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DTrack2 User Manual v2.11.0

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1. 22 02 121 Se ee ae Ga ea ea E 122 B 1 2 1 Definition of the Coordinates by the Body itself 122 B 1 2 4 Coordinate System Definition for 5DOF Targets with and without cylinder markers cylinder markers B 1 3 6DOF Results B 1 4 3DOF Data B 1 5 Flystick devices B 1 5 2 Flystick3 Orientation of a Measurement Tool B 1 6 2 Using a reference bod B 2 Output of Measurement Data via Ethernet Frame Counter B 2 2 Timestamp B 2 3 Standard 6DOF Bodies B 2 4 Standard 6DOF Bodies extended format 2 9 Flysticks 2 6 Flysticks Old Format B 2 8 Measurement Tools with sphere tip B 2 9 Measurement Tool references B 2 10 Additional 3DOF Markers B 2 11 Additional Informations List of Figures List of Tables i 133 134 136 137 Terms and definitions term 3DOF 6DOF 5DOF base body calibration body rigid body calibration angle 410mm ceiling suspension DTrack2 backend software frontend software Flystick hybrid tracking inertial sensor position measurement of bodies subjects or objects based upon in frared light and optical measurement procedures license code license key marker Measurement Tool measurement volume modulated flash mutual blinding prediction Radio Transceiver integrated room calibration room calibration set synccard integrated target tracking virtual point cloud wand definition three degrees of freedom i e only position six deg
2. Calibrate Cance Apply Figure 4 10 Inertial Sensor Calibration H After the Inertial Sensor Calibration has been performed and applied its result is stored directly on the sensor for future use 36 4 3 DTrack2 frontend software 4 3 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 3 1 Getting started Please refer to chapter A 3 on page for more information on supported operating systems 4 3 1 1 Installation guide Windows Run the installation executable DTrack2_v2 x x_win32_install exe and the installation wizard of DTrack2 starts i gt Drea set ea Welcome to the DTrack2 Setup Wizard A RT p gt This wizard will guide you through the installation of DTrack2 Advanced Realtime Tracking tis recommended that you cose at other appicatons reent apite Mes vahauthitig ook ya Click Next to continue and to start the installation kamia process for ART DTrack2 software Administra s tor rights are not necessary i Dina setup x e mo aa Choose Install Location Choose the folder in which to install DTrack2 Setup will install DTrack2 in the following folder To install in
3. Reference target Specifies the elementary behavior of the filter Several options are available Automatically adapts to the observed motion Automatically adapts to the observed motion with stronger filtering of fast motions Optimized for fast motions without special fil tering of slower motions Optimized for medium motions without spe cial filtering of slow motions Optimized for targets that are known not to move at all Optimized for generally static objects with automatic detection of occasional motions Moving targets that change between fast and slow motions such as Fly sticks Moving targets with slow and medium motions Targets where quick reaction is impor tant such as HMDs Targets where quick reaction is impor tant but motions are slow Reference targets attached to non moving objects Reference targets attached to occa sionally moving objects 57 t ab Q q9 E 4 System setup 4 3 6 Menu structure 4 3 6 1 Overview Measurement Tool DTrack2 Shortcut page Licenses License overview Licenses can be added by enter ing a license key for the Measurement Tool or for the Flystick MultiUser function Configurations Create and save different configurations lock the used configuration and save its settings Start Stop M Start Stop measurement Controller standby Force the SMARTTRACK to go into standby mode Quit Q Quit DTrack2 Settings Shortcut page Camera
4. 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 our 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 53 2 ab Q rq lt 4 System setup Press Load file s see figure 4 24 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 The previous body calibrations will be lost if you load new calibration files DTrack2 automatically assigns the calibration file to the respective target by using the identifier in the file name i Invalid or corrupt files are not loaded by DTrack2 This is indicated by an error message in the confirmation dialogue see figure 4 27 Press Load to confirm the import of the body calibration files E P Load Body Calibration Files Le e path T Ulrich Probost flystick bOl txt flystick b01 standard b01 t standard b01 E standard b02 b standard b02 Figure 4 26 Import of calibration files Press Save file s to store the
5. 6dmt2 sphere radius B 2 1 Frame Counter Identifier fr This line is always the first one It carries a frame counter counting with synchronization fre quency Example fr 21753 B 2 2 Timestamp Identifier ts A timestamp can be added to each datagram It shows the time at the measurement of this frame i e the time when the infrared flash of the cameras is fired The timestamp uses the internal clock of the controller giving back the seconds with an accuracy of 14s 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 Az 0 01ms with a Synccard2 used in ARTTRACK systems With a SynccardTP used in TRACKPACK systems one can only expect an accuracy of A terr 0 5ms Example ts 39596 024831 B 2 3 Standard 6DOF Bodies Identifier 6d Measurement data of all tracked standard 6DOF bodies i e all DOF bodies except Flysticks Measurement Tools Bodies that are not tracked by the system at that moment don t appear in the output 1Coordinated Universal Time Greenwich Mean Time 127 aa 2 Cc Q Q 2 lt x B Technical Appendix 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 id qu sz Sy Sz 1 0 o bo by bg b
6. 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 unit milliseconds ms H Synchronizing with NTP takes quite a long time Active measurements won t be disturbed 4 3 6 4 Menu Calibration Calibration Shortcut Start static reflex scan for all en abled cameras Inertial Sensor Calibration Room F5 Room adjustment Shift F5 Body F6 Body adjustment Shift F6 Measurement Tool Table 4 13 Menu Calibration Start static reflex scan for all enabled cameras The SIMARTTRACK is able to sup press all reflexes in certain areas of the image sensor This is especially important for setups where there are a lot of unwanted reflexes from the nearby walls To gain good tracking results these reflexes should be suppressed The feature can be enabled or disabled for each of the two cameras individually in the Monitor 2DOF display Scanning 72 4 3 DTrack2 frontend software for static reflexes allows searching the measurement volume for unwanted reflexes Ar eas 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 Inertial Sensor Calibration This function carries out a drift
7. The value Used Frames represents the percentage of valid i e used for room calibration data for each camera It should be as high as possible for all cameras Values under 50 indicate poor room calibration quality The number of valid frames should be greater than 70 for each camera The room calibration is confirmed i e the data are stored by pressing the button OK Room re calibration The SMARTTRACK s pre calibration may degrade after a cer tain operation time if e g movement due to vibrations cannot be excluded or changes in 47 st 2 ab Q i cS 4 System setup cameras Camera Residual Used Frames c01 0 31 mm 100 c02 0 31 mm 99 c03 0 31 mm 100 c04 0 31 mm 100 Figure 4 21 Room calibration result the ambient temperature occur In this case it is necessary to perform room calibrations periodically DTrack2 provides a simplified room calibration to revise an existing room calibration without need of the calibration angle called room re calibration Check the corresponding field in the room calibration dialogue see figure 4 22 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 Room Calibration 2 x wand length mm 410 00 marker distances Room Calibration Set 410 Recal
8. Transmission power 1 1 Operating conditions Operating temperature 0 40 C 0 38 C Relative humidity General features 5 50 non condensing 5 50 non condensing Target type Tracking range 3 5mm focal length Weight Size passive markers approx 4m 250g 220mm x 180mm x 100mm 1 replacement after a period of 2 years is recommended 2 only valid for new batteries 118 passive or active markers IR LEDs 880nm approx 4 5m 120g 245m x 90mm x 75mm A 3 Overall system 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 XPand X101 XPand X104LX Virtalis ActiveWorks 500 DTrack2 frontend software System requirements Free disk space Processor RAM Operating systems Settings firewall remote PC used ports A 3 Overall system radio synchronization x xX xX X X X x x with Volfoni or NuVision Long Range Emitter x with NuVision Long Range Emitter x x x gt 200MB Intel gt P4 2GHz AMD gt K6 1 6Ghz gt 1GB Windows XP 32 64 Bit with Service Pack 3 SP3 Windows 7 32 64 Bit Windows 8 8 1 32 64 Bit Linux openSUSE gt 12 3 32 64 Bit Linux Ubuntu gt 10 04 32 64 Bit Linux CentOS gt 6 6 32 64 Bit 50105 for UDP amp TCP 50110 for UDP 119 lt x fas O S Q a O lt A Technical specifications A 4 Syst
9. 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 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 52 e due to room origin in COG 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 52 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 53 In order to use this function the checkbox use tracked orientation has to be ticked The default view for the calibration data of
10. 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 SEINET ip 123 123 0 1 255 255 255 0 4 1 4 The information file This file contains the current settings of the SMARTTRACK Following a description of the file format e g smarttrack00007_info txt ARTtrack Controller Information Serial Number 00007 Ethernet LAN dhcp Ethernet IP LAN 10 10 5 22 255 255 0 0 10 10 0 253 Ethernet MAC LAN 00 24 1D 00 C3 B3 4 1 5 Wake On LAN The SMARTTRACK is capable of Wake On LAN WOL if it has been forced into standby mode before by the user DTrack2 ARTtrack Controller standby There are two options for waking up the controller remotely 1 you may use DTrack2 or 2 use a separate tool Windows WOL program Linux console based command Option 1 WOL via DTrack2 Start the DTrack2 frontend software as usual The Con nect button will change its name into Wake On LAN refer to figure 4 4 network DTrack2 cannot wake it up if no physical connection between A Please make sure that the SMARTTRACK is still connected to the local remote PC and SMARTTRACK is established 28 4 1 The SMARTTRACK DTrack2 A R I gt v2 8 2 November 28 2012 Copyright C 2007 2012 A R T GmbH Advanced Realtime Tracking za Figure 4 4 Welcome screen of DTrack2 with Wake On LAN option Press the Wake On LAN button
11. 130 they differ in the number of carried input controls Only the newer 6df2 format is capable of processing analogue values or controllers as produced by a joystick Both formats use the same order of buttons details see below Output Format Number of Buttons Order of Buttons Number of Controllers 6df 8 fix right to left 6df2 device dependent right to left device dependent B 1 5 1 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 124 B 1 Definition of Coordinates and Rotations Switch labelled as 6df Output 6df2 Output in figure B 1 front switch yellow id 0 code 01 hex button code 01 hex outer right switch on backside blue id 1 button code 02 hex inner right switch on backside blue id 2 code 04 h code 08 ex hex button code 08 hex inner left switch on backside blue id 3 outer left switch on backside blue switch on joystick yellow joystick yellow to the left joystick yellow A the right joystick yellow u joystick yellow ih id 4 id5 hex code 02 hex hex hex code 20 hex code 40 code 10 hex code 80 h hex hex hex button code 04 hex hex hex bu
12. 30s Changing the duration of the room calibration especially towards lt gt shorter durations may lead to bad room calibration results Please make sure that you are always able to cover two thirds of the tracking volume within the set time Move the wand gently within the measurement volume in order to generate a virtual point cloud This point cloud should fill at least about two thirds of the measurement volume It is used for calculation of the SMARTTRACK s positions so moving the wand in only a very small volume will result in reduced accuracy of calibration Here a compromise has to be found between 1 too wide movements that often cause the failing of room cal ibration and 2 sparse movements that lead to a valid but inaccurate room calibration Avoid rapid and hectic movement see figure 4 20 During calibration the two markers of the wand should be visible to both integrated cameras Figure 4 20 Room calibration process After a successful room calibration the DTrack2 info window with the calibration results is displayed This window shows the mean residuals for the single cameras here Residual mean residual of rays during marker detection as well as the mean deviation wand residual and the maximum deviation wand range of wand length during the calibration process These values depend on the system geometry and can give information about the quality of calibration only to an experienced user
13. 4 1 5 Wake OnLAN 2 2 2 2 0 2 000 0b eee ee ee 3 1 1 4 4 3 1 2 4 4 1 6 Remote command strings 4 2 Setting up the Hybrid Inertial System 4 3 Dirack2 frontend software 4 3 1 Getting started 3 1 3 Software update 3 1 4_ Start DTrack2 frontend software Installation guide Windows Installation guide Linux 4 3 1 5 Connecting to the SMARTTRACK 4 3 1 6 Adjustment of the SMARTTRACK 4 3 1 7 Localizing and removing of disturbing reflections 4 3 2 Roomcalibration 20 00002 eee eee 4 3 3 Body calibration 62a s e oe ee SRY OS eae ee we wed 4 3 3 1 Target Library oo ooa a 4 3 4 Body adjustment a aoo a 0 020022 eee ee ee eee 4 3 5 Filtering options in Dirack2 200 5 4 3 6 Menu structure 2 2 2022 2 02002 eee 4 3 6 1 Overview 2 ee ae 4 3 6 2 Menu Diack ic she dee be be ee ee ees 4 3 6 3 Menu Settings 22 2 22000 4 3 6 4 Menu Calibration 204 72 4 3 6 5 Menu Display 0 cod awe eee e he Se ae Oo 78 4 3 6 6 Menu lools ieaca 6 a aoe Sao ee ew a 80 4 3 6 Menu About ea a ew 8 Ge eee os Se a ee 81 5 Interaction devices 83 Del PI SUCh eis Saw amp aces mA ae oe NS oe ee Ee ee ok ee amp 83 32 el SUCK OMe cic cages Were 7G a Gd Go te Sek ee E a eee 88 5 3 Measurement lool oq ae ceew oS o whe 4 ae a 93 6 Frequent
14. 4 1 SMARTTRACK oy 6 5 6 Ge bad A aS oe GH SS a Sw eG 4 2 3D Visualization of the tracking volume 3 Attaching the T piece to the SVARTTRACK 4 4 Welcome screen of DTrack2 with Wake On LAN option 5 Wake On LAN progress bar 6 Inertial Sensor Settings __Add Sensor 8 Hybrid Body Calibration 9 Hybrid Body Calibration Result 10 Inertial Sensor Calibration Daea bees ae ee ee 4 12 Controller Selection 04 6 8 wk we ee we ee 4 15 Monitor 2DOF view menu e g camera 1 4 16 Origin of the room coordinate system default 4 17 Room calibration settings e g RCS 410 4 18 Marker distances including numbering on the angle and definition of room aie coisas ge eae oe oe ea ee ee ete 4 19 Room calibration progress 00000 eee ee ee 4 20 Room calibration process 2 2 2 0 2 eee eee ee 4 21 Room calibration result 2 2 00 200022 ee eee 4 22 Room re calibration dialogue 4 23 Recognized target in DTrack2 Monitor 2DOF display 24 Body calibration dialogu 26 Import of calibration files 4 27 Calibrate bodies with the target library 04 4 28 Body Adjustment 6 oe a owe A Se ee ee ee a eee eo 29 Managing the license 30 Managing the configurations 31 Flexible Body Administration from DTrack2 v2 9 0 32 Output setting 33 A room calibration set consisting of angle and wand 4 34 Defining the coordinate system for the room calibration E Ay AY A
15. 55 Output The dialogue Output determines the settings of data output via Ethernet Data output will be enabled when you tick the checkbox active 68 4 3 DTrack2 frontend software gt Output Settings tee Channel1 Channel 2 one Identifier Description send to UDP port 192 168 21 10 5000 fr frame counter this computer send divisor ts ti me stam p OOO COA aT 6dcal number of adjusted bodies eine a Description 6d 6DOF standard body ts timestamp 3d 3DOF marker 7 6dcal number of calibrated bodies 6df2 Flystick Tikes ree 6dmt Measurement Tool 7 6df2 Flystick 6dmir Measurement Tool reference 7 gl Fingertracking hand alcal es Fingertracking hands 6dmt2 Measurement Tool also for ball probes 6di 6D inertial body 6df Flystick old E act as router for tracking output only available if activated in Flystick settings checkbox use old output ox cancel J format Figure 4 32 Output settings Table 4 10 Output identifiers In total up to 5 UDP channels for DTrack2 data output can be configured Tick the check box this computer to send data to the remote PC you are currently working at If you want to send data to any computer within your local network just enter the IP address of the re ceiver and a port number In addition it is possible to define a multicast output By ticking this checkbox the UDP data is sent to a group of addresses in the range of 225 0 0 0 to 23
16. 66 165313 i Reset angles Zero point offset x ani x mm 0 00 y mm 0 00 z mm 0 00 Reset vector as Scaling 5 factor 1 0000 y Reset l Reset scaling i i The transformation values shift rotate scale the room coordinate system relative to the original one i a ee See Sa Cs Sea L l p A p Paa a coarse b fine Figure 4 35 Room adjustment dialogue If you want to use body calibration files for calibrating your target just click Load file s and select the appropriate calibration file s By clicking on Save file s you can save your body calibrations in separate text files Please refer to chapter on page 50 for the details on how to perform a body calibra tion Body adjustment f 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 75 st oO Q i CS 4 System setup 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
17. Can ART radio transceivers pose any security issue Radio transceivers for Flysticks Measurement Tool or Tactile Feedback use a protocol based on IEEE 802 15 4 which was developed in house at ART specifically for these devices There are no other devices which can understand this protocol The design of the ATC ensures that use of this protocol is limited to transfering measurement data like button pressed events and configuring devices 110 7 General Information 7 1 Service It is recommended to maintain the equipment every three years If you experience any problems please do not hesitate to contact our support 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 7 2 Cleaning of the equipment Only the housing of the cameras may be cleaned Before cleaning shut down the system and disconnect the power cords Never use water or any chemicals Just use a dry lint free and antistatic tissue like lens cleaners for optical equipment A Do not open the housings Opening the housings implies risk for health and environment as well as loss of warranty and liability 7 3 Warranty and liability Hardware ART warrants the hardware to be free from defects in workmanship and ma terial under normal use and service and in its original unmodified condition for a period of 24 months from the time of purchase The time of purchase
18. a different folder dick Browse and select another folder Click Next to continue Now please choose the destination folder in which you want to install DTrack2 Browse Space required 64 6MB Space available 11 2GB Cg Ceg J 3 st 2 ab Q E 4 System setup io oraaa senp _ T Ses Press Page Down to see the rest of the agreement In no event A R T GmbH shall 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 Copyright 2012 by Advanced Realtime Tracking GmbH If you accept the terms of the agreement dick I Agree to continue You must accept the agreement to install DTrack2 Cea License Agreement Please review the license terms before installing DTrack2 le DTrack2 Setup TS am x Installation Complete Setup was completed successfully Completed Show details Next gt OOOO O gt vrracascup a B e Completing the DTrack2 Setup Wizard A R I gt DTrack2 has been installed on your computer Advanced Realtime Tracking Click Finish to close this wizard 4 3 1 2 Installation guide Linux Please read the license t
19. ab a Q i CS 4 System setup When you export a configuration please make sure that you rename it before exporting for example by adding the exporting date e g Stan dard 07122012 Configurations with the same name e g Standard will be overwritten Start Stop Start Stop measurement Controller standby Force the SMARTTRACK to go into standby mode with this com mand 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 3 6 3 Menu Settings Settings Shortcut Cameras F7 Synccard Inertial Sensor ART Radio Info Tracking F8 Body Administration F8 Output F9 Flystick Measurement Tool Controller Table 4 6 Menu Settings 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 suppression DTrack2 is capable of suppressing reflexes e g sunrays on the floor in a static way However reflex suppression should always be the last option to be con sidered If possible try adjusting the cameras in order to minimize reflexes 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
20. and UD mean SR static reflex suppression active DR dynamic reflex suppression active UD display orientation is upside down Please refer to chapter 4 3 6 5 on page 78 for more information gt The display bar in the Monitor 2DOF display is indicating very high radiation intensities although no markers are illustrated Where s the radiation coming from Furthermore remove other strong IR radiation sources from the tracking volume or at least prevent them from interfering with the tracking system 6 7 Calibration How can I find out when the room has been calibrated last time Please go to Calibration Room and click Show details The date of the last room calibration is shown How do I define position and orientation of the room coordinate system The calibration angle defines position and orientation of the room coordinate system de pending on how you place it within the tracking volume Please refer to table 4 2 on page DTrack2 offers a limited possibility to adjust the room coordinate system after the room calibration Please refer to chapter 4 3 6 4 on page 74 for more information How do have to move the wand Move the wand gently within the measurement volume in order to generate a virtual point cloud This point cloud should fill at least about two thirds of the measurement volume Please refer to chapter on page 44 for more information gt do not succeed in performing a room
