DTrack2 User Manual V2.12.0 ART DTrack 2.12

User Manual: ART DTrack User Manual 2.12

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Terms and definitions
Safety
- Symbols and their meaning
- Safety warnings
Introduction
Markers and targets (rigid bodies)
System setup
Interaction devices
Frequently asked questions (FAQ)
General Information
Technical specifications
Technical Appendix
- Definition of Coordinates and Rotations
- Output of Measurement Data via Ethernet
List of Figures
List of Tables
Index

version 2.12

April 2016

2016 A.R.T. GmbH

Contents are subject to

change without notice

weisser Text als Fake ...

System user manual

ARTtrack R

, TRACKPACK & DTrack R



dasbetrifft die gesamte seitenbreite der seite des dokumentes etetcetcetcetcetcetcetc etcetcetcetc

Trademarks

The following overview shows the registered trademarks of A.R.T. GmbH (Advanced Re-

altime Tracking GmbH):

trademarks illustrated as in Germany in the EU in the USA

A.R.T. R

ART ×××

ARTtrack R

ARTTRACK ×××

DTrack R

DTrack2 ×

smARTtrack R

SMARTTRACK ×××

×××

Microsoft R

and Windows R

are trademarks registered in the United States and

other countries by the Microsoft Corporation.

The company names and product names written in this manual are trademarks

or registered trademarks of the respective companies.

License agreement

The license provider guarantees the license holder a personal right to use the

DTrack2 software. A single license entitles the license holder to use the

software on all computers and networks of the license holder’s

branch/subsidiary ofﬁce.

In no event shall ART GmbH be liable for any incidental, indirect, or

consequential damages whatsoever (including, without limitation, damages for

loss of business proﬁts, business interruption, loss of business information, or

any other pecuniary loss) arising out of the use of or inability to use the software

or hardware.

1999 - 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 with-

out losing the origin and orientation of the original coordinate system and continue

tracking. A similar procedure applies when removing cameras from the system.

•Integration of ’COOTrans’, our co-ordinate adjustment utility. This means that the

room adjustment can now be used to transform the tracking coordinate system

into the coordinate system of speciﬁc 3rd party objects, provided that the reference

points are known and can be measured (license-based)

•Support of bodies with up to 30 markers each

•Support of bodies with visibility restrictions including display of emission cones

within ’Body Adjustment’

•Additional information dialog regarding cylindrical markers within ’Body Calibration

Result Dialog’

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

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

number

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 in-

cluding 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

Termsanddeﬁnitions ................................. 9

1 Safety 11

1.1 Symbols and their meaning . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.2 Safetywarnings ................................. 11

2 Introduction 14

3 Markers and targets (rigid bodies) 16

3.1 Passivemarkers ................................. 16

3.2 Activemarkers .................................. 17

3.3 Standardtargets ................................. 20

4 System setup 25

4.1 The tracking cameras of ART .......................... 25

4.1.1 ARTTRACK5 .............................. 25

4.1.2 ARTTRACK5/C ............................. 28

4.1.3 TRACKPACK/E ............................. 31

4.1.4 ARTTRACK2 (discontinued) ...................... 33

4.1.5 ARTTRACK3 (discontinued) ...................... 35

4.1.6 TRACKPACK (discontinued) ...................... 38

4.1.7 TRACKPACK/C (discontinued)..................... 40

4.2 The Controllers of ART ............................. 43

4.2.1 Installation of the ART Controller (DTrack2 since v2.10) . . . . . . . 44

4.2.2 Installation of the ARTTRACK Controller (discontinued) . . . . . . . 48

4.2.3 Installation of the TRACKPACK Controller (discontinued) . . . . . . 52

4.2.4 Setting a static IP address without the DTrack2 Frontend (available

from controller software version v2.2) . . . . . . . . . . . . . . . . . 54

4.2.5 Thesetupﬁle............................... 55

4.2.6 The information ﬁle . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4.2.7 WakeOnLAN .............................. 56

4.2.8 Remote command strings . . . . . . . . . . . . . . . . . . . . . . . . 58

4.3 Setting up cascaded systems . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4.4 Setting up the Hybrid Motion Capture System . . . . . . . . . . . . . . . . 63

4.5 DTrack2 frontendsoftware ........................... 70

4.5.1 Gettingstarted .............................. 70

4.5.1.1 Installation guide (Windows) . . . . . . . . . . . . . . . . . 70

4.5.1.2 Installation guide (Linux) . . . . . . . . . . . . . . . . . . . 71

4.5.1.3 Software update . . . . . . . . . . . . . . . . . . . . . . . . 72

4.5.1.4 Start DTrack2 frontend software . . . . . . . . . . . . . . . 72

4.5.1.5 Connecting to the controller . . . . . . . . . . . . . . . . . . 72

4.5.1.6 Adjustment of the cameras . . . . . . . . . . . . . . . . . . 74

4.5.1.7 Localizing and removing of disturbing reﬂections . . . . . . 76

4.5.2 Roomcalibration............................. 77

4.5.2.1 Room re-calibration . . . . . . . . . . . . . . . . . . . . . . 82

4.5.3 Bodycalibration ............................. 84

4.5.3.1 Selecting the coordinate system for 6DOF targets . . . . . 85

4.5.3.2 Calibration with a calibration ﬁle . . . . . . . . . . . . . . . 87

4.5.3.3 Body re-calibration . . . . . . . . . . . . . . . . . . . . . . 88

4.5.3.4 Target Library . . . . . . . . . . . . . . . . . . . . . . . . . 89

4.5.4 Bodyadjustment............................. 90

4.5.5 Filtering options in DTrack2 ...................... 91

4.5.6 Menustructure.............................. 93

4.5.6.1 Overview............................ 93

4.5.6.2 MenuDTrack2 ......................... 94

4.5.6.3 Menu Settings . . . . . . . . . . . . . . . . . . . . . . . . . 97

4.5.6.4 Menu Calibration . . . . . . . . . . . . . . . . . . . . . . . . 111

4.5.6.5 Menu Display . . . . . . . . . . . . . . . . . . . . . . . . . 120

4.5.6.6 MenuTools...........................124

4.5.6.7 MenuAbout ..........................124

5 Interaction devices 126

5.1 Flystick2......................................126

5.2 Flystick3......................................132

5.3 Fingertracking ..................................137

5.4 MeasurementTool ................................144

6 Frequently asked questions (FAQ) 147

6.1 Backup ......................................147

6.2 Cameras .....................................147

6.3 Controller .....................................150

6.4 Synchronization .................................150

6.5 DTrack2 andshutterglasses ..........................157

6.6 DTrack2 andinterfaces .............................157

6.7 Software DTrack2 ................................158

6.8 Calibration ....................................161

6.9 Tracking......................................166

6.10Flystick ......................................167

6.11Fingertracking ..................................169

6.12MeasurementTool ................................171

6.13ActiveTargets...................................171

6.14 ART trackingand3DTVs ............................172

6.15 Radio transceivers used in ART products ...................172

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 190

A.1 Cameras .....................................190

A.1.1 ARTTRACK5 ..............................190

A.1.2 ARTTRACK5/C .............................191

A.1.3 TRACKPACK/E .............................192

A.1.4 ARTTRACK cameras (discontinued) . . . . . . . . . . . . . . . . . . 193

A.1.5 TRACKPACK cameras (discontinued) . . . . . . . . . . . . . . . . . 194

A.2 Flysticks......................................195

A.3 Fingertracking ..................................196

A.4 ARTController ..................................196

A.5 Overallsystem ..................................197

A.6 Systemlatency..................................199

B Technical Appendix 203

B.1 Deﬁnition of Coordinates and Rotations . . . . . . . . . . . . . . . . . . . . 203

B.1.1 RoomCalibration.............................203

B.1.1.1 Room Adjustment . . . . . . . . . . . . . . . . . . . . . . . 203

B.1.2 BodyCalibration .............................204

B.1.2.1 Deﬁnition of the Coordinates by the Body itself . . . . . . . 204

B.1.2.2 Deﬁnition of the Coordinates by the Room Coordinate Sys-

tem, with Origin in the Center of the Markers . . . . . . . . 204

B.1.2.3 Deﬁnition of the Coordinates by the Room Coordinate Sys-

tem, with Origin in a Marker . . . . . . . . . . . . . . . . . . 204

B.1.2.4 Coordinate System Deﬁnition for 5DOF Targets (with and

without cylinder markers) . . . . . . . . . . . . . . . . . . . 205

B.1.2.5 Coordinate System Deﬁnition for two 5DOF Targets with

cylindermarkers........................205

B.1.3 6DOFResults ..............................205

B.1.4 3DOFData ................................206

B.1.5 Flystickdevices..............................206

B.1.5.1 Flystick1 ............................206

B.1.5.2 Flystick2 ............................207

B.1.5.3 Flystick3 ............................208

B.1.6 Measurement Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

B.1.6.1 Orientation of a Measurement Tool . . . . . . . . . . . . . 208

B.1.6.2 Using a reference body . . . . . . . . . . . . . . . . . . . . 208

B.1.7 Fingertracking ..............................209

B.2 Output of Measurement Data via Ethernet . . . . . . . . . . . . . . . . . . . 210

B.2.1 FrameCounter..............................211

B.2.2 Timestamp ................................211

B.2.3 Standard 6DOF Bodies . . . . . . . . . . . . . . . . . . . . . . . . . 211

B.2.4 Standard 6DOF Bodies (extended format) . . . . . . . . . . . . . . . 212

B.2.5 Flysticks..................................213

B.2.6 Flysticks (Old Format) . . . . . . . . . . . . . . . . . . . . . . . . . . 214

B.2.7 Measurement Tools with sphere tip . . . . . . . . . . . . . . . . . . . 215

B.2.8 Measurement Tool references . . . . . . . . . . . . . . . . . . . . . . 216

B.2.9 Measurement Tools (Old Format) . . . . . . . . . . . . . . . . . . . . 216

B.2.10Fingertracking ..............................217

B.2.11 Additional 3DOF Markers . . . . . . . . . . . . . . . . . . . . . . . . 218

B.2.12 Additional Informations . . . . . . . . . . . . . . . . . . . . . . . . . 218

List of Figures 220

List of Tables 222

Index 223

Chapter 0

Terms and deﬁnitions

term deﬁnition

3DOF three degrees of freedom (i.e. only position)

6DOF six degrees of freedom (i.e. position and orientation)

5DOF ﬁve degrees of freedom (i.e. one degree less in orientation)

ART Controller calculates tracking data and generates the data output stream

(compatible to ARTTRACK2 ,ARTTRACK3 ,ARTTRACK5 ,

ARTTRACK5/C ,TRACKPACK/E )

ARTTRACK Controller (discontin-

ued)

calculates tracking data and generates the data output stream

(compatible to ARTTRACK1 ,ARTTRACK2 ,ARTTRACK3 )

ARTTRACK 2 & 3 (discontinued) infrared camera

ARTTRACK5 infrared camera

ARTTRACK5/C infrared camera dedicated for multi-sided projections

body calibration teach the system the geometry of a rigid body

body, rigid body rigid arrangement of several single markers (see also "target")

calibration angle (410mm or 710mm) belongs to the room calibration set and deﬁnes origin and orien-

tation of the room coordinate system

ceiling suspension equipment to mount an infrared camera to the ceiling

DTrack2

backend software Linux-based software which does all necessary calculations

frontend software graphical user interface to control the controller

Field of View (FoV) is the area of interest captured on the cameraâ ˘

A´

Zs imager

ﬁnger thimble a ﬁxture for the ﬁnger tip to hold the active marker(s)

Fingertracking tracks the orientation of the hand and the position of the ﬁngers

Flystick wireless interaction device for virtual reality (VR) applications

hand geometry describes the dimensions of your hand and ﬁngers

hybrid tracking fusion of optical and inertial data into one consolidated output

inertial sensor an inertial measurement unit simultaneously measures 9 phys-

ical properties, namely angular rates, linear accelerations, 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.

infrared optical tracking position measurement of bodies (subjects or objects) based

upon infrared light and optical measurement procedures

license code (license key) software key to unlock certain capabilities of the tracking system

marker object either made of retro reﬂective material or LED for position

tracking (3DOF)

Measurement Tool a pointing device which allows to measure the position of the

tool’s tip with high accuracy

measurement volume deﬁnes the volume where optical tracking is possible

modulated ﬂash infrared signal which is used for wireless synchronization

motion capture track movements of a human body

mutual blinding one camera sees disturbing reﬂections caused by the infrared

ﬂashes of another one

prediction predicts output for the speciﬁed time in the future to compensate

tracking and rendering latency

room calibration teach the system the position of each camera and deﬁne origin

and orientation of the room coordinate system

room calibration set consists of angle and wand

syncgroup 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).

synccard (Synccard2/3 or Sync-

cardTP)

plug-in card for the controller which serves for synchronizing the

cameras

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)

target rigid arrangement of several single markers ( = rigid body)

tracking position measurement of bodies that move in a deﬁned space

TRACKPACK (discontinued) infrared camera

TRACKPACK/C (discontinued) infrared camera dedicated for multi-sided projections

TRACKPACK/E infrared camera

TRACKPACK Controller (discontin-

ued)

calculates tracking data and generates the data output stream

(compatible to TRACKPACK and TRACKPACK/C )

USB radio transceiver (RT2, RT3) exchange data with Flystick or Tactile Feedback

virtual point cloud used for calculating the relative positions of the IR cameras

wand 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

Chapter 1

1 Safety

1.1 Symbols and their meaning

You can ﬁnd the following symbols and their signiﬁcation on the equipment or in the man-

ual:

iUseful and important notes.

ZImportant 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

ZSafe 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

1 Safety

socket immediately. Otherwise, users or environment are endangered. Please con-

tact the ART service.

•Never change or alter the equipment, neither mechanically nor electrically. Only the

components described by ART shall be used. The conformity and the warranty of

the producer (ART ) expire by non-compliance.

•Never open the equipment! Only personnel authorized by ART is allowed to open

the equipment. Inside of the equipment there are various hazards like high voltage,

electric shocks - even if the equipment is disconnected - which can lead to death on

contact. In case of malfunction of the equipment please contact the ART service.

•Only peripheral devices which meet the safety requirements of EN/IEC 60950 for

extra low voltage may be attached on Ethernet-, BNC- and the DC-circuit of the

equipment.

•The cameras emit infrared light. Keep a distance of min. 20 cm when operating the

cameras. All cameras are assigned to the Exempt Group according to IEC62471-1

and therefore pose no risk or hazard to the human eye or skin at this distance.

•Be sure that the cameras are ﬁrmly mounted in the correct position.

•Do not touch the front pane of the cameras, since the acrylic pane and the lens are

highly sensitive surfaces. Be careful to avoid permanent damages (e.g. scratches).

Only touch the housings of the cameras.

•The ventilation holes of the ARTTRACK2 camera must not be covered. Air circu-

lation is necessary to prevent the cameras from overheating. If the air circulation

is restricted overheating will damage the cameras. The minimum distance between

equipment and environmental objects has to be greater than 3 cm.

•The equipment has to be attached to a power socket with grounding. If the ground-

ing wire is defective the requirement of the safety and the electromagnetic compat-

ibility (EMC) are not guaranteed. To check the function of the grounding wire ask

your regional located electrician.

•Before switching on any device, verify that voltage and frequency of your electric

installation are within the allowed ranges of the equipment. The characteristics of

the equipment can be found on the appliance rating plate or in chapter A on page

190. The appliance rating plates are on the equipment’s housing (ARTTRACK1 on

the lower side of the housing; ARTTRACK2 /ARTTRACK3 on external power sup-

ply, ARTTRACK5 &ARTTRACK5/C /TRACKPACK/E on camera housing, all con-

trollers on the backside of the housing).

•The power switch on the backside does not completely separate the devices from

the electricity network. To completely separate the equipment from the electricity

network the power plug must be disconnected from the power socket. The power

plug has to be accessible freely. The power socket must be close to the equipment.

Chapter 1

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.

Install a strain relief!

•Only use original ART (or ART authorized) components and accessories. Using

non-original components or accessories may damage the equipment, cause mal-

functions or may void operation safety. The provided components and original

accessories can be found in chapters 4 on page 25 and 5 on page 126. Only

use the originally provided external power supply for operating the camera ART-

TRACK2 and ARTTRACK3 and, if applicable, only the provided PoE+ switch for

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).

ZART 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.

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 po-

sition (X, Y, Z) is measured we call this "three degrees of freedom" (3DOF) tracking. The

simultaneous measurement of position and orientation (three independent angular coor-

dinates) is called "six degrees of freedom" (6DOF) tracking.

Single markers are sufﬁcient if only 3DOF coordinates are needed. For 6DOF tracking, a

rigid body is mandatory.

Passive markers are covered with retro reﬂective material - they act as light reﬂectors.

Active light emitters (i.e. based on infrared LEDs) are called active markers (see chapter

3 on page 16).

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.

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 re-

ﬂected by the markers and create a greyscale image based on the received IR radiation.

During the preprocessing the camera calculates the 2D marker positions with high accu-

racy using pattern recognition. A mean 2D-accuracy of 0.04 pixels (0.1 pixels maximum

2D-deviation) is standard in ART tracking cameras. Then, the 2D data are being sent to

the Controller via Ethernet.

Now, the controller has to calculate 3DOF or 6DOF data. The base for this calculation

is that the cameras’ ﬁeld of views are overlapping. DTrack2 calculates the path of the

optical rays from the cameras to the markers and delivers the ray intersections in three-

dimensional coordinates. These intersections are the positions of the markers.

The position and orientation of the cameras are known from the room calibration. During

body calibration, DTrack2 identiﬁes certain marker arrangements as rigid bodies. Based

upon this, DTrack2 is able to calculate 6DOF data and, ﬁnally, knows position and orien-

tation of the target and, therefore, of the object or subject to be tracked.

In optical tracking systems you have to be aware that tracking is only possible as long as

the target is positioned in tracking range of the cameras and is not occluded by any other

objects or the object to be tracked. More in detail, at least four markers of a target have

to be visible for a minimum of two cameras to enable tracking.

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 op-

tical principles:

Chapter 3

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 de-

scribed way. Mostly foils with arrangements of many very

small mirrors in a plane are used.

2. Glass spheres (with a proper refraction index) are fo-

cussing incoming light approximately to the opposite sur-

face of the ball. A layer of microscopic glass spheres, car-

ried by a reﬂecting material, acts as a retro reﬂector. These

foils can be fabricated on a ﬂexible carrier material, thus

they are widely used for equipping spherical markers with

retro reﬂecting surfaces.

iART spherical markers are covered with retro reﬂecting foils, based on

the glass spheres principle.

ZThe 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, depend-

ing on the application:

1. Single LEDs without diffusor sphere:

+ can be covered with acrylic protection ﬁlm,

+ results in simple and robust markers providing visibility up

to high distances (up to 10m),

- the angular range of visibility is limited to approx. ±60◦.

3 Markers and targets (rigid bodies)

2. Single LEDs with diffusor sphere:

+ for optimum angular range of visibility,

- distance between marker and tracking camera is limited to

a short distance (up to 4.5m).

3. Big active spherical markers:

+ several single LEDs per marker, covered with light scatter-

ing 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 scatter-

ing surface,

+ tracking up to very high distances (approx. 20m),

+ suitable for outdoor tracking,

+ magnetic base for easy positioning on metal surfaces,

- the angular range of visibility is limited to less than 180◦,

- diameter: 30mm.

All active markers provided by ART are controlled by a special PC board and need power

supply.

Synchronization of active markers Active markers could in principle be activated in

CW mode (i.e. continuous light emission). However, this would not be very clever be-

cause tracking cameras have a very narrow time slot of sensitivity, i.e. most of the light

emitted by the markers would be useless for tracking. As a consequence, maximum dis-

tance between cameras and marker would be very short due to an upper limit of power

dissipation allowed for each single LED. Therefore, all active markers provided by ART are

emitting radiation only when the tracking cameras are sensitive, thus having to be syn-

chronized with the cameras.

Synchronization can be done by a wired connection between the tracking system and the

pc-board controlling the active markers, but can also be done in a wireless way.

Chapter 3

3.2 Active markers

(a) Single LED (b) Single LED with diffusor sphere

Figure 3.1: Angular range of visibility

For wireless synchronization a coded IR ﬂash is being sent out by a tracking camera. The

active marker’s PC board recognizes the coded ﬂash and activates the LEDs.

3 Markers and targets (rigid bodies)

3.3 Standard targets

Type Description Weight approx. Dimension Marker

size

Hand target The hand target is designed for hand track-

ing in usability and assembly studies re-

spectively. It is also frequently used as a

small general-purpose target. Due to the

small size this target is easily occluded by

the hand carrying it. Therefore, proper ar-

rangement of tracking cameras has to be

used in order to avoid occlusions.

25g / 0.9oz (110 ×80 ×28)mm 12mm

Large hand target This hand target is designed for hand track-

ing in a two camera tracking system. Its

large size allows to move the hand in al-

most all directions, without losing tracking.

30g / 1.1oz (170 ×120 ×35)mm 12mm

Claw target The claw target looks 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

Chapter 3

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 pur-

pose.

min:

14g / 0.5oz

max:

22g / 0.7oz

(270 ×120 ×35)mm 12mm

INFITEC PREMIUM target Target tailored to the INFITEC PREMIUM

passive stereo glasses.

26g / 0.9oz (225 ×85 ×80)mm 12mm

3 Markers and targets (rigid bodies)

Type Description Weight approx. Dimension Marker

size

CrystalEyes R

2/3 target Target tailored to the shutter glasses of the

StereoGraphics active stereo system. It ﬁts

to both CrystalEyes R

2 and 3.

28g / 1oz (215 ×120 ×60)mm 12mm

CrystalEyes R

5 target Target tailored to the shutter glasses of the

StereoGraphics active stereo system. It ﬁts

to the CrystalEyes R

5.

19g / 0.7oz (195 ×105 ×40)mm 12mm

NuVision APG6000

and APG6100 target

Target tailored to the NuVision APG6000

and APG6100 shutter glasses.

17g / 0.6 oz (220 ×125 ×75)mm 12mm

Chapter 3

3.3 Standard targets

Type Description Weight approx. Dimension Marker

size

Volfoni EDGE R

target Target tailored to the Volfoni EDGE R

shut-

ter glasses.

23g / 0.7 oz (230 ×95 ×60)mm 12mm

NVIDIA 3D Vision R

Pro

target

Target tailored to the NVidia 3D Vision Pro

shutter glasses.

25g / 0.9 oz (225 ×100 ×60)mm 12mm

NVisor SX 60 target Target tailored to the NVisor SX 60 head

mounted display.

55g / 1.94oz (300 ×215 ×35)mm 12mm

3 Markers and targets (rigid bodies)

Type Description Weight approx. Dimension Marker

size

Motion capture targets ART provides a complete set of targets for

motion capture purposes. All targets are

6DOF targets and can be identiﬁed by the

tracking system. A full ART MoCap target

set consists of (subsets can be generated):

1 Glasses target (AGT4) 28g / 1.0oz (225 ×180 ×95)mm 12mm

2 Shoulder targets (UT) 44g / 1.55oz (90 ×75 ×35)mm 12mm

1 Dorsal target (DT) 84g / 2.96oz (150 ×65 ×35)mm 12mm

2 Upper arm targets (HBT) 52g / 1.83oz (150 ×70 ×35)mm 12mm

2 Forearm targets (UBT) 50g / 1.76oz (150 ×65 ×35)mm 12mm

2 Hand targets (HT) 25g / 0.9oz (110 ×80 ×28)mm 12mm

1 Waist target (WT, one-piece) 195g / 6.9oz (390 ×140 ×50)mm 14mm

1 Waist target (WT, multi-part), each 30g / 1.1oz (90 ×60 ×50)mm 16mm

2 Upper leg targets (FBT) 99g / 3.49oz (220 ×120 ×40)mm 16mm

2 Lower leg targets (TBT) 58g / 2.05oz (205 ×70 ×35)mm 16mm

2 Foot targets (FT) 65g / 2.29oz (95 ×105 ×70)mm 16mm

Table 3.3: Standard targets overview

Chapter 4

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 dis-

tance.

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 ART-

TRACK5 is equipped with a 3.5 mm lens. Depending on the application and the setup the

ARTTRACK5 can be equipped with other lenses (i.e. with different focal lengths). Refer

to A.1 on page 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 measure-

ment volumes. System operation in smaller or bigger measurement volumes can lead

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).

iThe ﬂash intensities should not be too high. In general, a ﬂash inten-

sity of 50-60 might be sufﬁcient.

Major changes of the measurement volume may require different lenses and thus a new

determination of camera parameters. These changes have to be done at the ART labs.

Be aware that a tracking system is very sensitive to camera movements. Therefore, the

cameras have to be mounted in a way that reduces camera movements (especially vibra-

tions) as much as possible.

iMounting on tripods may be sufﬁcient for presentations and prelimi-

nary installations, but is not recommended as a ﬁnal solution!

If you want to mount the camera on a tripod there’s no carrier needed.

Otherwise the carrier for the ARTTRACK5 can be attached on both bottom and top side

of the camera. Attach the carrier with the T-piece pointing to the back of the camera as

shown in 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

Chapter 4

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.

Make sure to install the system in a way that you can easily access the cameras and

its cables. Be especially careful to mount the cameras ﬁrmly so they cannot fall down.

Unsecured cameras may pose a serious hazard to health and safety.

Avoid hard shocks at all times! A new camera calibration at the ART fa-

cilities might become necessary in that case.

Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier

using the example of an ARTTRACK2 camera. Make sure to not fall below minimal

distance to the wall so enough room is left for the cables and to allow readjustment of the

camera angles and maintenance.

Use strong dowels and screws for mounting the cameras to walls or ceilings (see 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,

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 dis-

tance.

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 pro-

jections’ corners as the camera cannot see through the screen. The ARTTRACK5/C cam-

era has been designed to easily ﬁt into such holes by separating the lens from the elec-

tronics part (see ﬁgure 4.4). With its 4.0 mm lens a large ﬁeld of view (FoV) is covered.

Refer to A.1 on page 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 con-

nect the remote head to any other port (e.g. COM port) !!!

Chapter 4

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 mea-

surement volumes. System operation in smaller or bigger measurement volumes can lead

to reduced accuracy or other malfunctions. The measurement volume can be adjusted

within certain limits simply by changing the ﬂash intensity of the ART infrared cameras

(see chapter 4.5.6.3 on page 97).

iThe ﬂash intensities should not be too high. In general, a ﬂash inten-

sity of 50-60 might be sufﬁcient.

Major changes of the measurement volume may require different lenses and thus a new

determination of camera parameters. These changes have to be done at the ART labs.

Be aware that a tracking system is very sensitive to camera movements. Therefore, the

cameras have to be mounted in a way that reduces camera movements (especially vibra-

tions) as much as possible.

iMounting on tripods may be sufﬁcient for presentations and prelimi-

nary installations, but is not recommended as a ﬁnal solution!

If you want to mount the camera on a tripod just mount the carrier on any side of the

camera body and then the remote camera head on the opposite side using a ceiling

mount.

Otherwise the carrier for the ARTTRACK5/C can be attached on all 4 sides of the camera

body. Attach the carrier with the T-piece pointing to the back of the camera in a similar

way to ﬁgure 4.2 on 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)

4 System setup

ZThe ARTTRACK5/C remote head has to be connected to its corre-

sponding camera body. During mounting please ensure matching se-

rial numbers for both parts !

Only use screws supplied with the ceiling mount for mounting it. Do

not use standard screws for connection of the remote camera head

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 fa-

cilities might become necessary in that case.

Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier

using the example of an ARTTRACK2 camera. Make sure to not fall below minimal

distance to the wall so enough room is left for the cables and to allow readjustment of the

camera angles and maintenance.

Use strong dowels and screws for mounting the cameras to walls or ceilings (see ﬁgure

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!

Chapter 4

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 dis-

tance.

Description The TRACKPACK/E infrared camera is intended for working environments

with distances between camera and markers of up to 4.5 metres. With its 3.5 mm lens a

large ﬁeld of view (FoV) is covered. Refer to A.1 on page 190 for the respective FoV.

Figure 4.6: Camera TRACKPACK/E

Mounting The TRACKPACK/E cameras are optimized for a predeﬁned range of mea-

surement volumes. System operation in smaller or bigger measurement volumes can lead

to reduced accuracy or other malfunctions. The measurement volume can be adjusted

within certain limits simply by changing the ﬂash intensity of the ART infrared cameras

(see chapter 4.5.6.3 on page 97).

iThe ﬂash intensities should not be too high. In general, a ﬂash inten-

sity of 50-60 might be sufﬁcient.

Major changes of the measurement volume may require different lenses and thus a new

determination of camera parameters. These changes have to be done at the ART labs.

Be aware that a tracking system is very sensitive to camera movements. Therefore, the

cameras have to be mounted in a way that reduces camera movements (especially vibra-

4 System setup

tions) as much as possible.

iMounting on tripods may be sufﬁcient for presentations and prelimi-

nary installations, but is not recommended as a ﬁnal solution!

If you want to mount the camera on a tripod there’s no carrier needed.

Otherwise the carrier for the 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 con-

nected 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 fa-

cilities might become necessary in that case.

Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier

using the example of an ARTTRACK2 camera. Make sure to not fall below minimal

distance to the wall so enough room is left for the cables and to allow readjustment of the

camera angles and maintenance.

Use strong dowels and screws for mounting the cameras to walls or ceilings (see ﬁgure

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,

Chapter 4

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 dis-

tance.

Description The ARTTRACK2 infrared camera is intended for working environments

with distances between camera and markers of up to 4 metres. By default the ART-

TRACK2 is equipped 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 measure-

ment volumes. System operation in smaller or bigger measurement volumes can lead

to reduced accuracy or other malfunctions. The measurement volume can be adjusted

within certain limits simply by changing the ﬂash intensity of the ART infrared cameras

4 System setup

(see chapter 4.5.6.3 on page 97).

iThe ﬂash intensities should not be too high. In general, a ﬂash inten-

sity of 3-4 might be sufﬁcient.

Major changes of the measurement volume may require different lenses and thus a new

determination of camera parameters. These changes have to be done at the ART labs.

Be aware that a tracking system is very sensitive to camera movements. Therefore, the

cameras have to be mounted in a way that reduces camera movements (especially vibra-

tions) as much as possible.

iMounting on tripods may be sufﬁcient for presentations and prelimi-

nary installations, but is not recommended as a ﬁnal solution!

If you want to mount the camera on a tripod just mount the carrier on the bottom of the

camera.

Otherwise the carrier for the 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 fa-

cilities might become necessary in that case.

Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier

using the example of an ARTTRACK2 camera. Make sure to not fall below minimal

distance to the wall so enough room is left for the cables and to allow readjustment of the

camera angles and maintenance.

Use strong dowels and screws for mounting the cameras to walls or ceilings (see ﬁgure

Chapter 4

4.1 The tracking cameras of ART

4.3 on page 27).

If in doubt, ask a skilled craftsman for assistance. Use massive and long enough angle

irons to provide the required stiffness and stability.

To avoid measurement problems, no light sources or highly reﬂecting areas should be

visible to the camera. Especially strong point light sources like e.g. halogen lamps and

direct or reﬂected sunlight may imply problems for the measurement (ﬂuorescent lamps

are ok).

Furthermore, please make sure the ventilator holes are not covered. For thermal rea-

sons the ventilator always has to be on the upper side of the ARTTRACK2 camera. That

means, if the camera is to be mounted hanging the carrier must be mounted on top (ven-

tilator side). If it is to be mounted standing the carrier has to be on the bottom side of the

housing.

Please install the cables such that

•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 4.2.2 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 dis-

tance.

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 ap-

plication and the setup the ARTTRACK3 can be equipped with other lenses (i.e. with

different focal lengths). Refer to A.1 on page 190 for a list of available focal lengths and

the respective FoV.

4 System setup

Figure 4.8: Camera ARTTRACK3

Mounting The ARTTRACK3 cameras are optimized for a predeﬁned range of measure-

ment volumes. System operation in smaller or bigger measurement volumes can lead

to reduced accuracy or other malfunctions. The measurement volume can be adjusted

within certain limits simply by changing the ﬂash intensity of the ART infrared cameras

(see chapter 4.5.6.3 on page 97).

iThe ﬂash intensities should not be too high. In general, a ﬂash inten-

sity of 3-4 might be sufﬁcient.

Major changes of the measurement volume may require different lenses and thus a new

determination of camera parameters. These changes have to be done at the ART labs.

Be aware that a tracking system is very sensitive to camera movements. Therefore, the

cameras have to be mounted in a way that reduces camera movements (especially vibra-

tions) as much as possible.

iMounting on tripods may be sufﬁcient for presentations and prelimi-

nary installations, but is not recommended as a ﬁnal solution!

If you want to mount the camera on a tripod just mount the carrier on the bottom of the

camera.

Otherwise the carrier for the ARTTRACK3 can be attached on both bottom and top side

of the camera. Attach the carrier with the T-piece pointing to the back of the camera in a

similar way to ﬁgure 4.2 on page 26. Note, the ceiling suspension is already connected to

the carrier in ﬁgure 4.2.

Chapter 4

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.

Avoid hard shocks at all times! A new camera calibration at the ART fa-

cilities might become necessary in that case.

Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier

using the example of an ARTTRACK2 camera. Make sure to not fall below minimal

distance to the wall so enough room is left for the cables and to allow readjustment of the

camera angles and maintenance.

Use strong dowels and screws for mounting the cameras to walls or ceilings (see ﬁgure

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!

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 dis-

tance.

Description The TRACKPACK is a two or four camera infrared optical tracking system

for use in medium-sized working volumes. It is the best solution for Head- and Flystick-

tracking in multi-sided projection environments (max. 3 m x 3 m x 2 m), or in front of

medium-sized projection screens (up to 4.5 m wide). The system consists of two or four

TRACKPACK cameras and a TRACKPACK Controller.

By default the TRACKPACK is equipped with a 3.5 mm lens. Depending on the applica-

tion and the setup the TRACKPACK camera can be equipped with other lenses (i.e. with

different focal lengths). Refer to A.1 on page 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

Chapter 4

4.1 The tracking cameras of ART

Mounting The TRACKPACK cameras are optimized for a predeﬁned range of measure-

ment volumes. System operation in smaller or bigger measurement volumes can lead

to reduced accuracy or other malfunctions. The measurement volume can be adjusted

within certain limits simply by changing the ﬂash intensity of the ART infrared cameras

(see chapter 4.5.6.3 on page 97).

iThe ﬂash intensities should not be too high. In general, a ﬂash inten-

sity of 3-4 might be sufﬁcient.

Major changes of the measurement volume may require different lenses and thus a new

determination of camera parameters. These changes have to be done at the ART labs.

Be aware that a tracking system is very sensitive to camera movements. Therefore, the

cameras have to be mounted in a way that reduces camera movements (especially vibra-

tions) as much as possible.

iMounting on tripods may be sufﬁcient for presentations and prelimi-

nary installations, but is not recommended as a ﬁnal solution!

If you want to mount the camera on a tripod just mount the carrier on the bottom of the

camera.

Otherwise the carrier for the TRACKPACK can be attached on both bottom and top side

of the camera. Attach the carrier with the T-piece pointing to the back of the camera 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.

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 fa-

cilities might become necessary in that case.

Figure 4.3 on page 27 shows the correct mounting for a camera to a wall with a carrier

using the example of an ARTTRACK2 camera. Make sure to not fall below minimal

distance to the wall so enough room is left for the cables and to allow readjustment of the

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 dis-

tance.

Description The TRACKPACK system may also be combined with the TRACKPACK/C cam-

era in order to realize tracking in multi-sided projection environments (e.g. CAVE R

, I-

Space). In such an environment it is necessary to drill holes into the projections’ corners

as the camera cannot see through the screen. The TRACKPACK/C camera has been

designed to easily ﬁt into such holes by separating the lens from the electronics part (see

ﬁgure 4.10).

