DTrack2 User Manual V2.11.0 SMARTTRACK 2.11
SMARTTRACK_User_Manu.. SMARTTRACK_User_Manual_2.11
User Manual: SMARTTRACK User Manual 2.11
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Page Count: 138
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System user manual
SMARTTRACK & DTrack R
version 2.11
April 2015
c 2015 A.R.T. GmbH
Contents are subject to
change without notice
dasbetrifft die gesamte seitenbreite der seite des
Trademarks
The following overview shows the registered trademarks of A.R.T. GmbH (Advanced Realtime Tracking GmbH):
trademarks
illustrated as
A.R.T. R
ARTtrack R
DTrack R
smARTtrack R
ART
ARTTRACK
DTrack2
SMARTTRACK
in Germany
in the EU
in the USA
×
×
×
×
×
×
×
×
×
×
×
×
×
Microsoft R and Windows R are trademarks registered in the United States and
other countries by the Microsoft Corporation.
The company names and product names written in this manual are trademarks
or registered trademarks of the respective companies.
License agreement
The license provider guarantees the license holder a personal right to use the
DTrack2 software. A single license entitles the license holder to use the
software on all computers and networks of the license holder’s
branch/subsidiary office.
In no event shall ART GmbH be liable for any incidental, indirect, or
consequential damages whatsoever (including, without limitation, damages for
loss of business profits, business interruption, loss of business information, or
any other pecuniary loss) arising out of the use of or inability to use the software
or hardware.
c 1999 - 2015 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 v2.11?
Following, a short overview of the main new features in DTrack2 version v2.11:
• No major changes
What’s new in version v2.10?
Following, a short overview of the main new features in DTrack2 version v2.10:
• SMARTTRACK now supports:
• calibration and measurement using a measurement tool&reference,
• calibration of more than four targets (license upgrade required)
• export and import of configurations (chapter 4.3.6.2 on page 60)
• new license model
What was new in version v2.9?
Following, a short overview of the main new features in DTrack2 version v2.9:
• Improved filtering options (chapter 4.3.5 on page 56)
• Support for 5DOF targets (chapter 4.3.3 on page 50)
• Support for ring markers (chapter 3.1 on page 14)
Contents
Terms and definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
1 Safety
1.1 Symbols and their meaning . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Safety warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
9
9
2 Introduction
12
3 Markers and targets (rigid bodies)
14
3.1 Passive markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.2 Active markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.3 Standard targets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4 System setup
4.1 The SMARTTRACK . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.1 The controller inside the SMARTTRACK . . . . . . . . .
4.1.2 Setting a static IP address without the DTrack2 Frontend
4.1.3 The setup file . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.4 The information file . . . . . . . . . . . . . . . . . . . . . .
4.1.5 Wake On LAN . . . . . . . . . . . . . . . . . . . . . . . .
4.1.6 Remote command strings . . . . . . . . . . . . . . . . . .
4.2 Setting up the Hybrid Inertial System . . . . . . . . . . . . . . .
4.3 DTrack2 frontend software . . . . . . . . . . . . . . . . . . . . .
4.3.1 Getting started . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1.1 Installation guide (Windows) . . . . . . . . . . .
4.3.1.2 Installation guide (Linux) . . . . . . . . . . . . .
4.3.1.3 Software update . . . . . . . . . . . . . . . . . .
4.3.1.4 Start DTrack2 frontend software . . . . . . . . .
4.3.1.5 Connecting to the SMARTTRACK . . . . . . .
4.3.1.6 Adjustment of the SMARTTRACK . . . . . . . .
4.3.1.7 Localizing and removing of disturbing reflections
4.3.2 Room calibration . . . . . . . . . . . . . . . . . . . . . . .
4.3.3 Body calibration . . . . . . . . . . . . . . . . . . . . . . .
4.3.3.1 Target Library . . . . . . . . . . . . . . . . . . .
4.3.4 Body adjustment . . . . . . . . . . . . . . . . . . . . . . .
4.3.5 Filtering options in DTrack2 . . . . . . . . . . . . . . . .
4.3.6 Menu structure . . . . . . . . . . . . . . . . . . . . . . . .
4.3.6.1 Overview . . . . . . . . . . . . . . . . . . . . . .
4.3.6.2 Menu DTrack2 . . . . . . . . . . . . . . . . . . .
4.3.6.3 Menu Settings . . . . . . . . . . . . . . . . . . .
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22
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62
5
4.3.6.4
4.3.6.5
4.3.6.6
4.3.6.7
Menu Calibration .