21. application it will still be possible to perform a new room calibration with the SWMARTTRACK In this way you define how the coordinate system of the room is created relative to the calibration angle refer to table 4 2 In principle it is recommended to always perform a room calibration after a certain operat ing time of the SMARTTRACK especially if the SMARTTRACK was subject to extreme vibrations or changing environmental conditions e g high or low temperatures During the room calibration the system determines the three dimensional coordinate sys tem For room calibration the calibration angle of the room calibration set is inserted any where into the field of view of the SMARTTRACK Both IR cameras have to see all markers of the calibration angle Therefore DTrack2 s Monitor 2DOF display is started in the background when selecting Calibration Room Here you can verify that all mark ers of the angle are seen by the SMARTTRACK cameras 44 4 3 DTrack2 frontend software The longer arm of the angle defines the X axis refer to figure 4 18 the shorter one the Y axis The center of marker 1 defines the origin of the room coordinate system at a height of 15 5mm The pre calibrated stick carrying two markers is called the wand Its function is to create a virtual point cloud in the measurement volume that is used for calculating the room calibration with high accuracy Furthermore the wand is scaling the syst
22. 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 interchanged via a TCP IP connection between the SWVARTTRACK 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 can be accessed directly due to the integrated radio transceiver refer to chapter b on page 83 The SMARTTRACK uses the single Ethernet plug 100 Base TX for data output to the re mote PC or to any PC within the local network You may either use the SVARTTRACK as a DHCP client within your network i e the tracking data is transmitted directly via your local network Or if due to your company security guidelines it is not allowed to connect the controller directly to your network you may install two network cards in your remote PC one is connected to the SMARTTRACK and the other one is connected to your local network In this case the DTrack2 Frontend will act as a router for the tracking data The SMARTTRACK is controlled by a remote PC via DTrack2 frontend software When delivered the SMARTTRACK is set up to support DHCP Therefore it will acquire an IP address automatically given that a DHCP server is running Verify that the SMARTTRACK is connected to its power supply Connect the Ethernet cable to your loc
23. 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 6DOF body are shown here Note that the calculation of 3DOF markers has to be activated in Settings Tracking by ticking the checkbox Otherwise the positions will not be calculated Additional information for inertial sensors n the Data Display additional information is pro vided for the inertial sensor e sensor ID e battery level e temperature in C 79 2 ab Q i CS 4 System setup The sensor s temperature will be coloured in green as soon as it reached working temperature The working temperature is not depend i ing on the absolute value of the temperature but on the change over time So in case there s no change anymore working temperature is reached Flystick The Flystick display shows the measurement results of the position and orien tation of the Flystick Additionally the operation of the Flystick buttons and of the joystick are shown A simple colour code shows the status of the Flystick 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 calib
24. calibration e Please make sure that the calibration angle is placed within the measurement vol ume such that it is seen completely by at least two cameras verify with Monitor 2DOF display If not all cameras see the angle be sure that a sufficient volume connects each camera to the others No other marker except for the ones belonging to the calibration angle should be visible e Please make sure that the correct calibration set Room Calibration Set TP Room Calibration Set 410 or Room Calibration Set 710 is selected in the settings for 102 6 7 Calibration room calibration e Please make sure that no reflections are seen by the cameras If it is not possible to eliminate the reflections you may use static suppression of reflections to remove them e Please make sure that the markers positioned on the calibration angle are not dam aged or misarranged e Increase the flash intensities of the cameras until all markers are of good quality i e at least yellow Restart the room calibration Use the wand to create the virtual point cloud within the measurement volume Avoid rapid and hectic movement gt cannot cover two thirds of the measurement volume within the set time for the room calibration How do extend the time for the calibration process Please open the dialogue room calibration from the Calibration menu and press the button Show Details There you can extend the time for the calibration proces
25. correction for all inertial sensors Please refer to chapter 4 2 on page 31 for more information Room Use the room calibration menu to configure your room calibration set concerning wand length and marker distances The wand length is printed on a label on the wand please enter the value here Figure 4 33 A room calibration set consisting of angle and wand Marker distances defines the type of room calibration set for SMARTTRACK it is always Room Calibration Set 410 When choosing expert the angle of the room calibration set may be defined by the user Then the distances between the markers on the angle have to be configured Define the coordinate system as normal or powerwall The layout of the coordinate sys st oO aa Q k a normal b powerwall Figure 4 34 Defining the coordinate system for the room calibration tem is shown in the on page 73 You may adjust the duration of the room calibration 73 4 System setup Show details in a range of 10s 100s Resetting the value to default is achieved by pressing the Set to default button default 30s Changing the duration of the room calibration especially towards e shorter durations may lead to bad room calibration results Please make sure that you are always able to cover two thirds of the tracking volume within the set time If you are re calibrating your room use the checkbox re calibration in the b
26. dialogue the body to be selected is named Measurement Too 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 Measurement Tool are seen by the cameras using the Monitor 2DOF display which appears in the background If you are working with a reference body you would have to calibrate it as well This is done by a standard body calibration Just select the body named Measurement Tool ref erence body 07 Press Calibrate and the calibration starts within 5 seconds Tip calibration After successful body calibration you have to calibrate the tip of the Measurement Tool select Calibration Measurement Tool Place the Measurement Tool in front of the cameras with the tip fixed at exactly one position Press Calibrate to start the calibration process Gently move the Measurement Tool while keeping the tip still at exactly one position i e tilt around its tip DTrack2 is calculating the position of the tip relative to the markers of the Measurement Tool i e the origin of the body coordinate system is tranformed into the Measurement 94 5 3 Measurement Tool Tool s tip lt Note that the progress bar is not continuing if the pointing device is not moved sufficiently If the tip calibration has been successful the result is presented in the dialogue Mea surement Tool Tip Calibration Result Please check the in
27. equivalent to the field of view with a schematic display of positions and sizes of all recognized markers A simple colour code signifies the size and the 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 SWARTTRACK Additionally the intensity of the brightest pixel in the field of view is shown using a bar display refer to figure 4 13 A click with the right mouse button into one of the windows opens a menu see figure 4 15 with settings for the respective camera Cameral Grid G Cross C Fullscreen F One camera Display upside down Display blinking Static reflex suppression Active Start scan for all enabled cameras Edit reflex suppression areas E Figure 4 15 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 3 6 5 on page 78 License overview Up to DTrack2 v2 10 only one specific type of license was available for the SMARTTRACK Starting with DTrack2 version v2 10 a
28. if you want to use another Flystick Please refer to chapter 5 1 on page 83 to learn how to install the Flystick2 and refer to chapter 5 2 on page 88 for the Flystick3 Measurement Tool Within the Measurement Tool dialogue you may define the number of Measurement Tools and the number of references It is limited to a total number of four each Below there are several fields where you may change the default values within the allowed ranges to suit your application Control Description number of Measurement Tools configure the number of devices to be used number of references configure the number of reference bodies to be used measurement duration s configure the time to perform a measurement with the Measurement Tool valid range 0 2 10 0 sec tool tip tolerance mm specify the range within which the tip is assumed to be static valid range 0 1 5 0 mm activate measurement start simula activate the start button simulation and enable the tion respective controls minimal angular variation deg specify the minimum angle that the Measurement Tool has to be tilted over to start a measurement valid range 10 120 maximum lead time for this angular waiting time before the measurement start by the variation s start button simulation t 2 ab Q i cS Table 4 12 Measurement Tool settings If you are working with a reference body you may assign it to a specif
29. is defined as the day when the end user takes possession of the equipment If ART or any company authorized by ART installs the system the time of purchase is the time of the first installation In case of defects during the warranty period ART will repair or replace any defective parts Replaced parts become property of ART Software Software supplied either on the tracking PC or in cameras is furnished on a tested As Is basis ART explicitly does not warrant that the software is error bug free 111 N Sa ab Q rq lo 7 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 accor
30. new license model has been established You may use 4 10 30 or up to 50 targets depending on the license purchased Please refer to table 4 1 for a detailed overview 42 4 3 DTrack2 frontend software Feature denotation Values Possible license status Measurement Tool supported not supported DTrack2 max B bodies B 4 10 30 supported DTrack2 all bodies supported Table 4 1 Licenses overview The maximum number of bodies that may be used in the SMART i TRACK includes the calibrated interaction devices Flystick Measure ment Tool 4 3 1 7 Localizing and removing of disturbing reflections Reflections may be detected when starting the Monitor 2DOF view in DTrack2 They are illustrated the same way as single markers i e with small coloured crosses Sometimes you can also tell from the display bar which is indicating high radiation intensities Sources of disturbing reflections may be diverse Typically however the reflections are produced from one or more of the following e strong infrared radiation sources e g sunlight or sunrays halogen lamps e active or passive targets that are still in tracking range of the cameras e any kind of reflecting material on clothes or shoes e blank metal surfaces especially curved surfaces and surfaces with 90 angles e some types of packaging foils For removing disturbing reflections there are different approaches e reduce the flash intensity of the SWARTTRACK t
31. possibilities to carry out a reflex suppression 62 4 3 DTrack2 frontend software 1 Mark the checkboxes for each camera when you want to suppress reflexes Af terwards select Calibration gt 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 Eait reflex suppression areas Alternatively you may use the shortcut E to enable this mode shown in figure on page 63 Within the edit mode you may also refer to figure 4 31 b on page 63 e create new areas e delete areas e clear regions e resize areas and e move areas a Reflex suppression edit mode Reflex Suppression Area Edit Mode Help Manual selection of the static reflex suppression areas using the Edit Mode c01 a create new area left mouse drag move area drag and drop the area resize area drag the area edge corner clear region right mouse dick inside the area shift left mouse drag b Reflex suppression edit mode help 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 If you want to
32. the SMARTTRACK Chapter 2 3 Markers and targets rigid bodies 3 1 Passive markers The passive markers used in ART tracking systems are retro reflectors These markers reflect the incoming IR radiation into the direction of the incoming light More precise the IR radiation is reflected into a narrow range of angles around the opposite direction of the incoming light Passive markers can be either 1 spherical markers excellent visibility from any perspective expensive fabrication sensitive surface target requires larger volume danger of mechanical damage 2 flat markers cheap flat targets possible robust surface because cover may be applied the angular range of visibility is limited to approx 45 3 ring markers cheap cylindrically shaped targets possible robust surface the angular range of visibility is limited to approx 45 Passive markers are mostly spheres covered with retro reflecting foils However they can also be stickers made from retro reflecting material Retro reflecting sheets or foils available on the market can be based on two different op tical principles 14 3 2 Active markers surface 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 2 Glass spheres with a proper ref
33. the SMARTTRACK with the serial number listed in this window column 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 SMARTTRACK 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 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 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 nizati
34. the rigid body is the Graphic view Press the right mouse button and a menu with the following options pops up 76 4 3 DTrack2 frontend software 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 XY 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 orientat
35. the single users can be done by just pressing one of the Flystick buttons Depending on how many Flysticks you are using you have to configure the number of Flysticks max 10 in Settings Flystick Tick the checkbox activate MultiUser function If you want to use a Flystick and a head target as data pair then you have to tick the checkbox use head targets as well Please refer to chapter B for more details on the output format Body calibration First configure the number of Flystick3 you are using select Settings Flystick and configure the number of Flysticks You have to assign your Flystick3 to a Flystick ID by selecting for example 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 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 50 for more inform
36. used batteries according to governmental regulations 90 5 2 Flystick3 Therefore loosen the four screws using the 2 5mm hexagon key and remove the back cover Wireless synchronization only for active variant The receiver for the modulated in frared signal which is used for synchronization is located in the middle of the joint between transparent target and handpiece see figure 5 6 91 5 Interaction devices Active targets need synchronization in order to make sure that the IR LEDs are flashing at the proper time To ensure wireless synchroniza tion the following points should be observed 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 The modulated flash is adjustable in Settings Cameras Just tick the checkbox mod ulated flash and select one camera which is in syncgroup 1 from the dropdown list Press OK to apply the changed settings MultiUser option The MultiUser option is an enhancement especially for VR AR appli cations when working with more than one Flystick Up to ten users can be equipped with a Flystick and a head target usually mounted on glasses The software DTrack2 is able to track them all but only the data pair Flystick and head target of one user is available as output data Switching between
37. using VRPN and TrackD but I only succeed in receiving data via just one of them Please make sure that you are using two separate output channels with different port numbers 98 6 6 Software DTrack2 gt I m having problems with the Flystick2 or Flystick3 data transmission via TrackD Please make sure that you are using the latest version of the TrackD module ART will provide information upon request Versions of trackd 5 5 which are older than February 2007 do not support data transmission for Flystick2 or Flystick3 If you don t want to change the module you may also use the o d output format in Settings Flystick 6 6 Software DTrack2 gt Where do I get the software DTrack2 from The software DTrack2 is delivered on a USB flash drive with the tracking system Fur thermore you may register for the ART Download Center http www ar tracking com support in order to always have access to the latest release of DTrack2 gt Why is my frontend not starting up e Please refer to chapter A 3 on page for a list of supported operating systems e f using Windows XP please check that you have installed Service Pack 3 SP3 e f using Linux some newer Linux distributions don t install the library Libpng12 so 0 as default although it s part of the distribution Please install it using an appropriate package installer e f using 64 bit Linux please be sure that you have installed the 64 bit DTrack2 p
38. 0 0 326 848 187 216 109 503 0 911812 0 038421 0 408806 0 095040 0 988324 0 119094 0 399457 0 147444 0 904817 B 2 8 Measurement Tools with sphere tip Identifier 6dmt2 H Only available if the Measurement Tool license is present for DTrack2 avail able since version v2 9 1 To use the 6dmt2 output first deactivate the old output format 6dmt in Settings Measurement Tool use old output format Then activate Settings gt Output gt 6dmt2 131 aa i Cc Q Q 2 lt x B Technical Appendix The output for Measurement Tool with sphere tip is defined as follows e The first number gives the number of calibrated Measurement Tools e The second number gives the number the following target data e The data of each tool show up in blocks five consecutive like id qu nbt rd sz sy sz bp b b2 bg b4 b5 bg by bs bt c11 C12 C13 C22 C23 c33 They contain 1 ID number ia starting with 0 quality value qu see below number of buttons nbt and the radius of the Measurement Tool tip sphere rd 2 Measured position s of the tip 3 Rotation matrix b of the tip orientation 4 Button bt binary coded 0x01 measurement of a point is active 0x02 0x04 designate buttons of the Measurement Tool 5 Covarianz matrix c of the position of the tool tip in mm e The quality qu can so far just get the values 1 0 and 1 0 1 0 means that the target of the Measurement Tool is no
39. 000 and APG6100 e XPand X101 X103 with NuVision Long Range Emitter X104LX e NVidia 3D Vision Pro RF sync ed e Volfoni EDGE with Volfoni or NuVision LR Emitter e Virtalis ActiveWorks 500 gt When start tracking the shutter glasses don t work correctly Most shutter glasses use infrared signals to synchronize the glasses with the image The tracking cameras produce a strong infrared flash which interferes with this communica tion By synchronizing both systems the cameras emit their flash in a way that does not interfere Please refer to chapter on page 25 gt When I connect the Extin the shutter emitters stop working Some projectors create only a weak sync signal TTL which is not strong enough to drive the Synccard2 Please contact ART to get a special high impedance version or synchronize against the video signal if available gt Tracking stops when no stereo image is displayed Some graphics adapters only create the shutter image when a stereo image is displayed If available use video synchronization Known behavior for NVidia adapters 6 5 DTrack2 and interfaces gt m using VRPN Which output identifiers have to be activated It is absolutely mandatory that you activate at least the 6d and 6dca output identi fiers refer to table on page 69 Activate other output identifiers depending on your application e g if you re using a Flystick you have to activate 60 2 gt lm
40. 2 c Step 3 Figure 5 3 Flystick2 inserting the battery pack 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 i 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 A Risk of explosion if battery is replaced by an incorrect type 85 5 Interaction devices Charging jack The charging jack is at the bottom of the handle and has to be connected with the supplied battery charger Figure 5 4 Charging the battery of the Flystick2 By connecting the battery charger the Flystick2 electronics are disconnected to prevent damage Thus the Flystick2 cannot be used during the the charging process The rechargeable batteries may only be charged with the supplied charger To ensure long battery life do not let the batteries become discharged completely Recharge whenever convenient Do not charge for gt 24 h Battery charger A battery charger is supplied with the delivered Flystick2 and must be used for charging the batteries For your convenience the battery pack may remain inside the Flystick2 for charging Howev
41. 3 b4 bs bg b7 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 bg b b bs bg To avoid problems with different definitions of the angles we recommend to only use rotation matrices Example one line 6d 1 0 1 000 326 848 187 216 109 503 160 4704 3 6963 7 0913 0 940508 0 339238 0 019025 0 333599 0 932599 0 137735 0 064467 0 123194 0 990286 B 2 4 Standard 6DOF Bodies extended format Identifier 6di i The 6di format is only available when hybrid targets are being used Measurement data of all tracked standard 6DOF bodies i e all DOF bodies except Flysticks Measurement Tools and all hybrid bodies Bodies that are not tracked by the system at that moment do appear in the output e The first number gives the number of tracked bodies e The data of each tracked body show up in blocks three consecutive like id st er sz Sy sz bo b b2 b3 ba b5 b by bg They contain 1 ID number id starting with 0 status of the tracking st 0 not tracked 1 inertial tracking 2 optical tracking 3 inertial and optical tracking drift error estimate er 10 degree per minute when tracking inertially 128 B 2 Output of Measurement Data via Eth