With its 3.5 mm lens a large ﬁeld of view (FoV) is covered. Refer to A.1 on page 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.

Chapter 4

4.1 The tracking cameras of ART

Figure 4.10: Camera TRACKPACK/C

The RJ45 connection between TRACKPACK/C camera and controller is

used for power supply and synchronization signal. It is not a standard

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.

Mounting The TRACKPACK/C cameras are optimized for a predeﬁned range of mea-

surement volumes. System operation in smaller or bigger measurement volumes can lead

to reduced accuracy or other malfunctions. The measurement volume can be adjusted

within certain limits simply by changing the ﬂash intensity of the ART infrared cameras

(see chapter 4.5.6.3 on page 97).

iThe ﬂash intensities should not be too high. In general, a ﬂash inten-

sity of 3-4 might be sufﬁcient.

Major changes of the measurement volume may require different lenses and thus a new

determination of camera parameters. These changes have to be done at the ART labs.

Be aware that a tracking system is very sensitive to camera movements. Therefore, the

cameras have to be mounted in a way that reduces camera movements (especially vibra-

tions) as much as possible.

iMounting on tripods may be sufﬁcient for presentations and prelimi-

nary installations, but is not recommended as a ﬁnal solution!

Otherwise the carrier for the TRACKPACK/C can be attached to the camera as shown in

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 con-

tact ART for more information.

Make sure to install the system in a way that you can easily access the cameras and

its cables. Be especially careful to mount the cameras ﬁrmly so they cannot fall down.

Unsecured cameras may pose a serious hazard to health and safety.

Avoid hard shocks at all times! A new camera calibration at the ART fa-

cilities 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

Chapter 4

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

With the introduction of DTrack2 a new principle of controlling the tracking system is im-

plemented. The tracking system itself consists of cameras, interaction devices (optional),

targets and the ART Controller, the ARTTRACK Controller (discontinued) or TRACK-

PACK Controller (discontinued) respectively.

The software DTrack2 consists of frontend and backend software. The frontend software

is installed on a remote PC which is connected to the controller via Ethernet. A GUI for

easy handling enables the user to control the tracking system completely from the remote

PC. The beneﬁt is that the system becomes more ﬂexible, i.e. different users can con-

trol the tracking system at any one time (but not simultaneously!) from different working

places.

Furthermore, DTrack2 provides the possibility to control its functions via Ethernet (i.e.

without the DTrack2 frontend software). This is done by establishing a TCP/IP connec-

tion with the controller and exchanging short command strings (refer to chapter 4.2.8 on

page 58). Please contact ART if you are interested in using this feature.

The backend software runs on the controller - all necessary calculations (3DOF, 6DOF

data, ...) are done by the 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 con-

nection. 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.

4 System setup

ART

Controller

ARTTRACK

Controller

TRACKPACK

Controller

DTrack2 1

ARTTRACK1 × × ×

ARTTRACK2 × × ×

ARTTRACK3 × × ×

ARTTRACK5 × × (from v2.10)

ARTTRACK5/C × × (from v2.11)

TRACKPACK × ×

TRACKPACK/C × × (from v2.5)

TRACKPACK/E × × (from v2.11)

Flystick1 × × × ×

Flystick2 × × × ×

Flystick3 × × × × (from v2.2)

Fingertracking 2× × × ×

Measurement Tool × × × × (from v2.2)

1an appropriate license may be necessary (refer to table 4.3)

2for 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).

ZPlease 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) :

Chapter 4

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 (>

8ARTTRACK5 and ARTTRACK5/C cameras only), please connect the exter-

nal 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 ART-

TRACK1 –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.

∗OUT2:

Deﬁnes syncgroup # 2. The default time delay related to syncgroup # 1 is

480µs.

∗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).

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 (mas-

ter). Please refer to chapter 4.3 on page 58 for more detailed information.

•Power inlet:

Please connect to mains (100 - 240V).

iThe 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:

•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.

ZPlease allow min. 3 minutes for booting prior to starting the ART Con-

troller !

Figure 4.14: ART PoE+ switch front view

Mount the cameras at the desired position before connecting the cables.

The 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 ART-

TRACK5 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

Chapter 4

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 al-

lowed to extend the connection between the T-piece and the camera, nor to branch the

signal line.

Usually, all cameras are connected with the sync output no. 1 ("OUT1") of the synccard

like a chain that is ﬁnished by a 75Ωterminating resistor. If the cameras have to be

grouped into different syncgroups, in order to avoid blinding, two or three BNC chains

are used at the sync outputs no. 1 and 2 or 1, 2 and 3, respectively, of the synccard3.

The settings are deﬁned by software DTrack2 . All sync signals are transferred via BNC

connections.

ARTTRACK2 and ARTTRACK3 cameras have to be connected via any

external Ethernet switch or the ART PoE+ switch and may not be con-

nected directly to the PoE+ ports of the ART Synccard3. Please refer

to chapter 4.2.2 on page 48 for more detailed information.

Furthermore, the controller uses the "LAN" ethernet plug (1000 Base-TX) for data output

to the remote PC or to any PC within the local network. Figure 4.15 on page 50 shows

two possibilities of connecting the controller to a local network. You may either use the

controller as a DHCP client within your network (ﬁgure 4.15(a)), i.e. the tracking data is

transmitted directly via your local network. Or, if due to your company security guidelines

it is not allowed to connect the controller directly to your network, you may install two

network cards in your remote PC - one is connected to the controller and the other one is

connected to your local network (ﬁgure 4.15(b)). In this case, the DTrack2 Frontend will

act as a router for the tracking data.

The controller is controlled by a remote PC via DTrack2 frontend software. When deliv-

ered, the controller is set up to support DHCP. Therefore, it will acquire an IP address

automatically given that a DHCP server is running.

Double-check if the cameras are connected properly to the controller and verify that the

cameras are running. Connect the Ethernet cable to your local network and connect the

power plug of the ART Controller to a power socket. If you want to set a speciﬁc static IP

address before booting the controller please refer to chapter 4.2.4 on page 54 for more

information.

Press the power switch on the front of the controller. If the controller is booting without

connected Ethernet cable it will use its fall-back IP address.

iThe 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

4 System setup

•optionally, enter gateway and nameserver

•reboot the controller for the changes to take effect

Please note that these settings are not part of your personal conﬁgura-

tion. Changes in this menu will affect all users of your controller! Your

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 track-

ing system follows the external synchronization signal and chooses time slots when it is

safe to emit infrared radiation without causing interference. The effect is, for example, that

active shutter glasses are not ﬂickering but offer a stable picture for the user.

The external sync input is not internally terminated.

When synchronizing with a video input, a T-piece with an external 75

Ωterminating 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 :

Chapter 4

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 con-

nected 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 ART-

TRACK cameras have to be connected via twisted pair cables either to the internal Eth-

ernet switch of the controller or to an external Ethernet switch. The external switch itself

has to be connected to the controller.

iOlder 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:

•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 pos-

sible!

The controller is equipped with a PCI card for synchronization of the IR cameras (ART Sync-

card2). When connecting the synchronization cables it is important to correctly chain the

cameras on the sync cable (see chapter 6.4 on page 150). There must be one continuous

signal line from the BNC connector of the synccard to the 75Ωterminating resistor, with

the cameras inserted to the line by T-junctions. It is neither allowed to extend the connec-

tion between the T-piece and the camera, nor to branch the signal line.

4 System setup

(a) standard connection

(b) indirect connection

Figure 4.15: Connecting the ARTTRACK Controller to a local network

Chapter 4

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 75Ωterminating resistor. If the cameras have to be

grouped into different syncgroups, in order to avoid blinding, two or three BNC chains are

used at the sync outputs no. 1 and 2 or 1, 2 and 3, respectively, of the synccard. The set-

tings of the Synccard2 are deﬁned by software DTrack2 . All sync signals are transferred

via BNC connections.

Furthermore, the controller uses the single Ethernet plug (100 Base-TX) for data output

to the remote PC or to any PC within the local network. Figure 4.15 on page 50 shows

two possibilities of connecting the controller to a local network. You may either use the

controller as a DHCP client within your network (ﬁgure 4.15(a)), i.e. the tracking data is

transmitted directly via your local network. Or, if due to your company security guidelines

it is not allowed to connect the controller directly to your network, you may install two

network cards in your remote PC - one is connected to the controller and the other one is

connected to your local network (ﬁgure 4.15(b)). In this case, the DTrack2 Frontend will

act as a router for the tracking data.

The controller is controlled by a remote PC via DTrack2 frontend software. When deliv-

ered, the controller is set up to support DHCP. Therefore, it will acquire an IP address

automatically given that a DHCP server is 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.

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.

iThe 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

Please note that these settings are not part of your personal conﬁgura-

tion. Changes in this menu will affect all users of your controller! Your

controller may become unreachable with wrong IP settings! Refer to

chapter 4.2.4 on page 54).

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 track-

ing system follows the external synchronization signal and chooses time slots when it is

safe to emit infrared radiation without causing interference. The effect is, for example, that

active shutter glasses are not ﬂickering but offer a stable picture for the user.

The external sync input is not internally terminated.

When synchronizing with a video input, a T-piece with an external 75

Ωterminating 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 fron-

tend 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.

Chapter 4

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 deliv-

ered, the controller is set up to support DHCP. Connect the Ethernet cable to your local

network and connect the power plug to a power socket. If you want to set a speciﬁc static

IP address before booting the controller please refer to chapter 4.2.4 on page 54 for 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.

iThe 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

Please note that these settings are not part of your personal conﬁgura-

tion. Changes in this menu will affect all users of your controller! Your

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 con-

troller can be synchronized with an external source. On the back of the controller there is

a BNC plug ("ExtIn") which serves as input for the external synchronization signal. The

sync signal may be of type TTL or video (see also chapter 4.5.6.3 on pag 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 TRACK-

PACK tracking system follows the external synchronization signal and chooses time slots

when it is safe to emit infrared radiation without causing interference. The effect is, for ex-

ample, that active shutter glasses are not ﬂickering but offer a stable picture for the user.

4 System setup

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 con-

troller.

When using a TTL-signal you should not use a terminating resistor.

However, you should use a shielded cable for the synchronization with

a TTL-signal.

Be aware of the following specialty of the TrackPack system:

The TRACKPACK cameras get power supply and sync via the RJ45

cable!

Therefore, the status of the synchronization is indicated with two LEDs (orange and green)

located on the synccard of the controller. Depending on the operating condition of the

ART tracking system the LEDs are triggered respectively. Table 4.2 shows how the LEDs

are triggered according to the type of synchronization.

two LEDs (on each port of the camera network card)

↓ ↓

orange green

↓ ↓ ↓ ↓

ON OFF ON OFF

↓ ↓ ↓ ↓ ↓

ﬂashing permanently

lit

measurement

inactive

controller

switched ON

controller

switched OFF

↓ ↓

master (sync

source)

slave (sync

drain)

Status

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.

Chapter 4

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 (instruc-

tions 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.

Carrying out a factory reset will result in the loss of all your settings!

Following, a description of the ﬁle (e.g. ARTtrackController00117_setup.txt) format:

1# ARTtrack Controller Setup:

4# ethernet settings:

5# - uncomment just one of the lines starting with ’SETNET’

7# ethernet settings: DHCP

8# - uncomment the following line to activate DHCP

9#SETNET="dhcp"

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"

15# name settings: host name

16# - uncomment the following line to set the host name

4 System setup

17#SETHOSTNAME="atc"

19# name settings: domain name

20# - uncomment the following line to set the domain name

21#SETDOMAINNAME="art.site"

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

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 : atc-150

Serial Number : 00150

Ethernet (LAN) : dhcp

Ethernet IP (LAN) : 10.10.5.22 255.255.0.0 10.10.0.253

Ethernet MAC (LAN): 00:24:1D:00:C3:B3

Domain Name Server:

4.2.7 Wake On LAN

The controller is capable of Wake On LAN (WOL) if it has been forced into standby mode

before by the user (DTrack2 →Controller standby).

Chapter 4

4.2 The Controllers of ART

There are two options for waking up the controller remotely:

1. you may use DTrack2 or

2. use a separate tool (Windows: WOL program; Linux: console-based command).

Option 1 - WOL via DTrack2 Start the DTrack2 frontend software as usual. The ’Con-

nect’ button will change its name into ’Wake On LAN’ (refer to ﬁgure 4.16).

Figure 4.16: Welcome screen of DTrack2 with Wake On LAN option

Please make sure that the controller is still connected to the local net-

work! DTrack2 cannot wake up the controller if no physical connection

between remote PC and controller is established!

Press the ’Wake On LAN’ button and DTrack2 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 re-

member the ’hostname’ and its MAC address (’ethernet-MAC LAN’).

4 System setup

If you are a Windows user you need a separate WOL program to use this feature. Please

refer to the manual of the WOL program you are using to ﬁnd out how to conﬁgure the

WOL function.

When using Linux you only need to switch to the console and type in the following com-

mand and your controller restarts:

for Linux openSUSE:

$ wol <MAC address of your ATC>

e.g.: $ wol 00:1D:92:3A:58:5F

for Ubuntu:

$ wakeonlan <MAC address of your ATC>

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 fron-

tend. The DTrack2 SDK is available from ART upon request.

Command string (always preceded by "dtrack2") Description

tracking start Start the measurement

tracking stop Stop the measurement

set conﬁg active_conﬁg <name> Change the conﬁguration to <name>

set output net <channel id> udp <host> <port> Conﬁgure where the data has to be sent to

example: dtrack2 set output net ch02 udp 231.231.0.1 5003

set output net <channel id> multicast <host> <port> Conﬁgure where the data has to be sent to

example: dtrack2 set output net ch02 multicast 231.231.0.1 5003

set output active <channel id> <output type> <yes/no> Activate or deactivate the data output and specify

the data to be transmitted

example: dtrack2 set output active ch02 all yes

system shutdown Force the controller to go into standby

system reboot Shut down the controller and reboot automati-

cally afterwards

4.3 Setting up cascaded systems

Cascading means that two or more stand-alone tracking systems are combined to one

large system in order to have only one consolidated data output. It is possible to cas-

cade TRACKPACK/E systems with or without ARTTRACK5 and ARTTRACK5/C and to

build cascades out of ARTTRACK (discontinued) with TRACKPACK systems (discon-

tinued). Therefore, the system is subdivided into one master and up to eight slaves.

However, the total number of cameras in the cascaded system cannot exceed 16 for

TRACKPACK/E only systems and 50 for combined ARTTRACK5 &ARTTRACK5/C and

Chapter 4

4.3 Setting up cascaded systems

TRACKPACK/E systems respectively.

The task of the master is to gather all single data outputs from all slaves and to merge

them into one single data output. The DTrack2 frontend connects to the master only and

allows to conﬁgure (e.g. cameras, output, tracking, etc.) the entire tracking system as

usual.

The master has to be an ARTTRACK Controller with "full-featured" li-

cense (< DTrack2 2.10) and a Synccard2.

Starting with DTrack2 version v2.10 a new license model has been es-

tablished. The master controller needs to have a dedicated "cascaded

systems" license as well as a sufﬁcient license for ALL cameras in the

cascade, e.g. 4 ARTTRACK5 + 4 TRACKPACK/E cameras = license for

8 cameras.

Depending on your setup there are different options how to connect the single tracking

systems within a cascade.

Option 1 - master: all ART and ARTTRACK Controllers, slave(s): ART Controllers

with TRACKPACK/E or TRACKPACK controllers (discontinued) Connect the data

output of the slave controller(s) and the one of the master to the same local area network

LAN (e.g. application network, see option 1 in ﬁg. 4.18 on page 60 and ﬁg. 4.19 on page

61).

Option 2 - master: ART Controllers (DTrack2 => v2.11), slave(s): ART Controllers

with TRACKPACK/E or TRACKPACK controllers (discontinued) Connect the data

output of the slave controller(s) to the cascaded network port of the master (see option 2

in ﬁg. 4.18 on page 60). Please use a switch for two or more TRACKPACK slaves.

Option 3 - master: ARTTRACK controllers (discontinued), slave(s): TRACKPACK con-

trollers (discontinued) Connect the data output of the slave controller(s) to the camera

network of the master (see option 3 in ﬁg. 4.19 on page 61).

4 System setup

Figure 4.18: Principle of cascading using the LAN (option 1) or the cascaded network port

(option 2 - master ART Controller & DTrack2 => v2.11)

Additionally to the aforementioned ﬁgures, please proceed according to the following de-

scription:

1. mount the cameras as usual at the deﬁned positions

2. connect all cameras to their corresponding controller as usual

3. establish a BNC connection between the master’s OUT1 connector and the EXT.In

of the slave(s) for synchronisation of cascade

The USB Radio Transceiver2 for Flystick2 and Flystick3 has to be con-

nected to the master controller.

Double-check if the cameras are connected properly to every controller. If applicable ver-

ify that all power supplies are switched on and the cameras are running (indicated by two

LEDs at the front side of the cameras).

Chapter 4

4.3 Setting up cascaded systems

Figure 4.19: Principle of cascading using the LAN (option 1) or the internal camera net-

work (option 3 - master ARTTRACK controller (discontinued))

The master controller is controlled by a remote PC via DTrack2 frontend software. When

delivered, controllers are set up to support DHCP. When building cascades via LAN (op-

tion 1, see 4.18 on page 60) they will acquire an IP address automatically given that a

DHCP server is running. If you want to set a speciﬁc static IP address before booting the

controllers please refer to chapter 4.2.4 on page 54 for more information.

If the cascade is connected via the cascaded network port of the

ART Controller (option 2, see 4.18 on page 60), all slave controllers

must be set to a speciﬁc static IP address in the subnet 172.29.xxx.xxx

with subnet mask 255.255.0.0 !

In case of using the internal camera network (option 3, see 4.19 on page 61), all slave

controllers will acquire their IP addresses automatically.

Press the power switches (next to the power plug or on the front) to start the master and

the slave controller(s). Make sure the controllers are booted up with all necessary ether-

4 System setup

net connections, otherwise the fall-back IP address is applied.

iThe fall-back IP address of the controller is 192.168.0.1 (subnet mask

255.255.255.0)!

Finally, start the DTrack2 frontend software on the remote PC and establish a connection

to the master.

iWe recommend creating a new conﬁguration for all cascaded systems:

DTrack2 →Conﬁgurations →’New’

Now, go to Settings →Cascaded System and the main setup dialogue for the cascade

will open up. Basically, you have the possibility to select single tracking systems to join in

the cascade. When using Option 1 (Connection via LAN), you can tick the checkbox ’scan

LAN’ and DTrack2 will search automatically whether controllers are available to become

slaves. They will be listed in the table on the right-hand side of the dialogue (refer to ﬁgure

4.20).

Figure 4.20: Cascaded System Settings

Click on the desired Controller and press ’Select’ in order to add it to the cascade. Repeat

these steps if you want to add more single controllers to the cascade.

Make sure that the checkbox ’wake on LAN’ is ticked. This option will enable synchronized

starting and shutting down of the master and all slave controllers. Starting of the cascade

will take 3-4 minutes as the master has to boot up ﬁrst and then wake up the slave(s). If

the option ’wake on LAN’ is not ticked, the slave(s) WILL NOT be started or shut down

automatically.

The changes will be accepted by the system if you press ’OK ’. Settings (e.g. ﬂash in-

tensity, sync groups) of all cameras inside the cascade can now be edited through the

Settings →Cameras dialogue. The next time you start the measurement all cameras

Chapter 4

4.4 Setting up the Hybrid Motion Capture System

inside the cascade can be viewed through the Monitor 2DOF display.

Before continuing, please double-check whether a BNC connection

for synchronization has been established between master (OUT1) and

slave(s) (EXT.In).

Now, you can proceed with calibrating the room as usual. Please refer to chapter 4.5.2

on page 77 where room calibration is explained.

4.4 Setting up the Hybrid Motion Capture System

With the introduction of v2.9.0 DTrack2 supports inertial sensors which are distributed

with our Hybrid Motion Capture suit. The main advantage of hybrid targets is that inertial

sensors still deliver information through the rotation of the target, even when the optical

target may not be tracked any longer due to viewing limitations or occlusions. On the

other hand, drift correction of the inertial sensors is achieved by fusing their output with

position measurements calculated from the optical tracking system. Inertial sensors are

communicating with the DTrack2 system via a 2.4 GHz ISM radio connection.

Connecting the wireless transceivers The wireless antenna comes pre-assembled

with two transceivers (’Dongles’) for communication with the inertial sensors. First con-

nect the USB plugs of these dongles to any free USB port of the controller using the

supplied extension cables. The dongles are activated after rebooting the controller or

calling DTrack2 →Search hardware.

Be sure just to use active (USB 2.0) extension cables (like the supplied

’ATEN UE250’) to connect transceivers (’Dongles’) to an ART Con-

troller. Otherwise proper function of the transceivers cannot be guar-

anteed.

Now within DTrack2 go to Settings →Inertial Sensors and check that all attached dongles

have been found with correct device ID, model, name, ﬁrmware version and channel (see

ﬁgure 4.21 on page 64). Please also check the frequency the sensors are operating at

(default: 100 Hz).

At this point only dongles and no wireless sensors should be listed. Otherwise continue

reading in chapter 4.4 on page 66.

The default channels for all dongles and sensors are 35 and 55 (out of

80). In case these frequencies are already occupied by other devices

in range (e.g. WLAN), connection problems may occur. ART recom-

mends to scan for available channels and to select free channels ac-

cordingly. Keep a minimum distance of 10 channels between dongles

or from otherwise unavailable channels for optimum connectivity.

Next scan the available radio channels by pressing Scan available channels. After com-

pletion the drop-down menu in the column Channel will show a list of all available chan-

nels for each dongle. The currently used channels are marked in bold digits, while all not

4 System setup

Figure 4.21: Inertial Sensor Settings

recommended channels are greyed out. If the current channel of a dongle is not suitable,

DTrack2 recommends another one (marked green).

Please select an appropriate channel for each dongle. The selected dongle will change

its channel accordingly, like for all assigned sensors. Do not set both dongles to the same

channel or on occupied frequencies from other devices in range.

Adding the inertial sensors to the conﬁguration in DTrack2 This needs to be done

initially - in case the sensors are already connected please skip this step.

Please ensure that all sensors have been charged or alternatively attach the sensors to

the supplied charging hub prior to the following steps.

In the menu Settings →Inertial Sensors, press Add sensor to identify and connect all

inertial sensors in range.

In the appearing dialogue (see ﬁgure 4.22 on 65) you should ﬁnd the Scan mode being

’default’. In this mode DTrack2 will search for the sensors on default channels 35 and

55, even if the dongles / sensors have been set to different channels manually. In this

case, please change the scan mode to ’single’ and select the corresponding channel in

the adjacent selection box. If you don’t know the current radio channel of your sensors,

choose ’all’ (takes some time). With ’USB’ you can identify sensors that are connected to

the ART Controller via a USB charging cable.

Press Scan and the system will identify all sensors in range. Expect 15 inertial sensors

for a complete ART Hybrid Motion Capture suit. Tick the checkboxes of all sensors to be

added to the conﬁguration in the column Accept or add all sensors by ticking ’accept all’.

Then press Apply and exit this dialogue.

Chapter 4

4.4 Setting up the Hybrid Motion Capture System

Figure 4.22: Add Sensors

ART delivers a pre-calibrated hybrid motion capture suit, i.e. both the

optical target geometry as well as the HBC result are stored directly

on the sensor. Unless the hybrid target is disassembled or becomes

damaged, it is sufﬁcient to identify and add all sensors using the menu

Settings →Inertial Sensors →Add Sensors. There is no need to cali-

brate the targets manually.

The dialogue Inertial Sensor Settings (see ﬁgure 4.21 on 64) now shows all available

dongles and sensors with the following properties:

•Device ID + wireless icon

•Model (e.g. Colibri Wireless)

•Name (targets from Hybrid Motion Capture suit or user-deﬁned)

•Firmware Version

•Currently used channel (default: 35 / 55); with this menu you can also change the

radio channel of a single sensor

•Wake-up mode (radio, tapping, USB/button)

•Battery level

•Temperature (only during measurement)

Take care that all inertial sensors use a radio channel of one of the

dongles; otherwise this sensor won’t be used during measurement.

Also take care that (approximately) the same number of sensors are

assigned to each dongle.

4 System setup

The temperature values between single inertial sensors may vary. The

operating temperature is reached as soon as there are no more tem-

perature changes inside the sensors indicated by a green status bar. It

is not dependent on the absolute temperature value.

For warming up the sensors to operating temperature press the button Warmup start.

All inertial sensors are turned to stand-by mode after a pre-deﬁned idle time, which cor-

responds to the selected wake-up mode.

via: radio (idle time: 1 min.), i.e the sensors are switched on as soon as they are ad-

dressed by the controller.

via: tapping (idle time: 3 min., older sensors only), i.e. the sensors are switched on by

tapping on the sensors with your ﬁngertip or tapping the sensors on a hard surface

(e.g. table).

via: USB/button (idle time: 10 min.), i.e. the sensors are switched on by pressing the

button on the sensor for 3-4 seconds or by connecting them to the supplied charging

hub.

ZFor optimal battery life, ART recommends to switch all sensors to

wake-up mode "USB/button" when not in use for a longer period of

time.

Calibration of Hybrid Bodies As requirement for the following steps it is necessary to

warm-up the sensors to operating temperatures and to maintain a constant temperature

during the calibration. Otherwise the measured data and thus the calibration will have

poor quality. Additionally please double-check that all sensors have been charged to at

least 30 % before you continue.

You can simply use the button Warmup start in the dialogue Inertial Sensor Settings (see

ﬁgure 4.21 on 64) or in DTrack2 frontend (top right) and leave the process running for

about 5-10 minutes. The progress bar will stop at 100% (progress bar turns green) even

though the warming up of the sensors continues. This shall guarantee that the sensors

work continuously until the calibration and the actual measurement take place. Otherwise

they would cool down again.

Administration of the bodies Within DTrack2 go to Settings →Body Administration (see

ﬁgure 4.46 on page 105). All ART pre-calibrated targets have their corresponding optical

target geometries stored inside the inertial sensor. Thus when adding the recognized

inertial sensors, all corresponding target geometries are also added to the tab ’standard

bodies’ in the Body Administration (F8). Unknown or custom hybrid targets, however, will

show up as ’not calibrated’ in the column Calibration. At this point the desired optical

target and the corresponding inertial sensor have to be matched according to their body

ID and device ID.

For new hybrid targets, a three-step calibration procedure has to be performed:

Chapter 4

4.4 Setting up the Hybrid Motion Capture System

1. A standard optical body calibration needs to be carried out. Just press Calibration

and move around the target in front of the cameras. Please refer to 4.5.3 on 84.

2. A hand-eye calibration has to be performed to combine an inertial sensor with its

corresponding optical target. During this Hybrid Body Calibration process (HBC)

the relative rotation of the two sensors is determined.

3. Drift correction for the inertial sensors needs to be measured and applied. Optical

tracking data of the corresponding target allows for correction of residual drift of the

inertial sensor.

ZPlease perform all inertial sensor calibrations with warmed-up sensors

in a constant temperature environment for optimum tracking perfor-

mance.

Hybrid Body Calibration Select the sensor to be calibrated and press Hybrid Body Cali-

bration (see ﬁgure 4.23 on page 67). During this calibration the target has to be moved

with moderate speed in any spatial direction of the inertial sensor (please refer to the an-

imation in the HBC dialogue). Select the desired target from the drop-down menu ’Body

ID’ and check the ’sensor ID’ of the inertial sensor for correspondence with the selected

optical target. Then press Calibrate. The appearing dialogue will show the status of the

calibration via a progress bar.

Figure 4.23: Hybrid Body Calibration

As a result you will receive a value for the residual of the calibration. This residual is a

representation of how well the rotational data from the inertial sensor matches the optical

tracking data. Thus it is a measure of the accuracy of the HBC. Values ranging from 1◦to

2◦are ideal. Anything less than 3◦is still acceptable. Please refer to ﬁgure 4.24 on page

In case the values are acceptable you can assign the calibration and return to the Body

Administration. Now, the sensor should show ’full’ in the column Calibration. Repeat this

procedure for each sensor.

4 System setup

Figure 4.24: Hybrid Body Calibration Result

ZPlease perform all inertial sensor calibrations with warmed-up sensors

in a constant temperature environment for optimum tracking perfor-

mance indicated by a green temperature bar.

Inertial Sensor Calibration After successful calibration of all hybrid bodies, a drift correc-

tion for all inertial sensors should be measured and applied. To this end, please select

Calibration →Inertial Sensor Calibration (see ﬁgure 4.25 on page 69). Put all sensors in

the tracking volume (pre-condition: a successful Hybrid Body Calibration for each inertial

sensor) or put them anywhere on a level surface. Do not move or touch them during

the following calibration. Tick the checkboxes in the column Calibrate of all sensors to

be calibrated and press Calibrate. Values around 0.1◦are ideal and still acceptable up to

0.2 ◦, values indicate possible movement during the calibration. When the calibration is

done, you can apply the drift correction either to single sensors by ticking the appropriate

checkboxes in the column Accept or by ticking ’accept all’ for all sensors in range. Press

Apply and exit the dialogue.

iAfter the Inertial Sensor Calibration has been performed and applied

its result is stored directly on the sensor for future use.

Chapter 4

4.4 Setting up the Hybrid Motion Capture System

Figure 4.25: Inertial Sensor Calibration

4 System setup

4.5 DTrack2 frontend software

The software DTrack2 is intended to run on a remote PC (Windows or Linux). The Con-

troller can be controlled remotely via Ethernet. The software DTrack2 itself is delivered

via USB pen-drive or can be downloaded in the latest version from our Download Center

at http://www.ar-tracking.com/support/.

4.5.1 Getting started

Please refer to chapter A.5 on page 197 for more information on supported operating

systems.

4.5.1.1 Installation guide (Windows)

Run the installation executable "DTrack2_v2.x.x_win32_install.exe" and the installation

wizard of DTrack2 starts.

Click Next to continue and to start the installation

process for ART DTrack2 software. Administra-

tor rights are not necessary.

Now, please choose the destination folder in

which you want to install DTrack2 .

Chapter 4

4.5 DTrack2 frontend software

Please read the license terms carefully and

press I Agree if you agree indeed. A new win-

dow shows the installation progress.

The installation of the DTrack2 software is com-

plete now. DTrack2 has been installed on your

computer. Click Next.

Press Finish to complete the DTrack2 setup wiz-

ard. Now, you can use DTrack2 .

4.5.1.2 Installation guide (Linux)

The software (32-bit and 64-bit package available) is packed in an archive.

(DTrack2_v2.x.x_linux32.tar.gz) You do not need to have administrator rights to extract

all ﬁles to a user-deﬁned folder. In a shell, change to the user-deﬁned folder and type in

the command tar xvf DTrack2_v2.x.x_linux32.tar.gz in order to extract the ﬁles. For

ease of use, you may create a shortcut on the desktop.

DTrack2 can be started with the command ./DTrack2.

4 System setup

4.5.1.3 Software update

The latest DTrack2 software is always available from our Download Center at http://www.ar-

tracking.com/support/. For the installation of the update, please proceed as mentioned

before in chapters 4.5.1.1 and 4.5.1.2.

After installing DTrack2 on the host PC the Controller can be updated after establishing

a connection to the Controller with the new Frontend.

4.5.1.4 Start DTrack2 frontend software

When you start DTrack2 on the remote PC you will see the following start window (see

ﬁgure 4.26).

Figure 4.26: Welcome screen of DTrack2

4.5.1.5 Connecting to the controller

The ﬁrst time you start DTrack2 , no default controller will be found and another window

will be opened automatically (see ﬁgure 4.27). The radio button at position Speciﬁc Con-

troller will be ticked.

If you know the name (typically like "atc-00069") or IP address of your controller you may

enter it in line hostname or IP address and press Connect.

Otherwise, you can select Scan, if you don’t know the hostname or the IP address of your

controller. You will see a list of the available controllers in your network.

In column Name every controller in your network will be listed. If no controller or not the

desired controller is listed there please press Update list. Now, the list should contain

your desired controller. If not, please refer to chapter 6 on page 147.

You can identify the correct controller by comparing the serial number on the label on

the back of the controller with the serial number listed in this window (column Serial).

Controllers set in grey are used by other PCs in the network (→IP address listed at the

bottom of the welcome screen). It is only possible to connect to controllers set in black.

Chapter 4

4.5 DTrack2 frontend software

(a) speciﬁc controller (b) scan the network

Figure 4.27: Controller Selection

Select the entry which ﬁts to your desired controller and press Connect.

The next time you start DTrack2 your controller is still known by the software and DTrack2 au-

tomatically searches for it. The welcome screen shows the name of your controller. If this

is the one you want to connect to, just press Connect.

The graphical user interface The graphical user interface of DTrack2 offers different

views which can be switched on and off by the user:

1. Monitor 2DOF Graphical display of markers seen/tracked by the cameras.

Colour code signiﬁes the circularity or the size of the mark-

ers, respectively.

2. Event Display Displays DTrack2 events (e.g. "no valid room calibration")

3. Data Display Displays measurement results (6DOF and/or 3DOF)

4. Fingertracking Shows the measurement results of the hands

5. Flystick Shows the measurement results (6DOF) and the operation

of the buttons and the joystick

6. Measurement Tool Shows the measurement results of the Measurement

Tool and, if assigned, the reference body

By default the ﬁrst three are shown (see ﬁgure 4.28).

In the status bar, a button for starting and stopping of the measurement is integrated.

Additionally, you may retrieve information regarding the cameras connected, the synchro-

nization frequency, the number of bodies tracked and the number of single markers seen.

The synchronization frequency ﬁeld is changing its colour to yellow, orange and red in

case the effective frequency is decreasing (see ﬁgure 4.29):

•grey: max. 5 frames per minute lost (i.e. 3600 frames per minute are transmitted)

•yellow: 5 - 10 frames per minute lost

•orange: 10 - 15 frames per minute lost

4 System setup

•red: > 15 frames per minute lost

Figure 4.28: Graphical user interface of DTrack2

(a) yellow: 5 - 10 frames per

minute lost

(b) orange: 10 - 15 frames per

minute lost

lost

Figure 4.29: Visualization of the synchronization frequency decrease

4.5.1.6 Adjustment of the cameras

So far, the cameras have been mounted and connected to the controller. The next step

is to adjust the orientation of each camera such that the measurement volume can be

tracked completely. It is especially important that blinding of one camera by another one

is excluded. Therefore, DTrack2 provides the Monitor 2DOF display that essentially is a

graphical display of the ﬁeld of view of the IR cameras and of the markers that are seen

by the cameras (presented two-dimensional).

Monitor 2DOF display The Monitor 2DOF view shows a black window for each IR cam-

era (equivalent to the ﬁeld of view) with a schematic display of positions and sizes of all

recognized markers. A simple colour code signiﬁes the size and the circularity of the

Chapter 4

4.5 DTrack2 frontend software

markers (green = very good quality, yellow = good quality, red = bad quality). As a rule

of thumb, for measurement applications with high accuracy requirements the markers

should be displayed in green; for VR applications yellow markers are always ok. The

Monitor 2DOF display is particularly useful for the ﬁnal adjustment (especially orientation

adjustments) of the IR cameras.

Additionally, the intensity of the brightest pixel in the ﬁeld of view is shown using a bar dis-

play for ARTTRACK2 ,ARTTRACK3 ,ARTTRACK5 and TRACKPACK cameras (refer

to ﬁgure 4.28). When using an ARTTRACK1 you’ll ﬁnd the bar display integrated in the

camera on the front side.

A click with the right mouse button into one of the windows opens a menu (see ﬁgure

4.30) with settings for the respective camera.

