DTrack2 User Manual V2.12.0 ART DTrack 2.12
User Manual: ART DTrack User Manual 2.12
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weisser Text als Fake ...
System user manual
ARTtrack R , TRACKPACK & DTrack R
version 2.12
April 2016
c 2016 A.R.T. GmbH
Contents are subject to
change without notice
dasbetrifft die gesamte seitenbreite der seite des
Trademarks
The following overview shows the registered trademarks of A.R.T. GmbH (Advanced Realtime Tracking GmbH):
trademarks
illustrated as
A.R.T. R
ARTtrack R
DTrack R
smARTtrack R
ART
ARTTRACK
DTrack2
SMARTTRACK
in Germany
in the EU
in the USA
×
×
×
×
×
×
×
×
×
×
×
×
×
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.
License agreement
The license provider guarantees the license holder a personal right to use the
DTrack2 software. A single license entitles the license holder to use the
software on all computers and networks of the license holder’s
branch/subsidiary office.
In no event shall ART GmbH be liable for any incidental, indirect, or
consequential damages whatsoever (including, without limitation, damages for
loss of business profits, business interruption, loss of business information, or
any other pecuniary loss) arising out of the use of or inability to use the software
or hardware.
c 1999 - 2016 by ART GmbH
Am Öferl 6
D-82362 Weilheim i. OB
Germany
T +49 (0)881-92530-00
v +49 (0)881-92530-01
http://www.ar-tracking.de
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 without 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
What’s new in version v2.11?
Following, a short overview of the main new features in DTrack2 version v2.11:
• Support of new TRACKPACK/E cameras with Controllers including Synccard3 (see
e.g. chapter 4.1.3 on page 31)
• Support of new ARTTRACK5/C cameras for cave installations with Controllers including Synccard3 (see e.g. chapter 4.1.2 on page 28)
• Improvements of usability of Hybrid Motion Capture (see chapter 4.4 on page 63)
What’s new in version v2.10?
Following, a short overview of the main new features in DTrack2 version v2.10:
• Support of ARTTRACK5 cameras with Controllers including Synccard3 (see e.g.
chapter 4.1.1 on page 25)
• Support of external sync source ’TTL signal, both edges’ (see e.g. chapter 4.5.6.3
on page 101)
• New license model. (see e.g. table 4.3 on page 76)
Contents
Terms and definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
1 Safety
11
1.1 Symbols and their meaning . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 Safety warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2 Introduction
14
3 Markers and targets (rigid bodies)
16
3.1 Passive markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2 Active markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3 Standard targets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4 System setup
4.1 The tracking cameras of ART . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.1 ARTTRACK5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.2 ARTTRACK5/C . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.3 TRACKPACK/E . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.4 ARTTRACK2 (discontinued) . . . . . . . . . . . . . . . . . . . . . .
4.1.5 ARTTRACK3 (discontinued) . . . . . . . . . . . . . . . . . . . . . .
4.1.6 TRACKPACK (discontinued) . . . . . . . . . . . . . . . . . . . . . .
4.1.7 TRACKPACK/C (discontinued) . . . . . . . . . . . . . . . . . . . . .
4.2 The Controllers of ART . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Installation of the ART Controller (DTrack2 since v2.10) . . . . . . .
4.2.2 Installation of the ARTTRACK Controller (discontinued) . . . . . . .
4.2.3 Installation of the TRACKPACK Controller (discontinued) . . . . . .
4.2.4 Setting a static IP address without the DTrack2 Frontend (available
from controller software version v2.2) . . . . . . . . . . . . . . . . .
4.2.5 The setup file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.6 The information file . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.7 Wake On LAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.8 Remote command strings . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Setting up cascaded systems . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Setting up the Hybrid Motion Capture System . . . . . . . . . . . . . . . .
4.5 DTrack2 frontend software . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1.1 Installation guide (Windows) . . . . . . . . . . . . . . . . .
4.5.1.2 Installation guide (Linux) . . . . . . . . . . . . . . . . . . .
4.5.1.3 Software update . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1.4 Start DTrack2 frontend software . . . . . . . . . . . . . . .
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5
4.5.2
4.5.3
4.5.4
4.5.5
4.5.6
4.5.1.5 Connecting to the controller . . . . . . . . . . . . .
4.5.1.6 Adjustment of the cameras . . . . . . . . . . . . .
4.5.1.7 Localizing and removing of disturbing reflections .
Room calibration . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2.1 Room re-calibration . . . . . . . . . . . . . . . . .
Body calibration . . . . . . . . . . . . . . . . . . . . . . . .
4.5.3.1 Selecting the coordinate system for 6DOF targets
4.5.3.2 Calibration with a calibration file . . . . . . . . . .
4.5.3.3 Body re-calibration . . . . . . . . . . . . . . . . .
4.5.3.4 Target Library . . . . . . . . . . . . . . . . . . . .
Body adjustment . . . . . . . . . . . . . . . . . . . . . . . .
Filtering options in DTrack2 . . . . . . . . . . . . . . . . .
Menu structure . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.6.1 Overview . . . . . . . . . . . . . . . . . . . . . . .
4.5.6.2 Menu DTrack2 . . . . . . . . . . . . . . . . . . . .
4.5.6.3 Menu Settings . . . . . . . . . . . . . . . . . . . .
4.5.6.4 Menu Calibration . . . . . . . . . . . . . . . . . . .
4.5.6.5 Menu Display . . . . . . . . . . . . . . . . . . . .
4.5.6.6 Menu Tools . . . . . . . . . . . . . . . . . . . . . .
4.5.6.7 Menu About . . . . . . . . . . . . . . . . . . . . .
5 Interaction devices
5.1 Flystick2 . . . . . .
5.2 Flystick3 . . . . . .
5.3 Fingertracking . .
5.4 Measurement Tool
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6 Frequently asked questions (FAQ)
6.1 Backup . . . . . . . . . . . . . . . . . . .
6.2 Cameras . . . . . . . . . . . . . . . . . .
6.3 Controller . . . . . . . . . . . . . . . . . .
6.4 Synchronization . . . . . . . . . . . . . .
6.5 DTrack2 and shutter glasses . . . . . . .
6.6 DTrack2 and interfaces . . . . . . . . . .
6.7 Software DTrack2 . . . . . . . . . . . . .
6.8 Calibration . . . . . . . . . . . . . . . . .
6.9 Tracking . . . . . . . . . . . . . . . . . . .
6.10 Flystick . . . . . . . . . . . . . . . . . . .
6.11 Fingertracking . . . . . . . . . . . . . . .
6.12 Measurement Tool . . . . . . . . . . . . .
6.13 Active Targets . . . . . . . . . . . . . . . .
6.14 ART tracking and 3D TVs . . . . . . . . .
6.15 Radio transceivers used in ART products
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72
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7 General Information
173
7.1 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
7.2 Cleaning of the equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
7.3 Warranty and liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
7.4 Declaration of conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
A Technical specifications
A.1 Cameras . . . . . . . . . . . . . . . . . . . .
A.1.1 ARTTRACK5 . . . . . . . . . . . . .
A.1.2 ARTTRACK5/C . . . . . . . . . . . .
A.1.3 TRACKPACK/E . . . . . . . . . . . .
A.1.4 ARTTRACK cameras (discontinued) .
A.1.5 TRACKPACK cameras (discontinued)
A.2 Flysticks . . . . . . . . . . . . . . . . . . . . .
A.3 Fingertracking . . . . . . . . . . . . . . . . .
A.4 ART Controller . . . . . . . . . . . . . . . . .
A.5 Overall system . . . . . . . . . . . . . . . . .
A.6 System latency . . . . . . . . . . . . . . . . .
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B Technical Appendix
B.1 Definition of Coordinates and Rotations . . . . . . . . . . . . . . . . . . . .
B.1.1 Room Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.1.1 Room Adjustment . . . . . . . . . . . . . . . . . . . . . . .
B.1.2 Body Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.2.1 Definition of the Coordinates by the Body itself . . . . . . .
B.1.2.2 Definition of the Coordinates by the Room Coordinate System, with Origin in the Center of the Markers . . . . . . . .
B.1.2.3 Definition of the Coordinates by the Room Coordinate System, with Origin in a Marker . . . . . . . . . . . . . . . . . .
B.1.2.4 Coordinate System Definition for 5DOF Targets (with and
without cylinder markers) . . . . . . . . . . . . . . . . . . .
B.1.2.5 Coordinate System Definition for two 5DOF Targets with
cylinder markers . . . . . . . . . . . . . . . . . . . . . . . .
B.1.3 6DOF Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.4 3DOF Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.5 Flystick devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.5.1 Flystick1 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.5.2 Flystick2 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.5.3 Flystick3 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.6 Measurement Tools . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.6.1 Orientation of a Measurement Tool . . . . . . . . . . . . .
B.1.6.2 Using a reference body . . . . . . . . . . . . . . . . . . . .
B.1.7 Fingertracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2 Output of Measurement Data via Ethernet . . . . . . . . . . . . . . . . . . .
B.2.1 Frame Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.2 Timestamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.3 Standard 6DOF Bodies . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.4 Standard 6DOF Bodies (extended format) . . . . . . . . . . . . . . .
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B.2.5
B.2.6
B.2.7
B.2.8
B.2.9
B.2.10
B.2.11
B.2.12
Flysticks . . . . . . . . . . . . . . .
Flysticks (Old Format) . . . . . . .
Measurement Tools with sphere tip
Measurement Tool references . . .
Measurement Tools (Old Format) .
Fingertracking . . . . . . . . . . .
Additional 3DOF Markers . . . . .
Additional Informations . . . . . .