42. 75 4 3 5 Filtering options in DTrack2 With the DTrack2 release v2 9 0 we introduce highly improved filtering options which allow for ideal settings according to the requirement for the tracking performance For 56 4 3 DTrack2 frontend software example in applications where reference targets are used to get the position of a seating buck it is now possible to apply a strong filter for this specific target which results in abso lutely static tracking data Using three main settings for defining a filter i e strength prediction and mode it is possible to customize the tracking behaviour in general or for single targets according to the requirements Following a description of these settings Setting Strength a strong filter may be ideal for tracking ing with smoother output but slower reaction Prediction Description Sets the strength of the filter Low values mean less filtering with faster reaction but higher jitter High values mean stronger filter Predicts output for the specified time in the future to compensate tracking and rendering latency Note that too high positive values can increase jitter and reduce precision Negative values can be used for smoothing the output at the cost of higher latency Usage seating bucks a negative prediction may be ideal for recording data as latency doesn t mat ter so much Mode Adaptive fast Adaptive slow Fast Slow Static
43. 8 255 255 255 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 i a 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 SMVARTTRACK to their local network due to security 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 69 2 ab Q i CS 4 System setup UDP whole Host PC DTrack2 Controller UDP receiver 1 receiver 1 receiver 2 a act as router enabled b act as router disabled connected to A Using this function will cause a short delay during forwarding of the data r Do not use this function if the application PC and the SMART TRACK are in the same network Please refer to chapter B on page for the format of the data output Flystick In
44. AM no standard no r gt New Configuration a Delete l New Edit Lock Appl description owner write active configuration to log file Log settings done current configuration export import 5 create with default values Load l Save a Main window b Create a new configuration Figure 4 30 Managing the configurations Just press Create and the configuration is saved on the controller It is possible to protect the used configuration by pressing the button Lock Then you will be forced to enter a new password and your configuration is locked Please do not forget this password Otherwise please contact our support Existing configurations may be used by selecting the corresponding entry and clicking Apply Quit this dialogue by pressing Exit the configuration is loaded Existing configurations can be deleted if not in use any more Select the entry to be deleted and click Delete Log settings saves the selected configuration in a text file which can be saved on the remote PC This function is mainly intended for supplying information to ART in case a problem arises It is also possible to export and import configurations Save will export the complete active configuration Load imports previously saved configurations The imported con figuration will automatically become the active configuration It s possible to import several configurations at a time 61 st pa
45. ARTP gt Advanced Realtime Tracking System user manual SMARTTRACK amp DTrack version 2 11 April 2015 2015 A R T GmbH Contents are subject to change without notice Trademarks The following overview shows the registered trademarks of A R T GmbH Advanced Re altime Tracking GmbH trademarks illustrated as in Germany in the EU in the USA A R T 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 2015 by ART GmbH ART gt Advanced Realtime Tracking Am Oferl 6 D 82362 W
46. Ay AR E E AAA 4 32 Output settings s oa a hs A et Gk Ae ee 4 33 A room calibration set consisting of angle and wand 134 List of Figures 4 35 Room adjustment dialogue 000002 ee eee 15 Del PIYSUCKZ i Ua ue 28 de i anaa EM AO eds AB ee ee A A 83 5 2 Flystick2 controlelements 202 000522 eee 84 5 3 Flystick2 inserting the battery pack 8 85 5 4 Charging the battery of the Flystick2 86 9 9 FIVSUCKS aoe eo oe eS Oe ae ole Re ee ee ee ee Be Bw a 88 5 6 Flystick3 control elements 0 00000 eee eee 89 5 Measurement lool o6 6 kee eS he AS Oo Re OE 93 B 1 Allocation of ID number to the Flystick buttons 125 aa 2 Cc Q Q 2 lt x 135 List of Tables 1 1 Symbols andtheirmeaning 00 0200 2s 3 3 Standard targets overview 2 2 2 0 ee ee 4 1 Licenses overview 2 2 ee ee eee ee ee bd Gk ar aS Ge Bree ee era at een eee 6 4 5 Menu DIrack3 i e 2 wa ok Gnd a ae BOR wee Bae oe Se Ge 4 6 Menu Settings oe oes bee 2 ee ee eR oe we ere SS Se 4 7 Overview of the supported synccard modes 9 Body Administration Detailed description of the actions 10 Output identifiers oo 2 000020 2 eee ee ee ee 11 Flystick settings Description of the checkboxes 4 12 Measurement lool setting
47. Body calibration setting due toroom The origin of the body coordinate system is set to the center center of gravity of all markers building the rigid body The axes of the body co ordinate system are parallel to the axes of the room coordinate system in the beginning of the body calibration 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 52 4 3 DTrack2 frontend software Body calibration setting due to room zero in marker A combination of the first two methods The direction of the axes of the body coordinate system will be set parallel to the room coordinate system in the moment of body calibration like done with setting due to room The origin of the body coordinate system is given by one marker of the body according to the rules given for setting due to body Selecting the coordinate system for 5DOF targets Analogue to the settings for the standard targets it is also necessary to define the body s coordinate system in case of 5DOF targets The approach is a bit different but also straight forward Coordinate system setting for type 5DOF and 5DOF cylinder Inthe body coordinate system all markers of the target ar
48. DTrack2 calibration started 2013 05 13 14 14 49 DTrack2 calibration applied 2013 05 13 14 16 09 DTrack2 measurement started Configuration Manual on Controller DEMO ATC 19 Figure 4 13 Graphical user interface of DTrack2 sme sore a 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 14 Visualization of the synchronization frequency decrease 4 3 1 6 Adjustment of the SMARTTRACK So far the SWARTTRACK 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 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 3 6 4 on page 74 41 sa 2 oO Q fq 4 System setup 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
49. F target which includes the marker with the largest distance to the origin The other 5DOF target is placed in the plane created by the two axes B 1 3 6DOF Results Position and Orientation Position and orientation of a target are expressed by an affine transformation 5 R that transforms a vector z from the body coordinate system to the room coordinate system Lroom R Lbody 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 0 R Expressed in trigonometric functions that means cos cos 0 sin dcos 0 sin 0 R sing cosy cosdsin sinyn cosdcosy sindsin dsinyn cos sinn sin sin n cos osin 0 cosy cos sinn sin sinf cosyn cos cosy Note that per definitionem the angles can only have the values 180 lt lt 180 90 lt 6 lt 90 180 lt lt 180 123 aa 2 Cc Q Q 2 lt x B Technical Appendix Note rotation angle
50. SMARTTRACK 22 software DTrack2 standby mode static reflex Seta synchronization active marker synchronization external synchronization internal synchronization targets timestamp tip calibration 126 tracking trademarks virtual point cloud 47 Wake On LAN WOL 137 aa 2 Cc Q Q 2 lt Index wake on power WOP wand warranty 138
51. a 3D Vision Pro 25g 0 90z 225 x 100 x 60 mm shutter glasses Target tailored to the NVisor SX 60 head 55g 1 940z 300 x 215 x 35 mm mounted display 12mm 12mm Table 3 3 Standard targets overview Chapter 3 s 61e prepuels g g 4 System setup 4 1 The SMARTTRACK Keep a distance of min 20 cm when operating the SMARTTRACK The SMARTTRACK is assigned to the Exempt Group according to IEC62471 1 and therefore poses no risk or hazard to the human eye or skin at this distance Description The SIMARTTRACK is a fully integrated stand alone infrared optical track ing system It is designed to be used in small volumes of approx 2m ns ethernet LED flash USB switch sync power supply B SMARTTRACK O LED on LED on lens powered up measurement started Figure 4 1 SMARTTRACK Tracking volume The typical tracking volume of the SMARTTRACK is illustrated in figure 4 2 on page 23 Mounting The SMARTTRACK is optimized for a predefined measurement volume 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 3 6 3 on page 62 22 4 1 The SMARTTRACK Figure 4 2 3D Visualization of the tracking volume ww pa D Figure 4 3 Attaching the T piece to the SMARTTRACK Q cc O Tracking is very sensi
52. ack age To run 32 bit DTrack2 on 64 bit Linux you might have to install the 32 bit version of several libraries depending on your Linux distribution gt Some of my menu items are missing What can I do e Please check if the latest updates for your operating system are installed e Please refer to chapter A 3 on page for a list of supported operating systems gt Where is the Monitor 2DOF display e Please check if the latest updates for your operating system are installed e Please make sure that your firewall is not blocking DTrack2 even partly e Please refer to chapter A 3 on page for a list of supported operating systems 99 6 Frequently asked questions FAQ gt My target is not visualized within the Monitor 2DOF display e Please make sure that the target is inside the tracking volume and within tracking range of the cameras e Double check the settings for the flash intensities of the cameras refer to chapter 4 3 6 3 on page 62 e In case you are using active targets please make sure that you have activated the modulated flash The camera to emit the modulated flash has to be on syncgroup 1 When using a Flystick3 you have to doublecheck additionally how many sync groups are activated for the Flystick3 active target Settings Flystick gt How do define the number of targets to be tracked Go to Settings Body Administration and change the number of 6DOF bodies What is the maxi
53. al network and connect the plug of the power supply to a socket If you want to set a specific static IP address before booting the SMARTTRACK please refer to chapter on page 26 for more information Press the switch on the back to start the SVARTTRACK If it is booting without con nected Ethernet cable it will use its fall back IP address 25 t oO Q i CS 4 System setup H The fall back IP address of the SMARTTRACK is 192 168 0 1 subnet mask 255 255 255 0 You may configure another static IP address as follows e select Settings Controller e untick the checkbox DHCP client e 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 3 on page 37 for more details External synchronization The SMARTTRACK can be synchronized with an external source On the back of the SWARTTRACK there is a BNC plug ExtIn which serves as input for the external synchronization signal The sync signal may be of type TTL or video see also chapter on page 64 Typically external synchronization has to be used when other systems inside the tracking system are also using infrared signals for con
54. alibration setting due to body The body coordinate system is fixed by the markers of the rigid body according to a set of rules 1 Search the biggest distance between two markers of the rigid body These two markers 1 and 2 will define the X axis 2 Search for a third marker 3 that has the smallest distance to one of the two markers 1 and 2 The marker that has smallest distance to marker 3 becomes marker 1 It will define the coordinate origin The other marker will be 2 The positive X axis is directed from marker 1 to marker 2 3 Marker 3 defines the X Y plane together with markers 1 and 2 Marker 3 has a positive Y coordinate 4 The Z axis is already defined by these rules resulting in a right handed coordinate system B 1 2 2 Definition of the Coordinates by the Room Coordinate System with Origin in the Center of the Markers Body calibration setting due to room The origin of the body coordinate system is set to the center center of gravity of all markers building the rigid body The axes of the body coordinate system are parallel to the axes of the room coordinate system in the beginning of the body calibration 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 positio
55. an mode being default In this mode DTrack2 will search for the sensors on default channels 35 and 55 even if the dongles sensors have been set to different channels manually In this case please change the scan mode to single and select the corresponding channel in the adjacent selection box If you don t know the current radio channel of your sensors choose all takes some time With USB you can identify sensors that are connected to the ART Controller via an USB charging cable Press Scan and the system will identify all sensors in range Tick the checkboxes of all sensors to be added to the configuration in the column Accept or add all sensors by tick ing accept all Then press Apply and exit this dialogue 32 4 2 Setting up the Hybrid Inertial System ART delivers pre calibrated targets i e both the optical target geome try as well as the HBC result are stored directly on the sensor Unless H the hybrid target is disassembled or becomes damaged it is sufficient to identify and add all sensors using the menu Settings Inertial Sen sors Add Sensors There is no need to calibrate the targets manu ally The dialogue nertial Sensor Settings see figure 4 6 on 31 now shows all available don gles and sensors with the following properties e Device ID wireless icon e Model e g Colibri Wireless e Name target name pre calibrated or user defined e Firmware Version Currently used chann
56. and DTrack2 is trying to wake up the SMARTTRACK this may take up to two minutes as the SMARTTRACK has to boot up see figure 4 5 gt DTrack2 wake on LAN atc 502 waking up can take 1 2 minutes Figure 4 5 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 SMVARTTRACK 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 29 st 2 ab Q k 4 System setup 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 f
57. and active targets at the same time Yes of course there a no restrictions on using passive and active targets simultaneously gt am moving my target upwards but within the Monitor 2DOF display it moves downwards The camera is set to display data upside down In the Monitor 2DOF display right click on the respective camera window and disable Display upside down 107 6 Frequently asked questions FAQ 6 9 Flystick gt My Flystick is not presented within the available Flysticks list e Make sure that the battery is charged Press any button of the Flystick and the orange status LED should be switched on gt Why is the pressing of the Flystick buttons not recognized within DTrack2 e Make sure that the battery is charged Press any button of the Flystick and the orange status LED should be switched on e Double check whether the button pressed events are recognized by DTrack2 There fore enable the Flystick Display Display Flystick blue rectangles should light up on each button pressed event in the Flystick Display e Go to Settings Flystick and assign your Flystick to be found in the available Flysticks list to any Filystick ID Why is the pressing of the Flystick buttons not recognized within the graphics application e Make sure that the battery is charged Press any button of the Flystick and the orange status LED should be switched on e Go to Settings Flystick and ass
58. ant for the controller update Measurement Tool demo Provides a convenient way to perform measurements either by pressing a button or by performing a gesture with the Measurement Tool About Shortcut page DTrack2 Frontend software version Controller Backend software version What s new Overview of the new features What s this Shift F1 Help Table 4 4 DTrack2 menu structure overview 4 3 6 2 Menu DTrack2 x o DTrack2 Shortcut fan Licenses O Configurations Start Stop M Controller standby Quit Q Table 4 5 Menu DTrack2 Licenses The capability of the SMARTTRACK is defined by licenses which can be managed here You can add functionality for the Measurement Tool or the MultiUser func tion for the Flystick by simply entering a license code which can be provided by ART see figure 4 29 If you want to add the Measurement Tool for example go ahead as follows e Select the feature Measurement Tool 59 4 System setup e Click on Hardware Info e Contact ART and communicate the serial number of the synccard or the MAC ad dress of the Ethernet port dentification in order to receive a license code e Enter the license code you received from ART in the field new license code e Click on Add license G P Licenses m gt SS lt new license code r gt Hardware Information eax currently installed licenses DTrack2 extended license can be b
59. appplication Details of the definition In addition to the 5DOF central axis the system selects an axis for each body in the body coordinate system i e pulled axis The rotation around the body axis is set to the value minimizing the angle between the pulled axis and the 5DOF central axis The pulled axis is always perpendicular to the body axis In addition the following criteria are used e f the 5DOF central axis is not the body axis the pulled axis is the axis minimizing the angle to the 5DOF central axis e f the 5DOF central axis is the body axis the pulled axis has a random direction in the plain The automatic restart of measurement after loss of sync signal option is set to active by default and therefore it is not shown anymore from DTrack2 v2 8 1 Body Administration The menu allows for administering all targets e g Standard Flystick etc in the system refer to figure f The number of 6DOF bodies represents the number of targets that should be tracked In this context the number of targets does not include the interaction devices e g Flystick or Measurement Tool These are completely configurable in separate tabs However the maximum total number of bodies that may be used i in ART systems includes the calibrated interaction devices Flystick Measurement Tool Here you can activate delete or reset target calibrations and change the order of the single targets Additionally you get the i
60. ase refer to chapter B for more information about the format of the output data Control elements The numbering sequence of the buttons is as follows 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 the joystick transmits x 0 y 0 84 5 1 Flystick2 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 In case you need to carry out a factory reset for the Flystick2 you just have to plugin the charger into the charging jack Radio module The Flystick2 uses a radio module in the 2 4GHz band This band is standardized internationally and can be used without a license Range with line of sight is more than 7m but can be reduced when passing material e g projection screens H The SMARTTRACK comes with an integrated radio transceiver There is no need to plug in an additional USB Radio Transceiver RT2 Battery pack The battery compartment is at the lower end of the handle It is fixed with a single screw which can be opened with the supplied 2mm hexagon key Remove the screw and take off the cover of the battery compartment a Step 1 b Step
61. ation concerning body calibration 92 5 3 Measurement Tool 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 3 6 3 on page 68 for more details Press Start to start the measurement In order to see the tracking data you have to enable the Flystick display by clicking Display Flystick 5 3 Measurement Tool Introduction The ART Measurement Tool is a pointing device for measurement or med ical applications In this specialized field it is very important to measure positions of points in high accuracy For that reason the Measurement Tool is equipped with a measurement tip The position of the tip can be measured with the optical tracking system Figure 5 7 Measurement Tool Description The Measurement Tool is an add on to the AAT tracking system and is integrated into DTrack2 by entering a license code which can be supplied by ART For the creation of the license code we need the serial number of the synccard Click DTrack2 Licenses and Hardware Info to find out the serial number Go back to license overview and add the license key delivered by ART for your Measurement Tool refer to chapter 3 6 2jon page 9 Th
62. 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 Body re calibration DTrack2 provides a possibility to re calibrate a rigid body When performing a body re calibration the origin of the initial coordinate system and the orien tation of the coordinate system as well are preserved You might need to re calibrate bodies in case their geometry is changed due to mechani cal impact 4 3 3 1 Target Library With the introduction of DTrack2 v2 8 1 it is possibe to make use of an integrated library that contains calibration data for most ART standard targets e g glasses targets etc When you go to Calibration Body choose Target Library refer to figure 4 27 The filter is set to Found Targets by default whereas the other options may be used in case only targets of this type are to be calibrated 54 4 3 DTrack2 frontend software m gt Body Calibration mes Loe Target Library Custom fiter Found Targets accept all Short Name Name Calibrated Accept Glasses Target 5 found new targets 1in current group 1 total 0 accepted calibrated 1 e 50 Cancel Figure 4 27 Calibrate bodies with the target library With the Found Targets filter all targets presented i e shown to the system will be foun
