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DTrack2 User Manual v2.7.0

1. 2 200 5 5 Charging the battery of the Flystick2 04 5 6 FIVSUCKS 6 ao kc ee hoe eee OES eS OS OE EER OES ee 5 7 Flystick3 control elements 2 000 eee eee eae 5 8 Position of the receiver for synchronization B 1 SMARTTRACK Minimum necessary distance at 60Hz and different flash MENSWEES s 6 wk o Oa he ow 2a hae he ee ee Se Se eae ea C 1 Allocation of ID number to the Flystick buttons 88 List of Tables 1 1 Symbols and their meaning 26k oes eww ee ce ew eee eee ees 3 3 Standard targets overview 2 2 000 eee ee ee ee 4 1 Options for coordinate system definition 4 4 2 DTrack2 menu structure overview 00002 eee 4 3 Men DAO psec ascidi asare ia ar amp Gok eB GEO a AA Menu Settings 2 2 2 066 ieee ee we Oe ee ee ee ee Se 4 5 Overview of the supported synccard modes 4 6 Overview of validated shutter glasses 2 55 4 7 Tracking settings Description of the checkboxes 4 8 Output identifiers eb ee eae eb ee oe ee eee ee es 4 9 Flystick settings Description of the checkboxes 4 10 Menu Calibration 6o4 6 Se eed hove Bae PEE OEE Re ee eS ES O 4 11 Menu Display 2 0 20000 eee ee 57 x 4 12 Features of the Monitor 2DOF view nassaan aaa D 4 13 Menu About osua FT 5 1 Description of the Flystick2 0 0 0 0 00 cece eee eee
2. aaa ee 4 2 Attaching the T piece to the SMARTTRACK 4 3 Welcome screen of DTrack2 with Wake On LAN option 4 4 Wake On LAN progress bar 0 00000 eee eee 4 5 Welcome screen of Dlrack2 0 0022 eee ees 4 6 ARTTRACK Controller Selection 02 20054 4 7 Graphical user interface of DTrack2 220 0 2805 4 8 Visualization of the synchronization frequency decrease 4 9 Monitor 2DOF view menu e g camera 1 2 2 2 200 4 10 Origin of the room coordinate system default 4 11 Room calibration settings e g RCS 410 4 12 Marker distances including numbering on the angle and definition of room coordinate system 2 4 6 6 e eke ee eee eee ee 4 13 Room calibration process 2 eee es 4 14 Room re calibration dialogue 0 0002 eee eee 4 15 Body calibration dialogue 2 00002 eee eee 4 16 Defining the target coordinate system 2 00 4 17 Import of calibration files a oa 4 18 Output settings od ooo Mie w dle a ew aoe aS eee dk re ee 4 19 A room calibration set consisting of angle and wand 4 20 Room adjustment dialogue 0 000002 eee Sel PIVSUICKE ii eee be ae e ooo bs ee ok ee eo ee 5 2 Flystick2 control elements 0 00002 eee eae 5 3 USB Radio Transceiver2 2 2 ee 5 4 Flystick2 inserting the batterypack
3. 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 e When buttons of the Flysticks are pressed the decimal numbers bt change They are coded binary i e switch 1 activated bit 0 set switch 2 activated bit 1 set witha maximum of 32 buttons per bt number Note that the number of bt numbers in the block can vary with different Flystick hardware If the device isn t equipped with buttons the output won t contain any bt number e Controller elements are transferred into floating point numbers ct reaching from 1 00 to 1 00 In the output line they follow the button informations one number for each controller Note that the number of ct numbers in the block can vary with different Flystick hardware If the device isn t equipped with controller elements the output won t contain any ct number 85 Z O Q a Si lt C Technical Appendix 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 0000
4. 24 DTrack2 Setup 15 x Installation Complete Setup was completed successfully Completed Ee The installation of the DTrack2 software is com plete now DTrack2 has been installed on your computer Click Next Advanced Realtime Tracking GmbH Pees Completing the DTrack2 Setup Wizard DTrack2 has been installed on your computer ale advanced realtime tracking GmbH Click Finish to close this wizard Press Finish to complete the DTrack2 setup wiz ard Now you can use DTrack2 4 2 1 2 Installation guide Linux The software 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 inthe 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 32 4 2 DTrack2 frontend software The DTrack2 frontend software for Linux is a 32 Bit application If you KS are running a 64 Bit Linux please install all 32 Bit extensions for your distribution 4 2 1 3 Software update Please contact ART in order to receive the latest DTrack2 software For the installation of the update please proceed as mentioned before in chapters 4 2 1 1 and 4 2 1 2 4 2 1 4 Start DTrack2 frontend software When you start DTrack2 on the remote PC you will see
5. 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 F7 and selecting your Flystick3 out of the avail able Flysticks list Now press Select to finalize the assignment If the available Flysticks list doesn t contain your Flystick3 although i 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 07 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 40 for more information concerning body calibration 69 5 Interaction devices 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 6a0 2 you can define the Flystick data to be transmitted Please refer to chapter 4 2 4 3 o
6. To avoid problems with different definitions of the angles we recommend to only use rotation matrices 1Coordinated Universal Time Greenwich Mean Time 84 C 2 Output of Measurement Data via Ethernet 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 C 2 4 Flysticks Identifier 6df2 Note this format version replaces the older 6df format see C 2 5 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 C 1 5 e The first number after the identifier 6d 2 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 sg Sy sz bo b b2 b3 b4 b5 b by bg bto cto cty 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 s 3 Orientation of the Flystick given as rotation matrix b like standard bodies 4 Status of buttons bt see below and controllers ct see below e The quality qu can so far just get the values 1 000 or 1 000
7. 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 C 2 6 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 e The first number is the number of tracked additional markers 86 C 2 Output of Measurement Data via Ethernet e Blocks two consecutive follow for each marker id qu sz sy sz They contain ID number id starting with 1 and a quality value qu still unused and the position s 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 C 2 7 Additional Informations Identifier 6dcal Optionally the number of the calibrated bodies not only of the tracked ones can be included in a data set This is done within an additional line like 6dcal 3 Note 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 87 O 2 O Q a S lt List of Figures 2 1 Principle of optical tracking stereo vision 0 3 1 Angular range of visibility 2 2 222000000 4 1 SMARTTRACK
8. C 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 1s since 00 00 UTC midnight This implies that the timestamp value is reset to zero when passing midnight UTC The timestamp typically shows an accuracy of better than Ater 0 01ms with a Synccard2 used in ARTTRACK systems With a SynccardTP used in TRACKPACK systems one can only expect an accuracy of Ater 0 5ms Example ts 39596 024831 C 2 3 Standard 6DOF Bodies Identifier 6d Measurement data of all tracked standard 6DOF bodies i e all DOF bodies except Flysticks Measurement Tools Bodies that are not tracked by the system at that moment don t appear in the output e The first number gives the number of tracked bodies less or equal to the number of cali brated bodies e The data of each tracked body show up in blocks three consecutive like Lid qu s Sy Sz N 0 dl bo b b2 b3 b4 b5 bg by bg They contain 1 ID number id starting with 0 quality value qu unused 2 Position s orientation angles 7 0 and 3 Rotation matrix b of the Body s orientation All numbers are separated by spaces hex 20 Nine values bo bg form the rotation matrix R bo b3 be R b b b b bs bg
9. Press Calibrate and the calibration starts within 5 seconds Please refer to page 40 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 2 4 3 on page 50 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 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 b passive target Figure 5 6 Flystick3 65 5 Interaction devices 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 low battery recharge soon ing trigger button press the trigger or any button to invoke an interaction which can and joystick be defined in the user application e g drag objects while button trigger pressed open a menu dialo
10. the operation of the buttons and the joystick 5 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 7 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 8 e grey max 5 frames per minute lost i e 3600 frames per minute are transmitted e yellow 5 10 frames per minute lost 34 4 2 DTrack2 frontend software e orange 10 15 frames per minute lost e red gt 15 frames per minute lost DTrack2 2 7 0beta002 full featured DTrack2 Settings Calibration Display About Stop ct 6 6 c2 iets sync 60 Hz Xi o Monitor 2DOF gx c01 9 6 6 mammo c02 IT 6 6 Data Display body ID name x mm y mm z mm rx deg ry deg rz deg 3DOF ID x mm y mm z mm EGT4 283 68 38 03 2257 89 33 44 16 60 161 91 Event Display x i moar Measurement stoppe 2011 08 26 09 55 34 DTrack2 measurement started 2011 08 26 09 55 48 DTrack2 measurement stopped 2011 08 26 09 56 39 DTrack2 measurement started Configuration standard on A
11. 3 Definition of the Coordinates by the Room Coordinate Sys tem with Origin 6DOF Results 3DOF Data Flystick devices C 1 5 1 Flystick2 C 1 5 2 Flystick3 inaMarker C 2 Output of Measurement Data via Ethernet C 2 1 C 2 2 C 2 3 C 2 4 C 2 5 C 2 6 C 2 7 List of Figures List of Tables Index Frame Counter Timestamp Standard 6DOF Bodies Flysticks 2x 30 amp x Anes Flysticks Old Format Additional 3DOF Markers Additional Informations Terms and definitions term 3DOF 6DOF base body calibration body rigid body calibration angle 410mm or 710mm ceiling suspension DTrack2 backend software frontend software infrared optical tracking license code license key marker measurement volume modulated flash mutual blinding room calibration room calibration set target tracking virtual point cloud wand definition three degrees of freedom i e only position six degrees of freedom i e position and 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 orien tation of the room coordinate system equipment to mount an infrared camera to the ceiling Linux based software which does all necessary calculations gr