Figure 4.30: Monitor 2DOF view menu (e.g. camera 1)

By clicking and holding the left mouse button on one of the camera displays, its position

can be moved within Monitor 2DOF view.

A more detailed description of the features of the Monitor 2DOF view can be found in

chapter 4.5.6.5 on page 120.

Adjustment of the cameras During this adjustment the user should take care to avoid

mutual blinding of the cameras. If the IR ﬂash of one camera is inside the ﬁeld of view

of another camera, this situation can, but has not necessarily to be visible in the Monitor

2DOF view. Blinding is often indicated by the observation that the LED bar shows high

intensity, but no markers are inside the measurement volume and the camera does also

not recognize any markers (no marker displayed in Monitor 2DOF view). If this is the

case, it will severely affect tracking in the involved image areas. If these situations cannot

be avoided by proper adjustment of the cameras (i.e. position and orientation), they can

be arranged in different ﬂash groups, thus separating the IR ﬂash of one camera from the

image recording of the other camera on a time scale.

4 System setup

On the one hand, camera mounting has to ensure that tracking is possible over the entire

measurement volume. On the other hand, attention has to be paid to the fact that at least

two cameras have to see the calibration angle (for room calibration) completely. Moreover,

the ﬁelds of view of the single cameras have to overlap sufﬁciently, in order to enable the

photogrammetric orientation of all cameras in a common coordinate system; especially if

not all IR cameras are able to see the calibration angle.

License overview Up to DTrack2 v2.10 different license models were available for ART-

TRACK and TRACKPACK systems:

•ARTTRACK systems →extended and full-featured licenses

•TRACKPACK systems →basic, extended and full-featured licenses

Starting with DTrack2 version v2.10 a new license model has been established.

You may use 2, 4, 8, 16 or up to 50 cameras in any combination with 4, 10, 30 or up to 50

targets depending on the license purchased.

Please refer to table 4.3 for a detailed overview.

Feature denotation Values Possible license status

Cascaded supported / not supported

Fingertracking supported / not supported

Measurement Tool supported / not supported

DTrack2 cameras not supported

DTrack2 max. Ccameras 1C= 2, 4, 8, 16 supported

DTrack2 all cameras supported

DTrack2 max. Bbodies B= 4, 10, 30 supported

DTrack2 all bodies supported

1Max. 4 TRACKPACK (discontinued) or 8 TRACKPACK/E cameras without cascaded

system.

Table 4.3: Licenses overview

iThe maximum number of bodies that may be used in the ARTTRACK or

TRACKPACK system includes the calibrated interaction devices (Fin-

gertracking, Flystick, Measurement Tool )!

4.5.1.7 Localizing and removing of disturbing reﬂections

Reﬂections may be detected when starting the Monitor 2DOF view in DTrack2 . They are

illustrated the same way as single markers, i.e. with small coloured crosses. But, there

may also be reﬂections that are not illustrated in the Monitor 2DOF view when mutual

blinding of cameras occurs. Then, you can only tell from the bar display which is indicat-

ing (high) radiation intensities.

This is a known behaviour which, in case of ARTTRACK2 , can be solved easily with

an update of the cameras’s ﬁrmware. Please contact ART in case you experience alike

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4.5 DTrack2 frontend software

problems.

Sources of disturbing reﬂections may be diverse. Typically, however, the reﬂections are

produced from one (or more) of the following:

•strong infrared radiation sources (e.g. sunlight or sunrays, halogen lamps, ...),

•mutual blinding of infrared cameras,

•active or passive targets, that are still in tracking range of the cameras,

•any kind of reﬂecting material on clothes or shoes,

•blank metal surfaces, especially curved surfaces and surfaces with 90◦angles,

•some types of packaging foils.

For removing disturbing reﬂections there are different approaches:

•reduce the ﬂash intensity of all cameras to "0":

remaining reﬂections are originating from infrared radiation sources (e.g. sunlight,

halogen lamps, ...). Try to localize and remove them.

•reduce the ﬂash intensity for one camera after the other to "0":

remaining reﬂections are caused by mutual blinding of the cameras. Turn the cam-

era until the bar displays’ segments of the Monitor 2d display do not indicate radia-

tion any more. You may also introduce new syncgroups in order to eliminate mutual

blinding.

•try to localize the reﬂection by moving a target towards the origin of the reﬂection

(use the Monitor 2DOF display) and proceed as mentioned above.

If reﬂections cannot be eliminated you may use the reﬂex suppression tools of DTrack2 (please

refer to 4.5.6.3 on page 98):

1. static reﬂex scan:

reﬂexes will be suppressed automatically by DTrack2 upon detection

2. suppress static reﬂexes manually :

areas to be suppressed may be deﬁned manually

4.5.2 Room calibration

Before you can start tracking, a room calibration has to be carried out. During that cali-

bration, the system identiﬁes the position of the cameras inside the measurement volume

and determines the three-dimensional coordinate system. Carrying out a room calibration

always is the ﬁrst step. Without it, body calibration and tracking will not be possible.

iThe Show details option offers information about the date of the last

room calibration.

Room calibration has to be carried out

4 System setup

•after the ﬁrst system setup,

•after any changes of IR camera positions (→Room re-calibration),

•after any changes to the number of cameras,

•before a body calibration (when system has been setup initially).

In principle, it is recommended to always perform a room calibration after a certain oper-

ating time of the system, especially if the system setup does not exclude camera move-

ments over time (these camera movements may also be thermal drifts!).

If a camera with 4.5mm lenses (standard for ARTTRACK3 ) is rotated

by one tenth of a degree it will cause aberrations of the optical rays

that are as high as 5 millimetres in 3 metres distance from the camera.

That means for the DTrack2 software (standard settings) that the ob-

servations of this camera are excluded from the calculation of target

positions because these observations would generate unacceptable

errors in the results of measurement. I.e., a camera that is rotated by

one tenth of a degree does not contribute to tracking any more!

For that reason, a room calibration should be carried out whenever any uncertainty re-

garding the mechanical stability or the thermal behaviour of the setup occurs.

For room calibration, the calibration angle of the "room calibration set" is inserted into the

ﬁeld of view of the IR cameras. The position of the calibration angle deﬁnes the room

coordinates. At least two IR cameras have to see all markers of the calibration angle.

Therefore, DTrack2 ’s Monitor 2DOF display is started in the background when selecting

Calibration →Room. Here you can verify that all markers of the angle are seen by the

cameras.

iThe longer arm of the angle deﬁnes the X axis (refer to ﬁgure 4.32); the

shorter one the Y axis. The center of marker #1 deﬁnes the origin of

the room coordinate system (at a height of 43mm).

The pre-calibrated stick carrying two markers is called the "wand". Its function is to create

a virtual "point cloud" in the measurement volume that is used for calculating the relative

positions of the IR cameras with high accuracy. Furthermore, the wand is scaling the

system. That’s why damages of the wand (loose markers, bent poles, etc.) lead to mis-

calculations of the measurement volume.

To choose the marker distances of the calibration angle three predeﬁned settings are pos-

sible, representing the common ART Room Calibration Sets.

Marker distances of the calibration angle can also be set manually using the setting ex-

pert. The numbering of the markers is as seen in ﬁgure 4.32.

The wand length has to be set manually in this dialogue - it is written on the label of the

wand.

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4.5 DTrack2 frontend software

Figure 4.31: Room calibration settings (e.g. RCS 410)

wand length marker height H TRACKPACK ARTTRACK2 ARTTRACK3 ARTTRACK5

diameter (see Fig. 4.32)

RCS TP 410.0mm 20mm 58mm ×

RCS 410 410.0mm 20mm 43mm ×××

RCS 710 710.0mm 20mm 43mm ×××

RCS 720 720.0mm 30mm 48mm ×××

Table 4.4: Overview of the ART Room Calibration Sets (RCS)

Figure 4.32: Marker distances (including numbering) on the angle and deﬁnition of room

coordinate system

Incorrect input data for this dialogue will lead to a poor room calibra-

tion, to wrong system scaling, or to an abortion of the whole room

calibration process.

With the select list at the bottom you may deﬁne how the coordinate system of the room

is created relative to the calibration angle (refer to table 4.5).

After pressing Calibrate, the room calibration is started with ﬁve seconds delay.

4 System setup

Standard Powerwall

In the Standard setting the

angle deﬁnes the X/Y plane (X

at the long, Y at the short

beam) and Z upward.

With the Powerwall setting the

X/Y plane is in the screen and

the Z axis pointing out of the

screen. This is the standard

screen coordinate system of

many VR systems (e.g.

OpenGL, TrackD, etc.).

Table 4.5: Options for coordinate system deﬁnition

A window showing the progress of the room calibration appears (see ﬁgure 4.33(a)). The

progress is shown for each camera which is especially helpful for big systems. As soon

as the display for a camera changes its colour to green (see 4.33(b)) enough data for

calculation of the camera position has been collected for this camera.

ARTTRACK5 only: This progress is also displayed individually on each cameras corre-

sponding 2-digit LED matrix. After collection of sufﬁcient data the LED matrix changes

back to its deﬁned setting. Please refer to chapter 4.5.6.3 on page 97 for detailed infor-

mation.

(a) (b)

Figure 4.33: Room calibration progress

If necessary, you may adjust the ’duration’ of the room calibration (→Show details) in

a range of 10s - 100s. Resetting the value to default is achieved by pressing the Set to

default button (default = 30s).

Changing the duration of the room calibration, especially towards

shorter durations, may lead to bad room calibration results! Please

make sure that you are always able to cover two thirds of the tracking

volume within the set time.

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4.5 DTrack2 frontend software

Move the wand gently within the measurement volume, in order to generate a virtual point

cloud. This point cloud should ﬁll at least about two thirds of the measurement volume. It

is used for calculation of IR cameras positions, so moving the wand in only a very small

volume will result in reduced accuracy of calibration. Here, a compromise has to be found

between (1) too wide movements that often cause the failing of room calibration, and (2)

sparse movements that lead to a valid, but inaccurate room calibration. Avoid rapid and

hectic movement (see ﬁgure 4.34).

Figure 4.34: Room calibration process

During calibration, the two markers of the wand should be visible to all IR cameras as

good as possible. If, in a system setup, no sufﬁcient part of the measurement volume is

seen by all IR cameras simultaneously, the point cloud created by the wand movement

has to connect all cameras in a way that ensures the arrangement of all cameras in a

common room coordinate system. More concrete, cameras that see the calibration an-

gle are oriented ﬁrst. Then, every additional camera has to be connected by a sufﬁcient

volume with at least two already oriented cameras. In this way, the calibration is stepping

forward from camera to camera. (e.g.: cameras 1 and 2 are seeing the angle - camera 3

overviews a certain volume together with cameras 1 and 2 - camera 4, ﬁnally overviews

a volume together with cameras 1 and 3).

Calibrating cameras which do not observe the angle directly is called "chain calibration".

Chain calibrated cameras propagate inaccuracies from the previously calibrated cameras.

It is recommended to place the calibration angle in a point where as many cameras as

possible can see the angle.

After a successful room calibration, the DTrack2 info window with the calibration results is

displayed. This window shows the mean residuals for the single cameras (here: ’Residual’

= mean residual of rays during marker detection), as well as the mean deviation (’wand

residual’) and the maximum deviation (’wand range’) of wand length during the calibration

process. These values depend on the system geometry and can give information about

the quality of calibration only to an experienced user. The value ’Used Frames’ represents

4 System setup

the percentage of valid (i.e., used for room calibration) data for each camera. It should

be as high as possible for all cameras. Values under 50% indicate poor room calibration

quality. The number of valid frames should be greater than 70% for each camera. The

room calibration is conﬁrmed (i.e., the data are stored) by pressing the button OK .

ZPlease note that percentages of more than 70% may not be reached in

large and complicated measurement volumes.

Figure 4.35: Room calibration result

4.5.2.1 Room re-calibration

IR camera setups may change after a certain operation time; if e.g. movement of single

cameras due to mechanical instabilities cannot be excluded or thermal drifts occur. In

this case it is necessary to perform room calibrations periodically. DTrack2 provides a

simpliﬁed room calibration to revise an existing room calibration without need of an angle

tool, called room re-calibration.

Check the corresponding ﬁeld in the room calibration dialogue (see ﬁgure 4.36) to activate

re-calibration. Most settings have to be the same as during the previous standard room

calibration, therefore most values of the dialogue cannot be changed - settings regarding

the wand may be modiﬁed. If camera positions changed you would have to mark them

in the room calibration dialogue as ’moved’. Re-calibration is possible as long as camera

movements are not too large.

It will fail, e.g. if the mounting of cameras was changed. To perform a re-calibration, no

angle tool has to be present in the measurement volume; only the wand has to be moved

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4.5 DTrack2 frontend software

Figure 4.36: Room re-calibration dialogue

within the measurement volume in the same way as for a standard room calibration.

The main advantage of a room re-calibration is that DTrack2 preserves the origin of your

coordinate system and therefore, the orientation of the coordinate system as well.

Adding a camera to calibrated setup In order to add a camera to already calibrated

setup and preserve the origin of the room calibration, you proceed as follows:

•connect new camera to controller;

•wait until the camera is booted;

•within DTrack2 press ’F2’ in order to perform a search for new hardware;

•check if the camera has been recognized successfully (e.g., by opening camera

settings ’F7’);

•when starting measurement you must see the red message “(re-)calibration re-

quired!” on the Monitor 2DOF of corresponding uncalibrated camera (see sec-

tion 4.5.6.5 on page on page 120 for details);

•perform room re-calibration 4.5.2.1, new camera is automatically marked as “moved”

in the room re-calibration dialogue.

4 System setup

4.5.3 Body calibration

The process of teaching a target’s geometry to the tracking system is called body calibra-

tion. For a body calibration, the target (= rigid body) to be calibrated has to be in the ﬁeld

of view of the IR cameras. The number of bodies to be tracked has to be conﬁgured in

Settings →Body Administration.

After pressing Calibrate, the body calibration is started within ﬁve seconds delay. The

body can be moved during body calibration, always considering that the cameras should

see each marker of the body at the best.

If the body is not moved during the body calibration it should be considered that each

marker of the target has to be seen by at least two cameras and should be seen by

as many cameras as possible. If two markers, seen from one camera’s point of view,

are merging to one reﬂex, body calibration may be affected. These "merging marker

situations" should be avoided during body calibration, i.e. the target should be oriented

in a way that reduces merging markers to a minimum. The target orientation can be

checked before starting the body calibration, using DTrack2 ’s Monitor 2DOF display,

which is opened automatically in the background after selecting Calibration →Body. The

following ﬁgure 4.37 shows a rigid body with ﬁve markers that are all correctly seen by the

IR camera.

Figure 4.37: Recognized target in DTrack2 Monitor 2DOF display

Furthermore, the absence of any additional markers in the measurement volume has to

be ensured for body calibration. If additional markers that are not part of the target to be

calibrated are in the ﬁeld of view of the IR cameras during body calibration, these mark-

ers will be assigned to the target. That means, the target is not correctly calibrated and,

therefore, tracking problems may occur.

First, the target that shall be calibrated has to be selected in the select list Body. By de-

fault the ’type’ is set to standard which allows for calibrating a 6DOF target with spherical,

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4.5 DTrack2 frontend software

(a) Target type "standard" (b) Target type "5DOF"

Figure 4.38: Body calibration dialogue

ﬂat or active markers. When you are using a target made of ring markers you would select

the ’type’ according to the geometry of the target:

•’5DOF ’ .. a target made of spherical markers which are aligned along one main

axis. The rotation around that axis cannot be detected by the system - you loose

one dimension of freedom. Therefore, we call it 5DOF target.

•’5DOF (cylinder)’ .. a target made of ring markers which are aligned along one main

axis.

•’2x 5DOF (cylinder)’ .. an L-shaped target made of ring markers which delivers

6DOF data.

4.5.3.1 Selecting the coordinate system for 6DOF targets

The type of body calibration can be set as ’due to body’, ’due to room’ or ’due to room

(zero in marker)’. The difference between these calibration types is to be found in the

4 System setup

orientation of the body coordinate system relative to the body. During body calibration,

DTrack2 deﬁnes a local coordinate system (body coordinate system) for each target.

Body calibration setting due to body The body coordinate system is ﬁxed by the markers of

the rigid body according to a set of rules:

1. Search the biggest distance between two markers of the rigid body. These two

markers (# 1 and # 2) will deﬁne the X axis.

2. Search for a third marker (# 3) that has the smallest distance to one of the two

markers # 1 and # 2. The marker that has smallest distance to marker # 3 becomes

marker # 1. It will deﬁne the coordinate origin. The other marker will be # 2. The

positive X axis is directed from marker # 1 to marker # 2.

3. Marker # 3 deﬁnes the X/Y plane, together with markers # 1 and # 2. Marker # 3

has a positive Y coordinate.

4. The Z axis is already deﬁned by these rules, resulting in a right-handed coordinate

system.

(a) Body calibration

"due to body"

(b) Body calibration

"due to room"

"due to room (zero in

marker)"

Figure 4.39: Deﬁning the target coordinate system

Body calibration setting due to room The origin of the body coordinate system is set to the

center (center of gravity) of all markers building the rigid body. The axes of the body co-

ordinate system are parallel to the axes of the room coordinate system in the beginning

of the body calibration. I.e., the result of a body calibration will depend on the angular po-

sition of the target during calibration. A 6DOF measurement, following calibration without

having moved the body, will give the angular coordinates 0◦/ 0◦/ 0◦.

If the target was moved during calibration, the angular position of the target at the begin-

ning of the calibration will be taken.

Body calibration setting due to room (zero in marker) A combination of the ﬁrst two methods.

The direction of the axes of the body coordinate system will be set parallel to the room

coordinate system in the moment of body calibration - like done with setting due to room.

The origin of the body coordinate system is given by one marker of the body, according

to the rules given for setting due to body.

Chapter 4

4.5 DTrack2 frontend software

Selecting the coordinate system for 5DOF targets Analogue to the settings for the

standard targets it is also necessary to deﬁne the body’s coordinate system in case of

5DOF targets. The approach is a bit different but also straight forward.

Coordinate system setting for type ’5DOF’ and ’5DOF (cylinder)’In the body coordinate system

all markers of the target are on the selected axis. The origin is in the middle between the

two markers with the largest distance to each other. The orientation is deﬁned by the

marker with the smallest distance to the origin. Its position has a negative sign. The other

two directions are undetermined due to the one degree of freedom.

Coordinate system setting for type ’2x 5DOF (cylinder)’The body is expected to consist of two

connected 5DOF targets with a roughly perpendicular and constant angle in between.

These are placed on the two axes. The origin is placed at the position where the two

5DOF targets intersect. The ﬁrst axis is assigned to the 5DOF target which includes the

marker with the largest distance to the origin. The other 5DOF target is placed in the

plane created by the two axes.

A click-type torque wrench is one the most prominent members of this class of bodies.

Due to the engineering backlash and other high mechanical tolerances in these devices

often times the resulting body calibrations are error-prone.

ZPlease double-check whether all markers of the rigid body have been

recognized.

Then, conﬁrm the result with OK . If this is done, the geometry data of the calibrated target

will be stored in the Backend.

iAfter a new room calibration or room re-calibration it is not necessary

to perform a new body calibration. Only if the body itself changes you

have to calibrate the body again.

ZThe previous body calibration will be lost if you carry out a new body

calibration. If you want to save the previous body calibration please

use the ’Save ﬁle(s)’ option in the Body calibration dialogue.

4.5.3.2 Calibration with a calibration ﬁle

After successfully calibrating a body the information (i.e. geometry) is stored inside the

ART Controller in your personal conﬁguration (see also 4.5.6.2 on 95). To easily create

backups of calibrated bodies, calibration ﬁles can be saved at a desired location on the

remote PC. These ﬁles contain the dimensions of the target and the distances between

all markers. Each ﬁle is speciﬁc for just one type of target.

Press ’Save ﬁle(s)’ option in the Body calibration dialogue to store the calibration ﬁle(s) of

the currently used bodies.

Optionally a restricted visibility can be deﬁned for each marker of a body. This is per-

formed setting up so called “emission cones”; a 2DOF observation from a camera has to

be inside this cone to be used later for pose estimation. Currently the only way to equip

4 System setup

markers with emission cones is to import an appropriate calibration ﬁle; those are avail-

able on request. These ﬁles are created at ART on site performing a body calibration in a

deﬁned environment or measurement volume respectively.

Press Load ﬁle(s) (see ﬁgure 4.40) and choose the calibration ﬁle(s) for your targets. The

format of the ﬁle name has to be according to "standard b01.txt" - the identiﬁer "b01"

refers to the ID of the target. DTrack2 automatically assigns the calibration ﬁle to the

respective target by using the identiﬁer in the ﬁle name. Press ’Load’ again to conﬁrm the

import of the body calibration ﬁles.

Figure 4.40: Import of calibration ﬁles

ZThe previous body calibrations will be lost if you load new calibration

ﬁles.

iInvalid or corrupt ﬁles are not loaded by DTrack2 . This is indicated by

an error message in the conﬁrmation dialogue.

In the upcoming window (see ﬁgure 4.41) the coordinates of all identiﬁed markers are

listed together with the body’s label as well as the number of markers.

Figure 4.41: Body Calibration Result

By clicking Show details additional information can be displayed.

•’Distances’ shows all possible combinations of distances for all markers (min. dis-

tances are important for customer-speciﬁc geometries, call ART for further informa-

tion)

•’Emissions’ shows normalised emission vectors x, y, z and emission aperture for

bodies with restrictions of visibility (calibration ﬁles available on request by ART )

•’Cylinder’ shows coordinates and radii for bodies with (cylindrical) ring markers

4.5.3.3 Body re-calibration

DTrack2 provides a possibility to re-calibrate a rigid body in case its geometry is affected

due to e.g. mechanical impact. Tick the checkbox re-calibation and perform a routine

Chapter 4

4.5 DTrack2 frontend software

body calibration as described in 4.5.3 on page 84.

iOnly during a re-calibration the origin and orientation of the initial co-

ordinate system, as well as speciﬁc information (predeﬁned emission

vectors, cylindrical marker) are preserved.

4.5.3.4 Target Library

With the introduction of DTrack2 v2.8.1 it is possible to make use of an integrated library

that contains calibration data for most ART standard targets (e.g. Motion Capture, glasses

targets, etc.). When you go to Calibration →Body choose ’Target Library’ (refer to ﬁgure

4.42). The ﬁlter is set to ’Found Targets’ by default whereas the other options may be

used in case only targets of this type are to be calibrated (e.g. Motion Capture).

Figure 4.42: Calibrate bodies with the target library

With the ’Found Targets’ ﬁlter all targets presented, i.e. shown to the system, will be

found. In the unlikely case that a target is not found by the system it needs to be cal-

ibrated using the standard body calibration. The calibrations for all found targets only

need to be accepted either by ticking the checkbox ’accept all’ or one at a time. Finalize

the assignment of the targets by pressing ’Apply’.

DTrack2 compares the geometry of the physical target with the calibra-

tion data of the target library. In some cases a re-calibration might be

necessary, e.g. when a clip-on target is applied to the glasses bending

is possible.

If you haven’t increased the number of targets before the system will ask you if this number

should be adjusted automatically. Press ’OK ’ if you want the system to do so.

Typical usecase: Motion Capture targets without Inertial sensors For this descrip-

tion we’re assuming that a room calibration for eight cameras has already been carried

4 System setup

out and that the "full-featured" or "max. 8 cameras" license is available.

First, ﬁt the targets to the test person and make sure that the person is in the calibrated

volume. Then, start the calibration (Calibration →Body →’Target Library’→’Calibrate’)

and allow the test person to move around. While this movement the targets must be visi-

ble for the tracking system.

Finally, one after the other target should be recognized and appear in the display. Tick the

checkbox ’accept all’ and start the measurement in order for your application to receive

tracking data.

In case you need to adjust the order of the targets please go to Settings →Body Admin-

istration (F8).

4.5.4 Body adjustment

The Body adjustment function (see ﬁgure 4.43) is a tool to visualise and manipulate cal-

ibration data of rigid bodies, i.e. the body coordinate system may be changed relative to

the markers of the body.

iBody adjustment is not available for 5DOF targets or measurement

tools.

Figure 4.43: Body Adjustment

The main features of Body adjustment are:

Chapter 4

4.5 DTrack2 frontend software

•adjust the body coordinate system of each target within the DTrack2 frontend,

•online mode (i.e. the 3D-representation of the target in the ’Graphic view’ is depict-

ing movements / rotation of the target in the "real world"),

•visualise (optionally) predeﬁned emission cones due to restrictions of visibility (di-

rectional and angular dependence) for all markers

•aligning the axes of body and room coordinate system without changing the origin,

•use predeﬁned body coordinate systems,

•move the origin of the body coordinate system,

•set the origin of the body coordinate system in a selected marker,

•delete selected markers from the target geometry.

For detailed information please refer to chapter 4.5.6.4 on page 117.

4.5.5 Filtering options in DTrack2

With the DTrack2 release v2.9.0 we introduce highly improved ﬁltering options which

allow for ideal settings according to the requirement for the tracking performance. For

example in applications where reference targets are used to get the position of a seating

buck it is now possible to apply a strong ﬁlter for this speciﬁc target which results in abso-

lutely static tracking data.

Using three main settings for deﬁning a ﬁlter, i.e. strength, prediction and mode, it is

possible to customize the tracking behaviour in general or for single targets according to

the requirements. Following, a description of these settings.

4 System setup

Setting Description Usage

Strength Sets the strength of the ﬁlter. Low values

mean less ﬁltering with faster reaction but

higher jitter. High values mean stronger ﬁl-

tering with smoother output but slower re-

action.

a strong ﬁlter may be ideal for

tracking seating bucks

Prediction Predicts output for the speciﬁed time in the

future to compensate tracking and render-

ing latency. Note that too high positive

values can increase jitter and reduce pre-

cision. Negative values can be used for

smoothing the output at the cost of higher

latency.

a "negative" prediction may be

ideal for recording data as la-

tency doesn’t matter so much

Mode Speciﬁes the elementary behavior of the ﬁl-

ter. Several options are available.

−

’Adaptive fast’ Automatically adapts to the observed mo-

tion.

Moving targets that change be-

tween fast and slow motions,

such as Flysticks.

’Adaptive slow’ Automatically adapts to the observed mo-

tion, with stronger ﬁltering of fast motions.

Moving targets with slow and

medium motions

’Fast’ Optimized for fast motions without special

ﬁltering of slower motions.

Targets where quick reaction is

important, such as HMDs.

’Slow’ Optimized for medium motions without spe-

cial ﬁltering of slow motions.

Targets where quick reaction is

important, but motions are slow.

’Static’ Optimized for targets that are known not to

move at all.

Reference targets attached to

non-moving objects

’Reference target’ Optimized for generally static objects, with

automatic detection of occasional motions.

Reference targets attached to

occasionally moving objects.

Chapter 4

4.5 DTrack2 frontend software

4.5.6 Menu structure

4.5.6.1 Overview

DTrack2 Shortcut page 94

Licenses License overview →Licenses can be added by entering

a license key (for Fingertracking, for the Measurement

Tool or for Cascaded Systems)

Conﬁgurations Create and save different conﬁgurations, lock the used

conﬁguration and save its settings

Start/Stop M Start/Stop measurement

Search hardware F2 Search for newly added hardware

Controller standby Force the controller to go into standby mode

Controller reboot Reboot the controller

Quit Q Quit DTrack2

Settings Shortcut page 97

Cameras F7 Camera settings

Synccard Synccard settings

Inertial Sensor Settings for intertial sensors

ART Radio Info Opens a dialogue where you can see available

transceivers and devices within your setup

Tracking General settings

Body Administration F8 General settings for all targets and interaction devices

Output F9 Set output channels and conﬁgure the data to be trans-

mitted

Fingertracking Conﬁgure your Fingertracking or Tactile Feedback de-

vice

Flystick Conﬁgure your Flystick

Measurement Tool Conﬁgure your Measurement Tool

Controller Conﬁgure the controller for your local network

Cascaded System Conﬁgure a Cascaded System with available con-

trollers

Calibration Shortcut page 111

Start static reﬂex scan for all

enabled cameras

Starts the static reﬂex scan

Inertial Sensor Calibration Re-calibrate the internal sensors of the inertial sensor

Room F5 Room calibration

Room adjustment Shift + F5 Adjust room coordinate system

Body F6 Body calibration

Body adjustment Shift + F6 Adjust body coordinate system

Hybrid Body Determine the relative rotation between optical and in-

ertial sensor

Fingertracking Start calibration process for Fingertracking (i.e. hand

geometry)

Measurement Tool Start tip calibration process for the Measurement Tool

4 System setup

Display Shortcut page 120

Monitor 2DOF Graphical display of markers recognized by the cam-

eras (monitor 2DOF view)

Data F10 Display measurement results (6DOF and/or 3DOF)

Fingertracking Display Fingertracking measurement data

Flystick Display Flystick measurement data

Measurement Tool Display Measurement Tool data

Events Display event messages generated by DTrack2

Set to default Reset the shown displays to default

Tools Shortcut page 124

Controller Update Start the assistant for the controller update

Measurement Tool demo Provides a convenient way to perform measurements,

either by pressing a button or by performing a gesture

with the Measurement Tool

About Shortcut page 124

DTrack2 Frontend software version

Controller Backend software version

What’s new? Overview of the new features

What’s this? Shift + F1 Help

Table 4.7: DTrack2 menu structure overview

4.5.6.2 Menu DTrack2

DTrack2 Shortcut

Licenses

Conﬁgurations

Start/Stop M

Search hardware F2

Controller standby

Controller reboot

Quit Q

Table 4.8: Menu DTrack2

Licenses The capability of the tracking system is deﬁned by licenses which can be

managed here. You can add functionality for Fingertracking, the Measurement Tool or

Cascaded Systems by simply entering a license code which can be provided by ART (see

ﬁgure 4.44).

If you want to add Fingertracking, for example, go ahead as follows:

Chapter 4

4.5 DTrack2 frontend software

•Select the feature Fingertracking.

•Click on Hardware Info.

•Contact ART and communicate the serial number of the synccard or the MAC ad-

dress of the Ethernet port (=Identiﬁcation) in order to receive a license code.

•Enter the license code you received from ART in the ﬁeld new license code.

•Click on Add license.

(a) Licenses overview (b) Hardware information

Figure 4.44: Managing the licenses

The process is the same for other modules.

Conﬁgurations It is possible to create different conﬁgurations, e.g. with different tar-

gets or ﬂash settings. These are related to the name of the user and, thus, are easily

accessible.

When creating a new conﬁguration you need to describe your conﬁguration in a few words

(→’description’) and enter your name (→’owner’). The conﬁguration can be changed

later on with Edit (see also ﬁgure 4.45).

Your personal conﬁguration is created using the values of the current conﬁguration (→

’clone current conﬁguration’) or default values (→’create with default values’), respec-

tively:

•’clone current conﬁguration’:

all existing calibrations (room and body calibration) and ﬂash settings are inherited.

•’create with default values’:

the system will start from scratch - i.e. as manufactured. That means, you will not

have a room calibration or any body calibrations.

4 System setup

(a) Main window (b) Create a new conﬁguration

Figure 4.45: Managing the conﬁgurations

Just press Create and the conﬁguration is saved on the controller.

It is possible to protect the used conﬁguration by pressing the button Lock . Then, you will

be forced to enter a new password and your conﬁguration is locked.

ZPlease do not forget this password!

Existing conﬁgurations may be used by selecting the corresponding entry and clicking

Apply. Quit this dialogue by pressing Exit - the conﬁguration is loaded.

Existing conﬁgurations can be deleted if not in use any more. Select the entry to be

deleted and click Delete.

Log settings saves the selected conﬁguration in a text ﬁle which can be saved on the

remote PC. This function is mainly intended for supplying information to ART in case a

problem arises.

From DTrack2 v2.8.1 it is possible to export and import conﬁgurations. ’Save’ will export

the complete active conﬁguration. ’Load’ imports previously saved conﬁgurations. The

imported conﬁguration will automatically become the active conﬁguration. It’s possible to

import several conﬁgurations at a time.

Please refer to chapter 6.1 on page 147 for detailed information.

Chapter 4

4.5 DTrack2 frontend software

When you export a conﬁguration please make sure that you rename it

before exporting, for example by adding the exporting date (e.g. "Stan-

dard 07122012"). Conﬁgurations with the same name (e.g. "Standard")

will be overwritten.

Start/Stop Start/Stop measurement.

Search hardware Search for newly added hardware and continue with the system setup

without the need of restarting the controller.

Controller standby Force the controller to go into standby mode with this command.

You can restart the controller by using Wake On LAN. Please refer to chapter 4.2.7 on

page 56 for more details.

Controller reboot Reboot the controller with this command.

Quit Quit DTrack2 frontend software - the active measurement doesn’t have to be

stopped.

4.5.6.3 Menu Settings

Settings Shortcut

Cameras F7

Synccard

Inertial Sensor

ART Radio Info

Tracking

Body Administration F8

Output F9

Fingertracking

Flystick

Measurement Tool

Controller

Cascaded System

Table 4.9: Menu Settings

Cameras This dialogue shows the information about the cameras connected to the sys-

tem and recognized by the software. It allows changes of ﬂash intensity and camera

orientation, as well as settings for modulated ﬂash - either globally for all cameras or

individually. The modulated ﬂash may only be used with active targets. It is used to syn-

chronize an active target.

Changes to the following settings can be made either for all cameras at once, or for each

camera separately. Each camera is represented by a single tab within this window.

4 System setup

Room calibration In tab “All Cameras” the “Room cal” column shows which cameras were

used during the room calibration. The ‘yes’ value means that in the latest room calibration

the coordinates of this camera are known. If the camera was not present during the latest

room calibration, this value is ‘no’ and this camera must be re-calibrated to contribute to

the tracking (see section 4.5.2.1 on page 83 on how to add a new camera).

It can also happen that the camera was present during the room calibration, but is not

present anymore (e.g., due to disconnected cable). Such cameras are greyed out and

the only data available are camera type and serial number.

DTrack2 is able to operate although cameras are missing or need to

be (re-)calibrated; for best performance it is highly recommended to

resolve any issues that prevent all available cameras contributing to

the tracking.

Reﬂex suppression DTrack2 is capable of suppressing reﬂexes (e.g. sunrays on the ﬂoor)

in a static way. However, reﬂex suppression should always be the last option to be con-

sidered. If possible try adjusting the cameras in order to minimize reﬂexes. Please refer

to chapter 4.5.1.7 on page 76 for more details.

ZYou should always be aware that reﬂex suppression results in remov-

ing of the area, in which the reﬂex originated, from the tracking volume.

There are two possibilities to carry out a reﬂex suppression:

1. Mark the checkboxes for each camera when you want to suppress reﬂexes. Af-

terwards, select Calibration →Start Static Reﬂex Scan for all enabled cameras to

make sure that static reﬂexes will be suppressed.

2. While measurement is running you may deﬁne the areas to be suppressed manu-

ally. In the Monitor 2DOF display, right-click on the respective camera window and

enable ’Edit reﬂex suppression areas’. Alternatively, you may use the shortcut (’E’)

to enable this mode (shown in ﬁgure 4.46(a) on page 99).

Within the edit mode you may (also refer to ﬁgure 4.46(b) on page 99)

•create new areas,

•delete areas,

•clear regions,

•resize areas and

•move areas.

Reﬂex suppression areas are enabled when you leave the edit mode (by disabling

’Edit reﬂex suppression areas’) and accept the changes. The single areas deﬁned

are stored in the controller and can be edited each time you enter this mode.

Chapter 4

4.5 DTrack2 frontend software

(a) Reﬂex suppression edit mode (b) Reﬂex suppression edit mode help

If you want to disable all reﬂex suppression areas for a camera at the same time,

just right-click on the respective camera and deactivate the option ’Active’.