63. catter 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 Synchronization of active markers Active markers could in principle be activated in CW mode i e continuous light emission However this would not be very clever be cause tracking cameras have a very narrow time slot of sensitivity i e most of the light emitted by the markers would be useless for tracking As a consequence maximum dis tance between cameras and marker would be very short due to an upper limit of power dissipation allowed for each single LED Therefore all active markers provided by ART are emitting radiation only when the tracking cameras are sensitive thus having to be syn chronized with the cameras Synchronization can be done by a wired connection between the tracking system and the pc board controlling the active markers but can also be done in a wireless way 16 3 2 Active markers Y A aT gt d
64. ccur Target Library Custom Target Library Custom body body Brile standard body 03 al te calibration Brile Sd standard body 05 Head fie avete _Gaibrate Mead fie Save fie A e J e a Target type standard b Target type 5DOF Target Library Custom Target Library Custom body body standard body 02 x re calibration standard body 02 x re calibration lt Load file s Save file s Calibrate Load file s Save file s Calibrate rab et eL ext ext fan l ie c Target type 5DOF cylinder d Target type 2x 5DOF cylinder Figure 4 24 Body calibration dialogue First the target that shall be calibrated has to be selected in the select list Body By de fault the type is set to standard which allows for calibrating a 6DOF target with spherical flat or active markers When you are using a target made of ring markers you would select the type according to the geometry of the target e 5DOF a target made of spherical markers which are aligned along one main axis The rotation around that axis cannot be detected by the system you loose one dimension of freedom Therefore we call it 5DOF target e 5DOF cylinder a target made of ring markers which are aligned along one main axis 51 4 System
65. ce lt Ra A 1 SMARTTRACK g ab Q Power supply amp Nominal voltage 5V DC Maximal current 4A Maximal power 20W Ext power supply 5V 4A 20W Protection category Ext power supply Camera III Interface connectors data RJ45 synchronization BNC power external Flystick2 and 3 internal Radio Transceiver no external USB Radio Transceiver is allowed Operating conditions Temperature 0 35 C Relative humidity 5 50 non condensing Cooling system active fan Dimensions Length approx 420mm Width approx 105mm Height approx 55mm Weight approx 1300g 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 gt 4 Field of view FoV for each lens horizontal x vertical 117 A Technical specifications F 2 1mm A 2 Flysticks 100 x 84 Flystick2 Flystick3 Power supply Rechargeable battery Continuous operation Battery charging duration 3 standard AAA batteries at least 10 hours lithium battery 850mAh 3 7V integrated in the handheld at least 8 hours Operation possible with con no yes nected charger USB transmitter Connection to the PC USB USB Radio range at least 7m at least 7m depending on setup location e g walls Radio module Type ID IEEE 802 15 4 IEEE 802 15 4 Frequency 2 4 GHz 2 4 GHz
66. ce 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 events and correlates them with the 6DOF output data Tracking and interaction data are then transmitted to the application via Ethernet The Flystick2 has no power switch It is activated automatically within a few seconds after any button event and is deactivated after several 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 83 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 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 Ple
67. cking as measurement of the position of objects or subjects that move ina defined space These objects or subjects to be tracked have to be equipped with single markers or rigid arrangements of markers rigid body or target Position and or orientation of those rigid bodies can be measured If only the spatial po sition X Y Z is measured we call this three degrees of freedom 3DOF tracking The simultaneous measurement of position and orientation three independent angular coor dinates is called six degrees of freedom 6DOF tracking Single markers are sufficient if only 3DOF coordinates are needed For 6DOF tracking a rigid body is mandatory Passive markers are covered with retro reflective material they act as light reflectors Active light emitters i e based on infrared LEDs are called active markers IR flash synchronized EN 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 camera system and a standard target The SMARTTRACK makes use of the same principle 12 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 base
68. d In the unlikely case that a target is not found by the system it needs to be cal ibrated using the standard body calibration The calibrations for all found targets only need to be accepted either by ticking the checkbox accepi al or one at a time Finalize the assignment of the targets by pressing Apply DTrack2 compares the geometry of the physical target with the calibra lt tion data of the target library In some cases a re calibration might be necessary e g when a clip on target is applied to the glasses bending is possible If you haven t increased the number of targets before the system will ask you if this number should be adjusted automatically Press Ok if you want the system to do so First make sure that all targets are in the calibrated volume Then start the calibra tion Calibration Body Target Library Calibrate and allow the targets to move around While this movement the targets must be visible for the SMVARTTRACK Finally one after the other target should be recognized and appear in the display Tick the checkbox accepit all and start the measurement in order for your application to receive tracking data In case you need to adjust the order of the targets please go to Settings Body Admin istration F8 4 3 4 Body adjustment The Body adjustment function is a tool to manipulate calibration data of rigid bodies i e the body coordinate system may be changed r
69. d 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 cal culates the path of the optical rays from the cameras to the markers and delivers the ray intersections in three dimensional coordinates These intersections are the positions of the markers The position and orientation of the cameras are known from the room calibration During body calibration DTrack2 identifies certain marker arrangements as rigid bodies Based upon this DTrack2 is able to calculate 6DOF data and finally knows position and orien tation of the target and therefore of the object or subject to be tracked In optical tracking systems you have to be aware that tracking is only possible as long as the target is positioned in tracking range of the cameras and is not occluded by any other objects or the object to be tracked More in detail at least four markers of a target have to be visible for a minimum of two cameras to enable tracking 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
70. ding 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 112 7 4 Declaration of conformity 7 4 Declaration of conformity ART gt Advanced Realtime Tracking EUROPEAN DECLARATION OF CONFORMITY STATEMENT Advanced Realtime Tracking GmbH declares under its sole responsibility that the product SMARTTRACK to which this declaration relates is in conformity to the following standard s or other normative document s 2006 95 EC Low Voltage Directive IEC 60950 1 A1 2009 EN 60950 1 A2 2013 2004 108 EC EMC Directive EN 55022 2010 EN 55024 2010 EN 61000 3 2 2006 A2 2009 EN 61000 3 3 2008 Weilheim i OB 08 09 2014 t Dr A Weiss Managing Director Advanced Realtime Tracking GmbH Am Oferl6 82362 Weilheimi OB Germany 113 N Sa ab Q q9 io 7 General Information ARTP gt Advanced Realtime Tracking MANUFACTURER S FEDERAL COMMUNICATION COMMISSION DECLARATION OF CONFORMITY STATEMENT Advanced Realtime Tracking GmbH declares under its sole responsibility that the product SMARTTRACK to which this declaration relates is in conformity to the following standard FCC 47 CFR Part 15 Subpart B Class B digital device Operation is subject to the followi
71. disable all reflex suppression areas for a camera at the same time just right click on the respective camera and deactivate the option Active Flash settings The flash intensity may be changed within an interval of 0 7 These settings strongly depend on the working area and range If you have a small work ing area where you are close to the cameras small flash intensities may be sufficient 63 sa p ab Q i ao 4 System setup 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 Keep a distance of min 20 cm when operating the cameras All cam eras are assigned to the Exempt Group according to IEC62471 1 and therefore pose no risk or hazard to the human eye or skin at this dis tance To be 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 until all markers are yellow or green recommended Modu
72. ducts or fixings should be used and a strain relief should be installed To avoid measurement problems no light sources or highly reflecting areas should be visible to the SMARTTRACK Especially strong point light sources like e g halogen lamps and direct or reflected sunlight may imply problems for the measurement fluores cent lamps are ok Please refer to 4 3 to learn how to install the DTrack2 frontend software 24 4 1 The SMARTTRACK 4 1 1 The controller inside the SVUARTTRACK The SMARTTRACK is an integrated tracking system This 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 on page 30 Please contact ART if you
73. e on the selected axis The origin is in the middle between the two markers with the largest distance to each other The orientation is defined by the marker with the smallest distance to the origin Its position has a negative sign The other two directions are undetermined due to the one degree of freedom Coordinate system setting for type 2x 5DOF cylinder The body is expected to consist of two connected 5DOF targets with a roughly perpendicular and constant angle in between These are placed on the two axes The origin is placed at the position where the two 5DOF targets intersect The first axis is assigned to the 5DOF target which includes the marker with the largest distance to the origin The other 5DOF target is placed in the plane created by the two axes A click type torque wrench is one the most prominent members of this class of bodies Due to the engineering backlash and other high mechanical tolerances in these devices often times the resulting body calibrations are error prone Please double check whether all markers of the rigid body have been recognized Then confirm the result with OK If this is done the geometry data of the calibrated target will be stored in the Backend After a new room calibration or room re calibration it is not necessary to perform a new body calibration Only if the body itself changes you have to calibrate the body again The previous body calibration will be lost if you carry out a new body
74. e pointing device carries a target that was developed to get optimal tracking quality for the use with two IR cameras You will get the best measurement results when the pointing device is facing the cameras as shown in figure 5 7 i e markers have to be 93 5 Interaction devices oriented towards the cameras Typically the position of the tool s tip is measured in the DTrack2 room coordinate system which was fixed during room calibration Optionally the ART Measurement Tool can calculate the position relative to a reference body Then the Measurement Tool is measuring distances to the origin of the reference body coordinate system and not to the origin which was defined during room calibration The output data consists of e position and orientation of the tool s tip e number of the Measurement Tool e rotation matrix of the target Please refer to chapter B on page 121 for more information about the format of the output data Body calibration The calibration of the Measurement Tool is separated into two steps 1 body calibration of the Measurement Tool and 2 Calibration of the tip First of all you have to define how many Measurement Tools you want to use Therefore please select Settings Measurement Too and define the number of Measurement Tools Now please calibrate the Measurement Tool with a standard body calibration see chap ter 4 3 3 on page 50 select Calibration Body In the appearing
75. e scheme described in chapter on page Example one line 6dmtr 1 1 0 1 000 485 245 67 217 38 328 0 681257 0 315034 0 660790 0 477531 0 875410 0 074967 0 554845 0 366620 0 746817 B 2 10 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 aa 2 Cc Q Q 2 lt x e The first number is the number of tracked additional markers 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 B 2 11 Additional Informations Identifier 6dcal Optionally the number of the adjusted bodies not only of the tracked ones can be included in a data set This is done within an additional line like 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 133 List of Figures 2 1 Principle of optical tracking stereo vision 08 3 1 Angular range of visibility 2 2 0200202 eee eee
76. eilheim i OB Germany 49 0 881 92530 00 amp 49 0 881 92530 01 f http www ar tracking de What s new in version v2 11 Following a short overview of the main new features in DTrack2 version v2 11 e No major changes What s new in version v2 10 Following a short overview of the main new features in DTrack2 version v2 10 e SMARTTRACK now supports e calibration and measurement using a measurement tool amp reference calibration of more than four targets license upgrade required export and import of configurations chapter 4 3 6 2 on page 60 new license model What was new in version v2 9 Following a short overview of the main new features in DTrack2 version v2 9 e Improved filtering options chapter 4 3 5 on page b6 e Support for 5DOF targets chapter 4 3 3 on page 50 e Support for ring markers chapter 3 1 on page 14 Contents 1 Terms and definitions Safety 1 1 Symbols andtheirmeaning 00222 0 0505 1 2 Safety warnings 2 Introduction 3 4 Markers and targets rigid bodies 3 1 Passive markers 3 2 Active markers 3 3 Standard targets o oo SAGE Ee SoS LEG Oe BEE Eee ES System setup 4 1 The SMARTTRACK 2 2 00002 a a eee ee 4 1 1 The controller inside the SWARTTRACK 1 2 Setting a static IP address without the Dirack2 Frontend 1 3 The setup file 4 1 4 Theinformationfile 2 2 2 2022 22202022 ae
77. el default 35 55 with this menu you can also change the radio channel of a single sensor Wake up mode radio tapping USB button Battery level Temperature only during measurement Take care that all inertial sensors use a radio channel of one of the re dongles otherwise this sensor won t be used during measurement Also take care that approximately the same number of sensors are assigned to each dongle The temperature values between single inertial sensors may vary The H operating temperature is reached as soon as there are no more tem perature changes inside the sensors indicated by a green status bar It is not dependent on the absolute temperature value st oO Q rq al For warming up the sensors to operating temperature press the button Warmup start All inertial sensors are turned to stand by mode after a pre defined idle time which cor responds to the selected wake up mode via radio idle time 1 min i e the sensors are switched on as soon as they are ad dressed by the controller via tapping idle time 3 min older sensors only i e the sensors are switched on by tapping on the sensors with your fingertip or tapping the sensors on a hard surface e g table via USB button idle time 10 min i e the sensors are switched on by pressing the button on the sensor for 3 4 seconds or by connecting them to the supplied charging hub 33 4 System setup For optima
78. elative to the markers of the body This tool adds the functionality of the formerly separate tool ABCMan directly into DTrack2 Body adjustment is not available for 5DOF targets 55 st 2 ab Q rq CS 4 System setup P Body Adjustment Body ww Flystick2 Target 1 Flystick body 02 v General Special Body position x mm y mm z mm Body orientation x deg 0 00 y z deg 0 00 gt deg 0 00 Set origin to COG Adjust axes to room View position View orientation x y z x y z Reset view V use tracked orientation Help oc any J undo Cancel Figure 4 28 Body Adjustment The main features of Body adjustment are e adjust body coordinate system of each target within the DTrack2 frontend e online mode i e the representation of the target in the graphical view may be moved by moving the real target available e adjust axes of body coordinate system to the axes of the room coordinate system without changing the origin e use predefined body coordinate systems e move the origin of the body coordinate system e set the origin of the body coordinate system in selected marker There is no need for a separate tool anymore and more important the body coordinate system may be defined very comfortable as desired For detailed information please refer to chapter 4 3 6 4 on page
79. em 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 marker distances of the calibration angle the input of the wand length and marker quality the input of the offset and the input of the calibration type as well as the calibration duration 21x coordinate a min marker ej wand length mm 410 00 Middle of cameras x of cameras w normal qualit normal quality J J re calibration Show details Exit Figure 4 17 Room calibration settings e g RCS 410 Marker distances of the calibration angle can also be set manually using the setting ex pert The numbering of the markers is as seen in figure 4 18 detailed view m3 Y axis 4 gt 1 4 O x oo z X axis A 1 2 z B 1 4 C 1 3 4 4 1 4 2 x gt JH Figure 4 18 Marker distances including numbering on the angle and definition of room coordinate system The wand length has to be set manually in this dialogue it is written on the label of the 45 st Sa ab Q i CS 4 System setup wand tion to wrong system scaling or to an abortion of the whole room A Incorrect input data for this dialogue will lead to a poor room calibra calibration process With the select list at the bottom you may define how the coordinate system of the room is created relative to the calib
80. em latency System Latency Definition of the system latency The system latency is defined as the time delay between sending out the IR flash by the cameras and the availability of the tracking data at the Controller s Ethernet output The latency is a function of the number of cameras the number of targets enabled or disabled 3DOF tracking and additional reflexes e g single markers Another dependency which is quite important can be found in the software version of DTrack2 being used here v2 8 6 We recommend to always use the latest version in order to have the most recent features For SMARTTRACK The SMARTTRACK is triggered externally with an arbitrary function generator at 60 Hz The network package with the tracking results can be triggered with an oscilloscope SMARTTRACK Smarttrack delays 4 tracked Targets with 19 markers 3d marker calc off 34 2 332 7 3t 30 2 29 1 28 a2 AA t 222 23 m 2t 19 1 20 0 13 26 39 52 65 78 91 104 117 129 142 155 168 delay in ms extra reflexes 120 B Technical Appendix B 1 Definition of Coordinates and Rotations B 1 1 Room Calibration The calibration angle defines origin and axes of the coordinate system This can be done in two different ways Type longer arm shorter arm normal X axis Y axis powerwall X axis Z axis For example a room calibration of type normal would result in a coordinate system like the following 1 The marker located
81. ense model has been established You may activate and calibrate 4 10 30 or up to 50 targets depending on the license purchased Please refer to table 4 1 on page 43 for more information gt How shall evaluate the body calibration results Verify that all markers of the target have been recognized during the DTrack2 body cali bration Further you may check if the single distances between the markers are correct refer to chapter on page 50 As a special service you may send us the calibration file and we are going to check it 6 8 Tracking My target active or passive is not recognized sporadically or only partly or even not at all e Go to Settings Cameras and tick the checkbox modulated flash The camera that sends out the modulated flash has to be on syncgroup 1 e Also take into account that the distance between active target and cameras should not exceed 2 5 m e Deactivate the dynamic reflex suppression Go to Settings Cameras and untick the checkbox dynamic reflex suppression e Active targets cannot be used near or in front of plasma screens The IR emission of the plasma screen overdrives the IR receiver in the active target e Please perform a new room calibration e Double check if the marker surface is not dirty or dusty and that it doesn t appear to be worn out gt Tracking does not work e Please make sure that the measurement has been started and that the target is within tracki
82. eometry While tracking the module calculates position and orientation of the tip of the tool It is necessary to perform an additional calibration procedure called tip calibration to provide the module with information about the tip B 1 6 1 Orientation of a Measurement Tool The module modifies the local coordinate system i e the body coordinate system of the tool s body as follows 1 The tip becomes the origin of the coordinate system 2 The marker with the largest distance to the tip defines the Z axis 3 The marker that is closest to the tip defines the Y Z plane This definition shall ease the use of the tip orientation For instance the orientation of all ART Mea surement Tools is approximately along the Z axis B 1 6 2 Using a reference body When using a reference body for a Measurement Tool the module calculates the position of the tip ee within the local coordinate system of the reference body oS aS 5 Troom 7 Rref Tref Sref where Z om s the position of the tip in room coordinates and 5 ef Ref position and orientation see B 1 3 of the reference body The orientation of the Measurement Tool is transformed in an analogous way B 2 Output of Measurement Data via Ethernet DTrack2 uses ethernet UDP IP datagrams to send measurement data to other applications The IP address and the port of the application and the computer it runs on can be configured in Settings Output Each datagram car
