Art ARTTRACK1 User manual

version 2.14
July 2018
c
2018 A.R.T. GmbH
Contents are subject to
change without notice
weisser Text als Fake ...
System user manual
ARTtrack R
, TRACKPACK & DTrack R 
dasbetrifft die gesamte seitenbreite der seite des dokumentes etetcetcetcetcetcetcetc etcetcetcetc

Trademarks
The following overview shows the registered trademarks of A.R.T. GmbH (Advanced Re-
altime Tracking GmbH):
trademarks illustrated as in Germany in the EU in the USA
A.R.T. R
ART ×××
ARTtrack R
ARTTRACK ×××
DTrack R
DTrack2 ×
smARTtrack R
SMARTTRACK ×××
×××
Microsoft R
and Windows R are trademarks registered in the United States and
other countries by the Microsoft Corporation.
The company names and product names written in this manual are trademarks
or registered trademarks of the respective companies.

Warranty regarding further use of the open source software
A.R.T. GmbH provides no warranty for the open source software programs
contained in this product, if such programs are used in any manner other than
the program execution intended by A.R.T. GmbH. The licenses define the
warranty, if any, from the authors or licensors of the open source software.
A.R.T. GmbH specifically disclaims any warranties for defects caused by
altering any open source software program or the product’s configuration. You
have no warranty claims against A.R.T. GmbH in the event that the open source
software infringes the intellectual property rights of a third party. Technical
support, if any, will only be provided for unmodified software. The full license
text can be obtained from A.R.T. GmbH directly.
Disclaimer
In no event shall A.R.T. GmbH be liable for any incidental, indirect, or
consequential damages whatsoever (including, without limitation, damages for
loss of business profits, business interruption, loss of business information, or
any other pecuniary loss) arising out of the use of or inability to use the software
or hardware.
c
1999 - 2018 by A.R.T. GmbH
Am Öferl 6
D-82362 Weilheim i. OB
Germany
T+49 (0)881-92530-00
v+49 (0)881-92530-01
 http://www.ar-tracking.de

What’s new in version v2.14?
Following, a short overview of the main new features in DTrack2 version v2.14:
•Integration of optical-inertial hybrid tracking (sensor fusion)
•Minor features (e.g. display IP address using DHCP, display ATC’s CPU tempera-
ture)
What’s new in version v2.13?
Following, a short overview of the main new features in DTrack2 version v2.13:
•Support of FINGERTRACKING2 Tactile. Based on the vibro-tactile Fingertracking
prototype the product version offers tactile feedback for the fingertips and compati-
bility to the high frame rates of ARTTRACK5 &TRACKPACK/E cameras.
•Integration of new ’Fingertracking Administration’ GUI. It facilitates and streamlines
the configuration of all Fingertracking devices.
•Detailed export functionality of system-configuration and event-log for tech support
What’s new in version v2.12?
Following, a short overview of the main new features in DTrack2 version v2.12:
•Easier addition of cameras: To add a camera, simply re-calibrate the room with-
out losing the origin and orientation of the original coordinate system and continue
tracking. A similar procedure applies when removing cameras from the system.
•Integration of ’COOTrans’, our co-ordinate adjustment utility. This means that the
room adjustment can now be used to transform the tracking coordinate system
into the coordinate system of specific 3rd party objects, provided that the reference
points are known and can be measured (license-based)
•Support of bodies with up to 30 markers each
•Support of bodies with visibility restrictions including display of emission cones
within ’Body Adjustment’
•Additional information dialog regarding cylindrical markers within ’Body Calibration
Result Dialog’
•New function to remove unused markers from a rigid body within ’Body Adjustment’
•Radio channel settings are saved persistently when choosing a specific channel
number

What’s new in version v2.11?
Following, a short overview of the main new features in DTrack2 version v2.11:
•Support of new TRACKPACK/E cameras with Controllers including Synccard3 (see
e.g. chapter 4.3 on page 35)
•Support of new ARTTRACK5/C cameras for cave installations with Controllers in-
cluding Synccard3 (see e.g. chapter 4.2 on page 32)
•Improvements of usability of Hybrid Motion Capture (see chapter 7 on page 106)
What’s new in version v2.10?
Following, a short overview of the main new features in DTrack2 version v2.10:
•Support of ARTTRACK5 cameras with Controllers including Synccard3 (see e.g.
chapter 4.1 on page 29)
•Support of external sync source ’TTL signal, both edges’ (see e.g. chapter 8.5.2 on
page 151)
•New license model. (see e.g. table 8.6 on page 141)

