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What’s new in version v2.14?

Following, a short overview of the main new features in

DTrack2

version v2.14:

•

Integration of optical-inertial hybrid tracking (sensor fusion)

•

Minor features (e.g. display IP address using DHCP, display ATC’s CPU tempera-
ture)

What’s new in version v2.13?

Following, a short overview of the main new features in

DTrack2

version v2.13:

•

Support of FINGERTRACKING2 Tactile. Based on the vibro-tactile Fingertracking
prototype the product version offers tactile feedback for the fingertips and compati-
bility to the high frame rates of

ARTTRACK5

&

TRACKPACK/E

cameras.

•

Integration of new ’Fingertracking Administration’ GUI. It facilitates and streamlines
the configuration of all Fingertracking devices.

•

Detailed export functionality of system-configuration and event-log for tech support

What’s new in version v2.12?

Following, a short overview of the main new features in

DTrack2

version v2.12:

•

Easier addition of cameras: To add a camera, simply re-calibrate the room with-
out losing the origin and orientation of the original coordinate system and continue
tracking. A similar procedure applies when removing cameras from the system.

•

Integration of ’COOTrans’, our co-ordinate adjustment utility. This means that the
room adjustment can now be used to transform the tracking coordinate system
into the coordinate system of specific 3rd party objects, provided that the reference
points are known and can be measured (license-based)

•

Support of bodies with up to 30 markers each

•

Support of bodies with visibility restrictions including display of emission cones
within ’Body Adjustment’

•

Additional information dialog regarding cylindrical markers within ’Body Calibration
Result Dialog’

•

New function to remove unused markers from a rigid body within ’Body Adjustment’

•

Radio channel settings are saved persistently when choosing a specific channel
number

Summary of Contents for Flystick3

Page 1: ...sion 2 14 July 2018 c 2018 A R T GmbH Contents are subject to change without notice weisser Text als Fake System user manual ARTtrack R TRACKPACK DTrack R dasbetrifft die gesamte seitenbreite der seite des ...

Page 2: ...many in the EU in the USA A R T R ART ARTtrack R ARTTRACK DTrack R DTrack2 smARTtrack R SMARTTRACK Microsoft R and Windows R 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 ...

Page 3: ...ms against A R T GmbH in the event that the open source software infringes the intellectual property rights of a third party Technical support if any will only be provided for unmodified software The full license text can be obtained from A R T GmbH directly Disclaimer In no event shall A R T GmbH be liable for any incidental indirect or consequential damages whatsoever including without limitatio...

Page 4: ...12 Following a short overview of the main new features in DTrack2 version v2 12 Easier addition of cameras To add a camera simply re calibrate the room with out losing the origin and orientation of the original coordinate system and continue tracking A similar procedure applies when removing cameras from the system Integration of COOTrans our co ordinate adjustment utility This means that the room...

Page 5: ...trollers in cluding Synccard3 see e g chapter 4 2 on page 32 Improvements of usability of Hybrid Motion Capture see chapter 7 on page 106 What s new in version v2 10 Following a short overview of the main new features in DTrack2 version v2 10 Support of ARTTRACK5 cameras with Controllers including Synccard3 see e g chapter 4 1 on page 29 Support of external sync source TTL signal both edges see e ...

Page 6: ...ras 48 4 8 1 Camera orientation 48 4 8 2 Localizing and removing of disturbing reflections 48 4 8 2 1 Mutual blinding 49 4 8 3 Room Calibration overview 51 5 ART Tracking Controllers 54 5 1 Installation of the ART Controller DTrack2 since v2 10 55 5 1 1 Ports Plugs on the ART Controller 55 5 1 2 Connecting cameras 57 5 1 3 Dynamically adding removing of cameras 58 5 1 4 Connection to local network...

Page 7: ...92 6 4 6 2 Fingertracking Available hand geometries 93 6 4 6 3 Fingertracking Body calibration via Target Library 94 6 4 6 4 Fingertracking Body calibration Custom 95 6 4 6 5 Fingertracking Hand geometry calibration 96 6 4 6 6 Fingertracking Tactile Assignment 98 6 4 6 7 Fingertracking Tactile Test 99 6 4 6 8 Fingertracking Output settings 100 6 4 7 Display tool Fingertracking Viewer 100 6 5 Measu...

Page 8: ... 126 8 2 4 Configuring your controller without the DTrack2 frontend 127 8 2 4 1 The information file 128 8 2 4 2 The setup file 128 8 2 5 Remote command strings 129 8 3 Main GUI 132 8 3 1 Menu bar overview 132 8 3 2 Toolbar 134 8 3 3 Docking Displays 135 8 3 3 1 Monitor 2DOF display 135 8 3 3 2 Data Display 138 8 3 3 3 Fingertracking 139 8 3 3 4 Flystick 139 8 3 3 5 Measurement Tool 140 8 3 3 6 Ev...

Page 9: ...alibration Progress 168 8 6 3 2 Room Calibration Results 169 8 6 3 3 Room re calibration 170 8 6 4 Room adjustment 171 8 6 4 1 Transform the room coordinate system 174 8 6 5 Body calibration 176 8 6 5 1 Body calibration overview 176 8 6 5 2 Body calibration procedure 177 8 6 5 3 Body calibration result 178 8 6 5 4 Selecting the coordinate system for 6DOF targets 178 8 6 5 5 Selecting the coordinat...

Page 10: ...ility 218 10 4 Declaration of conformity 220 A Technical specifications 236 A 1 Cameras 236 A 1 1 ARTTRACK5 236 A 1 2 ARTTRACK5 C 237 A 1 3 TRACKPACK E 238 A 1 4 ARTTRACK cameras discontinued 239 A 1 5 TRACKPACK cameras discontinued 240 A 2 Flysticks 241 A 3 Standard Fingertracking 242 A 4 FINGERTRACKING2 Tactile 243 A 5 ART Controller 243 A 6 Overall system 244 A 7 System latency 246 B Technical ...

Page 11: ... 1 6 2 Using a reference body 256 B 1 6 3 Covariance of Measurement Tool tip 256 B 1 7 Fingertracking 256 B 2 Output of Measurement Data via Ethernet 258 B 2 1 Frame Counter 259 B 2 2 Timestamp 259 B 2 3 Standard 6DOF Bodies 259 B 2 4 Standard 6DOF Bodies extended format 260 B 2 5 Flysticks 261 B 2 6 Flysticks Old Format 262 B 2 7 Measurement Tools with sphere tip 263 B 2 8 Measurement Tool refere...

Page 12: ...nd the position of the fingers Flystick wireless interaction device for virtual reality VR applications hand geometry describes the dimensions of your hand and fingers hybrid tracking sensor fusion of optical and inertial data into one consolidated output inertial sensor an inertial measurement unit simultaneously measures 9 phys ical properties namely angular rates linear accelerations un used an...

Page 13: ...igid arrangement of several single markers rigid body tracking position measurement of bodies that move in a defined space TRACKPACK discontinued infrared camera TRACKPACK C discontinued infrared camera dedicated for multi sided projections TRACKPACK E infrared camera TRACKPACK Controller discontin ued calculates tracking data and generates the data output stream compatible to TRACKPACK and TRACKP...

Page 14: ...e 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 Safe operation of the equipment is only warranted if the warnings in this manual and on the equipment are observed Never use the equipment if any part looks damaged Saf...

Page 15: ...ve surfaces Be careful to avoid permanent damages e g scratches Only touch 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 ...

Page 16: ...d external power supply for operating the camera ARTTRACK2 and ARTTRACK3 and if applicable only the provided PoE switch for ARTTRACK5 ARTTRACK5 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 10 2 on page 218 Never expose the equipment to high levels of humidity or condensat...

Page 17: ...d three degrees of freedom 3DOF tracking Single markers are sufficient if only 3DOF coordinates are needed but single markers cannot be identified DTrack2 will assign an ID to a tracked 3DOF marker as long as it can be followed but after losing the tracking e g due to occlusions it will not be able to re identify the marker and thus assign a new ID For 6DOF tracking however a target is mandatory T...

Page 18: ...markers as targets Based upon these two teaching steps DTrack2 is able to calculate 6DOF data and finally knows position and orientation of the target and therefore of the object or individual to be tracked Note In pure optical tracking systems tracking is only possible as long as objects or individuals to be tracked are equipped with single markers or targets the target is not occluded by any oth...

Page 19: ...target additionally equipped with an IMU which it self is connected to the controller There the tracking data from both worlds i e hybrid is combined which also leads to the term sensor fusion By nature the IMU contains an independent coordinate system which needs to be aligned to the optical tracking system axes This additional teaching process is called hand eye calibration or hybrid body cali b...

Page 20: ... from any perspective expensive fabrication sensitive surface target requires larger volume danger of mechanical damage 2 flat markers low price flat targets possible robust surface because cover may be applied the angular range of visibility is limited to approx 45 3 ring markers low price cylindrically shaped targets possible robust surface the angular range of visibility is limited to approx 45...

Page 21: ...erical markers with retro reflecting surfaces i ART spherical markers are covered with retro reflecting foils based on the glass spheres principle Z 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 3 2 Active markers Basics Active markers are light i e infrared light...

Page 22: ...ss 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 The easiest way to create an active marker is to have it emit IR light continuously However this would be inefficient in respect to energy dissipation and would yield low signal to noise ratios ART tracking cameras have very short exposure times ...

Page 23: ...osure times This allows both more robust and longer ranging targets Synchronization can be done either by a wired connection between the tracking system and the pc board controlling the active markers but also in a wireless way For wireless synchronization a coded i e modulated IR flash is being sent out by a tracking camera The active marker s PC board recognizes the coded flash and activates the...