83. er during the charging process the Flystick2 cannot be used As soon as the battery pack is connected to the charger the initialisation starts status LED Yellow After a few seconds the charger switches to the fast charge mode status LED Orange Once the battery pack is fully charged approx 1 h the charger switches to the top off charge mode to balance the cells inside the battery pack status LED Green with inter mittent yellow flash This helps to extend battery life Hereafter the charger goes into trickle charge mode automatically status LED Green Now the battery pack may be used again Please also refer to table 5 2 for an overview of the status LEDs on the battery charger MultiUser option The MultiUser option is an enhancement especially for VR AR appli cations when working with more than one Flystick2 Up to ten users can be equipped with 86 5 1 Flystick2 status LED colour Description Yellow No battery pack connected or initialisation Orange Fast charge Green with Yellow flash Top off charge balancing Green Trickle charge charging completed Flickering Orange Green Error disconnect Table 5 2 Status LEDs quick reference a Flystick2 and a head target usually mounted on glasses The software DTrack2 is able to track them all but only the data pair Flystick2 and head target of one user is available as output data Switching between the single users can be done by just pressing one of the Fly
84. erms carefully and press Agree if you agree indeed A new win dow shows the installation progress The installation of the DTrack2 software is com plete now DTrack2 has been installed on your computer Click Next Press Finish to complete the DTrack2 setup wiz ard Now you can use DTrack2 The software 32 bit and 64 bit package available is packed in an archive DTrack2_v2 x x_linux32 t You do not need to have administrator rights to extract all files to a user defined folder Ina shell change to the user defined folder and type inthe command tar xvf DTrack2_v2 x x_linux3 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 38 4 3 DTrack2 frontend software 4 3 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 3 1 1 and 4 3 1 2 4 3 1 4 Start DTrack2 frontend software When you start DTrack2 on the remote PC you will see the following start window see figure 4 11 DTrack2 v2 8 2 November 28 2012 Copyright C 2007 2012 A R T GmbH ART gt Advanced Realtime Tracking E Figure 4 11 Welcome screen of DTrack2 4 3 1 5 Connecting to the SMARTTRACK The first time you start DTrack2 no default SMARTTRACK will be found and another window will be opened automatically see f
85. ernet 2 Position s 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 b4 b b2 bs bg To avoid problems with different definitions of the angles we recommend to only use rotation matrices Example one line 6di 2 0 1 2 135 326 848 187 216 109 503 0 940508 0 339238 0 019025 0 333599 0 932599 0 137735 0 064467 0 123194 0 990286 1 0 0 000 0 000 0 000 0 000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 B 2 5 Flysticks Identifier 6df2 a gt Note this format version replaces the older 6af format see B 2 6 Use it whenever possible The newer format for Flysticks is quite similar to the format of standard 6DOF bodies It provides tracking data for all Flysticks and other ART radio devices see B 1 5 The first number after the identifier 6df2 gives the number of defined i e calibrated Fly sticks The second number gives the number of Flystick data that are following in the line The data of each Flystick show up in blocks four consecutive like id qu nbt nct s sy sz bo b b2 b3 b4 bs be by bg btp cto cti 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 Orientatio
86. es values of 1 0 or 1 0 The Flystick3 device provides all functions buttons trigger and joystick simultaneously In case you need to carry out a factory reset for the Flystick3 you will find the reset button just on top of the charging jack You may use a paper clip to press the reset button H The SMARTTRACK comes with an integrated radio transceiver There is no need to plug in an additional USB Radio Transceiver RT2 Battery charger A battery charger is supplied with the delivered Flystick3 and must be used for charging the batteries For your convenience the battery pack may remain in side the Flystick3 for charging During the charging process you may continue using your Flystick3 As soon as the battery pack is connected to the charger the red LED Charge is switched on Once the battery pack is fully charged the charger switches off the Charge LED the green Ready LED is switched on Now the battery pack may be used again The rechargeable batteries may only be charged with the supplied charger An error during charging occured in case the green LED is switched on permanently and the red LED is flashing at the same time This indicates for example that either the battery isn t inserted correctly or it is defective Inserting the battery For inserting the battery into the Flystick3 you have to take off the back cover completely A A Risk of explosion if battery is replaced by an incorrect type Dispose
87. f2 2 2 0 1 000 6 2 228 992 270 818 92 561 0 758006 0 652230 0 004807 0 651759 0 757133 0 044271 0 025236 0 036691 0 999008 5 0 13 1 00 1 1 000 4 2 0 000 0 000 0 000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 0 000000 1 1 00 0 00 B 2 6 Flysticks Old Format Identifier 6df Note supported just for compatibility It is recommended to use the newer Flystick format 6df2 see chapter B 2 5 on page 129 whenever possible A Refer to chapter B 1 5 1 on page 124 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 d bo b b2 b3 b4 b5 bg 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 0 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 transmi
88. ference body if assigned are tracked Then try to keep the tip in the same position while doing the tip calibration Therefore tilt the Measurement Tool in both room directions not only in one direction i e left and right as well as back and forth When rotating around one axis only a tip position cannot be defined 6 11 Active Targets gt Operation near plasma screen A plasma screen is a very strong IR source which overdrives the IR receiver in the active target e g Flystick3 Fingertracking Thus active targets may not work properly near plasma screens If possible use passive targets as alternative 6 12 AAT tracking and 3D TVs Synchronization 3D TVs are primarily consumer products which have not been designed to fulfill the re quirements of professional users In fact this especially applies when it comes to synchro 109 6 Frequently asked questions FAQ nizing the 3D TV and the tracking system Typically there s no defined synchronization output which could be used easily In some rare cases ART might be able to assist gt Shutter glasses IR synchronized shutter glasses might not work with ART tracking systems Due to the increasing variety ART only validated a few of these shutter glasses However we may support customers who are performing tests with not validated shutter glasses Please contact us to receive information on this issue 6 13 Radio transceivers used in AAT products gt
89. fine 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 given by the calibration angle E g when the angle was placed on the ground with standard coordinate system Z axis up the desired origin is 1m above the floor and the marker center was 42mm above the ground then the value for Z is 958mm 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 74 4 3 DTrack2 frontend software Te M IP Room Adjustment I Room Adjustment Le mt Camera coordinates Coarse Fine Camera coordinates Gomma Eine f e en lr simm zimmi Assign axes to room directions Je amen ea Ue yimm zimml Rotation angles 20 OL 265 98 1376 09 1373 51 01 265 98 1376 09 1373 51 Fcc ae rx deg 0 00 o2 500 09 1347 07 1659 74 02 500 09 1347 07 1659 74 m Y ry deg 0 00 03 607 41 1395 26 1367 70 03 607 41 1395 26 1367 70 rz deg 0 00 04 249 25 1325 66 1653 13 04 249 25 1325
90. fined in Settings An active measurement is indicated by a blue rectangle in the Measurement Tool display H If the Measurement Tool is not tracked a measurement cannot be per formed 4 3 6 7 Menu About DTrack2 Offers information about the software version and release date of the DTrack2 fron tend software By clicking on the button Show details you receive a list of every single software module with the respective software version Controller Offers information about the software version and release date of the DTrack2 back end software Additionally name and serial number of the SMARTTRACK are shown 81 4 System setup About Shortcut DTrack2 Controller What s new What s this Shift F1 Table 4 17 Menu About What s new Provides information about the new features that have been released with the respective version By clicking on Show more you can access the history of introduced features during the last versions What s this By clicking What s this you may use our context sensitive help function within DTrack2 frontend software Just use the mouse cursor to point on any feature of the DTrack2 GUI and you will receive an information with a click on the left mouse button 82 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 devi
91. formation displayed and either Accept or Cancel the tip calibration Output settings Please define where the Measurement Tool data has to be sent to In DTrack2 frontend software select Settings Output You can either select this com puter remote PC or enter an IP address of another computer you want to send data to By ticking the checkboxes 6dmi and 6dmtr you can define the Measurement Tool data to be transmitted Please refer to chapter 4 3 6 3 on pag 68 for more details Press Start to start the measurement In order to see the tracking data you have to enable the Measurement Tool display by clicking Display Measurement Tool 95 6 Frequently asked questions FAQ Within this FAQ chapter we are offering solutions for easy to solve questions that our sup port encounters from time to time The questions are grouped into specific topics to make it more convenient for you to find a solution In case you do not find a proper solution for your specific problem please do not hesitate to contact us Our goal is to offer the best support possible Therefore we ask you to have the system running and that you have internet access when you call us Sometimes it might be possible to locate your problem if you deliver the following files e the configuration export file Go to DTrack2 Configurations and press og settings Save this file to a location of your choice and mail it to us e the event
92. he cords the cords cannot be damaged the cords cannot damage the SIMARTTRACK due to mechanical strain the line of sight of the SWARTTRACK is not obstructed A Install a strain relief Only use original ART or ART authorized components and accessories Using non original components or accessories may damage the equipment cause mal functions or may void operation safety The provided components and original ac cessories can be found in chapters 4 on page 22 and 5 on page 83 Only use the originally provided external power supply for operating the SMARTTRACK The equipment must not be dropped and or knocked Do not use any solvents or water to clean the cameras For more information about cleaning the cameras please read chapter 7 2 on page Never expose the equipment to high levels of humidity or condensating humidity Protect the cameras against water and chemicals The equipment must not be operated in environments with intensive formation of dust or hot environments where temperatures rise above 40 C 100 F 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 11 Chapter 1 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 tra
93. hown Furthermore it is possible to set the frequency the sensors are operating at default 100 Hz Additionally all inertial sensors that have been previously added to the DTrack2 con figuration are listed with the following properties Device ID wireless icon Model e g Colibri Wireless Name targets from Hybrid Motion Capture suit or user defined Firmware Version 65 4 System setup Currently used channel default 35 55 Wake up mode radio tapping USB button Battery level Temperature only during measurement The default channels for all dongles and sensors are 35 and 55 In case these WLAN frequencies are already occupied by other devices in range connection problems may occur ART recommends to scan for available channels and to select free channels accordingly Keep a minimum distance of 10 channels between dongles or from otherwise unavailable channels for optimum connectivity For optimal battery life ART recommends to switch all sensors to wake up mode USB button when not in use for a longer period of time For more information please refer to chapter 4 2 on page 31 ART Radio Info When you are using a Flystick for example you will get information about the integrated transceiver and the Flystick device itself The following information is offered Description Model the model of the transceiver or the device respectively Serial the serial number Version the firmware ver
94. ibration does not A 1 2 mm 84 0 affect the coordinate system type B 1 4 mm 114 0 C 1 3 mm 225 0 coordinate system min marker quality iormal normal quality ind IV re calibration Show details Calibrate Exit Figure 4 22 Room re calibration dialogue To perform a re calibration no angle tool has to be present in the measurement volume only the wand has to be moved within the measurement volume in the same way as for a 48 4 3 DTrack2 frontend software standard room calibration The main advantage of a room re calibration is that DTrack2 preserves the origin of your coordinate system and therefore the orientation of the coordinate system as well oO Q rq CS 49 4 System setup 4 3 3 Body calibration H The targets for the SMARTTRACK are pre calibrated and therefore it is usually unnecessary to perform a body calibration However it will still be possible to perform a body calibration with the SMVARTTRACK 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 Body Administration After pres
95. ic Measurement Tool ID e mark the respective Measurement Tool e mark the reference body and e press Select Repeat these steps if you want to assign references to other Measurement Tools Please refer to chapter 5 3 on page 93 to learn how to install the Measurement Tool 71 4 System setup Controller The menu for the Advanced Controller Settings is divided into two tabs Net work and Time On the Network tab you may change the hostname not recommended and the domain according to your network guidelines When the network cable has been plugged into the SMARTTRACK while booting the SWARTTRACK 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 synchronize 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 SWVARTTRACK is trying to connect to the NTP server repeatedly in order to update its clock The values for reachability range between 0
96. iffusor ca glue IR LED IR LED a Single LED b Single LED with diffusor sphere Figure 3 1 Angular range of visibility For wireless synchronization a coded IR flash is being sent out by a tracking camera The active marker s PC board recognizes the coded flash and activates the LEDs Chapter 3 17 3 3 Standard targets Type Description Weight approx Dimension Marker size Hand target Large hand target The hand target is designed for hand track ing in usability and assembly studies re spectively It is also frequently used as a small general purpose target Due to the small size this target is easily occluded by the hand carrying it Therefore proper ar rangement of tracking cameras has to be used in order to avoid occlusions 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 25g 0 90z 30g 1 102 110 x 80 x 28 mm 170 x 120 x 35 mm 12mm 12mm Claw target The claw target looks just the same as the hand target But it comes in a bigger size and is equipped with bigger markers 35g 1 20z 160 x 110 x 30 mm 16mm saipog piu sjabie pue siayieyy 64 Type Tree target e a Description Originally designed for tracking HMDs the tree target is a general purpose target for tracking from longer distances It i
97. ign your Flystick to be found in the available Flysticks list to any Filystick ID e Go to Settings Output and check if the data output is configured correctly data receiver defined send to identifier 6072 selected if you are using the old output format identifier Gof selected What is the maximum number of Flysticks to be used simultaneously type max number Flystick2 5 Flystick3 1 Please double check that the targets of the Flysticks that are used simultaneously are not identical If doubts remain please contact ART 108 6 10 Measurement Tool gt What is the MultiUser option for Flysticks The MultiUser option is an enhancement especially for VR AR applications when working with more than one Flystick Please refer to chapter 5 1 on page 86 for more information gt The Flystick output data is not transmitted Go to Settings Output and check if the data output is configured correctly e data receiver defined send to e identifier 6072 selected e if you are using the old output format identifier 6d selected 6 10 Measurement Tool gt lm using the Measurement Tool demo but cannot measure any points Please check whether both the Measurement Tool and the Measurement Tool reference body if assigned are tracked gt It is not possible to perform a tip calibration Please check whether both the Measurement Tool and the Measurement Tool re
98. igure 4 12 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 P Controller Selection n x a specific SMARTTRACK ARTtrack Controller Selection 2hx Specific Controller Specific ARTtrack Controller hostname or IP address 192 168 0 1 hostname or IP address 5 Scan Scan subnet IP address e g 10 10 255 255 M subnet IP address e g 10 10 255 255 D Name Serial Access Version P 7 no connection to Controller 10101 55 smarttrack oo005 ooo05 full v2 7 0 10 10 8 99 smarttrackoooo6 oooo8 full v2 7 0 10 10 9 1 l f Update list Connect i Update list Connect _ _ Cancel t j b scan the network Figure 4 12 Controller Selection 39 st oO Q E 4 System setup 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 SMARTTRACKs in your network In column Name every SMARTTRACK in your network will be listed If no SMART TRACK or not the desired SWARTTRACK 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
99. in the crossing point of the two arms is defining the origin of the coordi nate system 2 The longer arm of the calibration tool defines the X axis 3 The shorter arm of the calibration tool defines the Y axis i e the tool markers define the X Y plane 4 The Z axis is added in order to give a right handed coordinate system B 1 1 1 Room Adjustment DTrack2 allows to modify the room coordinate system by specifying these seven values 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 for a scaling factor These offsets are defined as a shift and or rotation and or scaling of the room coordinate system relative to the original one Mathematically a point Zorig in the original room is transformed into a point Zmoa in the modified room coordinate system by XLmod RT Lorig i S where the rotation matrix R is calculated from 7 0 and like defined in section B 1 3 121 aa i Cc Q Q 2 lt x B Technical Appendix B 1 2 Body Calibration During the body calibration DTrack2 is fixing a local coordinate system body coordinate system for each rigid body Both coordinate systems define the later 6DOF output see chapter B 1 3 on page 123 The calibration can be done in three different ways to be selected in the menu Calibrate Body of the body calibration B 1 2 1 Definition of the Coordinates by the Body itself Body c
100. inate system consists of angle and wand unit integrated in SMARTTRACK which serves for synchronizing the cameras rigid arrangement of several single markers rigid body position measurement of bodies that move in a defined space used for calculating the relative position of the SMARTTRACK precalibrated stick carrying two markers The wand belongs to the room calibration set and is used to generate a virtual point cloud and to scale the system 1 Safety 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 or the function of the equipment is not warranted Safety warning for infrared radiation These warnings have to be considered otherwise users eyes could be endangered Table 1 1 Symbols and their meaning 1 2 Safety warnings SF 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 equipmen
101. ing if the pointing device is not moved sufficiently Please refer to chapter 5 3 on page 94 for more information 4 3 6 5 Menu Display Display Shortcut Monitor 2DOF Data F10 Flystick Events Table 4 14 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 across This indicates the projected size of the marker on the CCD chip inside the camera i e circle big marker and cross small marker As a rule of thumb for measurement applications with high accuracy requirements the markers should be displayed in green for VR applications yellow markers are sufficient The Monitor 2DOF display is particularly useful for the final adjustment especially for ori entation adjustments of the IR cameras 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 disp
102. ion 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 If the MultiUser function for Flysticks is enabled the Body Adjustment module will only load standard bodies If you want to adjust the body calibration data of your Flystick please make sure that the MultiUser function is disabled Settings Flystick a label MultiUser function should be disabled will appear at the bottom of the dialogue Hybrid Body This function performs a hand eye calibration to combine an inertial sen sor with its corresponding optical target Please refer to chapter 4 2 on page 34 for more information Measurement Tool Perform a tip calibration for the Measurement Tool that is currently inside the tracking volume DTrack2 automatically detects the ID of the Measurement Tool and assigns the tip calibration Just press Calibrate to start the calibration process 77 st 2 ab Q i a 4 System setup During calibration please move the Measurement Tool while keeping the tip still at exactly one position Note that the progress bar is not continu