Flash settings The ﬂash intensity may be changed within an interval of

•0 .. 6 for ARTTRACK1 ,

•0 .. 8 for ARTTRACK2 /ARTTRACK3 ,

•0 .. 100 for ARTTRACK5 ,ARTTRACK5/C and TRACKPACK/E

•0 .. 7 for TRACKPACK .

When using ARTTRACK2/C cameras, it is not possible to adjust the

ﬂash intensity of the respective external ﬂashes with the DTrack2 fron-

tend software!

Please contact ART in case you need to adjust the ﬂash intensity of

the external ﬂashes.

These settings strongly depend on the working area and range. If you have a small work-

ing area where you are close to the cameras small ﬂash intensities may be sufﬁcient.

Otherwise, if your working area is far away from the cameras (but still within tracking

range of the cameras) it may be necessary to change to greater ﬂash intensities.

Generally speaking, you should adjust the ﬂash settings in a way that the recognized

markers are coloured in green or yellow.

4 System setup

Keep a distance of min. 20 cm when operating the cameras ! All cam-

eras are assigned to the Exempt Group according to IEC62471-1 and

therefore pose no risk or hazard to the human eye or skin at this dis-

tance.

To be on the safe side, always double-check if the markers of the target are seen properly

by the cameras. Therefore, please use the Monitor 2DOF view:

•markers coloured in red are characterized by bad circularity, small size or low inten-

sity; this may result in poor tracking quality

•markers coloured in yellow offer a good tracking quality

•markers coloured in green offer a very good tracking quality

Increase the ﬂash intensity until all markers are yellow or green (recommended).

Syncgroup For ARTTRACK5 ,ARTTRACK5/C and TRACKPACK systems it is possible

to conﬁgure the syncgroups via software. You may change the syncgroups either on the

All Cameras tab or on the one of the respective camera. Possible values are ’Channel 1’,

’Channel 2’ or ’Channel 3’. These settings correspond to the three syncgroups which can

be setup via hardware (daisy-chain cabling) for ARTTRACK systems.

Global camera mode (ARTTRACK5 ,ARTTRACK5/C and TRACKPACK/E only) To switch the cam-

era mode, select the appropriate entry e.g. 1.3 Mpix, max. 150 Hz. Dependent on your

application needs, this function can give you access to:

•higher frame-rates

•lower latencies, i.e delay times (approx. 5 ms @ 0.5 Mpix) Please refer to chapter

A.6 on page 199 for more details.

by selecting smaller ﬁeld of views.

Be aware, that higher frame-rates come at the cost of the cameras’ reduced ﬁeld of view

as well as a limited amount of targets that can be tracked simultaneously (lesser amount

of targets @ 300 Hz). The max. frame-rate is deﬁned by the camera with the largest

ﬁeld of view respectively the max. frame-rate of that individual camera. In mixed systems

ARTTRACK2 or ARTTRACK3 &ARTTRACK5 the max. possible frame-rate is always

limited to 60 Hz.

Global display intensity (ARTTRACK5 only) If necessary the brightness of the status LEDs

and the 2-digit LED matrix display can be dimmed from 0...100%, e.g. when used in

light-sensitive environments (global setting or individually).

Global display mode (ARTTRACK5 only) By default the status LEDs are activated, while the

2-digit LED matrix display shows the currently assigned camera ID. Alternatively select

number of markers / camera ID to display the number of markers in the camera’s ﬁeld of

view during measurements. The 2-digit LED matrix display can also be deactivated by

selecting only status LEDs (global setting or individually).

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4.5 DTrack2 frontend software

Modulated ﬂash The ART tracking system can be used with active markers, i.e. mark-

ers consisting of infrared LEDs instead of retro reﬂective material (e.g. Fingertracking,

see chapter 5.3 on page 137). This allows both, more robust and longer ranging targets.

These LEDs do not light continuously but also emit light ﬂashes like the camera ﬂash and

thus have to be synchronized with the camera’s timing. This can either be achieved by a

synchronization cable or by using a modulation on the ﬂash.

The option modulated ﬂash, which only appears on the All Cameras tab, allows selecting

one of the cameras to emit the coded ﬂash that triggers active targets. Only one camera

can emit the modulated ﬂash. The modulation reduces the ﬂash intensity in lower ﬂash

settings, so it might be necessary to increase the ﬂash intensity. In higher settings the

reduction is insigniﬁcant.

The camera which emits the modulated ﬂash has to be in syncgroup

# 1 ! For ARTTRACK systems this means that the camera has to be

connected to the OUT1 output of the Synccard2. TRACKPACK systems

may be conﬁgured via software (refer to chapter Syncgroup above).

Display upside down The checkbox display upside down speciﬁes how the ART camera is

mounted (upright or upside down). This setting does not have any inﬂuence on the correct

working of the tracking system because the orientations of the cameras are correctly

determined by the photogrammetric algorithms in any case.

Details Here, it is possible to change the settings concerning markers:

Description

’global marker mode’ conﬁgure the marker detection

’global maximum number of markers’ maximum number of markers that a camera is allowed

to see

’global maximum size of markers’ maximum display size of a marker on the sensor

’global minimum size of markers’ minimum display size of a marker on the sensor

Synccard This dialogue shows the model and the serial number of the synccard. Fur-

thermore, it offers a dropdown list to select the mode of synchronization.

Basically, you can select between internal and external synchronization. The further dif-

ferentiation is shown in table 4.10.

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4 System setup

supported synccard mode ﬁeld of application

internal generated signal (50 up to 300Hz ARTTRACK5 )

external video signal active-stereo projection with an

analogue video sync signal (=VGA)

external video signal, for validated shutter glasses 1

external video signal, for validated shutter glasses, divisor 2 2

external TTL signal active-stereo projection with a TTL

sync signal

external TTL signal, for validated shutter glasses 1

external TTL signal both edges 3

external TTL signal both edges, for validated shutter glasses 1 3

direct settings advanced custom settings

1predeﬁned settings that should be used with the shutter glasses mentioned in table 4.11

2if, additionally, the frequency of the external synchronization signal is greater than 60Hz, this mode

should be used

3available only for Synccard3

Table 4.10: Overview of the supported synccard modes

If you select ’direct settings’ you may use advanced options for conﬁguring the synccard:

Option Description

source conﬁgure the type of synchronization to be ’internal’, ’video’,

’ttl’, ’ttlinv’ or ’ttlboth’

frequency [Hz] change the frequency in an interval of 10 Hz up to 300 Hz

(only for internal synchronization and dependent on camera

mode when using ARTTRACK5 or TRACKPACK/E !

divisor for external signal reduce the tracking frequency (only for external synchroniza-

tion!)

Delay [us] conﬁgure the delay between the syncgroups

Brand Type

RealD CrystalEyes 1, 2, 3, 5

NuVision APG6000, APG6100

XPand X101, X103 (with NuVision Long-Range Emitter), X104LX

NVidia 3D Vision Pro (RF sync’ed)

Volfoni EDGE (with Volfoni or NuVision LR Emitter)

Virtalis ActiveWorks 500

Table 4.11: Overview of validated shutter glasses

Inertial Sensor In this dialogue all available wireless transceivers (dongles) are shown.

Furthermore, it is possible to set the frequency the sensors are operating at (default: 100

Hz). Additionally all inertial sensors that have been previously added to the DTrack2 con-

ﬁguration are listed with the following properties:

•Device ID + wireless icon

•Model (e.g. Colibri Wireless)

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Chapter 4

4.5 DTrack2 frontend software

•Name (targets from Hybrid Motion Capture suit or user-deﬁned)

•Firmware Version

•Currently used channel (default: 35 / 55)

•Wake-up mode (radio, tapping, USB/button)

•Battery level

•Temperature (only during measurement)

The default channels for all dongles and sensors are 35 and 55. In

case these WLAN frequencies are already occupied by other devices

in range, connection problems may occur. ART recommends to scan

for available channels and to select free channels accordingly. Keep a

minimum distance of 10 channels between dongles or from otherwise

unavailable channels for optimum connectivity.

ZFor optimal battery life, ART recommends to switch all sensors to

wake-up mode "USB/button" when not in use for a longer period of

time.

For more information, please refer to chapter 4.4 on page 63.

ART Radio Info When you are using a Flystick, for example, you will get information

about the used transceiver and the Flystick device itself. The following information is

offered:

Description

’Model’ the model of the transceiver or the device respectively

’Serial’ the serial number

’Version’ the ﬁrmware version

’Is free (only for Devices)’ the device is not free (= ’no’) if it is assigned to an interaction

device ID

’Is present’ the device or the transceiver is present in the tracking volume

By clicking the button Show details the current channel of the radio transceiver is shown.

By default the radio transceiver is automatically selecting a radio channel during booting.

You may also select an appropriate channel manually using the drop-down menu ’set

channel number’. The setting is saved persistently.

Tracking In this dialogue you can conﬁgure whether 3DOF markers are calculated or

not and you can enable or disable the ’automatic start of measurement after booting’.

Also, you can globally deﬁne the ’central axis’ for all 5DOF targets. For these the rotation

around the body axis cannot be measured by the tracking system. This rotation is there-

fore set to a certain value by the system. Thus, the 5DOF central axis is only important if

you intend to use the rotation around the body axis. The most important properties are:

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4 System setup

•If the 5DOF body is positioned parallel to the 5DOF central axis the rotation around

the body axis remains undetermined.

•The rotation around the body axis is reduced to a minimum.

We recommend that you choose the 5DOF central axis as the direction which is the least

often parallel to the tracked body axis (e.g. ﬂoor to celling for glasses targets).

iThe best choice for the 5DOF ’central axis’ may be found when using

the tracking data in your appplication.

Details of the deﬁnition:

In addition to the 5DOF central axis the system selects an axis for each body in the body

coordinate system (i.e. "pulled axis"). The rotation around the body axis is set to the value

minimizing the angle between the pulled axis and the 5DOF central axis. The pulled axis

is always perpendicular to the body axis. In addition the following criteria are used:

•If the 5DOF central axis is not the body axis the pulled axis is the axis minimizing

the angle to the 5DOF central axis.

•If the 5DOF central axis is the body axis the pulled axis has a random direction in

the plain.

The ’automatic restart of measurement after loss of sync signal’ option is set to ’active’

by default and therefore, it is not shown anymore (from DTrack2 v2.8.1).

Body Administration The menu allows for administering all targets (e.g. Standard,

Flystick, etc.) in the system (refer to ﬁgure 4.46).

The number of 6DOF bodies represents the number of targets that should be tracked. In

this context, the number of targets does not include the interaction devices (e.g. Flystick,

Fingertracking or Measurement Tool ). These are completely conﬁgurable in separate

tabs.

iHowever, the maximum total number of bodies that may be used in

ART systems includes the calibrated interaction devices (Fingertrack-

ing, Flystick, Measurement Tool )!

Here, you can activate, delete or reset target calibrations and change the order of the

single targets. Additionally, you get the information by which means the target has been

calibrated:

•’Custom’ means that the standard body calibration has been used.

•’Target Library’ means that the predeﬁned calibration ﬁle from the system has been

used.

For a detailed description of the single actions please refer to table 4.12.

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Chapter 4

4.5 DTrack2 frontend software

Figure 4.46: Flexible Body Administration (from DTrack2 v2.9.0)

Action Description

’Active’ Activate or deactivate a target. Data of deactivated targets will not be

transmitted in the data stream. The target order will not be affected.

’Delete’ Deletes the calibration of a target - effective immediately after conﬁrm-

ing the security query. The target order will not be affected.

’Reset’ In case the target has been calibrated initially with the ’Target Library’

and re-calibrated later by the user, it is possible to reset the calibration

to ’Target Library ’.

’Change order’ With the arrows on the right-hand side of the window you may change

the order of the targets. The data output will change accordingly.

Table 4.12: Body Administration - Detailed description of the actions

As mentioned before you can administer interaction devices as well. Therefore, you may

use the tabs Flystick,Measurement Tool and Fingertracking.

In the bottom right of the dialogue you will ﬁnd four buttons:

105

4 System setup

Button Description

’Filter’ Activate or deactivate the ﬁlter for each target. You can either use de-

ﬁned presets or customize it to your requirements. A detailed descrip-

tion of the ﬁltering options can be found in chapter 4.5.5 on page 91.

’Calibration’ Directly access the Body Calibration dialogue and perform the calibra-

tion for the selected target. A detailed description for body calibration

can be found in chapter 4.5.3 on page 84.

’Hybrid Body

Calibration’

Directly access the Hybrid Body Calibration dialogue and perform the

calibration for the selected hybrid target. A detailed description for hy-

brid body calibration can be found in chapter 4.4 on page 66.

’Body Adjust-

ment’

Directly access the Body Adjustment dialogue and perform the neces-

sary adjustment for the selected target. A detailed description for body

adjustment can be found in chapter 4.5.4 on page 90.

Output The dialogue Output determines the settings of data output via Ethernet. Data

output will be enabled when you tick the checkbox active.

Figure 4.47: Output settings

Identiﬁer Description

fr frame counter

ts timestamp

6dcal number of adjusted bodies

6d 6DOF standard body

3d 3DOF marker

6df2 Flystick

6dmt Measurement Tool

6dmtr Measurement Tool reference

6dmt2 Measurement Tool (also for ball

probes)

gl Fingertracking hand

glcal number of calibrated Fingertracking

hands

6di 6D inertial body

6df Flystick (old)

only available if activated in Flystick

settings (→checkbox ’use old output

format’)

Table 4.13: Output identiﬁers

ZWhen using the ’timestamp’ please note the remarks on accuracy in

chapter B.2.2 on page 211.

In total, up to 5 UDP channels for DTrack2 data output can be conﬁgured. Tick the check-

box this computer to send data to the remote PC you are currently working at. If you want

to send data to any computer within your local network just enter the IP address of the re-

ceiver and a port number. In addition, it is possible to deﬁne a multicast output. By ticking

this checkbox the UDP data is sent to a group of addresses in the range of 224.0.1.0 to

239.255.255.255.

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In order to reduce the data of the UDP output data stream you may set the ’send data

divisor’ to values from 1 to 10. The numbers have the following meaning:

•1 .. every frame is transmitted,

•2 .. every second frame is transmitted,

•...

•10 .. every tenth frame is transmitted.

The UDP output data may be routed by DTrack2 by ticking the checkbox act as router

for tracking output. This functionality is especially important for customers where it is not

allowed to connect the controller to their local network due to security reasons.

(a) act as router enabled (b) act as router disabled

The mandatory requirement to use this function is that the PC, where DTrack2 is installed,

needs to have two separate Ethernet plugs: one for connecting to the controller and one

for the respective local network. The DTrack2 frontend reads the data from the controller

and routes it to the local network where the application PC is connected to.

iUsing this function will cause a short delay during forwarding of the

data.

ZDo not use this function if the application PC and the controller are in

the same network!

Please refer to chapter B on page 203 for the format of the data output.

Fingertracking Here, you can deﬁne the number of hands to be used (values: 0 ..

4). Based upon this value, the correct number of selected hands is shown. By default,

the hand geometry is ’none’ and the ﬁeld Simulate 5 Fingers is empty until you carried

out a calibration of the ﬁngers (→hand geometry). Then, the hand geometry will change

into the name you deﬁned during calibration of the ﬁngers. If you are using a three ﬁnger

thimble set but want to get output data for ﬁve ﬁngers you may tick the checkbox 3 ->5.

The software DTrack2 will move the two missing ﬁngers parallel to the third ﬁnger.

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4 System setup

It is possible to save several hand geometries in DTrack2 - these will appear in available

hand geometries. So you can use your Fingertracking set with different people and, most

important, you need to calibrate the Fingertracking set only once for each person.

From DTrack2 v2.8.1 on it is possible to export (’Save’), import (’Load’) and remove

(’Delete’) available hand geometries. Just press ’Save’ and select the hand geometries

you want to export and save them at your desired location.

For importing a stored hand geometrie just press ’Load’ and change to the respective di-

rectory, select the appropriate ﬁle and press ’OK ’. The hand geometrie may now be used

as follows.

Now, just assign the desired hand geometry to the respective hand ID and use Finger-

tracking. Therefore,

•mark the respective hand ID,

•mark the desired hand geometry and

•press Select.

Repeat the steps if you want to use another hand.

Please refer to chapter 5.3 on page 137 to learn how to install Fingertracking.

Flystick In the Flystick Settings you can deﬁne the number of Flysticks to be used (max.

20).

Checkbox Description

’use old output format’ Use the output format of the old Flystick1 (see chap-

ter B on page 203)

’activate MultiUser function’ Refer to page 130 in chapter 5.1 for more informa-

tion.

’use head targets’ The data pair (Flystick and head target) of one user

is made available as output data (if MultiUser func-

tion is activated).

Table 4.14: Flystick settings - Description of the checkboxes

Below, there are two more properties which can be conﬁgured for Flystick3:

•sync groups:

Conﬁgure your active(!) Flystick3 to send out IR ﬂashes for one or more syncgroups

(syncgroup #1, syncgroups #1 and #2, . . . ; default = syncgroup #1).

•ﬂash intensity:

Set the ﬂash intensity of the active target of the Flystick3 (default = 3) by moving the

slider.

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If you change the number of Flysticks you will immediately recognize entries in the se-

lected Flysticks ﬁeld. The ﬁelds Model,Serial and Port are empty by default.

Make sure that your Flystick is in the available Flysticks list - if necessary, compare the

serial number listed here to the one printed on the battery compartment of the Flystick2 or

on the back cover of the Flystick3. Now, you have to assign your Flystick to the respective

Flystick ID.

Therefore,

•mark the respective Flystick ID,

•mark the desired available Flystick and

•press Select.

Repeat these steps if you want to use another Flystick. Please refer to chapter 5.1 on

page 126 to learn how to install the Flystick2 and refer to chapter 5.2 on page 132 for the

Flystick3.

There are one or two Flystick1 entries in the list available Flysticks, even if no Flystick1

is present in the volume. This is due to the fact that the Flystick1 connects via serial

COMport which cannot be polled automatically. If you are using a Flystick1 please refer

to the Flystick1 manual.

Measurement Tool Within the Measurement Tool dialogue you may deﬁne the number

of Measurement Tools and the number of references. It is limited to a total number of

four each.

Below, there are several ﬁelds where you may change the default values within the allowed

ranges to suit your application.

Control Description

’number of Measurement Tools ’ conﬁgure the number of devices to be used

’number of references’ conﬁgure the number of reference bodies to be used

’measurement duration [s]’ conﬁgure the time to perform a measurement with

the Measurement Tool (valid range: 0.2 - 10.0 sec)

’tool tip tolerance [mm]’ specify the range within which the tip is assumed to

be static (valid range: 0.1 - 5.0 mm)

’activate measurement start simula-

tion’

activate the start button simulation and enable the

respective controls

’minimal angular variation [deg]’ specify the minimum angle that the Measurement

Tool has to be tilted over to start a measurement

(valid range: 10◦- 120◦)

’maximum lead time for this angular

variation [s]’

waiting time before the measurement start by the

start button simulation

Table 4.15: Measurement Tool settings

If you are working with a reference body you may assign it to a speciﬁc ’Measurement

Tool ID’:

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4 System setup

•mark the respective Measurement Tool ,

•mark the reference body and

•press Select.

Repeat these steps if you want to assign references to other Measurement Tools .

Please refer to chapter 5.4 on page 144 to learn how to install the Measurement Tool .

Controller The menu for the Advanced Controller Settings is divided into two tabs - Net-

work and Time.

On the Network tab you may change the hostname (not recommended!) and the domain

according to your network guidelines. When the network cable has been plugged into the

controller while booting, the controller is a DHCP client and the checkbox is ticked. If the

network cable is unplugged while booting the controller uses its default IP address (i.e.

192.168.0.1).

You may also specify IP address,subnet mask,gateway and nameserver as desired.

The MAC address of the controller is printed in the last line for your information (ethernet-

MAC LAN).

On the Time tab you can set the UTC time of the controller. Furthermore, you can syn-

chronize the UTC (=Universal Time Coordinated) time using NTP (=Network Time Proto-

col). NTP is a protocol designed to synchronize the clocks of computers over a network.

Tick the checkbox activate NTP and enter hostname or IP address of your server.

If NTP is activated the controller is trying to connect to the NTP server repeatedly in or-

der to update its clock. The values for ’reachability’ range between 0% - 100% (typically).

They are a measure for the quality of the reachability of the NTP server. Only NTP servers

which are contacted over the internet may provoke some problems. The quality of the syn-

chronization of the clocks is indicated with ’estimitated precision’ in the unit milliseconds

(=ms).

iSynchronizing with NTP takes quite a long time. Active measurements

won’t be disturbed.

Cascaded System Cascading means that two or more stand-alone tracking systems

are combined to one large system in order to have only one consolidated data out-

put. It is possible to cascade TRACKPACK/E systems with or without ARTTRACK5 and

ARTTRACK5/C and to build cascades out of ARTTRACK (discontinued) with TRACK-

PACK systems (discontinued). Therefore, the system is subdivided into one master and

up to eight slaves. However, the total number of cameras in the cascaded system cannot

exceed 16 for TRACKPACK/E only systems and 50 for combined ARTTRACK5 &ART-

TRACK5/C and TRACKPACK/E systems respectively.

The task of the master is to gather all single data outputs from all slaves and to merge

them into one single data output. The DTrack2 frontend connects to the master only and

allows to conﬁgure (e.g. cameras, output, tracking, etc.) the entire tracking system as

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usual.

The master has to be an ARTTRACK Controller with "full-featured" li-

cense (< DTrack2 2.10) and a Synccard2.

Starting with DTrack2 version v2.10 a new license model has been es-

tablished. The master controller needs to have a dedicated "cascaded

systems" license as well as a sufﬁcient license for ALL cameras in the

cascade, e.g. 4 ARTTRACK5 + 4 TRACKPACK/E cameras = license for

8 cameras.

In order to conﬁgure the cascaded system you have to start the DTrack2 frontend soft-

ware and establish a connection to the master.

Go to Settings →Cascaded System to enter the conﬁguration dialogue for the cascaded

system. Basically, you have the choice between ’scan LAN’ or entering a ’slave host-

name or IP address’ directly. For the latter one, you need to know the hostname or the

IP address of your slave(s) when using DHCP or in case you have set a speciﬁc static IP

address. The button ’Update’ refreshes the list.

On the right-hand side of the dialogue you will be presented a list of ’Available’ controllers

(i.e. which can become a slave in the cascaded system). Mark the desired controller

and press the button ’Select’ to assign this controller to the cascaded system. It will then

appear on the left-hand side of the dialogue in the list of the ’Selected’ controllers.

Mark controllers in the list of the ’Selected’ controllers to remove them from the cascaded

system by clicking the button ’Deselect’.

If the checkbox ’wake on LAN’ is ticked, all connected slaves will go to standby mode or

reboot if the master goes to standby mode or reboots.

Refer to chapter 4.3 on page 58 for more information on the cascaded system.

4.5.6.4 Menu Calibration

Calibration Shortcut

Start static reﬂex scan for all en-

abled cameras

Inertial Sensor Calibration

Room F5

Room adjustment Shift + F5

Body F6

Body adjustment Shift + F6

Fingertracking

Measurement Tool

Table 4.16: Menu Calibration

Start static reﬂex scan for all enabled cameras All ART cameras are able to sup-

press all reﬂexes in certain areas of the image sensor. This is especially important for

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4 System setup

setups in multisided projections: these cameras are mounted in the corners of the multi-

sided projection and usually get a lot of unwanted reﬂexes from the nearby walls. To gain

good tracking results, these reﬂexes should be suppressed. The feature can be enabled

or disabled either globally for all cameras or individually for each camera in the camera

settings. Scanning for static reﬂexes allows searching the measurement volume for un-

wanted reﬂexes. Areas are deﬁned around the visible reﬂexes, where all reﬂexes should

be suppressed later during measurements.

ZBe sure to remove all targets from the measurement volume before

starting the scan.

Inertial Sensor Calibration This function carries out a drift correction for all inertial

sensors. Please refer to chapter 4.4 on page 63 for more information.

Room Use the room calibration menu to conﬁgure your room calibration set concerning

wand length and marker distances. The wand length is printed on a label on the wand -

please enter the value here.

Figure 4.48: A room calibration set consisting of angle and wand

Marker distances deﬁnes the type of room calibration set - it can either be Room Cali-

bration Set TP,Room Calibration Set 410 or Room Calibration Set 710. When choosing

expert the angle of the room calibration set may be deﬁned by the user. Then, the dis-

tances between the markers on the angle have to be conﬁgured.

Deﬁne the coordinate system as ’normal’ or ’powerwall’. The layout of the coordinate

system is shown in the 4.49 on page 113. You may adjust the ’duration’ of the room

calibration (→Show details) in a range of 10s - 100s. Resetting the value to default is

achieved by pressing the Set to default button (default = 30s).

Changing the duration of the room calibration, especially towards

shorter durations, may lead to bad room calibration results! Please

make sure that you are always able to cover two thirds of the tracking

volume within the set time.

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(a) ’normal’ (b) ’powerwall’

Figure 4.49: Deﬁning the coordinate system for the room calibration

If you are re-calibrating your room use the checkbox re-calibration in the bottom left cor-

ner to indicate it to the tracking system. For more information about room re-calibration

please refer to page 82.

Please refer to chapter 4.5.2 on page 77 for the details on how to perform a room calibra-

tion.

Room adjustment During a room calibration origin and orientation of the room coordi-

nate system are located by the position of the calibration angle; e.g. the reﬂective marker

in the angle’s vertex (marker #1) deﬁnes the origin of the coordinate system. Oftentimes

it might be more suitable to set the coordinate system in respect to well-known points in

space.

Possible scenarios for the application of the Room adjustment functionality are:

•adjust the origin to the center of a screen

•align the coordinate system colinear / parallel to a screen (even very small angular

deviations might lead to substantial misalignment over the full width of the projection

0.1◦on 5m length equals 8.7 mm deviation)

•shift and / or rotate the camera coordinate system to match a reference coordinate

system, e.g. from CAD models

•maintaining a speciﬁc coordinate system / orientation when using mobile installa-

tions of cameras, i.e. frequently changing the camera setup locations (suitable ref-

erence points provided)

In all these cases the coordinate system must be altered after calibration.

If you press Enter or click OK , all changes which have been done so far

will be conﬁrmed (changes are sent to the controller) and the dialogue

closes. Pressing Apply accepts the current changes, but the dialogue

is left open. Discard all changes by pressing Cancel.

Coarse The Coarse tab offers a simple way to manipulate the orientation of the room

coordinate system with just one click (see ﬁgure 4.50 on page 114. You can deﬁne the

orientation of two axes using the drop-down menus - the third one will be oriented auto-

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4 System setup

matically according to the right-hand rule. Press Reset to switch back to the unmodiﬁed

state.

Figure 4.50: Room adjustment dialogue (coarse)

Fine More detailed options to adjust the room coordinate system are given in the Fine

tab (see ﬁgure 4.51 on page 115). By default a cartesian coordinate system is displayed

on the left side of the window. The room coordinate system is shown as a triplet of arrows

with a deﬁned color-coding (x-axis: red, y-axis: green, z-axis: blue), while the xy-plane is

shown as a yellow grid. The current and the transformed room coordinate systems are

marked with (’O’) and (’T’) respectively.

The View position and View orientation may be moved along and / or rotated around all

axes in two different ways:

1. hold down the "Ctrl" key and the left / right mouse button to change the position /

orientation

2. hold down the "Ctrl" key and use the mouse wheel to zoom

3. use the six control dials (below the graphical view) to adjust position and orientation

To center the current room coordinate system, press ’Adjust view’. To restore the default

view (shift and orientation), press ’Reset view’. The visualisation itself can be changed

by clicking the right mouse button to open a menu with the following options. (De-)select

the appropriate ones by (un-)ticking.

Option Description

’Long axes’ extends the coordinate axes of the body coordinate system by

inﬁnite dashed lines

’Show XY plane’ shows the XY plane (yellow grid)

’Show YZ plane’ shows the YZ plane (cyan grid)

’Show XZ plane’ shows the XZ plane (magenta grid)

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Figure 4.51: Room adjustment dialogue (ﬁne)

On the right side of the window the room coordinate system may be customized freely,

i.e. user-speciﬁc.

Action Description

Zero point offset [mm] translate the room coordinate system along its axes in steps of 1mm

Reset vector reset the zero point offset to the unmodiﬁed state (0.00 mm)

Rotation angles [deg] rotate the room coordinate system around its axes (from -180 to +180

◦)

Reset angles reset the rotation angles to the unmodiﬁed state (0.00 ◦)

Scaling factor enlarge / shrink the room coordinate system uniformly up to a factor of

+/-5 percent

Reset scaling reset the scaling factor to the unmodiﬁed state (1.0000)

Matching start up a module for transforming and matching to a reference coordi-

nate system (Measurement Tool & license provided)

All entered transformation values are given in the original room coordinate system.

Example: let’s assume a standard room coordinate system (xy plane on the ground, z

axis facing upwards) that was calibrated using a “Room Calibration Set” RCS 410. So the

current origin is located 43 mm above the ground (refer to chapter 4.5.2 on page 77 about

details). If the new desired origin should be placed 1 m above the ground, then the Zero

point offset for z must be 957 mm (1000 mm - 43 mm).

Transform Press Matching in the Fine tab to open the room matching dialogue (see

ﬁgure 4.52 on page 117). This functionality depends on the Measurement Tool license.

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4 System setup

iIf the Measurement Tool is not tracked (calibration provided) matching

cannot be performed. Use an authorised Measurement Tool by ART for

best results.

ZDeselect any previously assigned Measurement Tool References prior

to matching of the coordinate systems. Otherwise matching results

will be erroneous.

The purpose of the coordinate transformation is to convert the origin and orientation of the

initial camera coordinate system (indicated with ’O’) into a reference coordinate system

(indicated with ’T’), e.g. given by a certain object or CAD model. All measurement data

will be transformed with respect to the reference coordinate system (’T’). To this end a

three-step calibration procedure has to be performed:

1. Add measurement data from the reference coordinate system (’T’) by manually en-

tering the coordinates into the table reference points using the button Add. A mini-

mum of three (3) data points is necessary for calculations. Delete single data points

by selecting the corresponding row and press Remove. Alternatively load the coor-

dinates from a text ﬁle (ASCII) using the button Load. The text ﬁle must comply to

the following format:

1 1.00 20.00 300.00 <CRLF>

2 4.00 50.00 600.00 <CRLF>

3 7.00 80.00 900.00 <CRLF>

# x y z <CRLF>

The import strictly follows the sequence from the ASCII text ﬁle. The current set of

reference points can be saved by pressing Save.

2. Select a calibrated and tracked Measurement Tool from the drop-down menu and

measure all points (e.g. on the corresponding object) which directly relate to the

reference points (e.g. from a CAD model) deﬁned in step 1.

Each measurement can be started by:

•clicking the button Measure

•clicking the start button on the Measurement Tool (if applicable)

•using the “measurement start simulation” of the Measurement Tool (refer to 5.4

on page 144)

•clicking a button of an assigned Flystick

The following calculations try to correct the order of the measured points, if they

don’t correspond to the order of the reference points. Sometimes this does not

produce the correct result, especially if the points are located too symmetrically

toward each other. In this case toggle the tickbox preserve order of points to lock

the order between reference points and measured points.

ZFor proper matching it is essential to ensure the correct correspon-

dence between reference points and measured points.

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3. After having measured all corresponding points the calculation is started automati-

cally and the result of the transformation is displayed in the textbox transformation.

Double-check that all measured data points correspond to the correct reference data

points. Delete single data points by selecting the corresponding row and press Re-

move or delete all data points to start all over by pressing Clear . The residual error

(standard deviation) is a measure of the transformation quality, i.e. how well the

measured data ﬁt the corresponding reference points. It can be inﬂuenced mostly

by the quality of data acquisition and by differences in scale of the camera and refer-

ence coordinate systems. Pressing OK accepts this transformation and closes the

dialogue box.

Figure 4.52: Room matching dialogue

The calculated transformation is applied on both zero point offset as well as rotation

angles in Fine tab. Do not further manipulate the values manually. Press Enter or click OK

to conﬁrm the resulting transformation and to close the dialogue. Pressing Apply accepts

the current changes and leaves the dialogue open. Discard all changes by pressing

Cancel.

Body Select the body you want to calibrate and tick the checkbox if you want to perform

a re-calibration. Deﬁne the type and the coordinate system which should be used for the

calibration.

If you want to use body calibration ﬁles for calibrating your target, just click Load ﬁle(s)

and select the appropriate calibration ﬁle(s). By clicking on Save ﬁle(s) you can save your

body calibrations in separate text ﬁles.

Please refer to chapter 4.5.3 on page 84 for the details on how to perform a body calibra-

tion.

Body adjustment Use this menu (see ﬁgure 4.43 on 90) to visualise and manipulate

calibration data of rigid bodies. Just select the desired body from the drop-down list at the

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4 System setup

top of the window. By default a cartesian coordinate system is displayed on the left side

of the window depicting the selected rigid body’s geometry (’Graphic view’).

The body coordinate system is shown as a triplet of arrows with a deﬁned color-coding

(x-axis: red, y-axis: green, z-axis: blue), while the xy-plane is shown as a yellow grid. All

markers, however, are visualised by sequentially colored spheres (RGB) for better iden-

tiﬁcation. In case the selected rigid body features visibility restrictions, emission cones

may have been predeﬁned. Direction of visibility (emission vector) is depicted as an ar-

row (white) for each marker, while the angular restriction (emission aperture) is shown as

a cone (grey).

The View position and View orientation may be moved along and/or rotated around all

axes in two different ways:

1. hold down the "Ctrl" key and the left / right mouse button to change the position /

orientation

2. hold down the "Ctrl" key and use the mouse wheel to zoom

3. use the six control dials (below ’Graphic view’) to adjust position and orientation

To restore the default view, just press ’Reset view’. Tick the ’use tracked orientation’

checkbox to switch to online mode (i.e. the 3D-representation of the target in the ’Graphic

view’ is depicting movements / rotation of the target in the "real world").

The visualisation can be changed by clicking the right mouse button to open a menu with

the following options. (De-)select the appropriate ones by (un-)ticking.

Option Description

’Small markers’ reduces the size of the markers

’Colored markers’ shows the markers in different colors (untick: greyish)

’Emissions’ shows predeﬁned direction (arrows) and angular restriction

(cones) of visibility (if applicable)

’Long axes’ extends the coordinate axes of the body coordinate system by

inﬁnite dashed lines

’Show COG’ shows the body’s center of gravity (white square)

’Show XY plane’ shows the XY plane (yellow grid)

’Show YZ plane’ shows the YZ plane (cyan grid)

’Show XZ plane’ shows the XZ plane (magenta grid)

’Show room orientation’ shows the room coordinate system (only available when check-

box ’use tracked orientation’ is ticked)

’Add line between markers’ adds a line between two selected markers (option greyed out until

two markers are selected)

’Delete line between markers’ removes a line between two selected markers (option greyed out

until line is selected)

’Data view’ switches to the data view

For manipulating the body geometry you have the choice between general or special

options:

General The body coordinate system may be customized freely, i.e. user-speciﬁc.

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Action Description

Body position [mm] translate the body coordinate system along its axes in steps of 1mm

Body orientation [deg] rotate the body coordinate system around its axes

Set origin activate a marker in the ’Graphic view’ by left-clicking with the mouse.

The marker is highlighted and the button Set origin is activated. Press-

ing this button translates the origin of the body coordinate system into

the center of the selected marker.

Set origin to COG translate the origin of the body coordinate system into the target’s center

of gravity

Set axis activate two markers sequentially in the ’Graphic view’ by left-clicking

with the mouse. The ﬁrst one is highlighted in white, the second one in

grey. Additionally, the button Set axis is activated. Pressing this button

opens a dialogue to conﬁgure the transformation.