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213
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215
216
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218
218
List of Figures
220
List of Tables
222
Index
223
8
term
definition
3DOF
6DOF
5DOF
ART Controller
three degrees of freedom (i.e. only position)
six degrees of freedom (i.e. position and orientation)
five degrees of freedom (i.e. one degree less in orientation)
calculates tracking data and generates the data output stream
(compatible to ARTTRACK2 , ARTTRACK3 , ARTTRACK5 ,
ARTTRACK5/C , TRACKPACK/E )
calculates tracking data and generates the data output stream
(compatible to ARTTRACK1 , ARTTRACK2 , ARTTRACK3 )
infrared camera
infrared camera
infrared camera dedicated for multi-sided projections
teach the system the geometry of a rigid body
rigid arrangement of several single markers (see also "target")
belongs to the room calibration set and defines origin and orientation of the room coordinate system
equipment to mount an infrared camera to the ceiling
ARTTRACK Controller (discontinued)
ARTTRACK 2 & 3 (discontinued)
ARTTRACK5
ARTTRACK5/C
body calibration
body, rigid body
calibration angle (410mm or 710mm)
ceiling suspension
DTrack2
backend software
frontend software
Field of View (FoV)
finger thimble
Fingertracking
Flystick
hand geometry
hybrid tracking
inertial sensor
infrared optical tracking
license code (license key)
marker
Measurement Tool
measurement volume
modulated flash
motion capture
mutual blinding
prediction
room calibration
room calibration set
syncgroup
synccard
cardTP)
(Synccard2/3
or
Sync-
Linux-based software which does all necessary calculations
graphical user interface to control the controller
is the area of interest captured on the cameraâĂŹs imager
a fixture for the finger tip to hold the active marker(s)
tracks the orientation of the hand and the position of the fingers
wireless interaction device for virtual reality (VR) applications
describes the dimensions of your hand and fingers
fusion of optical and inertial data into one consolidated output
an inertial measurement unit simultaneously measures 9 physical properties, namely angular rates, linear accelerations, and
magnetic field components (not used) along all 3 axes. This is
achieved using solid state gyroscopes for measurement of roll,
pitch and yaw and accelerometers for drift correction.
position measurement of bodies (subjects or objects) based
upon infrared light and optical measurement procedures
software key to unlock certain capabilities of the tracking system
object either made of retro reflective material or LED for position
tracking (3DOF)
a pointing device which allows to measure the position of the
tool’s tip with high accuracy
defines the volume where optical tracking is possible
infrared signal which is used for wireless synchronization
track movements of a human body
one camera sees disturbing reflections caused by the infrared
flashes of another one
predicts output for the specified time in the future to compensate
tracking and rendering latency
teach the system the position of each camera and define origin
and orientation of the room coordinate system
consists of angle and wand
cameras being in one syncgroup receive the sync signal at the
same time. Syncgroups are distinguished by a short time delay
between their sync signals (i.e. mutual blinding may be avoided).
plug-in card for the controller which serves for synchronizing the
cameras
9
Chapter 0
Terms and definitions
term
definition
Tactile Feedback
system for finger-based interactions in immersive virtual reality
applications (wires touch the inside of the finger tips and provide
an impression when they are shortened)
rigid arrangement of several single markers ( = rigid body)
position measurement of bodies that move in a defined space
infrared camera
infrared camera dedicated for multi-sided projections
infrared camera
calculates tracking data and generates the data output stream
(compatible to TRACKPACK and TRACKPACK/C )
exchange data with Flystick or Tactile Feedback
used for calculating the relative positions of the IR cameras
precalibrated stick carrying two markers. The wand belongs to
the room calibration set and is used to generate a virtual point
cloud and to scale the system
target
tracking
TRACKPACK (discontinued)
TRACKPACK/C (discontinued)
TRACKPACK/E
TRACKPACK Controller (discontinued)
USB radio transceiver (RT2, RT3)
virtual point cloud
wand
10
1 Safety
You can find the following symbols and their signification on the equipment or in the manual:
i
Z
Useful and important notes.
Important notes, which may lead to system malfunction or to the
loss of warranty by non-observance.
Important safety warning to assure operation safety.
These warnings have to be considered, otherwise user
and equipment could be endangered, the equipment could be
damaged or the function of the equipment is not warranted.
Safety warning for infrared radiation.
These warnings have to be considered, otherwise users eyes
could be endangered.
Table 1.1: Symbols and their meaning
1.2 Safety warnings
Z
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.
• Safe operation is not possible, if
– the housing is damaged,
– any fluid attains in the housing,
– objects attain inside the equipment,
– the equipment shows any visible faults (smoke, sparks, fire, smells, etc.) or
– the power cord is damaged.
• In any of the cases mentioned above (or similar) pull the power cord out of the power
11
Chapter 1
1.1 Symbols and their meaning
1 Safety
socket immediately. Otherwise, users or environment are endangered. Please contact the ART service.
• Never change or alter the equipment, neither mechanically nor electrically. Only the
components described by ART shall be used. The conformity and the warranty of
the producer (ART ) expire by non-compliance.
• Never open the equipment! Only personnel authorized by ART is allowed to open
the equipment. Inside of the equipment there are various hazards like high voltage,
electric shocks - even if the equipment is disconnected - which can lead to death on
contact. In case of malfunction of the equipment please contact the ART service.
• Only peripheral devices which meet the safety requirements of EN/IEC 60950 for
extra low voltage may be attached on Ethernet-, BNC- and the DC-circuit of the
equipment.
• The cameras emit infrared light. Keep a distance of min. 20 cm when operating the
cameras. All cameras are assigned to the Exempt Group according to IEC62471-1
and therefore pose no risk or hazard to the human eye or skin at this distance.
• Be sure that the cameras are firmly mounted in the correct position.
• Do not touch the front pane of the cameras, since the acrylic pane and the lens are
highly sensitive surfaces. Be careful to avoid permanent damages (e.g. scratches).
Only touch the housings of the cameras.
• The ventilation holes of the ARTTRACK2 camera must not be covered. Air circulation is necessary to prevent the cameras from overheating. If the air circulation
is restricted overheating will damage the cameras. The minimum distance between
equipment and environmental objects has to be greater than 3 cm.
• The equipment has to be attached to a power socket with grounding. If the grounding wire is defective the requirement of the safety and the electromagnetic compatibility (EMC) are not guaranteed. To check the function of the grounding wire ask
your regional located electrician.
• Before switching on any device, verify that voltage and frequency of your electric
installation are within the allowed ranges of the equipment. The characteristics of
the equipment can be found on the appliance rating plate or in chapter A on page
190. The appliance rating plates are on the equipment’s housing (ARTTRACK1 on
the lower side of the housing; ARTTRACK2 / ARTTRACK3 on external power supply, ARTTRACK5 & ARTTRACK5/C / TRACKPACK/E on camera housing, all controllers on the backside of the housing).
• The power switch on the backside does not completely separate the devices from
the electricity network. To completely separate the equipment from the electricity
network the power plug must be disconnected from the power socket. The power
plug has to be accessible freely. The power socket must be close to the equipment.
12
1.2 Safety warnings
• Please install the cables such that
– no one can stumble over the cords,
– the cords cannot be damaged,
– the cords cannot damage the cameras due to mechanical strain,
– the line of sight of the cameras is not obstructed.
• Only use original ART (or ART authorized) components and accessories. Using
non-original components or accessories may damage the equipment, cause malfunctions or may void operation safety. The provided components and original
accessories can be found in chapters 4 on page 25 and 5 on page 126. Only
use the originally provided 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 7.2 on page 173.
• Never expose the equipment to high levels of humidity or condensating humidity.
Protect the cameras against water and chemicals.
• The equipment must not be operated in environments with intensive formation of
dust or hot environments where temperatures rise above 40◦ C (100◦ F).
Z
ART explicitly denies any liability or warranty if the product is modified
in any way or not used according to this manual and the specification
labels on the equipment.
13
Chapter 1
Install a strain relief!
2 Introduction
ART tracking systems are infrared (IR) optical tracking systems. In this user manual we
are going to perceive "tracking" as measurement of the position of objects or subjects that
move in a defined space. These objects or subjects to be tracked have to be equipped
with single markers or rigid arrangements of markers (= rigid body or target).
Position and/or orientation of those rigid bodies can be measured. If only the spatial position (X, Y, Z) is measured we call this "three degrees of freedom" (3DOF) tracking. The
simultaneous measurement of position and orientation (three independent angular coordinates) is called "six degrees of freedom" (6DOF) tracking.
Single markers are sufficient if only 3DOF coordinates are needed. For 6DOF tracking, a
rigid body is mandatory.
Passive markers are covered with retro reflective material - they act as light reflectors.
Active light emitters (i.e. based on infrared LEDs) are called active markers (see chapter
3 on page 16).
Figure 2.1: Principle of optical tracking (stereo vision)
Figure 2.1 shows the principle of infrared optical tracking with a two-camera system and
a standard target.
14
Now, the controller has to calculate 3DOF or 6DOF data. The base for this calculation
is that the cameras’ field of views are overlapping. DTrack2 calculates the path of the
optical rays from the cameras to the markers and delivers the ray intersections in threedimensional coordinates. These intersections are the positions of the markers.
The position and orientation of the cameras are known from the room calibration. During
body calibration, DTrack2 identifies certain marker arrangements as rigid bodies. Based
upon this, DTrack2 is able to calculate 6DOF data and, finally, knows position and orientation of the target and, therefore, of the object or subject to be tracked.
