7
How the fusionTrack device works
This chapter describes the fusionTrack device functioning.
7.1 Communicating with the fusionTrack device
The fusionTrack communicates with the host PC via Ethernet using a proprietary protocol. The
SDK
shipped
with the fusionTrack device implements the bidirectional communication: e.g. retrieving information from
the fusionTrack device, setting options and reading the data.
7.2 The fusionTrack device coordinates system and working volume
The fusionTrack uses a Cartesian right-handed coordinates system, described in Figure 7.1 and Figure 7.2.
Its origin is the optical centre of the left camera. Unless specified otherwise, all distances are expressed in
millimetres [mm].
The fusionTrack contains an accelerometer, whose system of coordinates has its
x
axis opposite to the
y
axis of the camera system of coordinates. Its
y
axis is colinear to the fusionTrack cylinder, pointing from
the right camera to the left one.
Figure 7.1: Coordinates systems, front view. The fusionTrack device
x
axis is in
red
, the fusionTrack device
y
axis is in
green
. The accelerometer
x
axis is in
cyan
and its
y
axis in
magenta
.
Figure 7.2: Coordinates systems, top view. The fusionTrack device
x
axis is in
red
, the fusionTrack device
z
axis is in
blue
. The accelerometer
x
axis is in
cyan
and its
z
axis in
yellow
.
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