Menu Display . .
Menu Tools . . . .
Menu About . . .
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72
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5 Interaction devices
83
5.1 Flystick2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.2 Flystick3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5.3 Measurement Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
6 Frequently asked questions (FAQ)
6.1 Backup . . . . . . . . . . . . . . . . . . .
6.2 Cameras . . . . . . . . . . . . . . . . . .
6.3 Controller . . . . . . . . . . . . . . . . . .
6.4 DTrack2 and shutter glasses . . . . . . .
6.5 DTrack2 and interfaces . . . . . . . . . .
6.6 Software DTrack2 . . . . . . . . . . . . .
6.7 Calibration . . . . . . . . . . . . . . . . .
6.8 Tracking . . . . . . . . . . . . . . . . . . .
6.9 Flystick . . . . . . . . . . . . . . . . . . .
6.10 Measurement Tool . . . . . . . . . . . . .
6.11 Active Targets . . . . . . . . . . . . . . . .
6.12 ART tracking and 3D TVs . . . . . . . . .
6.13 Radio transceivers used in ART products
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96
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110
7 General Information
7.1 Service . . . . . . . . . .
7.2 Cleaning of the equipment
7.3 Warranty and liability . .
7.4 Declaration of conformity
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111
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113
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117
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120
A Technical specifications
A.1 SMARTTRACK . .
A.2 Flysticks . . . . . . .
A.3 Overall system . . .
A.4 System latency . . .
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B Technical Appendix
B.1 Definition of Coordinates and Rotations . . . . . . . . . . . . . . . . . . . .
B.1.1 Room Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.1.1 Room Adjustment . . . . . . . . . . . . . . . . . . . . . . .
B.1.2 Body Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.2.1 Definition of the Coordinates by the Body itself . . . . . . .
B.1.2.2 Definition of the Coordinates by the Room Coordinate System, with Origin in the Center of the Markers . . . . . . . .
B.1.2.3 Definition of the Coordinates by the Room Coordinate System, with Origin in a Marker . . . . . . . . . . . . . . . . . .
121
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131
132
133
133
List of Figures
134
List of Tables
136
Index
137
7
Chapter 0
B.1.2.4 Coordinate System Definition for 5DOF Targets (with and
without cylinder markers) . . . . . . . . . . . . . . . . . . .
B.1.2.5 Coordinate System Definition for two 5DOF Targets with
cylinder markers . . . . . . . . . . . . . . . . . . . . . . . .
B.1.3 6DOF Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.4 3DOF Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.5 Flystick devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.5.1 Flystick2 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.5.2 Flystick3 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.6 Measurement Tools . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.6.1 Orientation of a Measurement Tool . . . . . . . . . . . . .
B.1.6.2 Using a reference body . . . . . . . . . . . . . . . . . . . .
B.2 Output of Measurement Data via Ethernet . . . . . . . . . . . . . . . . . . .
B.2.1 Frame Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.2 Timestamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.3 Standard 6DOF Bodies . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.4 Standard 6DOF Bodies (extended format) . . . . . . . . . . . . . . .
B.2.5 Flysticks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.6 Flysticks (Old Format) . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.7 Measurement Tools . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.8 Measurement Tools with sphere tip . . . . . . . . . . . . . . . . . . .
B.2.9 Measurement Tool references . . . . . . . . . . . . . . . . . . . . . .
B.2.10 Additional 3DOF Markers . . . . . . . . . . . . . . . . . . . . . . . .
B.2.11 Additional Informations . . . . . . . . . . . . . . . . . . . . . . . . .
