM1 to COM8 Unix Linux port names will differ Remarks Do not attempt to alter the contents of the returned pointer directly use the functions provided instead int fdClose fdGlove pFG Frees the glove device and communications port Return value Returns nonzero if successful zero if an error occurred Parameters DEG Pointer to a glove device This is the value returned by fdOpen Remarks It is important to call this function when you are finished using the glove int fdScanUSB unsigend short aPID int amp nNumMax Scans the USB
8. 1342 Scaed 238 n tosz Midde Ring cee Raw G44 Riange 1030 Scaled 1037 ago Ring Near Raw 956 Range 1030 scaled 3 862 CVV pz Ring Far Raw 1882 Range 2002 Scaled 2462 ca Ang Little P Raw srz Range B42 Scaled 363 2232 Lue Near Raw 1818 Ranae 1137 Scaled 2232 2468 Litle Far Raw 1870 Rangel1712 Scaled 2468 Click on graph to zoom unzoom 78 Packets Second Autocal Data Glove 14 Ultra Right Wireless 3 0 Figure 8 GloveManager after the First Glove is Successfully Opened Clicking on the a Setup tab will cause GloveManager to display the setup tab window again To open the second wireless glove select it from the COM port tree COM Parts 9 COMI Lltraw amp Right COM Ultraw B Lett y CUM COM3 ay COM4 Figure 9 Selecting the Second Glove to be Opened Click on the button again to open the second glove If GloveManager was successful in opening the second glove a new glove tab window will appear Setup V Glove1 Glove Figure 10 The Tab Bar with Two Gloves Open You may switch between open gloves by clicking on either of the Glove Tabs 4 4 The Graph View The following information fields are available in Graph View e Menu bar e Toolbar e Tab bar Allows you to tab between gloves e Sensor graph A real time graph of the glove sensor e Sensor name and values Displays the sensor name and the following real time v
9. Characters Commands Constraints Decks a Devices Elements gobo Materials Shaders SDT Glove 1 MotionStar Wacom Tablet Producer Perspective Figure 24 Clicking and Dragging the 5DT DataGlove Icon to Create a New Glove 5DT Glove 5 Mouse In the navigator pane click on the newly created glove The following window will appear ated vate ove Gon lt Audi M lve Rescan Ports ThumbNear BZ 1133 00 0 00 jeso2s o i Cameras Recording ThumbFar M 128 00 oo0 fes025 o LR Sli Model binding ThumbIndex M 130 00 0 00 jesozs o Lights IndexFar M 1138 00 oo0 jeso2s o rs cuan meande V uso oco perso Auto Calib MiddeNear W 1139 00 o 00 sso2s o Device information MiddleRing M 139 00 0 00 _ es25 o4 Finger Cl i Thumb Close Figure 25 The Glove Control Pane If you know which port the glove is connected to select it from the ports drop down list lf you are unsure as to which port your glove is connected to you may click on the Rescan Ports button The driver will then scan the USB and all COM ports for available gloves and update the Ports drop down list The progress of the scan process is shown in the status bar in the Viewer window Please note that the scan process may take a while Once the correct port has been selected click on the Online button If the red button turns green a successful connection has been made 5 3 Opening
10. Refer to section 6 for details Remarks None void fdSetCalibrationAll fdGlove pFG unsigned short pUpper unsigned short pLower Resets the current auto calibration settings of the driver to user defined values Return value None Parameters PEG Pointer to a glove device This is the value returned by fdOpen pUpper and pLower Arrays of 16 bit unsigned integers containing the maximum and minimum raw sensor values The size of each array must always match the value returned by fdGetNumSensors Refer to section 6 for details Remarks For unmapped sensors it would be sensible to set the upper and lower calibration settings above and below the raw value forced with fdSetSensorRaw and fdSetSensorRawAll void fdSetCalibration fdGlove pFG int nSensor unsigned short nUpper unsigned short nLower Resets the current auto calibration settings of the driver for a specific sensor to user defined values Return value None Parameters DEG Pointer to a glove device This is the value returned by fdOpen nsensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by dGetNumSensors minus one 48 nUpper and nLower 16 bit unsigned integers containing the maximum and minimum raw sensor values Refer to section 6 for details Remarks For unmapped sensors it would be sensible to set the upper and
11. ignored by simply regarding only the raw sensor outputs It would be up to the application developer to provide a suitable calibration process Note that calibration is mandatory especially with the high end gloves which contain no hardware calibration possibilities 32 7 Troubleshooting and Support The following information is provided to help you diagnose any problems that may be encountered with your 5DT Data Glove Ultra or 5DT Data Glove Ultra Wireless Kit Please consult this section before contacting your supplier 7 1 General Troubleshooting If the glove is not working at all please work through the physical connection problems section of the troubleshooting procedure to identify the source of the problem 7 1 1 Physical Connection Problems 1 Check that power is connected to the receiver as well as to the wireless data transmitter There should be a green light on the transmitter when power is applied 2 Check that the glove is connected to the right port Try to connect the glove to another port and try again 3 Check all the connections Section 2 2 has information on how to correctly connect the system 4 Check that the port is working Try connecting another device for example an external modem If the 5DT Data Glove is recognized by your computer but not connecting properly proceed directly to the software connection problems section 7 1 2 Software Connection Problems Run GloveManager from the start me
12. in a raw and scaled output other than the default zero Values that can be mapped will be overwritten rendering the forced value void void fdSetSensorRaw fdGlove pFG int nSensor unsigned short nRaw Forces the raw value for a specific sensor Return value None Parameters PEG Pointer to a glove device This is the value returned by aopen noensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by aGetNumSensors minus one nRaw 16 bit raw value of the sensor If the sensor is unmapped the scaling calculations will proceed as normal Remarks The enumerated type EfdSensors defines the finger mapping for each sensor This function is only useful for sensors that cannot be mapped by a specific hardware device Forcing a sensor value will result in a raw and scaled output other than the default zero Values that can be mapped will be overwritten rendering the forced value void 45 void fdGetSensorScaledAll fdGlove pFG float pData Obtains the most recent scaled auto calibrated sensor values from the currently connected glove Return value None Parameters PEG Pointer to a glove device This is the value returned by aopen pData Pointer to an array of floating point numbers that will contain the scaled sensor values The size of the array must always match the value returned by