12. But it comes in a bigger size and is equipped with bigger markers 35g 1 202 Chapter 3 160 x 110 x 30 mm 16mm s 61e piepuels g g Type Description Weight approx Dimension Marker size Tree target Originally designed for tracking HMDs the 75g 2 650z 195x170 x 120 mm 20mm tree target is a general purpose target for tracking from longer distances It is equipped with 20mm markers Generic glasses target For head tracking mostly in passive stereo min 270 x 120 x 35 mm 12mm systems tracking targets must be fixed to 14g 0 50z the stereo glasses ART offers several max light weight standard targets for this pur 22g 0 70z pose c INFITEC PREMIUM target Target tailored to the INFITEC PREMIUM 26g 0 90z 225 x 85 x 80 mm 12mm passive stereo glasses s ipoq piu sjabie pue sJ yJeN g 64 Type CrystalEyes 2 3 target ke Description Weight Target tailored to the shutter glasses of the 28g 10z StereoGraphics active stereo system It fits to both CrystalEyes 2 and 3 approx Dimension 215 x 120 x 60 mm Marker size 12mm CrystalEyes 5 target NuVision APG6000 and APG6100 target oe Target tailored to the shutter glasses of the 19g 0 70z StereoGraphics active stereo system It fits to the CrystalEyes 5 Target tailored to the NuVision APG6000 17g 0 6 oz and APG6100 shutter glasses 195 x 105 x 40 mm 220 x 125 x 75 mm 12mm 12mm
13. 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 C 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 l e the result of a body calibration will depend on the angular position of the target during cali bration A DOF 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 C 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
14. camera system and a standard target The SMARTTRACK makes use of the same principle N ab Q iq co 2 Introduction 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 re flected by the markers and create a greyscale image based on the received IR radia tion 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 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 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 onl
15. for each camera It should be as high as possible 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 Room re calibration Setups may change after a certain operation time if e g move ment due to mechanical instabilities cannot be excluded or thermal drifts occur In that case it is necessary to perform room calibrations periodically DTrack2 provides a simpli fied room calibration to revise an existing room calibration without need of the calibration angle called room re calibration Check the corresponding field in the room calibration dialogue see figure 4 14 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 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 4 2 3 Body calibration H The targets for the SMARTTRACK are pre calibrated and therefore it is usually not necessary to perform a body calibration 40 4 2 DTrack2 frontend software wand length mm 410 00 Marker distances Room Calibration Set 410 v Recalibration does not A 1 2 mm 284 0 affect the coor
16. of 15 5mm 3 st pa oO Q rq CS 4 System setup The pre calibrated stick carrying two markers is called the wana Its function is to create a virtual point cloud in the measurement volume that is used for calculating the room calibration with high accuracy Furthermore the wand is scaling the system That s why damages of the wand loose markers bent poles etc lead to miscalculations of the measurement volume The room calibration dialogue allows the input of the wand length and marker quality as well as the calibration duration wand length mm 410 00 coordinate system min marker quality Middle of cameras w normal quality bd J re calibration Show details Calibrate Exit Figure 4 11 Room calibration settings e g RCS 410 detailed view 13 Y axis 4 1 4 z Xaxis Z 4 1 4 2 x _ Figure 4 12 Marker distances including numbering on the angle and definition of room coordinate system Our gt 1 1 1 OPN The wand length has to be set manually in this dialogue it is written on the label of the wand 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 38 4 2 DTrack2 frontend software If the default orientation and position of the coordinate system i e Middle of cameras see fig
17. the joystick transmits x 0 y 0 61 5 Interaction devices e Moving left creates negative x values moving right positive x values e Moving down creates negative y values moving up positive y values e Full extension into any direction creates values of 1 0 or 1 0 The Flystick2 device provides all functions buttons trigger and joystick simultaneously 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 Transceiver2 The USB Radio Transceiver2 has to be plugged in to any free USB port of the controller before the controller is switched on During operation please do not unplug the USB radio transceiver This would lead to malfunction of the tracking system Please make sure that either the old radio transceiver connected via the camera network or the new USB radio transceiver RT2 is con nected 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 extingui
18. which is correspondingly applied to noncoherent illumination by LEDs Derived safety instructions correspond to DurchfUhrungsanweisung zur UVV Laserstrahlung Instructions for using UVV laser radiation of German Hauptverband der gewerblichen Berufsgenossenschaften Association of commercial and industrial workers compensation insurance carriers October 1995 B 2 Classification of the LED Flash The wave length of the LEDs medium wave length is in the near infrared at 850nm It is an expanded source having an area of about 37mm x 37mm The emitted radiation is divergent in contrast to laser radiation The radiation source is pulsed repeatedly According to the above named instructions three cases have to be considered when using repeatedly pulsed or modulated laser sources of this wave length Safety instructions will then be determined by the biggest limitation found in these cases e exposure of radiation by one single impulse e average radiation intensity e radiation by one single impulse with a correction factor for a sequence of impulses The intensity of divergent radiation depends on the distance between observer his eyes respectively and radiation source B 3 Maximum Permitted Exposure of Radiation MPER This chapter shows the maximum permitted exposure of radiation MPER for the above mentioned cases Exposure of Radiation by One Single Impulse Partial result the exposure of radiation is lower than the MPER v
19. yellow is switched on when the discharging process has been initialised by pressing the yellow button Button for discharging yellow starts the discharging process Table 5 2 Status LEDs quick reference If you want to discharge the battery pack prior to charging just press the yellow button for about 2sec to initiate the discharging process Discharge LED is switched on This may take several hours in some cases However after this procedure the battery charger automatically switches over to the charging process 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 F7 and selecting your Flystick2 out of the avail able Flysticks list Now press Select to finalize the assignment If the available Flysticks list doesn t contain your Flystick2 although H it is already present just press any button of the Flystick2 to register it at the radio transceiver 64 5 2 Flystick3 Then select Calibration Body calibration In the appearing dialogue the body to be selected is named Fiystick body 07 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
20. 00 0 000000 0 000000 0 000000 0 000000 0 000000 1 1 00 0 00 C 2 5 Flysticks Old Format Identifier 6df IS Note supported just for compatibility It is recommended to use the newer Flystick format 6df2 see chapter on page 85 whenever possible H Refer to chapter C 1 5 1 on page 82 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 e The first number gives the number of defined Flysticks e The data of each Flystick show up in blocks three consecutive like id qu bt sz sy sz n 0 bo bi b2 b3 ba bs be by bg They contain 1 ID number id starting with 0 quality value qu see below and button information bt see below 2 Position s and orientation angles 7 6 and 3 Orientation b of the Flystick e 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 When buttons of the Flysticks are pressed the decimal number bt changes It is coded binary i e switch 1 activated bit O set switch 2 activated bit 1 set Example one line 6df 1 0 1 000 2
21. 5 Menu Display Display Shortcut Monitor 2DOF Data F10 Flystick Events Table 4 11 Menu Display Monitor 2DOF The Monitor 2DOF display essentially is a graphical display of the field of view of the SMARTTRACK and of the markers that are seen by it The Monitor 2DOF display shows two black windows equivalent to the field of view with a schematic display of positions and sizes of all recognized markers 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 In the Monitor 2DOF display it is possible to interact with your mouse as certain functions are assigned to the mouse buttons e left mouse button Click and hold down to move a camera display within the Monitor 2DOF view e 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 e right mouse button A menu is opened see table 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
22. ACK may be damaged and liability and warranty is void Furthermore please make sure the ventilator holes are not covered Please refer to 4 2 to learn how to install the DTrack2 frontend software 24 4 1 The SMARTTRACK 4 1 1 The controller inside the SVARTTRACK The SMARTTRACK is an integrated tracking system That means inside the small hous ing 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 connec tion with the SMARTTRACK and exchanging short command strings refer to chapter 4 1 6 on page 29 Please contact ART if you are interested in using this feature 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 interchang
23. ARTP gt Advanced Realtime Tracking System user manual SMARTTRACK amp DTrack version 2 7 January 2012 2012 by ART GmbH Contents are subject to change without notice Trademarks The following overview shows the registered trademarks of ART GmbH Advanced Real time Tracking GmbH trademarks illustrated as in Germany in the EU in the USA A R T ART x x x ARTtrack ARTTRACK x x x DTrack DTrack2 x smARTtrack SIMARTTRACK x x x advanced realtime tracking GmbH x x x Microsoft and Windows 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 2012 by ART GmbH ARTP gt Advanced Realtime Tracking Am ferl 6 D 82362 Wei
24. CK includes the calibrated interaction devices i e Fly stick The two checkboxes which allow more sophisticated settings are described in table 4 7 Checkbox Description calculation of 3DOF markers Calculate the coordinates of single markers automatic start of measurement The measurement is started directly after booting after booting the ATC or ATC TP automatic restart of measure As soon as DTrack2 acquires the sync signal again ment after loss of sync signal the measurement is started 1 has been used formerly Now activated by default and not changeable Table 4 7 Tracking settings Description of the checkboxes Advanced n the Advanced menu DTrack2 presents an overview of the number of bodies you have configured before The name and state calibratea or not calibrated of each body is shown By default the name is left blank You are free to define a name for each body Just double click into the name field and enter a name for the specific body The entered name will appear in the data display as soon as you start the measurement Output The dialogue Output determines the settings of data output via Ethernet Data output will be enabled when you tick the checkbox active 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 loca