103. is the difference between due to body and due to room When selecting due to body the body coordinate system is fixed by the markers of the rigid body The origin of the body coordinate system is set to the center of gravity of all markers building the rigid body when due to room is used Please refer to chapter on page 50 for more information gt Do I have to move the target while performing a body calibration If possible we recommend to perform moderate movements because accuracy can be improved doing so However the body has to be visible to the cameras all the time May I change the position and the orientation of the body coordinate system later on Yes you may use the dialogue Body adjustment to alter position and orientation of the body coordinate system Please refer to chapter 4 3 6 4 on page 75 for more information How do I define a name for a target Go to Settings Body Administration F8 Double click into the name field and enter a name for the respective body 105 6 Frequently asked questions FAQ gt cannot increase the number of targets anymore The maximum number of targets including Flysticks and Fingertracking hand device to be tracked depends on the license code that is installed With the Basic and the Ex tended license you may only use 4 targets at the same time the Full featured license supports 50 targets Starting with DTrack2 version v2 10 a new lic
104. ith the inertial sensors First con nect the USB plugs of these dongles to any free USB port of the controller using the supplied extension cables The dongles are activated after rebooting the controller or calling DTrack2 Search hardware Now within DTrack2 go to Settings Inertial Sensors and check that all attached dongles have been found with correct device ID model name firmware version and channel see figure 4 6 on 31 Please also check the frequency the sensors are operating at default 100 Hz a WP Inertial Sensor Settings 2 a Add sensor wakeup Mode tapping v frequency 100Hz Device ID Model Name Version Channel Wakeup Mode Battery Temperature Delete DNBIEHO Dongle USB vi50 Smi S WIPCHBH Colibri Wireless vl71 55 v tappinn gt GSD x DPFNKJN Dongle USB v150 35 v s WKIFLIF Colibri Wireless vl71 35 tappina gt GD x Scan available channels gB Warmup start Figure 4 6 Inertial Sensor Settings At this point only dongles and no wireless sensors should be listed Otherwise continue reading in chapter 4 2 on page 34 The default channels for all dongles and sensors are 35 and 55 out of 80 In case these frequencies are already occupied by other devices in range e g WLAN connection problems may occur ART recom mends to scan for available channels and to select free channels ac cordingly Keep a minimum distance of 10 channels between dongles or from othe
105. l battery life ART recommends to switch all sensors to KS wake up mode USB button when not in use for a longer period of time Calibration of Hybrid Bodies As requirement for the following steps it is necessary to warm up the sensors to operating temperatures and to maintain a constant temperature during the calibration Otherwise the measured data and thus the calibration will have poor quality Additionally please double check that all sensors have been charged to at least 30 before you continue You can simply use the button Warmup start in the dialogue nertial Sensor Settings see figure on 31 or in DTrack2 frontend top right and leave the process running for about 5 10 minutes The progress bar will stop at 100 progress bar turns green even though the warming up of the sensors continues This shall guarantee that the sensors work continuously until the calibration and the actual measurement take place Otherwise they would cool down again Administration of the bodies Within DTrack2 go to Settings Body Administration see figure 4 31 on page 68 All ART pre calibrated targets have their corresponding optical target geometries stored inside the inertial sensor Thus when adding the recognized inertial sensors all corresponding target geometries are also added to the tab siandard bodies in the Body Administration F8 Unknown or custom hybrid targets however will show up as not calibrated in the column Calibrati
106. lated flash The SIMARTTRACK can be used with active markers i e markers con sisting of infrared LEDs instead of retro reflective material This allows both more robust and longer ranging targets These LEDs do not light continuously but also emit light flashes like the camera flash and thus have to be synchronized with the camera s timing This can either be achieved by a synchronization cable or by using a modulation on the flash The option modulated flash allows selecting the SMARTTRACK to emit the coded flash that triggers active targets The modulation reduces the flash intensity in lower flash settings so it might be necessary to increase the flash intensity In higher settings the reduction is insignificant Display upside down The checkbox display upside down specifies how the SVARTTRACK is mounted upright or upside down This setting does not have any influence on the cor rect working of the tracking system because the orientations of the cameras are correctly determined by the photogrammetric algorithms in any case 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 7 64 4 3 DTrack2 frontend software supported synccard mode field of application internal generated signal 15 60Hz Saarna
107. lays 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 78 4 3 DTrack2 frontend software Function Shortcut Grid G Shows a grid in the camera display Cross C Shows a cross in the camera display Fullscreen F Resizes Monitor 2DOF view to full screen and back One Camera Only show the view of the selected camera Display upside down Changes display orientation UD is displayed in the camera display Display blinking N A for SMARTTRACK Static Reflex Suppression Active Enable static suppression of reflexes SR is displayed in the camera display Start scan for all enabled cameras Initiates a scan for static reflexes En abled only if Active is ticked Edit reflex suppression areas E Enter the reflex suppression area edit mode in order to interactively suppress unwanted reflexes Table 4 15 Features of the Monitor 2DOF view Data On the left hand side the Data display shows the 6DOF measurement results of the position and orientation of the body relative to the room coordinate system The rota tion angles are rotations around the X Y and Z axis The mathematical definition can be found in chapter B on page 121 A simple colour code indicates if the body is tracked or not body is being tracked tracking data is displayed body is being tracked only by the means of the intertial sensor only rotational data
108. leaf Test report no Valid until Date 2014 04 11 Pa cuna A ae ae ZAN 028 713035476 000 2019 04 08 115 Ralph Fischer 7 General Information s d re ce 2S 2 x 2 TE ce Lid 2 s 4 ou LAJ 2 fio T IE We on IFIKAT CERTIFICATE CERTIFICATE No U8 14 04 52228 008 Holder of Certificate Production Facility ies Certification Mark Product Model s Parameters Tested according to The product was voluntarily tested according to the relevant safety requirements noted above can be marked with the certification mark above The mark must not be altered in anyway This product certification system operated by TUV SUD America Inc most closely resembles systen Advanced Realtime Tracking GmbH Am Oferl 6 82362 Weilheim GERMANY 52228 Scanner IR Tracking Camera SMARTTRACK SMARTTRACK Rated voltage 5 VDC Rated power max 20 W Protection class III UL 60950 1 2007 CAN CSA C22 2 No 60950 1 07 3 as defined in ISO IEC Guide 67 Certification is based on the TUV SUD Testing and Certification Regulations TUV SUD America Inc is an OSHA recognized NRTL and a Standards Council of Canada accredited certification body Test report no Date 2014 04 10 Fimma A wk A 028 713035476 000 sf A A Technical specifications E The specifications are subject to change without noti
109. log file Windows Go to C Documents and Settings username ART DTrack2 version and mail the file events yyyy mm dd log to us Linux In your home directory go to ART D Track2 version and mail the file events yyyy mm dd log to us 6 1 Backup gt How do I create a backup of important configurations From DTrack2 v2 8 1 it is possible to export and import configurations DTrack2 Con figurations Save will export the complete active configuration In case of an accidental deleting of a configuration it will be possible to restore the configuration presuming that an export has been carried out before Then it could even be a replacement Controller to Loaa the exported configuration on Please note that a room calibration might be necessary especially in case the number of cameras or the cameras themselves have changed 96 6 2 Cameras 6 2 Cameras gt One of my cameras recognizes a reflection which I can t eliminate What can do You may enable the suppression of static reflexes within DTrack2 But carefully read the notes on page 62 6 3 Controller gt What are the possibilities to start the controller The controller is equipped with a switch that you have to press for the initial start up If you want to power up your controller remotely you may either use Wake On LAN WOL or wake on power WOP gt cannot find my controller What can I do e Please make sure that
110. ly asked questions FAQ 96 6 1 BaCKUP 2 ie Gok maa Sheed Ge he ook we be ee ee ee ee 96 Bi CameraS i ase s So acess ok gaos g a ke See OS GS a we Sk Ow A 97 6 3 Controller end 34 ee we Pk we me doen doe a 97 6 4 DTrack2and shutter glasses 000 00 eee 98 6 5 DiTrack2and interfaces 2 2 ee ee et 98 aE er pe me deme Fe ee ane a E 99 6 7 Calbranonl o aioe oe dew Mowe ob Ge ee Se i Gwe Moe 102 6 6 MWACKING sc maoe dG ee eho DG Bo Ba Bw be bee A ed bow ew 106 Do PIVSUCK i eas oo a Bile ed Se ee Oe Be ei De ee ee a 108 6 10 Measurement Tool 0 0 eee ee 109 6 11 Active Targets ob a 6 we oe Ged oe Rk GO oow OE RO Eg o ew Oe Ole Bs 109 6 12 ART tracking and 3D IVs 22 ee ee 109 6 13 Radio transceivers used in ART products 04 110 111 Se Gia Ge ba ede ee eae te wk Ge et ee ee Go 111 7 2 Cleaning of the equipment 2 2 2 22200 111 p aee aa Scat ae at ea oA ge ae AMAA SY as alone ane 111 Sh aa Ges eee Ge oD Ges ae a ee es ge 113 A Technical specifications 117 A1 SMARITAACK oona a 117 Pee PIN SUCKS aon oe e gpa ea a sere a Oe oe Ya E y a E ee BS 118 a Ar oh Gh ae bas Patch at Route eg ak a Gag haste eee By ae ena 119 A 4 System latency ee nos ee Ge ak OS Re Oe GS A OO BS ROD ER Ow eA 120 121 B 1 Definition of Coordinates and Rotations 121 B 1 1 Room Calibration 0 ke a a ee 121 B 1 1 1 Room Adjustment
111. mum number of targets The maximum number of targets including Flysticks and Fingertracking hand devices is depending on the license type e Basic and Extended license 4 e Full featured license 50 Starting with DTrack2 version v2 10 a new license model has been established You may activate and calibrate 4 10 30 or up to 50 targets depending on the license purchased Please refer to table 4 1 on page 43 for a complete license overview gt Where do get a license code from You may purchase additional licenses for your system Please contact us in case you need consultation For creating a new license code we will need some information from you Go to Dirack2 Licenses select the license you want to add and click on Hardware Info Contact ART and tell us the synccard number If you are using a TRACKPACK system discontinued please tell us the MAC address of the Ethernet adapter gt Where do enter a new license code Go to DTrack2 Licenses and enter the code in line new license code gt Where do get a software update from The latest release of DTrack2 is always available at the ART Download Center http www ar tracking com support 100 6 6 Software DTrack2 gt want to run a software update How do I preserve my data and my configurations Your data and your configurations are automatically preserved when running a software update But it is recommended to regularly create backu
112. n of the Flystick given as rotation matrix b like standard bodies 4 Status of buttons bt see below and controllers ct see below The quality qu can so far just get the values 1 000 or 1 000 1 000 means that the target of the Flystick is not visible at the moment Even in that case a Flystick appears in the output data Then dummy values are used for position zero and orientation zero matrix Informations about buttons and controllers are valid as long as the wireless transmission is active 129 aa 2 Cc Q Q 2 lt B Technical Appendix 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 Example one line for two devices one Flystick2 ID 0 and one Flystick1 ID 1 6d
113. n of the target at the beginning of the calibration will be taken B 1 2 3 Definition of the Coordinates by the Room Coordinate System with Origin in a Marker Body calibration setting due to room zero in marker A combination of the first two methods The direction of the axes of the body coordinate system will be set parallel to the room coordinate system in the moment of body calibration like done with setting due to room The origin of the body coordinate system is given by one marker of the body according to the rules given for setting due to body 122 B 1 Definition of Coordinates and Rotations B 1 2 4 Coordinate System Definition for 5DOF Targets with and without cylinder markers Body calibration setting x y z In the body coordinate system all markers of the target are on the selected axis The origin is in the middle between the two markers with the largest distance to each other The orientation is defined by the marker with the smallest distance to the origin Its position has a negative sign The other two directions are undetermined due to the one degree of freedom B 1 2 5 Coordinate System Definition for two 5DOF Targets with cylinder markers Body calibration setting xy yx yz zy zx xz The body is expected to consist of two about perpendicularly connected 5DOF targets These are placed on the two axes The origin is placed at the position where the two 5DOF targets intersect The first axis is assigned to the 5DO
114. nformation by which means the target has been calibrated e Custom means that the standard body calibration has been used e Target Library means that the predefined calibration file from the system has been used For a detailed description of the single actions please refer to table 4 9 As mentioned before you can administer interaction devices as well Therefore you may use the tabs Flystick Measurement Tool In the bottom right of the dialogue you will find four buttons 67 sa 2 ab Q i CS 4 System setup Standard Fiystick Measurement Tool_ Fingertracking number of bodies 8 Min number of bodies Can t remove body with inertial sensor ID Active Name Model Device ID Calibration Filter Delete Reset j1 v Test1 Custom not active D 2 m Brille 5d Custom defaut 3 1 l v Hand Custom defaut 3 la not calibrated ls v Brille Custom not active j6 v Upper Leg right Colibri Wireless JWAYTMW Full default 2 lz v Upper Arm right Colibri Wireless KKLUGGH Optical default x ig Foot right Colibri Wireless KXVPSAR not calibrated x Fiter __ Calibration _ Hybrid Body Calibration Body Adjustment f E Figure 4 31 Flexible Body Administration from DTrack2 v2 9 0 Action Description Active Activate or deactivate a target Data of deactivated targets will not be transmitted in the data stream The target order will n
115. ng range of the cameras e f marker recognition is poor then increase the flash intensity 106 6 8 Tracking e Check number of markers that are used for calculation If all markers of the target are seen by the cameras but partly not used for calculation then execute a new room calibration e Go to Settings Output Define a receiver for the tracking data and configure the type of data to be transmitted e Activate the tracking functionality within your graphics application gt I m having too many heavy reflections e Please double check that the flash intensities of the cameras are not too high In general a flash intensity of 3 4 might be sufficient e Make sure that no other strong infrared radiation sources e g sunrays or halogen lamps are present in the tracking volume If they cannot be removed you may use the reflex suppression feature of DTrack2 Does DTrack2 send data if no target is being tracked No tracking data is sent except for the frame number fr gt The application PC does not receive tracking data e Go to Settings Output Define a receiver for the tracking data and configure the type of data to be transmitted e Check the network connection physically and try to address the controller with a Ping e Double check with a UDP receiver if data is being sent by the controller e Activate the tracking functionality within your graphics application gt May I use passive
116. ng two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Weilheim i OB 08 09 2014 t Dr A Weiss Managing Director Advanced Realtime Tracking GmbH Am Oferl6 82362 Weilheim i OB Germany 114 lt x i ma t ce LLJ 2 a Se lt x ci LL ce LLJ d d a S a LLJ i AK H al o IFIKAT CERTIFICATE 7 4 Declaration of conformity CERTIFICATE Product Ser No Z1A 14 04 52228 007 Holder of Certificate Factory ies Certification Mark Product Model s Parameters Tested according to Advanced Realtime Tracking GmbH Am ferl 6 82362 Weilheim GERMANY 52228 Production monitored N Safety tested Scanner IR Tracking Camera SMARTTRACK SMARTTRACK Rated voltage 5 VDC Rated power max 20 W Protection class III EN 60950 1 A2 2013 ZEK 01 4 08 The product meets the safety and health requirements of the German Product Safety Act section 20 to 22 ProdSG The certification marks shown above can be affixed on the product It is not permitted to alter the certification marks in any way In addition the certificate holder must not transfer the certificate to third parties This certificate is valid until the listed date unless it is cancelled earlier See also notes over
117. o 0 remaining reflections are originating from infrared radiation sources e g sunlight halogen lamps Try to localize and remove them sa ab Q i CS e try to localize the reflection by moving a target towards the origin of the reflection use the Monitor 2DOF display and proceed as mentioned above If reflections cannot be eliminated you may use the reflex suppression tools of DTrack2 please refer to 4 3 6 3 on page 62 1 static reflex scan reflexes will be suppressed automatically by DTrack2 upon detection 2 suppress static reflexes manually areas to be suppressed may be defined manually 43 4 System setup 4 3 2 Room calibration The SMARTTRACK is pre calibrated and therefore it is unnecessary to perform a room calibration Despite our best efforts for optimal shipping conditions in rare cases it i may occur that harsh environmental conditions during shipment lead to a degradation of the SMARTTRACK pre calibration e g tempera tures below 30 C or severe vibrations Please perform a re calibration to ensure optimal tracking 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 16 Figure 4 16 Origin of the room coordinate system default If the default orientation and position of the coordinate system i e Middle of cameras see figure 4 16 is not adequate for your
118. on At this point the desired optical target and the corresponding inertial sensor have to be matched according to their body ID and device ID For new hybrid targets a three step calibration procedure has to be performed 1 A standard optical body calibration needs to be carried out Just press Calibration and move around the target in front of the cameras Please refer to on 2 A hand eye calibration has to be performed to combine an inertial sensor with its corresponding optical target During this Hybrid Body Calibration process HBC the relative rotation of the two sensors is determined 3 Drift correction for the inertial sensors needs to be measured and applied Optical tracking data of the corresponding target allows for correction of residual drift of the inertial sensor Please perform all inertial sensor calibrations with warmed up sensors in a constant temperature environment for optimum tracking perfor mance Hybrid Body Calibration Select the sensor to be calibrated and press Hybrid Body Cali bration see figure 4 8 on page 35 During this hand eye calibration the target has to be moved with moderate speed in any spatial direction of the inertial sensor please refer to 34 4 2 Setting up the Hybrid Inertial System the animation in the HBC dialogue Select the desired target from the drop down menu Body ID and check the sensor ID of the inertial sensor for correspondence with the se lected optical ta
119. on 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 14 e grey max 5 frames per minute lost i e 3600 frames per minute are transmitted e yellow 5 10 frames per minute lost e orange 10 15 frames per minute lost e red gt 15 frames per minute lost 40 4 3 DTrack2 frontend software gt DTrack2 v2 9 0rc4 full featured ad a fen x ao nee cee Dew ae gas e ma of poa ra dio channel Monitor 2D0F tab 01 a frequency number of markers HERE SENSOr WaFMUP awase 2 coi ge 12 11 ino c02 eee 7 7 moomoo c03 amp 21 9 aonn tabs reflex supp Monitor 2DOF most active Monitor 2DOF tab02 Monitor 2D0F tab 01 Data Display name filter sensor 1D x mm _y mm z mm m deg ry deg rz deg battery temp C 3D0FID x mm y mm z mm Test1 0 00 0 00 0 00 0 00 0 00 0 00 645 676 54 652 63 33 33 Brille 5d active 34 35 458 30 5 94 88 37 83 90 180 00 1385 951 72 166 42 105 96 body ID Hand active 163 61 402 70 1 13 88 71 37 99 178 60 1466 67434 6292 3671 4 1467 39 44 406 45 41 21 tik ie teri tan ee ee ew ot O oe enrages z Upper Arm right active erat 580 12 1334 50 274 48 0 51 1 84 26 59 Ez Ex inertial sensor ID inertial sensor inertial sensor battery level temperature Event Display 2013 05 13 14 14 22
120. ot be affected Delete Deletes the calibration of a target effective immediately after confirm ing the security query The target order will not be affected Reset In case the target has been calibrated initially with the 7arget Library and re calibrated later by the user it is possible to reset the calibration to Target Library Change order With the arrows on the right hand side of the window you may change the order of the targets The data output will change accordingly Table 4 9 Body Administration Detailed description of the actions Button Description Filter Activate or deactivate the filter for each target You can either use de fined presets or customize it to your requirements A detailed descrip tion of the filtering options can be found in chapter 4 3 5 on page Calibration Directly access the Body Calibration dialogue and perform the calibra tion for the selected target A detailed description for body calibration can be found in chapter 4 3 3Jon page Hybrid Body Directly access the Hybrid Body Calibration dialogue and perform the Calibration calibration for the selected hybrid target A detailed description for hy brid body calibration can be found in chapter on page Body Adjust Directly access the Body Adjustment dialogue and perform the neces ment sary adjustment for the selected target A detailed description for body adjustment can be found in chapter 4 3 4 on page