13. lower calibration settings above and below the raw value forced with fdSetSensorRaw and fdSetSensorRawAll void fdResetCalibration fdGlove pFG Resets the internal auto calibration settings of the driver to appropriate default values for all the sensors Return value None Parameters PEG Pointer to a glove device This is the value returned by aopen Remarks This function is similar to the dSetCalibrationAl1 function with each of the upper and lower calibration array values set to 0 and 4095 respectively This function or any of the other calibration functions should be called whenever the application starts up or the glove changes users during run time For unmapped sensors the upper and lower calibration values are set to 4095 and O respectively which is the inverse of the auto calibration settings If auto calibration was turned off it is turned on again void fdResetCalibration fdGlove pFG int nSensor Resets the internal auto calibration settings of the driver to appropriate default values for a specific sensor Return value None Parameters DEG Pointer to a glove device This is the value returned by aopen nsensor Index of the sensor whose calibration values are to be reset Remarks This function is similar to the dSetCalibrationAll1 function with each of the upper and lower calibration array values set to 0 and 4095 respectively This function or any of the other calibration fu
14. selecting the correct port and clicking on the Online check box Navigator zaa Constraints VO Devices Thumb Close Vaio Figure 29 Glove B has been Opened 5 4 Calibration You may use auto calibration to calibrate the glove but it is recommended that you use the pre defined calibration steps To use auto calibration click on the Auto Calib button The button text will change to Click to Stop Once you are satisfied with the calibration values click the button again to stop calibrating The following calibration process is recommended 1 Hold your hand in a relaxed open position and click on the Relax Open button 2 Open all of your fingers as wide as possible and click on the Wide Open button 3 Close all of your fingers except your thumb and click on the Finger Close button Close your thumb and click on the Thumb Close button 5 Calibration is now complete 23 5 5 Model Binding To create a model binding select Create from the Model binding drop drown menu as in Figure 30 Model binding Mone Y i Create cor Figure 30 The Model Binding Drop down List After the Create command has been issued the wire frame hand model is created in the viewer and the model s name is added to the Model binding drop down list Model binding Device SDT DataGlove had Device SOT DataGlove hand Figure 31 The Model Binding Drop down List with Hand story Action W D
15. 5DT Data Glove Ultra Series User s Manual 9DI Fifth Dimension Technologies Www 5DT com 5DT Data Glove Ultra User s Manual Copyright 2004 5DT Fifth Dimension Technologies All rights reserved No part of this manual software or hardware may be copied reproduced translated or reduced to any electronic medium or machine readable format without the written consent of SDT Fifth Dimension Technologies All trademarks and trade names are the respective property of their owners Version 1 1 October 2004 Table of Contents Te ITFOGUCTION NER UU Te 1 2 oOBSIUD aridnstalldtllolissti ucc tei o entusiasta vt adt ifutue tdt uec ae ean 2 2 1 PACKAGE COMENS usesersetcttadost E E 2 2922 Connecting TCO RR RE T TETTE 2 9 obDIware InsStallallOls sese evabaseus ovt ar eemidra pu a dese pDd daed tds 3 CN MEME PETI NE UU TL 3 Qus wnstaledaolbWate enis bien MANN OO ME CM D ME EM 4 A sig GIOVellaiatjef ssec nebat thats nets en aea Rena aoo metu eeu edat i oc vene vote eta dias 5 aA Staning GlovelVIdbidgel suse o ipei Doo Reiten Ue aset MET 5 4 2 Opening USB GIOVES cccccccssssseeeceecceesseeceecceeessseeeecesseaeseeeeessssassseeeeess 5 4 2 1 Scanning Tor GIOVES 52 oerte e deitate bae Dose popnde state ite Du bua Ducei debebat Desudds 5 Age Opening GIOVES caido p attach cetera at Peor bad gets 6 4 3 Opening Serial and Wireless GIOVES cccccccccceecseeeeeeeeeeeeesaeeeeeeeeeseasaaasees 8 4 3 1 Sca
16. 662 Scatea 1461 488 Thumb Index Raw 483 Range 804 Scaled 488 oT 737 Index Near Raw 483 Range 866 Scaled 737 1984 Index Far j Raw 1768 Range 1333 Scaled 1984 EA Indes Middle Raw 1175 Range 560 Scated 1573 Eus Middle Near Raw 1361 Range 1121 Scaled 2188 884 Middle Far Raw 546 Range 1176 Scaled 884 552 Middle Ring Raw 531 Range 1238 Scaled 552 1081 Ring Near Raw ssi Range 977 Scaled 1081 2553 Ring Far Raw 1636 Range 1451 Scaled 2663 611 Ring Little i Rawfa3s Range 134 Scaled B11 Raw 1731 Range 1002 Scaled 2219 zs Little Far j Raw 1670 Range 1250 Scaled 2355 Click on graph to zoom unzoom 80 Packets Second AutoCal Data Glove 14 Ultra Right Wired v3 1 DGi4URO0000 4 Figure 5 GloveManager after the USB Glove is Successfully Opened Clicking on the a Setup tab will cause GloveManager to display the setup tab window again To open the second wireless glove select it from the COM port tree 4 3 Opening Serial and Wireless Gloves 4 3 1 Scanning for Gloves Clicking the _ Scan Serial button in the setup tab window causes GloveManager to scan the COM ports for available gloves This is useful if you do not know on which COM port your glove is connected to or you simply want to scan for available gloves Once the COM port scan is complete the COM port tree will be updated to show available gloves
17. COM Ports 4S COM Ultra Right a COMI Llltraw B Lett wy COM2 wy COM3 ay COM4 Figure 6 Result of the Port Scan As can be seen in Figure 6 the Port Scan has found two wireless gloves on COM1 The right hand glove is plugged into Port A of the wireless transmitter unit The left hand glove is plugged into Port B 4 3 2 Opening Gloves A glove may by opened by clicking the button after a COM port has been selected in the COM port tree COM Ports a COMI Ultraw B Lett ay COM2 a COM3 wy COM4 Figure 7 Selecting the First Glove to be Opened If the glove has been successfully opened the tab window will automatically switch to the newly opened glove as shown in Figure 8 Double clicking on a COM port will also cause GloveManager to attempt to open a glove on that COM port W GloveManager File view Recording Calibration About Tp Record Show Sh Load Save Reset Auto Manual agy Close 22 Raw Scaled Cal Cal Cal Cal Cal V Glove cm Glovel 343 Thumb Near fi Raw 347 Range 405 Scaled 343 4 1193 Thumb Far Raw 1056 Rangel2154 Scaled 1193 652 Thumb indes REN Raw san Ranae 322 Scaled a52 y 181 index N ndex Near Raw 52i Rangel 338 Scaled 1181 al fan Index Far Raw 1528 Range 1757 Scaled zu LARA AR ARAL 834 Index Middle Raw 1281 Range 576 Scaled 1834 Ea Middle Near Pawfi40s Range 1253 Scaled 1973 NS i Raw 367 Ranse
18. Glove Reference to a Marker Set 26 6 Using the SDK 6 1 Introduction The 5DT Data Glove SDK provides access to the 5DT range of data gloves at an intermediate level The Windows 98 NT Me XP version is provided in the form of a C C header h file a Microsoft Visual C library lib file and a dynamic link library dll file The SDK functionality includes e Multiple instances e Easy initialization and shutdown e Basic raw sensor values e Scaled auto calibrated sensor values e Calibration functions e Basic gesture recognition e Cross Platform Application Programming Interface The SDK functions are described in detail in Appendix C 6 2 Using the SDK The 5DT Data Glove Driver is easy to implement using the following guidelines 1 Make sure that the header file g1ove h the library file Eglove lib and the dynamic link library file glove dll reside in the current application directory or somewhere that they can be found The file fglove dll may be copied into your Windows system directory 2 Include the header file g1ove h in the application where necessary 3 Add the library file glove 1ib to the link process There is also a debug version of the driver gloved lib fgloved dll which outputs debug messages to the debugger 6 3 Sample Source Code In the samples directory there is sample source code that makes use of the glove SDK Both a console application as well as a Microsoft Visual Stu