25. Chapter 3 s 61e prepuels g g 02 Type Description Weight approx Dimension Marker size Volfoni EDGE target Target tailored to the Volfoni EDGE shut 23g 0 70z 230 x 95 x 60 mm 12mm ter glasses NVIDIA 3D Vision Pro Target tailored to the NVidia 3D Vision Pro 25g 0 90z 225 x 100 x 60 mm 12mm target shutter glasses NVisor SX 60 target Target tailored to the NVisor SX 60 head 55g 1 940z 300 x 215 x 35 mm 12mm mounted display saipog piu sjabie pue siayiey y g Lo Type Motion capture targets Description ART provides a complete set of targets for motion capture purposes All targets are 6DOF targets and can be identified by the tracking system A full ART MoCap target set consists of subsets can be generated 1 Glasses target AGT4 2 Shoulder targets UT 1 Dorsal target DT 2 Upper arm targets HBT 2 Forearm targets UBT 2 Hand targets HT 1 Waist target WT one piece 1 Waist target WT multi part each 2 Upper leg targets FBT 2 Lower leg targets TBT 2 Foot targets FT Weight 28g 1 00z 44g 1 550z 84g 2 960z 52g 1 830z 50g 1 7602 25g 0 90z 195g 6 90z 30g 1 102 99g 3 490z 58g 2 050z 65g 2 290z Table 3 3 Standard targets overview Chapter 3 approx Dimension 225 x 180 x 95 mm 90 x 75 x 35 mm 150 x 65 x 35 mm 150 x 70 x 35 mm 150 x 65 x 35 mm 110 x 80 x 28 mm 390 x 140 x 50 mm 90 x 60 x 50 mm 220 x 120 x 40
26. Feel free to contact ART in case you want to realise a more complex installation We will assist you in your planning Make sure you install the system in a way that you can easily access the SMART TRACK and its cables Be especially careful to fix it firmly so it cannot fall off If the SMARTTRACK is falling down it will be damaged and it exposes a danger to hu mans and the environment Avoid hard shocks A new camera calibration at the AAT facilities might become necessary in that case The cabling should be performed such that e no one can stumble on the cords e the cords cannot be damaged st pa ab Q fq a e the cords cannot tear down the cameras e the line of sight of the camera is not disturbed ment Cable ducts or fixings should be used and a pull relief should A Inappropriate cabling may imply dangers to both people and equip be installed 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 The T piece for the SMARTTRACK can be attached on both bottom and top side see figure 4 2 23 4 System setup A Only use screws supplied with the carrier for mounting it You shall never unfasten other screws of the SMARTTRACK see chapter 1 2 on page 8 Otherwise the SMARTTR
27. IP address as follows select Settings Controller untick the checkbox DHCP client enter P address and subnet mask optionally enter gateway and nameserver reboot the SWARTTRACK for the changes to take effect Please make sure to remember these settings Otherwise your SMARTTRACK may become unreachable due to wrong IP settings Re fer to chapter 4 1 2 on page 26 Finally start the DTrack2 frontend software on the remote PC Please refer to chapter 4 2 on page 31 for more details 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 fron tend 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 up and running or not If necessary start up 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 instruc tions given in the setup file In case you changed the setup file please plug in the USB stick to the SIMART TRACK again Wait some time approx 20 30 seconds for the SMARTTRACK to read the setup file Shut down and restart the SWARTTRACK for the changes to take effect Now your SMARTTRACK is configured according to your req
28. RTtrack Controller smarttrack 00006 Figure 4 7 Graphical user interface of DTrack2 sync ere sync TSG svn m t pa Q rq CS a yellow 5 10 frames per b orange 10 15 frames per c red gt 15 frames per minute minute lost minute lost lost Figure 4 8 Visualization of the synchronization frequency decrease 4 2 1 6 Adjustment of the SMARTTRACK So far the SMARTTRACK has been mounted and connected to the remote PC either directly or via a network Now adjust the SMARTTRACK in a way that allows to cover the desired measurement volume as good as possible To check that DTrack2 provides the Monitor 2DOF display that essentially is a graphical display of the field of view of the SMARTTRACK and of the 35 4 System setup markers that are seen by it presented two dimensional As the SMARTTRACK is pre calibrated there s basically not much more to do you can start tracking right away If you need to arrange the coordinate systems of the tracking system and the application software you ll have two possibilities 1 within DTrack2 go to Calibration Room adjustment refer to 4 2 4 4 on page 54 or 2 adjust the values within the application software Monitor 2DOF display The Monitor 2DOF view shows two black windows for the inte grated IR cameras equivalent to the field of view with a schematic display of positions and sizes of all recognized markers A simple colour code signifie
29. 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 80 C 1 Definition of Coordinates and Rotations C 1 3 6DOF Results Position and Orientation Position and orientation of a target are expressed by an affine transformation 5 R that transforms a vector z from the body coordinate system to the room coordinate system Eroom R Ebody 3 l 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 x 3 rotation matrix R describes the rotation part of the transformation The columns of the matrix R are 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 R x rotation angle x rotation axis i The angles as given in the DTrack2 data output are defined by the equation R Rz n R 9 i R Expressed in trigonometric functions that means cos cos 0 sin dcos 0 sin 0 R sing cosy cosdsin sinyn cosdcosy sindsindsinyn cos sinn sin sin n cos sindcosyn cos sinn sin sinf cosyn cos cosy Note that per definitionem th
30. Y plane 4 The Z axis is added in order to give a right handed coordinate system C 1 1 1 Room Adjustment DTrack2 allows to modify the room coordinate system by specifying these seven values e lz ly l for a translational offset denoted x y z in the GUI e 7 9 for a rotation denoted rx ry rz in the GUI e s fora 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 Zorig in the original room is transformed into a point Zmoa in the modified room coordinate system by Emod RT Lorig i Ss where the rotation matrix R is calculated from 7 6 and like defined in section C 1 3 79 O Z O Q a g lt C Technical Appendix C 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 C 1 3 on page 81 The calibration can be done in three different ways to be selected in the menu Calibrate Body of the body calibration C 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
31. Y plane show the XY plane Show YZ plane show the YZ plane Show XZ plane show the XZ plane Show room orientation shows the room coordinate system only available when check box use tracked orientation is ticked Add line between markers add a line between two selected markers option greyed out until two markers are selected Delete line between markers remove a line between two selected markers option greyed out until line is selected Data view switch to the data view The View position and View orientation may be changed according to the customer s choice The graphic view may be moved along and or rotated around the axes This may be achieved in two different ways 1 hold down the Strg key and the left right mouse button to change the position orientation 2 use the six control dials to adjust position and orientation To restore the default view just press Reset view Tick the use tracked orientation checkbox if you want to rotate or move the target in the graphic view by rotating or moving the real target within the measurement volume If you press OK the changes which have been done for all bodies will be confirmed changes are sent to the controller and the dialogue closes H Pressing Apply only results in a confirmation of the changes only for the currently selected body the body will directly be reloaded after wards 56 4 2 DTrack2 frontend software 4 2 4
32. a 5 2 Status LEDs quick reference n 0 000 eee ee eee lt 5 3 Description of the Flystick3 oaoa a a a 89 Index body adjustment calibration body calibration calibration file 43 55 room calibration room re calibration center of gravity coded flash configuration management 46 controller 25 Data Display data output DHCP Event Display field of view FoV flash intensity infrared optical tracking system interaction device Flystick2 Flystick3 IP address liability 77 line of sight 62 MAC address 29 52 marker active marker big active flat marker big active spherical marker passive marker measurement volume Monitor 2DOF 34 57 motion capture 21 radio module 62 90 reflex suppression automatic 47 manual 47 remote PC 31 retro reflector rigid body 17 room adjustment 54 room calibration set 37 send data divisor service and support Settings shutter glasses validated SMARTTRACK 22 software DTrack2 81 standby mode static reflex scan synchronization active marker synchronization external synchronization internal synchronization synchronization signal 25 targets timestamp tracking trademarks USB radio transceiver RT2 virtual point cloud 89 Wake On LAN WOL 28 wand warranty
33. able 4 2 DTrack2 menu structure overview 45 DTrack2 Shortcut page Configurations Lock the used configuration and save its settings Start Stop M Start Stop measurement ARTtrack Controller standby Force the SMARTTRACK to go into standby mode Quit Q Quit DTrack2 Settings Shortcut page Cameras F7 Camera settings Synccard Synccard settings A R T Radio Info Opens a dialogue where you can see available transceivers and devices within your setup Tracking F8 General settings for standard DTrack2 targets and op tions for starting the measurement under special condi tions Output F9 Set output channels and configure the data to be trans mitted Flystick Configure your Flystick Controller Configure the ATC for your local network Calibration Shortcut page 53 Start static reflex scan for all Starts the static reflex scan enabled cameras Room F5 Room calibration F Room adjustment Shift F5 Adjust room coordinate system E Body F6 Body calibration D Body adjustment Shift F6 Adjust body coordinate system iq ie Display Shortcut page O Monitor 2DOF Graphical display of markers recognized by the cam eras monitor 2DOF view Data F10 Display measurement results 6DOF and or 3DOF Flystick Display Flystick measurement data Events Display event messages generated by DTrack2 Set to default Reset the shown displays to default About Shortcut page DTrack2 Frontend software version ARTtrack Controller Backend software version ARTtrack Controller U