In optical tracking systems you have to be aware that tracking is only possible as long as
the target is positioned in tracking range of the cameras and is not occluded by any other
objects or the object to be tracked. More in detail, at least four markers of a target have
to be visible for a minimum of two cameras to enable tracking.
15
Chapter 2
The cameras are sending out synchronized IR flashes which are reflected towards the
lens by the retro reflective material which is covering the markers of the target. Intelligent
tracking cameras, that are scanning a certain volume, detect the IR radiation that is reflected by the markers and create a greyscale image based on the received IR radiation.
During the preprocessing the camera calculates the 2D marker positions with high accuracy using pattern recognition. A mean 2D-accuracy of 0.04 pixels (0.1 pixels maximum
2D-deviation) is standard in ART tracking cameras. Then, the 2D data are being sent to
the Controller via Ethernet.
3 Markers and targets (rigid bodies)
3.1 Passive markers
The passive markers used in ART tracking systems are retro reflectors. These markers
reflect the incoming IR radiation into the direction of the incoming light. More precise: the
IR radiation is reflected into a narrow range of angles around the (opposite) direction of
the incoming light. Passive markers can be either
1. spherical markers:
+ excellent visibility from any perspective,
- expensive fabrication,
- sensitive surface,
- target requires larger volume → danger of mechanical damage.
2. flat markers:
+ cheap,
+ flat targets possible,
+ robust surface because cover may be applied,
- the angular range of visibility is limited to approx. ±45◦ .
3. ring markers:
+ cheap,
+ cylindrically shaped targets possible,
+ robust surface,
- the angular range of visibility is limited to approx. ±45◦ .
Passive markers are mostly spheres covered with retro reflecting foils. However, they can
also be stickers made from retro reflecting material.
Retro reflecting sheets or foils available on the market can be based on two different optical principles:
16
3.2 Active markers
1. Triple mirrors, which are arranged such that their planes
form angles of 90◦ by pairs, are reflecting light in the described way. Mostly foils with arrangements of many very
small mirrors in a plane are used.
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) emitting elements, mostly LEDs.
In ART tracking systems four types of LED-based active markers may be used, depending on the application:
1. Single LEDs without diffusor sphere:
+ can be covered with acrylic protection film,
+ results in simple and robust markers providing visibility up
to high distances (up to 10m),
- the angular range of visibility is limited to approx. ±60◦ .
17
Chapter 3
2. Glass spheres (with a proper refraction index) are focussing incoming light approximately to the opposite surface of the ball. A layer of microscopic glass spheres, carried by a reflecting material, acts as a retro reflector. These
foils can be fabricated on a flexible carrier material, thus
they are widely used for equipping spherical markers with
retro reflecting surfaces.
3 Markers and targets (rigid bodies)
2. Single LEDs with diffusor sphere:
+ for optimum angular range of visibility,
- distance between marker and tracking camera is limited to
a short distance (up to 4.5m).
3. Big active spherical markers:
+ several single LEDs per marker, covered with light scattering spheres,
+ provide visibility from all sides and up to very high distances
(approx. 20m),
+ suitable for outdoor tracking,
- diameter: 50mm,
- weight: 50g.
4. Big active flat markers:
+ several single LEDs per marker, covered with light scattering surface,
+ tracking up to very high distances (approx. 20m),
+ suitable for outdoor tracking,
+ magnetic base for easy positioning on metal surfaces,
- the angular range of visibility is limited to less than 180◦ ,
- diameter: 30mm.
All active markers provided by ART are controlled by a special PC board and need power
supply.
Synchronization of active markers Active markers could in principle be activated in
CW mode (i.e. continuous light emission). However, this would not be very clever because tracking cameras have a very narrow time slot of sensitivity, i.e. most of the light
emitted by the markers would be useless for tracking. As a consequence, maximum distance between cameras and marker would be very short due to an upper limit of power
dissipation allowed for each single LED. Therefore, all active markers provided by ART are
emitting radiation only when the tracking cameras are sensitive, thus having to be synchronized with the cameras.
Synchronization can be done by a wired connection between the tracking system and the
pc-board controlling the active markers, but can also be done in a wireless way.
18
3.2 Active markers
(a) Single LED
(b) Single LED with diffusor sphere
Figure 3.1: Angular range of visibility
Chapter 3
For wireless synchronization a coded IR flash is being sent out by a tracking camera. The
active marker’s PC board recognizes the coded flash and activates the LEDs.
19
Type
Description
Weight
approx. Dimension
Marker
size
Hand target
The hand target is designed for hand tracking in usability and assembly studies respectively. It is also frequently used as a
small general-purpose target. Due to the
small size this target is easily occluded by
the hand carrying it. Therefore, proper arrangement 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 tracking in a two camera tracking system. Its
large size allows to move the hand in almost all directions, without losing tracking.
30g / 1.1oz
(170 × 120 × 35)mm
12mm
Claw target
The claw target looks just the same as the
hand target. But it comes in a bigger size
and is equipped with bigger markers.
35g / 1.2oz
(160 × 110 × 30)mm
16mm
3 Markers and targets (rigid bodies)
20
3.3 Standard targets
Type
Description
Weight
approx. Dimension
Marker
size
Tree target
Originally designed for tracking HMDs, the
tree target is a general-purpose target
for tracking from longer distances. It 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 purpose.
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 × 85 × 80)mm
12mm
3.3 Standard targets
21
Chapter 3
Description
CrystalEyes R 2/3 target
Weight
approx. Dimension
Marker
size
Target tailored to the shutter glasses of the 28g / 1oz
StereoGraphics active stereo system. It fits
to both CrystalEyes R 2 and 3.
(215 × 120 × 60)mm
12mm
CrystalEyes R 5 target
Target tailored to the shutter glasses of the 19g / 0.7oz
StereoGraphics active stereo system. It fits
to the CrystalEyes R 5.
(195 × 105 × 40)mm
12mm
NuVision APG6000
and APG6100 target
Target tailored to the NuVision APG6000 17g / 0.6 oz
and APG6100 shutter glasses.
(220 × 125 × 75)mm
12mm
3 Markers and targets (rigid bodies)
22
Type
Type
Description
Volfoni EDGE R target
Weight
approx. Dimension
Marker
size
Target tailored to the Volfoni EDGE R shut- 23g / 0.7 oz
ter glasses.
(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
3.3 Standard targets
23
Chapter 3
Description
Motion capture targets
ART provides a complete set of targets for
motion capture purposes. All targets are
6DOF targets and can be identified by the
tracking system. A full ART MoCap target
set consists of (subsets can be generated):
1 Glasses target (AGT4)
2 Shoulder targets (UT)
1 Dorsal target (DT)
2 Upper arm targets (HBT)
2 Forearm targets (UBT)
2 Hand targets (HT)
1 Waist target (WT, one-piece)
1 Waist target (WT, multi-part), each
2 Upper leg targets (FBT)
2 Lower leg targets (TBT)
2 Foot targets (FT)
Weight
approx. Dimension
Marker
size
28g / 1.0oz
44g / 1.55oz
84g / 2.96oz
52g / 1.83oz
50g / 1.76oz
25g / 0.9oz
195g / 6.9oz
30g / 1.1oz
99g / 3.49oz
58g / 2.05oz
65g / 2.29oz
(225 × 180 × 95)mm
(90 × 75 × 35)mm
(150 × 65 × 35)mm
(150 × 70 × 35)mm
(150 × 65 × 35)mm
(110 × 80 × 28)mm
(390 × 140 × 50)mm
(90 × 60 × 50)mm
(220 × 120 × 40)mm
(205 × 70 × 35)mm
(95 × 105 × 70)mm
12mm
12mm
12mm
12mm
12mm
12mm
14mm
16mm
16mm
16mm
16mm
Table 3.3: Standard targets overview
3 Markers and targets (rigid bodies)
24
Type
4 System setup
4.1 The tracking cameras of ART
4.1.1 ARTTRACK5
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 distance.
Chapter 4
Description The ARTTRACK5 infrared camera is intended for working environments
with distances between camera and markers of up to 7.5 metres. By default the ARTTRACK5 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 190 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 measurement volumes. System operation in smaller or bigger measurement volumes can lead
25
4 System setup
to reduced accuracy or other malfunctions. The measurement volume can be adjusted
within certain limits simply by changing the flash intensity of the ART infrared cameras
(see chapter 4.5.6.3 on page 97).
i
The flash intensities should not be too high. In general, a flash intensity of 50-60 might be sufficient.
Major changes of the measurement volume may require different lenses and thus a new
determination of camera parameters. These changes have to be done at the ART labs.
Be aware that a tracking system is very sensitive to camera movements. Therefore, the
cameras have to be mounted in a way that reduces camera movements (especially vibrations) as much as possible.
i
Mounting on tripods may be sufficient for presentations and preliminary installations, but is not recommended as a final solution!
If you want to mount the camera on a tripod there’s no carrier needed.
Otherwise the carrier for the ARTTRACK5 can be attached on both bottom and top side
of the camera. Attach the carrier with the T-piece pointing to the back of the camera as
shown in figure 4.2 on page 26. Note, the ceiling suspension is already connected to the
carrier in figure 4.2.
Figure 4.2: Attaching the ceiling mount to the ARTTRACK5 camera
26
4.1 The tracking cameras of ART
Figure 4.3: Mounting a camera to a wall or a ceiling (e.g. ARTTRACK2 camera)
Only use screws supplied with the ceiling mount for mounting it.
Also, use all the parts supplied with the ceiling mount - especially the
toothed washer is quite important.
You shall never open other screws on the cameras (see chapter 1.2
on page 11). Otherwise, the camera may be damaged and liability and
warranty is void.
Feel free to contact ART in case you want to realise a more complex installation. We will
assist you in your planning.