19. Sensor Description Index Thumb flexure lower joint Thumb flexure second joint Thumb index finger abduction Index finger flexure at knuckle Index finger flexure second joint Index middle finger abduction Middle finger flexure at knuckle Middle finger flexure second joint Middle ring finger abduction Ring finger flexure at knuckle Ring finger flexure second joint Ring little finger abduction Little finger flexure at knuckle Little finger flexure second joint Table 4 Sensor Mappings for the 5DT Data Glove 16 and 5DT Data Glove 14 Ultra OCONOOARWN CO OCONOORWN O 29 6 7 Gesture Definitions The currently defined set of gestures is comprised of binary open close configurations of the fingers excluding the thumb There are 2 16 such possible combinations Gesture number 0 is defined as all the fingers excluding the thumb being closed and gesture number 15 as all the fingers open The index finger indicates the least significant bit For example the index finger point gesture will therefore be number 1 and the little finger point gesture number will be 8 An invalid unrecognizable gesture is defined as the value 1 A scaled sensor value of higher than the upper threshold setting will indicate a closed finger while a scaled sensor value of lower than the lower threshold setting will indicate an open finger A value in between is invalid and will result in an invalid gesture I
20. Wireless Gloves The new 5DT Data Glove Ultra Wireless Kit uses one COM port for receiving data from both gloves connected to the transmitter unit The driver handles this transparently by allowing you to open two gloves on the same port Only once 21 the first glove is opened will the second one be opened by the driver You may open and close either of these gloves any time you wish The process of opening two wireless gloves is illustrated next 1 The first glove is created by dragging the 5DT DataGlove icon from the device pane into the viewer window and a port scan is performed We can see that there is a glove present on COM1 A Navigator see z x el EET oy ER Cameras A vo DS cVvILcS SDT DataGlove V oo M o oo M oo 0 00 jesozs of 5025 01 DD a DS Figure 26 Result of the First Port Scan 2 The first glove is opened by selecting the correct port and clicking on the Online check box Navigator ThumbNear ThumbIndex IndexNear IndexFar Figure 27 Glove A has been opened 3 The second glove is created by dragging the 5DT DataGlove icon from the device pane into the viewer window The driver automatically picks up that another wireless glove may be opened on COM1 B and adds this to the ports list 22 ThumbNear ThumbFar ThumbIndex IndexNear IndexFar IndexMiddle Figure 28 Result of the Second Port Scan 4 The second glove is opened by
21. alues the amount of information displayed is dependent on the resolution available o Raw sensor value Value between 0 and 4095 o Sensor dynamic range Value between 0 and 4095 o Scaled sensor value Scaled value from 0 to 4095 o Lower calibrated value Value between 0 and 4095 o Upper calibrated value Value between 0 and 4095 o Graph top value Value between 0 and 4095 o Current graph value Value between 0 and 4095 o Graph bottom value Value between 0 and 4095 e Status bar Displays status information such as o Program status and information messages o The packet rate o An indication if recording is currently on o Anindication if auto calibration is currently on o The model of the current glove o The handedness of the current glove o An indication if the current glove is wired or wireless o The firmware version of the current glove 10 c GloveManager DME Record Show Show Load Save Reset o Manual iy Close ae i ed E E dca ea JA 343 Thumb Near ME OO E 2 Os gam WU VN graph 1056 1193 852 Thumb index q T 7 T 1 3 Tf d Raw 590 Range 922 Scalea 852 1181 Index Near LAA f M nd lee fain Index Far Raw 1528 Range 1757 Scaled 2111 1834 Index Middle Raw 1281 Range 576 Scaled 1834 1973 Middle Near Raw 347 Range 405 Scaled 343 1193 Thumb Far Sensor name and values Raw 1405 Range 1253 Scaled 1973 238 Middle Far Raw 367 R
22. ange 1342 Scaled 238 1097 Middle Ring Raw 644 Range 1090 Scaled 1097 862 Ring Near Raw s56 Range 1030 Scaled 862 2462 Ring Far PD YNN Y Raw 1882 Range 2002 Scaled 2462 363 Ring Little Raw 377 Range E42 Scaled 353 2232 Little Near Raw 1818 Range 1137 Scaled 2232 2468 Little Far Raw 1970 Range 1712 Scaled 2468 graph to zoom unzoom 78 Packets Second AutoCal Data Glove 14 Ultra Right Wireless v3 0 Status bar Figure 11 Available Fields in Graph View 4 4 1 The Menu Bar The following commands are available from the menu Description File New Recording Ctri N Creates a new recording file File Save Recording s Saves the current recording Saves the current recording as a new file name File Close Current Glove Alt C Closes the currently visible glove Exits GloveManager _ Shows Hides the Toolbar Shows Hides the Status Bar View Show View Setup v Toggles between the sensor selection and the graph view View Show Scaled Graphs S Shows Hides the Scaled Graphs S View Show Raw Graphs X Shows Hides the Raw Graphs Recording Record Ctrl R Toggles recording of glove data on or off 11 Se eee Calibration Auto Calibration A Toggles between auto and manual calibration Calibration Manual Calibration M Toggles between auto and manual calibration Calibration Reset Calibration R Resets the auto calibration values and turns auto calibratio
23. arameters DEG Pointer to a glove device This is the value returned by fdOpen pMax 50 Array of floating point values that contains the maximum scaled sensor values The size of the array must always match the value returned by fdGetNumSensors Remarks The glove driver defaults to a maximum scaled value of 1 for each sensor void fdSetSensorMax fdGlove pFG int nSensor float fMax Sets the maximum scaled value for a specific sensor Return value None Parameters PEG Pointer to a glove device This is the value returned by aopen noensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by aGetNumSensors minus one fMax A floating point value that contains the maximum scaled sensor value Remarks The glove driver defaults to a maximum scaled value of 1 for each sensor void fdGetThresholdAll fdGlove pFG float pUpper float pLower Obtains the current gesture recognition threshold settings of the driver Return value None Parameters BEG Pointer to a glove device This is the value returned by aopen pUpper and pLower Arrays of floating point numbers that will contain the maximum and minimum threshold values The size of each array must always match the value returned by fdGetNumSensors Refer to section 6 for details Remarks None void fdGetThreshold fdGlove pFG
24. are defective 8 3 Exclusions The above warranty is provided for private use only and shall not apply to any commercial use of the product including but not limited to e Location based entertainment LBE applications e Trade show demonstrations This warranty shall not apply to defects resulting from the following e Misuse e Improper or inadequate maintenance e Unauthorized modification 8 4 Warranty Claim Instructions Please use the following procedure if you require warranty service 1 Contact your supplier to determine if you need to return the product If your supplier is unable to determine this contact 5DT directly Do not return a product to your supplier or to 5DT without first contacting them 2 Your supplier or 5DT will issue you with a Return Material Authorization RMA number Do not return a product to your supplier or to 5DT without an RMA number 3 Pack the items to be returned securely using the original packaging material if possible 4 Please enclose the following e Your original sales bill e Name address contact telephone fax numbers e E mail address e Reason for returning the item e RMA number 35 5 Mark your shipping container with the RMA number to expedite handling at your supplier or at 5DT 6 Ship prepaid to your supplier or to 5DT 7 When completing customs or courier documentation please clearly indicate Unit returned for repairs under warranty SDT is not res