34. above 40 C 100 F ART explicitly denies any liability or warranty if the product is modified E in any way or not used according to this manual and the specification labels on the equipment 2 Introduction The SMARTTRACK is a fully integrated stand alone infrared optical tracking system It is designed to be used in small volumes approx 2m 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 8DOF 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 IR flash synchronized BEN etro reflected light greyscale image greyscale image Figure 2 1 Principle of optical tracking stereo vision Figure 2 1 shows the principle of infrared optical tracking with a two
35. ace coating 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 ap ab oO 4 te 3 Markers and targets rigid bodies 2 Glass balls with a proper refraction index are focussing incoming light approximately to the opposite surface of the ball A layer of microscopic glass balls carried by a reflect ing 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 H ART spherical markers are covered with retro reflecting foils based on the glass balls principle 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 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 2 Single LEDs
36. al quality setting please contact ART After pressing Calibrate the room calibration is started with five seconds delay 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 Moving the wand in only a very small volume will result in reduced accuracy of calibration Therefore 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 13 During calibration the two markers of the wand should be visible to both integrated cameras After a successful room calibration the D7rack2 info window with the calibration results is displayed This window shows the mean residuals for the single cameras here Resid ual mean residual of rays during marker detection as well as the mean deviation 39 st 2 ab Q iq K 4 System setup Figure 4 13 Room calibration process 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 informa tion about the quality of calibration only to an experienced user The value Used Frames represents the percentage of valid i e used for room calibra tion data
37. alue when ensuring a distance of more than 10cm between IR flash and eye 76 B 4 Resulting Safety Instructions Average Radiation Intensity Partial result the exposure of radiation is lower than the MPER value when ensuring a distance of more than 10cm between IR flash and eye Radiation by One Single Impulse with a Correction Factor for a Sequence of Im pulses Partial result the limitations derived from this case are the most significant They determine the below listed safety instructions B 4 Resulting Safety Instructions The following diagrams show the minimum necessary distance between IR flash and eyes to fulfill the exposure limitations according to chapter B 3 on page 77 The values of minimum necessary distances to the external flash are pretty high During setup do NOT look into the flash or better switch off the external flash However the external flashes are typically mounted behind a projec 5 tion screen which reduces the radiation intensity by a certain factor depending on the type of screen used Therefore only the values for 2 the external flash itself are stated Q lt 0 18 fi 1 0 16 2 fi 3 i 0 14 fi 4 se f 5 a 0 12 f 6 i fi 7 i p s 0 1 ge 0 08 i m i 0 06 E 0 04 0 02 0 0 01 0 1 1 10 period of exposure h Figure B 1 SWARTTRACK Minimum necessary distance at 60Hz and different flash intensities Example see fi
38. 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 71 6 General Information If the users detect bugs AAT will provide a workaround or bug fix as soon as possible after the notification Liability AAT 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 e is not operated according to the manual e 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 e has not been used according to the specifications of this manual 72 A Technical spec
39. aphical user interface to control the SMARTTRACK position measurement of bodies subjects or objects based upon infrared light and optical measurement procedures software key to unlock certain capabilities of the tracking system object either made of retro reflective material or LED for position tracking 3DOF defines the volume where optical tracking is possible infrared signal which is used for wireless synchronization one camera sees disturbing reflections caused by the infrared flashes of another one teach the system the position of each camera and define origin and orientation of the room coordinate system consists of angle and wand rigid arrangement of several single markers rigid body position measurement of bodies that move in a defined space used for calculating the relative positions of the IR cameras precalibrated stick carrying two markers The wand belongs to the room calibration set and is used to generate a virtual point cloud and to scale the system 1 Security advice 1 1 Symbols and their meaning You can find the following symbols and their signification on the equipment or in the man ual 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 o
40. ck simultaneously discontinued in December 2011 66 5 2 Flystick3 active target trigger battery status LEDs and charging jack Figure 5 7 Flystick3 control elements Radio Transceiver2 The USB Radio Transceiver2 has to be plugged into any free USB port of the SMARTTRACK before it is switched on During operation please do not unplug the USB radio transceiver This would lead to malfunction of the tracking system Please make sure that either the old radio transceiver connected via the camera network or the new USB radio transceiver RT2 is con A nected to the SMARTTRACK Connecting both radio transceivers to one SMARTTRACK would lead to malfunction of the Flystick2 or Fly stick3 Switch on the SMARTTRACK LED 2 which is framed by a circle see figure 5 3 lights continuously while the SMARTTRACK 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 ma
41. ck2 frontend software it is manda tory that you also update the software of the SMARTTRACK An assistant will guide you through the process of the software update In case you abort the update of the SMART TRACK software not recommended during this process you can carry it out later Just click About ARTtrack Controller update and follow the instructions of the assistant given during this process Please restart the SMARTTRACK after the assistant finished H Personal settings and configurations e g room and body calibration output settings etc will not be lost during update 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 59 2 ab Q rq CS 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 amp joystick eve
42. dinate system type B 1 4 mm 114 0 C 1 3 mm 225 0 coordinate system min marker quality Normal z normal quality 7 IV re calibration Show details Calibrate Exit Figure 4 14 Room re calibration dialogue However it will still be possible to perform a body calibration with the SMARTTRACK in case you want to calibrate self built targets or if you experience a degradation of tracking performance 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 both integrated cameras of the SMARTTRACK The number of bodies to be tracked has to be configured in Settings Tracking 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 the cameras If two markers seen from one cam era 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 usi
43. e 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 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 16 ZI 3 3 Standard targets Type Hand target Description 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 Weight 25g 0 90z approx Dimension 110 x 80 x 28 mm Marker size 12mm Large hand target ra 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 1 102 170 x 120 x 35 mm 12mm Claw target The claw target looks just the same as the hand target
44. e angles can only have the values 180 lt lt 180 90 lt 8 lt 90 180 lt 7 lt 180 Note rotation angles can show strange behaviour at certain orientations At E particular orientations close to 0 90 the other two angles can experience large odd looking changes When connecting DTrack2to an application often problems appear caused by different definitions of rotation angles To avoid that we recommend to use rotation matrices C 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 C 1 5 Flystick devices DTrack2 is supporting the following input devices e Flystick2 and 81 O 2 O Q a Q lt C Technical Appendix e 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 a
45. e here st pa ab Q i cS Figure 4 19 A room calibration set consisting of angle and wand 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 53 4 System setup please refer to page 40 Please refer to chapter on page 37 for the details on how to perform a room calibra tion Room adjustment In many cases it might be necessary to shift or rotate the default coordinate system after calibration The functionality is called from Calibration Room adjustment Room Adjustment 2 x Room Adjustment 2x Camera coordinates Coarse Eine Camera coordinates Coarse Eine elt aman elon Rotation angles 20 55 33 627 75 1103 15 oe oe m ae rx deg 0 00 624 47 614 14 1036 53 705 97 632 38 1179 14 04 1303 16 606 81 967 31 rz deg 0 00 Reset angles Zero point offset mm 0 00 4 y mm 0 00 4 z mm 0 00 Reset vector Scaling 5 factor Loo J Reset scaling x mm y mm 2 mm 55 33 627 75 1103 15 624 47 614 14 1036 53 705 97 632 38 1179 14 1303 16 606 81 967 31 Choose one axis to rotate ry deg 0 00 The transformation values shift rotate scale the room coordinate system relative to the original one Cox Cancel y a normal b powerwall F
46. e status of the Flystick Flystick is being tracked tracking data is displayed Flystick is not being tracked instead of tracking data dashes are displayed button is being pressed white Flystick is not calibrated columns are left blank 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 7 on page 35 4 2 4 6 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 58 4 2 DTrack2 frontend software About Shortcut DTrack2 ARTtrack Controller ARTtrack Controller Update What s this Shift F1 Table 4 13 Menu About ARTtrack Controller Offers information about the software version and release date of the DTrack2 backend software Additionally name and serial number of the SMART TRACK are shown ARTtrack Controller Update If you update your DTra