Adjust axes to room pressing this button aligns the body coordinate system collinear to the

room coordinate system

Delete marker activate a marker in the ’Graphic view’ by left-clicking with the mouse.

The marker is highlighted and the button Delete marker is activated.

Pressing this button removes the selected marker from the target ge-

ometry.

Special Choose from the following predeﬁned transformations:

•due to body

The body coordinate system is completely deﬁned by the target geometry (see page

86).

•due to room (origin in COG)

The coordinate system is rotated and aligned collinear to the room coordinate sys-

tem with the origin set in the center of gravity (COG) (see page 86). In order to use

this function, the checkbox ’use tracked orientation’ has to be ticked.

•due to room (origin in marker)

The coordinate system is rotated and aligned collinear to the room coordinate sys-

tem with the origin set in one speciﬁc marker (see page 86). In order to use this

function, the checkbox ’use tracked orientation’ has to be ticked.

iPredeﬁned visibility restrictions (emission vectors and angles of aper-

ture) are retained along all body transformations.

If you press Enter or click OK , all changes which have been done for

all bodies will be conﬁrmed (changes are sent to the controller) and

the dialogue closes.

Pressing Apply only results in changes of the currently selected body

- the body will be redrawn afterwards.

If the MultiUser function for Flysticks is enabled the Body Adjustment

module will only load standard bodies. If you want to adjust the body

calibration data of your Flystick, please make sure that the MultiUser

function is disabled (Settings →Flystick) - a label ’MultiUser function

should be disabled!’ will appear at the bottom of the dialogue.

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4 System setup

Hybrid Body This function performs a hand-eye calibration to combine an inertial sen-

sor with its corresponding optical target. Please refer to chapter 4.4 on page 66 for more

information.

Fingertracking Deﬁne a new or select an existing ’hand geometry name’. Conﬁgure

handedness as being ’left’ or ’right’. Select the type of ﬁngerset.

When clicking on the button Help a pop-up window appears where the calibration process

is explained and visualized.

Please refer to chapter 5.3 on page 142 for more information.

Measurement Tool Perform a tip calibration for the Measurement Tool that is currently

inside the tracking volume. DTrack2 automatically detects the ID of the Measurement

Tool and assigns the tip calibration. Just press Calibrate to start the calibration process.

During calibration please move the Measurement Tool while keeping the tip still at exactly

one position.

ZNote that the progress bar is not continuing if the pointing device is

not moved sufﬁciently.

Please refer to chapter 5.4 on page 145 for more information.

4.5.6.5 Menu Display

Display Shortcut

Monitor 2DOF

Data F10

Fingertracking

Flystick

Measurement Tool

Events

Set to default

Table 4.17: Menu Display

Monitor 2DOF The Monitor 2DOF display essentially is a graphical display of the ﬁeld

of view of the IR cameras and of the markers that are seen by the cameras. The Monitor

2DOF display shows a black window for each IR camera (equivalent to the ﬁeld of view),

with a schematic display of positions and sizes of all recognized markers.

In case, several ARTTRACK cameras are being used in one system, it will be helpful

that the number of cameras shown in the Monitor 2DOF display can be adjusted. From

DTrack2 v2.8.1 you may use the slider ’cameras per tab’ in order to achieve clear ar-

rangement. Tabs containing the remaining cameras will be added to the Monitor 2DOF

display.

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The special tab ’most active cameras’ contains these cameras which see the markers of

the targets most of the time.

Example: consider a four camera system with camera01 thru camera04 and you have

set the number of ’cameras per tab’ to two. Now, if you move a target in front of camera02

and camera03 most of the time, these two cameras will then be shown in the ’most active

cameras’ tab.

A simple color code signiﬁes the size and the circularity of the markers (green = very

good quality, yellow = good quality, red = poor quality). Each marker is either displayed

as a circle or as a cross. This indicates the projected size of the marker on the CCD chip

inside the camera (i.e. circle = big marker and cross = small marker).

As a rule of thumb: for measurement applications with high accuracy requirements the

markers should be displayed in green; for VR applications yellow markers are sufﬁcient.

The Monitor 2DOF display is particularly useful for the ﬁnal adjustment (especially for ori-

entation adjustments) of the IR cameras.

If current room calibration information does not contain some of the currently connected

cameras, on their corresponding monitors a red text “(re-)calibration required!” appears.

On the other hand, if the room calibration does not have some cameras which were

present when calibrating the room, corresponding camera monitors are disabled (crossed

out).

In the Monitor 2DOF display it is possible to interact with your mouse as certain functions

are assigned to the mouse buttons.

•left mouse button:

Click and hold down to move a camera display within the Monitor 2DOF view.

•middle mouse button:

Click to hide all camera displays except for the one you pointed at. Click once again

and all camera displays are shown.

•right mouse button:

A menu is opened; see table 4.18 for more details.

Data On the left hand side, the Data display shows the 6DOF measurement results of

the position and orientation of the body relative to the room coordinate system. The rota-

tion angles are rotations around the X, Y and Z axis. The mathematical deﬁnition can be

found in chapter B on page 203. A simple colour code indicates if the body is tracked or

not:

green ... body is being tracked; tracking data is displayed

yellow ... body is being tracked only by the means of the intertial sensor

(only rotational data!)

red ... body is not being tracked; instead of tracking data dashes are

displayed

white ... body is not calibrated; columns are left blank

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4 System setup

Function Shortcut

Grid G Shows a grid in the camera display.

Cross C Shows a cross in the camera display.

Fullscreen F Resizes Monitor 2DOF view to full

screen and back.

One Camera Only show the view of the selected

camera.

Display upside down Changes display orientation. ’UD’ is

displayed in the camera display.

Display blinking ARTTRACK5 only : Activates / deacti-

vates blinking of 2-digit LED matrix and

status LEDs for easy identiﬁcation of

camera.

Static Reﬂex Suppression

Active Enable static suppression of reﬂexes.

’SR’ is displayed in the camera display.

Start scan for all enabled cameras Initiates a scan for static reﬂexes. En-

abled only if Active is ticked.

Edit reﬂex suppression areas E Enter the reﬂex suppression area edit

mode in order to interactively suppress

unwanted reﬂexes.

Table 4.18: Features of the Monitor 2DOF view

On the right hand side, the 3DOF calculation for single markers or uncalibrated targets

is shown. All recognized single markers that are have not been assigned to a calibrated

6DOF body are shown here.

Note that the calculation of 3DOF markers has to be activated in Settings →Tracking by

ticking the checkbox. Otherwise, the positions will not be calculated.

Additional information for inertial sensors In the Data Display additional information is pro-

vided for the inertial sensor:

•sensor ID

•battery level

•temperature in ◦C

The temperature values between single inertial sensors may vary. The

operating temperature is reached as soon as there are no more tem-

perature changes inside the sensors indicated by a green status bar. It

is not dependent on the absolute temperature value.

Fingertracking The Fingertracking display shows the measurement results of the hands

- i.e. of each ﬁnger (thumb, index, middle, ...) - that are available in the measurement vol-

ume. A simple colour code shows the status of the Fingertracking:

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green ... Fingertracking device is being tracked; tracking data is displayed

red ... Fingertracking device is not being tracked; instead of tracking

data dashes are displayed

white ... Fingertracking device is not calibrated; columns are left blank

The coordinate system of the measurement data may be switched by using the radio

buttons hand and room. You can distinguish between the hands either by the hand ID or

by the name of the hand geometry.

Flystick The Flystick display shows the measurement results of the position and orien-

tation of the Flystick. Additionally, the operation of the Flystick buttons and of the joystick

are shown. A simple colour code shows the status of the Flystick:

green ... Flystick is being tracked; tracking data is displayed

red ... Flystick is not being tracked; instead of tracking data dashes are

displayed

blue ... button is being pressed

white ... Flystick is not calibrated; columns are left blank

Measurement Tool The Measurement Tool display is split into two parts:

1. position and orientation of the Measurement Tool ’s tip and the respective reference

body

2. position and orientation of the reference body

A simple colour code indicates if the Measurement Tool or the reference body, respec-

tively, are tracked:

green ... tool is being tracked; tracking data is displayed

red ... tool is not being tracked; instead of tracking data dashes are dis-

played

blue ... measurement is being performed

white ... tool is not calibrated; columns are left blank

ZA Measurement Tool , which a reference body has been assigned to,

can only be tracked if the reference body is tracked as well.

Events The Event display presents the status of the tracking system. It offers feedback

of the operational state concerning errors or warnings. Furthermore, it informs the user

about successful room or body calibrations. Each entry is associated with a timestamp

and date.

Set to default If, for some reason, the appearance of the DTrack2 Frontend got messed

up you may reset all views and the size of the window back to default values. This means

that only the Monitor 2DOF , the Data and the Events displays are shown (refer to ﬁgure

4.28 on page 74).

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4 System setup

4.5.6.6 Menu Tools

Tools Shortcut

Controller Update

Measurement Tool Demo

Table 4.19: Menu Tools

Controller Update If you update your DTrack2 frontend software it is mandatory that

you also update the software of the Controller and – maybe – of ARTTRACK5 or ART-

TRACK5/C cameras. An assistant will guide you through the process of the software

update. In case you abort the update of the Controller software (not recommended!) dur-

ing this process you can carry it out later. Just click Tools →Controller update and follow

the instructions of the assistant given during this process.

It is necessary to restart the Controller when the assistant is ﬁnished.

iPersonal settings and conﬁgurations (e.g. room and body calibration,

output settings, etc.) will be preserved during update!

Measurement Tool Demo This demo provides a convenient way to do measurements

with the Measurement Tool . Points may be collected by using up to four Measurement

Tools . The distances between adjacent points are computed automatically. You may add

or delete points from the list and, if wanted, you may save it to a ﬁle.

Control Description

’Measure point’ Place the Measurement Tool at the position you

want to measure and press this button.

’Insert point’ Add an additional point to the list (above the se-

lected point).

’Delete point’ Remove the selected point from the list.

’Save list’ Export the list of points to a ﬁle (e.g. may be im-

ported to a spreadsheet program).

’Clear list’ Delete the entries of the list.

The measurement of a point is started either by pressing the button Measure point or

by tilting over the Measurement Tool as deﬁned in Settings. An active measurement is

indicated by a blue rectangle in the Measurement Tool display.

iIf the Measurement Tool is not tracked a measurement cannot be per-

formed!

4.5.6.7 Menu About

DTrack2 Offers information about the software version and release date of the DTrack2 fron-

tend software. By clicking on the button Show details you receive a list of every single

software module with the respective software version.

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4.5 DTrack2 frontend software

About Shortcut

DTrack2

Controller

What’s new?

What’s this? Shift + F1

Table 4.20: Menu About

Controller Offers information about the software version and release date of the DTrack2 back-

end software. Additionally, name and serial number of the controller are shown.

What’s new? Provides information about the new features that have been released

with the respective version. By clicking on ’Show more’ you can access the history of

introduced features during the last versions.

What’s this? By clicking What’s this, you may use our context-sensitive help function

within DTrack2 frontend software. Just use the mouse cursor to point on any feature of

the DTrack2 GUI and you will receive an information with a click on the left mouse button.

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5 Interaction devices

5.1 Flystick2

The batteries must be removed before shipping the Flystick2, other-

wise the radio transmitter could be started by shock or vibration.

Description The Flystick2 is a wireless input device for ART infrared optical tracking

systems.

Figure 5.1: Flystick2

The Flystick2 has a trigger, four buttons and an analogue joystick with an additional button

functionality. All interactions are transmitted wirelessly via a 2.4 GHz ISM radio connec-

tion. The software DTrack2 takes up the Flystick2 button & joystick events and correlates

them with the 6DOF output data. Tracking and interaction data are then transmitted to the

application via Ethernet.

The Flystick2 has no power switch. It is activated automatically within

a few seconds after any button event and is deactivated after several

minutes without usage.

The Flystick2 is tracked via passive markers which are covered by an

acrylic housing. This means that 6DOF tracking is still valid when the

Flystick2 electronics is off.

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5.1 Flystick2

Top view

status LEDs green pulse →button pressed or joystick position suc-

cessfully transmitted

yellow pulse →button pressed or joystick position could

not be transmitted

yellow ﬂash-

ing

→low battery, recharge soon

trigger, button

and joystick

press the trigger or any button to invoke an interaction which can

be deﬁned in the user application (e.g. drag objects while button

trigger pressed, open a menu dialogue, . . . )

Table 5.1: Description of the Flystick2

The output data consists of:

•position and orientation of the Flystick,

•status of buttons and joystick,

•number of used Flysticks.

Please refer to chapter B for more information about the format of the output data.

Control elements The numbering sequence of the buttons is as follows:

•# 1 trigger

•# 2 - # 4 blue buttons, right to left

•# 5 pressing the joystick

Figure 5.2: Flystick2 control elements

In neutral position the joystick transmits x=0, y=0.

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5 Interaction devices

•Moving left creates negative x values, moving right positive x values.

•Moving down creates negative y values, moving up positive y values.

•Full extension into any direction creates values of 1.0 or -1.0.

The Flystick2 device provides all functions (buttons, trigger and joystick) simultaneously.

In case you need to carry out a factory reset for the Flystick2 you just have to plugin the

charger into the charging jack.

Radio module The Flystick2 uses a radio module in the 2.4GHz band. This band is

standardized internationally and can be used without a license. Range with line of sight

is more than 7m but can be reduced when passing material, e.g. projection screens.

Radio Transceiver The USB Radio Transceiver has to be plugged in to any free USB

port of the controller. In case this is done after the controller is switched on it is necessary

to press "F2" in order to search for new hardware. The Radio Transceiver should then be

recognized by the system.

Please make sure that either the old radio transceiver (connected via

the camera network) or the new USB radio transceiver is connected

to the controller. Connecting both radio transceivers to one controller

would lead to malfunction of the Flystick2 or Flystick3.

Switch on the controller. LED (2) which is framed by a circle (see ﬁgure 5.3) lights con-

tinuously while controller is booting. When DTrack2 is started, LED (1) which is framed

by a square (see ﬁgure 5.3) is switched on and indicates that the radio transceiver was

correctly initialized; LED (2) extinguishes.

During measurement, LED (1) is ﬂashing whenever data is received from or transmitted

to the Flystick. In case of unsuccessful data transmission to the Flystick, LED (2) starts

ﬂashing.

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5.1 Flystick2

Figure 5.3: USB Radio Transceiver3

Battery pack The battery compartment is at the lower end of the handle. It is ﬁxed with

a single screw which can be opened with the supplied 2mm hexagon key. Remove the

screw and take off the cover of the battery compartment.

(a) Step 1 (b) Step 2 (c) Step 3

Figure 5.4: Flystick2 - inserting the battery pack

Insert the battery pack taking care of the polarity - also note the imprinting "<<INSERT<<"

on the battery pack. Apply the cover of the battery compartment again and ﬁx the screw.

iThe battery pack includes 3 standard AAA rechargeable batteries.

The polarity of the batteries is indicated inside the battery pack. The

rechargeable batteries must be inserted into the battery pack in the in-

dicated polarity.

Dispose used batteries according to governmental regulations (life cy-

cle approximately 2 years).

Risk of explosion if battery is replaced by an incorrect type!

Charging jack The charging jack is at the bottom of the handle and has to be connected

with the supplied battery charger.

By connecting the battery charger the Flystick2 electronics are disconnected to prevent

damage. Thus the Flystick2 cannot be used during the the charging process.

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5 Interaction devices

Figure 5.5: Charging the battery of the Flystick2

The rechargeable batteries may only be charged with the supplied

charger. To ensure long battery life, do not let the batteries become

discharged completely. Recharge whenever convenient. Do not charge

for > 24 h.

Battery charger A battery charger is supplied with the delivered Flystick2 and must be

used for charging the batteries. For your convenience, the battery pack may remain inside

the Flystick2 for charging. However, during the charging process the Flystick2 cannot be

used.

As soon as the battery pack is connected to the charger the initialisation starts (status

LED: Yellow). After a few seconds the charger switches to the fast-charge mode (status

LED: Orange).

Once the battery pack is fully charged (approx. 1 h) the charger switches to the top-off

charge mode to balance the cells inside the battery pack (status LED: Green with inter-

mittent yellow ﬂash). This helps to extend battery life. Hereafter the charger goes into

trickle charge mode automatically (status LED: Green). Now, the battery pack may be

used again.

Please also refer to table 5.2 for an overview of the status LEDs on the battery charger.

MultiUser option The MultiUser option is an enhancement especially for VR/AR appli-

cations when working with more than one Flystick2. Up to ten users can be equipped with

a Flystick2 and a head target (usually mounted on glasses). The software DTrack2 is able

to track them all but only the data pair (Flystick2 and head target) of one user is available

as output data. Switching between the single users can be done by just pressing one of

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5.1 Flystick2

status LED colour Description

Yellow No battery pack connected or initialisation

Orange Fast charge

Green with Yellow ﬂash Top-off charge (balancing)

Green Trickle charge (charging completed)

Flickering Orange - Green Error (disconnect !)

Table 5.2: Status LEDs quick reference

the Flystick buttons.

Depending on how many Flysticks you are using, you have to conﬁgure the number of

Flysticks (max. 10) in Settings →Flystick. Tick the checkbox ’activate MultiUser function’.

If you want to use a Flystick2 and a head target as data pair then you have to tick the

checkbox ’use head targets’ as well. Please refer to chapter B on page 203 for more

details on the output format.

Body calibration First, conﬁgure the number of Flystick2 you are using: select Settings

→Flystick and conﬁgure the number of Flysticks. You have to assign your Flystick2 to a

’Flystick ID’ by selecting, for example, ’F1’ and selecting your Flystick2 out of the ’avail-

able Flysticks’ list.

Now, press Select to ﬁnalize the assignment.

iIf the ’available Flysticks’ list doesn’t contain your Flystick2 although

it is already present, just press any button of the Flystick2 to register

it at the radio transceiver.

Then, select Calibration →Body calibration.

In the appearing dialogue the body to be selected is named ’Flystick body 01’. Please

deﬁne the orientation of the body coordinate system relative to the body (default setting is

’due to body’). Make sure that all markers of the Flystick2 are seen by the cameras using

the Monitor 2DOF display which appears in the background.

Press Calibrate and the calibration starts within 5 seconds. Please refer to page 84 for

more information concerning body calibration.

Output settings Please deﬁne where the Flystick data has to be sent to. In DTrack2 fron-

tend software, select Settings →Output. You can either select this computer (= remote

PC) or enter an IP address of another computer you want to send data to. By ticking the

checkbox ’6df2’ you can deﬁne the Flystick data to be transmitted.

Please refer to chapter 4.5.6.3 on page 106 for more details.

Press Start to start the measurement. In order to see the tracking data you have to enable

the Flystick display by clicking Display →Flystick.

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5 Interaction devices

5.2 Flystick3

The batteries must be removed before shipping the Flystick3, other-

wise the radio transmitter could be started by shock or vibration.

Description The Flystick3 is a lightweight input device for ART infrared optical tracking

systems.

(a) active target (discontinued) (b) passive target (standard)

Figure 5.6: Flystick3

Top view

status LEDs green pulse →button pressed or joystick position suc-

cessfully transmitted

yellow pulse →button pressed or joystick position could

not be transmitted

yellow ﬂash-

ing

→low battery, recharge soon

trigger, button

and joystick

press the trigger or any button to invoke an interaction which can

be deﬁned in the user application (e.g. drag objects while button

trigger pressed, open a menu dialogue, . . . )

Table 5.3: Description of the Flystick3

It is equipped with an active1or passive target, a trigger, three buttons and an analogue

joystick for wireless interaction in a virtual environment. Like with the Flystick2, all inter-

actions are transmitted wirelessly via a 2.4 GHz ISM radio connection. Synchronization

of the Flystick3 is provided wirelessly with a modulated ﬂash by one camera.

The software DTrack2 takes up the Flystick3 button and joystick events and correlates

them with the 6DOF output data. Tracking and interaction data are then transmitted to the

1discontinued in December 2011

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Chapter 5

5.2 Flystick3

application via Ethernet.

ZThe radio transmission and the active target are switched off after 15

minutes without usage. Press any button to reactivate the Flystick3

and, therefore, tracking.

The output data consists of:

•position and orientation of the Flystick,

•status of buttons and joystick,

•number of used Flysticks.

Please refer to chapter B on page 203 for more information about the format of the output

data.

Control elements The numbering sequence of the buttons is as follows:

•# 1 trigger

•# 2 - # 4 blue buttons, right to left

Figure 5.7: Flystick3 control elements

In neutral position the joystick transmits x=0, y=0.

•Moving left creates negative x values, moving right positive x values.

•Moving down creates negative y values, moving up positive y values.

•Full extension into any direction creates values of 1.0 or -1.0.

The Flystick3 device provides all functions (buttons, trigger and joystick) simultaneously.

In case you need to carry out a factory reset for the Flystick3 you will ﬁnd the reset button

just on top of the charging jack. You may use a paper clip to press the reset button.

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5 Interaction devices

Radio Transceiver The USB Radio Transceiver has to be plugged in to any free USB

port of the controller. In case this is done after the controller is switched on it is necessary

to press "F2" in order to search for new hardware. The Radio Transceiver should then be

recognized by the system.

Please make sure that either the old radio transceiver (connected via

the camera network) or the new USB radio transceiver is connected

to the controller. Connecting both radio transceivers to one con-

troller would lead to malfunction of the Flystick2 or Flystick3.

Switch on the controller. LED (2) which is framed by a circle (see ﬁgure 5.3) lights contin-

uously while the controller is booting. When DTrack2 is started, LED (1) which is framed

by a square (see ﬁgure 5.3) is switched on and indicates that the radio transceiver was

correctly initialized; LED (2) extinguishes.

During measurement, LED (1) is ﬂashing whenever data is received from or transmitted

to the Flystick. In case of unsuccessful data transmission to the Flystick, LED (2) starts

ﬂashing.

Battery charger A battery charger is supplied with the delivered Flystick3 and must be

used for charging the batteries. For your convenience, the battery pack may remain in-

side the Flystick3 for charging. During the charging process you may continue using your

Flystick3.

As soon as the battery pack is connected to the charger, the red LED ("Charge") is

switched on. Once the battery pack is fully charged the charger switches off the "Charge"

LED, the green "Ready" LED is switched on. Now, the battery pack may be used again.

The rechargeable batteries may only be charged with the supplied

charger.

An error during charging occured, in case the green LED is switched on permanently and

the red LED is ﬂashing at the same time. This indicates for example that either the battery

isn’t inserted correctly or it is defective.

Inserting the battery For inserting the battery into the Flystick3, you have to take off

the back cover completely.

Risk of explosion if battery is replaced by an incorrect type!

Dispose used batteries according to governmental regulations.

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Chapter 5

5.2 Flystick3

Therefore, loosen the four screws using the 2.5mm hexagon key and remove the back

cover.

Place the battery correctly within the cut-out.

Apply the back cover again and tighten the screws carefully.

Wireless synchronization (only for active variant) The receiver for the modulated in-

frared signal which is used for synchronization is located in the middle of the joint between

transparent target and handpiece (see ﬁgure 5.7). This coded signal can be generated

by all ART tracking cameras, except for ARTTRACK1 and older ARTTRACK2 (up to SN

320) cameras.

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5 Interaction devices

Active targets need synchronization in order to make sure that the IR

LEDs are ﬂashing at the proper time. To ensure wireless synchroniza-

tion the following points should be observed:

•The camera which emits the modulated ﬂash has to be in sync-

group # 1 ! For ARTTRACK systems this means that the cam-

era has to be connected to the OUT1 output of the Synccard2.

TRACKPACK systems may be conﬁgured via software (refer to

chapter Syncgroup on page 100).

•Note that the synchronization will not work near plasma screens.

•If two or more tracking systems using wireless synchronization

are in the same room, then external synchronization of the sys-

tems might be necessary (e.g. at tradeshows).

The modulated ﬂash is adjustable in Settings →Cameras. Just tick the checkbox ’mod-

ulated ﬂash’ and select one camera (which is in syncgroup # 1) from the dropdown list.

Press OK to apply the changed settings.

However, the Flystick3 may also be used with tracking systems where older ARTTRACK2 (<

SN 320) or ARTTRACK1 cameras are used (DTrack2 is required). For this purpose an

additional external ﬂash can be purchased from ART .

If your system is conﬁgured with more than one syncgroup it is nec-

essary to conﬁgure the Flystick3 as follows. Go to Settings →Flystick

and increase the number of ’syncgroups’ according to the number of

syncgroups used to set up the system.

MultiUser option The MultiUser option is an enhancement especially for VR/AR appli-

cations when working with more than one Flystick. Up to ten users can be equipped with

a Flystick and a head target (usually mounted on glasses). The software DTrack2 is able

to track them all but only the data pair (Flystick and head target) of one user is available

as output data. Switching between the single users can be done by just pressing one of

the Flystick buttons.

Depending on how many Flysticks you are using, you have to conﬁgure the number of

Flysticks (max. 10) in Settings →Flystick. Tick the checkbox ’activate MultiUser function’.

If you want to use a Flystick and a head target as data pair then you have to tick the

checkbox ’use head targets’ as well. Please refer to chapter B for more details on the

output format.

Body calibration First, conﬁgure the number of Flystick3 you are using: select Settings

→Flystick and conﬁgure the number of Flysticks. You have to assign your Flystick3 to a

’Flystick ID’ by selecting, for example, ’F1’ and selecting your Flystick3 out of the ’avail-

able Flysticks’ list.

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Chapter 5

5.3 Fingertracking

Now, press Select to ﬁnalize the assignment.

iIf the ’available Flysticks’ list doesn’t contain your Flystick3 although

it is already present, just press any button of the Flystick3 to register

it at the radio transceiver.

Then, select Calibration →Body calibration.

In the appearing dialogue the body to be selected is named ’Flystick body 01’. Please

deﬁne the orientation of the body coordinate system relative to the body (default setting is

’due to body’). Make sure that all markers of the Flystick3 are seen by the cameras using

the Monitor 2DOF display which appears in the background.

Press Calibrate and the calibration starts within 5 seconds. Please refer to page 84 for

more information concerning body calibration.

Output settings Please deﬁne where the Flystick data has to be sent to. In DTrack2 fron-

tend software, select Settings →Output. You can either select this computer (= remote

PC) or enter an IP address of another computer you want to send data to. By ticking the

checkbox ’6df2’ you can deﬁne the Flystick data to be transmitted.

Please refer to chapter 4.5.6.3 on page 106 for more details.

Press Start to start the measurement. In order to see the tracking data you have to enable

the Flystick display by clicking Display →Flystick.

5.3 Fingertracking

Description The Fingertracking device is an add-on to the ART tracking system which

allows to track the orientation of the hand and the position of the ﬁngers, if necessary for

both hands.

It is integrated into DTrack2 by entering a license code, which can be supplied by ART .

For the creation of the license code we need the serial number of the synccard. Click

DTrack2 →Licenses and Hardware Info to ﬁnd out the serial number. Go back to license

overview and add the license key delivered by ART for your Fingertracking device (refer

to chapter 4.5.6.2 on page 94).

The Fingertracking device consists of:

•an active hand target for ﬁxing on the back of the hand (see ﬁgure 5.9 and table 5.4).

Letters (L and R) indicate whether the hand target is dedicated for the right or left

hand. Wireless synchronization is provided with a modulated ﬂash. The low voltage

power is provided with a rechargeable battery.

•three or ﬁve active ﬁnger markers, each consisting of an IR LED with diffusing

sphere, a ﬁxture for the ﬁnger tip and ﬂexible wires. These active markers are time

sequentially addressed and controlled by the active hand target unit.

The output data consists of:

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5 Interaction devices

(a) Fingertracking device

with three active ﬁnger

markers

(b) Fingertracking device

with ﬁve active ﬁnger

markers

Figure 5.8: The Fingertracking device

Figure 5.9: Fingertracking hand target

•position and orientation of the back of the hand,

•number of tracked ﬁngers as well as a value to distinguish right and left hands,

•position and orientation of the outermost phalanx, given in the hand coordinate sys-

tem; together with a radius, position and orientation of the ﬁnger tip can be identiﬁed,

•angles between the single phalanxes as well as their lengths. These values are

calculated using tracked markers and empirical data.

ZThe data shown in the Fingertracking display is NOT the position of the

ﬁnger tip! For calculating the ﬁnger tip position you need to consider

radius R like shown in ﬁgure 5.10.

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Chapter 5

5.3 Fingertracking

Top view

status LEDs green LED continuously →synchronization received

red LED continuously →no synchronization received

red and green LED ﬂashing →battery low or discharged

infrared LEDs LEDs activate the ﬂashes

power switch activate or deactivate the Fingertracking hand target

conﬁguration dial select the LED brightness and the number of ﬁngers

infrared sync receiver receiver for the modulated infrared synchronization signal

Table 5.4: Description of the Fingertracking

Figure 5.10: Model of a human hand

Please refer to chapter B on page 203 for more information about the format of the output

data.

Principle The ﬁnger movement is limited by the structure of the ﬁnger bones and ten-

dons. Medical studies of the human hand have proven that without external forces the

movement of the ﬁngers can be derived from palm and ﬁnger tip position. Therefore only

the palm and the ﬁnger tips have to be tracked.

The active markers for the ﬁnger tip are sequentially addressed to allow the tracking sys-

tem to discriminate between the single ﬁngers. Therefore, the update rate of the ﬁngers

is only one-third or one-ﬁfth of the update rate for the hand, e.g. 20 Hz for a 60 Hz mea-

surement with three ﬁngers or 12 Hz for a 60 Hz measurement with ﬁve ﬁngers.

Up to four hands with three or ﬁve ﬁngers each can be tracked simultaneously provided a

certain minimal distance (approx. 20cm) between the hands.

The ﬁnger thimble sets Fingertracking can be ordered as a 3-ﬁnger VR, a 3-ﬁnger AR

or a 5-ﬁnger VR version. The difference between the AR and VR versions can be found

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5 Interaction devices

in the position of the LED on the ﬁnger thimble: for the VR version the LED is placed on

the tip of the thimble, whilst for the AR version it is placed on top of the thimble (see ﬁgure

5.11).

Figure 5.11: Comparison of the ﬁnger thimble sets (AR and VR) for Fingertracking

For the ordered version three pairs of different sizes of thimble sets are delivered with the

Fingertracking package (see table 5.5).

Finger size Scope of delivery

Small-sized ﬁngers Diameters of 16mm (thumb) and 12-14mm (other ﬁngers)

Medium-sized ﬁngers Diameters of 18mm (thumb) and 14-16mm (other ﬁngers)

Large-sized ﬁngers Diameters of 20mm (thumb) and 16-18mm (other ﬁngers)

Table 5.5: Description of the ﬁnger markers

Battery charger A battery charger is supplied with the delivered Fingertracking and

must be used for charging the batteries.

When you connect the battery charger to a power plug, the red LED ("Status") is switched

on and the green LED ("Charge") starts ﬂashing. As soon as you place the battery cor-

rectly in the charger, the "Charge" LED changes its colour to red and stops ﬂashing.

Once the battery is fully charged the "Charge" LED changes its colour to green again.

Now, the battery may be used.

Inserting the battery The Fingertracking hardware uses standard CAN NB-4L batter-

ies. Two batteries and a charger are provided with each Fingertracking set.

Squeeze the battery in with the contact side ﬁrst and then gently press the battery into

the compartment until it snaps in.

Wireless synchronization The black sphere on top of the Fingertracking hand target is

a receiver for the modulated infrared signal which is used for synchronization (see ﬁgure

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Chapter 5

5.3 Fingertracking

(a) Step1 (b) Step2

Figure 5.12: Inserting the battery

5.9). This coded signal can be generated by all ART tracking cameras, except for ART-

TRACK1 and older ARTTRACK2 (up to SN 320) cameras.

Active targets need synchronization in order to make sure that the IR

LEDs are ﬂashing at the proper time. To ensure wireless synchroniza-

tion the following points should be observed:

•The camera which emits the modulated ﬂash has to be in sync-

group # 1 ! For ARTTRACK systems this means that the cam-

era has to be connected to the OUT1 output of the Synccard2.

TRACKPACK systems may be conﬁgured via software (refer to

chapter Syncgroup on page 100).

•Note that the synchronization will not work near plasma screens.

•If two or more tracking systems using wireless synchronization

are in the same room, then external synchronization of the sys-

tems might be necessary (e.g. at tradeshows).

However, Fingertracking may also be used with tracking systems where older ARTTRACK2 (<

SN 320) or ARTTRACK1 cameras are used. For this purpose an additional external ﬂash

can be purchased from ART .

The modulated ﬂash is adjustable in Settings →Cameras. Just tick the checkbox ’mod-

ulated ﬂash’ and select one camera (which is in syncgroup # 1) from the dropdown list.

Press OK to apply the changed settings.

On/off button The small black button next to the conﬁguration switch activates or deac-

tivates the target (please refer to ﬁgure 5.9). When deactivated, all IR LEDs are switched

off and the microcontroller is put into sleep mode. A certain minimal power consumption

is inevitable. So, when the Fingertracking is not used for a longer period of time (more

than a week) the batteries should be removed to prevent deep discharge which could

destroy the battery.

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5 Interaction devices

Conﬁguration dial The conﬁguration dial is used to select the LED brightness and the

number of ﬁngers used in the setup (please refer to ﬁgure 5.9).

ID no. of sync ﬁnger Flash time [µs]

0 3 25

1 3 50

2 3 75

3 3 100

4 5 25

5 5 50

6 5 75

7 5 100

8 - -

9 - -

Table 5.6: Description of the conﬁguration dial

A detailed description of the conﬁguration dial may be found in table 5.6.

Hand target calibration First, conﬁgure the number of hands you are using: select

Settings →Fingertracking and conﬁgure the number of hands. Then, a standard body

calibration of the hand target has to be carried out. The process of calibrating a 6DOF

body is described in chapter 4.5.3 on page 84. Select the body names hand H1 and hand

H2 for the hand targets.

Connecting the ﬁnger thimble set with the hand target Just plug in the connector of

the ﬁnger thimble sets into the hand target as shown in ﬁgure 5.13.

Figure 5.13: Connecting the ﬁnger LED connector with the hand target

Then, apply the ﬁnger thimbles to your thumb and ﬁngers.

iPlease observe the order shown in ﬁgure 5.14 when using the 5-ﬁnger

AR set.

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5.3 Fingertracking

Figure 5.14: Using the 5-ﬁnger AR ﬁnger thimble set

Finger calibration Select Calibration →Fingertracking to open the calibration menu.

It is important that the hand is completely within the tracking volume and all markers are

visible for at least two cameras when starting the calibration process.

After pressing Calibrate, the countdown for the ﬁrst step of calibration begins. In this

phase all ﬁngers have to be stretched and must not be spread. Only the thumb has to be

spread. Take care, that there is no space between the ﬁngers.

Neither the ﬁngers nor the thumb should be moved. A progress bar shows the progress

of the calibration.

After step 1 has been completed, the countdown for step 2 is started. During step 2 of the

calibration, the ﬁngers still have to be stretched and not spread. Gently move all of your

ﬁngers up and down at the same time until calibration process is ﬁnished. As a rule of

thumb, you should keep the angle between starting and ending position at approximately

60◦. Take care that you do not bend or cross your ﬁngers. The thumb is still spread and

does not move during this phase.

The conﬁguration program indicates data collection while it is active. After data collection,

a calculation process is started which calculates the ﬁnger sizes from the movement of

the ﬁnger tips. The length of the thumb is derived by the ﬁnger lengths. If the calcu-

lation was successful, it is automatically activated in the Fingertracking settings menu.

If the calculation terminates with an error message, the calibration has to be repeated.

Sometimes, it may be necessary to repeat the calibration of the hand target as well.