25. ata Glove 5 sseeesssessse 28 6 6 Sensor Mappings for the 5DT Data Glove 16 and 14 Ultra 29 Bele GESTURE STII OMS sau inue uide rini tutae nto rade rid an usdud luba ce tame Rara aiaaet 30 6 9 AUIO CalIDIOllODl sociata sehe specu useless ei dai nost e ie qus D etu bac 32 Y Troubleshooting and SUppOEL oti iere por t on eoo Dee EOo sete at obe oca Dude Dod E ado So eles 33 71 General Troubleshooting raton nn tont Dania tat tae tont Bus o dota tad o aa tds 33 Z4 Physical Connection PrObleMS cccccccseeecceeseeeeeeeeeseeeseceeseeeeeeeeeeas 33 7 1 2 Software Connection Problemi pe hts eap t prp sinu tet 33 7 2 Frequently Asked Questions FAQ ccccccccsssseeeeeeeeeaeeeeeeeeeeeeeaaeseeeeeeeeeaes 33 Loe OUPO aranna X 34 6 Warranty normalo me Em 35 8 1 Thirty 30 Day Customer Satisfaction Guarantee 35 O25 OMe Year ProgducbVVattalblly sou catur aia uni n aS tutae amu niin Ren tutus 35 Ss vEXGIISIOLIS deese castos ter Mu M SRM RUM MEM EUR E 35 8 4 Warranty Claim Instructions eeeeeseeeseeeeee nennen 35 QUADODEOD TE coute earn Espace oM nsec du An EM sa do a See tui EE 37 Appendix A Hardware Specifications ecce nennnnnns 39 Appendix B Serial PretoGOl ctae i utes tt po IOS E best be us ioa ocu E odo etieias 40 Appendix C SDK Functi
26. d FD GLOVE14 USB refer to the Data Glove 14 Ultra The USB suffix refers to the Universal Serial Bus interface In order to accommodate all glove types the fdGetNumSensors function currently returns 18 sensors The additional two sensors are defined as the original tilt angles that are not present in the 16 sensor glove See the description of dGetNumSensors for more details int fdGetNumSensors fdGlove pFG Obtains the number of available sensors values the driver can make available Return value Returns the number of sensors Currently it is fixed at 18 but future driver releases may differ Parameters pFG Pointer to a glove device This is the value returned by aopen Remarks Although the 5 sensor glove can measure only average flexure the driver will attempt to fill in missing values The number of sensors returned can therefore be of a higher dimension The enumerated type EfdSensors defines the finger mapping for each sensor void fdGetSensorRawAll fdGlove pFG unsigned short pData Obtains the most recent raw sensor values from the currently connected glove Return value None Parameters PEREG Pointer to a glove device This is the value returned by aopen pData Pointer to an array of 16 bit integers that will contain the raw sensor values The size of the array must always match the value returned by fdGetNumSensors Remarks Currently the raw sensor samples are all 12 bit unsigned value
27. dio 6 project is included 2 6 4 Supported Gloves The glove SDK supports all 5DT Data Gloves The current version implements 18 possible sensors and includes the roll and pitch sensors of the 5DT Data Glove 5 The driver attempts to map values to all sensor outputs If it is unable to do so the sensor value defaults to a sensible value This value can be adjusted by forcing a specific value To the application programmer the driver therefore appears the same regardless of the type of glove that is connected 6 5 Sensor Mappings for the 5DT Data Glove 5 The sensors on the 5DT Data Glove 5 are positioned as in Figure 37 Nu E Top of hand Right handed glove Tilt sensor Figure 37 Sensor Positions for the 5DT Data Glove 5 Sensor Driver Sensor Description Index Thumb flexure Index finger flexure Middle finger flexure Ring finger flexure Little finger flexure Pitch angle of tilt sensor Roll angle of tilt sensor amoo D gt Table 3 Sensor Mappings for the 5DT Data Glove 5 and 5DT Data Glove 5 Ultra Both these driver sensor indices will return the same value when the 5DT Data Glove 5 or Data Glove 5 Ultra is used Not available on the Data Glove 5 Ultra 28 6 6 Sensor Mappings for the 5DT Data Glove 16 and 14 Ultra The sensors on the 5DT Data Glove 16 are positioned as in Figure 38 Figure 38 Sensor Mappings for the 5DT Data Glove 16 and 5DT Data Glove 14 Ultra Sensor Driver
28. e This is the value returned by aopen Remarks This function has currently only been implemented for the Data Glove 14 Ultra It will return O if the glove type isn t a Data Glove 14 Ultra variant Example if the firmware version is 3 2 then 3 is returned int fdGetFWVersionMinor fdGlove pFG Obtains the minor version of the glove s firmware Return value Returns the minor version of the glove s firmware as an integer Parameters PEG Pointer to a glove device This is the value returned by aopen Remarks This function has currently only been implemented for the Data Glove 14 Ultra It will return O if the glove type isn t a Data Glove 14 Ultra variant Example if the firmware version is 3 2 then 2 is returned bool fdGetAutoCalibrate fdGlove pFG Indicates if the driver is currently auto calibrating Return value Returns true if the driver is currently auto calibrating Parameters PEG Pointer to a glove device This is the value returned by aopen Remarks None bool fdSetAutoCalibrate fdGlove pFG bool bAutoCalibrate Turns auto calibration on or off Return value Returns true if the driver is currently auto calibrating Parameters PEG 55 Pointer to a glove device This is the value returned by aopen bAutoCalibrate Boolean value indicating if auto calibration should be turned on true or off false Remarks Turn auto calibration off after calibrating to prevent the calibrati
29. e data from the sensors as it arrives Two graph representations can be shown The scaled graph showing the values scaled between 0 and 4095 The raw graph showing the raw values between 0 and 4095 4 4 4 1 Scaled Graph The scaled graph shows the scaled version of the sensor value normalized between 0 and 1 The default color for this graph is blue Figure 13 The Scaled Graph 4 4 4 2 Haw Graph The raw graph represents the raw sensor value coming from the glove Additional to the actual graph of the raw values drawn in red by default the upper drawn in green by default and lower calibration drawn in orange by default values are also plotted as shown in Figure 14 pg Upper calibration value Raw sensor value Lower calibration value Figure 14 The Raw Graph 13 4 4 4 3 Graph Zooming You may zoom into a graph by simply clicking on it as illustrated below E wisi EE xi L Setup I Glavel rs See DE Re aed 1368 Range 2168 Scans 2746 n ANA an IX AN ANANE c d sed Left click a ET i ra fibi ices Hear VWF Ware JAM UWVL n UUNI Rira arse SA Sceala E Maddie Fa uv AV VU db Ee dl NIRE ero WOO VIVE m mpm KL PUMNSIWVLUNMA UU veli See oe Oe oo ae ee Py ee ee z m Rael a Aaa Dua Gre 4 lites Right Wireless wii Figure 15 An Illustration of the Zoom Procedure The zoomed view gives you a more detailed view of the graph and allows you to do f