47. ed via a TCP IP connection between the SWARTTRACK and the DTrack2 fron tend software on the remote PC Data output to the application or graphics workstation is done via a UDP connection Interaction devices have to be connected to the respective ports of the SMARTTRACK re fer to chapter 5 on page 60 The SMARTTRACK is equipped with an input for an external synchronization signal rect angular or video sync signal The signals for external synchronization are transferred via BNC connections The external sync input is not internally terminated When synchronizing with a video input a T piece with an external 75Q 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 By default the SMARTTRACK is set up to support DHCP Connect the Ethernet cable to your local network and connect the power supply If you want to set a specific static IP address before booting the ATC please refer to chapter on page 26 for more infor mation Press the switch on the back to start the SMVARTTRACK If it is booting without con nected Ethernet cable it will use its standard IP address H The fall back IP address of the SMARTTRACK is 192 168 0 1 subnet mask 255 255 255 0 25 st 2 ab Q rq al 4 System setup You may configure another static
48. ensing lithium battery 850mAh 3 7V integrated in the handheld at least 8 hours yes USB at least 7m IEEE 802 15 4 2 4 GHz 0 40 C 5 50 non condensing Target type Tracking range 3 5mm focal length Weight Size 1 only valid for new batteries 74 passive markers approx 4m 250g 220mm x 180mm x 100mm passive or active markers IR LEDs 880nm approx 4 5m 120g 245m x 90mm x 75mm A 3 Overall system Operating conditions Temperature Relative humidity Compatible shutter glasses NuVision APG6000 NuVision APG6100 NVidia 3D Vision Pro RealD CE1 RealD CE2 RealD CE3 RealD CE4 RealD CE5 Volfoni EDGE XPand X103 DTrack2 frontend software System requirements Free disk space Processor RAM Operating systems Settings firewall remote PC used ports A 3 Overall system 0 40 C 5 50 non condensing radio synchronization x xX X X X X x x with Volfoni or NuVision Long Range Emitter x with NuVision Long Range Emitter gt 200MB Intel gt P4 2GHz AMD gt K6 1 6Ghz gt 1GB Windows XP 32 64 Bit Windows 7 64 Bit Linux openSUSE 11 3 32 64 Bit ubuntu 10 04 32 64 Bit 50105 for UDP amp TCP 50110 for UDP 75 lt fas O S Q a G lt B Radiation Protection for SMARTTRACK B 1 Used Instructions All calculations refer to German DIN EN 60825 1 Safety of laser products Sicherheit von Laser Einrichtungen
49. ent have an impact on the room calibration of the SMARTTRACK e g tem peratures below 30 C or severe vibrations Then a room calibration will be necessary However it will still be possible to perform a room calibration with the SMARTTRACK in case you experience a degradation of tracking performance or if you want to obtain a special orientation of the room coordinate system During the room calibration the system determines the three dimensional coordinate sys tem 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 For room calibration the calibration angle of the room calibration set is inserted any where into the field of view of the SMARTTRACK By default the origin of the calibration system lies centered between the two status LEDs in the front The orientation is as shown in figure 4 10 Figure 4 10 Origin of the room coordinate system default Within DTrack2 s Monitor 2DOF display which is started in the background when se lecting Calibration Room you can verify that all markers of the angle are seen by the SMARTTRACK The longer arm of the angle defines the X axis refer to figure 4 12 the Hi shorter one the Y axis The center of marker 1 defines the origin of the room coordinate system at a height
50. gue Table 5 3 Description of the Flystick3 It is equipped with an active or 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 application via Ethernet The 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 e position and orientation of the Flystick e status of buttons and joystick e number of used Flysticks Please refer to chapter C on page 79 for more information about the format of the output data Control elements The numbering sequence of the buttons is as follows e 1 trigger e 2 4 blue buttons right to left In neutral position the joystick transmits x 0 y 0 e Moving left creates negative x values moving right positive x values e Moving down creates negative y values moving up positive y values e Full extension into any direction creates values of 1 0 or 1 0 The Flystick3 device provides all functions buttons trigger and joysti
51. gure B 1 Setting a flash intensity of 7 with a duration of exposure of 1 hour the minimum distance between observer s eye and the SMARTTRACK has to be at 77 B Radiation Protection for SMARTTRACK least 14cm Usually the cameras are mounted e g at the ceiling of a room so during normal oper ation an observer never gets closer to the cameras than the minimum distance During mounting of the IR cameras attention should be payed to switch on the cameras only for adjustment and not to expose service technicians or other people at a not allowed amount be instructed accordingly and warning notices have to be attached at If inappropriate use of the IR cameras is possible employees have to the tracking cameras 78 C Technical Appendix C 1 Definition of Coordinates and Rotations C 1 1 Room Calibration The calibration angle defines origin and axes of the coordinate system This can be done in three different ways Type longer arm shorter arm normal X axis Y axis powerwall X axis Z axis powerwall standing X axis Y 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
52. he appli ance rating plates are on the equipment s housing SIMARTTRACK 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 The cabling should be realized such that no one can stumble on the cords Chapter 1 1 Security advice 10 the cords cannot be damaged the cords cannot tear down the cameras A Install a pull 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 ac cessories can be found in chapters 4 and 5 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 6 2 on page 71 Never expose the equipment to high humidity levels or condensating humidity Pro tect 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
53. ick 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 C 1 5 2 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 6df 2 Output in figure C 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 82 C 2 Output of Measurement Data via Ethernet a Flystick2 b Flystick3 Figure C 1 Allocation of ID number to the Flystick buttons C 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 co
54. ifications The specifications are subject to change without notice A 1 SMARTTRACK Power supply Nominal voltage 12V Maximal current 0 5A Maximal power 6W Ext power supply 12 2V 3A 40W Protection category Ext power supply Camera III Interface connectors data RJ45 synchronization BNC power external Operating conditions Temperature 0 40 C Relative humidity 5 50 Cooling system non condensing active fan Dimensions Length 420mm Width 15mm Height 54mm Weight 1470g Performance Frame rate max 60fps adjustable IR flash 850nm Max tracking distance with 12mm passive markers F focal length in mm F 2 1mm 2 5m Maximum number of 6DOF targets simultaneously 60fps 4 Field of view FoV for each lens horizontal x vertical F 2 1mm 100 x 84 73 lt a O S Q a G lt A Technical specifications A 2 Flysticks Flystick2 Flystick3 Power supply Rechargeable battery Continuous operation Battery charging duration Operation possible with con nected charger USB transmitter Connection to the PC Radio range depending on setup location e g walls Radio module Type ID Frequency Transmission power Operating conditions Operating temperature Relative humidity General features 3 standard AAA batteries at least 10 hours no USB at least 7m IEEE 802 15 4 2 4 GHz 0 40 C 5 50 non cond
55. igure 4 20 Room adjustment dialogue Coarse The Coarse menu offers the opportunity to manipulate the orientation of the room coordinate system with just one click You can define the orientation of two axes the third one will be oriented automatically according to the right hand rule Fine The offsets in this menu are the coordinates of the new desired coordinate system in the original coordinate system Middle of cameras Angular corrections are only allowed up to 20 in any direction The transformation values shift rotate and scale the room coordinate system relative to the original one Body Select the body you want to calibrate and tick the checkbox if you want to perform a re calibration Define the coordinate system which can be due to body due to roon or due to room zero in marker 54 4 2 DTrack2 frontend software Type of coordinate system Description due to body the body coordinate system is completely defined by the target geometry due to room the body coordinate system is oriented parallel to the room coor due to room zero in marker dinate system In these cases the orientation of the body during body calibration defines the orientation of the body coordinate system relative to the body If the body is moved the orientation of start position is used The recommended value for the marker quality is normal quality If you want to use body calibration files for calibrat
56. il all markers are yellow or green recommended 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 5 48 4 2 DTrack2 frontend software supported synccard mode field of application internal generated signal 15 60Hz external video signal external video signal for validated shutter glasses external video signal for validated shutter glasses divisor 2 2 active stereo projection with an analogue video sync signal VGA external TTL signal external TTL signal for validated shutter glasses external TTL signal for validated shutter glasses divisor 2 2 active stereo projection with a TTL sync signal direct settings advanced custom settings 1 predefined settings that should be used with the shutter glasses mentioned in table 4 6 2 if additionally the frequency of the external synchronization signal is greater than 60Hz this mode should be used Table 4 5 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 or ttlinv frequency Hz change the frequency in an interval of 10 Hz to 60 Hz on
57. in chapter C on page 79 A simple colour code indicates if the body is tracked or not body is being tracked tracking data is displayed body is not being tracked instead of tracking data dashes are displayed white body is not calibrated columns are left blank 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 57 t 2 ab Q i cS 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 Static Reflex Suppression 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 12 Features of the Monitor 2DOF view 6DOF body are shown here Note that the calculation of 3DOF markers has to be activated in Settings gt Tracking by ticking the checkbox Otherwise the positions will not be calculated 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 th