Contents
Termsanddefinitions ................................. 12
1 Safety 14
1.1 Symbols and their meaning . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.2 Safetywarnings ................................. 14
2 Introduction 17
3 Markers and targets (rigid bodies) 20
3.1 Passivemarkers ................................. 20
3.2 Activemarkers .................................. 21
3.3 Standardtargets ................................. 24
4ART Tracking Cameras 29
4.1 ARTTRACK5 .................................. 29
4.2 ARTTRACK5/C ................................. 32
4.3 TRACKPACK/E ................................. 35
4.4 ARTTRACK2 (discontinued) .......................... 37
4.5 ARTTRACK3 (discontinued) .......................... 40
4.6 TRACKPACK (discontinued) .......................... 42
4.7 TRACKPACK/C (discontinued) ......................... 45
4.8 Settingupthecameras ............................. 48
4.8.1 Camera orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.8.2 Localizing and removing of disturbing reflections . . . . . . . . . . . 48
4.8.2.1 Mutual blinding . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.8.3 Room Calibration overview . . . . . . . . . . . . . . . . . . . . . . . 51
5ART Tracking Controllers 54
5.1 Installation of the ART Controller (DTrack2 since v2.10) . . . . . . . . . . . 55
5.1.1 Ports & Plugs on the ART Controller.................. 55
5.1.2 Connecting cameras . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.1.3 Dynamically adding / removing of cameras . . . . . . . . . . . . . . 58
5.1.4 Connection to local network LAN . . . . . . . . . . . . . . . . . . . . 58
5.1.5 External synchronization . . . . . . . . . . . . . . . . . . . . . . . . 60
5.2 Installation of the ARTTRACK Controller (discontinued) . . . . . . . . . . . 60
5.3 Installation of the TRACKPACK Controller (discontinued) . . . . . . . . . . 63
5.4 Cascadedsystems................................ 66
5.4.1 Connecting a cascade . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.4.2 Configuration of a cascade . . . . . . . . . . . . . . . . . . . . . . . 68
6

6 Interaction devices 71
6.1 Flystick2...................................... 71
6.1.1 Controlelements............................. 71
6.1.2 Batterypack ............................... 73
6.1.3 Radiomodule............................... 75
6.2 Flystick3...................................... 75
6.2.1 Controlelements............................. 76
6.2.2 Batterypack ............................... 77
6.2.3 Radiomodule............................... 79
6.2.4 Wireless synchronization (active Flystick3 discontinued) . . . . . . . 79
6.3 FlystickInstallation................................ 80
6.3.1 RadioTransceiver ............................ 80
6.3.2 Flystick Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 81
6.3.2.1 Flystick Calibration . . . . . . . . . . . . . . . . . . . . . . 83
6.3.2.2 Flystick Output settings . . . . . . . . . . . . . . . . . . . . 83
6.4 Fingertracking .................................. 83
6.4.1 Standard Fingertracking Hand Targets . . . . . . . . . . . . . . . . . 85
6.4.2 FINGERTRACKING2 Tactile Hand Targets . . . . . . . . . . . . . . 87
6.4.2.1 Radiomodule ......................... 89
6.4.3 Finger thimble sets . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
6.4.4 Wireless synchronization . . . . . . . . . . . . . . . . . . . . . . . . 91
6.4.5 Batterycharger.............................. 91
6.4.6 Fingertracking Installation . . . . . . . . . . . . . . . . . . . . . . . . 92
6.4.6.1 Fingertracking Settings . . . . . . . . . . . . . . . . . . . . 92
6.4.6.2 Fingertracking Available hand geometries . . . . . . . . . . 93
6.4.6.3 Fingertracking Body calibration via Target Library . . . . . 94
6.4.6.4 Fingertracking Body calibration Custom . . . . . . . . . . . 95
6.4.6.5 Fingertracking Hand geometry calibration . . . . . . . . . . 96
6.4.6.6 Fingertracking Tactile Assignment . . . . . . . . . . . . . . 98
6.4.6.7 Fingertracking Tactile Test . . . . . . . . . . . . . . . . . . 99
6.4.6.8 Fingertracking Output settings . . . . . . . . . . . . . . . . 100
6.4.7 Display tool Fingertracking Viewer . . . . . . . . . . . . . . . . . . . 100
6.5 MeasurementTool ................................101
6.5.1 Measurement Tool Configuration . . . . . . . . . . . . . . . . . . . . 102
6.5.1.1 Measurement Tool Calibration . . . . . . . . . . . . . . . . 104
6.5.1.2 Measurement Tool Output settings . . . . . . . . . . . . . . 105
7 Hybrid tracking 106
7.1 Hybrid motion capture suit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
7.1.1 Connecting the wireless transceivers . . . . . . . . . . . . . . . . . . 106
7.1.2 Connecting the wireless inertial sensors . . . . . . . . . . . . . . . . 108
7.1.2.1 Adding wireless inertial sensors . . . . . . . . . . . . . . . 109
7.1.3 Calibration of custom wireless hybrid targets . . . . . . . . . . . . . 111
7.2 Wiredhybridtargets ...............................111
7.2.1 Connecting the wired inertial sensor . . . . . . . . . . . . . . . . . . 112
7.2.1.1 Adding wired inertial sensor . . . . . . . . . . . . . . . . . 112