Avoid hard shocks at all times! A new camera calibration at the ART facilities might become necessary in that case.
Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier
using the example of an ARTTRACK2 camera. Make sure to not fall below minimal
distance to the wall so enough room is left for the cables and to allow readjustment of the
camera angles and maintenance.
Use strong dowels and screws for mounting the cameras to walls or ceilings (see figure
4.3 on page 27).
If in doubt, ask a skilled craftsman for assistance. Use massive and long enough angle
irons to provide the required stiffness and stability.
To avoid measurement problems, no light sources or highly reflecting areas should be
visible to the camera. Especially strong point light sources like e.g. halogen lamps and
direct or reflected sunlight may imply problems for the measurement (fluorescent lamps
are ok).
Please install the cables such that
• no one can stumble over the cords,
27
Chapter 4
Make sure to install the system in a way that you can easily access the cameras and
its cables. Be especially careful to mount the cameras firmly so they cannot fall down.
Unsecured cameras may pose a serious hazard to health and safety.
4 System setup
• the cords cannot be damaged,
• the cords cannot damage the cameras due to mechanical strain,
• the line of sight of the cameras is not obstructed.
Inappropriate cabling may pose a serious hazard to health and safety.
Cable ducts or fixings should be used and a strain relief should be
installed!
Please refer to chapter 4.2.2 on page 48 for more information.
4.1.2 ARTTRACK5/C
Keep a distance of min. 20 cm when operating the camera ! The
camera is assigned to the Exempt Group according to IEC62471-1 and
therefore poses no risk or hazard to the human eye or skin at this distance.
Description The ARTTRACK5 or TRACKPACK/E system may be combined with the
ARTTRACK5/C camera in order to realize tracking in multi-sided projection 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 ARTTRACK5/C camera has been designed to easily fit into such holes by separating the lens from the electronics 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 190 for more information.
Figure 4.4: Camera ARTTRACK5/C
The 26-pin D-Sub connector between ARTTRACK5/C remote camera
head and camera body employs proprietary design. Do not try to connect the remote head to any other port (e.g. COM port) !!!
28
4.1 The tracking cameras of ART
The ARTTRACK5/C system either consists of ARTTRACK5/C cameras only or it can be
mixed with standard ARTTRACK5 or TRACKPACK/E cameras - both variants are limited
to a total number of 50 cameras per system.
Mounting The ARTTRACK5/C cameras are optimized for a predefined range of measurement volumes. System operation in smaller or bigger measurement volumes can lead
to reduced accuracy or other malfunctions. The measurement volume can be adjusted
within certain limits simply by changing the flash intensity of the ART infrared cameras
(see chapter 4.5.6.3 on page 97).
i
The flash intensities should not be too high. In general, a flash intensity of 50-60 might be sufficient.
Major changes of the measurement volume may require different lenses and thus a new
determination of camera parameters. These changes have to be done at the ART labs.
Be aware that a tracking system is very sensitive to camera movements. Therefore, the
cameras have to be mounted in a way that reduces camera movements (especially vibrations) as much as possible.
Mounting on tripods may be sufficient for presentations and preliminary installations, but is not recommended as a final solution!
If you want to mount the camera on a tripod just mount the carrier on any side of the
camera body and then the remote camera head on the opposite side using a ceiling
mount.
Otherwise the carrier for the ARTTRACK5/C can be attached on all 4 sides of the camera
body. Attach the carrier with the T-piece pointing to the back of the camera in a similar
way to figure 4.2 on page 26. 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 on its back as shown in figure 4.5 on page 29.
Figure 4.5: Camera ARTTRACK5/C remote head (back)
29
Chapter 4
i
4 System setup
Z
The ARTTRACK5/C remote head has to be connected to its corresponding camera body. During mounting please ensure matching serial numbers for both parts !
Only use screws supplied with the ceiling mount for mounting it. Do
not use standard screws for connection of the remote camera head
due to limited space between thread and cable. Also, use all the parts
supplied with the ceiling mount - especially the toothed washer is quite
important.
You shall never open other screws on the cameras (see chapter 1.2
on page 11). Otherwise, the camera may be damaged and liability and
warranty is void.
Feel free to contact ART in case you want to realise a more complex installation. We will
assist you in your planning.
Make sure to install the system in a way that you can easily access the cameras and
its cables. Be especially careful to mount the cameras firmly so they cannot fall down.
Unsecured cameras may pose a serious hazard to health and safety.
Avoid hard shocks at all times! A new camera calibration at the ART facilities might become necessary in that case.
Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier
using the example of an ARTTRACK2 camera. Make sure to not fall below minimal
distance to the wall so enough room is left for the cables and to allow readjustment of the
camera angles and maintenance.
Use strong dowels and screws for mounting the cameras to walls or ceilings (see figure
4.3 on page 27).
If in doubt, ask a skilled craftsman for assistance. Use massive and long enough angle
irons to provide the required stiffness and stability.
To avoid measurement problems, no light sources or highly reflecting areas should be
visible to the camera. Especially strong point light sources like e.g. halogen lamps and
direct or reflected sunlight may imply problems for the measurement (fluorescent lamps
are ok).
Please install the cables such that
• no one can stumble over the cords,
• the cords cannot be damaged,
• the cords cannot damage the cameras due to mechanical strain,
• the line of sight of the cameras is not obstructed.
Inappropriate cabling may pose a serious hazard to health and safety.
Cable ducts or fixings should be used and a strain relief should be
installed!
30
4.1 The tracking cameras of ART
Please refer to chapter 4.2.2 on page 48 for more information.
4.1.3 TRACKPACK/E
Keep a distance of min. 20 cm when operating the camera ! The
camera is assigned to the Exempt Group according to IEC62471-1 and
therefore poses no risk or hazard to the human eye or skin at this distance.
Chapter 4
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 190 for the respective FoV.
Figure 4.6: Camera TRACKPACK/E
Mounting The TRACKPACK/E cameras are optimized for a predefined range of measurement volumes. System operation in smaller or bigger measurement volumes can lead
to reduced accuracy or other malfunctions. The measurement volume can be adjusted
within certain limits simply by changing the flash intensity of the ART infrared cameras
(see chapter 4.5.6.3 on page 97).
i
The flash intensities should not be too high. In general, a flash intensity of 50-60 might be sufficient.
Major changes of the measurement volume may require different lenses and thus a new
determination of camera parameters. These changes have to be done at the ART labs.
Be aware that a tracking system is very sensitive to camera movements. Therefore, the
cameras have to be mounted in a way that reduces camera movements (especially vibra-
31
4 System setup
tions) as much as possible.
i
Mounting on tripods may be sufficient for presentations and preliminary installations, but is not recommended as a final solution!
If you want to mount the camera on a tripod there’s no carrier needed.
Otherwise the carrier for the TRACKPACK/E can be attached on both bottom and top
side of the camera. Attach the carrier with the T-piece pointing to the back of the camera
in a similar way to figure 4.2 on page 26. 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.
Also, use all the parts supplied with the ceiling mount - especially the
toothed washer is quite important.
You shall never open other screws on the cameras (see chapter 1.2
on page 11). Otherwise, the camera may be damaged and liability and
warranty is void.
Feel free to contact ART in case you want to realise a more complex installation. We will
assist you in your planning.
Make sure to install the system in a way that you can easily access the cameras and
its cables. Be especially careful to mount the cameras firmly so they cannot fall down.
Unsecured cameras may pose a serious hazard to health and safety.
Avoid hard shocks at all times! A new camera calibration at the ART facilities might become necessary in that case.
Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier
using the example of an ARTTRACK2 camera. Make sure to not fall below minimal
distance to the wall so enough room is left for the cables and to allow readjustment of the
camera angles and maintenance.
Use strong dowels and screws for mounting the cameras to walls or ceilings (see figure
4.3 on page 27).
If in doubt, ask a skilled craftsman for assistance. Use massive and long enough angle
irons to provide the required stiffness and stability.
To avoid measurement problems, no light sources or highly reflecting areas should be
visible to the camera. Especially strong point light sources like e.g. halogen lamps and
direct or reflected sunlight may imply problems for the measurement (fluorescent lamps
are ok).
Please install the cables such that
• no one can stumble over the cords,
• the cords cannot be damaged,
• the cords cannot damage the cameras due to mechanical strain,
32
4.1 The tracking cameras of ART
• the line of sight of the cameras is not obstructed.
Inappropriate cabling may pose a serious hazard to health and safety.
Cable ducts or fixings should be used and a strain relief should be
installed!
Please refer to chapter 4.2.2 on page 48 for more information.
4.1.4 ARTTRACK2 (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 distance.
Chapter 4
Description The ARTTRACK2 infrared camera is intended for working environments
with distances between camera and markers of up to 4 metres. By default the ARTTRACK2 is equipped with a 3.5 mm lens. Depending on the application and the setup the
ARTTRACK2 can be equipped with other lenses (i.e. with different focal lengths). Refer
to A.1 on page 190 for a list of available focal lengths and the respective FoV.
Figure 4.7: Camera ARTTRACK2
Mounting The ARTTRACK2 cameras are optimized for a predefined range of measurement volumes. System operation in smaller or bigger measurement volumes can lead
to reduced accuracy or other malfunctions. The measurement volume can be adjusted
within certain limits simply by changing the flash intensity of the ART infrared cameras
33
4 System setup
(see chapter 4.5.6.3 on page 97).
i
The flash intensities should not be too high. In general, a flash intensity of 3-4 might be sufficient.
Major changes of the measurement volume may require different lenses and thus a new
determination of camera parameters. These changes have to be done at the ART labs.