30. e must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by fdGetNumSensors minus one fUpper and flower Floating point numbers that contain the maximum and minimum threshold values Refer to section 6 for details Remarks None void fdGetGloveInfo fdGlove pFG unsigned char pData Obtains the information data block of the currently connected glove Return value None Parameters PEG Pointer to a glove device This is the value returned by aopen pbata Array of 32 bytes that will contain the information data Remarks The information data is specified in the glove user s manual The size of the information block is always 32 bytes void fdGetDriverInfo fdGlove pFG unsigned char pData Obtains the information data block of the driver Return value None Parameters DEG Pointer to a glove device This is the value returned by fdOpen pData Array of 32 bytes that will contain the information data Remarks The information data is a zero terminated string that contains driver information The size of the information block is always 32 bytes void fdSetCallback fdGlove pFG void pFunc LPVOID param Sets the Callback function and associated parameters Return value None Parameters PEG Pointer to a glove device This is the value returned by aopen pEunc Pointer to the callback function This should be cast to void param Th
31. e parameter to be given to the callback function Remarks This callback function is called every time a new packet is received by the driver Example fdSetCallback pGlove void amp DriverUpdate this int fdGetPacketRate fdGlove pFG Obtains the latest packet rate Return value Returns the latest available packet rate as an integer Parameters PEG Pointer to a glove device This is the value returned by fdOpen Remarks None bool fdNewData fdGlove pFG Indicates if the driver has received new data since this function was last called Return value Returns true if new data is available Parameters DEG Pointer to a glove device This is the value returned by fdOpen Remarks This function may be used as an alternative to using the callback function to trigger events upon the arrival of new glove data bool fdNewData fdGlove pFG Indicates if the driver has received new data since this function was last called Return value Returns true if new data is available Parameters pFG Pointer to a glove device This is the value returned by aopen Remarks This function may be used as an alternative to using the callback function to trigger events upon the arrival of new glove data 54 int fdGetFWVersionMajor fdGlove pFG Obtains the major version of the glove s firmware Return value Returns the major version of the glove s firmware as an integer Parameters PFG Pointer to a glove devic
32. ers has failed The glove will then have to be returned to the supplier or 5DT for repairs 7 3 Support If you experience problems or have complaints suggestions or other comments please feel free to contact your supplier preferably via e mail Please have the following information available or include it in your written correspondence 1 2 3 4 9 Computer processor make and model e g Pentium IV 3 2GHz Operating system and version The symptoms of the problem and what was happening when the problem occurred Can you reproduce the problem easily Describe how Actions taken by yourself to solve the problem Please feel free to contact 5DT directly Our contact details are available in Section 9 Your feedback helps make this a truly great product 34 8 Warranty Information 8 1 Thirty 30 Day Customer Satisfaction Guarantee If for any reason you are disappointed with this product please contact your supplier If you are not completely satisfied you will be granted a full refund once the product is returned undamaged Unfortunately shipping costs cannot be refunded 8 2 One 1 Year Product Warranty 5DT warrants to the original purchaser of the 5DT Data Glove 14 Ultra Wireless Kit that it will be free of defects in materials and workmanship for a period of one year from the original date of purchase During the warranty period 5DT will repair or replace with a reconditioned unit components that
33. for available gloves Return value Returns the number of gloves found during the scan Parameters AP ED Pointer an unsigned short array of length nNumMax The USB Product IDs PIDs of the gloves found are returned in this array The following PIDs are defined DG14U_R Data Glove 14 Ultra Right hand DG14U L Data Glove 14 Ultra Left hand DG5U_R Data Glove 5 Ultra Right hand DG5U L Data Glove 5 Ultra Left hand nNumMax The length of the aPID array The number of gloves found is also returned in this parameter Remarks None int fdGetGloveHand fdGlove pFG Obtains the handedness left or right handed of the glove Return value Returns either FD HAND LEFT Or FD HAND RIGHT as defined by the enumerated type E dGloveHand Parameters DEG Pointer to a glove device This is the value returned by aopen Remarks None int fdGetGloveType fdGlove pFG Obtains the type of the currently connected glove Return value Returns one of FD GLOVENONE FD GLOVE7 FD GLOVE7W FD GLOVE16 FD GLOVE16W FD GLOVE14U FD GLOVE14UW Of FD GLOVE14U USB as defined by the enumerated type EfdGloveTypes Parameters DEG Pointer to a glove device This is the value returned by aopen Remarks FD GLOVE7 and FD GLOVE7W refer to the original 5 2 tilt angles sensor glove 5DT Data Glove 5 The w suffix indicates a wireless model FD GLOVE16 and FD GLOVE16W refer to the Data Glove 16 FD GLOVE14 FD GLOVE14W an
34. ger 7 Three finger point or point not little finger point 8 Little finger point 9 Index and little finger 10 Little middle finger 11 Not ring finger point point point 12 Little ring finger point 13 Not middle finger 14 Not index finger point 15 Flat hand point Figure 16 Gesture Illustrations When the 5DT Data Glove 16 or 5DT Data Glove 14 Ultra is used the driver sensor indices will return different values The maximum of the two values will 31 be used to test for a flexed closed gesture and the minimum value of the two will be used to test for an unflexed open gesture 6 8 Auto Calibration The driver can provide sensor outputs in an automatic linearly calibrated fashion During every update the raw value read from the sensor is compared to the current minimum and maximum raw values raWmin and raWmax as set by the functions fdoetcalibratrionAIIt ftdSetcalibration or fdResetCalibration If the current minimum and maximum values are exceeded they are overwritten The upper and lower calibration values are therefore continuously pushed outwards The normalized output is given by the first order equation out min Max F 1 which is in 0 Max The value of Max is set by the functions fdSetSensorMaxAll and fdSetSensorMax Doing a few flexing movements with the hand quickly sets the operating values for raWmin and raWmax and calibrates the glove The auto calibration process can be
35. he following directory C Program Files 5DT Data Glove Ultra The installation contains the following directories Demo This folder contains the 3D glove demo Click on GloveDemo exe to start the demo Documents This directory contains the electronic copy of this manual in pdf format and application notes as they become available GloveManager GloveManager is a program that allows you to test your gloves and access advanced glove functions which may not be available in the plug ins More detail on this is given in Section 4 Plugins This directory contains the plug in for Kaydara MOCAP which replaces the built in Kaydara glove plug in More detail on this is given in Section 5 SDK This directory contains the 5DT Glove SDK files These are described in detail in Section 6 i The 3D glove demo will not function with the Data Glove Ultra USB 4 Using GloveManager The 5DT GloveManager is a useful tool accompanying the Data Glove which may be used for the following e Testing the 5DT Data Glove e Obtaining good calibrated values for the 5DT Data Glove e Logging data obtained from the 5DT Data Glove Note All images are shown for the Data Glove 14 Ultra Images will differ slightly for the Data Glove 5 Ultra 4 1 Starting GloveManager Start the program by running GloveManager exe which is installed in the Data Glove Ultra GloveManagen folder by default The setup tab window will appear