Page 24: ...ed by the hand carrying it Therefore proper ar rangement of tracking cameras has to be used in order to avoid occlusions 25g 0 9oz 110 80 28 mm 12mm Large hand target 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 30g 1 1oz 170 120 35 mm 12mm Claw target The claw target looks j...

Page 25: ...is equipped with 20mm markers 75g 2 65oz 195 170 120 mm 20mm Generic glasses 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 min 14g 0 5oz max 22g 0 7oz 270 120 35 mm 12mm INFITEC PREMIUM target Target tailored to the INFITEC PREMIUM passive stereo glasses 26g 0 9oz 225...

Page 26: ... stereo system It fits to both CrystalEyes R 2 and 3 28g 1oz 215 120 60 mm 12mm CrystalEyes R 5 target Target tailored to the shutter glasses of the StereoGraphics active stereo system It fits to the CrystalEyes R 5 19g 0 7oz 195 105 40 mm 12mm NuVision APG6000 and APG6100 target Target tailored to the NuVision APG6000 and APG6100 shutter glasses 17g 0 6 oz 220 125 75 mm 12mm 26 ...

Page 27: ...get tailored to the Volfoni EDGE R shut ter glasses 23g 0 7 oz 230 95 60 mm 12mm NVIDIA 3D Vision R Pro target Target tailored to the NVidia 3D Vision Pro shutter glasses 25g 0 9 oz 225 100 60 mm 12mm NVisor SX 60 target Target tailored to the NVisor SX 60 head mounted display 55g 1 94oz 300 215 35 mm 12mm 27 ...

Page 28: ...12mm 2 Shoulder targets UT 44g 1 55oz 90 75 35 mm 12mm 1 Dorsal target DT 84g 2 96oz 150 65 35 mm 12mm 2 Upper arm targets HBT 52g 1 83oz 150 70 35 mm 12mm 2 Forearm targets UBT 50g 1 76oz 150 65 35 mm 12mm 2 Hand targets HT 25g 0 9oz 110 80 28 mm 12mm 1 Waist target WT one piece 195g 6 9oz 390 140 50 mm 14mm 1 Waist target WT multi part each 30g 1 1oz 90 60 50 mm 16mm 2 Upper leg targets FBT 99g ...

Page 29: ...ers of up to 7 5 metres By default the ART TRACK5 is equipped with a 3 5 mm lens Depending on the application and the setup the ARTTRACK5 can be equipped with other lenses i e with different focal lengths Refer to A 1 on page 236 for a list of available focal lengths and the respective FoV Figure 4 1 Camera ARTTRACK5 Mounting The ARTTRACK5 cameras are optimized for a predefined range of measure me...

Page 30: ... that camera movements especially vibrations are reduced as much as possible Z Mounting on tripods may be sufficient for presentations and prelimi nary installations but is not recommended as a permanent solution The ARTTRACK5 camera is equipped with UNC 1 4 threads on both sides and can thus directly be mounted to tripod heads The carrier for the ARTTRACK5 can be attached on both bottom and top s...

Page 31: ...e calibrated cameras have to be recalibrated in the ART labs Figure 4 3 on page 31 shows the correct mounting for a camera to a wall with a carrier 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 For easy adjustment it is highly recommended to mount...

Page 32: ...ners 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 236 for more information The 26 pin D Sub connector between ARTTRACK5 C remote camera head and camera body employs proprietary design D...

Page 33: ...on the opposite side using a ceiling mount 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 page 30 Note the ceiling suspension is already connected to the carrier in figure 4 2 The ARTTRACK5 C remote camera head should be installed using the M6 mounting threads...

Page 34: ...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 For easy adjustment it is highly recommended to mount the ceiling mount in a way that the threaded bolt is vertical This way heading and elevation of the camera view can...

Page 35: ...era 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 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 236 for the respective FoV...

Page 36: ... supplied with the ceiling mount for mounting it Also use all the parts supplied with the ceiling mount especially the toothed washer is quite important Never unfasten other screws on the cameras see chapter 1 2 on page 14 Otherwise the camera might be damaged and liability and war ranty is void Feel free to contact ART in case you want to realise a more complex installation We will assist you in ...

Page 37: ...CK2 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 ARTTRACK2 infrared camera is intended for working environments with distances between camera and markers of up to 4 metres By default the ART TRACK2 is equipped wit...

Page 38: ...ttom and top side of the cam era 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 4 2 on page 30 Note the ceiling suspension is already connected to the carrier in figure 4 2 Only use screws supplied with the ceiling mount for mounting it The screws used for sealing the housings are ...

Page 39: ...and screws for mounting the cameras to walls or ceilings see figure 4 3 on page 31 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 ...

Page 40: ...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 236 for a list of available focal lengths and the respective FoV 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 ...

Page 41: ... 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...

Page 42: ...C62471 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 up to 4 5 m wide The syste...

Page 43: ... 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 camera movements especially vibrations are reduced as much as possible Z Mounting on tripods may be sufficient for presentations and prelimi nary installations but is not recommended as a perma...

Page 44: ... 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 For easy adjustment it is highly recommended to mount the ceiling mount in a way that the threaded bolt is vertical This way heading and elevation of the camera view can be adjuste...

Page 45: ...ojection environments e g CAVE R I 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 236 for the respe...

Page 46: ...ty of the ART infrared cameras see chapter 8 5 1 on page 146 i 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 ...

Page 47: ...troy the internal calibration of the cameras De calibrated cameras have to be recalibrated in the ART labs Use strong dowels and screws for mounting the cameras to walls or ceilings see figure 4 3 on page 31 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 hig...

Page 48: ...ut mutual blinding of the cameras i e the IR flash of one camera is inside the FoV of another refer to 4 8 2 1 on page 49 Therefore as part of its GUI DTrack2 provides the Monitor 2DOF display which is essentially a 2 dimensional graphical display of all markers flashes or other IR sources that can be seen inside the FoV of the cameras At this point you will probably find it most useful to become ...

Page 49: ...ll cameras to 50 Try to localize the reflection by moving a target or reflective marker towards the origin of the reflection use the Monitor 2DOF display and remove it If by any means reflections cannot be eliminated completely you may use the static re flex suppression of DTrack2 please refer to chapter 8 6 1 on page 165 Z Be aware that reflex suppression leads to decreased FoV effective measurem...

Page 50: ...ed by the other and vice versa Recommendation Assign opposing or adjacent cameras within the FoV of each other to different syncgroups e g Channel 1 and Channel 2 Cameras that are outside of the FoV of each other e g mounted on the same wall should be assigned to the same syncgroup For ARTTRACK5 ARTTRACK5 C and TRACKPACK E systems it is possi ble to configure the syncgroups via software Please ref...

Page 51: ...ration on a regular basis e g after a certain operating time of the system and especially if the system setup does not rule out camera movements over time these camera movements may also be thermal drifts Z Example If a camera with 3 5mm lenses standard for ARTTRACK5 or TRACKPACK E is rotated by one tenth of a degree it will cause aber rations of the optical rays that are as high as 5 millimetres ...

Page 52: ...angle while the two markers of the wand should be visible to all IR cameras as good as possible Move the wand gently in all possible directions up down left reft back forth and additionaly rotate it within the measurement volume in order to generate a virtual point cloud see figure 4 15 on page 52 If possible try to walk around to max imize the point cloud in all dimensions It is used for calculat...

Page 53: ... that see the calibration angle are oriented first Then every additional camera has to be connected by a sufficient volume with at least two al ready 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 camera...

Page 54: ...e 129 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 performed there 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 connect...

Page 55: ...from standby mode press the button soft power on All USB ports front back can be used for plugging in the USB radio transceiver for the Flystick2 3 refer to chapter 6 3 1 on page 80 Figure 5 1 ART Controller front view Please ensure unblocked airflow at all times for optimal operation of the ART Controller 5 1 1 Ports Plugs on the ART Controller The following list gives a short overview of all por...

Page 56: ...wards compatibility please connect ART TRACK1 ARTTRACK3 cameras here Please refer to chapter 5 1 2 on page 58 for more detailed information OUT1 Defines syncgroup 1 When using ARTTRACK1 ARTTRACK3 cam eras at least one camera has to be connected here if you are using active targets e g Fingertracking Flystick3 Refer to chapter 6 4 on page 83 for more information OUT2 Defines syncgroup 2 The default...

Page 57: ...nt view Z Please allow min 3 minutes for booting prior to starting the ART Con troller 5 1 2 Connecting cameras Connection of ARTTRACK5 ARTTRACK5 C or TRACKPACK E cameras Mount the cameras at the desired position before connecting the cables The ART Synccard3 is designed as a single cable solution and is therefore used both for power and synchronization of the IR cameras Therefore the ARTTRACK5 AR...

Page 58: ...ing the controller Please refer to chapter 8 4 4 on page 145 for details Z DTrack2 is able to operate when cameras have been added or removed for best performance it is highly recommended to perform a recalibra tion 5 1 4 Connection to local network LAN The controller uses the LAN network port 1000 Base TX for data output to the remote PC or to any PC within the local network Figure 5 4 on page 59...

Page 59: ...Chapter 5 5 1 Installation of the ART Controller DTrack2 since v2 10 a standard connection b indirect connection Figure 5 4 Connecting the ARTTRACK Controller to a local network 59 ...

Page 60: ... TTL you can select between rising and falling edge trigger and triggering on both edges see also chapter 8 5 2 on page 151 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 IR controlled shutter glasses are used The goal is to reduce or eliminate interference The ART track ing syst...

Page 61: ...nes syncgroup 2 The time delay related to syncgroup 1 is 480µs Out3 Defines syncgroup 3 The time delay related to syncgroup 1 is 960µs USB port Please plug in all USB based devices here e g ART radio transceiver for Fly stick2 3 Trivisio wireless transceivers YEI wired inertial sensors refer to chapter 6 on page 71 Ethernet port Please connect the controller to your local network using an RJ45 cab...