7.2.2 Assigning the wired inertial sensor . . . . . . . . . . . . . . . . . . . 114
7.2.3 Hybrid Body Calibration . . . . . . . . . . . . . . . . . . . . . . . . . 115
7.2.4 Inertial Sensor Calibration . . . . . . . . . . . . . . . . . . . . . . . . 117
7.2.4.1 Warm-up of inertial sensors . . . . . . . . . . . . . . . . . 118
7.2.5 Selecting the pulse generating source . . . . . . . . . . . . . . . . . 119
8DTrack2 frontend software 121
8.1 Gettingstarted ..................................121
8.1.1 Installation guide (Windows) . . . . . . . . . . . . . . . . . . . . . . 121
8.1.2 Installation guide (Linux) . . . . . . . . . . . . . . . . . . . . . . . . . 122
8.1.3 Softwareupdate .............................123
8.1.4 Start DTrack2 frontend software . . . . . . . . . . . . . . . . . . . . 123
8.1.5 DTrack2 command line parameters . . . . . . . . . . . . . . . . . . 123
8.2 Connecting to the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
8.2.1 Other Controller (1st run after installation) . . . . . . . . . . . . . . . 124
8.2.2 Setting a static IP address inside DTrack2 ..............125
8.2.3 WakeOnLAN ..............................126
8.2.4 Configuring your controller without the DTrack2 frontend . . . . . . 127
8.2.4.1 The information file . . . . . . . . . . . . . . . . . . . . . . 128
8.2.4.2 Thesetupfile..........................128
8.2.5 Remote command strings . . . . . . . . . . . . . . . . . . . . . . . . 129
8.3 MainGUI .....................................132
8.3.1 Menu bar overview . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
8.3.2 Toolbar ..................................134
8.3.3 DockingDisplays.............................135
8.3.3.1 Monitor 2DOF display . . . . . . . . . . . . . . . . . . . . 135
8.3.3.2 DataDisplay..........................138
8.3.3.3 Fingertracking . . . . . . . . . . . . . . . . . . . . . . . . . 139
8.3.3.4 Flystick.............................139
8.3.3.5 Measurement Tool . . . . . . . . . . . . . . . . . . . . . . 140
8.3.3.6 Event display . . . . . . . . . . . . . . . . . . . . . . . . . . 140
8.4 MenuDTrack2 ..................................141
8.4.1 License management . . . . . . . . . . . . . . . . . . . . . . . . . . 141
8.4.2 Configuration management . . . . . . . . . . . . . . . . . . . . . . . 142
8.4.2.1 Backup of Configurations . . . . . . . . . . . . . . . . . . . 143
8.4.2.2 Export System Information . . . . . . . . . . . . . . . . . . 144
8.4.3 Start/Stop.................................144
8.4.4 Search for new hardware . . . . . . . . . . . . . . . . . . . . . . . . 145
8.4.5 Controller standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
8.4.6 Controllerreboot.............................145
8.4.7 Quit ....................................145
8.5 MenuSettings ..................................146
8.5.1 CamerasSettings ............................146
8.5.1.1 All Cameras tab . . . . . . . . . . . . . . . . . . . . . . . . 147
8.5.1.2 Individual tabs . . . . . . . . . . . . . . . . . . . . . . . . . 150