Be aware that a tracking system is very sensitive to camera movements. Therefore, the
cameras have to be mounted in a way that reduces camera movements (especially vibrations) as much as possible.
i
Mounting on tripods may be sufficient for presentations and preliminary installations, but is not recommended as a final solution!
If you want to mount the camera on a tripod just mount the carrier on the bottom of the
camera.
Otherwise the carrier for the ARTTRACK2 can be attached on both bottom and top side
of the camera. To attach the carrier remove the screws from the holes 1 and 2 and attach
the carrier with the T-piece pointing to the back of the camera in a similar way to figure 4.2
on page 26. 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 not sufficiently long for fixing
the carrier. Also, use all the parts supplied with the ceiling mount especially the toothed washer is quite important.
You shall never open other screws on the cameras (see chapter 1.2
on page 11). Otherwise, the camera may be damaged and liability and
warranty is void.
Feel free to contact ART in case you want to realise a more complex installation. We will
assist you in your planning.
It is recommended to install the power supply for the cameras in a way that enables the
switching of all cameras by one main switch. If this is done, the system can be easily
turned off and on without changing camera positions.
Make sure to install the system in a way that you can easily access the cameras and
its cables. Be especially careful to mount the cameras firmly so they cannot fall down.
Unsecured cameras may pose a serious hazard to health and safety.
Avoid hard shocks at all times! A new camera calibration at the ART facilities might become necessary in that case.
Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier
using the example of an ARTTRACK2 camera. Make sure to not fall below minimal
distance to the wall so enough room is left for the cables and to allow readjustment of the
camera angles and maintenance.
Use strong dowels and screws for mounting the cameras to walls or ceilings (see figure
34
4.1 The tracking cameras of ART
4.3 on page 27).
If in doubt, ask a skilled craftsman for assistance. Use massive and long enough angle
irons to provide the required stiffness and stability.
To avoid measurement problems, no light sources or highly reflecting areas should be
visible to the camera. Especially strong point light sources like e.g. halogen lamps and
direct or reflected sunlight may imply problems for the measurement (fluorescent lamps
are ok).
Furthermore, please make sure the ventilator holes are not covered. For thermal reasons the ventilator always has to be on the upper side of the ARTTRACK2 camera. That
means, if the camera is to be mounted hanging the carrier must be mounted on top (ventilator side). If it is to be mounted standing the carrier has to be on the bottom side of the
housing.
Please install the cables such that
• no one can stumble over the cords,
• the cords cannot be damaged,
• the cords cannot damage the cameras due to mechanical strain,
• the line of sight of the cameras is not obstructed.
Chapter 4
Inappropriate cabling may pose a serious hazard to health and safety.
Cable ducts or fixings should be used and a strain relief should be
installed!
Please refer to chapter 4.2.2 on page 48 for more information.
4.1.5 ARTTRACK3 (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 distance.
Description The ARTTRACK3 camera is the successor of ARTTRACK1 which is no
longer produced. Due to its larger IR flash it can be used for measurements in higher
distances (up to 6 metres). And, because of its passive cooling system (i.e. without fan),
the ARTTRACK3 is also suitable for dirty or noise sensitive environments.
By default the ARTTRACK5/C is equipped with a 4.5 mm lens. Depending on the application and the setup the ARTTRACK3 can be equipped with other lenses (i.e. with
different focal lengths). Refer to A.1 on page 190 for a list of available focal lengths and
the respective FoV.
35
4 System setup
Figure 4.8: Camera ARTTRACK3
Mounting The ARTTRACK3 cameras are optimized for a predefined range of measurement volumes. System operation in smaller or bigger measurement volumes can lead
to reduced accuracy or other malfunctions. The measurement volume can be adjusted
within certain limits simply by changing the flash intensity of the ART infrared cameras
(see chapter 4.5.6.3 on page 97).
i
The flash intensities should not be too high. In general, a flash intensity of 3-4 might be sufficient.
Major changes of the measurement volume may require different lenses and thus a new
determination of camera parameters. These changes have to be done at the ART labs.
Be aware that a tracking system is very sensitive to camera movements. Therefore, the
cameras have to be mounted in a way that reduces camera movements (especially vibrations) as much as possible.
i
Mounting on tripods may be sufficient for presentations and preliminary installations, but is not recommended as a final solution!
If you want to mount the camera on a tripod just mount the carrier on the bottom of the
camera.
Otherwise the carrier for the ARTTRACK3 can be attached on both bottom and top side
of the camera. Attach the carrier with the T-piece pointing to the back of the camera in a
similar way to figure 4.2 on page 26. Note, the ceiling suspension is already connected to
the carrier in figure 4.2.
36
4.1 The tracking cameras of ART
Only use screws supplied with the ceiling mount for mounting it. The
screws used for sealing the housings are not sufficiently long for fixing
the carrier. Also, use all the parts supplied with the ceiling mount especially the toothed washer is quite important.
You shall never open other screws on the cameras (see chapter 1.2
on page 11). Otherwise, the camera may be damaged and liability and
warranty is void.
Feel free to contact ART in case you want to realise a more complex installation. We will
assist you in your planning.
It is recommended to install the power supply for the cameras in a way that enables the
switching of all cameras by one main switch. If this is done, the system can be easily
turned off and on without changing camera positions.
Make sure to install the system in a way that you can easily access the cameras and
its cables. Be especially careful to mount the cameras firmly so they cannot fall down.
Unsecured cameras may pose a serious hazard to health and safety.
Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier
using the example of an ARTTRACK2 camera. Make sure to not fall below minimal
distance to the wall so enough room is left for the cables and to allow readjustment of the
camera angles and maintenance.
Use strong dowels and screws for mounting the cameras to walls or ceilings (see figure
4.3 on page 27).
If in doubt, ask a skilled craftsman for assistance. Use massive and long enough angle
irons to provide the required stiffness and stability.
To avoid measurement problems, no light sources or highly reflecting areas should be
visible to the camera. Especially strong point light sources like e.g. halogen lamps and
direct or reflected sunlight may imply problems for the measurement (fluorescent lamps
are ok).
Please install the cables such that
• no one can stumble over the cords,
• the cords cannot be damaged,
• the cords cannot damage the cameras due to mechanical strain,
• the line of sight of the cameras is not obstructed.
Inappropriate cabling may pose a serious hazard to health and safety.
Cable ducts or fixings should be used and a strain relief should be
installed!
37
Chapter 4
Avoid hard shocks at all times! A new camera calibration at the ART facilities might become necessary in that case.
4 System setup
Please refer to chapter 4.2.2 on page 48 for more information.
4.1.6 TRACKPACK (discontinued)
Keep a distance of min. 20 cm when operating the camera ! The
camera is assigned to the Exempt Group according to IEC62471-1 and
therefore poses no risk or hazard to the human eye or skin at this distance.
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 Flysticktracking 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 system consists of two or four
TRACKPACK cameras and a TRACKPACK Controller.
By default the TRACKPACK is equipped with a 3.5 mm lens. Depending on the application and the setup the TRACKPACK camera can be equipped with other lenses (i.e. with
different focal lengths). Refer to A.1 on page 190 for a list of available focal lengths and
the respective FoV.
The RJ45 connection between TRACKPACK camera and controller is
used for power supply and synchronization signal. It is not a standard
Ethernet connection! That is why connecting the RJ45 connector to
any other than the equivalent port of the controller may damage the
camera or the connected partner.
Figure 4.9: Camera TRACKPACK
38
4.1 The tracking cameras of ART
Mounting The TRACKPACK cameras are optimized for a predefined range of measurement volumes. System operation in smaller or bigger measurement volumes can lead
to reduced accuracy or other malfunctions. The measurement volume can be adjusted
within certain limits simply by changing the flash intensity of the ART infrared cameras
(see chapter 4.5.6.3 on page 97).
i
The flash intensities should not be too high. In general, a flash intensity of 3-4 might be sufficient.
Major changes of the measurement volume may require different lenses and thus a new
determination of camera parameters. These changes have to be done at the ART labs.
Be aware that a tracking system is very sensitive to camera movements. Therefore, the
cameras have to be mounted in a way that reduces camera movements (especially vibrations) as much as possible.
i
Mounting on tripods may be sufficient for presentations and preliminary installations, but is not recommended as a final solution!
Only use screws supplied with the ceiling mount for mounting it. The
screws used for sealing the housings are not sufficiently long for fixing
the carrier. Also, use all the parts supplied with the ceiling mount especially the toothed washer is quite important.
You shall never open other screws on the cameras (see chapter 1.2
on page 11). Otherwise, the camera may be damaged and liability and
warranty is void.
Please keep the distance between the cameras in a range of 1 to 2 metres. Depending
on the lens and the focal length it may be possible to achieve other range values. Please
contact ART for more information.
Make sure to install the system in a way that you can easily access the cameras and
its cables. Be especially careful to mount the cameras firmly so they cannot fall down.
Unsecured cameras may pose a serious hazard to health and safety.
Avoid hard shocks at all times! A new camera calibration at the ART facilities might become necessary in that case.
Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier
using the example of an ARTTRACK2 camera. Make sure to not fall below minimal
distance to the wall so enough room is left for the cables and to allow readjustment of the
39
Chapter 4
If you want to mount the camera on a tripod just mount the carrier on the bottom of the
camera.
Otherwise the carrier for the TRACKPACK can be attached on both bottom and top side
of the camera. Attach the carrier with the T-piece pointing to the back of the camera in a
similar way to figure 4.2 on page 26. Note, the ceiling suspension is already connected to
the carrier in figure 4.2.
4 System setup
camera angles and maintenance.