Page 62: ...ocal network You may either use the controller as a DHCP client within your network figure 5 4 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 t...

Page 63: ...tter 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 Z The external sync input is not internally terminate...

Page 64: ...wer socket If you want to set a specific static IP address before booting the controller please refer to chapter 8 2 4 on page 127 for more information Press the switch next to the power plug to start the controller Finally start the DTrack2 fron tend software on the remote PC Please refer to chapter 8 on page 121 for more details i If the controller is not connected via an ethernet cable or no DH...

Page 65: ...e ends at the 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 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 t...

Page 66: ...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 5 4 1 Connecting a cascade Depending on your setup there are different options how to connect the single tracking systems within a cascade Option 1 master a...

Page 67: ... 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 Z The ART Radio Transceiver for Flystick2 and Flystick3 has to be con nected to the master controll...

Page 68: ...e switched on and the cameras are running indicated by two LEDs at the front side of the cameras 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 5 5 on page 67 they will acquire an IP address automatically given that a DHCP server is running If you want to set a speci...

Page 69: ...nd software on the remote PC and establish a connection to the master i We recommend creating a new configuration for all cascaded systems DTrack2 Configurations New Now go to Settings Cascaded System to enter the configuration dialogue for the cas caded system see figure 5 7 on page 69 There you have the possibility to select single tracking systems to join in the cascade On the right hand side o...

Page 70: ...ave 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 The changes will be accepted by the system if you press OK Settings e g flash intensity 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 inside the cascade can be viewed...

Page 71: ...ure 6 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 joystick events and correlates them with the 6DOF output data Tracking and interaction data are then transmitted to the application via Ethernet ...

Page 72: ...n inter action which can be defined in the user application e g drag objects while button trigger pressed open a menu dialogue Table 6 1 Description of the Flystick2 In neutral position the joystick transmits x 0 y 0 Moving left creates negative x values moving right positive x values Moving down creates negative y values moving up positive y values Full extension into any direction creates values...

Page 73: ...artment 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 6 3 Flystick2 inserting the battery pack Insert the battery pack taking care of the polarity also note the imprinting INSERT on the battery pack Apply the cover of the bat...

Page 74: ...livered 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 charger the initialisation starts status LED Yellow After a few seconds the charger switches to the fast charge mode status LED Orange Once th...

Page 75: ...ial e g projection screens 6 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 6 5 Flystick3 It is equipped with an active1 or passive target a tr...

Page 76: ...the buttons is as follows 1 trigger 2 4 blue buttons right to left Figure 6 6 Flystick3 control elements Top View Event Description status LEDs green pulse button pressed or joystick position successfully transmitted yellow pulse button pressed or joystick position could not be transmitted yellow and green flickering low battery recharge soon trigger but ton and joystick press the trigger or any b...

Page 77: ... button just on top of the charging jack You may use a paper clip to press the reset button Data output The output data consists of position and orientation of the Flystick status of buttons and joystick number of used Flysticks Please refer to chapter B on page 250 for more information about the format of the output data 6 2 2 Battery pack Inserting the battery For inserting the battery into the ...

Page 78: ...attery correctly within the cut out Risk of explosion if battery is replaced by an incorrect type Dispose of used batteries according to governmental regulations Apply the back cover again and tighten the screws carefully Figure 6 9 Close the battery compartment of Flystick3 78 ...

Page 79: ...ror occured during charging The battery may be defective or it has been wrongly inserted 6 2 3 Radio module The Flystick3 uses a radio module in the 2 4GHz band This band is standardized inter nationally 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 6 2 4 Wireless synchronization active Flystick3 discontin...

Page 80: ...apply the changed settings Please refer to chapter 8 5 1 on page 146 i If your system is configured with more than one syncgroup it is nec 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 6 3 Flystick Installation 6 3 1 Radio Transceiver First the USB Radio Transceiver has to b...

Page 81: ...ks you are using Select Settings Flystick and configure the number of Flysticks see figure 6 11 on page 81 Figure 6 11 Flystick Settings As soon as you change the number of Flysticks entries in the selected Flysticks field will pop up 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 h...

Page 82: ...tion Refer to page 82 in chapter 6 1 on page 71 for more information 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 Option active Flystick3 only Description sync groups Configure your active Flystick3 discontinued to send out IR flashes for one or more syncgroups syncgroup 1 syncgroups 1 and 2 default syncgro...

Page 83: ...ther select this computer remote PC or enter an IP address of another computer you want to send data to By ticking the check box 6df2 you can define the Flystick data to be transmitted Please refer to chapter 8 5 7 on page 160 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 Please refer to ...

Page 84: ... with five active finger markers c FINGER TRACKING2 device with three tactile active finger markers Figure 6 12 All Fingertracking devices Data output The output data consists of position and orientation of the hand number of the tracked fingers and a value to distinguish between left and right hand position and orientation of the outermost phalanxes the radius of the finger tip to identify its po...

Page 85: ...ly synchronization received and tracking red LED continuously no synchronization received red and green LED flashing battery low or discharged infrared LEDs IR LEDs for tracking power button activate or deactivate the Fin gertracking hand target configuration dial select the LED brightness and the number of fingers letters L and R indicate whether the hand target is dedicated for the left or right...

Page 86: ...uration dial is used to select the LED brightness and the number of fingers used in the setup please refer to figure 6 13 on page 85 A detailed description of the configuration dial may be found in table 6 6 on page 86 ID no of sync finger Flash time µs 0 3 25 1 3 50 2 3 75 3 3 100 4 5 25 5 5 50 6 5 75 7 5 100 8 9 Table 6 6 Description of the configuration dial Standard Fingertracking Note For ser...

Page 87: ... 87 a Step1 b Step2 Figure 6 15 Inserting the battery Standard Fingertracking 6 4 2 FINGERTRACKING2 Tactile Hand Targets On Off switch Move the switch to the On position to turn on the hand target unit In case of tactile thimbles the vibration motors are started sequentially as a test run After turning on the hand target unit the status LEDs light up according to table 6 7 on page 88 In Off positi...

Page 88: ...vates deactivates the hand target L H switch select the IR LED brightness low high set 1 2 switch select the target geometry i e 2 second pair colored marking front side indicates the correct thimble set red right hand or blue left hand letters L and R em bossed bottom side indicates whether the hand target is dedi cated for the red right hand or blue left hand sticker bottom side showing the type...

Page 89: ...atteries see figure 6 17 on page 89 Watch for correct polarity Close the lid of the battery compartment afterwards Connecting the finger thimble set to the hand target unit Just plug in the connector of the finger thimble sets into the hand target as shown in figure 6 18 on page 90 Please connect the correct thimble set to the corresponding hand target by verifying the colored markings Then apply ...

Page 90: ...n page 90 Tactile thimbles additionally feature a vibrational motor to induce feedback Figure 6 19 Comparison of the finger thimble sets VR AR for Fingertracking and AR for FINGERTRACKING2 Tactile The active markers for the finger tips are sequentially addressed to allow the tracking sys tem to discriminate between the single fingers Therefore the update rate of the fingers is only a fraction of t...

Page 91: ... For this purpose an additional external flash can be purchased from ART To activate the modulated flash please refer to chapter 8 5 1 on page 146 Z 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 Only one camera can emit the modulated flash thus the se lected one ...

Page 92: ...ibrations for all hand targets using the target library When using customized hand targets please refer to the corresponding chapter 6 4 6 4 on page 95 for further details 3 Calibrate the complete hand geometry i e the position and orientation of the finger tips in respect to the hand target 4 optionally Install an ART radio transceiver when using FINGERTRACKING2 Tactile devices refer to chapter 6...

Page 93: ...ndow can be assigned to a se lected Hand ID the following way mark the respective Hand ID from row H1 H4 under selected hands by left clicking mark the appropriate entry Available for hand ID H1 H4 under available hand geometries by left clicking and press Select optionally confirm to overwrite the assignment by pressing OK This confirmation will only show up when the assignment to a specific Hand...

Page 94: ... 6 3 Fingertracking Body calibration via Target Library Open the sub dialogue Fingertracking Body Calibration via Target Library to assign the corresponding body calibration of each hand target to a selected Hand ID All hand tar get body calibrations stored in the target library are shown on the right side of the window Figure 6 21 Fingertracking Administration Body Calibration Target library i Th...

Page 95: ...By default the Fingertracking without tactile support is delivered with different hand target geometries when using two pair of sets whereas FINGERTRACKING2 Tactile de vices have to be set up properly i e one pair needs to be configured to Set 1 while the other pair is running on Set 2 Please refer to chapter 6 4 2 on page 87 how to switch the configuration Z Select the Set 1 or 2 configuration of...

Page 96: ...e calibration process Figure 6 23 Fingertracking Administration Hand Geometry Calibration The hand geometry calibration is performed the following way enter a meaningful name for the geometry e g username left in the field new hand geometry name select the handedness by ticking the corresponding radio button for left or right hand select the appropriate thimble set from the dropdown menu fingerset...

Page 97: ...se it s no problem to move the entire hand slightly A progress bar shows the status of the calibration Z If calibration step 1 fails please check if modulated flash is activated for one camera and if the correct handedness and thimble set is se lected After the first step has been completed a new countdown for step 2 is started During the second phase calibration step 2 keep the fingers stretched ...

Page 98: ... put on again by the same user the system needs to reset the correct order of the finger tips To regain the correct sequence the hand must be kept still with all fingers stretched out and the thumb spread to the side see first phase of calibration process When using two hands both hands have to be separated by at least 50 cm during this procedure Although the Fingertracking devices will compensate...