Output settings Please deﬁne where the Fingertracking data has to be sent to. In

DTrack2 frontend software, select Settings →Output. You can either select this com-

puter (= remote PC) or enter an IP address of another computer you want to send data

to. By ticking the checkboxes ’gl’ and ’glcal’ you can deﬁne the Fingertracking data to be

transmitted. Please refer to chapter 4.5.6.3 on page 106 for more details.

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5 Interaction devices

Press Start to start the measurement. In order to see the tracking data you have to enable

the Fingertracking display by clicking Display →Fingertracking.

Resetting ﬁnger tip sequence The Fingertracking hardware will compensate short

sync losses internally, but in rare cases the sequence of the ﬁngers can be lost after

sync problems. To regain the correct sequence, the hand must be kept still with all ﬁngers

stretched and the thumb pointing to the side. The system then automatically resets the

correct ﬁnger tip order.

When using two hands, both hands have to be separated by at least 50 cm.

This procedure also should be used when the Fingertracking tool has been removed from

the hand and is being reused again by the same user.

Display tool Fingertracking Viewer The Fingertracking Viewer is a small graphical

tool, which shows the hand and ﬁnger position. It can be installed on the PC that receives

DTrack2 data.

After starting the viewer, click the Go Online button and specify on which data port the

viewer has to listen, then click OK to connect the viewer to DTrack2 .

Afterwards choose the Hand ID you want to display. If this ID is tracked or not is shown

by the light right next to the Hand-ID setting (green=tracked, red=not tracked). Then click

on one of the hand signs to see your tracked ﬁngers.

To start a small demo showing the handling of a virtual object press the Demos button,

this opens the demos menu. You have a small number of simple demos available, e.g.

you can handle a virtual sphere or cube. To insert the virtual object in the tracking volume,

place the tracked hand at a convenient position and press the Grab object button.

The Fingertracking Viewer is only for demonstration and testing purposes and is only

available as a 2D Viewer.

5.4 Measurement Tool

Introduction The ART Measurement Tool is a pointing device for measurement or med-

ical applications. In this specialized ﬁeld it is very important to measure positions of points

in high accuracy. For that reason the Measurement Tool is equipped with a measurement

tip. The position of the tip can be measured with the optical tracking system.

Description The Measurement Tool is an add-on to the ART tracking system and is

integrated into DTrack2 by entering a license code, which can be supplied by ART . For

the creation of the license code we need the serial number of the synccard. Click DTrack2

→Licenses and Hardware Info to ﬁnd out the serial number. Go back to license overview

and add the license key delivered by ART for your Measurement Tool (refer to chapter

4.5.6.2 on page 94).

The pointing device carries a target that was developed to get optimal tracking quality

for the use with two IR cameras. You will get the best measurement results, when the

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5.4 Measurement Tool

Figure 5.15: Measurement Tool

pointing device is facing the cameras as shown in ﬁgure 5.15 (i.e. markers have to be

oriented towards the cameras). Typically, the position of the tool’s tip is measured in the

DTrack2 room coordinate system which was ﬁxed during room calibration.

Optionally, the ART Measurement Tool can calculate the position relative to a "reference

body". Then, the Measurement Tool is measuring distances to the origin of the reference

body coordinate system, and not to the origin which was deﬁned during room calibration.

The output data consists of:

•position and orientation of the tool’s tip,

•number of the Measurement Tool ,

•rotation matrix of the target.

Please refer to chapter B on page 203 for more information about the format of the output

data.

Body calibration The calibration of the Measurement Tool is separated into two steps:

1. body calibration of the Measurement Tool and

2. calibration of the tip.

First of all, you have to deﬁne how many Measurement Tools you want to use. Therefore,

please select Settings →Measurement Tool and deﬁne the ’number of Measurement

Tools ’.

Now, please calibrate the Measurement Tool with a standard body calibration (see chap-

ter 4.5.3 on page 84): select Calibration →Body. In the appearing dialogue the body

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5 Interaction devices

to be selected is named ’Measurement Tool body 01’. Please deﬁne the orientation of

the body coordinate system relative to the body (default setting is due to body). Make

sure that all markers of the Measurement Tool are seen by the cameras using the Monitor

2DOF display which appears in the background.

If you are working with a reference body you would have to calibrate it as well. This is

done by a standard body calibration. Just select the body named ’Measurement Tool ref-

erence body 01’.

Press "Calibrate" and the calibration starts within 5 seconds.

Tip calibration After successful body calibration, you have to calibrate the tip of the

Measurement Tool : select Calibration →Measurement Tool .

Place the Measurement Tool in front of the cameras with the tip ﬁxed at exactly one position.

Press Calibrate to start the calibration process. Gently move the Measurement Tool while

keeping the tip still at exactly one position (i.e. tilt around its tip).

DTrack2 is calculating the position of the tip relative to the markers of the Measurement

Tool , i.e. the origin of the body coordinate system is tranformed into the Measurement

Tool ’s tip.

ZNote that the progress bar is not continuing if the pointing device is

not moved sufﬁciently.

If the tip calibration has been successful the result is presented in the dialogue Mea-

surement Tool Tip Calibration Result. Please check the information displayed and either

’Accept’ or ’Cancel’ the tip calibration.

Output settings Please deﬁne where the Measurement Tool data has to be sent to.

In DTrack2 frontend software, select Settings →Output. You can either select this com-

puter (= remote PC) or enter an IP address of another computer you want to send data to.

By ticking the checkboxes ’6dmt’ and ’6dmtr ’ you can deﬁne the Measurement Tool data

to be transmitted. Please refer to chapter 4.5.6.3 on pag 106 for more details.

Press Start to start the measurement. In order to see the tracking data you have to enable

the Measurement Tool display by clicking Display →Measurement Tool.

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Chapter 6

6 Frequently asked questions (FAQ)

Within this FAQ chapter we are offering solutions for easy-to-solve questions that our sup-

port encounters from time to time. The questions are grouped into speciﬁc topics to make

it more convenient for you to ﬁnd a solution.

In case you do not ﬁnd a proper solution for your speciﬁc problem, please do not hesitate

to contact us.

Our goal is to offer the best support possible. Therefore, we ask you to have the system

running and that you have internet access when you call us. Sometimes, it might be

possible to locate your problem if you deliver the following ﬁles:

•the conﬁguration export ﬁle:

Go to DTrack2 →Conﬁgurations and press ’log settings’. Save this ﬁle to a location

of your choice and mail it to us.

•the event log ﬁle:

–Windows:

Go to "C:\Documents and Settings\username\.ART\DTrack2\version\" and

mail the ﬁle "events-yyyy-mm-dd_controllername.log" to us.

–Linux:

In your home directory, go to ".ART/DTrack2/version/ " and mail the ﬁle "events-

yyyy-mm-dd_controllername.log" to us.

6.1 Backup

How do I create a backup of important conﬁgurations?

From DTrack2 v2.8.1 it is possible to export and import conﬁgurations. DTrack2 →Con-

ﬁgurations →’Save’ will export the complete active conﬁguration. In case of an accidental

deleting of a conﬁguration it will be possible to restore the conﬁguration presuming that

an export has been carried out before. Then, it could even be a replacement Controller to

’Load’ the exported conﬁguration on.

Please note that a room calibration might be necessary especially in case the number of

cameras or the cameras themselves have changed.

6.2 Cameras

DTrack2 doesn’t recognize the correct number of cameras connected. What can

I do?

•First of all, please check whether cabling is correct.

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6 Frequently asked questions (FAQ)

•Please make sure for all cameras that the LED, to indicate that the camera is pow-

ered up, is switched on.

•Within DTrack2 press ’F2’ in order to perform a search for new hardware. The

cameras should be detected now.

•In case of ARTTRACK2 (discontinued): please make sure that the camera’s fan

is working. If the fan stops, rising temperatures inside the camera will cause an

emergency shutdown of the internal PC.

•If you are using an external switch, please make sure that no camera is connected

to the uplink port and if applicable, the switch is powered.

•Finally, reboot the cameras, the external switch and the controller.

What is the meaning of the red LEDs at the front of the camera?

They are indicating the status of the camera:

•ARTTRACK2 /ARTTRACK3 (discontinued): The left LED shows that the camera

is powered up and booted. Whereas, the right LED indicates that the measurement

is active. In case of an error (e.g. sync loss), the left LED extinguishes and the right

LED starts ﬂashing. Please refer to ﬁgures 4.7 and 4.8 on pages 33 and 36 for the

visualization of the cameras.

•ARTTRACK5 : The lower LED shows that the camera is powered up and booted.

Whereas, the upper LED indicates that the measurement is active. In addition to

the two status LEDs the 2-digit LED-matrix on the left displays the assigned camera

ID (default) and the number of markers in the camera’s corresponding ﬁeld of view

(when activated under camera settings). Please refer to ﬁgure 4.1 on page 25 for

the visualization of the camera.

•ARTTRACK5/C : The red LED on the camera body shows that the camera is pow-

ered up and booted. Please refer to ﬁgures 4.4 on page 28 for the visualization of

the cameras.

•TRACKPACK/E : The lower left LED show that the camera is powered up and

booted. Measurement active is indicated by the lower right LED. Please refer to

ﬁgure 4.6 on page 31 for a visualization of the camera.

•TRACKPACK (discontinued): The lower left LED show that the camera is powered

up and booted. Measurement active is indicated by the lower right LED. Please refer

to ﬁgure 4.9 on page 38 for a visualization of the camera.

One of my cameras recognizes a reﬂection which I can’t eliminate. What can I

do?

You may enable the suppression of static reﬂexes within DTrack2 . But carefully read the

notes on page 98.

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Chapter 6

6.2 Cameras

How many cameras may be connected to the tracking system?

The number of cameras depends on the used license and the tracking system itself:

max. number of

bodies cameras

ARTTRACK system

Extended 4 2

Full-featured 50 50

TRACKPACK system

Basic 4 2

Extended 4 4

Full-featured 50 4

Starting with DTrack2 version v2.10 a new license model has been established.

You may use 2, 4, 8, 16 or up to 50 cameras in any combination with 4, 10, 30 or up to 50

targets depending on the license purchased.

Please refer to table 4.3 on page 76 for a complete license overview.

I’d like to expand my system. Is it possible?

Tracking systems with ARTTRACK cameras are expandable up to a total number of

50 cameras (from DTrack2 v2.8.1). It (i.e. a tracking system with ARTTRACK1 -ART-

TRACK5 ) can be expanded by simply adding additional ARTTRACK cameras, given that

the license allows to do so. In some cases, it might be necessary to purchase a license

for more cameras (e.g. 8 or 16) and an additional PoE+ switch.

TRACKPACK/E systems can be expanded up to 16 cameras through means of cascading

2 separate systems. One ART Controller will function as master, while the other works in

slave mode. The master controller needs to have a dedicated "cascaded systems" license

as well as a sufﬁcient license for ALL cameras inside the cascade, i.e. 16 cameras.

The TRACKPACK system (discontinued) can also be extended up to 16 cameras, how-

ever more equipment is needed in this case. One separate ARTTRACK Controller with a

license for cascaded systems is needed to merge the data output streams of the separate

stand-alone TRACKPACK systems into one single stream.

Please refer to chapter 4.3 on page 58 for more information.

Which upgrade possibilities do I have?

Please refer to table 4.1 on page 44.

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6 Frequently asked questions (FAQ)

6.3 Controller

What are the possibilities to start the controller?

The controller is equipped with a switch that you have to press for the initial start-up. If

you want to power up your controller remotely, you may either use Wake On LAN (WOL)

or wake-on-power (WOP).

Please refer to chapter 4.2 on page 43 for more information.

I cannot ﬁnd my controller. What can I do?

•Please make sure that the controller is connected properly to the Ethernet network.

•Switch on the controller.

•It is possible that your controller has become unreachable due to wrong IP settings

(wrong IP address or IP address area, etc.). Please refer to chapter 4.2.4 on page

54.

•In case you are using a ﬁrewall, please do not block DTrack2 communication.

For more information, please also refer to chapter 4.2.2 (page 48) or chapter 4.2.3 (page

52).

What is the IP address of my controller?

You may use a standard USB stick and plug it in to the controller at any time. If not running

yet, please switch on the controller. Its settings (IP address, etc.) will be saved to a setup

ﬁle on the USB stick. This ﬁle may be opened and modiﬁed in any editor.

Please refer to chapter 4.2.4 on page 54 for more information.

How can I assign a speciﬁc IP address to my controller?

There are two options to do this:

1. Modify the setup ﬁle (i.e. enter the IP address), save it to a USB stick and plug it in

the controller. Please refer to chapter 4.2.4 on page 54 for more information.

2. Within DTrack2 go to Settings →Controller. On the General tab, untick the check-

box ’DHCP client’ and enter the desired ’IP address’ and ’subnet mask’. Please

refer to chapter 4.5.6.3 on page 110 for more information.

6.4 Synchronization

Synchronization failed in ARTTRACK5 systems

If you have connected ARTTRACK5 or ARTTRACK5/C cameras via a PoE+ switch,

please check the model of the switch. Some acquirable PoE+ switch models might

not be suitable for usage with ART cameras. Use the recommended ’Netgear Prosafe

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Chapter 6

6.4 Synchronization

GSM7212P’ or – if not possible – contact ART support.

Synchronization failed in ARTTRACK5 &TRACKPACK/E systems

Due to the single cable solution, the camera is both powered and synchronized over Eth-

ernet. There is no need to guide or check additional cables dedicated to synchronisation

of the cameras. Still hardware issues regarding the controller can arise when using ex-

ternal trigger units, e.g. projectors or graphics cards.

1. Check the cabling (hardware issue):

•Please make sure that the coaxial cables are not damaged.

•Take care of using the correct ports:

–EXT.In: input of the external synchronization

•Active stereo: when using external synchronization (video) the correct cabling

would look as follows:

•Active stereo: when using external synchronization (TTL) the correct cabling

would look as follows:

2. Check the synchronization settings (software issue):

•Go to Settings →Synccard and double-check the settings (external video sig-

nal or TTL) for the Synccard.

•In case of external synchronization, please make sure that the synchronization

signal is being sent by the external source.

Synchronization failed in cascaded systems

Cascading means that two or more stand-alone tracking systems are combined to one

large system in order to have only one consolidated data output. Therefore, the system

is subdivided into one master and up to eight slaves.

The task of the master is to synchronize all slave controllers attached and gather all single

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6 Frequently asked questions (FAQ)

data outputs from all slaves and to merge them into one single data output.

Please refer to chapter 4.3 on page 58.

1. Check the cabling (hardware issue):

•Please make sure that the coaxial cables are not damaged.

•Take care of using the correct ports:

–EXT.In: input of the external synchronization (slaves)

–OUT1: output for synchronization of slave controllers (Do not use OUT2 or

OUT3 !)

•Double-check if no extensions between slave controller and terminating resistor

have been made.

•Double-check if the terminating resistor is missing at the end of the signal line.

•Splitting of the synchronization line is not allowed.

•Do not connect the cable directly to the slave controller.

2. Check the cascade settings (software issue):

•Go to Settings →Cascaded System and double-check the attached slave con-

trollers. Please refer to chapter 4.3 on page 58.

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Chapter 6

6.4 Synchronization

•In case of simultaneous external synchronization, please install the synchro-

nization on the master controller according to the instructions for ARTTRACK5 and

TRACKPACK/E systems. Please refer to chapter 6.4 on page 150.

How do I guide the synchronization cables correctly in cascaded systems ?

•When using one TRACKPACK/E master and one TRACKPACK/E slave controller

the correct cabling would look as follows:

•When using one ART Controller as master and two TRACKPACK slave controller

the correct cabling would look as follows:

Synchronization failed in ARTTRACK 2 & 3 systems (discontinued)

Here we have to distinguish between hardware issues (camera and external synchroniza-

tion) and software issues:

1. Check the cabling (hardware issue):

•Please make sure that the cables themselves are not damaged.

•Take care of using the correct ports:

–OUT1 to OUT3: synchronization of the cameras

–EXT.In: input of the external synchronization

•Double-check if no extensions between camera and terminating resistor have

been made.

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6 Frequently asked questions (FAQ)

•double-check if the terminating resistor is missing at the end of the signal line.

•Splitting of the synchronization line is not allowed.

•Do not connect the cable directly to the camera.

2. Check the synchronization settings (software issue):

•Go to Settings →Synccard and double-check the settings (internal or external

synchronization) for the synccard.

•In case of external synchronization, please make sure that the synchronization

signal is being sent by the external source.

How do I guide the synchronization cables correctly in ARTTRACK 2&3

systems (discontinued)?

•When using only one syncgroup the correct cabling would look as follows:

•When using two syncgroups the correct cabling would look as follows:

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Chapter 6

6.4 Synchronization

•When using three syncgroups the correct cabling would look as follows:

•Active stereo: when using external synchronization (video) the correct cabling

would look as follows:

•Active stereo: when using external synchronization (TTL) the correct cabling would

look as follows:

Synchronization failed in TRACKPACK systems (discontinued)

Here we have to distinguish between hardware and software issues:

1. Check the cabling (hardware issue):

•Please double-check whether the cables are connected correctly and that they

are not loose.

•Please make sure that the cables themselves are not damaged.

•Take care of using the correct ports:

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6 Frequently asked questions (FAQ)

–the RJ45 plugs below the BNC plug must be used for connecting the cam-

eras

–EXT.In: input of the external synchronization

2. Check the synchronization settings (software issue):

•Go to Settings →Synccard and double-check the settings (internal or external

synchronization) for the synccard.

•In case of external synchronization, please make sure that the synchronization

signal is being sent by the external source.

How do I guide the synchronization cables correctly in TRACKPACK systems

(discontinued) ?

TRACKPACK systems do not have hardware-based syncgroups. Up to three syncgroups

may be deﬁned within the DTrack2 software: Settings →Cameras →’syncgroup’

•The cables should be guided according to the following sketch:

•Active stereo: when using external synchronization (video) the correct cabling

would look as follows:

•Active stereo: when using external synchronization (TTL) the correct cabling would

look as follows:

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Chapter 6

6.5 DTrack2 and shutter glasses

What types of shutter glasses can be used with the ART tracking system

•RealD CrystalEyes 1, 2, 3 and 5

•NuVision APG6000 and APG6100

•XPand X101, X103 (with NuVision Long-Range Emitter), X104LX

•NVidia 3D Vision Pro (RF sync’ed)

•Volfoni EDGE (with Volfoni or NuVision LR Emitter)

•Virtalis ActiveWorks 500

When I start tracking, the shutter glasses don’t work correctly.

Most shutter glasses use infrared signals to synchronize the glasses with the image. The

tracking cameras produce a strong infrared ﬂash, which interferes with this communica-

tion. By synchronizing both systems, the cameras emit their ﬂash in a way that does not

interfere.

Please refer to chapter 4.2.2 on page 48 or chapter 4.2.3 on page 52.

When I connect the "ExtIn", the shutter emitters stop working.

Some projectors create only a weak sync signal (TTL), which is not strong enough to

drive the Synccard2. Please contact ART to get a special high-impedance version or

synchronize against the video signal (if available).

Tracking stops when no stereo image is displayed

Some graphics adapters only create the shutter image when a stereo image is displayed.

If available, use video synchronization. Known behavior for NVidia adapters.

6.6 DTrack2 and interfaces

I’m using VRPN. Which output identiﬁers have to be activated?

It is absolutely mandatory that you activate at least the ’6d’ and ’6dcal’ output identiﬁers

(refer to table 4.13 on page 106). Activate other output identiﬁers depending on your

application (e.g. if you’re using a Flystick you have to activate ’6df2’).

I’m using VRPN and TrackD but I only succeed in receiving data via just one of

them.

Please make sure that you are using two separate output channels with different port

numbers.

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6 Frequently asked questions (FAQ)

I’m having problems with the Flystick2 or Flystick3 data transmission via TrackD.

Please make sure that you are using the latest version of the TrackD module - ART will

provide information upon request. Versions of trackd 5.5 which are older than February

2007 do not support data transmission for Flystick2 or Flystick3.

If you don’t want to change the module you may also use the ’old output format’ in Settings

→Flystick.

6.7 Software DTrack2

Where do I get the software DTrack2 from?

The software DTrack2 is delivered on a USB ﬂash drive with the tracking system. Fur-

thermore, you may register for the ART Download Center

(http://www.ar-tracking.com/support/) in order to always have access to the latest

release of DTrack2 .

Why is my frontend not starting up?

•Please refer to chapter A.5 on page 197 for a list of supported operating systems.

•If using Windows XP: please check, that you have installed Service Pack 3 (SP3).

•If using Linux: some newer Linux distributions don’t install the library libpng12.so.0

as default, although it’s part of the distribution. Please install it using an appropriate

package installer.

•If using 64-bit Linux: please be sure, that you have installed the 64-bit DTrack2 pack-

age. To run 32-bit DTrack2 on 64-bit Linux, you might have to install the 32-bit

version of several libraries (depending on your Linux distribution).

Some of my menu items are missing. What can I do?

•Please check if the latest updates for your operating system are installed.

•Please refer to chapter A.5 on page 197 for a list of supported operating systems.

Where is the Monitor 2DOF display?

•Please check if the latest updates for your operating system are installed.

•Please make sure that your ﬁrewall is not blocking DTrack2 , even partly.

•Please refer to chapter A.5 on page 197 for a list of supported operating systems.

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Chapter 6

6.7 Software DTrack2

Why is the Monitor 2DOF display crossed out for some cameras?

•Please check if all the cameras used during room calibration are connected.

•Please refer to section 6.2 on page 147 for the common reasons of disconnected

cameras.

•Please refer to section 4.5.6.5 on page 120 for more information about Monitor

2DOF.

Why does the “(re-)calibration required” message appear in Monitor 2DOF?

•Please make sure you have performed a correct room calibration using all con-

nected cameras.

•Please refer to section 4.5.6.5 on page 120 for more information about Monitor

2DOF.

My target is not visualized within the Monitor 2DOF display.

•Please make sure that the target is inside the tracking volume and within tracking

range of the cameras.

•Double-check the settings for the ﬂash intensities of the cameras (refer to chapter

4.5.6.3 on page 97).

•In case you are using active targets, please make sure that you have activated the

modulated ﬂash. The camera to emit the modulated ﬂash has to be on syncgroup

#1. When using a Flystick3 you have to doublecheck additionally how many sync-

groups are activated for the Flystick3 active target (Settings →Flystick).

How do I deﬁne the number of targets to be tracked?

Go to Settings →Body Administration and change the ’number of 6DOF bodies’.

What is the maximum number of targets?

The maximum number of targets (including Flysticks and Fingertracking hand devices) is

depending on the license type:

•Basic and Extended license: 4

•Full-featured license: 50

Starting with DTrack2 version v2.10 a new license model has been established.

You may activate and calibrate 4, 10, 30 or up to 50 targets depending on the license

purchased.

Please refer to table 4.3 on page 76 for a complete license overview.

159

6 Frequently asked questions (FAQ)

Where do I get a license code from?

You may purchase additional licenses for your system. Please contact us in case you

need consultation.

For creating a new license code we will need some information from you:

Go to DTrack2 →Licenses, select the license you want to add and click on Hardware Info.

Contact ART and tell us the synccard number. If you are using a TRACKPACK system

(discontinued) please tell us the MAC address of the Ethernet adapter.

Where do I enter a new license code?

Go to DTrack2 →Licenses and enter the code in line ’new license code’.

Where do I get a software update from?

The latest release of DTrack2 is always available at the ART Download Center

(http://www.ar-tracking.com/support/).

I want to run a software update. How do I preserve my data and my

conﬁgurations?

Your data and your conﬁgurations are automatically preserved when running a software

update. But it is recommended to regularly create backups of your conﬁguration(s).

How do I run a software update?

Please contact ART to receive the latest software release and follow the instructions in

chapter 4.5.1.3 on page 72.

Do I have to update the DTrack2 frontend software and the software of the

controller at the same time?

We recommend to do so.

My speciﬁc settings have been lost.

Please check if the correct conﬁguration is selected:

go to DTrack2 →Conﬁgurations and select the correct conﬁguration.

Is it possible to automatically start the measurement after booting the

controller?

Yes, go to Settings →Tracking and tick the checkbox ’automatic start of measurement

after booting’.

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6.8 Calibration

May I close the DTrack2 frontend software window after starting the

measurement?

Yes, the measurement continues even if the DTrack2 frontend software is not active.

What’s the version of my DTrack2 software?

Go to About →DTrack2 to ﬁnd out the version of your DTrack2 frontend software. The

software version of your controller is shown when you select Controller .

There are greyish areas in my Monitor 2DOF display. What do they indicate?

The static reﬂex suppression is currently active. This is indicated with these greyish ar-

eas. Markers in these areas will not contribute to tracking.

Please refer to chapter 4.5.6.3 on page 98 for more information.

What do the abbreviations "SR", "DR" and "UD" mean?

SR . . . static reﬂex suppression active

DR . . . dynamic reﬂex suppression active

UD . . . display orientation is upside down

Please refer to chapter 4.5.6.5 on page 120 for more information.

The display bar in the Monitor 2DOF display is indicating very high radiation

intensities, although no markers are illustrated. Where’s the radiation coming

from?

Please check that the cameras are not in the ﬁeld of view of each other to avoid mutual

blinding. Furthermore, remove other strong IR radiation sources from the tracking volume

or, at least, prevent them from interfering with the tracking system.

Monitor 2DOF and/or Data Display are ‘freezing’ after some time, although

tracking didn’t stop.

This can be caused by a ﬁrewall that is running on the DTrack2 PC and blocking (UDP)

output data.

Please check your ﬁrewall settings and ensure that it is not blocking DTrack2 application,

even partly.

6.8 Calibration

How can I ﬁnd out when the room has been calibrated last time?

Please go to Calibration →Room and click Show details. The date of the last room

calibration is shown.

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6 Frequently asked questions (FAQ)

How do I deﬁne position and orientation of the room coordinate system?

The calibration angle deﬁnes position and orientation of the room coordinate system de-

pending on how you place it within the tracking volume. Please refer to table 4.5 on page

80.

DTrack2 offers the possibility to adjust the room coordinate system after the room cali-

bration. Please refer to chapter 4.5.6.4 on page 113 for more information.

How do I have to move the wand?

Move the wand gently within the measurement volume, in order to generate a virtual point

cloud. This point cloud should ﬁll at least about two thirds of the measurement volume.

Please refer to chapter 4.5.2 on page 77 for more information.

I do not succeed in performing a room calibration.

•Please make sure that the calibration angle is placed within the measurement vol-

ume such that it is seen completely by at least two cameras (→verify with Monitor

2DOF display). If not all cameras see the angle be sure that a sufﬁcient volume

connects each camera to the others. No other marker except for the ones belonging

to the calibration angle should be visible.

•Please make sure that the correct calibration set (’Room Calibration Set TP’, ’Room

Calibration Set 410’ or ’Room Calibration Set 710’) is selected in the settings for

room calibration.

•Please make sure that no reﬂections are seen by the cameras. If it is not possible

to eliminate the reﬂections you may use static suppression of reﬂections to remove

them.

•Please make sure that the markers positioned on the calibration angle are not dam-

aged or misarranged.

•Increase the ﬂash intensities of the cameras until all markers are of good quality (i.e.

at least yellow).

Restart the room calibration. Use the wand to create the virtual point cloud within the

measurement volume. Avoid rapid and hectic movement.

I cannot cover two thirds of the measurement volume within the set time for the

room calibration. How do I extend the time for the calibration process?

Please open the dialogue room calibration from the Calibration menu and press the button

Show Details. There you can extend the time for the calibration process.

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Chapter 6

6.8 Calibration

How shall I evaluate the room calibration results?

The value ’Used Frames’ represents the percentage of valid (i.e., used for room calibra-

tion) data for each camera. It should be as high as possible for all cameras. Values under

50% indicate poor room calibration quality. The number of valid frames should be greater

than 70% for each camera.

Please note that percentages of more than 70% may not be possible when chain calibra-

tion is executed.

DTrack2 reports the error message "no angle tool detected". What went wrong?

First of all, please double-check if all markers are visible and that there are no disturbing

reﬂexes. Sometimes, it might help to move the calibration angle a little bit.

Please always verify the settings for the room calibration before repeating:

•wand length is printed on a label on the wand;

•select the correct calibration set.

The progress bar of the room calibration stopped.

Please double-check in the Monitor 2DOF display whether the calibration wand is recog-

nized by the cameras during its movement.

What is a "re-calibration" and when do I have to perform one?

DTrack2 provides simpliﬁed room and body calibrations, called room and body re-calibration.

The main advantage of a re-calibration is that DTrack2 preserves the origin and the ori-

entation of your coordinate system as well as speciﬁc information (predeﬁned emission

vectors, cylindrical marker).

You may perform a room re-calibration from time to time or if a camera moved slightly

(e.g. due to mechanical instabilities). If your body fell down or if the structure is bent you

should carry out a body re-calibration.

Please refer to chapter 4.5.2.1 on page 82 and chapter 4.5.3.3 on page 88 for more

information.

What does ’scaling factor’ mean?

Performing a room calibration results in a certain scaling error. This might be a problem

when applications do have very high accuracy requirements (e.g. when performing mea-

surements with the Measurement Tool ).

The scaling error can be determined, for instance, by measuring points on a deﬁned

scale (e.g. tape measure). The determined scaling error can thus be adjusted with the

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6 Frequently asked questions (FAQ)

DTrack2 ’scaling factor’ (refer to chapter B.1.1.1).

Please contact ART if you require further information.

I cannot calibrate my target.

•Please check if the markers of the target are seen by the cameras in good quality

(i.e. at least yellow) - a slight change of the target position might help. If necessary

increase the ﬂash intensities of the cameras. Therefore, go to Settings →Cameras.

•Make sure that when starting the body calibration every marker of the target is visible

to the cameras.

•A body calibration can be carried out only if a valid room calibration has been carried

out before. Otherwise, the button Calibrate is grey and cannot be clicked. Check in

the Event Display if there is a warning saying "no valid room calibration".

In that case, please carry out a new room calibration.

•Please make sure using the Monitor 2DOF display that no marker is overlapped

(i.e. merged) by another one. If necessary rearrange the target and restart the body

calibration.

•Try to carry out the body calibration with a moving target. Therefore, shift the starting

position of the target for calibration (often a shift of 10 or 20cm is enough to enable

calibration again).

•Make sure that no other markers or targets but the one you want to calibrate, are

inside the tracking volume.

•Please carry out a new room calibration.

I’d like to save all my body ﬁles for backup reasons but I receive less ﬁles than

conﬁgured bodies.

DTrack2 only creates body ﬁles for calibrated bodies. For example: if you conﬁgured 15

targets for tracking but only 4 of them are calibrated, you will only receive 4 calibration

ﬁles.

I’d like to calibrate a body but the body calibration dialogue is greyed out.

Please ensure that you have performed and accepted a valid room calibration prior to

body calibration.

You may only calibrate bodies if you have the "Extended" or the "Full-featured" license.

With a "Basic" license you are only able to calibrate bodies using a calibration ﬁle.

Starting with DTrack2 version v2.10 a new license model has been established. Thus you

are always allowed to manually calibrate up to 4 bodies at least.

Go to DTrack2 →Licenses to see which license you have.

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Chapter 6

6.8 Calibration

What is the difference between ’due to body’ and ’due to room’?

When selecting ’due to body’, the body coordinate system is ﬁxed by the markers of the

rigid body. The origin of the body coordinate system is set to the center of gravity of all

markers building the rigid body when ’due to room’ is used.

Please refer to chapter 4.5.3 on page 84 for more information.

Do I have to move the target while performing a body calibration?

If possible we recommend to perform moderate movements because accuracy can be

improved doing so. However, the body has to be visible to the cameras all the time.

May I change the position and the orientation of the body coordinate system

later on?

Yes, you may use the dialogue Body adjustment to alter position and orientation of the

body coordinate system. Please refer to chapter 4.5.6.4 on page 117 for more information.

How do I deﬁne a name for a target?

Go to Settings →Body Administration (F8). Double-click into the name ﬁeld and enter a

name for the respective body.

I cannot increase the number of targets anymore.

The maximum number of targets (including Flysticks and Fingertracking hand device) to

be tracked depends on the license code that is installed. With the "Basic" and the "Ex-

tended" license you may only use 4 targets at the same time - the "Full-featured" license

supports 50 targets.

Starting with DTrack2 version v2.10 a new license model has been established. You may

activate and calibrate 4, 10, 30 or up to 50 targets depending on the license purchased.

Please refer to table 4.3 on page 76 for more information.

How shall I evaluate the body calibration results?

Verify that all markers of the target have been recognized during the DTrack2 body cali-

bration. Further, you may check if the single distances between the markers are correct

(refer to chapter 4.5.3 on page 84).

As a special service you may send us the calibration ﬁle and we are going to check it.

165

6 Frequently asked questions (FAQ)

6.9 Tracking

My target (active or passive) is not recognized sporadically or only partly or

even not at all.

•Go to Settings →Cameras and tick the checkbox ’modulated ﬂash’. The camera

that sends out the modulated ﬂash has to be on syncgroup # 1.

•Also, take into account that the distance between active target and cameras should

not exceed 4.5m.

•Deactivate the dynamic reﬂex suppression. Go to Settings →Cameras and untick

the checkbox ’dynamic reﬂex suppression’.

•Active targets cannot be used near or in front of plasma screens. The IR emission

of the plasma screen overdrives the IR receiver in the active target.

•Please perform a new room calibration.

•Double-check if the marker surface is not dirty or dusty and that it doesn’t appear to

be worn out.

Tracking does not work.

•Please make sure that the measurement has been started and that the target is

within tracking range of the cameras.

•If marker recognition is poor then increase the ﬂash intensity.

•Check number of markers that are used for calculation. If all markers of the target

are seen by the cameras, but partly not used for calculation, then execute a new

room calibration.

•Go to Settings →Output. Deﬁne a receiver for the tracking data and conﬁgure the

type of data to be transmitted.

•Activate the tracking functionality within your graphics application.

I’m having too many heavy reﬂections.

•Please double-check that the ﬂash intensities of the cameras are not too high. In

general, a ﬂash intensity of 3-4 might be sufﬁcient.

•Make sure that no other strong infrared radiation sources (e.g. sunrays or halogen

lamps) are present in the tracking volume. If they cannot be removed you may use

the reﬂex suppression feature of DTrack2 .

•If mutual blinding is possible please either try to adjust the cameras differently or try

to arrange them in different syncgroups.

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Chapter 6

6.10 Flystick

Does DTrack2 send data if no target is being tracked?

No tracking data is sent except for the frame number (’fr’).

The application PC does not receive tracking data.

•Go to Settings →Output. Deﬁne a receiver for the tracking data and conﬁgure the

type of data to be transmitted.

•Check the network connection physically and try to address the controller with a

’Ping’.

•Double-check with a UDP receiver if data is being sent by the controller.

•Activate the tracking functionality within your graphics application.

May I use passive and active targets at the same time?

Yes, of course, there are no restrictions on using passive and active targets simultane-

ously. But you will need an external modulated ﬂash if you are using ARTTRACK1 (dis-

continued) or ARTTRACK2 (SN < 320, (discontinued). Please contact ART in that case.

I am moving my target upwards but within the Monitor 2DOF display it moves

downwards.

The camera is set to display data upside down. In the Monitor 2DOF display, right-click

on the respective camera window and disable Display upside down.

6.10 Flystick

The ART radio transceiver cannot be found.

Please make sure that the ART radio transceiver is plugged in. Then, simply press ’F2’

in order to perform a search for new hardware. The radio transceiver should be detected

now.

My Flystick is not presented within the available Flysticks list.

•Make sure that the battery is charged. Press any button of the Flystick and the

orange status LED should be switched on.

•Go to Settings →ART Radio Info to see if the ART radio transceiver has been

recognized.