Terms and definitions
term
definition
3DOF
6DOF
5DOF
base
three degrees of freedom (i.e. only position)
six degrees of freedom (i.e. position and orientation)
five degrees of freedom (i.e. one degree less in orientation)
imaginary connecting line between the two integrated cameras
of the SMARTTRACK
teach the system the geometry of a rigid body
rigid arrangement of several single markers (see also "target")
belongs to the room calibration set and defines origin and orientation of the room coordinate system
equipment to mount the SMARTTRACK to the ceiling
body calibration
body, rigid body
calibration angle (410mm)
ceiling suspension
DTrack2
backend software
frontend software
Flystick
hybrid tracking
inertial sensor
position measurement of bodies
(subjects or objects) based upon infrared light and optical measurement
procedures
license code (license key)
marker
Measurement Tool
measurement volume
modulated flash
mutual blinding
prediction
Radio Transceiver (integrated)
room calibration
room calibration set
synccard (integrated)
target
tracking
virtual point cloud
wand
8
Linux-based software which does all necessary calculations
graphical user interface to control the SMARTTRACK
wireless interaction device for virtual reality (VR) applications
fusion of optical and inertial data into one consolidated output
An inertial measurement unit simultaneously measures 9 physical pro infrared optical tracking
software key to unlock certain capabilities of the SMARTTRACK
object either made of retro reflective material or LED for position
tracking (3DOF)
a pointing device which allows to measure the position of the
tool’s tip with high accuracy
defines the volume where optical tracking is possible
infrared signal which is used for wireless synchronization
SMARTTRACK sees disturbing reflections caused by the infrared flashes of another SMARTTRACK
predicts output for the specified time in the future to compensate
tracking and rendering latency
exchange data with Flystick
teach the system the position of each camera and define origin
and orientation of the room coordinate system
consists of angle and wand
unit integrated in SMARTTRACK which serves for synchronizing
the cameras
rigid arrangement of several single markers ( = rigid body)
position measurement of bodies that move in a defined space
used for calculating the relative position of the SMARTTRACK
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
1 Safety
You can find the following symbols and their signification on the equipment or in the manual:
i
Z
Useful and important notes.
Important notes, which may lead to system malfunction or to the
loss of warranty by non-observance.
Important safety warning to assure operation safety.
These warnings have to be considered, otherwise user
and equipment could be endangered, the equipment could be
damaged or the function of the equipment is not warranted.
Safety warning for infrared radiation.
These warnings have to be considered, otherwise users eyes
could be endangered.
Table 1.1: Symbols and their meaning
1.2 Safety warnings
Z
Safe operation of the equipment is only warranted if the warnings in
this manual and on the equipment are observed.
• Never use the equipment if any part looks damaged.
• Safe operation is not possible, if
– the housing is damaged,
– any fluid attains in the housing,
– objects attain inside the equipment,
– the equipment shows any visible faults (smoke, sparks, fire, smells, etc.) or
– the power cord is damaged.
• In any of the cases mentioned above (or similar) pull the power cord out of the power
9
Chapter 1
1.1 Symbols and their meaning
1 Safety
socket immediately. Otherwise, users or environment are endangered. Please contact the ART service.
• Never change or alter the equipment, neither mechanically nor electrically. Only the
components described by ART shall be used. The conformity and the warranty of
the producer (ART ) expire by non-compliance.
• Never open the equipment! Only personnel authorized by ART is allowed to open
the equipment. Inside of the equipment there are various hazards like high voltage,
electric shocks - even if the equipment is disconnected - which can lead to death on
contact. In case of malfunction of the equipment please contact the ART service.
• Only peripheral devices which meet the safety requirements of EN/IEC 60950 for
extra low voltage may be attached on Ethernet-, BNC- and the DC-circuit of the
equipment.
• The SMARTTRACK emits infrared light. Keep a distance of min. 20 cm when operating the SMARTTRACK . The SMARTTRACK is assigned to the Exempt Group
according to IEC62471-1 and therefore poses no risk or hazard to the human eye
or skin at this distance.
• 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 SMARTTRACK must not be covered. Air circulation is
necessary to prevent the cameras from overheating. If the air circulation is restricted
overheating will damage the cameras. The minimum distance between equipment
and environmental objects has to be greater than 3 cm.