Page 99: ...ied by this value By default this feed back gain is set to average Please refer to B 3 1 on page 268 for more information about setting the feedback strength Activate the slider Feedback Gain by double clicking then move it to the right to increase the gain setting move the slider to left to decrease it respectively You can also test the feedback strength refer to the next chapter 6 4 6 7 on page ...

Page 100: ... and glcal you can define the Fingertracking data to be transmitted Please refer to chapter 8 5 7 on page 160 for more details Press Start to start the measurement In order to see the tracking data you have to enable the Fingertracking display by clicking Display Fingertracking Please refer to chapter 8 3 3 on page 135 for details 6 4 7 Display tool Fingertracking Viewer The Fingertracking Viewer ...

Page 101: ...nd at a convenient position and press the Grab object button 6 5 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 op...

Page 102: ...erence 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 Data output The output data consists of position and orientation of the tool s tip number of the Measurement Tool rotation matrix of the target Please refer to chapter B on page 250 for more information about the format o...

Page 103: ... measurement valid range 10 120 maximum lead time for this angular variation s waiting time before the measurement start after ges ture detection Table 6 9 Measurement Tool settings References If you are working with a reference body you may assign it to a specific Measurement Tool ID mark the respective Measurement Tool mark the reference body and press Select Repeat these steps if you want to as...

Page 104: ...n page 177 by selecting Calibration Body In the up coming dialogue the body to be selected is named Measurement Tool body 01 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 appears in the background If you are working with a...

Page 105: ... Tip Calibration Result Please check the information displayed and either Accept or Cancel the tip calibration 6 5 1 2 Measurement Tool 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 computer remote PC or enter an IP address of another computer you want to send data to By ticking the che...

Page 106: ...USB plugs of the transceivers 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 Z Be sure just to use active USB 2 0 extension cables like the supplied ATEN UE250 to connect the transceivers Dongles to an ART Con troller Otherwise proper function of the transceivers cannot b...

Page 107: ...sponding dongle Please refer to figure 7 4 on page 110 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 see figure 7 2 on page 107 The currently used channel is marked in bold digits while all channels that are not recommended are greyed out Additionally ...

Page 108: ... corresponding target geometries are automatically added to the tab standard bodies in the menu Body Administration Shortcut F8 and the sub dialogue Hybrid Bodies of the menu Inertial Sensor Settings respectively Z Please ensure that all sensors have been charged or alternatively at tach the sensors to the supplied charging hub prior to the following steps Turning on off wireless inertial sensors ...

Page 109: ...xpect 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 i If you cannot remember the current radio channel of your sensors you can either choose all to scan all channels from 1 to 80 note this takes some time or id...

Page 110: ...easurement Current tracking frequency Hz only after measurement Calibration Status not calibrated optical only fully calibrated Delete function i The temperature values between single inertial sensors may vary The 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 valu...

Page 111: ...eed to re assign the inertial sensors on pre calibrated targets or to calibrate the targets manually Z Reassignment or disassociation of inertial sensors and pre calibrated optical targets will render the corresponding bodies useless There fore enter the sub dialogue Inertial Sensor Settings Hybrid Bodies only when necessary 7 2 Wired hybrid targets Within DTrack2 go to the menu Settings Inertial ...

Page 112: ...top of the customer s gear would render any pre calibration useless 7 2 1 Connecting the wired inertial sensor This needs to be done initially in case the sensor is already available please skip this step Within DTrack2 go to the menu Settings Inertial Sensor and open the Settings sub dialogue see figure 7 5 on page 112 Z Never attempt to connect 3 Space wired sensors hybrid targets to a personal ...

Page 113: ...attached sensors Tick the checkbox of the 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 The dialogue Inertial Sensor Settings see figure 7 7 on page 113 now shows all available sensors with the following properties Figure 7 7 Inertial Sensor Settings Wired inertial sensor added Device ID Model e g 3 Sp...

Page 114: ... for wired sensors 700 Hz Use the spinbox in the upper right corner of the window to select a different value if necessary 7 2 2 Assigning the wired inertial sensor After adding the inertial sensor it needs to be assigned to an optical target which has been calibrated beforehand Change to the sub dialogue Hybrid bodies inside the dia logue Inertial Sensor Settings see figure 7 8 on 114 Figure 7 8 ...

Page 115: ... 3 Space wired Device ID of the assigned inertial sensor Calibration Status not calibrated optical only fully calibrated Filter Status please refer to chapter 8 5 6 1 on page 158 Additionally all attached inertial sensors are listed on the right side together with Device ID Model e g 3 Space wired Assignment Status not used Used i In order to identify the inertial sensor and to assign it to the co...

Page 116: ...e countdown disappears the upcoming dialogue will show the status of the calibration via a progress bar see figure 7 10 on page 116 Figure 7 10 Hybrid Body Calibration Progress Bar In the upcoming result window see figure 7 11 on page 116 the residual of the calibration and the sensor delay of the inertial tracking data is displayed Figure 7 11 Hybrid Body Calibration Result 116 ...

Page 117: ...e hybrid body calibration as a rotation matrix by pressing the button Show details 7 2 4 Inertial Sensor Calibration After successful calibration of all hybrid bodies a drift correction for all inertial sensors should be measured and applied To this end all sensors have to be warmed up before hand Please refer to chapter 7 2 4 1 on page 118 for more details To start the inertial sensor calibration...

Page 118: ...ow Return to the Inertial Sensor Settings Hybrid Bodies subdialogue by pressing Exit once again i After the Inertial Sensor Calibration has been performed and applied its result is stored directly on the sensor for future use 7 2 4 1 Warm up of inertial sensors To start up the procedure simply press the button Warmup start in the dialogue Inertial Sensor Settings see figure 7 7 on page 113 or in t...

Page 119: ...necessary to select the appropriate one that drives the tracking frequency Figure 7 15 Hybrid Tracking Settings Inertial Sensors available license necessary You can switch between the following sources by ticking the corresponding radio button in the subdialogue Inertial Sensor Setting Tracking frequency as ART cameras The ART controller s synccard is used The tracking frequency is set according t...

Page 120: ... Use the adjacent spinbox in a range from 10 to 1000 Hz i Selecting a custom frequency higher than the tracking frequency pro vided by the inertial sensors e g 700 Hz for 3 Space wired inertial sensors could lead to minor tracking quality Z Keep in mind that send data divisor in menu Output Settings is also affecting the resulting data output frequency Please refer to chapter 8 5 7 on page 160 for...

Page 121: ...cking com support 8 1 Getting started Please refer to chapter A 6 on page 245 for more information on supported operating systems 8 1 1 Installation guide Windows Run the installation executable DTrack2_v2 x x_win32_install exe and the installation wizard of DTrack2 starts Click Next to continue and to start the installation process for ART DTrack2 software Administra tor rights are not necessary ...

Page 122: ... complete the DTrack2 setup wiz ard Now you can use DTrack2 8 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 in order...

Page 123: ...lease refer to chapter 8 8 1 on page 188 8 1 4 Start DTrack2 frontend software When you start up DTrack2 on the remote PC you will see the following splash screen see figure 8 1 on page 123 Figure 8 1 Welcome screen of DTrack2 Using the mouse or shortkeys 2 down 4 left 6 right 8 up you can move around the splash screen window e g to a secondary screen The position of the window is then saved and w...

Page 124: ...int just press Connect The main window will open refer to 8 3 on page 132 In case you would like to choose a different controller press Other Controller To wake up your controller from standby mode Wake on LAN please refer to 8 2 3 on page 126 In any other case i e testing IP address unsuccessful and resolving host name unsuc cessful and Wake on LAN unsuccessful please refer to chapter 9 on page 1...

Page 125: ...is running it will use its fall back IP address IP 192 168 0 1 subnet mask 255 255 255 0 a specific controller b scan the network Figure 8 2 Controller Selection 8 2 2 Setting a static IP address inside DTrack2 If necessary you can set your controller to a static IP address using the following steps start up DTrack2 and connect to your controller by pressing Connect select the menu Settings Contro...

Page 126: ...name into Wake On LAN after a few seconds see figure 8 3 on page 126 Figure 8 3 Welcome screen of DTrack2 with Wake On LAN option Z Please make sure that the controller is still connected to the local net work DTrack2 cannot wake up the controller if no physical connection between remote PC and controller is established Press the Wake On LAN button and DTrack2 will try to wake up the controller th...

Page 127: ... frontend It is possible to retrieve information file and to configure setup file the current settings of the controller without the DTrack2 frontend software You only need a standard USB pen drive FAT32 formatted Z Please note that these settings are not part of your personal configu ration Changes will affect all users of your controller Your controller may become unreachable with wrong IP setti...

Page 128: ...ame xyz site Domain Name Server 10 10 0 1 8 2 4 2 The setup file This file is used to configure the controller to be a DHCP client set a static IP address and to carry out a factory reset Z You can find your current license codes in the file ART_Controller_XXXX_licenses txt will be written to USB pen drive during factory reset Carrying out a factory reset will result in the loss of all your settin...

Page 129: ...ment one of the following lines to set or clear a domain name server SETNAMESERVER 192 168 0 254 set DNS IP or hostname SETNAMESERVER clear DNS factory reset of all other settings CAUTION use with care all your settings will be lost uncomment the following line to reset all other Controller settings additionally your ethernet settings will be set to DHCP if no fix IP is set above CAUTION also all ...

Page 130: ...a command a TCP connection to port 50105 of the server has to be opened and the commands see table 8 2 on page 130 can be sent The controller replies with ei ther dtrack2 ok or with an error message for commands and set requests or with result strings in case of a get request Z Please ensure that the commands are sent exactly in the given way with exactly one blank 0x20 between the elements and no...