36. ible 40 Index Far Fiaw 718 Range 2112 Scaled 401 Figure 17 The Second Level of Detail of the Sensor Info Box If the pixel resolution is decreased more only the sensor name and current graph value are shown 387 Index Far Figure 18 The Lowest Level of Detail of the Sensor Info Box 15 4 4 6 The Status Bar The status bar displays various program and glove related information including e Program status and information messages e The packet rate e An indication if recording is currently on e An indication if auto calibration is currently on e he model of the current glove e he handedness of the current glove e An indication if the current glove is wired or wireless e The firmware version of the current glove Recording Glove Glove Glove firmware indicator name handedness version eadw 53 Packets Second REC 4utoCal Data Glove Ultra Left wired v3 0 Program status Current packet rate Auto calibration indicator Glove Wired Information messages Wireless indicator Figure 19 The Status Bar 4 5 The Sensor Selection View EEF 2ra The sensor selection view may be obtained by clicking the button on the toolbar by selecting the View Show View Setup option from the menu or by pressing the V shortcut key The view is shown in Figure 20 The hand and sensor image on the left allows you to select sensors to be used during recording Selecting none means that this glove will not be used d
37. ine tuning of the calibration value 4 4 5 The Sensor Info Box The sensor info box provides the following information see Figure 16 e Haw sensor value Value between 0 and 4095 e Sensor dynamic range Value between 0 and 4095 e Scaled sensor value Scaled value from 0 to 4095 e Lower calibrated value Value between 0 and 4095 e Upper calibrated value Value between 0 and 4095 e Graph top value Value between 0 and 4095 e Current graph value Value between 0 and 4095 e Graph bottom value Value between 0 and 4095 14 Sensor name Raw value Graph top value Scaled value Current graph value 1607 Graph bottom BC value Lower calibration value Upper calibration value Dynamic range value Figure 16 The Sensor Info Box The upper and lower calibration values may be fine tuned by adjusting the minimum and maximum values of the dynamic range These values are automatically adjusted during auto calibration Please note that the calibration mode is automatically switched to manual calibration during fine tuning The sensor info box has three levels of detail depending on the pixel resolution available to GloveManager The highest level of detail is shown in Figure 16 As the pixel resolution decreases the second level of detail is switched to as in Figure 17 The value shown next to the sensor name is e the current scaled value when scaled graphs are visible e the current raw value when raw graphs are vis
38. isplay 20 Magnifier Animation Trigger Selective redraw Producer Perspective Figure 32 The Glove Model as Shown in the Viewer Window This glove can now be automatically connected to an actor To create an actor click and drag the Actor icon from the Characters pane in the Asset Browser 24 Actor Face d Character Character face Figure 33 Creating an Actor If the actor asset is selected in the Navigator window the Actor Settings window will appear Scene PE a eee EE RE sss d Actors Active Lock Mo Marker Set MarkerSet Cs ER Cameras x Constraints VO Devices X Lights AX Poses amp Takes Output Marker Set No Marker Set Figure 34 The Actor Settings Window If no Marker Set exists for this actor create one by clicking on the MarkerSet button A popup menu will appear Select the Create option 25 MarkerSet Figure 35 Creating a Marker Set Once a Marker Set has been selected select the hand marker to which the glove should be referenced Drop the root of the glove device under the Scene branch into the Glove Reference in the Model column Click on the Active checkbox to make the actor active real time animations are shown CENE s pede p Litarker Set v Actors ER Cameras be Constraints VO Devices L 1 0 SDT DataGlove Lights X Poses 5 Takes Output Marker Set No Marker Set Figure 36 Assigning a
39. ltage o High Voltage Line Inspection Logging System High Voltage Line Inspection Training Simulator High Voltage Line Inspection Training System CBT High Voltage Line Repair Training System High Voltage Line Visualization System o High Voltage Yard Training Simulator e Medical o Bronchoscope Training Simulator O O 4 uo 3 Exposure Treatment Phobia Simulator Gastroscope Training Simulator Tele Rehabilitation TR System o Virtual Reality Pain Distraction System e Mining o Underground Mining e Continuous Miner Training Simulator e Long Wall Training Simulator e Roof Bolter Training Simulator o Surface Mining e Haul Truck Training Simulator e Shovel Training Simulator e Wheeled Loader Training Simulator e Dragline Training Simulator e Visualization o Flight Visualization System o Flow Visualization System o High Voltage Line Visualization System e Other o Virtual Landscape Generation Technology O O O Contact Information United States and Americas 5DT Inc 15375 Barranca Pkwy G 103 Irvine CA 92618 USA United States of America Tel 1 949 450 9044 Fax 1 949 450 9045 e mail info us 5dt com Web www bdt com Rest of World 5DT Fifth Dimension Technologies 25 De Havilland Crescent P O Box 5 Persequor Park 0020 South Africa Tel 27 12 349 2690 Fax 27 12 349 1404 E mail info 5dt com Web www b5dt com 38 Appendix A Hardware Specifications MATERIAL FLEXURE RESOLUTION BEND SENSORS
40. n on Calibration Load Calibration Values Alt O Load the calibration values from file turns auto calibration off Calibration Save Calibration ValuesjAlt S Save the current calibration values to file About About GloveManager Displays information about GloveManager Table 1 Menu Commands Available in GloveManager 4 4 2 Toolbar The following buttons are available on the toolbar peo pene Ctrl N Creates a new recording file Ctrl S Saves the current recording E Ctri R Toggles recording of glove data on or off uer REP 0 meme the raw graphs E Ac S Shows Hides the scaled graphs E Reset l i Resets the auto calibration values and turns auto calibration on Cal lt n Alt O Load the calibration values from file turns auto calibration off SH Alt S Save the current calibration values to file LIN between auto and manual calibration L4 Hanual LINE between auto and manual calibration Cal A FN between the sensor view setup and the graph view Close oo Alt C Closes the currently visible glove Glove Table 2 Buttons Available on the GloveManager Toolbar 12 some items may me disabled when no glove is open 4 4 3 Tab Bar The tab bar allows you to switch between the Setup view and the currently open gloves The blue dot on the tab icon indicates a wireless glove 9 Setup Glovet P Glove Figure 12 The Tab Bar 4 4 4 The Sensor Graphs The sensor graph is a graphical representation of th