• The equipment has to be attached to a power socket with grounding. If the grounding wire is defective the requirement of the safety and the electromagnetic compatibility (EMC) are not guaranteed. To check the function of the grounding wire ask
your regional located electrician.
• Before switching on any device, verify that voltage and frequency of your electric installation are within the allowed ranges of the equipment. The characteristics of the
equipment can be found on the appliance rating plate or in chapter A on page 117.
The appliance rating plates are on the equipment’s housing (SMARTTRACK 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.
10
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 SMARTTRACK due to mechanical strain,
– the line of sight of the SMARTTRACK is not obstructed.
• Only use original ART (or ART authorized) components and accessories. Using
non-original components or accessories may damage the equipment, cause malfunctions or may void operation safety. The provided components and original accessories can be found in chapters 4 on page 22 and 5 on page 83. Only use the
originally provided external power supply for operating the SMARTTRACK
• 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 111.
• Never expose the equipment to high levels of humidity or condensating humidity.
Protect the cameras against water and chemicals.
• The equipment must not be operated in environments with intensive formation of
dust or hot environments where temperatures rise above 40◦ C (100◦ F).
Z
ART explicitly denies any liability or warranty if the product is modified
in any way or not used according to this manual and the specification
labels on the equipment.
11
Chapter 1
Install a strain relief!
2 Introduction
The SMARTTRACK is a fully integrated stand-alone infrared optical tracking system. It is
designed to be used in small volumes (approx. 2m3 ). In this user manual we are going to
perceive "tracking" as measurement of the position of objects or subjects that move in a
defined space. These objects or subjects to be tracked have to be equipped with single
markers or rigid arrangements of markers (= rigid body or target).
Position and/or orientation of those rigid bodies can be measured. If only the spatial position (X, Y, Z) is measured we call this "three degrees of freedom" (3DOF) tracking. The
simultaneous measurement of position and orientation (three independent angular coordinates) is called "six degrees of freedom" (6DOF) tracking.
Single markers are sufficient if only 3DOF coordinates are needed. For 6DOF tracking, a
rigid body is mandatory.
Passive markers are covered with retro reflective material - they act as light reflectors.
Active light emitters (i.e. based on infrared LEDs) are called active markers.
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. The SMARTTRACK makes use of the same principle.
12
Then, based on the 2D data, the SMARTTRACK calculates 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 orientation of the target and, therefore, of the object or subject to be tracked.
In optical tracking systems you have to be aware that tracking is only possible as long as
the target is positioned in tracking range of the cameras and is not occluded by any other
objects or the object to be tracked. More in detail, at least four markers of a target have
to be visible for a minimum of two cameras to enable tracking.
i
The SMARTTRACK has a limited field-of-view and range! It is designed
to be used in small volumes. Please refer to chapter 4.1 on page 22 for
more information on the tracking volume of the SMARTTRACK .
13
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. The
integrated tracking cameras scan a certain volume, detect the IR radiation that is reflected by the markers and create a greyscale image based on the received IR radiation. The SMARTTRACK calculates the 2D marker positions with high accuracy using
pattern recognition internally. A mean 2D-accuracy of 0.04 pixels (0.1 pixels maximum
2D-deviation) is standard in ART tracking cameras.
3 Markers and targets (rigid bodies)
3.1 Passive markers
The passive markers used in ART tracking systems are retro reflectors. These markers
reflect the incoming IR radiation into the direction of the incoming light. More precise: the
IR radiation is reflected into a narrow range of angles around the (opposite) direction of
the incoming light. Passive markers can be either
1. spherical markers:
+ excellent visibility from any perspective,
- expensive fabrication,
- sensitive surface,
- target requires larger volume → danger of mechanical damage.
2. flat markers:
+ cheap,
+ flat targets possible,
+ robust surface because cover may be applied,
- the angular range of visibility is limited to approx. ±45◦ .
3. ring markers:
+ cheap,
+ cylindrically shaped targets possible,
+ robust surface,
- the angular range of visibility is limited to approx. ±45◦ .
Passive markers are mostly spheres covered with retro reflecting foils. However, they can
also be stickers made from retro reflecting material.