Page 131: ... DTrack2CLI atc 301604025 cmd dtrack2 set config active_config config20160808102933552 DTrack2CLI atc 301604025 get config active_config config20160808102933552 To switch back to the default configuration use the following command DTrack2CLI atc 301604025 set config active_config standard DTrack2CLI atc 301604025 get config active_config standard Linux For Linux shell scripts additionally the nc c...

Page 132: ... 8 3 2 on page 134 the docking displays with graphical information see chapter 8 3 3 1 on page 135 and measurement results please refer to chapter 8 3 3 on page 135 Figure 8 5 Graphical user interface of DTrack2 8 3 1 Menu bar overview DTrack2 Shortcut page 141 Licenses License overview Adding licenses e g higher amount of cameras Fingertracking Measurement Tool or Cascaded Systems Configurations ...

Page 133: ...er Configure the IP and NTP settings of your controller Cascaded System Configure a Cascaded System with available con trollers Calibration Shortcut page 165 Start static reflex scan for all enabled cameras Starts the static reflex scan Inertial Sensor Calibration Re calibrate the drift correction of the inertial sensor Room F5 Room calibration Room adjustment Shift F5 Adjust transform the room co...

Page 134: ...rs seen tracked for each camera 2DOF Sync Status Displays the current tracking frequency Tracking Status Shows the number of tracked targets 6DOF single markers 3DOF ART Radio Status Displays the currently selected channel of the ART radio transceiver greyed out if not installed ART InertialSensor Sta tus Displays the currently selected channel of the inertial dongles wireless only and the status ...

Page 135: ...lystick and the operation of buttons and joystick Measurement Tool Shows the measurement results of the Measurement Tool and its reference body if assigned To change or activate the docking displays right click anywhere on the toolbar or use the menu Display refer to chapter 8 7 on page 187 Drag drop the display windows for re arrangement by left clicking 8 3 3 1 Monitor 2DOF display The Monitor 2...

Page 136: ...ge 170 Therefore as as reminder the Monitor 2DOF display of the corresponding cameras will show the message re calibration required in red color On the contrary the ART Controller will detect all cameras that have been removed from an already calibrated tracking system e g due to a disconnected cable and mark them as missing until a room re calibration has been performed The Monitor 2DOF display o...

Page 137: ...ith intensities of min 4 bars for VR applications yellow markers with intensities down to 2 bars are sufficient Additional Monitor 2DOF display settings In the Monitor 2DOF display additional functions are assigned to mouse interactions left mouse button Drag drop to move the camera monitors position within the Monitor 2DOF view middle mouse button Click to hide all camera monitors but the one you...

Page 138: ...lex supression areas for all enabled cameras Deletes the defined reflection areas for all enabled cameras at once Table 8 4 Features of the Monitor 2DOF view 8 3 3 2 Data Display On the left hand side the Data Display shows the respective 6DOF measurement results i e the position and orientation relative to the room coordinate system of all calibrated bodies The rotation angles are rotations aroun...

Page 139: ... A simple colour code indicates the status of the Fingertracking green Fingertracking device is being tracked tracking data is displayed yellow Hand target is being tracked i e fingers are calibrated but out side cameras FoV last known tracking data is displayed red Fingertracking device is not being tracked e g only back of the hand is calibrated last known tracking data is displayed white Finger...

Page 140: ...yed red tool is not being tracked e g tip calibration is missing instead of tracking data dashes are displayed blue measurement is being performed white tool is not calibrated columns are left blank Z A Measurement Tool with an assigned reference body can only be tracked when the reference body is tracked as well 8 3 3 6 Event display The Event display presents the status of the tracking system It...

Page 141: ...en established Feature Values Possible license status Cascaded Systems supported not supported Fingertracking supported not supported Inertial Sensors supported not supported Measurement Tool supported not supported DTrack2 max C cameras 1 C 2 4 8 16 supported DTrack2 all cameras supported DTrack2 max B bodies B 4 10 30 supported DTrack2 all bodies supported Table 8 6 Licenses overview i The maxim...

Page 142: ...ther modules 8 4 2 Configuration management It is possible to create personalised configurations e g with different targets or flash settings You can assign a user name and if necessary lock the settings by password protection Press New to create a new personal configuration see also figure 8 9 a on page 143 Assign a meaningful description description and enter your user name owner see figure 8 9 ...

Page 143: ...e password please call ART for assistance Any existing configuration may be activated by selecting the corresponding entry and clicking Apply Quit this dialogue by pressing Exit the configuration is loaded Only existing configurations without password protection can be deleted Select the entry to be deleted and click Delete 8 4 2 1 Backup of Configurations It is possible to export and re import si...

Page 144: ...ay logs etc in case you need to contact tech support at ART Export opens a new window see figure 8 10 on page 144 where a list of all event logs from the past 30 days is shown Select the appropriate File by left clicking or by moving the slider below the table to the left or right respectively You can also enter the number of last days manually Pressing Export saves the selected event logs togethe...

Page 145: ...ng camera see chapter 8 3 3 1 on page 135 for details perform a room re calibration 8 6 3 3 on page 170 added cameras are automatically marked as moved in the room re calibration dialogue Z DTrack2 is able to operate when cameras have been added or removed for best performance it is highly recommended to perform a recalibra tion 8 4 5 Controller standby Force the controller to go into standby mode...

Page 146: ...5 1 Cameras Settings This dialogue see figure 8 11 on page 146 shows a list of all cameras currently con nected to the system as well as all cameras that have been removed since the last valid room calibration It allows changes of all camera specific settings e g flash intensity camera orientation syncgroup assignment etc Here you can also toggle modulated flash in order to synchronize an active t...

Page 147: ...e currently selected flash intensity set individually Static reflex suppr De activates the static reflex suppression for this camera set individually Sync group Select the syncgroup Channel 1 Channel 3 for ART TRACK5 ARTTRACK5 C TRACKPACK E set individu ally Camera mode Select the camera mode available modes depend on model set individually Room cal Shows the status of room calibration i e no for ...

Page 148: ...tems see also chapter 5 1 on page 55 To change the predefined time delays please refer to 8 5 2 on page 151 Camera mode Depending on the model and on your application one can change the camera mode i e the FoV in order to achieve higher max frame rates lower latencies i e time delays for measurement data Please refer to chapter A 7 on page 246 for more details To switch the camera mode select the ...

Page 149: ...itive environments Global display mode ARTTRACK5 only Select default to activate the status LEDs and the 2 digit LED matrix display to show the currently assigned camera ID only Alternatively select number of markers camera ID to display the number of detected markers in the camera s FoV instead only during measurements The 2 digit LED matrix display can also be deactivated by selecting only statu...

Page 150: ...tion see figure 8 12 on page 150 Option 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 maximum 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 8 5 1 2 Individual tabs Each camera can also be acc...

Page 151: ...ed in the Monitor 2DOF display Display intensity ART TRACK5 only Adjust the brightness of the status LEDs and the 2 digit LED matrix display Display mode ART TRACK5 only De activates the 2 digit LED matrix display Sync group Select the syncgroup Channel 1 Channel 3 for ART TRACK5 ARTTRACK5 C TRACKPACK E set individu ally Display upside down The checkbox display upside down switches the orientation...

Page 152: ...l triggers on rising edge external TTL signal for validated shutter glasses 1 external TTL signal both edges 3 see above triggers on rising AND falling edge external TTL signal both edges for validated shutter glasses 1 3 direct settings advanced custom settings 1 predefined settings that should be used with the shutter glasses described in table 8 9 on page 153 2 use this mode if the frequency of...

Page 153: ...of rising Frequency Hz The tracking frequency can be set between 10 Hz and the max frame rate of the cameras in steps of 1 Hz The max frame rate depends on the camera model and the selected camera mode Please refer to chapter 8 5 1 on page 146 for more information Divisor for external signal If the frequency of the external synchronisation source is higher than the max frame rate of the cameras a ...

Page 154: ...ditionally you will get information about all attached interaction devices e g Flystick Figure 8 14 ART Radio Info Settings The following information is offered Info Description Model Shows the model of the transceiver or the device respectively Serial Shows the serial number of the transceiver or device respec tively Version Shows the firmware version of the transceiver Is present yes The transce...

Page 155: ...the tracking data appears on the right hand side of the data display refer to chapter 8 3 3 on page 135 Automatic start of measurement By activating the feature automatic start of mea surement after booting the tracking system starts measuring as soon as the controller has booted up This is useful to run systems without the DTrack2 frontend Axis 5DOF central Select the axis using the drop down men...

Page 156: ...und in chapter 8 5 6 1 on page 158 Calibration Switch to the Body Calibration dialogue and perform the optical calibra tion for the selected target A detailed description for body calibration can be found in chapter 8 6 5 2 on page 177 Hybrid Body Calibration Access the Hybrid Body Calibration dialogue and perform the calibration for the selected hybrid target A detailed description for hybrid bod...

Page 157: ...librated by the user manually after inital cali bration via the Target Library function Change order With the arrows on the right hand side of the window you may re arrange the order of the targets The data output will change accord ingly Table 8 11 Body Administration Detailed description i The maximum number of bodies depends on your license and includes ALL calibrated interaction devices e g 4 ...

Page 158: ...trary tracking e g of HMD units oftentimes calls for a compensation of sys tem intrinsic latencies Here DTrack2 is able to deliver tracking data that incorporates probabilistic prediction up to tens of milliseconds ahead in time Either by using the menu Body Administration or directly through the main GUI docking window Data Display one can set the filtering options for each target Please refer to...

Page 159: ...thout prediction or smooth ing designed for e g Hybrid Motion Capture hybrid HMD medium prediction Filter for hybrid targets with prediction of tracking data designed for e g HMDs Table 8 12 Filtering of 6DOF tracking data Detailed description of the presets It is also possible to customize the tracking behaviour to the requirements of the applica tion using the following tunable settings Settings...