41. n the case of multiple finger joint angle measurements the maximum of the individual joint sensor values is taken to obtain a closed gesture and the minimum to obtain an open gesture Closed gestures take precedence in other words bending only one joint of a finger will count as a closed gesture Little Ring Middle _ Finger O O mae e eefe sensor 5DT Data Glove 16 amp 12 13 14 Ultra sensor Flexure O flexed 1 unflexed Gesture Description Fig umber o o 0 0 0 m e 3 1 9 9 o 1 _Index finger point 16 1 2 o o 1 o M defngerpont 162 s f o o 1 1 Twofinger point 163 a p o o o Rrotgerpon 184 ott tingr point 167 Ce o o o tite finger point 168 o tf o o 1 Tndex and itt finger 169 Cao 1 0 1 9 Lite mide point 161 8 f a f o 1 ft Notring finger point 16 1 2 1 1 9 9 ite ring point 161 18 tft o 1 Not mide finger paint 16 1 34 tft 1 o Net inde finger point 16 1 Flat hand 16 1 NO C2 A a u i i Table 4 Gesture Definition Scheme as Implemented for the 5DT Data Glove SDK When the 5DT Data Glove 5 is used both these driver sensor indices will return the same value 30 0 Fist 1 Index finger point 2 Middle finger point 3 Two finger point 4 Ring finger point 5 Ring index finger point 6 Ring middle fin
42. nctions should be called whenever the application starts up or the glove changes users during run time For unmapped sensors the upper and lower calibration values are set to 4095 and O 49 respectively which is the inverse of the auto calibration settings If auto calibration was turned off it is turned on again void fdGetSensorMaxAll fdGlove pFG float pMax Obtains the maximum scaled value for each sensor Return value None Parameters DEG Pointer to a glove device This is the value returned by fdOpen pMax Array of floating point values that will contain the maximum scaled sensor values The size of the array must always match the value returned by fdGetNumSensors Remarks The glove driver defaults to a maximum scaled value of 1 for each sensor float fdGetSensorMax fdGlove pFG int nSensor Obtains the maximum scaled value for a specific sensor Return value Heturns the maximum scaled values of the sensor Parameters PEG Pointer to a glove device This is the value returned by fdOpen nsensor Index of the sensor that is being queried The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by aGetNumSensors minus one Remarks The glove driver defaults to a maximum scaled value of 1 for each sensor void fdSetSensorMaxAll fdGlove pFG float pMax Sets the maximum scaled value for each sensor Return value None P
43. nning Tor GOV CS iso RP em 8 A S22 iOpening IOV OS sushi ti inposuit e a 8 44 The Graph VieW icccsewiauneiesddeemetnn aee hose eee nae Gaeta 10 4 4 1 The Menu Balb seasdieienstet euet E VE Iu oo anaes 11 44 2 TOODA ouscbadeeidi otc de peat Sedi a quede nudus ee but uar anis 12 AI a Ec 8 tc ARERR ENR OTE ad Emm te Ux De cM M ee ve en eee 13 4 4 4 The Sensor Graphs ccccccccccssssseseceeeeeeeeeeeeeeeseeeeseeeeeesseeaseeeeeeeeseaas 13 4 4 5 The Sensor Info BOX cccccccsssssececcesseeeeceeesseeecseasseeeecssauseeessesseeees 14 445 TESA Balbus eee heer eer ictu bd uan ae tese ee entre ere C tole 16 4o JhesesensoPSeleolori VIEW erosen itid etasen iu tussin od cR qid in 16 45 Glove CalibraiOollzsssctiueeuooiusisis aah ees ees tapitiec Soter MUR e usece Les nut udl eiu ELUCET 17 LEE RECON NER ECTETUR 19 5 Using the Gloves in Kaydara MOGQAQT M 7 nte a 20 od nstallallOlsugsyutesequseodi R oe aus c Su bod ula fra aat ud S ra tuia t Ra esatta 20 O2 Obenimn3d ING ClOVOlsfesmsendustatutiacum md esta aues A E bab quaes 20 03s Opening Wireless OGlOMGS vestes a em aut ota mto Seu eet tt abit bern t tutus 21 S CADAUNO e E mU E 23 BO ModerBNdiNg e E EU TERMES 24 BASING NE SDK Verr 27 Dis 161010641 0 a eisa dade ne mend ini Gatos retirees ater etre ere M cds en ener ee IUE 27 SPEM E dela io eet cH rH 27 6 3 Sample Source Godean a a a 27 64 SUDPOMEO GIOVES NET E 28 6 5 Sensor Mappings for the 5DT D
44. nu Check which COM ports are available by looking at the list in Figure 3 Remember that not all available ports will be physically connected to a socket on the back of your computer Some ports may be unavailable because other programs have already taken control of the ports Examples are mouse drivers and fax or communication programs 7 2 Frequently Asked Questions FAQ Q My gloves are connected to COM2 but Glove Manager reports that this port is not available A There may be a mouse driver or other program that has already opened that port Once a program or driver has opened a COM port no other program will be able to access that port until the first one closes Q Is it possible to use the 5DT Data Glove Ultra in a LINUX environment A No the Linux version of the SDK does not support the 5DT Data Glove Ultra but check our website regularly for updates 33 Q A Can use four or more serial gloves on one machine at the same time SDT just loves people like you The number of gloves is limited by the number of serial ports on your computer Multiport cards are available that have up to eight serial ports on them and you only need one serial port per wireless pair It is also possible to obtain a USB Universal Serial Bus device that has many RS 232 serial ports on it When flex a finger the output does not change but stays at the maximum value What is the problem In this case it is possible that one of the fib
45. on Descriptions seeeeesseeeeeenneeeeene 42 1 Introduction The 5DT Data Glove Ultra is a hand data motion capturing solution for animation and virtual reality The 5DT Data Glove Ultra is the second generation of 5DT s high end data glove and has been completely redesigned and optimized for the best performance and ease of use This glove measures finger flexure as well as the abduction between the fingers Finger flexure is measured at two places 1 joint knuckle 2 joint on each finger Among the features of this kit are The glove is comfortable with an improved design for differently sized hands The accurate and sensitive sensors give a clean signal minimizing the need for additional filtering Diagnostic software is included with the capability to record hand data The package includes a plug in for Kaydara MOCAP M The gloves functions and data are accessible via the 5DT Data Glove SDK The glove data stream from the optional serial kit is an RS 232 data stream with an open protocol allowing for various platform implementations 2 Setup and Installation 2 1 Package Contents When first unpacking your glove please ensure that all the parts are there If you are missing anything please contact 5DT or your reseller immediately The 5DT Data Glove Ultra consists of the following 1 5DT Data Glove Ultra 5 or 14 Sensor 2 5DT Data Glove Ultra Series USB cable 3 5DT Data Glove CD
46. on values from being too extreme thus causing scaled values of poor quality bool fdSaveCalibration fdGlove pFG const char pFileName Saves the current calibration values to file Return value Returns true if the save operation completed successfully Parameters DEG Pointer to a glove device This is the value returned by aopen pFileName A null terminated string containing the path and filename Remarks Save your calibration values to file to prevent you from having to calibrate the glove every time you start your application bool fdLoadCalibration fdGlove pFG const char pFileName Loads calibration values from file Current calibration values are discarded Return value Returns true if the load operation completed successfully Parameters pFG Pointer to a glove device This is the value returned by aopen pFileName A null terminated string containing the path and filename Remarks None