58. ing 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 sepa rate text files Please refer to chapter on page 40 for the details on how to perform a body calibra tion Body adjustment If you want to manipulate calibration data of rigid bodies this menu offers the solution Just select the body you want to manipulate from the drop down list which appears at the top of the window Then you have the choice between a general or a special manipulation General manipulation The body coordinate system may be defined in a general manner i e aS desired by the user 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 Pressing 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
59. l 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 225 0 0 0 to 238 255 255 255 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 e 1 every frame is transmitted e 2 every second frame is transmitted 50 4 2 DTrack2 frontend software Channel 1 Channel 2 Channel 3 Channel 4 Channel 5 I active send to UDP port 5000 I this computer send data divisor I multicast 225 0 0 0 238 255 255 255 Z ae e _ae Identifier Description besniber of cabbrsted bodes fr frame counter 6DOF standard body SD0F marker ts timestamp Flystick 6dcal number of calibrated bodies E E aata 6d 6DOF standard body 3d 3DOF marker 6df2 Flystick 6df Flystick old T act as router for tracking output only available if activated in Flystick settings checkbox use old output format Figure 4 18 Output settings Table 4 8 Output identifiers e 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 SWVARTTRACK to their local network due to secu
60. lheim i OB Germany 49 0 881 92530 00 49 0 881 92530 01 f http www ar tracking de What s new in version v2 7 Following a short overview of the main new features in DTrack2 version v2 7 e Support for the SVARTTRACK Introduction of a simplified DTrack2 Frontend for the SMARTTRACK e Enhancement for the Room adjustment chapter 4 2 4 4 on page 54 one click adjustment of axes e Password protection of configurations chapter 4 2 4 2 on page 46 protect important configurations with a password e Tracking frequency status display chapter 4 2 1 5 on page 34 the status display changes its colour to red in case the effective tracking frequency decreases Contents 5 Terms and definitions Security advice 1 1 Symbols and their meaning 1 2 Safety warnings Introduction Markers and targets rigid bodies 3 1 Passive markers 3 2 Active markers 3 3 Standard targets 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 Thesetupfile 4 1 4 The information file 4 1 5 Wake On LAN 4 1 6 Remote command strings 2200 00 0 4 2 DTrack2 frontend software 4 2 1 Getting started Installation guide Windows Installation guide Linux Software update 0 02 00 ee eee Start DTrack2 fr
61. lt 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 e mark the respective Flystick ID e mark the desired available Flystick and e press Select Repeat these steps if you want to use another Flystick Please refer to chapter 5 1 on page 60 to learn how to install the Flystick2 and refer to chapter 5 2 on page 65 for the Flystick3 Controller The menu for the Advanced ARTtrack Controller Settings is divided into two tabs Network 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 SMARTTRACK while booting the SMARTTRACK is a DHCP client and the checkbox is ticked If the network cable is unplugged while booting the SMARTTRACK uses its default IP address i e 192 168 0 1 You may also specify P address subnet mask gateway and nameserver as desired The MAC address of the SMARTTRACK is printed in the last line for your information ethernet MAC LAN On the Time tab you can set the UTC time of the SMARTTRACK Furthermore you can synchronize the UTC Universal Time Coordinated time using NTP Network Time Protocol NTP is a protocol designed to synchroni
62. ly for internal synchronization 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 X103 with NuVision Long Range Emitter NVidia 3D Vision Pro RF sync ed Volfoni EDGE with Volfoni or NuVision LR Emitter t 2 ab Q i CS Table 4 6 Overview of validated shutter glasses A R T 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 of fered Description Mode 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 49 4 System setup By clicking the button Show details you may change the channel the transceiver is trans mitting on Tracking 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 Flystick2 Flystick3 These are completely configurable in separate menus However the maximum total number of bodies that may be used with i the SMARTTRA
63. mm 205 x 70 x 35 mm 95 x 105 x 70 mm Marker size 12mm 12mm 12mm 12mm 12mm 12mm 14mm 16mm 16mm 16mm 16mm sjabue prepuels Eg 4 System setup 4 1 The SMARTTRACK Do not look directly into the SMARTTRACK from short distance lt 10cm for a longer period of time gt 10sec Please refer to chapter A Bjon page 76 for more information Description The SIMARTTRACK is a fully integrated stand alone infrared optical track ing system It is designed to be used in small volumes of approx 2m ethernet LED flash USB switch sync power supply SMARTTRACK 1 LED on LED on powered up measurement started lens Figure 4 1 SMARTTRACK Tracking volume Mounting The SMARTTRACK is optimized for a predefined measurement volume Sys tem 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 2 4 3 on page 47 The tracking system is very sensitive to camera movements Therefore the cameras have to be mounted in a way that reduces camera movements especially vibrations as much 22 4 1 The SMARTTRACK Figure 4 2 Attaching the T piece to the SWARTTRACK as possible H Mounting on tripods may be sufficient for presentations and prelimi nary installations but is not recommended as a final solution
64. n DTrack2is 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 You 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 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 18 a on page 48 Within the edit mode you may also refer to figure 4 18 b on page 48 e create new areas e delete areas clear regions e resize areas and e 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 SMARTTRACK and can be edited each time you enter this mode Flash settings The flash intensity may be changed within an interval of 0 7 These settings strongly depend on the working area and range If you have a small work ing a
65. n page 50 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 70 6 General Information 6 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 A Never try to repair anything yourself Opening the equipment implies risks for health and environment as well as loss of war ranty and liability 6 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 A Do not open the housings Opening the housings implies risk for health and environment as well as loss of warranty and liability 6 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
66. nd 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 C 2 4 on page 85 and chapter C 2 5 on page 86 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 C 1 5 1 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 C 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 id5 button code 20 hex joystick yellow to the left code 20 hex first controller up to 1 0 joyst
67. nfigured 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 Joutput fsynelddivisor i All data are given in units millimeter mm or angular degree deg ART provides free sample source code DTrack2SDK 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 Identifier Type of data enable disable in fr frame counter always enabled ts timestamp Settings gt Output ts 6dcal additional informations Settings Output 6dcal 6d standard bodies 6DOF Settings gt Output 6a 3d additional markers DOF Settings gt Output 3a 6df 6df2 Flysticks 6DOF buttons Settings gt Output 6df 6df2 C 2 1 Frame Counter Identifier fr This line is always the first one It carries a frame counter counting with synchronization fre quency 83 Z O Q Q o lt C Technical Appendix Example fr 21753
68. ng DTrack2 s Monitor 2DOF display which is opened automatically in the background after selecting Calibration Body 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 select list Body 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 41 2 ab Q i cS 4 System setup Body standard body 01 z J re calibration coordinate system due to body min marker quality normal quality hd Load file s Save file s Exit Figure 4 15 Body calibration dialogue 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
69. nts 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 H 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 60 5 1 Flystick2 Top view status LEDs green pulse gt button pressed or joystick position suc cessfully transmitted yellow pulse button pressed or joystick position could not be transmitted yellow flash low battery recharge soon ing trigger button press the trigger or any button to invoke an interaction which can and joystick 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 e position and orientation of the Flystick e status of buttons and joystick e number of used Flysticks Please refer to chapter C for more information about the format of the output data Control elements The numbering sequence of the buttons is as follows e 1 trigger e 2 4 blue buttons right to left e 5 pressing the joystick status LEDs button joystick trigger Figure 5 2 Flystick2 control elements In neutral position
70. o 03 waking up can take 1 2 minutes Figure 4 4 Wake On LAN progress bar 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 com mand and your SMARTTRACK restarts for Linux openSUSE wol lt MAC address of your SMARTTRACK gt e g wol 00 1D 92 3A 58 5F for Ubuntu wakeonlan lt MAC address of your SMARTTRACK gt 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 fron tend The DTrack2 SDK is available from ART upon request 29 ab Q i CS 4 System setup Command string always preceded by dtrack2 tracking start tracking stop set config active_config lt name gt set output net lt channel id gt udp lt hos
71. on 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 Within min marker quality you have to select the quality of the recognized markers default setting is normal quality If the quality of the measured markers is worse than the chosen quality these markers will not be used for the calculation of the body calibration The button Calibrate activates the body calibration which is starting with a delay of 5 sec onds Body calibration is completed with the presentation of the calibration result E Please check if 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 After a new room calibration it is not necessary to perform a new body H calibration Only if the body itself changes you have to calibrate the body again The previous body calibration will be lost if you carry out a new body E calibration If you want to save the previous body calibration please use the Save file s option in the Body calibration dialogue Calibration with a calibration file The calibration files for ou