•Go to Settings →ART Radio Info →Show details and set the channel number

manually.

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6 Frequently asked questions (FAQ)

Why is the pressing of the Flystick buttons not recognized (within DTrack2 )?

•Make sure that the battery is charged. Press any button of the Flystick and the

orange status LED should be switched on.

•Double-check whether the button pressed events are recognized by DTrack2 . There-

fore:

–enable the Flystick Display (Display →Flystick)

–blue rectangles should light up on each button pressed event in the Flystick

Display.

•Go to Settings →ART Radio Info to see if the ART radio transceiver has been

recognized.

•Go to Settings →ART Radio Info →Show details and set the channel number

manually.

•Go to Settings →Flystick and assign your Flystick (to be found in the available

Flysticks list) to any ’Flystick ID’.

Why is the pressing of the Flystick buttons not recognized (within the graphics

application)?

•Make sure that the battery is charged. Press any button of the Flystick and the

orange status LED should be switched on.

•Go to Settings →Flystick and assign your Flystick (to be found in the available

Flysticks list) to any ’Flystick ID’.

•Go to Settings →Output and check if the data output is conﬁgured correctly:

–data receiver deﬁned (’send to’),

–identiﬁer ’6df2’ selected,

–if you are using the old output format: identiﬁer ’6df ’ selected.

What is the maximum number of Flysticks to be used simultaneously?

type max. number

Flystick1 3

Flystick2 5

Flystick3 2

Please double-check that the targets of the Flysticks, that are used simultaneously, are

not identical. If doubts remain please contact ART .

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Chapter 6

6.11 Fingertracking

What is the MultiUser option for Flysticks?

The MultiUser option is an enhancement especially for VR/AR applications when working

with more than one Flystick.

Please refer to chapter 5.1 on page 130 for more information.

The Flystick output data is not transmitted.

Go to Settings →Output and check if the data output is conﬁgured correctly:

•data receiver deﬁned (’send to’),

•identiﬁer ’6df2’ selected,

•if you are using the old output format: identiﬁer ’6df ’ selected.

6.11 Fingertracking

The Fingertracking hand target is not recognized sporadically or even not at all.

•Make sure that the battery is charged and the hand target is switched on.

•Go to Settings →Cameras and tick the checkbox ’modulated ﬂash’. The camera

that sends out the modulated ﬂash has to be on syncgroup # 1.

•The conﬁguration dial has to be turned to the proper position:

for serial numbers ≥100 for serial numbers <100

ID no. of ﬁngers ﬂash time [µs] no. of syncgroups ﬂash time [µs]

0 3 25 1 25

1 3 50 1 50

2 3 75 1 100

3 3 100 1 200

4 5 25 3 25

5 5 50 3 50

6 5 75 3 75

7 5 100 3 100

8 - - - -

9 - - - -

When using Fingertracking, there are always some markers that are ﬂashing

alternately in the Monitor 2DOF display.

This is not bug, but rather it is due to the sequential activation of the ﬁnger thimble markers

in order to achieve a separation of the ﬁngers.

169

6 Frequently asked questions (FAQ)

What’s the meaning of the status LEDs on the Fingertracking hand target?

The green LED indicates that the synchronization has been received, whereas the red

LED indicates missing synchronization. If both LEDs are ﬂashing you need to recharge

the battery.

What is being conﬁgured when turning the conﬁguration dial?

•for serial numbers <100:

The conﬁguration dial is used to conﬁgure the LED brightness and the number of

ﬂash groups used in the system:

–one syncgroup: position 0 to 3,

–three syncgroups: position 4 to 7,

–unused: position 8 to 9.

•for serial numbers ≥100:

The conﬁguration dial is used to select the LED brightness and the number of ﬁngers

used in the setup (refer to table 5.6 on page 142).

What’s the maximum number of hands to be used?

You may use two Fingertracking sets (i.e. four hands) in your tracking system at the same

time. However, the targets of the hand devices should be different.

How do I assign a hand geometry to a hand ID?

Go to Settings →Fingertracking. Select a hand geometry and the hand ID you want to

assign it to and press ’Select’.

The ﬁnger calibration fails. What do I do wrong?

•The conﬁguration dial has to be turned to the proper position:

– for serial numbers <100:

∗one syncgroup: position 0 to 3,

∗three syncgroups: position 4 to 7,

∗unused: position 8 to 9.

– for serial numbers ≥100:

∗3-ﬁnger version: position 0 to 3,

∗5-ﬁnger version: position 4 to 7.

•Go to Settings →Cameras and tick the checkbox ’modulated ﬂash’. The camera

that sends out the modulated ﬂash has to be on syncgroup # 1.

•Please observe the calibration rules deﬁned in chapter 5.3 on page 143:

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Chapter 6

6.12 Measurement Tool

–the marker on the thumb has to be visible to the cameras,

–do not bend, stretch or cross your ﬁngers,

–do not move your thumb.

•Make sure that you selected the correct handedness and type of ﬁngerset (3-ﬁnger

vs. 5-ﬁnger) in Calibration →Fingertracking.

•Double-check that the diffusor spheres are not broken or missing.

The Fingertracking output data is not transmitted.

Go to Settings →Output and check if the data output is conﬁgured correctly:

•data receiver deﬁned (’send to’),

•identiﬁers ’gl’ and ’glcal’ selected.

Is it possible to upgrade to the 3-ﬁnger or the 5-ﬁnger version?

Yes, if you are currently using the 3-ﬁnger version you may also use 5-ﬁnger thimble sets

and vice versa. Please contact ART to receive more information.

6.12 Measurement Tool

I’m using the Measurement Tool demo but I cannot measure any points.

Please check whether both, the Measurement Tool and the Measurement Tool reference

body (if assigned), are tracked.

It is not possible to perform a tip calibration.

Please check whether both, the Measurement Tool and the Measurement Tool reference

body (if assigned), are tracked.

Then, try to keep the tip in the same position while doing the tip calibration. Therefore, tilt

the Measurement Tool in both room directions, not only in one direction (i.e. left and right,

as well as back and forth). When rotating around one axis only, a tip position cannot be

deﬁned.

6.13 Active Targets

Operation near plasma screen

A plasma screen is a very strong IR source which overdrives the IR receiver in the active

target (e.g. Flystick3, Fingertracking). Thus, active targets may not work properly near

plasma screens. If possible use passive targets as alternative.

171

6 Frequently asked questions (FAQ)

6.14 ART tracking and 3D TVs

Synchronization

3D TVs are primarily consumer products which have not been designed to fulﬁll the re-

quirements of professional users. In fact, this especially applies when it comes to synchro-

nizing the 3D TV and the tracking system. Typically, there’s no deﬁned synchronization

output which could be used easily. In some rare cases, ART might be able to assist.

Shutter glasses

IR synchronized shutter glasses might not work with ART tracking systems. Due to the

increasing variety, ART only validated a few of these shutter glasses. However, we may

support customers who are performing tests with not validated shutter glasses.

Please contact us to receive information on this issue.

6.15 Radio transceivers used in ART products

Can ART radio transceivers pose any security issue ?

Radio transceivers for Flysticks, Measurement Tool or Tactile Feedback use a protocol

based on IEEE 802.15.4 which was developed in-house at ART speciﬁcally for these

devices. There are no other devices which can understand this protocol. The design of

the ATC ensures that use of this protocol is limited to transfering measurement data (like

button-pressed events) and conﬁguring devices.

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Chapter 7

7 General Information

7.1 Service

It is recommended to maintain the equipment every three years. If you experience any

problems please do not hesitate to contact our support.

Never try to repair anything yourself!!

Opening the equipment implies risks for health and environment as well as loss of war-

ranty and liability.

7.2 Cleaning of the equipment

Only the housing of the cameras may be cleaned. Before cleaning shut down the system

and disconnect the power cords.

Never use water or any chemicals. Just use a dry, lint-free and antistatic tissue like lens-

cleaners for optical equipment.

Do not open the housings!

Opening the housings implies risk for health and environment, as well as loss of warranty

and liability.

7.3 Warranty and liability

Hardware ART warrants the hardware to be free from defects in workmanship and ma-

terial under normal use and service and in its original, unmodiﬁed condition, for a period

of 24 months from the time of purchase. The time of purchase is deﬁned as the day when

the end-user takes possession of the equipment. If ART or any company authorized by

ART installs the system, the time of purchase is the time of the ﬁrst installation.

In case of defects during the warranty period, ART will repair or replace any defective

parts. Replaced parts become property of ART .

Software Software supplied either on the tracking-PC or in cameras is furnished on a

tested "As Is" basis. ART explicitly does not warrant that the software is error (bug) free.

173

7 General Information

If the users detect bugs, ART will provide a workaround or bug ﬁx as soon as possible

after the notiﬁcation.

Liability ART products are not authorized for use in any circumstances where human

life might be endangered by malfunction, measurement errors or interrupted operation of

the system without written approval of a managing director of ART .

It is the user’s sole responsibility to check the results of the measurement data and to

protect any consecutive system against malfunction, measurement errors or interrupted

operation of the systems supplied by ART . Under no circumstances ART can be held

liable for consequential damages or incidental costs, including production downtimes,

whether arising from measurement errors, interrupted operation or any other malfunction

of the system.

Warranty restrictions All warranty and liability is void, if the system

•is not operated according to the manual,

•shows damages or signs of abuse,

•has been opened by non-authorized people (non-members of ART and companies

not authorized by ART ),

•has been modiﬁed by the user or any third party,

•has not been used according to the speciﬁcations of this manual.

174

Chapter 7

7.4 Declaration of conformity

175

7 General Information

176

Chapter 7

7.4 Declaration of conformity

177

7 General Information

178

Chapter 7

7.4 Declaration of conformity

179

7 General Information

Advanced Realtime Tracking GmbH Am Öferl 6 82362 Weilheim i. OB Germany

UROPEAN

ECLARATION OF

ONFORMITY

TATEMENT

Advanced Realtime Tracking GmbH

declares under its sole responsibility that the product

ARTTRACK5

to which this declaration relates is in conformity to the following standard(s) or other normative

document(s)

2014/35/EC (Low Voltage Directive):

EN 60950-1:2006 +

A11:2009 + A1:2010 +

A12:2011 + A2:2013

2014/30/EC (EMC Directive):

EN 55022:2010

EN 55024:2010

2011/65/EC (RoHS Directive):

EN 50581:2012

Weilheim i. OB, 20.04.2016

Dr.

Weiss

(Managing Director)

180

Chapter 7

7.4 Declaration of conformity

Advanced Realtime Tracking GmbH Am Öferl 6 82362 Weilheim i. OB Germany

ANUFACTURER

’

EDERAL

OMMUNICATION

OMMISSION

ECLARATION OF

ONFORMITY

TATEMENT

Advanced Realtime Tracking GmbH

declares under its sole responsibility that the product

ARTTRACK5

to which this declaration relates is in conformity to the following standard:

FCC 47 CFR Part 15, Subpart B

Class B digital device

Operation is subject to the following two conditions:

(1) this device may not cause harmful interference, and

(2) this device must accept any interference received, including interference that may cause

undesired operation.

Weilheim i. OB, 14.11.2014

Dr.

Weiss

(Managing Director)

181

7 General Information

Advanced Realtime Tracking GmbH Am Öferl 6 82362 Weilheim i. OB Germany

UROPEAN

ECLARATION OF

ONFORMITY

TATEMENT

Advanced Realtime Tracking GmbH

declares under its sole responsibility that the product

ARTTRACK5/C

to which this declaration relates is in conformity to the following standard(s) or other normative

document(s)

2014/35/EC (Low Voltage Directive):

EN 60950-1:2006 +

A11:2009 + A1:2010 +

A12:2011 + A2:2013

2014/30/EC (EMC Directive):

EN 55022:2010

EN 55024:2010

2011/65/EC (RoHS Directive):

EN 50581:2012

This is a class A product. In a domestic environment this product may cause

radio interference in which case the user may be required to take adequate

measures.

Weilheim i. OB, 20.04.2016

Dr.

Weiss

(Managing Director)

182

Chapter 7

7.4 Declaration of conformity

Advanced Realtime Tracking GmbH Am Öferl 6 82362 Weilheim i. OB Germany

ANUFACTURER

’

EDERAL

OMMUNICATION

OMMISSION

ECLARATION OF

ONFORMITY

TATEMENT

Advanced Realtime Tracking GmbH

declares under its sole responsibility that the product

ARTTRACK5/C

to which this declaration relates is in conformity to the following standard:

FCC 47 CFR Part 15, Subpart B

Class A digital device

Operation is subject to the following two conditions:

(1) this device may not cause harmful interference, and

(2) this device must accept any interference received, including interference that may cause

undesired operation.

This is a class A product. In a domestic environment this product may cause

radio interference in which case the user may be required to take adequate

measures.

Weilheim i. OB, 28.10.2015

Dr.

Weiss

(Managing Director)

183

7 General Information

Advanced Realtime Tracking GmbH Am Öferl 6 82362 Weilheim i. OB Germany

UROPEAN

ECLARATION OF

ONFORMITY

TATEMENT

Advanced Realtime Tracking GmbH

declares under its sole responsibility that the product

TRACKPACK/E

to which this declaration relates is in conformity to the following standard(s) or other normative

document(s)

2014/35/EC (Low Voltage Directive):

EN 60950-1:2006 +

A11:2009 + A1:2010 +

A12:2011 + A2:2013

2014/30/EC (EMC Directive):

EN 55022:2010

EN 55024:2010

2011/65/EC (RoHS Directive):

EN 50581:2012

Weilheim i. OB, 20.04.2016

Dr.

Weiss

(Managing Director)

184

Chapter 7

7.4 Declaration of conformity

Advanced Realtime Tracking GmbH Am Öferl 6 82362 Weilheim i. OB Germany

ANUFACTURER

’

EDERAL

OMMUNICATION

OMMISSION

ECLARATION OF

ONFORMITY

TATEMENT

Advanced Realtime Tracking GmbH

declares under its sole responsibility that the product

TRACKPACK/ E

to which this declaration relates is in conformity to the following standard:

FCC 47 CFR Part 15, Subpart B

Class B digital device

Operation is subject to the following two conditions:

(1) this device may not cause harmful interference, and

(2) this device must accept any interference received, including interference that may cause

undesired operation.

Weilheim i. OB, 11.12.2014

Dr.

Weiss

(Managing Director)

185

7 General Information

Advanced Realtime Tracking GmbH Am Öferl 6 82362 Weilheim i. OB Germany

UROPEAN

ECLARATION OF

ONFORMITY

TATEMENT

Advanced Realtime Tracking GmbH

declares under its sole responsibility that the product

ART Controller

to which this declaration relates is in conformity to the following standard(s) or other normative

document(s)

2014/35/EC (Low Voltage Directive):

EN 60950-1:2006 +

A11:2009 + A1:2010 +

A12:2011

2014/30/EC (EMC Directive):

EN 55022:2010

EN 55024:2010

EN 61000-3-2:2006 +

A1:2009 + A2:2009

EN 61000-3-3:2008

2011/65/EC (RoHS Directive):

EN 50581:2012

Weilheim i. OB, 20.04.2016

Dr.

Weiss

(Managing Director)

186

Chapter 7

7.4 Declaration of conformity

Advanced Realtime Tracking GmbH Am Öferl 6 82362 Weilheim i. OB Germany

ANUFACTURER

’

EDERAL

OMMUNICATION

OMMISSION

ECLARATION OF

ONFORMITY

TATEMENT

Advanced Realtime Tracking GmbH

declares under its sole responsibility that the product

ART Controller

to which this declaration relates is in conformity to the following standard:

FCC 47 CFR Part 15, Subpart B

Class B digital device

Operation is subject to the following two conditions:

(1) this device may not cause harmful interference, and

(2) this device must accept any interference received, including interference that may cause

undesired operation.

Weilheim i. OB, 14.11.2014

Dr.

Weiss

(Managing Director)

187

7 General Information

188

Chapter 7

7.4 Declaration of conformity

189

A Technical speciﬁcations

ZThe speciﬁcations are subject to change without notice.

A.1 Cameras

A.1.1 ARTTRACK5

IR Source

invisible IR 850nm

ﬂash intensity adjustable in 100 steps

Performance

Sensor resolution 1.3 MPixels

Frame rate up to 300 Hz

Field of view (FoV)

Lens Camera mode

Resolution Medium Speed

1.3 MPix 0.8 MPix 0.5 MPix

150 Hz 240 Hz 300 Hz

F = 3.5mm FoV (horizontal x vertical) 98◦×77◦77◦×57◦60◦×44◦

Max. tracking range

(12mm markers)

5.5m 5.5m 5.5m

F = 4.5mm FoV (horizontal x vertical) 75◦×60◦60◦×45◦47◦×35◦

Max. tracking range

(12mm markers)

6.3m 6.3m 6.3m

F = 6.0mm FoV (horizontal x vertical) 54◦×44◦44◦×33◦34◦×26◦

Max. tracking range

(12mm markers)

7.5m 7.5m 7.5m

Connectivity & Power Supply

single cable solution via Gigabit Ethernet, RJ45, PoE+ (IEEE 802.3at Standard)

max. cable length 100m

Voltage 44 - 57 V (deﬁned by the Standard)

max. power consumption 17 W

Protection category III

Interface connectors RJ45 (hosts data, synchronization and power)

Operating conditions

Temperature 0 .. 38◦C

190

Appendix A

A.1 Cameras

Relative humidity 5 .. 50% (non-condensing)

Cooling system passive

Dimensions

Length 92mm

Width 100mm

Height 100mm

Weight 0.96 kg

A.1.2 ARTTRACK5/C

IR Source

invisible IR 850nm

ﬂash intensity adjustable in 100 steps

Performance

Sensor resolution 1.3 MPixels

Frame rate up to 300 Hz

Field of view (FoV)

Lens Camera mode

Resolution Medium Speed

1.3 MPix 0.8 MPix 0.5 MPix

150 Hz 240 Hz 300 Hz

F = 4.0mm FoV (horizontal x vertical) 89◦×71◦71◦×52◦56◦×42◦

Max. tracking range

(12mm markers)

4.5m 4.0m 3.5m

Connectivity & Power Supply

single cable solution via Gigabit Ethernet, RJ45, PoE+ (IEEE 802.3at Standard)

max. cable length 100m

cable length to remote

camera head

60cm

Voltage 44 - 57 V (deﬁned by the Standard)

max. power consumption 12 W

Protection category III

Interface connectors RJ45 (hosts data, synchronization and power)

Operating conditions

Temperature 0 .. 38◦C

Relative humidity 5 .. 50% (non-condensing)

Cooling system passive

Dimensions remote camera head

Diameter 37mm

Length 73mm

Weight 160g

Dimensions camera body

191

A Technical speciﬁcations

Length 55mm

Width 100mm

Height 100mm

Weight 540g

A.1.3 TRACKPACK/E

IR Source

invisible IR 850nm

ﬂash intensity adjustable in 100 steps

Performance

Sensor resolution 1.1 MPixels

Frame rate up to 120 Hz

Field of view (FoV)

Lens Camera mode

Resolution Medium Speed

1.1 MPix 0.7 MPix 0.5 MPix

60 Hz 90 Hz 120 Hz

F = 3.5mm FoV (horizontal x vertical) 97◦×79◦97◦×51◦97◦×36◦

Max. tracking range

(12mm markers)

4.5m 4.5m 4.5m

Connectivity & Power Supply

single cable solution via Gigabit Ethernet, RJ45, PoE (IEEE 802.3af Standard)

max. cable length 100m

Voltage 44 - 57 V (deﬁned by the Standard)

max. power consumption 5 W

Protection category III

Interface connectors RJ45 (hosts data, synchronization and power)

Operating conditions

Temperature 0 .. 38◦C

Relative humidity 5 .. 50% (non-condensing)

Cooling system passive

Dimensions

Length 103 mm

Width 70 mm

Height 59 mm

Weight 0.51 kg

192

Appendix A

A.1 Cameras

A.1.4 ARTTRACK cameras (discontinued)

ARTTRACK2.2 ARTTRACK3.2 ARTTRACK2 ARTTRACK3

from S/N #1800 from S/N #400

IR ﬂash 880nm 850nm 880nm 850nm

Power supply

Nominal voltage 12V 48V 12V 48V

Maximal current 2A 1.4A 2A 1.4A

Maximal power 25W 35W 25W 35W

Ext. power supply 12.2V / 3A / 40W 48V / 0.8A / 40W 12.2V / 3A / 40W 48V / 0.8A / 40W

12.5V / 3A / 40W 48.2V / 0.8A / 40W 12.5V / 3A / 40W 48.2V / 0.8A / 40W

Protection category

Ext. power supply I I I I

Camera III III III III

Interface connectors

data RJ45 RJ45 RJ45 RJ45

synchronization BNC BNC BNC BNC

power external external external external

Operating conditions

Temperature 0 .. 38◦C 0 .. 38◦C 0 .. 38◦C 0 .. 38◦C

Relative humidity 5 .. 50% 5 .. 50% 5 .. 50% 5 .. 50%

non-condensing non-condensing non-condensing non-condensing

Cooling system active (fan)

→noise level of

the fan: 16.5dB(A)

passive active (fan)

→noise level of

the fan: 16.5dB(A)

passive

Dimensions

Length 140mm 140mm 140mm 140mm

Width 78mm 106mm 78mm 106mm

Height 109mm 120mm 109mm 120mm

Weight 0.96kg 1.45kg 0.96kg 1.45kg

‘Performance

Frame rate max. 60fps max. 60fps max. 60fps max. 60fps

(adjustable) (adjustable) (adjustable) (adjustable)

Max. working distance with 12mm passive markers (F .. focal length in mm).

Greater distances achievable with bigger passive markers (e.g. 30mm) or active markers.

@ F = 2.6mm 4.5m 4.5m 4.5m 4.5m

@ F = 3.5mm 4.5m 4.5m 4.5m 4.5m

@ F = 4.5mm 4.5m 6m 4.5m 6m

@ F = 6.0mm 4.5m 7m 4.5m 7m

Maximum number of 6DOF targets (simultaneously)

@ 60fps 50 50 50 50

Field of view (FoV, horizontal ×vertical)

@ F = 2.6mm 88◦×58◦88◦×58◦- -

@ F = 3.5mm 67◦×45◦67◦×45◦72.8◦×58.2◦72.8◦×58.2◦

193

A Technical speciﬁcations

ARTTRACK2.2 ARTTRACK3.2 ARTTRACK2 ARTTRACK3

from S/N #1800 from S/N #400

IR ﬂash 880nm 850nm 880nm 850nm

@ F = 4.5mm - 52◦×35◦57.9◦×45.3◦57.9◦×45.3◦

@ F = 6.0mm - - 42.9◦×33.0◦42.9◦×33.0◦

other focal lengths on request

A.1.5 TRACKPACK cameras (discontinued)

TRACKPACK TRACKPACK/C

IR ﬂash 850nm 850nm

Power supply

Nominal voltage 12V 12V

Maximal current 0.5A 0.5A

Maximal power 6W 6W

Ext. power supply - -

- -

Protection category

Ext. power supply - -

Camera III III

Interface connectors

data IEEE1394 IEEE1394

synchronization RJ45 RJ45

power RJ45 RJ45

Operating conditions

Temperature 0 .. 38◦C 0 .. 38◦C

Relative humidity 5 .. 50% 5 .. 50%

non-condensing non-condensing

Cooling system passive passive

Dimensions

Length 77.8mm 228mm

Width 76.9mm 76.9mm

Height 60mm 58mm

Weight 0.45kg 0.45kg

Performance

Frame rate max. 60fps max. 60fps

(adjustable) (adjustable)

Max. working distance with 12mm passive markers (F .. focal length in mm).

Greater distances achievable with bigger passive markers (e.g. 30mm) or active markers.

@ F = 2.6mm 2.5m -

@ F = 3.5mm 3.5m 3.5m

@ F = 4.5mm 3.5m -

@ F = 6.0mm 3.5m -

Maximum number of 6DOF targets (simultaneously)

@ 60fps 4 - 50 4 - 50

194

Appendix A

A.2 Flysticks

TRACKPACK TRACKPACK/C

IR ﬂash 850nm 850nm

Field of view (FoV, horizontal ×vertical)

@ F = 2.6mm 93.5◦×77.2◦-

@ F = 3.5mm 72.8◦×58.2◦72.8◦×58.2◦

@ F = 4.5mm 57.9◦×45.3◦-

@ F = 6.0mm 42.9◦×33.0◦-

other focal lengths on request

A.2 Flysticks

Flystick2 Flystick3

Power supply

Rechargeable battery 13 standard AAA batteries lithium battery (850mAh / 3.7V)

integrated in the handheld

Continuous operation2at least 10 hours at least 8 hours

Battery charging duration

Operation possible with con-

nected charger

no yes

USB transmitter

Connection to the PC USB USB

Radio range

(depending on setup location,

e.g. walls)

at least 7m at least 7m

Radio module

Type ID IEEE 802.15.4 IEEE 802.15.4

Frequency 2.4 GHz 2.4 GHz

Transmission power 1 1

Operating conditions

Operating temperature 0 .. 40◦C 0 .. 38◦C

Relative humidity 5 .. 50%, non-condensing 5 .. 50%, non-condensing

General features

Target type passive markers passive or active markers

(IR-LEDs @ 880nm)

Tracking range

(@ 3.5mm focal length)

approx. 4m approx. 4.5m

Weight 250g 120g

Size 220mm x 180mm x 100mm 245m x 90mm x 75mm

1replacement after a period of 2 years is recommended

2only valid for new batteries

195

A Technical speciﬁcations

A.3 Fingertracking

Function

Synchronization via modulated IR ﬂash

Battery NB-4L Li-Ion battery, 3.7V, 700 mAh

Battery charger

Input 12V, 500mA

Power supply 230V, 50Hz, 12W

Continuous operation 1approx. 10 hours

Weight (incl. power supply) 380g

Operating conditions

Operating temperature 0 .. 38◦C

Relative humidity 5 .. 50%, non-condensing

Dimensions

Thimble set available in 3 different sizes (small, medium, large)

Weight 60g

Performance

Frame rate (handtarget) 60Hz

Frame rate (thimbles, 3-ﬁnger version) 20Hz

Frame rate (thimbles, 5-ﬁnger version) 12Hz

Tracking range 4m (depending on focal length of the cameras)

1only valid for new batteries

A.4 ART Controller

Dimensions

Rackmount (19")

Size 480mm ×345mm ×135mm

Weight 9.75 kg

Power Supply

Voltage 110 - 240 V

max. power consumption 360 W

Connectors

Synchronization in 1, BNC: Video Signal (75Ω), TTL, LVTTL

Camera ports 8, Ethernet 1 GBit/s, PoE+

Data out 1, Ethernet 1 GBit/s

USB 6

Operating conditions

Operating temperature 0 .. 38◦C

Relative humidity 5 .. 50%, non-condensing

196

Appendix A

A.5 Overall system

Hazard notes for service personnel:

Risk of explosion if the mainboard battery is incorrectly replaced. Re-

place only with the same or from manufacturer recommended similar

type.

In order to replace a main fuse of the ART Controller always unplug the

power cord. Two main fuses are existing since two power supplies are

installed. So the device is possibly still under power although a fuse

has blown.

A.5 Overall system

System parameters

number of cameras 2 - 50 (max. 16 for TRACKPACK/E and TRACKPACK systems

(discontinued)

max. number of targets 50

max. number of hands 4

max. number of Flysticks

- Flystick2 5

- Flystick3 1

Scalability ARTTRACK system: fully scalable (2 - 50 cameras)

TRACKPACK/E and TRACKPACK systems (discontinued):

cascadable up to 16 cameras (additional controller necessary)

Accuracy

- of the timestamp with a Synccard2/3: ∆terr ∼ ±0.1ms

with a SynccardTP: ∆terr ∼ ±10ms

Operating conditions

Temperature 0 .. 38◦C

Relative humidity 5 .. 50%, non-condensing

Compatible shutter glasses

NuVision APG6000 ×

NuVision APG6100 ×

NVidia 3D Vision Pro ×, radio synchronization

RealD CE1 ×

RealD CE2 ×

RealD CE3 ×

RealD CE4 -

RealD CE5 ×

Volfoni EDGE ×, with Volfoni or NuVision Long-Range Emitter

XPand X103 ×, with NuVision Long-Range Emitter

XPand X101 ×

XPand X104LX ×

Virtalis ActiveWorks 500 ×

DTrack2 frontend software

197

A Technical speciﬁcations

System requirements

- Free disk space ≥200MB

- Processor Intel: ≥P4 2GHz

AMD: ≥K6 1.6Ghz

- RAM ≥1GB

Operating systems Windows XP 32/64 Bit, with Service Pack 3 (SP3)

Windows 7 32/64 Bit

Windows 8/8.1 32/64 Bit

Linux openSUSE ≥12.3 32/64 Bit

Linux Ubuntu ≥10.04 32/64 Bit

Linux CentOS ≥6.6 32/64 Bit

Settings ﬁrewall (remote PC)

- used ports 50105 (for UDP & TCP)

50110 (for UDP)

198

Appendix A

A.6 System latency

System Latency

Deﬁnition of the system latency:

The system latency is deﬁned as the time delay between sending out the IR

ﬂash by the cameras and the availability of the tracking data at the Controller’s

Ethernet output. The latency is a function of the number of cameras, the number

of targets, enabled or disabled 3DOF tracking and additional reﬂexes (e.g.

single markers). Another dependency, which is quite important, can be found in

the software version of DTrack2 being used (here: v2.8.6). We recommend to

always use the latest version in order to have the most recent features.

For ARTTRACK5 ,ARTTRACK5/C and TRACKPACK/E : The ATC is trig-

gered externally with an arbitrary function generator at 20 Hz. The output

network card on the ATC is set-up with 10 MBit (ethtool -s eth0 speed 10 duplex

full), so that the network package with the tracking results can be triggered with

an oscilloscope.

ARTTRACK5 + ARTTRACK5/C

TRACKPACK/E 4 Camera System

TRACKPACK/E 8 Camera System

199

A Technical speciﬁcations

TRACKPACK/E 12 Camera Cascade (4 Master + 8 Slaves)

TRACKPACK/E 16 Camera Cascade (8 Master + 8 Slaves)

200

Appendix A

A.6 System latency

ARTTRACK2 (discontinued)

ARTTRACK3 (discontinued)

TRACKPACK (discontinued)

201

A Technical speciﬁcations

TRACKPACK Cascade (discontinued)

202

Appendix B

B Technical Appendix

B.1 Deﬁnition of Coordinates and Rotations

B.1.1 Room Calibration

The calibration angle deﬁnes origin and axes of the coordinate system. This can be done in two

different ways:

Type longer arm shorter arm

’normal’ +X axis +Y axis

’powerwall’ +X axis -Z axis

For example, a room calibration of type ’normal’ would result in a coordinate system like the

following:

1. The marker located in the crossing point of the two arms is deﬁning the origin of the coordi-

nate system.

2. The longer arm of the calibration tool deﬁnes the +X axis.

3. The shorter arm of the calibration tool deﬁnes the +Y axis. (i.e., the tool markers deﬁne the

X/Y plane.)

4. The Z axis is added in order to give a right-handed coordinate system.

B.1.1.1 Room Adjustment

DTrack2 allows to modify the room coordinate system by specifying these seven values:

•lx,ly,lzfor a translational offset (denoted x, y, z in the GUI),

•η,θ,φfor a rotation (denoted rx, ry, rz in the GUI).

•sfor a scaling factor.

These offsets are deﬁned as a shift and/or rotation and/or scaling of the room coordinate system

relative to the original one. Mathematically a point ~xorig in the original room is transformed into a

point ~xmod in the modiﬁed room coordinate system by:

~xmod = (RT·~xorig −~

l)·s

where the rotation matrix Ris calculated from η,θand φlike deﬁned in section B.1.3.

203

B Technical Appendix

B.1.2 Body Calibration

During the body calibration DTrack2 is ﬁxing a local coordinate system (body coordinate system)

for each rigid body. Both coordinate systems deﬁne the later 6DOF output (see chapter B.1.3

on page 205). The calibration can be done in three different ways (to be selected in the menu

Calibrate / Body of the body calibration):

B.1.2.1 Deﬁnition of the Coordinates by the Body itself

Body calibration setting due to body:

The body coordinate system is ﬁxed by the markers of the rigid body according to a set of rules:

1. Search the biggest distance between two markers of the rigid body. These two markers (#1

and #2) will deﬁne the X axis.

2. Search for a third marker (#3) that has the smallest distance to one of the two markers #1

and #2. The marker that has smallest distance to marker #3 becomes marker #1. It will

deﬁne the coordinate origin. The other marker will be #2. The positive X axis is directed

from marker #1 to marker #2.

3. Marker #3 deﬁnes the X/Y plane, together with markers #1 and #2. Marker #3 has a positive

Y coordinate.

4. The Z axis is already deﬁned by these rules, resulting in a right-handed coordinate system.

B.1.2.2 Deﬁnition of the Coordinates by the Room Coordinate System, with Origin

in the Center of the Markers

Body calibration setting due to room:

The origin of the body coordinate system is set to the center (center of gravity) of all markers

building the rigid body. The axes of the body coordinate system are parallel to the axes of the

room coordinate system in the beginning of the body calibration.

I.e., the result of a body calibration will depend on the angular position of the target during cali-

bration. A 6DOF measurement, following calibration without having moved the body, will give the

angular coordinates 0◦/ 0◦/ 0◦.

If the target was moved during calibration, the angular position of the target at the beginning of the

calibration will be taken.

B.1.2.3 Deﬁnition of the Coordinates by the Room Coordinate System, with Origin

in a Marker

Body calibration setting due to room (zero in marker):

A combination of the ﬁrst two methods. The direction of the axes of the body coordinate system

will be set parallel to the room coordinate system in the moment of body calibration - like done

with setting due to room. The origin of the body coordinate system is given by one marker of the

body, according to the rules given for setting due to body.

204

Appendix B

B.1 Deﬁnition of Coordinates and Rotations

B.1.2.4 Coordinate System Deﬁnition for 5DOF Targets (with and without cylinder

markers)

Body calibration setting x/y/z:

In the body coordinate system all markers of the target are on the selected axis. The origin is in

the middle between the two markers with the largest distance to each other. The orientation is

deﬁned by the marker with the smallest distance to the origin. Its position has a negative sign.

The other two directions are undetermined due to the one degree of freedom.

B.1.2.5 Coordinate System Deﬁnition for two 5DOF Targets with cylinder markers

Body calibration setting xy/yx/yz/zy/zx/xz:

The body is expected to consist of two about perpendicularly connected 5DOF targets. These are

placed on the two axes. The origin is placed at the position where the two 5DOF targets intersect.

The ﬁrst axis is assigned to the 5DOF target which includes the marker with the largest distance

to the origin. The other 5DOF target is placed in the plane created by the two axes.

B.1.3 6DOF Results

Position and Orientation

Position and orientation of a target are expressed by an afﬁne transformation (~s,R) that transforms

a vector ~x from the body coordinate system to the room coordinate system:

~xroom =R·~xbody +~s

I.e., the coordinates ~s give the position of the origin of the body coordinate system (marker #1 or

center of gravity, as described above), measured in room coordinates.

The 3×3rotation matrix Rdescribes the rotation part of the transformation. The columns of the

matrix Rare the axes (X, Y, Z) of the body coordinate system, expressed in room coordinates.

Description by Rotation Angles

The rotation matrix can be replaced by three consecutive rotations Ri(χ)(rotation angle χ, rotation

axis i). The angles, as given in the DTrack2 data output, are deﬁned by the equation:

R=Rx(η)·Ry(θ)·Rz(φ)

Expressed in trigonometric functions, that means:

R=



cos φcos θ−sin φcos θsin θ

sin φcos η+ cos φsin θsin ηcos φcos η−sin φsin θsin η−cos θsin η

sin φsin η−cos φsin θcos ηcos φsin η+ sin φsin θcos ηcos θcos η





Note that per deﬁnitionem the angles can only have the values:

−180◦≤φ≤180◦,−90◦≤θ≤90◦,−180◦≤η≤180◦

205

B Technical Appendix

ZNote: rotation angles can show strange behaviour at certain orientations. In

particular, for orientations close to θ=±90◦the other two angles can experi-

ence large odd-looking changes (so called “Gimbal Lock”).