47. ove device This is the value returned by aopen Remarks None int fdGetGesture fdGlove pFG Obtains the current gesture being performed Return value Returns the current gesture being performed Refer to section 5 for details Parameters pFG Pointer to a glove device This is the value returned by aopen Remarks None void fdGetCalibrationAll fdGlove pFG unsigned short pUpper unsigned short pLower Obtains the current auto calibration settings of the driver Return value None Parameters pFG Pointer to a glove device This is the value returned by aopen pUpper and pLower Arrays of 16 bit unsigned integers that will contain the maximum and minimum raw sensor values The size of each array must always match the value returned by fdGetNumSensors Refer to section 6 for details Remarks None void fdGetCalibration fdGlove pFG int nSensor unsigned short pUpper unsigned short pLower Obtains the current auto calibration settings of the driver for a specific sensor Return value None Parameters PFG Pointer to a glove device This is the value returned by aOpen noensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by aGetNumSensors minus one pUpper and pLower Pointers to 16 bit unsigned integers containing the maximum and minimum raw sensor values
48. ponsible for any damage that may occur during shipping Shipping charges to 5DT are your responsibility COD shipments will not be accepted by 5DT 36 9 About 5DT SDT Fifth Dimension Technologies is a high technology company specializing in Virtual Reality VR 5DT develops produces and distributes affordable virtual reality hardware software and systems 5DT can also develop custom systems for all your VR needs 5DT s focus is Virtual Reality Training Systems and Virtual Reality Peripherals The Virtual Reality hardware currently produced by 5DT includes 5DT Data Glove 5 Right and left 5DT Data Glove 5 W Wireless right and left 5DT Data Glove 5 Ultra 5DT Data Glove 16 Right and left 5DT Data Glove 16 W Wireless right and left 5DT Data Glove 14 Ultra 5DT Data Glove 14 Ultra Wireless Kit 5DT Data Glove MHI 5DT Virtual Binoculars SDT Head Mounted Display HMD 5DT Virtual Binoculars 5DT Motion Base VR Software Systems developed by 5DT include e Automotive o Driving Training Simulator Series o Road Safety Training System e Aviation o Airspace Visualizer o Air Traffic Control ATC Training Simulator o Experimental Avionics Testbed o Unmanned Aerial Vehicle UAV Training Simulator e Defense o Air Defense Training Simulator o Fiber Optic Guided Missile Training System and Training Simulator o Rocket Launcher Training Simulator o Stand Off Weapon Training Simulator and Visualizer e High Vo
49. s The range is therefore from 0 to 4095 Note that this is not the dynamic range of the sensors There can be severe offset values associated with each sensor The enumerated type E dSensors defines the finger mapping for each sensor unsigned short fdGetSensorRaw fdGlove pFG int nSensor Obtains the most recent raw sensor value for a specific sensor from the currently connected glove Return value Returns a 16 bit integer See dGetSensorRawALll for details Parameters PEG Pointer to a glove device This is the value returned by fdOpen noensor Index of the sensor that is being set The value must lie in the range given by the enumerated type EfdSensors or alternatively from zero to the value returned by aGetNumSensors minus one Remarks 44 The enumerated type EfdSensors defines the finger mapping for each sensor void fdSetSensorRawAll fdGlove pFG unsigned short pData Forces the raw value for all the sensors Return value None Parameters DEG Pointer to a glove device This is the value returned by fdOpen pData Pointer to an array of 16 bit integers that will contain the raw sensor values The size of the array must always match the value returned by fdGetNumSensors Remarks Currently the raw sensor samples are all 12 bit unsigned values The range is therefore from 0 to 4095 The enumerated type EfdSensors defines the finger mapping for each sensor Forcing a sensor value will result
50. saved to file oe The values may be saved to file by clicking the i button by selecting the File Save or File Save As menu option or by using the Ctrl S shortcut key Currently only the CSV Comma Separated Values file format is supported 19 5 Using the Gloves in Kaydara MOCAP 5 1 Installation To install the driver follow the steps given below 1 Copy the file ordevice5dt dll to the MOCAP bin plugins directory 2 Make sure that the 5DT Glove driver is installed specifically fglove dll should be installed in the Windows System folder 3 Run MOCAP 4 Verify that the driver is installed by clicking on the Devices tab in the asset browser The installed driver should be visible as shown in the red rectangle as shown in Figure 23 below Asset Browser Asset Browser Groups Properties 3 de YE f Templates Characters Commands Constraints Decks Devices Elements gobo Materials Shaders SDT DataGlove MIDI IY F c G SOT Glove 1 MotionStar Wacom Tablet SOT Glove i5 Mouse Figure 23 Verifying that the 5DT Data Glove Plugin has been Installed 5 2 Opening the Glove From the device pane of the Asset Browser create a glove in Kaydara by clicking and dragging the 5DT DataGlove icon to the viewer window see Figure 24 20 Asset Browser Groups Properties Story Action Y Animation Trigger Earn M Templates
51. see below x GloveManager m z Eg File View Recording Calibration About Open Glove Scan LSB Close Glove Scan Serial Figure 2 The Setup Tab Window 4 2 Opening USB Gloves 4 2 1 Scanning for Gloves Clicking the _ Scan USB button in the setup tab window causes GloveManager to scan the USB for available gloves This is useful if you have plugged in the 5 glove after starting GloveManager Once the USB scan is complete the USB device tree will be updated to show available gloves COM Ports COMI COM ae COM3 wy COM4 USB e USBO DG14U Right Figure 3 Result of the USB Scan As can be seen in Figure 3 the Port Scan has found two wireless gloves on COM1 The right hand glove is plugged into Port A of the wireless transmitter unit The left hand glove is plugged into Port B 4 2 2 Opening Gloves A glove may by opened by clicking the button after a USB glove has been selected in the device tree COM Ports a COMI ay COM2 S COM3 S9 COM4 Figure 4 Selecting the Glove to be Opened If the glove has been successfully opened the tab window will automatically switch to the newly opened glove as shown in Figure 5 Double clicking on a USB glove will also cause GloveManager to attempt to open the glove i GloveManager File View Recording Calibration About once le Ss SER peru s aes Setup lity Glovel 483 Thumb Near Raw 352 Range 373 Scaled 483 Raw s93 Rance 1
52. uring the recording process The hand and sensor image on the right allows you to select specific sensors to be shown in graph view Please note that the program will not allow you to display zero sensors Clicking the Thumb Index Middle Ring Little Or Abduction buttons causes the corresponding sensors to be selected or deselected You may also select or deselect a sensor by clicking on it or 16 EEF You may go back to graph view by clicking on the or wi buttons by selecting the View Show View Setup option from the menu or by pressing the V shortcut key 4 6 Glove Calibration y GloveManager Sees File View Recording Calibration About Record Show Show Load Save Reset AES Hanual Ay aot dm Ds d T wA rump Doll Raw seated Cal Ca Cab Ca Bal X 8 Setup W Glovel if Glove Recording Visible Sensors to be used during recording Sensors to be shawn in graph view Select All Select None Abduction i Select None Abduction Thumb Index Middle Ring Little Thumb Index Middle Ring Little Ok 79 Packets Second AutoCal Data Glove 14 Ultra Right Wireless v3 0 Figure 20 The Sensor Selection View Load d Glove calibration values may be loaded from file by clicking the ca button by selecting the Calibration Load Calibration Values menu option or by using the Alt O shortcut key The file open dialog box will appear 17 Look in Iz Calibrations
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