72. ontend software Connecting tothe SMARTTRACK Adjustment of the SMARTTRACK 4 2 2 Room calibration 4 2 1 1 4 2 1 2 4 2 1 3 4 2 1 4 4 2 1 5 4 2 1 6 4 2 3 Body cali bration 4 2 4 Menu structure 4 2 4 1 4 2 4 2 4 2 4 3 4 2 4 4 4 2 4 5 4 2 4 6 Interaction devices Overview Menu DTrack2 2 2 000 eee eee Menu Settings 2 2 2 0 0 200000 Menu Calibration 0000424 ee Menu Display Menu About 5 1 Flystick2 me ce ws RS 5 2 Flystick3 asa wae a we 6 General Information 6 1 Service cio e e Sw CR we ee 6 2 Cleaning of the equipment 6 3 Warranty and liability Technical specifications A 1 SMARTTRACK A 2 Flysticks oe ake ee See we me A 3 Overall system B Radiation Protection for SVARTTRACK B 1 Used Instructions B 2 Classification of the LED Flash B 3 Maximum Permitted Exposure of Radiation MPER B 4 Resulting Safety Instructions C Technical Appendix C 1 Definition of Coordinates and Rotations C 1 1 C 1 2 C 1 3 C 1 4 C 1 5 Room Calibration C 1 1 1 Room Adjustme Body Calibration C 1 2 1 Definition of the D sca ke ke he oe a ea Coordinates by the Body itself C 1 2 2 Definition of the Coordinates by the Room Coordinate Sys tem with Origin in the Center of the Markers C 1 2
73. pdate Start the assistant for the ATC update What s this Shift F1 Help 4 System setup 4 2 4 2 Menu DTrack2 DTrack2 Shortcut Configurations Start Stop M ARTtrack controller standby Quit Q Table 4 3 Menu DTrack2 Configurations 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 Please do not forget this password Otherwise please contact our support Log settings saves the active configuration to a text file which can be saved on the remote PC This function is intended as a simple means for the user to easily create backups of personalized configurations Start Stop Start Stop measurement ARTtrack controller standby Force the SMARTTRACK to go into standby mode with this command You can restart the SMARTTRACK by using Wake On LAN Please refer to chapter on page 28 for more details Quit Quit DTrack2 frontend software the active measurement doesn t have to be stopped 4 2 4 3 Menu Settings Settings Shortcut Cameras F7 Synccard A R T Radio Info Tracking F8 Output F9 Flystick Controller Table 4 4 Menu Settings 46 4 2 DTrack2 frontend software Cameras This dialogue offers the possibility to adjust the flash intensity and to acti vate the modulated flash The modulated flash may only be used with active targets It is used to synchronize an active target Reflex suppressio
74. pecific ARTtrack Controller hostname or IP address 2 hostname or IP address C Scan Gon subnet IP address e g 10 10 255 255 subnet IP address e g 10 10 255 255 _ cannot resolve hostname IP adress smarttracko0005 00005 full 10 10 8 99 smarttrack oo00s oo008 full 10 10 9 1 Cancel Update list Connec Cancel a specific ATC b scan the network Update list Figure 4 6 ARTTRACK Controller Selection Serial SMARTTRACKs 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 SMART TRACKS set in black Select the entry which fits to your desired SWARTTRACK and press Connect The next time you start DTrack2 your SMARTTRACK is still known by the software and DTrack2 automatically searches for it The welcome screen shows the name of your SMARTTRACK 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 Flystick Shows the measurement results 6DOF and or 3DOF and
75. r targets are available on request Each file is specific for just one type of target It contains the dimensions of the target and the distances between the markers The file is created at ART on site perform ing a body calibration in a defined environment or measurement volume respectively Press Load file s see figure 4 15 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 r The previous body calibrations will be lost if you load new calibration files 43 st oO Q rq K 4 System setup DTrack2 automatically assigns the calibration file to the respective target by using the identifier in the file name H Invalid or corrupt files are not loaded by DTrack2 This is indicated by an error message in the confirmation dialogue see figure 4 17 Press Load to confirm the import of the body calibration files Load Body Calibration Files 2 x path D temp standard bO1 txt standard b01 Figure 4 17 Import of calibration files Press Save file s to store the body calibration files of the currently used bodies The files can be saved at a desired location on the remote PC This function is intended as a simple means for the user to easily create backups of calibrated bodies 44 4 2 DTrack2 frontend software 4 2 4 Menu structure 4 2 4 1 Overview T
76. r 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 r Safe operation of the equipment is only warranted if the warnings in this manual and on the equipment are observed e Never use the equipment if any part looks damaged e 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 e In any of the cases mentioned above or similar pull the power cord out of the power 1 2 Safety warnings 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
77. rea where you are close to the cameras small flash intensities may be sufficient Otherwise if your working area is a bit further away from the SMARTTRACK but still within tracking range 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 period of time A Do not look directly into the camera from short distance for a longer Please refer to chapter Bjon page 76 for more information 47 t 2 ab Q i CS 4 System setup Reflex Suppression Area Edit Mode Help xj Manual selection of the static reflex suppression areas using the Edit Mode c01 move area create new area i drag and drop the area left mouse drag delete delete area clear region resize area right mouse click inside the area shift left mouse drag drag the area edge corner T a Reflex suppression edit mode b Reflex suppression edit mode help To be safe always double check whether the markers of the target are seen properly by the cameras Therefore please use the Monitor 2DOF view e markers coloured in red are characterized by bad circularity small size or low inten sity this may result in poor tracking quality e markers coloured in yellow offer a good tracking quality e markers coloured in green offer a very good tracking quality Increase the flash intensity unt
78. rent settings of the SWARTTRACK Following a description of the file format e g smarttrackO0007_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 Con nect button will change its name into Wake On LAN refer to figure 4 3 DTrack2 v2 6 0 March 03 2011 Copyright C 2007 2011 A R T GmbH Vi x 1 8 97 no connection to ARTtrack Controller art tp demo 03 Wake On LAN Other Controller Exit Figure 4 3 Welcome screen of DTrack2 with Wake On LAN option network DTrack2 cannot wake it up if no physical connection between remote PC and SIMARTTRACK is established Press the Wake On LAN button and DTrack2 is trying to wake up the SMARTTRACK this may take up to two minutes as the SMMARTTRACK has to boot up see figure 4 4 A Please make sure that the SMARTTRACK is still connected to the local 28 4 1 The SMARTTRACK x wake on LAN art tp dem
79. 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 flashes which can pose a threat to human health and the environment Keep enough distance to the flashes of the cameras or the IR flashes Never look directly into the IR light sources Carefully read chapter B 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 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 T
80. rity reasons The mandatory requirement to use this function is that the PC where DTrack2 is in stalled needs to have two separate Ethernet plugs one for connecting to the SMART TRACK and one for the respective local network The DTrack2 frontend reads the data from the SMARTTRACK and routes it to the local network where the application PC is connected to H Using this function will cause a short delay during forwarding of the data IF Do not use this function if the application PC and the ATC are in the same network Please refer to chapter C on page 79 for the format of the data output Flystick In the Flystick Settings you can define the number of Flysticks to be used Checkbox Description use old output format Use the output format of the old Flystick1 see chap ter Cjon page 79 Table 4 9 Flystick settings Description of the checkboxes Below there are two more properties which can be configured for Flystick3 51 st 2 ab Q rq al es 4 System setup e sync groups Configure your Flystick3 to send out IR flashes for one or more syncgroups sync group 1 syncgroups 1 and 2 default syncgroup 1 e flash intensity Set the flash intensity of the active target of the Flystick3 default 3 by moving the slider 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 defau
81. s the size and the cir cularity of the 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 orien tation adjustments of the SWMARTTRACK Additionally the intensity of the brightest pixel in the field of view is shown using a bar display refer to figure 4 7 A click with the right mouse button into one of the windows opens a menu see figure 4 9 with settings for the respective camera Camera 1 Grid G Cross G Fullscreen E One camera Static reflex suppression Start scan for all enabled cameras E Edit reflex suppression areas Figure 4 9 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 2 4 5 0n page 57 36 4 2 DTrack2 frontend software 4 2 2 Room calibration The SMARTTRACK is pre calibrated and therefore it is usually not necessary to perform a room calibration Although we will protect the SMARTTRACK as good as possible before i shipment it may occur that environmental conditions during shipm
82. shes 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 Figure 5 3 USB Radio Transceiver2 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 Insert the battery pack taking care of the polarity also note the imprinting lt lt INSERT lt lt on the battery pack Apply the cover of the battery compartment again and fix the screw 62 5 1 Flystick2 a Step 1 b Step 2 c Step 3 Figure 5 4 Flystick2 inserting the battery pack The 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 Figure 5 5 Charging the battery of the Flystick2 To prevent damage the battery charger automatically disconnects the Flystick2 electron ics That is why using the Flystick2
83. t gt lt port gt set output net lt channel id gt multicast lt host gt lt port gt set output active lt channel id gt lt output type gt lt yes no gt system shutdown 30 Description Start the measurement Stop the measurement Change the configuration to lt name gt Configure where the data has to be sent to Configure where the data has to be sent to Activate or deactivate the data output and specify the data to be transmitted Force the SMARTTRACK to go into standby 4 2 DTrack2 frontend software 4 2 DTrack2 frontend software The software DTrack2 is intended to run on a remote PC Windows or Linux The SMARTTRACK can be controlled remotely via Ethernet The software DTrack2 itself is delivered via CD ROM DTrack2 supports the SMARTTRACK starting with version v2 7 0 Please don t use it with older versions of the DTrack2 frontend soft ware 4 2 1 Getting started Please refer to chapter A 3 on page 75 for more information on supported operating sys tems 4 2 1 1 Installation guide Windows Run the installation executable DTrack2_v2 x x_win32_install exe and the installation wizard of DTrack2 starts 34 DTrack2 Setup AEE Welcome to the DTrack2 Setup Wizard This wizard will guide you through the installation of DTrack2 sla vanced advanced realtime tracking GmbH It is re ended that you close all other applications ing Setup This wil ma ke it possible to update t system files