When connecting DTrack2 to an application, often problems appear caused by different deﬁnitions

of rotation angles. To avoid that, we recommend to use rotation matrices.

B.1.4 3DOF Data

Besides the tracking of 6DOF bodies, DTrack2 is able to calculate the coordinates of single mark-

ers, i.e. markers that can not be recognized as part of a rigid body. The output values are the

coordinates of these markers, measured in room coordinates.

In some situations, a rigid body within the measurement volume is (temporarily) not correctly

recognized by the software. In these cases, its markers appear as 3DOF objects.

3DOF markers are tracked (as long as possible) and labeled with an ID number. When a 3DOF

marker vanishes (or is recognized as part of a 6DOF body), its ID number will not be used any

more, as long as the tracking is active.

B.1.5 Flystick devices

DTrack2 is supporting the following input devices:

•Flystick1,

•Flystick2 and

•Flystick3.

Each of the afore mentioned devices is equipped with buttons (4 - 8) and a small joystick. Input

transactions are transmitted wirelessly to the controller and added to the 6DOF tracking result of

the Flystick body.

There are two types of output formats available, called 6df and 6df2 (details see chapter B.2.5 on

page 213 and chapter B.2.6 on page 214); they differ in the number of carried input controls. Only

the newer 6df2 format is capable of processing analogue values (or controllers) as produced by a

joystick. Both formats use the same order of buttons (details see below):

Output Format Number of Buttons Order of Buttons Number of Controllers

6df 8 (ﬁx) “right to left” —

6df2 device dependent “right to left” device dependent

B.1.5.1 Flystick1

The Flystick1 carries eight switches (buttons); four of them form the so-called hat switch. When

using output format 6df2, hat switch actions are transferred into two analogue controller values

(getting the values −1.0,0.0and 1.0). The following table shows, how each input action appears

in the output data:

206

Appendix B

B.1 Deﬁnition of Coordinates and Rotations

Switch 6df Output 6df2 Output

front switch (red) code 01 (hex) button code 01 (hex)

right switch on backside (red) code 02 (hex) button code 02 (hex)

center switch on backside (red) code 04 (hex) button code 04 (hex)

left switch on backside (red) code 08 (hex) button code 08 (hex)

hat switch (black) to the left code 20 (hex) ﬁrst controller 1.0

hat switch (black) to the right code 80 (hex) ﬁrst controller −1.0

hat switch (black) up code 40 (hex) second controller 1.0

hat switch (black) down code 10 (hex) second controller −1.0

B.1.5.2 Flystick2

Each Flystick2 is equipped with six switches (buttons) and a small joystick, that produces two

analogue values, one for horizontal and one for vertical movement. When using the old output

format 6df, the joystick values are transferred into hat switch actions; two of the buttons cannot be

accessed.

Switch labelled as 6df Output 6df2 Output

(in ﬁgure B.1)

front switch (yellow) id 0 code 01 (hex) button code 01 (hex)

outer right switch on backside (blue) id 1 code 02 (hex) button code 02 (hex)

inner right switch on backside (blue) id 2 code 04 (hex) button code 04 (hex)

inner left switch on backside (blue) id 3 code 08 (hex) button code 08 (hex)

outer left switch on backside (blue) id 4 – button code 10 (hex)

switch on joystick (yellow) id 5 – button code 20 (hex)

joystick (yellow) to the left – code 20 (hex) ﬁrst controller up to 1.0

joystick (yellow) to the right – code 80 (hex) ﬁrst controller up to −1.0

joystick (yellow) up – code 40 (hex) second controller up to 1.0

joystick (yellow) down – code 10 (hex) second controller up to −1.0

(a) Flystick2 (b) Flystick3

Figure B.1: Allocation of ID number to the Flystick buttons

207

B Technical Appendix

B.1.5.3 Flystick3

Each Flystick3 is equipped with four switches (buttons) and a small joystick, that produces two

analogue values, one for horizontal and one for vertical movement. When using the old output

format 6df, the joystick values are transferred into hat switch actions.

Switch labelled as 6df Output 6df2 Output

(in ﬁgure B.1)

bottom switch (yellow) id 0 code 01 (hex) button code 01 (hex)

top right switch (blue) id 1 code 02 (hex) button code 02 (hex)

top middle switch (blue) id 2 code 04 (hex) button code 04 (hex)

top left switch (blue) id 3 code 08 (hex) button code 08 (hex)

joystick (yellow) to the left – code 20 (hex) ﬁrst controller up to 1.0

joystick (yellow) to the right – code 80 (hex) ﬁrst controller up to −1.0

joystick (yellow) up – code 40 (hex) second controller up to 1.0

joystick (yellow) down – code 10 (hex) second controller up to −1.0

B.1.6 Measurement Tools

iOnly available, if the Measurement Tool license is present for DTrack2 (avail-

able since version v2.2.0)

The Measurement Tool license allows the use of Measurement Tools , i.e. pointing devices with a

special target geometry. While tracking, the module calculates position and orientation of the tip

of the tool. It is necessary to perform an additional calibration procedure (called tip calibration) to

provide the module with information about the tip.

B.1.6.1 Orientation of a Measurement Tool

The module modiﬁes the local coordinate system (i.e. the body coordinate system) of the tool’s

body as follows:

1. The tip becomes the origin of the coordinate system.

2. The marker with the largest distance to the tip deﬁnes the +Z axis.

3. The marker, that is closest to the tip, deﬁnes the Y/Z plane.

This deﬁnition shall ease the use of the tip orientation. For instance, the orientation of all ART Mea-

surement Tools is approximately along the -Z axis.

B.1.6.2 Using a reference body

When using a reference body for a Measurement Tool , the module calculates the position of the

tip ~xS

ref within the local coordinate system of the reference body:

~xS

room =Rref ·~xS

ref +~sref

where ~xS

room is the position of the tip in room coordinates, and (~sref , Rref )position and orientation

(see B.1.3) of the reference body. The orientation of the Measurement Tool is transformed in an

analogous way.

208

Appendix B

B.1 Deﬁnition of Coordinates and Rotations

B.1.7 Fingertracking

The Fingertracking device allows to track a human’s entire hand, including ﬁngers. It provides all

necessary information to describe the tracked hand. In detail:

•position and orientation of the back of the hand (given in room coordinate system).

•number of the device’s ﬁngers (3or 5) as well as a value to distinguish between right and

left hand.

•position and orientation of the outermost phalanxes, given in the hand coordinate system

(see below); with the radius of the ﬁnger tip, the position and orientation (more exactly the

surface) of the ﬁnger tip can be identiﬁed.

•angles between the single phalanxes as well as their lengths. These values are calculated

using tracked markers and empirical data.

The hand coordinate system is deﬁned as follows (see ﬁgures B.2 and B.3 on page 209f.):

Figure B.2: Model of a human left hand

•the origin is in the joint, where the index ﬁnger is connected to the back of the hand.

•the +X axis is oriented in direction of the outstretched index ﬁnger.

•the +Y axis is deﬁned parallel to the back of the hand, indicating towards the ring ﬁnger.

•the +Z axis is deﬁned with these speciﬁcations, resulting in a right-handed coordinate sys-

tem.

ZPlease note that the +Z axis points up towards the back of the hand for a left

hand, but down for a right hand!

The ﬁnger coordinate system (used to measure the orientation of the outermost phalanx relative

to the hand coordinate system) is deﬁned by these rules (see ﬁgures B.2 and B.3 on page 209f.):

•origin is the center of the (partial) sphere that forms the ﬁnger tip,

209

B Technical Appendix

Figure B.3: Model of a human right hand

•the +X axis is oriented in direction of the outstretched ﬁnger,

•the +Z axis is deﬁned to form a normal on the ﬁnger nail, pointing upwards,

•the +Y axis is deﬁned with these speciﬁcations, resulting in a right-handed coordinate sys-

tem.

Given the length of each phalanx and the angles between them, it’s possible to reconstruct the

entire ﬁnger.

ZNote that the joint between innermost phalanxes and back of the hand can

move! This corresponds to a bending of the hand’s back.

B.2 Output of Measurement Data via Ethernet

DTrack2 uses ethernet (UDP/IP datagrams) to send measurement data to other applications. The

IP address and the port of the application (and the computer it runs on) can be conﬁgured in

Settings →Output.

Each datagram carries all the results of a single measurement, coded in ASCII format. One data-

gram is sent after each measurement of the cameras, i.e. following the synchronization frequency.

The ’send data divisor’ in Settings →Output offers the possibility to decrease the data output

frequency (foutput =fsync/ddivisor).

iAll data are given in units millimeter (mm) or angular degree (deg /◦).

ART provides free sample source code (‘DTrackSDK’, in C++) to receive and parse the output

data. Please contact ART to get it.

A UDP datagram in ASCII format contains several lines separated by CR/LF (hex 0D 0A). Each

line carries data of a speciﬁc type and starts with an identiﬁer. In Settings →Output you may

conﬁgure which lines or data types should be included in the output:

210

Appendix B

B.2 Output of Measurement Data via Ethernet

Identiﬁer Type of data enable/disable in

fr frame counter always enabled

ts timestamp Settings →Output (’ts’)

6dcal additional informations Settings →Output (’6dcal’)

6d/6di standard bodies (6DOF) Settings →Output (’6d / 6di’)

3d additional markers (3DOF) Settings →Output (’3d’)

6df/6df2 Flysticks (6DOF + buttons) Settings →Output (’6df / 6df2’)

6dmt Measurement Tools (6DOF + tip trafo) Settings →Output (’6dmt’)

6dmtr Measurement Tool references (6DOF) Settings →Output (’6dmtr’)

6dmt2 Measurement Tool with sphere tip (6DOF + tip trafo

+ sphere radius)

Settings →Output (’6dmt2’)

gl/glcal Fingertracking hands (6DOF + ﬁngers) Settings →Output (’gl / glcal’)

B.2.1 Frame Counter

Identiﬁer fr.

This line is always the ﬁrst one. It carries a frame counter (counting with synchronization fre-

quency).

Example:

fr 21753

B.2.2 Timestamp

Identiﬁer ts.

A timestamp can be added to each datagram. It shows the time at the measurement of this frame,

i.e. the time when the infrared ﬂash of the cameras is ﬁred. The timestamp uses the internal clock

of the controller, giving back the seconds (with an accuracy of 1µs) since 00:00 UTC1(midnight).

This implies that the timestamp value is reset to zero when passing midnight (UTC)!

iThe timestamp typically shows an accuracy of better than ∆terr ∼ ±0.01ms

with a Synccard2 (used in ARTTRACK systems). With a SynccardTP (used in

TRACKPACK systems) one can only expect an accuracy of ∆terr ∼ ±0.5ms.

Example:

ts 39596.024831

B.2.3 Standard 6DOF Bodies

Identiﬁer 6d.

Measurement data of all tracked standard 6DOF bodies (i.e. all 6DOF bodies except Flysticks,

Measurement Tools . . . ). Bodies, that are not tracked by the system at that moment, don’t appear

in the output.

•The ﬁrst number gives the number of tracked bodies (less or equal to the number of cali-

brated bodies).

1Coordinated Universal Time = Greenwich Mean Time

211

B Technical Appendix

•The data of each tracked body show up in blocks (three consecutive []) like:

[id qu][sxsyszη θ φ][b0b1b2b3b4b5b6b7b8]

They contain:

1. ID number (id, starting with 0), quality value (qu, unused),

2. Position (si), orientation angles (η θ φ) and

3. Rotation matrix (bi) of the Body’s orientation.

All numbers are separated by spaces (hex 20). Nine values b0. . . b8form the rotation matrix

R=



b0b3b6

b1b4b7

b2b5b8





To avoid problems with different deﬁnitions of the angles, we recommend to only use rotation

matrices.

Example (one line):

6d 1 [0 1.000][326.848 -187.216 109.503 -160.4704 -3.6963

-7.0913][-0.940508 -0.339238 -0.019025 0.333599 -0.932599 0.137735

-0.064467 0.123194 0.990286]

B.2.4 Standard 6DOF Bodies (extended format)

Identiﬁer 6di.

Measurement data of all tracked standard 6DOF bodies (i.e. all 6DOF bodies except Flysticks,

Measurement Tools . . . ) and all hybrid bodies. The output data contain values especially for

hybrid bodies (tracking status, drift error), but can be used for any standard 6DOF body. Bodies,

that are not tracked by the system at that moment, do appear in the output.

•The ﬁrst number gives the number of tracked bodies.

•The data of each tracked body show up in blocks (three consecutive []) like:

[id st er][sxsysz][b0b1b2b3b4b5b6b7b8]

They contain:

1. ID number (id, starting with 0), status of the tracking (st,0: not tracked, 1: inertial

tracking, 2: optical tracking, 3: inertial and optical tracking), drift error estimate (er,10

degree per minute when tracking inertially)

2. Position (si) and

3. Rotation matrix (bi) of the Body’s orientation.

212

Appendix B

B.2 Output of Measurement Data via Ethernet

All numbers are separated by spaces (hex 20). Nine values b0. . . b8form the rotation matrix

R=



b0b3b6

b1b4b7

b2b5b8





To avoid problems with different deﬁnitions of the angles, we recommend to only use rotation

matrices.

Example (one line):

6di 2 [0 1 2.135][326.848 -187.216 109.503][-0.940508 -0.339238

-0.019025 0.333599 -0.932599 0.137735 -0.064467 0.123194 0.990286] [1 0

0.000][0.000 0.000 0.000][0.000000 0.000000 0.000000 0.000000 0.000000

0.000000 0.000000 0.000000 0.000000]

B.2.5 Flysticks

Identiﬁer 6df2.

ZNote: this format version replaces the older 6df format (see B.2.6). Use it

whenever possible.

The newer format for Flysticks is quite similar to the format of standard 6DOF bodies. It provides

tracking data for all Flysticks and other ART radio devices (see B.1.5):

•The ﬁrst number after the identiﬁer 6df2 gives the number of deﬁned (i.e. calibrated) Fly-

sticks.

•The second number gives the number of Flystick data, that are following in the line.

•The data of each Flystick show up in blocks (four consecutive []), like:

[id qu nbt nct][sxsysz][b0b1b2b3b4b5b6b7b8][bt0... ct0ct1...]

The four blocks contain:

1. ID number (id, starting with 0), quality value (qu, see below) and the number of avail-

able buttons and controllers (nbt and nct).

2. Position of the Flystick (si).

3. Orientation of the Flystick, given as rotation matrix (bi, like standard bodies).

4. Status of buttons (bti, see below) and controllers (cti, see below).

•The quality (qu) can (so far) just get the values 1.000 or −1.000.−1.000 means that the

target of the Flystick is not visible at the moment. Even in that case a Flystick appears in the

output data. Then dummy values are used for position (zero) and orientation (zero matrix!).

Informations about buttons and controllers are valid as long as the wireless transmission is

active.

•When buttons of the Flysticks are pressed the (decimal) numbers btichange. They are

213

B Technical Appendix

coded binary (i.e. switch 1 activated = bit 0 set, switch 2 activated = bit 1 set, . . . ) with a

maximum of 32 buttons per btinumber.

ZNote that the number of btinumbers in the block can vary with different

Flystick hardware! If the device isn’t equipped with buttons, the output

won’t contain any btinumber!

•Controller elements are transferred into ﬂoating point numbers cti, reaching from −1.00 to

1.00. In the output line they follow the button informations (one number for each controller).

ZNote that the number of ctinumbers in the block can vary with different

Flystick hardware! If the device isn’t equipped with controller elements,

the output won’t contain any ctinumber!

Example (one line) for two devices, one Flystick2 (ID 0) and one Flystick1 (ID 1):

6df2 2 2 [0 1.000 6 2][-228.992 270.818 92.561][0.758006 -0.652230 0.004807 -0.651759

-0.757133 0.044271 -0.025236 -0.036691 -0.999008][5 0.13 -1.00] [1 -1.000 4 2][0.000

0.000 0.000][0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000

0.000000][1 1.00 0.00]

B.2.6 Flysticks (Old Format)

Identiﬁer 6df.

ZNote: supported just for compatibility. It is recommended to use the newer

Flystick format 6df2 (see chapter B.2.5 on page 213) whenever possible.

iRefer to chapter B.1.5.2 on page 207 to ﬁnd out which buttons of the Flystick2

are NOT transmitted when using the old output format 6df.

This older format for Flysticks is quite similar to the format of standard 6DOF bodies:

•The ﬁrst number gives the number of deﬁned Flysticks.

•The data of each Flystick show up in blocks (three consecutive []) like:

[id qu bt][sxsyszη θ φ][b0b1b2b3b4b5b6b7b8]

They contain:

1. ID number (id, starting with 0), quality value (qu, see below) and button information

(bt, see below),

2. Position (si) and orientation angles (η θ φ) and

3. Orientation (bi) of the Flystick.

•The quality (qu) can (so far) just get the values 1.000 or −1.000.−1.000 means that the

target of the Flystick is not visible at the moment. Even in that case a Flystick appears in the

output data. Then dummy values are used for position (zero) and orientation (zero matrix!).

Informations about buttons are valid as long as the wireless transmission is active.

214

Appendix B

B.2 Output of Measurement Data via Ethernet

•When buttons of the Flysticks are pressed the (decimal) number bt changes. It is coded

binary (i.e. switch 1 activated = bit 0 set, switch 2 activated = bit 1 set, . . . ).

Example (one line):

6df 1 [0 1.000 2][261.103 116.520 41.085 19.6522 -57.3530 116.5992]

[-0.241543 0.968868 -0.054332 -0.482366 -0.168461 -0.859619

-0.842010 -0.181427 0.508039]

B.2.7 Measurement Tools with sphere tip

Identiﬁer 6dmt2.

ZNote: this format version replaces the older 6dmt format (see B.2.9). Use it

whenever possible.

iOnly available, if the Measurement Tool license is present for DTrack2 (avail-

able since version v2.9.1).

The output for Measurement Tool with sphere tip is deﬁned as follows:

•The ﬁrst number gives the number of calibrated Measurement Tools .

•The second number gives the number the following target data.

•The data of each tool show up in blocks (ﬁve consecutive []), like:

[id qu nbt rd][sxsysz][b0b1b2b3b4b5b6b7b8][bt][c11 c12 c13 c22 c23 c33]

They contain:

1. ID number (id, starting with 0), quality value (qu, see below) number of buttons (nbt)

and the radius of the Measurement Tool tip sphere (rd).

2. Measured position (si) of the tip

3. Rotation matrix (bi) of the tip orientation.

4. Button (bt), binary coded (0x01 measurement of a point is active; 0x02,0x04, . . . designate

buttons of the Measurement Tool)

5. Covarianz matrix (cij ) of the position of the tool tip (in mm2)

•The quality (qu) can (so far) just get the values 1.0and −1.0.−1.0means that the target of

the Measurement Tool is not visible at the moment.

•b0. . . b8form a rotation matrix according to the scheme described in chapter B.2.3 on page

211.

•The protocol is prepared for the future when the covariance matrix of the measurement tool

tip is calculated. Until then cij is set to zero.

Example (one line):

6dmt2 1 1 [0 1.000 4 2.000][326.848 -187.216 109.503][0.911812 -0.038421

0.408806 0.095040 0.988324 -0.119094 -0.399457 0.147444 0.904817][0]

[0.000e-00 0.000e-00 0.000e-00 0.000e-00 0.000e-00 0.000e-00]

215

B Technical Appendix

B.2.8 Measurement Tool references

Identiﬁer 6dmtr.

iOnly available, if the Measurement Tool license is present for DTrack2 (avail-

able since version v2.2.0)

The output for Measurement Tool references is deﬁned as follows:

•The ﬁrst number gives the number of deﬁned Measurement Tool references.

•The second number gives the number of tracked Measurement Tool references.

•The data of each tracked reference show up in blocks (three consecutive []), like:

[id qu][sxsysz][b0b1b2b3b4b5b6b7b8]

They contain:

1. ID number (id, starting with 0), quality value (qu, see below),

2. Measured position (si) of the Measurement Tool reference,

3. Rotation matrix (bi) of the Measurement Tool reference.

•The quality (qu) can (so far) just get the values 1.0and −1.0.−1.0means that the Measure-

ment Tool reference is not visible at the moment.

•b0. . . b8form a rotation matrix Raccording to the scheme described in chapter B.2.3 on

page 211.

Example (one line):

6dmtr 1 1 [0 1.000][-485.245 -67.217 -38.328][0.681257 -0.315034

0.660790 -0.477531 -0.875410 0.074967 0.554845 -0.366620 -0.746817]

B.2.9 Measurement Tools (Old Format)

Identiﬁer 6dmt.

ZNote: supported just for compatibility. It is recommended to use the newer

Measurement Tool format 6dmt2 (see chapter B.2.7 on page 215) whenever

possible.

iOnly available, if the Measurement Tool license is present for DTrack2 (avail-

able since version v2.2.0)

The output for Measurement Tools is similar to the format for Flysticks:

•The ﬁrst number gives the number of deﬁned Measurement Tools .

•The data of each tool show up in blocks (three consecutive []), like:

[id qu bt][sxsysz][b0b1b2b3b4b5b6b7b8]

They contain:

216

Appendix B

B.2 Output of Measurement Data via Ethernet

1. ID number (id, starting with 0), quality value (qu, see below) and button information

(bt, unused),

2. Measured position (si) of the tip,

3. Rotation matrix (bi) of the tip’s orientation.

•The quality (qu) can (so far) just get the values 1.0and −1.0.−1.0means that the target of

the Measurement Tool is not visible at the moment.

•The protocol is prepared for future Measurement Tools equipped with buttons (like Flysticks).

Until then bt is set to zero.

•b0. . . b8form a rotation matrix Raccording to the scheme described in chapter B.2.3 on

page 211.

Example (one line):

6dmt 1 [0 1.000 0][326.848 -187.216 109.503][0.911812 -0.038421

0.408806 0.095040 0.988324 -0.119094 -0.399457 0.147444 0.904817]

B.2.10 Fingertracking

Identiﬁer gl and glcal.

The output data include all necessary data to reconstruct the hand with all ﬁngers and phalanxes.

The output format in detail:

•The ﬁrst number gives the number of tracked hands

•The data for each hand show up in blocks (several consecutive []) like:

[id qu lr nf][sxsysz][b0b1b2b3b4b5b6b7b8] [sf

xsf

ysf

z][bf

0bf

1bf

2bf

3bf

4bf

6bf

7bf

8] [rf

olf

oαf

om lf

mαf

mi lf

i]...

They contain:

1. ID number (id, starting with 0), a quality value (qu, unused), a number to distinguish

left and right hands (lr,0to denote a left, 1a right hand) and the number of tracked

ﬁngers (nf, always 3or 5with current hardware),

2. Position of the back of the hand (si),

3. Orientation of the back of the hand, given as rotation matrix (bi, like standard bodies),

4. For each ﬁnger (starting with the thumb):

a) Position of the tip of the ﬁnger (sf

i), given in the hand’s coordinate system,

b) Orientation of the outermost phalanx (bf

i, like standard bodies), given in the hand’s

coordinate system,

c) Radius of the tip of the ﬁnger (rf

o), lengths of the phalanxes from the outermost

(lf

o) to the innermost (lf

i) phalanx; angles between the outermost and the middle

phalanx (αf

om) as well as between the middle and the innermost phalanx (αf

mi).

217

B Technical Appendix

ZNote that the number of blocks vary because of the variable number of sup-

ported ﬁngers per hand.

Example (one line):

gl 1 [0 1.000 1 5][-25.835 -221.498 135.999][0.603034 0.783519 0.149826 -0.729406

0.617627 -0.294114 -0.322981 0.068077 0.943954][1.4 -42.4 46.7][0.6110 0.3126 0.7273

-0.5609 -0.4773 0.6764 0.5586 -0.8212 -0.1163][11.6 23.7 -42.9 39.6 -22.6 59.4][36.4

-12.8 56.0][-0.4019 -0.0429 0.9147 -0.1640 -0.9794 -0.1180 0.9009 -0.1975 0.3865][9.2

18.2 -24.5 27.6 -73.2 46.0][39.1 14.8 58.1][-0.6598 -0.1451 0.7373 0.0650 -0.9885

-0.1364 0.7487 -0.0421 0.6616][10.4 20.7 -46.2 31.3 -74.7 52.2][36.3 31.3 55.9][-0.6461

-0.0294 0.7627 0.0779 0.9915 0.1042 -0.7593 0.1268 -0.6383][9.2 18.5 52.0 27.8 65.0

46.3][30.1 52.2 39.9][-0.4985 -0.0406 0.8659 0.1099 0.9879 0.1096 -0.8599 0.1499

-0.4880][6.7 13.4 50.7 20.1 63.3 33.6]

Additional Informations

An optional extra output line (with own identiﬁer) carries the number of deﬁned hands.

Example (one line):

glcal 1

B.2.11 Additional 3DOF Markers

Identiﬁer 3d.

The format of additional markers (all markers that don’t belong to a 6DOF object) looks like a

reduced format of standard bodies:

•The ﬁrst number is the number of tracked additional markers.

•Blocks (two consecutive []) follow for each marker:

[id qu][sxsysz]

They contain ID number (id, starting with 1) and a quality value (qu, still unused), and the

position (si).

Example (one line):

3d 6 [79 1.000][210.730 -90.669 -108.554] [83 1.000][61.235 -165.625

3.217] [87 1.000][123.633 -107.836 0.110] [88 1.000][212.383 -133.640

77.199] [90 1.000][326.455 -187.055 109.589] [91 1.000][303.185

-239.771 114.861]

B.2.12 Additional Informations

Identiﬁer 6dcal.

Optionally, the number of the adjusted bodies (not only of the tracked ones) can be included in a

data set. This is done within an additional line like:

218

Appendix B

B.2 Output of Measurement Data via Ethernet

6dcal 3

ZNote that this number does not include all calibrated bodies. In particular, it

counts the calibrated bodies that show up in the output lines 6d,6df and 6dmt.

219

List of Figures

2.1 Principle of optical tracking (stereo vision) . . . . . . . . . . . . . . . . . . . 14

3.1 Angular range of visibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

4.1 Camera ARTTRACK5 .............................. 25

4.2 Attaching the ceiling mount to the ARTTRACK5 camera . . . . . . . . . . 26

4.3 Mounting a camera to a wall or a ceiling (e.g. ARTTRACK2 camera) . . . . 27

4.4 Camera ARTTRACK5/C ............................ 28

4.5 Camera ARTTRACK5/C remote head (back) . . . . . . . . . . . . . . . . . 29

4.6 Camera TRACKPACK/E ............................ 31

4.7 Camera ARTTRACK2 .............................. 33

4.8 Camera ARTTRACK3 .............................. 36

4.9 Camera TRACKPACK ............................. 38

4.10 Camera TRACKPACK/C ............................ 41

4.11 Camera TRACKPACK/C with attached carrier . . . . . . . . . . . . . . . . . 42

4.12 ART Controllerfrontview ............................ 44

4.13 ART Controllerbackview ............................ 45

4.14 ART PoE+switchfrontview........................... 46

4.15 Connecting the ARTTRACK Controller to a local network . . . . . . . . . . 50

4.16 Welcome screen of DTrack2 with Wake On LAN option . . . . . . . . . . . 57

4.17 Wake On LAN progress bar . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

4.18 Principle of cascading using the LAN (option 1) or the cascaded network

port (option 2 - master ART Controller & DTrack2 => v2.11) . . . . . . . . . 60

4.19 Principle of cascading using the LAN (option 1) or the internal camera net-

work (option 3 - master ARTTRACK controller (discontinued)) . . . . . . . . 61

4.20 Cascaded System Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

4.21 Inertial Sensor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

4.22AddSensors ................................... 65

4.23 Hybrid Body Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

4.24 Hybrid Body Calibration Result . . . . . . . . . . . . . . . . . . . . . . . . . 68

4.25 Inertial Sensor Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.26 Welcome screen of DTrack2 .......................... 72

4.27ControllerSelection ............................... 73

4.28 Graphical user interface of DTrack2 ...................... 74

4.29 Visualization of the synchronization frequency decrease . . . . . . . . . . . 74

4.30 Monitor 2DOF view menu (e.g. camera 1) . . . . . . . . . . . . . . . . . . . 75

4.31 Room calibration settings (e.g. RCS 410) . . . . . . . . . . . . . . . . . . . 79

4.32 Marker distances (including numbering) on the angle and deﬁnition of room

coordinatesystem ................................ 79

220

Appendix B

List of Figures

4.33 Room calibration progress . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

4.34 Room calibration process . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

4.35 Room calibration result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

4.36 Room re-calibration dialogue . . . . . . . . . . . . . . . . . . . . . . . . . . 83

4.37 Recognized target in DTrack2 Monitor 2DOF display ............. 84

4.38 Body calibration dialogue . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

4.39 Deﬁning the target coordinate system . . . . . . . . . . . . . . . . . . . . . 86

4.40 Import of calibration ﬁles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

4.41 Body Calibration Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

4.42 Calibrate bodies with the target library . . . . . . . . . . . . . . . . . . . . . 89

4.43BodyAdjustment................................. 90

4.44Managingthelicenses.............................. 95

4.45 Managing the conﬁgurations . . . . . . . . . . . . . . . . . . . . . . . . . . 96

4.46 Flexible Body Administration (from DTrack2 v2.9.0) . . . . . . . . . . . . . . 105

4.47Outputsettings..................................106

4.48 A room calibration set consisting of angle and wand . . . . . . . . . . . . . 112

4.49 Deﬁning the coordinate system for the room calibration . . . . . . . . . . . . 113

4.50 Room adjustment dialogue (coarse) . . . . . . . . . . . . . . . . . . . . . . 114

4.51 Room adjustment dialogue (ﬁne) . . . . . . . . . . . . . . . . . . . . . . . . 115

4.52 Room matching dialogue . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

5.1 Flystick2......................................126

5.2 Flystick2 control elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5.3 USB Radio Transceiver3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

5.4 Flystick2 - inserting the battery pack . . . . . . . . . . . . . . . . . . . . . . 129

5.5 Charging the battery of the Flystick2 . . . . . . . . . . . . . . . . . . . . . . 130

5.6 Flystick3......................................132

5.7 Flystick3 control elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

5.8 The Fingertracking device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

5.9 Fingertracking hand target . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

5.10Modelofahumanhand .............................139

5.11 Comparison of the ﬁnger thimble sets (AR and VR) for Fingertracking . . . 140

5.12Insertingthebattery ...............................141

5.13 Connecting the ﬁnger LED connector with the hand target . . . . . . . . . . 142

5.14 Using the 5-ﬁnger AR ﬁnger thimble set . . . . . . . . . . . . . . . . . . . . 143

5.15MeasurementTool ................................145

B.1 Allocation of ID number to the Flystick buttons . . . . . . . . . . . . . . . . . 207

B.2 Model of a human left hand . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

B.3 Model of a human right hand . . . . . . . . . . . . . . . . . . . . . . . . . . 210

221

List of Tables

1.1 Symbols and their meaning . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.3 Standard targets overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4.1 Compatibility of the ART cameras and interaction devices . . . . . . . . . . 44

4.2 Description of the LEDs on the back of the TRACKPACK Controller . . . . 54

4.3 Licensesoverview ................................ 76

4.4 Overview of the ART Room Calibration Sets (RCS) . . . . . . . . . . . . . . 79

4.5 Options for coordinate system deﬁnition . . . . . . . . . . . . . . . . . . . . 80

4.7 DTrack2 menu structure overview . . . . . . . . . . . . . . . . . . . . . . . 94

4.8 Menu DTrack2 .................................. 94

4.9 Menu Settings .................................. 97

4.10 Overview of the supported synccard modes . . . . . . . . . . . . . . . . . . 102

4.11 Overview of validated shutter glasses . . . . . . . . . . . . . . . . . . . . . 102

4.12 Body Administration - Detailed description of the actions . . . . . . . . . . . 105

4.13Outputidentiﬁers.................................106

4.14 Flystick settings - Description of the checkboxes . . . . . . . . . . . . . . . 108

4.15 Measurement Tool settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

4.16 Menu Calibration .................................111

4.17 Menu Display ...................................120

4.18 Features of the Monitor 2DOF view .......................122

4.19 Menu Tools ....................................124

4.20 Menu About ....................................125

5.1 Description of the Flystick2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5.2 Status LEDs quick reference . . . . . . . . . . . . . . . . . . . . . . . . . . 131

5.3 Description of the Flystick3 . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

5.4 Description of the Fingertracking . . . . . . . . . . . . . . . . . . . . . . . . 139

5.5 Description of the ﬁnger markers . . . . . . . . . . . . . . . . . . . . . . . . 140

5.6 Description of the conﬁguration dial . . . . . . . . . . . . . . . . . . . . . . . 142

222

Appendix B

Index

active stereo, 151, 155, 156

body adjustment, 117

calibration

adding a camera, 83

body calibration, 84, 89, 117

body re-calibration, 88

calibration angle, 76

calibration ﬁle, 87, 117

room calibration, 77, 112

room re-calibration, 82

camera adjustment, 75

Cascaded System, 58, 110

ceiling mount D2, 26

center of gravity, 119

coded ﬂash, 19

conﬁguration management, 95

controller

ART Controller, 44

ARTTRACK Controller, 43, 48, 110

TRACKPACK Controller, 43, 52, 110

coordinate system, 113

Data Display, 73

data output, 106

declaration of conformity, 175

DHCP, 110

Event Display, 73

external ﬂash, 141

ﬁeld of view (FoV), 74, 193,195

ﬁnger thimble set, 139

ﬂash intensity, 99

hand geometry, 107

infrared camera

ARTTRACK2, 33

ARTTRACK3, 35

ARTTRACK5, 25

ARTTRACK5 /C, 29

TRACKPACK, 38

TRACKPACK /C, 40

TRACKPACK/E, 31

infrared optical tracking system, 14

interaction device

Fingertracking, 107, 120, 137

Flystick2, 108, 126

Flystick3, 108, 132

Measurement tool, 109, 120, 144

IP address, 54, 62

liability, 173

license code, 94

line of sight, 128

MAC address, 57, 110

marker

active marker, 17

big active ﬂat marker, 18

big active spherical marker, 18

passive marker, 16

measurement volume, 81

modulated ﬂash, 101, 137

Monitor 2DOF, 73, 120

motion capture, 24

MultiUser option, 130, 136

mutual blinding, 75

radio module, 128

reﬂex suppression

automatic, 98

manual, 98

remote PC, 70

retro reﬂector, 17

rigid body, 20

room adjustment, 113

223

Index

room calibration set, 78

send data divisor, 107

sensor fusion, 63

service and support, 173

Settings, 97

shutter glasses (validated), 102

software

DTrack2, 70, 94

standby mode, 97

static reﬂex scan, 111

synccard

Synccard2, 48, 101

Synccard3, 44, 101, 102

SynccardTP, 52, 101

syncgroup, 9, 45, 49

for TRACKPACK , 100

for ARTtrack, 154

synchronization

active marker synchronization, 18

external synchronization, 101

internal synchronization, 101

wireless synchronization, 140

targets, 20

timestamp, 106, 197, 211

tip calibration, 208

tracking, 103

trademarks, 2

USB radio transceiver, 128, 134

virtual point cloud, 81

Wake On LAN (WOL), 56, 150

wake-on-power (WOP), 150

wand, 78, 112

warranty, 173

224

DTrack2 User Manual V2.12.0 ART DTrack 2.12

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