Use strong dowels and screws for mounting the cameras to walls or ceilings (see figure
4.3 on page 27).
If in doubt, ask a skilled craftsman for assistance. Use massive and long enough angle
irons to provide the required stiffness and stability.
To avoid measurement problems, no light sources or highly reflecting areas should be
visible to the camera. Especially strong point light sources like e.g. halogen lamps and
direct or reflected sunlight may imply problems for the measurement (fluorescent lamps
are ok).
Please install the cables such that
• no one can stumble over the cords,
• the cords cannot be damaged,
• the cords cannot damage the cameras due to mechanical strain,
• the line of sight of the cameras is not obstructed.
Inappropriate cabling may pose a serious hazard to health and safety.
Cable ducts or fixings should be used and a strain relief should be
installed!
Please refer to chapter 4.2.3 on page 52 for more information.
4.1.7 TRACKPACK/C (discontinued)
Keep a distance of min. 20 cm when operating the camera ! The
camera is assigned to the Exempt Group according to IEC62471-1 and
therefore poses no risk or hazard to the human eye or skin at this distance.
Description The TRACKPACK system may also be combined with the TRACKPACK/C camera in order to realize tracking in multi-sided projection environments (e.g. CAVE R , ISpace). 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 190 for
the respective FoV.
The TRACKPACK system either consists of TRACKPACK/C cameras or it can be mixed
with standard TRACKPACK cameras - both variants are limited to a total number of four
cameras per system and come with a TRACKPACK Controller.
40
4.1 The tracking cameras of ART
Figure 4.10: Camera TRACKPACK/C
Mounting The TRACKPACK/C cameras are optimized for a predefined range of measurement volumes. System operation in smaller or bigger measurement volumes can lead
to reduced accuracy or other malfunctions. The measurement volume can be adjusted
within certain limits simply by changing the flash intensity of the ART infrared cameras
(see chapter 4.5.6.3 on page 97).
i
The flash intensities should not be too high. In general, a flash intensity of 3-4 might be sufficient.
Major changes of the measurement volume may require different lenses and thus a new
determination of camera parameters. These changes have to be done at the ART labs.
Be aware that a tracking system is very sensitive to camera movements. Therefore, the
cameras have to be mounted in a way that reduces camera movements (especially vibrations) as much as possible.
i
Mounting on tripods may be sufficient for presentations and preliminary installations, but is not recommended as a final solution!
Otherwise the carrier for the TRACKPACK/C can be attached to the camera as shown in
41
Chapter 4
The RJ45 connection between TRACKPACK/C camera and controller is
used for power supply and synchronization signal. It is not a standard
Ethernet connection! That is why connecting the RJ45 connector to
any other than the equivalent port of the controller may damage the
camera or the connected partner.
4 System setup
figure 4.11.
Figure 4.11: Camera TRACKPACK/C with attached carrier
Only use screws supplied with the ceiling mount for mounting it. The
screws used for sealing the housings are not sufficiently long for fixing
the carrier. Also, use all the parts supplied with the ceiling mount especially the toothed washer is quite important.
You shall never open other screws on the cameras (see chapter 1.2
on page 11). Otherwise, the camera may be damaged and liability and
warranty is void.
Please keep the distance between the cameras in a range of 2 to 3 metres. Please contact ART for more information.
Make sure to install the system in a way that you can easily access the cameras and
its cables. Be especially careful to mount the cameras firmly so they cannot fall down.
Unsecured cameras may pose a serious hazard to health and safety.
Avoid hard shocks at all times! A new camera calibration at the ART facilities might become necessary in that case.
Use strong dowels and screws for mounting the cameras to walls or ceilings (see figure
4.3 on page 27).
If in doubt, ask a skilled craftsman for assistance. Use massive and long enough angle
irons to provide the required stiffness and stability.
To avoid measurement problems, no light sources or highly reflecting areas should be
visible to the camera. Especially strong point light sources like e.g. halogen lamps and
direct or reflected sunlight may imply problems for the measurement (fluorescent lamps
42
4.2 The Controllers of ART
are ok).
Please install the cables such that
• no one can stumble over the cords,
• the cords cannot be damaged,
• the cords cannot damage the cameras due to mechanical strain,
• the line of sight of the cameras is not obstructed.
Inappropriate cabling may pose a serious hazard to health and safety.
Cable ducts or fixings should be used and a strain relief should be
installed!
Please refer to chapter 4.2.3 on page 52 for more information.
4.2 The Controllers of ART
The software DTrack2 consists of frontend and backend software. The frontend software
is installed on a remote PC which is connected to the controller via Ethernet. A GUI for
easy handling enables the user to control the tracking system completely from the remote
PC. The benefit is that the system becomes more flexible, i.e. different users can control the tracking system at any one time (but not simultaneously!) from different working
places.
Furthermore, DTrack2 provides the possibility to control its functions via Ethernet (i.e.
without the DTrack2 frontend software). This is done by establishing a TCP/IP connection with the controller and exchanging short command strings (refer to chapter 4.2.8 on
page 58). Please contact ART if you are interested in using this feature.
The backend software runs on the controller - all necessary calculations (3DOF, 6DOF
data, ...) are done by the controller. 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 connection. The cameras (refer to chapter 4.1 on page 25) and the interaction devices (refer
to chapter 5 on page 126) have to be connected to the respective ports of the controller.
43
Chapter 4
With the introduction of DTrack2 a new principle of controlling the tracking system is implemented. The tracking system itself consists of cameras, interaction devices (optional),
targets and the ART Controller, the ARTTRACK Controller (discontinued) or TRACKPACK Controller (discontinued) respectively.
4 System setup
ARTTRACK1
ARTTRACK2
ARTTRACK3
ARTTRACK5
ARTTRACK5/C
TRACKPACK
TRACKPACK/C
TRACKPACK/E
Flystick1
Flystick2
Flystick3
Fingertracking 2
Measurement Tool
1
2
ART
Controller
ARTTRACK
Controller
×
×
×
×
×
×
×
×
TRACKPACK
Controller
×
×
×
×
×
×
×
×
×
×
×
×
×
×
×
×
×
×
DTrack2 1
×
×
×
× (from v2.10)
× (from v2.11)
×
× (from v2.5)
× (from v2.11)
×
×
× (from v2.2)
×
× (from v2.2)
an appropriate license may be necessary (refer to table 4.3)
for Fingertracking it is recommended to use six cameras for ideal operation
Table 4.1: Compatibility of the ART cameras and interaction devices
4.2.1 Installation of the ART Controller (DTrack2 since v2.10)
The ART Controller (DTrack2 since v2.10) comes in a 19" inch housing compatible for
rack mounting, see fig. 4.12 on page 44.
To turn on the controller flip the power switch to I, for restart from standby mode press
the button "soft power on". The USB ports can be used for plugging in the USB radio
transceiver for the Flystick2/3 (refer to chapter 5.1 on page 128 or chapter 5.2 on page
134).
Z
Please ensure unblocked airflow at all times for optimal operation of
the ART Controller !
Figure 4.12: ART Controller front view
The following list introduces the ports of the ART Controller (see fig. 4.13 on 45):
• ART Synccard3 (master & slave) :
44
4.2 The Controllers of ART
– ExtIn:
Please plug in the external source (TTL or video signal) for synchronization
here. Please use the accessible port without protective cap only. In cascaded
systems please connect the external source to the master controller only. The
slave controller is then synchronized by the master.
– PoE+ ports:
All ARTTRACK1 , ARTTRACK2 , ARTTRACK3 , ARTTRACK5 , ARTTRACK5/C
and TRACKPACK/E cameras have to be plugged in here. In larger systems (>
8 ARTTRACK5 and ARTTRACK5/C cameras only), please connect the external PoE+ switch to any of these ports.
– OUT1-3 (optional):
For cascaded systems please connect OUT1 to ExtIn of a slave controller (see
chapter 4.3 on page 58). For backwards compatibility, please connect ARTTRACK1 – ARTTRACK3 cameras here. Please refer to chapter 4.2.2 on page
48 for more detailed information.
∗ OUT1:
Defines syncgroup # 1. The three different syncgroups are characterized
by their time delay related to syncgroup # 1. When using ARTTRACK1 –
ARTTRACK3 cameras at least one camera has to be connected here if you
are using active targets (e.g. Fingertracking, Flystick3). Refer to chapter
5.3 on page 137 for more information.
∗ OUT3:
Defines syncgroup # 3. The default time delay related to syncgroup # 1 is
960µs.
Figure 4.13: ART Controller back view
• USB port:
Please plug in the USB radio transceiver for the Flystick2/3 here (refer to chapter
5.1 on page 128 or chapter 5.2 on page 134).
45
Chapter 4
∗ OUT2:
Defines syncgroup # 2. The default time delay related to syncgroup # 1 is
480µs.
4 System setup
• LAN network port:
Please connect the ART Controller to your local network using an RJ45 cable.
• Cascaded network port:
For cascaded systems please connect a slave controller to the ART Controller (master). Please refer to chapter 4.3 on page 58 for more detailed information.
• Power inlet:
Please connect to mains (100 - 240V).
i
The power inlet is fuse-protected (2x4A, anti-surge type T) and features
a line filter for EMV protection.
IP addresses are predefined in ARTTRACK and TRACKPACK/E cameras - changes by
the user are not possible!
The camera network ports are configured using:
i
• IP address: 172.28.0.X
• subnet mask: 255.255.0.0
In larger systems (> 8 ARTTRACK5 and ARTTRACK5/C cameras only), please use the
Netgear Prosafe GSM7212P PoE+ switch authorized by ART . It features 12 PoE+ Ports
for connection to ARTTRACK5 and ARTTRACK5/C cameras. Please use the accessible
ports without protective caps only (see fig. 4.14 on page 46). To turn on the PoE+ switch,
please connect it to mains.