8.5.2 Synccard Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
8.5.2.1 Synccard Modes . . . . . . . . . . . . . . . . . . . . . . . . 151
8.5.2.2 Direct Settings . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.5.3 Inertial Sensor Settings . . . . . . . . . . . . . . . . . . . . . . . . . 154
8.5.4 ARTRadioInfo..............................154
8.5.5 Tracking Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
8.5.6 Body administration . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
8.5.6.1 Filtering options for 6DOF tracking data . . . . . . . . . . . 158
8.5.7 OutputSettings .............................160
8.5.8 Fingertracking ..............................161
8.5.9 FlystickSettings .............................162
8.5.10 Measurement Tool Settings . . . . . . . . . . . . . . . . . . . . . . . 162
8.5.11 Advanced Controller Settings . . . . . . . . . . . . . . . . . . . . . . 162
8.5.11.1 Network Configuration . . . . . . . . . . . . . . . . . . . . . 162
8.5.11.2 NTP Configuration . . . . . . . . . . . . . . . . . . . . . . . 163
8.5.12 Cascaded System Settings . . . . . . . . . . . . . . . . . . . . . . . 164
8.6 MenuCalibration.................................165
8.6.1 Static reflex suppression . . . . . . . . . . . . . . . . . . . . . . . . . 165
8.6.2 Inertial Sensor Calibration . . . . . . . . . . . . . . . . . . . . . . . . 166
8.6.3 Roomcalibration.............................166
8.6.3.1 Room Calibration Progress . . . . . . . . . . . . . . . . . . 168
8.6.3.2 Room Calibration Results . . . . . . . . . . . . . . . . . . . 169
8.6.3.3 Room re-calibration . . . . . . . . . . . . . . . . . . . . . . 170
8.6.4 Roomadjustment ............................171
8.6.4.1 Transform the room coordinate system . . . . . . . . . . . 174
8.6.5 Bodycalibration .............................176
8.6.5.1 Body calibration overview . . . . . . . . . . . . . . . . . . . 176
8.6.5.2 Body calibration procedure . . . . . . . . . . . . . . . . . . 177
8.6.5.3 Body calibration result . . . . . . . . . . . . . . . . . . . . . 178
8.6.5.4 Selecting the coordinate system for 6DOF targets . . . . . 178
8.6.5.5 Selecting the coordinate system for 5DOF targets . . . . . 179
8.6.5.6 Calibration with a calibration file . . . . . . . . . . . . . . . 180
8.6.5.7 Body re-calibration . . . . . . . . . . . . . . . . . . . . . . 182
8.6.5.8 Target Library . . . . . . . . . . . . . . . . . . . . . . . . . 182
8.6.6 Bodyadjustment.............................183
8.6.6.1 GraphicView..........................184
8.6.6.2 Changing of body geometry . . . . . . . . . . . . . . . . . 185
8.6.7 Hybrid Body Calibration . . . . . . . . . . . . . . . . . . . . . . . . . 186
8.6.8 Fingertracking Calibration . . . . . . . . . . . . . . . . . . . . . . . . 186
8.6.9 Measurement Tool Calibration . . . . . . . . . . . . . . . . . . . . . 186
8.7 MenuDisplay...................................187
8.8 MenuTools ....................................188
8.8.1 Controller Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.8.2 Measurement Tool Demo . . . . . . . . . . . . . . . . . . . . . . . . 188
8.9 MenuAbout....................................189

9 Frequently asked questions (FAQ) 192
9.1 Backup ......................................192
9.2 Cameras .....................................192
9.3 Controller .....................................195
9.4 Synchronization .................................195
9.5 DTrack2 andshutterglasses ..........................202
9.6 DTrack2 andinterfaces .............................202
9.7 Software DTrack2 ................................203
9.8 Calibration ....................................207
9.9 Tracking......................................211
9.10Flystick ......................................213
9.11Fingertracking ..................................214
9.12MeasurementTool ................................216
9.13ActiveTargets...................................216
9.14 ART trackingand3DTVs ............................217
9.15 Radio transceivers used in ART products ...................217
10 General Information 218
10.1Service ......................................218
10.2 Cleaning of the equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
10.3 Warranty and liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
10.4 Declaration of conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
A Technical specifications 236
A.1 Cameras .....................................236
A.1.1 ARTTRACK5 ..............................236
A.1.2 ARTTRACK5/C .............................237
A.1.3 TRACKPACK/E .............................238
A.1.4 ARTTRACK cameras (discontinued) . . . . . . . . . . . . . . . . . . 239
A.1.5 TRACKPACK cameras (discontinued) . . . . . . . . . . . . . . . . . 240
A.2 Flysticks......................................241
A.3 Standard Fingertracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
A.4 FINGERTRACKING2 Tactile . . . . . . . . . . . . . . . . . . . . . . . . . . 243
A.5 ARTController ..................................243
A.6 Overallsystem ..................................244
A.7 Systemlatency..................................246
B Technical Appendix 250
B.1 Definition of Coordinates and Rotations . . . . . . . . . . . . . . . . . . . . 250
B.1.1 RoomCalibration.............................250
B.1.1.1 Room Adjustment . . . . . . . . . . . . . . . . . . . . . . . 250
B.1.2 BodyCalibration .............................251
B.1.2.1 Definition of the Coordinates by the Body itself . . . . . . . 251
B.1.2.2 Definition of the Coordinates by the Room Coordinate Sys-
tem, with Origin in the Center of the Markers . . . . . . . . 251