Retro reflecting sheets or foils available on the market can be based on two different optical principles:
14
3.2 Active markers
1. Triple mirrors, which are arranged such that their planes
form angles of 90◦ by pairs, are reflecting light in the described way. Mostly foils with arrangements of many very
small mirrors in a plane are used.
i
ART spherical markers are covered with retro reflecting foils, based on
the glass spheres principle.
Z
The quality of the markers decreases when they are in contact with
dust, dirt, fat, liquids, glue or comparable contaminants. Please make
sure that the markers are not touched or damaged.
3.2 Active markers
Basics Active markers are light (i.e. infrared light) emitting elements, mostly LEDs.
In ART tracking systems four types of LED-based active markers may be used, depending on the application:
1. Single LEDs without diffusor sphere:
+ can be covered with acrylic protection film,
+ results in simple and robust markers providing visibility up
to high distances (up to 10m),
- the angular range of visibility is limited to approx. ±60◦ .
15
Chapter 3
2. Glass spheres (with a proper refraction index) are focussing incoming light approximately to the opposite surface of the ball. A layer of microscopic glass spheres, carried by a reflecting material, acts as a retro reflector. These
foils can be fabricated on a flexible carrier material, thus
they are widely used for equipping spherical markers with
retro reflecting surfaces.
3 Markers and targets (rigid bodies)
2. Single LEDs with diffusor sphere:
+ for optimum angular range of visibility,
- distance between marker and tracking camera is limited to
a short distance (up to 4.5m).
3. Big active spherical markers:
+ several single LEDs per marker, covered with light scattering spheres,
+ provide visibility from all sides and up to very high distances
(approx. 20m),
+ suitable for outdoor tracking,
- diameter: 50mm,
- weight: 50g.
4. Big active flat markers:
+ several single LEDs per marker, covered with light scattering surface,
+ tracking up to very high distances (approx. 20m),
+ suitable for outdoor tracking,
+ magnetic base for easy positioning on metal surfaces,
- the angular range of visibility is limited to less than 180◦ ,
- diameter: 30mm.
All active markers provided by ART are controlled by a special PC board and need power
supply.
Synchronization of active markers Active markers could in principle be activated in
CW mode (i.e. continuous light emission). However, this would not be very clever because tracking cameras have a very narrow time slot of sensitivity, i.e. most of the light
emitted by the markers would be useless for tracking. As a consequence, maximum distance between cameras and marker would be very short due to an upper limit of power
dissipation allowed for each single LED. Therefore, all active markers provided by ART are
emitting radiation only when the tracking cameras are sensitive, thus having to be synchronized with the cameras.
Synchronization can be done by a wired connection between the tracking system and the
pc-board controlling the active markers, but can also be done in a wireless way.
16
3.2 Active markers
(a) Single LED
(b) Single LED with diffusor sphere
Figure 3.1: Angular range of visibility
Chapter 3
For wireless synchronization a coded IR flash is being sent out by a tracking camera. The
active marker’s PC board recognizes the coded flash and activates the LEDs.
17
Type
Description
Weight
approx. Dimension
Marker
size
Hand target
The hand target is designed for hand tracking in usability and assembly studies respectively. It is also frequently used as a
small general-purpose target. Due to the
small size this target is easily occluded by
the hand carrying it. Therefore, proper arrangement of tracking cameras has to be
used in order to avoid occlusions.
25g / 0.9oz
(110 × 80 × 28)mm
12mm
Large hand target
This hand target is designed for hand tracking in a two camera tracking system. Its
large size allows to move the hand in almost all directions, without losing tracking.
30g / 1.1oz
(170 × 120 × 35)mm
12mm
Claw target
The claw target looks just the same as the
hand target. But it comes in a bigger size
and is equipped with bigger markers.
35g / 1.2oz
(160 × 110 × 30)mm
16mm
3 Markers and targets (rigid bodies)
18
3.3 Standard targets
Type
Description
Weight
approx. Dimension
Marker
size
Tree target
Originally designed for tracking HMDs, the
tree target is a general-purpose target
for tracking from longer distances. It is
equipped with 20mm markers.