121. ottom left cor ner to indicate it to the tracking system For more information about room re calibration please refer to page 47 Please refer to chapter on page 44 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 coordinate system after calibration For a good calibration the angle should be placed such that as the SMARTTRACK is able to see it The corner marker of the angle defines the origin of the coordinate system For software configuration it is more suitable to have the origin at a well defined point e g in the center of the screen If a SMARTTRACK already in use has to be calibrated again due to movement the angle might have been put slightly different than in the previous calibration To avoid re configuration of all installed software the tracking coordinate system should be moved to exactly reproduce the previous calibration The calibration angle should be put exactly parallel to one of the screens On large sys tems even very small angular errors might lead to substantial deviations over the full width of the projection 0 1 on 5m length is 8 7 mm deviation In all these cases the coordinate system must be altered after calibration This function ality is called from Calibration Room adjustment Coarse The Coarse menu offers the opportunity to manipulate the orientation of the room coordinate system with just one click You can de
122. ound to Fi eene Situs Hardware Identification DTrack2 basic supported Ethemet i 54 04 A6 9A 12 FA Daie adenda suppanes Ethernet 00 11 68 00 48 7D DTrack2 full featured supported Synccard2 00631 Fingertracking supported Measurement Tool not supported 1 d SSS a Licenses overview b Hardware information Figure 4 29 Managing the licenses The process is the same for other modules Configurations It is possible to create different configurations e g with different tar gets or flash settings These are related to the name of the user and thus are easily accessible When creating a new configuration you need to describe your configuration in a few words description and enter your name owner The configuration can be changed later on with Edit see also figure 4 30 Your personal configuration is created using the values of the current configuration gt clone current configuration or default values create with default values respec tively e clone current configuration all existing calibrations room and body calibration and flash settings are inherited e create with default values the system will start from scratch i e as manufactured That means you will not have a room calibration or any body calibrations 60 4 3 DTrack2 frontend software H P Configurations mt Description Owner Locked Cava_5C
123. p file please plug in the USB stick to the SMART TRACK again e Wait some time approx 20 30 seconds for the SMARTTRACK to read the setup file e Shut down and restart the SMARTTRACK for the changes to take effect Now your SMARTTRACK is configured according to your requirements 4 1 3 The setup file This file is used to configure the SMARTTRACK without using the DTrack2 frontend software regarding three parameters which are 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 2 ab Q rq Following a description of the file e g smarttrack00007_setup txt format 1 ARTtrack Controller Setup 2 3 4 ethernet settings 5 uncomment just one of the lines starting with SETNET 6 7 ethernet settings DHCP 8 uncomment the following line to activate DHCP 9 SETNET dhcp 10 11 ethernet settings fix IP address and subnet mask 12 uncomment the following line to set a fix IP address and subnet mask 13 5ETNET ip 192 168 0 1 255 255 255 0 27 4 System setup 14 15 factory reset of all other settings 16 CAUTION use with care all your settings will be lost 17 uncomment the following line to reset all other Controller settings 18 RESETSETTINGS yes hone ies to setup a static IP you would have to remove the
124. ps of your configuration s gt How do I run a software update Please contact ART to receive the latest software release and follow the instructions in chapter 4 3 1 3 on page 39 gt Do I have to update the DTrack2 frontend software and the software of the controller at the same time We recommend to do so My specific settings have been lost Please check if the correct configuration is selected go to Dirack2 Configurations and select the correct configuration gt Is it possible to automatically start the measurement after booting the controller Yes go to Settings Tracking and tick the checkbox automatic start of measurement after booting gt May I close the DTrack2 frontend software window after starting the measurement Yes the measurement continues even if the DTrack2 frontend software is not active gt What s the version of my D7rack2 software Go to About gt DTrack2 to find out the version of your DTrack2 frontend software The software version of your controller is shown when you select Controller gt There are greyish areas in my Monitor 2DOF display What do they indicate The static reflex suppression is currently active This is indicated with these greyish ar eas Markers in these areas will not contribute to tracking Please refer to chapter 4 3 6 3 on page 62 for more information 101 6 Frequently asked questions FAQ What do the abbreviations SR DR
125. r if a camera moved slightly e g due to mechanical instabilities If your body fell down and the structure bent you should carry out a body re calibration Please refer to chapter on page 47 and chapter on page 54 for more informa tion What does scaling factor mean Performing a room calibration results in a certain scaling error This might be a problem when applications do have very high accuracy requirements e g when performing mea surements with the Measurement Tool The scaling error can be determined for instance by measuring points on a defined scale e g tape measure The determined scaling error can thus be adjusted with the DTrack2 scaling factor refer to chapter B 1 1 1 Please contact ART if you require further information gt cannot calibrate my target e Please check if the markers of the target are seen by the cameras in good quality i e at least yellow a slight change of the target position might help If necessary increase the flash intensities of the cameras Therefore go to Settings Cameras e Make sure that when starting the body calibration every marker of the target is visible to the cameras e A body calibration can be carried out only if a valid room calibration has been carried out before Otherwise the button Calibrate is grey and cannot be clicked Check in the Event Display if there is a warning saying no valid room calibration In that case please carry out a ne
126. raction index are fo cussing incoming light approximately to the opposite sur face of the ball A layer of microscopic glass spheres car ried by a reflecting material acts as a retro reflector These foils can be fabricated on a flexible carrier material thus they are widely used for equipping spherical markers with retro reflecting surfaces H ART spherical markers are covered with retro reflecting foils based on the glass spheres 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 ap ab Q q9 te 3 2 Active markers Basics Active markers are light i e infrared light emitting elements mostly LEDs In ART tracking systems four types of LED based active markers may be used depend ing on the application 1 Single LEDs without diffusor sphere can be covered with acrylic protection film results in simple and robust markers providing visibility up to high distances up to 10m the angular range of visibility is limited to approx 60 3 Markers and targets rigid bodies 2 Single LEDs with diffusor sphere for optimum angular range of visibility distance between marker and tracking camera is limited to CF a short distance up to 4 5m R 3 Big active spherical markers several single LEDs per marker covered with light s
127. rated columns are left blank Measurement Tool The Measurement Tool display is split into two parts 1 position and orientation of the Measurement Tool s tip and the respective reference body 2 position and orientation of the reference body A simple colour code indicates if the Measurement Tool or the reference body respec tively are tracked tool is being tracked tracking data is displayed tool is not being tracked instead of tracking data dashes are dis played measurement is being performed tool is not calibrated columns are left blank A Measurement Tool which a reference body has been assigned to can only be tracked if the reference body is tracked as well Events The Event display presents the status of the tracking system It offers feedback of the operational state concerning errors or warnings Furthermore it informs the user about successful room or body calibrations Each entry is associated with a timestamp and date Set to default If for some reason the appearance of the DTrack2 Frontend got messed up you may reset all views and the size of the window back to default values This means that only the Monitor 2DOF the Data and the Events displays are shown refer to figure 4 13 on page 41 4 3 6 6 Menu Tools 80 4 3 DTrack2 frontend software Tools Shortcut Controller Update Measurement Tool Demo Table 4 16 Menu Tools Controller Update If you update your DTrack2 frontend softwa
128. ration angle refer to table 4 2 Standard Powerwall In the Standard setting the With the Powerwall setting the angle defines the X Y plane X X Y plane is in the screen and at the long Y at the short the Z axis pointing out of the beam and Z upward screen This is the standard screen coordinate system of many VR systems e g OpenGL TrackD etc Table 4 2 Options for coordinate system definition After pressing Calibrate the room calibration is started with five seconds delay A window showing the progress of the room calibration appears see figure 4 19 a The progress is shown for each camera which is especially helpful for big systems As soon as the display for a camera changes its colour to green see enough data for calculation of the camera position has been collected for this camera cr fa P Calibration Progress S P Calibration Progress Es 01 c02 c03 04 01 c02 03 c04 tab 01 tab 01 tab 01 tab 01 tab01 tab01 tab 01 tab01 01725 01726 01727 01728 01725 01726 01727 01728 18 remaining time 24 seconds remaining time 1 seconds cai K A 1 A a b Figure 4 19 Room calibration progress If necessary you may adjust the duration of the room calibration gt Show details in a range of 10s 100s Resetting the value to default is achieved by pressing the Set to 46 4 3 DTrack2 frontend software default button default
129. re it is mandatory that you also update the software of the Controller An assistant will guide you through the process of the software update In case you abort the update of the Controller software not recommended during this process you can carry it out later Just click Tools gt Controller update and follow the instructions of the assistant given during this process It is necessary to restart the Controller when the assistant is finished H Personal settings and configurations e g room and body calibration output settings etc will be preserved during update Measurement Tool Demo This demo provides a convenient way to do measurements with the Measurement Tool Points may be collected by using up to four Measurement Tools The distances between adjacent points are computed automatically You may add or delete points from the list and if wanted you may save it to a file Control Description Measure point Place the Measurement Tool at the position you want to measure and press this button Insert point Add an additional point to the list above the se lected point lt Delete point Remove the selected point from the list on Save list Export the list of points to a file e g may be im ab ported to a spreadsheet program Clear list Delete the entries of the list z The measurement of a point is started either by pressing the button Measure point or O by tilting over the Measurement Tool as de
130. rees of freedom i e position and orientation five degrees of freedom i e one degree less in orientation imaginary connecting line between the two integrated cameras of the SMARTTRACK teach the system the geometry of a rigid body rigid arrangement of several single markers see also target belongs to the room calibration set and defines origin and orien tation of the room coordinate system equipment to mount the SMARTTRACK to the ceiling Linux based software which does all necessary calculations graphical user interface to control the SVARTTRACK wireless interaction device for virtual reality VR applications fusion of optical and inertial data into one consolidated output An inertial measurement unit simultaneously measures 9 physi cal pro infrared optical tracking software key to unlock certain capabilities of the SMARTTRACK object either made of retro reflective material or LED for position tracking 3DOF a pointing device which allows to measure the position of the tool s tip with high accuracy defines the volume where optical tracking is possible infrared signal which is used for wireless synchronization SMARTTRACK sees disturbing reflections caused by the in frared flashes of another SMARTTRACK predicts output for the specified time in the future to compensate tracking and rendering latency exchange data with Flystick teach the system the position of each camera and define origin and orientation of the room coord
131. rget Then press Calibrate The appearing dialogue will show the status of the calibration via a progress bar W Hybrid Body Calibration body ID Hand Target right inertial Rev 2 0 standard b37 v sensor ID WQDEJQA During the Hybrid Body Calibration move the target as shown in the picture Calibrate Exit Figure 4 8 Hybrid Body Calibration As a result you will receive a value for the residual of the calibration This residual is a representation of how well the rotational data from the inertial sensor matches the optical tracking data Thus it is a measure of the accuracy of the HBC Values ranging from 1 to 2 are ideal Anything less than 3 is still acceptable Please refer to figure 4 9 on 85 In case the values are acceptable you can assign the calibration and return to the Body Administration Now the sensor should show fu in the column Calibration Repeat this procedure for each sensor Hybrid Body Calibration Result xn calibrated body HTX standard b37 inertial sensor WQDEJQA residual in deg 1 42 Figure 4 9 Hybrid Body Calibration Result 35 t 2 Q rq CS 4 System setup ART delivers pre calibrated targets i e both the optical target geome try as well as the HBC result are stored directly on the sensor Unless H the hybrid target is disassembled or becomes damaged it is sufficient to identify and add all sensors using the menu Setting
132. ries 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 output fsync ddivisor 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 126 B 2 Output of Measurement Data via Ethernet A UDP datagram in ASCII format contains several lines separated by CR LF hex oD 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 gt Output 6dcal 6d 6di standard bodies 6DOF Settings gt Output 6d 6d 3d additional markers DOF Settings gt Output 3a 6df 6df2 Flysticks 6DOF buttons Settings gt Output 6df 6df2 6dmt Measurement Tools 6DOF tip trafo Settings gt Output 6dmt 6dmtr Measurement Tool references 6DOF Settings gt Output 6dmir 6dmt2 Measurement Tool with sphere tip 6DOF tip trafo Settings Output
133. rom ART upon request Command string always preceded by dtrack2 Description tracking start tracking stop set config active_config lt name gt set output net lt channel id gt udp lt host 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 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 Setting up the Hybrid Inertial System 4 2 Setting up the Hybrid Inertial System With the introduction of v2 10 0 DTrack2 supports inertial sensors The main advantage of hybrid targets is that inertial sensors still deliver information through the rotation of the target even when the optical target may not be tracked any longer due to viewing limitations or occlusions On the other hand drift correction of the inertial sensors is achieved by fusing their output with position measurements calculated from the optical tracking system Inertial sensors are communicating with the DTrack2 system via a 2 4 GHz ISM radio connection Connecting the wireless transceivers The wireless antenna comes pre assembled with two transceivers Dongles for communication w
134. rwise unavailable channels for optimum connectivity 31 st ab Q re cS 4 System setup Next scan the available radio channels by pressing Scan available channels After com pletion the drop down menu in the column Channel will show a list of all available chan nels for each dongle The currently used channels are marked in bold digits while all not recommended channels are greyed out If the current channel of a dongle is not suitable DTrack2 recommends another one marked green Please select an appropriate channel for each dongle The selected dongle will change its channel accordingly like for all assigned sensors Do not set both dongles to the same channel or on occupied frequencies from other devices in range Adding the inertial sensors to the configuration in D7rack2 This needs to be done initially in case the sensors are already connected please skip this step Please ensure that all sensors have been charged or alternatively attach the sensors to the supplied charging hub prior to the following steps In the menu Settings gt Inertial Sensors press Add sensor to identify and connect all inertial sensors in range Add Sensor s Scan Mode default X V accept all Device ID Model Channel Accept 1 WKFUF Colibri Wireless 35 2 WIPCHBH Colibri Wireless 55 Scanning channels done Figure 4 7 Add Sensors In the appearing dialogue see figure 4 7 on you should find the Sc
135. s 0200000 ee eee PEE We oe ke Ee Se oe apnoea ee aod 4 14 Menu Display tlhe oO ee eB me he ee ee oe ee ke we a Raa SS akon es ae Heme 4 16 Menu Tools ai sb de a Bk we Re we RO BRR oe a owe Son 4 17 Menu About E 4 4 E 5 1 Description of the Flystick2 se ie ae eee oe oS Re ee we 5 2 Status LEDs quick reference 0 000 eee eee ee 5 3 Description of the Flystick3 2 26646 24 sew wee eee ee ee eS 136 Index body adjustment calibration body calibration body re calibration calibration file room calibration room re calibration center of gravity coded flash configuration management controller coordinate system Data Display data output declaration of conformity DHCP Event Display field of view FoV flash intensity infrared optical tracking system interaction device Flystick2 Flystick3 Measurement tool IP address liability license code line of sight MAC address marker active marker big active flat marker big active spherical marker passive marker measurement volume modulated flash Monitor 2DOF MultiUser option radio module 85 reflex suppression automatic 63 manual 62 remote PC 37 retro reflector rigid body 18 room adjustment 74 room calibration set 44 send data divisor sensor fusion service and support Settings shutter glasses validated
136. s Inertial Sen sors Add Sensors There is no need to calibrate the targets manu ally Please perform all inertial sensor calibrations with warmed up sensors E in a constant temperature environment for optimum tracking perfor mance indicated by a green temperature bar Inertial Sensor Calibration After successful calibration of all hybrid bodies a drift correc tion for all inertial sensors should be measured and applied To this end please select Calibration Inertial Sensor Calibration see figure 4 10 on page 36 Put all sensors in the tracking volume pre condition a successful Hybrid Body Calibration for each inertial sensor or put them anywhere on a level surface Do not move or touch them during the following calibration Tick the checkboxes in the column Calibrate of all sensors to be calibrated and press Calibrate Values around 0 1 are ideal and still acceptable up to 0 2 values indicate possible movement during the calibration When the calibration is done you can apply the drift correction either to single sensors by ticking the appropriate checkboxes in the column Accept or by ticking accept all for all sensors in range Press Apply and exit the dialogue gt Inertial Sensor Calibration En T caibrateal E acceptal DevicelD Body Residual deg Calibrate Accept 1 WCDMIHF standard body b01 2 WLKBIQB standard body b02 3 WFPJOKL standard body b03 F 4 WLCHFAL standard body b04 Calibrating 0
137. s gt How shall I evaluate the room calibration results The value Used Frames represents the percentage of valid i e used for room calibra tion data for each camera It should be as high as possible for all cameras Values under 50 indicate poor room calibration quality The number of valid frames should be greater than 70 for each camera Please note that percentages of more than 70 may not be possible when chain calibra tion is executed gt DTrack2 reports the error message no angle tool detected What went wrong First of all please double check if all markers are visible and that there are no disturbing reflexes Sometimes it might help to move the calibration angle a little bit Please always verify the settings for the room calibration before repeating e wand length is printed on a label on the wand e select the correct calibration set and gt The progress bar of the room calibration stopped Please double check in the Monitor 2DOF display whether the calibration wand is recog nized by the cameras during its movement 103 6 Frequently asked questions FAQ What is a re calibration and when do I have to perform one DTrack2 provides simplified room and body calibrations called room and body re calibration The main advantage of a re calibration is that DTrack2 preserves the origin and the ori entation of your coordinate system You may perform a room re calibration from time to time o