Z
Please allow min. 3 minutes for booting prior to starting the ART Controller !
Figure 4.14: ART PoE+ switch front view
Mount the cameras at the desired position before connecting the cables.
The ARTTRACK5 , ARTTRACK5/C and TRACKPACK/E cameras have to be connected
via twisted pair cables (min. Cat.5, max. length 100 m) to the internal ART Synccard3
of the ART Controller or to an external PoE+ switch for systems > 8 cameras (only ARTTRACK5 and ARTTRACK5/C ). The external PoE+ switch itself has to be connected to
the Synccard3.
The ART Synccard3 is designed as a single cable solution and is therefore used both for
power and synchronization of the IR cameras.
Connection of ARTTRACK1 , ARTTRACK2 or ARTTRACK3 cameras (backwards
compatible systems) When connecting the synchronization cables it is important to
46
4.2 The Controllers of ART
correctly chain the cameras on the sync cable (see chapter 6.4 on page 150). There
must be one continuous signal line from the BNC connector of the synccard to the 75Ω
terminating resistor, with the cameras inserted to the line by T-junctions. It is neither allowed to extend the connection between the T-piece and the camera, nor to branch the
signal line.
Usually, all cameras are connected with the sync output no. 1 ("OUT1") of the synccard
like a chain that is finished by a 75Ω terminating resistor. If the cameras have to be
grouped into different syncgroups, in order to avoid blinding, two or three BNC chains
are used at the sync outputs no. 1 and 2 or 1, 2 and 3, respectively, of the synccard3.
The settings are defined by software DTrack2 . All sync signals are transferred via BNC
connections.
Z
ARTTRACK2 and ARTTRACK3 cameras have to be connected via any
external Ethernet switch or the ART PoE+ switch and may not be connected directly to the PoE+ ports of the ART Synccard3. Please refer
to chapter 4.2.2 on page 48 for more detailed information.
The controller is controlled by a remote PC via DTrack2 frontend software. When delivered, the controller is set up to support DHCP. Therefore, it will acquire an IP address
automatically given that a DHCP server is running.
Double-check if the cameras are connected properly to the controller and verify that the
cameras are running. Connect the Ethernet cable to your local network and connect the
power plug of the ART Controller to a power socket. If you want to set a specific static IP
address before booting the controller please refer to chapter 4.2.4 on page 54 for more
information.
Press the power switch on the front of the controller. If the controller is booting without
connected Ethernet cable it will use its fall-back IP address.
i
The fall-back IP address of the controller is 192.168.0.1 (subnet mask
255.255.255.0)!
You may configure another static IP address as follows:
• select Settings → Controller
• untick the checkbox DHCP client
• enter IP address and subnet mask
47
Chapter 4
Furthermore, the controller uses the "LAN" ethernet plug (1000 Base-TX) for data output
to the remote PC or to any PC within the local network. Figure 4.15 on page 50 shows
two possibilities of connecting the controller to a local network. You may either use the
controller as a DHCP client within your network (figure 4.15(a)), i.e. the tracking data is
transmitted directly via your local network. Or, if due to your company security guidelines
it is not allowed to connect the controller directly to your network, you may install two
network cards in your remote PC - one is connected to the controller and the other one is
connected to your local network (figure 4.15(b)). In this case, the DTrack2 Frontend will
act as a router for the tracking data.
4 System setup
• optionally, enter gateway and nameserver
• reboot the controller for the changes to take effect
Z
Please note that these settings are not part of your personal configuration. Changes in this menu will affect all users of your controller! Your
controller may become unreachable with wrong IP settings! Refer to
chapter 4.2.4 on page 54).
Finally, start the DTrack2 frontend software on the remote PC. Please refer to chapter 4.5
on page 70 for more details.
External synchronization An ART Controller can be synchronized with an external
source. On the back of the controller there is a BNC plug ("ExtIn") which serves as input
for the external synchronization signal. The sync signal may be of type TTL or video (see
also chapter 4.5.6.3 on page 101).
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 tracking system follows the external synchronization signal and chooses time slots when it is
safe to emit infrared radiation without causing interference. The effect is, for example, that
active shutter glasses are not flickering but offer a stable picture for the user.
Z
The external sync input is not internally terminated.
When synchronizing with a video input, a T-piece with an external 75
Ω terminating resistor should be used if the signal line 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.
4.2.2 Installation of the ARTTRACK Controller (discontinued)
The following list introduces the ports of the ARTTRACK Controller with Synccard2:
• internal Ethernet switch:
the cameras have to be plugged in here. In larger systems, please connect the
external switch to any of these ports.
• external Ethernet switch:
the Allied Telesis AT-FS708 is an eco friendly switch which is designed to minimize
power consumption (typical 3.5W) through the use of a high efficiency power supply
and a low power chipset. It features an overnight mode (i.e. reduction in power
during after-work hours) as well as other power saving features.
Please refer to the Allied Telesis Installation Guide before connecting the power
source.
• ART Synccard2 :
48
4.2 The Controllers of ART
– ExtIn:
Please plug in the external source for synchronization here.
– Out1:
Defines syncgroup # 1. The three different syncgroups are characterized by
their time delay related to syncgroup # 1. At least one camera has to be connected here if you are using active targets (e.g. Fingertracking, Flystick3).
Refer to chapter 5.3 on page 137 for more information.
– Out2:
Defines 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 the USB radio transceiver for the Flystick2/3 here (refer to chapter
5.1 on page 128 or chapter 5.2 on page 134).
• Ethernet port:
Please connect the controller to your local network using an RJ45 cable.
Mount the cameras at the desired position before connecting the cables. The ARTTRACK cameras have to be connected via twisted pair cables either to the internal Ethernet switch of the controller or to an external Ethernet switch. The external switch itself
has to be connected to the controller.
Older switches sometimes do have uplink ports which are not suitable
for connecting to the camera. Only use the normal ports of the switch.
The controller is equipped with an internal switch (100 Base-TX) which serves for the
connection to the cameras (suitable for small systems, i.e. ≤ 4 cameras). Larger systems
(i.e. > 4 cameras) have to be equipped with an external switch which must be connected
to any port (except for the uplink port) of the internal switch of the controller.
The camera network is configured using:
i
• IP address: 172.28.0.1
• subnet mask: 255.255.0.0
IP addresses are predefined in ARTTRACK cameras - changes by the user are not possible!
The controller is equipped with a PCI card for synchronization of the IR cameras (ART Synccard2). When connecting the synchronization cables it is important to correctly chain the
cameras on the sync cable (see chapter 6.4 on page 150). There must be one continuous
signal line from the BNC connector of the synccard to the 75Ω terminating resistor, with
the cameras inserted to the line by T-junctions. It is neither allowed to extend the connection between the T-piece and the camera, nor to branch the signal line.
49
Chapter 4
i
4 System setup
(a) standard connection
(b) indirect connection
Figure 4.15: Connecting the ARTTRACK Controller to a local network
50
4.2 The Controllers of ART
Usually, all cameras are connected with the sync output no. 1 ("OUT1") of the synccard
like a chain that is finished by a 75Ω terminating resistor. If the cameras have to be
grouped into different syncgroups, in order to avoid blinding, two or three BNC chains are
used at the sync outputs no. 1 and 2 or 1, 2 and 3, respectively, of the synccard. The settings of the Synccard2 are defined by software DTrack2 . All sync signals are transferred
via BNC connections.
Furthermore, the controller uses the single Ethernet plug (100 Base-TX) for data output
to the remote PC or to any PC within the local network. Figure 4.15 on page 50 shows
two possibilities of connecting the controller to a local network. You may either use the
controller as a DHCP client within your network (figure 4.15(a)), i.e. the tracking data is
transmitted directly via your local network. Or, if due to your company security guidelines
it is not allowed to connect the controller directly to your network, you may install two
network cards in your remote PC - one is connected to the controller and the other one is
connected to your local network (figure 4.15(b)). In this case, the DTrack2 Frontend will
act as a router for the tracking data.
Press the switch next to the power plug to start the controller. If the controller is booting
without connected Ethernet cable it will use its fall-back IP address.
i
The fall-back IP address of the controller is 192.168.0.1 (subnet mask
255.255.255.0)!
You may configure another static IP address as follows:
• select Settings → Controller
• untick the checkbox DHCP client
• enter IP address and subnet mask
• optionally, enter gateway and nameserver
• reboot the controller for the changes to take effect
Z
Please note that these settings are not part of your personal configuration. Changes in this menu will affect all users of your controller! Your
controller may become unreachable with wrong IP settings! Refer to
chapter 4.2.4 on page 54).
51
Chapter 4
The controller is controlled by a remote PC via DTrack2 frontend software. When delivered, the controller is set up to support DHCP. Therefore, it will acquire an IP address
automatically given that a DHCP server is running.
Double-check if the cameras are connected properly to the controller. Verify that power
supplies are switched on and the cameras are running. Connect the Ethernet cable to
your local network and connect the power plug of the ARTTRACK Controller to a power
socket. If you want to set a specific static IP address before booting the controller please
refer to chapter 4.2.4 on page 54 for more information.
4 System setup
Finally, start the DTrack2 frontend software on the remote PC. Please refer to chapter 4.5
on page 70 for more details.
External synchronization Any ARTTRACK system controller can be synchronized with
an external source. On the back of the controller there is a BNC plug ("ExtIn") which
serves as input for the external synchronization signal. The sync signal may be of type
TTL or video (see also chapter 4.5.6.3 on page 101).