75g / 2.65oz
(195 × 170 × 120)mm
20mm
Generic glasses target
For head tracking mostly in passive stereo
systems, tracking targets must be fixed to
the stereo glasses. ART offers several
light-weight standard targets for this purpose.
min:
14g / 0.5oz
max:
22g / 0.7oz
(270 × 120 × 35)mm
12mm
INFITEC PREMIUM target
Target tailored to the INFITEC PREMIUM
passive stereo glasses.
26g / 0.9oz
(225 × 85 × 80)mm
12mm
3.3 Standard targets
19
Chapter 3
Description
CrystalEyes R 2/3 target
Weight
approx. Dimension
Marker
size
Target tailored to the shutter glasses of the 28g / 1oz
StereoGraphics active stereo system. It fits
to both CrystalEyes R 2 and 3.
(215 × 120 × 60)mm
12mm
CrystalEyes R 5 target
Target tailored to the shutter glasses of the 19g / 0.7oz
StereoGraphics active stereo system. It fits
to the CrystalEyes R 5.
(195 × 105 × 40)mm
12mm
NuVision APG6000
and APG6100 target
Target tailored to the NuVision APG6000 17g / 0.6 oz
and APG6100 shutter glasses.
(220 × 125 × 75)mm
12mm
3 Markers and targets (rigid bodies)
20
Type
Type
Description
Volfoni EDGE R target
Weight
approx. Dimension
Marker
size
Target tailored to the Volfoni EDGE R shut- 23g / 0.7 oz
ter glasses.
(230 × 95 × 60)mm
12mm
NVIDIA 3D Vision R Pro
target
Target tailored to the NVidia 3D Vision Pro
shutter glasses.
25g / 0.9 oz
(225 × 100 × 60)mm
12mm
NVisor SX 60 target
Target tailored to the NVisor SX 60 head
mounted display.
55g / 1.94oz
(300 × 215 × 35)mm
12mm
21
Chapter 3
3.3 Standard targets
Table 3.3: Standard targets overview
4 System setup
4.1 The SMARTTRACK
Keep a distance of min. 20 cm when operating the SMARTTRACK !
The SMARTTRACK is assigned to the Exempt Group according to
IEC62471-1 and therefore poses no risk or hazard to the human eye
or skin at this distance.
Description The SMARTTRACK is a fully integrated stand-alone infrared optical tracking system. It is designed to be used in small volumes of approx. 2m3 .
Figure 4.1: SMARTTRACK
Tracking volume The typical tracking volume of the SMARTTRACK is illustrated in
figure 4.2 on page 23.
Mounting The SMARTTRACK is optimized for a predefined measurement volume. 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 SMARTTRACK (see chapter 4.3.6.3 on page 62).
22
4.1 The SMARTTRACK
Figure 4.3: Attaching the T-piece to the SMARTTRACK
Tracking is very sensitive to camera movements. Therefore, the SMARTTRACK have to
be mounted in a way that reduces camera movements (especially vibrations) as much as
possible.
i
Mounting on tripods may be sufficient for presentations and preliminary installations, but is not recommended as a final solution!
Feel free to contact ART in case you want to realise a more complex installation. We will
assist you in your planning.
The T-piece for the SMARTTRACK can be attached on both bottom and top side (see
figure 4.3).
Only use screws supplied with the carrier for mounting it.
23
Chapter 4
Figure 4.2: 3D Visualization of the tracking volume
4 System setup
You shall never unfasten other screws of the SMARTTRACK (see chapter 1.2 on page
9). Otherwise, the SMARTTRACK may be damaged and liability and warranty is void.
Furthermore, please make sure the ventilator holes are not covered.
Make sure to install the SMARTTRACK in a way that you can easily access its cables. Be
especially careful to mount the SMARTTRACK firmly so it cannot fall down. If unsecured,
it may pose a serious hazard to health and safety.
Avoid hard shocks! A new camera calibration at the ART facilities
might become necessary in that case.
Please install the cables such that
• no one can stumble over the cords,
• the cords cannot be damaged,
• the cords cannot damage the SMARTTRACK due to mechanical strain,
• the line of sight of the SMARTTRACK 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!