84. the following start window see figure 4 5 DTrack2 v2 6 0 March 03 2011 Copyright C 2007 2011 A R T GmbH Z x E resolving atc 00249 OK testing 10 OK ti C atc 00249 ce by 10 10 1 16 Connect Other Controller Exit Figure 4 5 Welcome screen of DTrack2 4 2 1 5 Connecting to the SVARTTRACK The first time you start DTrack2 no default SMARTTRACK will be found and another window will be opened automatically see figure 4 6 The radio button at position Spe cific ARTtrack Controller will be ticked If you know the name typically like smarttrack 00001 or IP address of your SMART TRACK 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 SMARTTRACK You will see a list of the available SWMARTTRACKs in your network In column Name every SMARTTRACK in your network will be listed If no SMART TRACK or not the desired SWVARTTRACK is listed there please press Update list Now the list should contain your desired SMARTTRACK You can identify the correct SMARTTRACK by comparing the serial number on the label on the back of the SMARTTRACK with the serial number listed in this window column 33 st 2 ab Q k 4 System setup ARTtrack Controller Selection 2x1 ARTtrack Controller Selection 2x Specific ARTtrack Controller S
85. to configure the transformation Adjust axes to room pressing this button aligns the body coordinate system in parallel to the room coordinate system Special manipulation Choose from the following predefined transformations e due to body The body coordinate system is completely defined by the target geometry see page 2 e due to room origin in COG 55 t 2 ab Q i CS 4 System setup The coordinate system is rotated in order to be aligned in parallel to the room coor dinate system with the origin to be in the center of gravity COG see page 43 In order to use this function the checkbox use tracked orientation has to be ticked e due to room origin in marker The coordinate system is rotated in order to be aligned in parallel to the room coor dinate system with the origin to be in the marker see page 43 In order to use this function the checkbox use tracked orientation has to be ticked The default view for the calibration data of the rigid body is the Graphic view Press the right mouse button and a menu with the following options pops up Option Description Small markers reduce the size of the markers Colored markers show the markers in different colours default greyish Long axes extend the vector arrows of the body coordinate system by infinite dashed lines Show COG show the center of gravity when changing the orientation of the view Show X
86. 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 b Body calibration c Body calibration due to body due to room due to room zero in marker Figure 4 16 Defining the target coordinate system 42 4 2 DTrack2 frontend software 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 l 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 calibrati
87. uirements 26 4 1 The SMARTTRACK 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 e configuring the SMARTTRACK to be a DHCP client e setting a static IP address and e carrying out a factory reset A Carrying out a factory reset will result in the loss of all your settings Following a description of the file e g smarttrackO0007_setup txt format 1 ARTtrack Controller Setup 2 3 4 ethernet settings 5 uncomment just one of the lines starting with SETNET 6 7 ethernet settings DHCP 8 uncomment the following line to activate DHCP 9 SETNET dhcp 10 11 ethernet settings fix IP address and subnet mask 12 uncomment the following line to set a fix IP address and subnet mask 13 SETNET ip 192 168 0 1 255 255 255 0 14 15 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 27 t 2 ab Q i 4 System setup 4 1 4 The information file This file contains the cur
88. ure is not adequate for your application you may select an alternative from the list at the bottom of the dialogue Then you ll define how the coordinate system of the room is created relative to the calibration angle refer to table 4 1 Standard Powerwall Powerwall standing In the Standard setting the With the Powerwall setting the With the Powerwall standing angle defines the X Y plane X X Y plane is in the screen and setting the same coordinate at the long Y at the short the Z axis pointing out of the system as in the Powerwall beam and Z upward screen This is the standard setting is created However the screen coordinate system of angle tool must be positioned many VR systems e g vertically parallel to the screen OpenGL TrackD etc Table 4 1 Options for coordinate system definition The allowed marker quality for the calibration can be chosen in a selection box If the quality of measured markers is worse than the chosen quality these markers will not be used for the calculation of the room calibration The default setting for the quality of the markers is normal quality and should only be changed by experienced users For exam ple choosing any quality may allow room calibration in critical situations where standard settings would lead to calibration failure However the quality of the room calibration will be poor H If you don t succeed in performing a successful room calibration with the norm
89. with connected charger is not possible 63 5 Interaction devices The rechargeable batteries may only be charged with the supplied A charger To ensure a long life cycle only recharge the batteries if they re empty 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 red LED Charge is switched on and the green LED Ready starts flashing the testing cycle is started After approximately 1min the testing cycle is over the green LED extinguishes and the charging process starts Once the battery pack is fully charged the charger switches off the Charge LED the Ready LED is switched on and the charger goes into trickle charging mode automati cally indicated by a flashing Ready LED 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 Status LED Colour Description Power red is switched as soon as the charger is connected to the power plug Charge red is switched on while the charging process is active Ready green is switched on for approx 2min when the battery pack is fully charged and starts flashing afterwards is flashing during the testing cycle Discharge
90. with diffusor sphere for optimum angular range of visibility distance between marker and tracking camera is limited to j a short distance up to 4 5m k 14 3 2 Active markers 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 ws 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 Y A gt diffusor ca glue IR LED IR LED P a Single LED b Single LED with diffusor sphere Figure 3 1 Angular range of visibility 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 15 ap So ab oO 4 O 3 Markers and targets rigid bodies emitted by the markers would be useless for tracking As a consequenc
91. without having to reboot y computers Click Next to continue and to start the installation ett coins process for ART DTrack2 software Administra tor rights are not necessary st oO Q E 23 DTrack2 Setup Choose Install Location Choose the folder in which to install DTrack2 Setup will install DTrack2 in the Following Folder To install in a different Folder click Browse and select another folder Click Next to continu Now please choose the destination folder in am which you want to install DTrack2 Space required 20 9MB Space available 13 2GB dyanced Realtime Tracking GmbH lt Back Cancel 31 4 System setup 34 DTrack2 Setup E License Agreement Please review the license terms before installing DTrack2 2 ix Press Page Down to see the rest of the agreement in no event shall A R T GmbH be liable for any incidental indirect or consequential damages whatsoever including without limitation damages for loss of pecuniary loss arising out of the use oor nabity to use the software ar heryere Please read the license terms carefully and Copyright 2009 by Advanced Realtime Tracking GmbH p ress I Agree if yo u ag ree i n d eed A n ew wi n dow shows the installation progress If you accept the terms of the agreement click I Agree to continue You must accept the agreement to install DTrack2 Advanced Realtime Tracking GmbH
92. y 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 67 5 Interaction devices 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 A Dispose used batteries according to governmental regulations Therefore loosen the four screws using the 2 5mm hexagon key and remove the back cover 68 5 2 Flystick3 Wireless synchronization The receiver for the modulated infrared signal which is used for synchronization is located in the middle of the joint between transparent target and handpiece see figure 5 8 Figure 5 8 Position of the receiver for synchronization 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 re e Note that the synchronization will not work near plasma screens e 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
93. y 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 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 12 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 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 surf
94. ze the clocks of computers over a net work Tick the checkbox activate NTP and enter hostname or IP address of your server If NTP is activated the SWARTTRACK is trying to connect to the NTP server repeatedly in order to update its clock The values for reachability range between 0 100 typ ically 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 synchronization of the clocks is indicated with estimitated precision in the 52 4 2 DTrack2 frontend software unit milliseconds ms H Synchronizing with NTP takes quite a long time Active measurements won t be disturbed 4 2 4 4 Menu Calibration Calibration Shortcut Start static reflex scan for all en abled cameras Room F5 Room adjustment Shift F5 Body F6 Body adjustment Shift F6 Table 4 10 Menu Calibration Start static reflex scan for all enabled cameras Scanning for static reflexes allows searching the measurement volume for unwanted reflexes Areas are defined around the visible reflexes where all reflexes should be suppressed later during measurements Be sure to remove all targets from the measurement volume before starting the scan 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 valu

DTrack2 User Manual v2.7.0

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