138. s equipped with 20mm markers Weight 75g 2 650z approx Dimension 195 x 170 x 120 mm Marker size 20mm Generic glasses target y INFITEC PREMIUM target For head tracking mostly in passive stereo systems tracking targets must be fixed to the stereo glasses ART offers several light weight standard targets for this pur pose Target tailored to the INFITEC PREMIUM passive stereo glasses min 14g 0 50z max 22g 0 70z 26g 0 90z 270 x 120 x 35 mm 225 x 85 x 80 mm 12mm 12mm Chapter 3 s 61e piepuels g g 02 Type Description Weight approx Dimension Marker size CrystalEyes 2 3 target Target tailored to the shutter glasses of the 28g 10z 215 x 120 x 60 mm 12mm StereoGraphics active stereo system It fits to both CrystalEyes 2 and 3 CrystalEyes 5 target Target tailored to the shutter glasses of the 19g 0 70z 195 x 105 x 40 mm 12mm StereoGraphics active stereo system It fits to the CrystalEyes 5 NuVision APG6000 Target tailored to the NuVision APG6000 17g 0 60z 220 x 125 x 75 mm 12mm and APG6100 target and APG6100 shutter glasses saipog piu sjabie pue siayiey y g Lo Type Volfoni EDGE target Description Weight approx Dimension Target tailored to the Volfoni EDGE shut 23g 0 70z 230 x 95 x 60 mm ter glasses Marker size 12mm NVIDIA 3D Vision Pro target NVisor SX 60 target Target tailored to the NVidi
139. s F7 Camera settings Synccard Synccard settings Inertial Sensor Settings for intertial sensors ART Radio Info Opens a dialogue where you can see available transceivers and devices within your setup Tracking General settings Body Administration F8 General settings for all targets and interaction devices Output F9 Set output channels and configure the data to be trans mitted Flystick Configure your Flystick Measurement Tool Configure your Measurement Tool Controller Configure the controller for your local network Calibration Shortcut page 72 Start static reflex scan for all Starts the static reflex scan enabled cameras Inertial Sensor Calibration Re calibrate the internal sensors of the inertial sensor Room F5 Room calibration Room adjustment Shift F5 Adjust room coordinate system Body F6 Body calibration Body adjustment Shift F6 Adjust body coordinate system Hybrid Body Determine the relative rotation between optical and in ertial sensor Start tip calibration process for the Measurement Tool 4 3 DTrack2 frontend software Display Shortcut page 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 Measurement Tool Display Measurement Tool data Events Display event messages generated by DTrack2 Set to default Reset the shown displays to default Tools Shortcut page Controller Update Start the assist
140. s can show strange behaviour at certain orientations In particular for orientations close to 6 90 the other two angles can experi ence large odd looking changes When connecting DTrack2 to an application often problems appear caused by different definitions of rotation angles To avoid that we recommend to use rotation matrices B 1 4 3DOF Data Besides the tracking of DOF bodies DTrack2 is able to calculate the coordinates of single mark ers i e markers that can not be recognized as part of a rigid body The output values are the coordinates of these markers measured in room coordinates In some situations a rigid body within the measurement volume is temporarily not correctly recognized by the software In these cases its markers appear as 3DOF objects 3DOF markers are tracked as long as possible and labeled with an ID number When a 3DOF marker vanishes or is recognized as part of a 6DOF body its ID number will not be used any more as long as the tracking is active B 1 5 Flystick devices DTrack2 is supporting the following input devices e Flystick2 and 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 and added to the 6DOF tracking result of the Flystick body There are two types of output formats available called 6df and 6df2 details see chapter B 2 5 on page 129 and chapter B 2 6 on page
141. setup e 2x 5DOF cylinder an L shaped target made of ring markers which delivers 6DOF data Selecting the coordinate system for 6DOF targets The type of body calibration can be set as due to body due to room or due to room zero in marker The difference between these calibration types is to be found in the orientation of the body coordinate system relative to the body During body calibration DTrack2 defines a local coordinate system body coordinate system for each target Body calibration setting due to body The body coordinate system is fixed by the markers of the rigid body according to a set of rules 1 Search the biggest distance between two markers of the rigid body These two markers 1 and 2 will define the X axis 2 Search for a third marker 3 that has the smallest distance to one of the two markers 1 and 2 The marker that has smallest distance to marker 3 becomes marker 1 It will define the coordinate origin The other marker will be 2 The positive X axis is directed from marker 1 to marker 2 3 Marker 3 defines the X Y plane together with markers 1 and 2 Marker 3 has a positive Y coordinate 4 The Z axis is already defined by these rules resulting in a right handed coordinate system a Body calibration b Body calibration c Body calibration due to body due to room due to room zero in marker Figure 4 25 Defining the target coordinate system
142. sing 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 camera s point of view are merging to one reflex body calibration may be affected These merging marker situations should be avoided during body calibration i e the target should be oriented in a way that reduces merging markers to a minimum The target orientation can be checked before starting the body calibration using DTrack2 s Monitor 2DOF display which is opened automatically in the background after selecting Calibration Body The following figure 4 23 shows a rigid body with five markers that are all correctly seen by one of SMARTTRACK s cameras c02 i 5 0 END Figure 4 23 Recognized target in DTrack2 Monitor 2DOF display Furthermore the absence of any additional markers in the measurement volume has to be ensured for body calibration If additional markers that are not part of the target to be 50 4 3 DTrack2 frontend software 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 o
143. sion Is free only for Devices the device is not free no if it is assigned to an interaction device ID Is present the device or the transceiver is present in the tracking volume By clicking the button Show details you may change the channel the transceiver is trans mitting on H The SMARTTRACK comes with an integrated radio transceiver There is no need to plug in an additional USB Radio Transceiver RT2 Tracking In this dialogue you can configure whether 3DOF markers are calculated or not and you can enable or disable the automatic start of measurement after booting Also you can globally define the ceniral axis for all 5DOF targets For these the rotation around the body axis cannot be measured by the tracking system This rotation is there fore set to a certain value by the system Thus the 5DOF central axis is only important if you intend to use the rotation around the body axis The most important properties are e f the 5DOF body is positioned parallel to the 5DOF central axis the rotation around the body axis remains undetermined 66 4 3 DTrack2 frontend software e The rotation around the body axis is reduced to a minimum We recommend that you choose the 5DOF central axis as the direction which is the least often parallel to the tracked body axis e g floor to celling for glasses targets H The best choice for the 5DOF central axis may be found when using the tracking data in your
144. sitive 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 in stallation are within the allowed ranges of the equipment The characteristics of the equipment can be found on the appliance rating plate or in chapter Ajon page 117 The appliance rating plates are on the equipment s housing SMARTTRACK on the backside of the housing The power switch on the backside does not completely separate the devices from the electricity network To completely separate the equipment from the electricity network the power plug must be disconnected from the power socket The power plug has to be accessible freely The power socket must be close to the equipment 1 2 Safety warnings e Please install the cables such that no one can stumble over t
145. ssion is active 130 B 2 Output of Measurement Data via Ethernet e When buttons of the Flysticks are pressed the decimal number bt changes It is coded binary i e switch 1 activated bit 0 set switch 2 activated bit 1 set Example one line 6df 1 0 1 000 2 261 103 116 520 41 085 19 6522 57 3530 116 5992 0 241543 0 968868 0 054332 0 482366 0 168461 0 859619 0 842010 0 181427 0 508039 B 2 7 Measurement Tools Identifier 6dmt H Only available if the Measurement Tool license is present for DTrack2 avail able since version v2 2 0 The output for Measurement Tools is similar to the format for Flysticks e The first number gives the number of defined Measurement Tools e The data of each tool show up in blocks three consecutive like id qu bt sz sy sz bo b b2 b3 ba bs be bz bs They contain 1 ID number id starting with 0 quality value qu see below and button information bt unused 2 Measured position s of the tip 3 Rotation matrix b of the tip s orientation e The quality qu can so far just get the values 1 0 and 1 0 1 0 means that the target of the Measurement Tool is not visible at the moment e The protocol is prepared for future Measurement Tools equipped with buttons like Flysticks Until then bt is set to zero e bo bg form a rotation matrix R according to the scheme described in chapter on page Example one line 6dmt 1 0 1 00
146. stick buttons Depending on how many Flysticks you are using you have to configure the number of Flysticks max 10 in Settings Flystick Tick the checkbox activate MultiUser function If you want to use a Flystick2 and a head target as data pair then you have to tick the checkbox use head targets as well Please refer to chapter B on page 121 for more details on the output format Body calibration First configure the number of Flystick2 you are using select Settings Flystick and configure the number of Flysticks You have to assign your Flystick2 to a Flystick ID by selecting for example 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 it is already present just press any button of the Flystick2 to register it at the radio transceiver Then select Calibration Body calibration In the appearing dialogue the body to be selected is named Flystick body 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 Press Calibrate and the calibration starts within 5 seconds Please refer to page 50 for more information concerning body calibration Outp
147. t 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 Chapter 1 1 Safety 10 socket immediately Otherwise users or environment are endangered Please con tact the ART service Never change or alter the equipment neither mechanically nor electrically Only the components described by ART shall be used The conformity and the warranty of the producer ART expire by non compliance Never open the equipment Only personnel authorized by ART is allowed to open the equipment Inside of the equipment there are various hazards like high voltage electric shocks even if the equipment is disconnected which can lead to death on contact In case of malfunction of the equipment please contact the ART service Only peripheral devices which meet the safety requirements of EN IEC 60950 for extra low voltage may be attached on Ethernet BNC and the DC circuit of the equipment The SMARTTRACK emits infrared light Keep a distance of min 20 cm when op erating the SMARTTRACK The SMARTTRACK is assigned to the Exempt Group according to IEC62471 1 and therefore poses no risk or hazard to the human eye or skin at this distance Be sure that the cameras are firmly mounted in the correct position Do not touch the front pane of the cameras since the acrylic pane and the lens are highly sen
148. t visible at the moment e bo bg form a rotation matrix according to the scheme described in chapter on page 127 e The protocol is prepared for the future when the covariance matrix of the measurement tool tip is calculated Until then c is set to zero Example one line 6dmt2 1 1 0 1 000 4 2 000 326 848 187 216 109 503 0 911812 0 038421 0 408806 0 095040 0 988324 0 119094 0 399457 0 147444 0 904817 0 0 000e 00 0 000e 00 0 000e 00 0 000e 00 0 000e 00 0 000e 00 B 2 9 Measurement Tool references Identifier 6dmtr H Only available if the Measurement Tool license is present for DTrack2 avail able since version v2 2 0 The output for Measurement Tool references is defined as follows e The first number gives the number of defined Measurement Tool references e The second number gives the number of tracked Measurement Tool references e The data of each tracked reference show up in blocks three consecutive like Lid qu Sz Sy sz bo b b2 b3 b4 bs be b7 bg They contain 132 B 2 Output of Measurement Data via Ethernet 1 ID number id starting with 0 quality value qu see below 2 Measured position s of the Measurement Tool reference 3 Rotation matrix b of the Measurement Tool reference e The quality qu can so far just get the values 1 0 and 1 0 1 0 means that the Measure ment Tool reference is not visible at the moment e bo bg form a rotation matrix R according to th
149. 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 Do page 121 activate MultiUser function Refer to page 86 in chapter 5 1 for more information use head targets The data pair Flystick and head target of one user is made available as output data if MultiUser func tion is activated Table 4 11 Flystick settings Description of the checkboxes Below there are two more properties which can be configured for Flystick3 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 default Make sure that your Flystick is in the available Flysticks list if necessary compare the serial number listed here to the one printed on the battery compartment of the Flystick2 or on the back cover of the Flystick3 Now you have to assign your Flystick to the respective 70 4 3 DTrack2 frontend software Flystick ID Therefore e mark the respective Flystick ID e mark the desired available Flystick and e press Select Repeat these steps
150. the controller is connected properly to the Ethernet network e Switch on the controller e t is possible that your controller has become unreachable due to wrong IP settings wrong IP address or IP address area etc Please refer to chapter on page e In case you are using a firewall please do not block D7rack2 communication For more information please also refer to chapter page 25 What is the IP address of my controller You may use a standard USB stick and plug it in to the controller at any time If not running yet please switch on the controller Its settings IP address etc will be saved to a setup file on the USB stick This file may be opened and modified in any editor Please refer to chapter on page 26 for more information How can assign a specific IP address to my controller There are two options to do this 1 Modify the setup file i e enter the IP address save it to a USB stick and plug it in the controller Please refer to chapter on page 26 for more information 2 Within DTrack2 go to Settings Controller On the General tab untick the check box DHCP client and enter the desired P address and subnet mask Please refer to chapter 4 3 6 3 on page 72 for more information 97 6 Frequently asked questions FAQ 6 4 DTrack2 and shutter glasses gt What types of shutter glasses can be used with the AAT tracking system e RealD CrystalEyes 1 2 3 and 5 e NuVision APG6
151. tive to camera movements Therefore the SVARTTRACK have to be mounted in a way that reduces camera movements especially vibrations as much as possible H Mounting on tripods may be sufficient for presentations and prelimi nary installations but is not recommended as a final solution Feel free to contact ART in case you want to realise a more complex installation We will assist you in your planning The T piece for the SMARTTRACK can be attached on both bottom and top side see figure 4 3 Only use screws supplied with the carrier for mounting it 23 4 System setup You shall never unfasten other screws of the SMARTTRACK see chapter 1 2 on page 9 Otherwise the SMARTTRACK may be damaged and liability and warranty is void Furthermore please make sure the ventilator holes are not covered Make sure to install the SMARTTRACK in a way that you can easily access its cables Be especially careful to mount the SMARTTRACK firmly so it cannot fall down If unsecured it may pose a serious hazard to health and safety Avoid hard shocks A new camera calibration at the AAT facilities might become necessary in that case Please install the cables such that e no one can stumble over the cords e the cords cannot be damaged e the cords cannot damage the SMARTTRACK due to mechanical strain e the line of sight of the SWARTTRACK is not obstructed Inappropriate cabling may pose a serious hazard to health and safety Cable
152. 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 discontinued in December 2011 88 5 2 Flystick3 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 E 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 Bjon page 121 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 active target trigger battery status LEDs and charging jack Figure 5 6 Flystick3 control elements 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 89 5 Interaction devices e Full extension into any direction creat
153. trolling their equipment e g if R controlled shutter glasses are used The goal is to reduce or eliminate interference The ART track ing system follows the external synchronization signal and chooses time slots when it is safe to emit infrared radiation without causing interference The effect is for example that active shutter glasses are not flickering but offer a stable picture for the user The external sync input is not internally terminated When synchronizing with a video input a T piece with an external 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 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 e Plug in the USB stick It doesn t matter if the SMARTTRACK is running or not e If necessary start up the SMARTTRACK 26 4 1 The SMARTTRACK e Wait some time approx 20 30 seconds for the SMARTTRACK to write the two files onto the USB stick e Unplug the USB stick e 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 setu
154. tton code 10 hex button code 20 hex first controller up to 1 0 second controller up to 1 0 second controller up to 1 0 ex first controller up to 1 0 aa 2 Q Q e lt a Flystick2 b Flystick3 Figure B 1 Allocation of ID number to the Flystick buttons B 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 6af the joystick values are transferred into hat switch actions Switch labelled as 6df Output 6df2 Output in figure B 1 bottom switch yellow id 0 code 01 hex button code 01 hex top right switch blue id 1 code 02 hex button code 02 hex top middle switch blue id 2 code 04 hex button code 04 hex top left switch blue id 3 code 08 hex button code 08 hex joystick yellow to the left code 20 hex first controller up to 1 0 joystick yellow to the right code 80 hex first controller up to 1 0 joystick yellow up code 40 hex second controller up to 1 0 joystick yellow aie code 10 hex second controller up to 1 0 125 B Technical Appendix B 1 6 Measurement Tools H Only available if the Measurement Tool license is present for DTrack2 avail able since version v2 2 0 The Measurement Tool license allows the use of Measurement Tools i e pointing devices with a special target g
155. ut 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 60f2 you can define the Flystick data to be transmitted Please refer to chapter 4 3 6 3 on page 68 for more details Press Start to start the measurement In order to see the tracking data you have to enable 87 5 Interaction devices 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 discontinued b passive target standard Figure 5 5 Flystick3 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 3 Description of the Flystick3 It is equipped with an active or passive target a
156. video sane active stereo projection with an external video signal for validated shutter glasses analogue eae nc signal VGA external video signal for validated shutter glasses divisor 2 g y g 7 external TTL signal eer external TTL signal for validated shutter glasses anive Sarea projscnan Wih ATIL direct settings SMENA lustom settings 1 predefined settings that should be used with the shutter glasses mentioned in table 4 8 2 if additionally the frequency of the external synchronization signal is greater than 60Hz this mode should be used Table 4 7 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 only for internal synchronization divisor for external signal reduce the tracking frequency only for external video syn chronization Delay us N A for SMARTTRACK 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 0b Ec O Table 4 8 Overview of validated shutter glasses Inertial Sensor In this dialogue all available wireless transceivers dongles are s
157. w room calibration e Please make sure using the Monitor 2DOF display that no marker is overlapped i e merged by another one If necessary rearrange the target and restart the body calibration e Try to carry out the body calibration with a moving target Therefore shift the starting position of the target for calibration often a shift of 10 or 20cm is enough to enable calibration again e Make sure that no other markers or targets but the one you want to calibrate are inside the tracking volume 104 6 7 Calibration e Please carry out a new room calibration gt I d like to save all my body files for backup reasons but I receive less files than configured bodies DTrack2 only creates body files for calibrated bodies For example if you configured 15 targets for tracking but only 4 of them are calibrated you will only receive 4 calibration files gt ld like to calibrate a body but the body calibration dialogue is greyed out Please ensure that you have performed and accepted a valid room calibration prior to body calibration You may only calibrate bodies if you have the Extended or the Full featured license With a Basic license you are only able to calibrate bodies using a calibration file Starting with DTrack2 version v2 10 a new license model has been established Thus you are always allowed to manually calibrate up to 4 bodies at least Go to Dirack2 Licenses to see which license you have gt What

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