Page 160: ...or unit HMDs and similar pro jective units e g AR glasses Table 8 13 Customizable preset 6DOF filtering Detailed description of the parameters 8 5 7 Output Settings In this dialogue one can determine the settings for data output via ethernet see figure 8 18 on page 161 Tick the checkbox active on the corresponding tab to enable data output for each channel Please refer to chapter B on page 250 for...

Page 161: ... tracking output The UDP output data may also be routed by DTrack2 by ticking the checkbox act as router for tracking output This functionality is especially im portant when it is not allowed to connect the controller to your local network due to IP security reasons The mandatory requirement for this function is that the PC running the DTrack2 frontend is equipped with two ethernet LAN ports One i...

Page 162: ... Please refer to chapter 6 5 on page 101 to learn how to install the Measurement Tool 8 5 11 Advanced Controller Settings The menu Advanced Controller Settings is divided into two tabs Network and Time 8 5 11 1 Network Configuration On the Network tab you may change the network specific settings and watch the CPU temperatures inside the controller Network According to your network guidelines it ma...

Page 163: ...e bottom of this dialogue you can read the CPU temperature inside the controller The upper value shows the current temperature in C while the lower value indicates the temperature maximum since last boot up i e the highest temperature reached since the controller was started When reaching elevated or critical levels the values are highlighted in orange or red color 8 5 11 2 NTP Configuration On th...

Page 164: ...he ART con troller s internal clock is indicated by the estimitated precision in the unit milliseconds ms Z Complete synchronization with NTP servers usually takes some time In case of large differences between master clock and local time client the clock may be updated immediately but complete synchronization will still take some additional time i Synchronization with NTP servers does not affect ...

Page 165: ...tic static reflex scan A scan function will detect and suppress reflections automatically Open Settings Camera Settings and mark the checkboxes for each camera you would like to activate the reflex suppression feature Please refer to chapter 8 5 1 on page 146 for details Afterwards select Calibration Start Static Reflex Scan for all enabled cameras to start the scan 2 manual static reflex suppress...

Page 166: ...k on the respective camera and deactivate the option Active To perma nently delete the reflex suppression areas for one camera right click on the respec tive camera and select Delete all reflex suppression areas and accept the changes You can also delete the reflex suppression areas for all cameras at once by selecting Delete all reflex suppression areas for all enabled cameras 8 6 2 Inertial Sens...

Page 167: ...room calibration Room Calibration Sets Next select from a series of predefined calibrations sets i e a pair of angle and wand representing the common ART Room Calibration Sets see table 8 16 on page 167 using the dropdown menu marker distances or use the expert mode Calibration Set wand length mm marker dia mm height mm see Fig 8 23 TRACK PACK ART TRACK 2 3 ART TRACK5 TRACK PACK E RCS TP 410 0 20 ...

Page 168: ...ordinate System With the drop down menu inside the dialogue you may define how the coordinate system of the room is created relative to the calibration angle refer to table 8 17 on page 169 Define the coordinate system as normal or powerwall Duration You may also adjust the duration of the room calibration Show details in a range of 10s 120s Resetting the value to default is achieved by pressing t...

Page 169: ...on of the camera position has been collected for this camera ARTTRACK5 only This progress is also displayed individually on each the 2 digit LED matrix display of each camera After collection of sufficient data the LED matrix changes back to its defined setting Please refer to chapter 8 5 1 on page 146 for detailed informa tion Z The point cloud should fill at least two thirds of the measurement v...

Page 170: ...bration is confirmed i e the data are stored by pressing the button OK Z Please note that percentages of more than 70 may not be reached in large and complicated measurement volumes 8 6 3 3 Room re calibration All camera setups may change after a certain operation time if e g movement of single cameras due to mechanical instabilities cannot be ruled out or thermal drifts occur it is necessary to p...

Page 171: ...n is possible as long as camera movements are not too large It will fail e g if the mounting of cameras was changed completely 8 6 4 Room adjustment During a room calibration the reflective marker marker 1 in the angle s vertex see fig ure 8 23 on page 168 defines the origin of the coordinate system Oftentimes it might be more suitable to set the origin in respect to a well known point in space Us...

Page 172: ...e 8 27 on page 172 You can define the orientation of two axes using the drop down menus the third one will be oriented auto matically according to the right hand rule Figure 8 27 Room adjustment dialogue coarse Z If you press Enter or click OK all changes so far will be confirmed changes are sent to the controller and the dialogue closes Pressing Apply accepts the current changes but the dialogue ...

Page 173: ...s below the graphical view to adjust position and orientation To center the current room coordinate system press Adjust view To restore the default view shift and orientation press Reset view The visualisation itself can be changed by clicking the right mouse button to open a menu with the following options De select the appropriate ones by un ticking Option Description Long axes extends the coord...

Page 174: ...oom matching dialogue see figure 8 29 on page 175 This functionality depends on the Measurement Tool license i If the Measurement Tool is not tracked calibration provided matching cannot be performed Use an authorised Measurement Tool by ART for best results Z Deselect any previously assigned Measurement Tool References prior to matching of the coordinate systems Otherwise matching results will be...

Page 175: ...re the data points in the exact sequence of the reference data 3 After having measured all corresponding points the calculation is started automati cally and the result of the transformation is displayed in the textbox transformation Double check that all measured data points correspond to the correct reference data points Delete single data points by selecting the corresponding row and press Re m...

Page 176: ...markers seen from one camera s point of view are merging to one reflection body calibration may be affected These merging marker situ ations 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 using DTrack2 s Monitor 2DOF display which is opened automatically in the background after sta...

Page 177: ...t 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 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 o...

Page 178: ...Double check whether all markers of the rigid body have been recognized Then con firm the result with OK The information i e geometry data of the calibrated target will be stored inside the ART Controller in your personal configuration see also 8 4 2 on 142 8 6 5 4 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 zer...

Page 179: ...ordinates 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 ...

Page 180: ...ed axis The origin is in the middle between the two markers with the largest distance to each other The orientation is de fined 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 tar...

Page 181: ...coming window see figure 8 32 on page 178 the coordinates of all identified markers are listed together with the body s label as well as the number of markers It is analogue to the body calibration result By clicking Show details additional information can be displayed Distances shows all possible combinations of distances for all markers min dis tances are important for customer specific geometri...

Page 182: ...5 8 Target Library With the introduction of DTrack2 v2 8 1 it is possible 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 8 35 The filter is set to Found Targets by default whereas the other options may be used in case only targets of this t...

Page 183: ...accept all 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 8 6 6 Body adjustment The Body adjustment function is a tool to visualise and manipulate calibration data of rigid bodies i e the body coordinate system may be changed relative to the markers of the body Just s...

Page 184: ...er identification In case the selected rigid body features visibility restrictions emission cones may have been predefined Direction of visibility emission vector is depicted as an arrow white for each marker while the angular restriction emission aperture is shown as a cone grey The View position and View orientation may be moved along and or rotated around all axes in two different ways 1 hold d...

Page 185: ... 8 6 6 2 Changing of body geometry For manipulating the body geometry you have the choice between General or Special options General The body coordinate system may be customized freely i e user specific 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 ...

Page 186: ...and the dialogue closes Pressing Apply only results in changes of the currently selected body the body will be redrawn afterwards and the dialogue is left open Discard all changes by pressing Cancel Press Reset to switch back to the unmodified state Z If the MultiUser function for Flysticks is enabled the Body Adjustment module will only load standard bodies If you want to adjust the body calibrat...

Page 187: ...ngle markers e g from not calibrated targets is shown if activated Fingertracking The Fingertracking display shows the measurement results for the hands i e of back of the hand each finger thumb index middle Flystick The Flystick display shows the measurement results of the position and orien tation of the Flystick Measurement Tool The Measurement Tool display display shows the measurement results...

Page 188: ...e 188 will start up to guide you through the process of software update Closely follow the instructions given during this process The con troller will be restarted to finish the update process In case of firmware updates the cameras need to be turned off separately You can always abort the update by cancelling i Personal settings and configurations e g room and body calibration output settings etc...

Page 189: ...r import in a spreadsheet program Clear list Delete all entries of the list The distances between adjacent points are computed automatically You may insert or delete points from the list and you may save the list to a file i If the Measurement Tool is not tracked a measurement cannot be per formed 8 9 Menu About DTrack2 Offers information about the software version and release date of the DTrack2 ...

Page 190: ...out DTrack2 Information About Qt Offers information about the Qt software toolkit used in DTrack2 What s new Provides information about the new features that have been released with the current version By clicking on Show more you can access the history of introduced features in previous versions see figure 8 40 on page 191 190 ...

Page 191: ...tion What s this By clicking What s this you may use our context sensitive help function within DTrack2 frontend software Just point the mouse cursor on any feature of the DTrack2 GUI then click on the left mouse button to receive additional information 191 ...

Page 192: ...nt configurations From DTrack2 v2 8 1 it is possible to export and import configurations Please refer to chapter 8 4 2 1 on page 143 for details how to export and backup your configurations In case of an accidental deleting of a configuration it will be possible to restore it presuming that an export had been carried out before In the unfortunate event of repairs this data could also be restored t...

Page 193: ...ault 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 29 for the visualization of the camera ARTTRACK5 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 33 for the visualization of the cameras TRACKPACK E The lower left LED show that the ca...

Page 194: ... the need 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 cascad ing 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 cascaded systems li cense as well as a sufficient license for ALL cameras inside th...

Page 195: ...e 124 or chapter 5 2 on page 60 or chapter 5 3 on page 63 What is the IP address of my controller You may use a standard USB pen drive 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 8 2 4 1 on page 128...