To avoid measurement problems, no light sources or highly reflecting areas should be
visible to the SMARTTRACK . 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 refer to 4.3 to learn how to install the DTrack2 frontend software.
24
4.1 The SMARTTRACK
4.1.1 The controller inside the SMARTTRACK
The SMARTTRACK is an integrated tracking system. This means, inside the small housing we integrated not only two tracking cameras but also the Controller which performs all
calculations and generates the data output stream.
The software DTrack2 consists of frontend and backend software. The frontend software
is installed on a remote PC which is connected to the SMARTTRACK via Ethernet. A
GUI for easy handling enables the user to control the tracking system completely from
the remote PC. The benefit is that the system becomes more flexible, i.e. different users
can control the tracking system at any one time (but not simultaneously!) from different
working places.
Furthermore, DTrack2 provides the possibility to control its functions via Ethernet (i.e.
without the DTrack2 frontend software). This is done by establishing a TCP/IP connection with the SMARTTRACK and exchanging short command strings (refer to chapter
4.1.6 on page 30). Please contact ART if you are interested in using this feature.
The SMARTTRACK uses the single Ethernet plug (100 Base-TX) for data output to the remote PC or to any PC within the local network. You may either use the SMARTTRACK as
a DHCP client within your network, 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 SMARTTRACK and the other one is connected to your local
network. In this case, the DTrack2 Frontend will act as a router for the tracking data.
The SMARTTRACK is controlled by a remote PC via DTrack2 frontend software. When
delivered, the SMARTTRACK is set up to support DHCP. Therefore, it will acquire an IP
address automatically given that a DHCP server is running.
Verify that the SMARTTRACK is connected to its power supply. Connect the Ethernet
cable to your local network and connect the plug of the power supply to a socket. If you
want to set a specific static IP address before booting the SMARTTRACK please refer to
chapter 4.1.2 on page 26 for more information.
Press the switch on the back to start the SMARTTRACK . If it is booting without connected Ethernet cable it will use its fall-back IP address.
25
Chapter 4
The backend software, which is Linux-based, runs on the integrated ATC - all necessary
calculations (3DOF, 6DOF data, ...) are done by it. The data and control commands are
interchanged via a TCP/IP connection between the SMARTTRACK and the DTrack2 frontend software on the remote PC. Data output to the application or graphics workstation is
done via a UDP connection.
Interaction devices can be accessed directly due to the integrated radio transceiver (refer
to chapter 5 on page 83).
4 System setup
i
The fall-back IP address of the SMARTTRACK 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 SMARTTRACK for the changes to take effect
Z
Please make sure to remember these settings. Otherwise, your
SMARTTRACK may become unreachable due to wrong IP settings! Refer to chapter 4.1.2 on page 26).
Finally, start the DTrack2 frontend software on the remote PC. Please refer to chapter 4.3
on page 37 for more details.
External synchronization The SMARTTRACK can be synchronized with an external
source. On the back of the SMARTTRACK 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 4.3.6.3 on page 64).
Typically, external synchronization has to be used when other systems inside the tracking
system are also using infrared signals for controlling their equipment (e.g. if IR-controlled
shutter glasses are used). The goal is to reduce or eliminate interference. The ART tracking system follows the external synchronization signal and chooses time slots when it is
safe to emit infrared radiation without causing interference. The effect is, for example, that
active shutter glasses are not flickering but offer a stable picture for the user.
Z
The external sync input is not internally terminated.
When synchronizing with a video input, a T-piece with an external
75Ω terminating resistor should be used if the signal line ends at the
SMARTTRACK .
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.
4.1.2 Setting a static IP address without the DTrack2 Frontend
It is possible to configure the IP address of the SMARTTRACK 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. It doesn’t matter if the SMARTTRACK is running or not.
• If necessary start up the SMARTTRACK .
26
4.1 The SMARTTRACK
• Wait some time (approx. 20-30 seconds) for the SMARTTRACK to write the two
files onto the USB stick.
• Unplug the USB stick.
• Now, you may view the information file or edit the setup file with any editor (instructions given in the setup file).