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 tracking system follows the external synchronization signal and chooses time slots when it is
safe to emit infrared radiation without causing interference. The effect is, for example, that
active shutter glasses are not flickering but offer a stable picture for the user.
Z
The external sync input is not internally terminated.
When synchronizing with a video input, a T-piece with an external 75
Ω terminating resistor should be used if the signal line 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.
4.2.3 Installation of the TRACKPACK Controller (discontinued)
The following list introduces the ports of the TRACKPACK Controller:
• ART SynccardTP :
The syncgroups for TRACKPACK systems can be configured in the DTrack2 frontend software. Please refer to chapter 4.5.6.3 on page 97.
– ExtIn:
Please plug in the external source for synchronization here.
– Output:
The cameras have to be plugged in to the RJ45 connectors. Synchronization
and power is supplied with this connection.
• Firewire:
Please connect the TRACKPACK cameras with the controller using the delivered
Firewire cables.
• USB port:
Please plug in the USB radio transceiver for the Flystick2/3 here (refer to chapter
5.1 on page 128 or chapter 5.2 on page 134).
• Ethernet port:
Please connect the controller to your local network using an RJ45 cable.
52
4.2 The Controllers of ART
For connecting the TRACKPACK controller to your local network, please refer to figure
4.15 on page 50. You may either use the controller as a DHCP client within your network
(figure 4.15(a)), i.e. the tracking data is transmitted directly via your local network. If, due
to your company security guidelines, it is not allowed to connect the controller directly to
your network, you may install two network cards in your remote PC - one is connected to
the controller and the other one is connected to your local network (figure 4.15(b)). In that
case, the DTrack2 Frontend will act as a router for the tracking data.
The controller is controlled by a remote PC via DTrack2 frontend software. When delivered, the controller is set up to support DHCP. Connect the Ethernet cable to your local
network and connect the power plug to a power socket. If you want to set a specific static
IP address before booting the controller please refer to chapter 4.2.4 on page 54 for more
information.
Press the switch next to the power plug to start the controller. If the controller is booting
without connected Ethernet cable it will use its standard IP address.
i
The fall-back IP address of the controller is 192.168.0.1 (subnet mask
255.255.255.0)!
You may configure another static IP address as follows:
• select Settings → Controller
• untick the checkbox DHCP client
• enter IP address and subnet mask
• reboot the controller for the changes to take effect
Z
Please note that these settings are not part of your personal configuration. Changes in this menu will affect all users of your controller! Your
controller may become unreachable with wrong IP settings! Refer to
chapter 4.2.4 on page 54).
Finally, start the DTrack2 frontend software on the remote PC. Please refer to chapter 4.5
on page 70 for more details.
External synchronization The TRACKPACK system and therefore the TRACKPACK controller can be synchronized with an external source. On the back of the controller there is
a BNC plug ("ExtIn") which serves as input for the external synchronization signal. The
sync signal may be of type TTL or video (see also chapter 4.5.6.3 on pag 101).
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 TRACKPACK tracking system follows the external synchronization signal and chooses time slots
when it is safe to emit infrared radiation without causing interference. The effect is, for example, that active shutter glasses are not flickering but offer a stable picture for the user.
53
Chapter 4
• optionally, enter gateway and nameserver
4 System setup
Z
The external sync input is not internally terminated.
When synchronizing with a video input, a T-piece with an external 75Ω
terminating resistor should be used if the signal line 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 the synccard of the controller. Depending on the operating condition of the
ART tracking system the LEDs are triggered respectively. Table 4.2 shows how the LEDs
are triggered according to the type of synchronization.
two LEDs (on each port of the camera network card)
↓
↓
orange
↓
Status
flashing
↓
master (sync
source)
green
↓
↓
↓
↓
ON
OFF
ON
OFF
↓
↓
↓
measurement
inactive
controller
switched ON
controller
switched OFF
↓
permanently
lit
↓
slave (sync
drain)
Table 4.2: Description of the LEDs on the back of the TRACKPACK Controller
4.2.4 Setting a static IP address without the DTrack2 Frontend
(available from controller software version v2.2)
It is possible to configure the IP address of the controller without the DTrack2 frontend
software. You only need a standard USB stick (FAT32 formatted) on which you save a
setup file (format see below).
• Plug in the USB stick to the controller. It doesn’t matter if the controller is running or
not.
• If necessary start up the controller.
• Wait some time (approx. 20-30 seconds, until announced by two beeps) for the
controller to write the two files onto the USB stick.
54
4.2 The Controllers of ART
• Unplug the USB stick.
• Now, you may view the information file or edit the setup file with any editor (instructions given in the setup file).
• In case you changed the setup file, please plug in the USB stick to the controller
again.
• Wait some time (approx. 20-30 seconds, until announced by three beeps) for the
controller to read the setup file.
• Reboot the controller for the changes to take effect.
Now, your controller is configured according to your requirements.
4.2.5 The setup file
This file is used to configure the controller without using the DTrack2 frontend software
regarding three parameters, which are:
• configuring the controller to be a DHCP client,
• setting a static IP address and
• carrying out a factory reset.
Following, a description of the file (e.g. ARTtrackController00117_setup.txt) format:
1# ARTtrack Controller Setup:
2
3
4# ethernet settings:
5# - uncomment just one of the lines starting with ’SETNET’
6
7# ethernet settings: DHCP
8# - uncomment the following line to activate DHCP
9#SETNET="dhcp"
10
11# ethernet settings: fix IP address and subnet mask
12# - uncomment the following line to set a fix IP address and subnet mask
13#SETNET="ip 192.168.0.1 255.255.255.0"
14
15# name settings: host name
16# - uncomment the following line to set the host name
55
Chapter 4
Carrying out a factory reset will result in the loss of all your settings!
4 System setup
17#SETHOSTNAME="atc"
18
19# name settings: domain name
20# - uncomment the following line to set the domain name
21#SETDOMAINNAME="art.site"
22
23# name settings: domain name server
24# - uncomment one of the following lines to set (or clear) a domain name server
25#SETNAMESERVER="192.168.0.254" # set DNS (IP or hostname)
26#SETNAMESERVER="-"
# clear DNS
27
28# factory reset of all other settings:
29# - CAUTION: use with care, all your settings will be lost!
30# - uncomment the following line to reset all other Controller settings
31#RESETSETTINGS="yes"
Example:
If you wanted to setup a static IP you would have to remove the ’#’ sign and enter the
desired IP address, here for example: 123.123.0.1
before:
13#SETNET="ip 192.168.0.1 255.255.255.0"
after:
13 SETNET="ip 123.123.0.1 255.255.255.0"
4.2.6 The information file
This file contains the current settings of the controller. Following, a description of the file
format (e.g. ARTtrackController00150_info.txt):
ARTtrack Controller Information:
Name
Serial Number
: atc-150
: 00150
Ethernet (LAN)
: dhcp
Ethernet IP (LAN) : 10.10.5.22 255.255.0.0 10.10.0.253
Ethernet MAC (LAN): 00:24:1D:00:C3:B3
Domain Name Server:
4.2.7 Wake On LAN
The controller is capable of Wake On LAN (WOL) if it has been forced into standby mode
before by the user (DTrack2 → Controller standby ).
56
4.2 The Controllers of ART
There are two options for waking up the controller remotely:
1. you may use DTrack2 or
2. use a separate tool (Windows: WOL program; Linux: console-based command).
Option 1 - WOL via DTrack2 Start the DTrack2 frontend software as usual. The ’Connect’ button will change its name into ’Wake On LAN’ (refer to figure 4.16).
Figure 4.16: Welcome screen of DTrack2 with Wake On LAN option
Press the ’Wake On LAN’ button and DTrack2 is trying to wake up the controller - this
may take up to two minutes as the controller has to boot up (see figure 4.17).
Figure 4.17: Wake On LAN progress bar
If Wake On LAN was successful DTrack2 will automatically establish the connection with
this controller and start the frontend software.
Option 2 - WOL via separate tool You will need the hostname of the controller as well
as its MAC address. To get this information, please press Settings → Controller and remember the ’hostname’ and its MAC address (’ethernet-MAC LAN’).
57
Chapter 4
Please make sure that the controller is still connected to the local network! DTrack2 cannot wake up the controller if no physical connection
between remote PC and controller is established!
4 System setup
If you are a Windows user you need a separate WOL program to use this feature. Please
refer to the manual of the WOL program you are using to find out how to configure the
WOL function.
When using Linux you only need to switch to the console and type in the following command and your controller restarts:
for Linux openSUSE:
$ wol
e.g.: $ wol 00:1D:92:3A:58:5F
for Ubuntu:
$ wakeonlan
e.g.: $ wakeonlan 00:1D:92:3A:58:5F
4.2.8 Remote command strings
The following commands may be used in combination with the DTrack2 SDK to control
the tracking system remotely (e.g. with your media control) and without the DTrack2 frontend. The DTrack2 SDK is available from ART upon request.
Command string (always preceded by "dtrack2")
Description
tracking start
Start the measurement
tracking stop
Stop the measurement
set config active_config
Change the configuration to
set output net udp
Configure where the data has to be sent to
example: dtrack2 set output net ch02 udp 231.231.0.1 5003
set output net multicast
Configure where the data has to be sent to
example: dtrack2 set output net ch02 multicast 231.231.0.1 5003
set output active
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Author : Advanced Realtime Tracking (A.R.T.) GmbH
Title : DTrack2 User Manual v2.12.0
Subject : User manual - Infrared optical tracking system
Creator : LaTeX
Producer : 14014
Keywords : Hybrid Tracking, Filter, 5DOF targets
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