Page 196: ...look as follows Active stereo when using external synchronization TTL the correct cabling would look as follows 2 Check the synchronization settings software issue Go to Settings Synccard and double check the settings external video sig nal or TTL for the Synccard In case of external synchronization please make sure that the synchronization signal is being sent by the external source Synchronizati...

Page 197: ...ouble check if the terminating resistor is missing at the end of the signal line Splitting of the synchronization line is not allowed Do not connect the cable directly to the slave controller 2 Check the cascade settings software issue Go to Settings Cascaded System and double check the attached slave con trollers Please refer to chapter 5 4 on page 66 In case of simultaneous external synchronizat...

Page 198: ...abling would look as follows Synchronization failed in ARTTRACK 2 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 Please make sure that the cables themselves are not damaged Take care of using the correct ports OUT1 to OUT3 synchronization of the cameras EXT In input of the extern...

Page 199: ...to Settings Synccard and double check the settings internal or external synchronization for the synccard 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 ARTTRACK 2 3 systems discontinued When using only one syncgroup the correct cabling would look as follows When using t...

Page 200: ...ing external synchronization TTL the correct cabling would look as follows Synchronization failed in TRACKPACK systems discontinued Here we have to distinguish between hardware and software issues 1 Check the cabling hardware issue Please double check whether the cables are connected correctly and that they are not loose Please make sure that the cables themselves are not damaged Take care of usin...

Page 201: ... 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 syncgroup The cables should be guided according to the following sketch Active stereo when using external sync...

Page 202: ...rfere Please refer to chapter 5 2 on page 60 or chapter 5 3 on page 63 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 Tracking stops when no stereo image is displayed Some gra...

Page 203: ...ur 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 Why is my frontend not starting up Please refer to chapter A 6 on page 244 for a list of supported operating systems If using Windows XP This is no longer supported as of DTrack2 2 13 0 Please update to Windows 7 or newer If using Linux some newe...

Page 204: ...rrect room calibration using all con nected cameras Please refer to section 8 3 3 1 on page 135 for more information about Adding removing cameras My target is not visualized within the Monitor 2DOF display Please make sure that the target is inside the tracking volume and within tracking range of the cameras Double check the settings for the flash intensities of the cameras refer to chapter 8 5 1...

Page 205: ...release of DTrack2 is always available at the ART Download Center http www ar tracking com support I 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 Please refer to chapter 8 4 2 1 on page 143 for furthe...

Page 206: ...s will not contribute to tracking Please refer to chapter 8 6 1 on page 165 for more information What do the abbreviations SR DR and UD mean SR static reflex suppression active UD display orientation is upside down Please refer to chapter 8 3 3 1 on page 135 for more information on the additional Monitor 2DOF display settings The display bar in the Monitor 2DOF display is indicating very high radi...

Page 207: ... 51 for more information I do not succeed in performing a room calibration 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 volume connects each camera to the others No other marker except for the ones belonging to t...

Page 208: ... 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 wand length is printed on a label on the wand select the correct calibration set 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 ...

Page 209: ... body calibration can be carried out only if a valid room calibration has been carried out before Check in the Event Display if there is a warning saying no valid room calibration additionally the button Calibrate is greyed out and cannot be clicked In that case please carry out a new room calibration Please make sure using the Monitor 2DOF display that no marker is overlapped i e merged by anothe...

Page 210: ...o room is used Please refer to chapter 8 6 5 4 on page 178 for more information 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 ma...

Page 211: ...he whole tracking area Furthermore it has to be assigned to syncgroup 1 ARTTRACK5 ARTTRACK5 C TRACKPACK E TRACKPACK systems may be configured via software while ARTTRACK2 ARTTRACK3 have to be connected to OUT1 on the controller s Synccard Also take into account that the distance between active target and cameras should not exceed 4 5m Active targets cannot be used near or in front of plasma screen...

Page 212: ...racking data is sent except for the frame number fr The application PC does not receive tracking data Go to Settings Output Define a receiver for the tracking data and configure the type of data to be transmitted Check the network connection physically and try to address the controller with a Ping Double check with a UDP receiver if data is being sent by the controller Activate the tracking functi...

Page 213: ...ed Press any button of the Flystick and the orange status LED should be switched on 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 Go to Settings ART Radio Info to see if the ART radio transceiver has been recognized Go to Settings A...

Page 214: ... The Flystick output data is not transmitted Go to Settings Output and check if the data output is configured correctly data receiver defined send to identifier 6df2 selected if you are using the old output format identifier 6df selected 9 11 Fingertracking The Fingertracking hand target is not recognized sporadically or even not at all Make sure that the battery is charged and the hand target is ...

Page 215: ... at the same time However the targets of the hand devices must be different How do I assign a hand geometry to a hand ID Go to Settings Fingertracking Please refer to chapter 6 4 6 on page 92 for further details The finger calibration fails What do I do wrong The configuration dial has to be turned to the proper position Please refer to chapter 6 4 1 on page 85 Go to Settings Cameras and tick the ...

Page 216: ... I cannot measure any points Please check whether both the Measurement Tool and the Measurement Tool reference body if assigned are tracked 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 Meas...

Page 217: ... 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 9 15 Radio transceivers used in ART products Can ART radio transceivers pose any security issue Radio transceivers for Flysticks Measurement Tool or Tactile Feedback use a protocol b...

Page 218: ... lens cleaners for optical equipment Do not open the housings Opening the housings implies risk for health and environment as well as loss of warranty and liability 10 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 purcha...

Page 219: ...sponsibility 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...

Page 220: ...10 General Information 10 4 Declaration of conformity 220 ...

Page 221: ...10 4 Declaration of conformity 221 ...

Page 222: ...10 General Information 222 ...

Page 223: ...10 4 Declaration of conformity 223 ...

Page 224: ...10 General Information 224 ...

Page 225: ...e responsibility that the product ARTTRACK5 to which this declaration relates is in conformity to the following standard s or other normative document s 2014 35 EC Low Voltage Directive EN 60950 1 2006 A11 2009 A1 2010 A12 2011 A2 2013 2014 30 EC EMC Directive EN 55032 2015 AC 2016 EN 55024 2010 A1 2015 2011 65 EC RoHS Directive EN 50581 2012 Weilheim i OB 16 01 2018 Dr A Weiss Managing Director 2...

Page 226: ...onsibility that the product ARTTRACK5 to which this declaration relates is in conformity to the following standard FCC 47 CFR Part 15 Subpart B Class B digital device Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Weilheim i OB 14 ...

Page 227: ...which this declaration relates is in conformity to the following standard s or other normative document s 2014 35 EC Low Voltage Directive EN 60950 1 2006 A11 2009 A1 2010 A12 2011 A2 2013 2014 30 EC EMC Directive EN 55032 2015 AC 2016 EN 55024 2010 A1 2015 2011 65 EC RoHS Directive EN 50581 2012 Warning Operation of this equipment in a residential environment could cause radio interference Weilhe...

Page 228: ...onformity to the following standard FCC 47 CFR Part 15 Subpart B Class A digital device Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation This is a class A product In a domestic environment this product may cause radio interference in...

Page 229: ... responsibility that the product TRACKPACK E to which this declaration relates is in conformity to the following standard s or other normative document s 2014 35 EC Low Voltage Directive EN 60950 1 2006 A11 2009 A1 2010 A12 2011 A2 2013 2014 30 EC EMC Directive EN 55032 2015 AC 2016 EN 55024 2010 A1 2015 2011 65 EC RoHS Directive EN 50581 2012 Weilheim i OB 16 01 2018 Dr A Weiss Managing Director ...

Page 230: ...nsibility 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...

Page 231: ...t the product ART Controller to which this declaration relates is in conformity to the following standard s or other normative document s 2014 35 EC Low Voltage Directive EN 60950 1 2006 A11 2009 A1 2010 A12 2011 A2 2013 2014 30 EC EMC Directive EN 55032 2015 AC 2016 EN 55024 2010 A1 2015 EN 61000 3 2 2014 EN 61000 3 3 2013 2011 65 EC RoHS Directive EN 50581 2012 Weilheim i OB 16 01 2018 Dr A Weis...

Page 232: ...ibility 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 1...

Page 233: ...10 4 Declaration of conformity 233 ...

Page 234: ...10 General Information 234 ...

Page 235: ...Appendix 10 4 Declaration of conformity 235 ...

Page 236: ...cal 98 77 77 57 60 44 Max tracking range 12mm markers 5 5m 5 5m 5 5m F 4 5mm FoV horizontal x vertical 75 60 60 45 47 35 Max tracking range 12mm markers 6 3m 6 3m 6 3m F 6 0mm FoV horizontal x vertical 54 44 44 33 34 26 Max tracking range 12mm markers 7 5m 7 5m 7 5m Connectivity Power Supply single cable solution via Gigabit Ethernet RJ45 PoE IEEE 802 3at Standard max cable length 100m Voltage 44 ...

Page 237: ... Hz 300 Hz F 4 0mm FoV horizontal x vertical 89 71 71 52 56 42 Max tracking range 12mm markers 4 5m 4 0m 3 5m Connectivity Power Supply single cable solution via Gigabit Ethernet RJ45 PoE IEEE 802 3at Standard max cable length 100m cable length to remote camera head 60cm Voltage 44 57 V defined by the Standard max power consumption 12 W Protection category III Interface connectors RJ45 hosts data ...

Page 238: ... 120 Hz F 3 5mm FoV horizontal x vertical 97 79 97 51 97 36 Max tracking range 12mm markers 4 5m 4 5m 4 5m Connectivity 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 III Interface connectors RJ45 hosts data synchronization and power Operating conditio...

Page 239: ... 5 50 5 50 5 50 5 50 non condensing non condensing non condensing non condensing Cooling system active fan noise level of the fan 16 5dB A passive active fan noise level of the fan 16 5dB A passive 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 adj...