• In case you changed the setup file, please plug in the USB stick to the SMARTTRACK again.
• Wait some time (approx. 20-30 seconds) for the SMARTTRACK to read the setup
file.
• Shut down and restart the SMARTTRACK for the changes to take effect.
Now, your SMARTTRACK is configured according to your requirements.
4.1.3 The setup file
This file is used to configure the SMARTTRACK without using the DTrack2 frontend
software regarding three parameters, which are:
• configuring the SMARTTRACK to be a DHCP client,
• setting a static IP address and
Carrying out a factory reset will result in the loss of all your settings!
Following, a description of the file (e.g. smarttrack00007_setup.txt) format:
1# ARTtrack Controller Setup:
2
3
4# ethernet settings:
5# - uncomment just one of the lines starting with ’SETNET’
6
7# ethernet settings: DHCP
8# - uncomment the following line to activate DHCP
9#SETNET="dhcp"
10
11# ethernet settings: fix IP address and subnet mask
12# - uncomment the following line to set a fix IP address and subnet mask
13#SETNET="ip 192.168.0.1 255.255.255.0"
27
Chapter 4
• carrying out a factory reset.
4 System setup
14
15# factory reset of all other settings:
16# - CAUTION: use with care, all your settings will be lost!
17# - uncomment the following line to reset all other Controller settings
18#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"
4.1.4 The information file
This file contains the current settings of the SMARTTRACK . Following, a description of
the file format (e.g. smarttrack00007_info.txt):
ARTtrack Controller Information:
Serial Number
: 00007
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
4.1.5 Wake On LAN
The SMARTTRACK is capable of Wake On LAN (WOL) if it has been forced into standby
mode before by the user (DTrack2 → ARTtrack Controller standby ).
There are two options for waking up the controller remotely:
1. you may use DTrack2 or
2. use a separate tool (Windows: WOL program; Linux: console-based command).
Option 1 - WOL via DTrack2 Start the DTrack2 frontend software as usual. The ’Connect’ button will change its name into ’Wake On LAN’ (refer to figure 4.4).
Please make sure that the SMARTTRACK is still connected to the local
network! DTrack2 cannot wake it up if no physical connection between
remote PC and SMARTTRACK is established!
28
4.1 The SMARTTRACK
Figure 4.4: Welcome screen of DTrack2 with Wake On LAN option
Press the ’Wake On LAN’ button and DTrack2 is trying to wake up the SMARTTRACK this may take up to two minutes as the SMARTTRACK has to boot up (see figure 4.5).
If Wake On LAN was successful DTrack2 will automatically establish the connection with
this SMARTTRACK and start the frontend software.
Option 2 - WOL via separate tool You will need the hostname of the SMARTTRACK as
well as its MAC address. To get this information, please press Settings → Controller and
remember the ’hostname’ and its MAC address (’ethernet-MAC LAN’).
If you are a Windows user you need a separate WOL program to use this feature. Please
refer to the manual of the WOL program you are using to find out how to configure the
WOL function.
When using Linux you only need to switch to the console and type in the following command and your SMARTTRACK restarts:
for Linux openSUSE:
$ wol
e.g.: $ wol 00:1D:92:3A:58:5F
for Ubuntu:
29
Chapter 4
Figure 4.5: Wake On LAN progress bar
4 System setup
$ wakeonlan
e.g.: $ wakeonlan 00:1D:92:3A:58:5F
4.1.6 Remote command strings
The following commands may be used in combination with the DTrack2 SDK to control
the tracking system remotely (e.g. with your media control) and without the DTrack2 frontend. The DTrack2 SDK is available from ART upon request.
Command string (always preceded by "dtrack2")
Description
tracking start
Start the measurement
tracking stop
Stop the measurement
set config active_config
Change the configuration to
set output net udp
Configure where the data has to be sent to
example: dtrack2 set output net ch02 udp 231.231.0.1 5003
set output net multicast
Configure where the data has to be sent to
example: dtrack2 set output net ch02 multicast 231.231.0.1 5003
set output active
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Author : Advanced Realtime Tracking (A.R.T.) GmbH
Title : DTrack2 User Manual v2.11.0
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