Page 240: ...III 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 Cooling 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 Max working distance...

Page 241: ...possible with con nected charger no yes USB transmitter Connection to the PC USB USB Radio range depending on setup location e g walls at least 7m at least 7m 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 5 50 non condensing 5 50 non condensing General features Target type...

Page 242: ...rox 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 60Hz Frame rate thimbles 3 finger version 20Hz Frame rate thimbles 5 finger version 12Hz Tracking range 4m depending on focal length of the cameras 1 o...

Page 243: ...Dimensions Thimble set available in 4 different sizes extra small small medium large Weight 60g Performance Frame rate handtarget up to 300Hz Frame rate thimbles 3 finger version 100Hz Tracking range 4m depending on focal length of the cameras 1 valid for new batteries 2 300 Hz tracking frequency LED brightness setting high 1 vibration per second 3 300 Hz tracking frequency LED brightness setting ...

Page 244: ...and TRACKPACK systems discontinued max number of targets 50 max number of hands 4 max number of Flysticks Flystick2 5 Flystick3 1 Scalability ARTTRACK system fully scalable 2 50 cameras TRACKPACK E and TRACKPACK systems discontinued cascadable up to 16 cameras additional controller necessary Accuracy of the timestamp with a Synccard2 3 terr 0 01ms with a SynccardTP terr 0 5ms with a 3 Space wired ...

Page 245: ...s Free disk space 200MB Processor Intel P4 2GHz AMD K6 1 6Ghz RAM 1GB Operating systems Windows 7 32 64 Bit Windows 8 8 1 32 64 Bit Windows 10 32 64 Bit Linux openSUSE 12 3 32 64 Bit Linux Ubuntu 10 04 32 64 Bit Linux CentOS 6 6 32 64 Bit Settings firewall remote PC used ports 50105 for UDP TCP 50110 for UDP 245 ...

Page 246: ...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 ARTTRACK5 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 wit...

Page 247: ...Appendix A A 7 System latency TRACKPACK E 8 Camera System TRACKPACK E 12 Camera Cascade 4 Master 8 Slaves TRACKPACK E 16 Camera Cascade 8 Master 8 Slaves 247 ...

Page 248: ...A Technical specifications ARTTRACK2 discontinued ARTTRACK3 discontinued TRACKPACK discontinued 248 ...

Page 249: ...Appendix A A 7 System latency TRACKPACK Cascade discontinued 249 ...

Page 250: ...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 lx ly lz for a translational offset denoted x y z in the GUI η θ φ for a rotation denoted rx ry rz in the GUI s for a scaling factor T...

Page 251: ...er 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 the 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 build...

Page 252: ...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...

Page 253: ...lues are the coordinates of these markers measured in room coordinates In some situations a rigid body within the measurement volume is temporarily not cor rectly recognized by the software In these cases its markers appear as 3DOF objects 3DOF markers are tracked as long as possible and labeled with an ID number When a 3DOF marker vanishes or is recognized as part of a 6DOF body its ID number wil...

Page 254: ...h 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 Switch labelled as 6df Output 6df2 Output in figure B 1 front switch yellow id 0 code 01 hex button code 01 hex outer right switch on back...

Page 255: ...e if the Measurement Tool license is present for DTrack2 available since version v2 2 0 The Measurement Tool license allows the use of Measurement Tools i e pointing de vices with a special target geometry While tracking the module calculates position and orientation of the tip of the tool It is necessary to perform an additional calibration proce dure called tip calibration to provide the module ...

Page 256: ...nal entries of Σtip can be interpreted as the positional uncertainty in world coordinates Off diagonal values describe the statistical dependency between two values B 1 7 Fingertracking The Fingertracking device allows to track a human s entire hand including fingers The output data consists of position and orientation of the back of the hand given in room coordinate system number of the tracked f...

Page 257: ...eft hand see figure B 2 on page 257 for the right hand see figure B 3 on page 257 Figure B 2 Model of a human left hand Figure B 3 Model of a human right hand Z Please note that the Z axis points up towards the back of the hand for a left hand but down for a right hand Finger coordinate system The finger coordinate system used to measure the orienta tion of the outermost phalanx relative to the ha...

Page 258: ...ending 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 applica tions 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 datagram is sent after each measurement of ...

Page 259: ...ys the first one It carries a frame counter counting with synchronization frequency 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 1µs since 00 00...

Page 260: ...b1 b4 b7 b2 b5 b8 Z Note to avoid problems with different definitions of the angles we recommend to use only 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 Identifier 6di Measurement data of all tracked standard 6DOF bodies i e ...

Page 261: ...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 B 2 5 Flysticks Identifier 6df2 Z Note this format version replaces the older 6df format see B 2 6 Use it whenever possible The newer format for Flysticks is quite s...

Page 262: ... isn t equipped with buttons the output won t contain any bti number Controller elements are transferred into floating point numbers cti reaching from 1 00 to 1 00 In the output line they follow the button informations one number for each controller Z Note that the number of cti numbers in the block can vary with different Flystick hardware If the device isn t equipped with con troller elements th...

Page 263: ...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 0 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 with sphere tip Identifier 6dmt2 Z Not...

Page 264: ...variance matrix Σ of the Measurement Tool tip given in units mm2 Σ σ11 σ12 σ13 σ12 σ22 σ23 σ13 σ23 σ33 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 8 178e 04 9 166e 04 1 084e 03 4 463e 02 9 025e 03 1 286e 02 B 2 8 Measurement Tool references Identifier 6dmtr i Only available if the Measurement ...

Page 265: ...cense is present for DTrack2 available since version v2 2 0 The output for Measurement Tools is similar to the format for Flysticks The first number gives the number of defined Measurement Tools The data of each tool show up in blocks three consecutive like id qu bt sx sy sz b0 b1 b2 b3 b4 b5 b6 b7 b8 They contain 1 ID number id starting with 0 quality value qu see below and button infor mation bt...

Page 266: ... given in the hand s coordinate system b Orientation of the outermost phalanx bf i like standard bodies given in the hand s coordinate system c Radius of the tip of the finger rf o lengths of the phalanxes from the outer most lf o to the innermost lf i phalanx angles between the outermost and the middle phalanx αf om as well as between the middle and the innermost phalanx αf mi Z Note that the num...

Page 267: ... sz They contain ID number id starting with 1 and a quality value qu still unused and the position si 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...

Page 268: ...e hand it shows up in a block within brackets that contains 1 Hand ID number hand id starting with 0 corresponds with H1 H4 of the DTrack2 frontend 2 Finger ID number finger id running from 0 thumb to 4 pinkie 3 Penetration depth penetration depth a value between 0 0 and 1 0 denoting how deep the finger penetrates the virtual object 4 Strength strength a value between 0 0 and 1 0 corresponding to ...

Page 269: ...Appendix B B 3 Input of Special Control Data via Ethernet tfb 2 0 0 1 0 0 5 0 1 0 8 0 5 269 ...

Page 270: ...nsisting of angle and wand 52 4 15 Room calibration process 52 5 1 ART Controller front view 55 5 2 ART Controller back view 55 5 3 ART PoE switch front view 57 5 4 Connecting the ARTTRACK Controller to a local network 59 5 5 Principle of cascading using the LAN option 1 or the cascaded network port option 2 master ART Controller DTrack2 v2 11 67 5 6 Principle of cascading using the LAN option 1 o...

Page 271: ...ool Settings 102 6 28 Measurement Tool Tip Calibration 104 7 1 Inertial Sensor Settings Connecting wireless transceivers 107 7 2 Dongle Configuration Selection of a radio channel 107 7 3 Adding wireless inertial sensors 109 7 4 Inertial Sensor Settings Wireless transceivers and sensors added 110 7 5 Inertial Sensor Settings No wired inertial sensor connected 112 7 6 Adding wired inertial sensor 11...

Page 272: ...m coordinate system 168 8 24 Room calibration progress 169 8 25 Room calibration result 170 8 26 Room re calibration dialogue 171 8 27 Room adjustment dialogue coarse 172 8 28 Room adjustment dialogue fine 173 8 29 Room transform matching dialogue 175 8 30 Recognized target in DTrack2 Monitor 2DOF display 176 8 31 Body calibration dialogue 177 8 32 Body Calibration Result 178 8 33 Defining the tar...

Page 273: ...t Tool settings 103 8 1 Command line parameters 124 8 2 Remote command strings 130 8 3 DTrack2 menu structure overview 134 8 4 Features of the Monitor 2DOF view 138 8 5 Menu DTrack2 141 8 6 Licenses overview 141 8 7 Menu Settings 146 8 8 Overview of the supported synccard modes 152 8 9 Overview of validated shutter glasses 153 8 10 Body Administration Detailed description of the Controls 156 8 11 ...

Page 274: ...ring 6DOF 158 finger thimble sets 90 flash intensity 147 infrared camera ARTTRACK2 37 ARTTRACK3 40 ARTTRACK5 29 ARTTRACK5 C 32 TRACKPACK 42 TRACKPACK C 45 TRACKPACK E 35 infrared optical tracking system 17 interaction device Fingertracking 83 161 186 Flystick2 71 162 Flystick3 75 162 Measurement tool 101 162 186 IP address 69 128 liability 218 license code 141 line of sight 75 79 89 MAC address 12...

Page 275: ...nccard3 55 151 152 SynccardTP 63 151 syncgroup 13 56 61 for TRACKPACK 50 for ARTtrack 199 synchronization active marker synchronization 22 wireless synchronization 91 targets 24 timestamp 161 244 259 tip calibration 255 tracking 155 trademarks 2 USB radio transceiver 80 virtual point cloud 52 Wake On LAN WOL 126 195 wake on power WOP 195 wand 51 167 warranty 218 275 ...

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