Art ARTtrack User manual

Version 3.2.0
May 2023
c
2023 Advanced Realtime Tracking
GmbH & Co. KG
Contents are subject to change
without notice
weisser Text als Fake ...
ART Hardware Installation Guide
ARTTRACK, TRACKPACK, SMARTTRACK & DTRACK
dasbetrifft die gesamte seitenbreite der seite des dokumentes etetcetcetcetcetcetcetc etcetcetcetc

Trademarks
The following overview shows the registered trademarks of Advanced Realtime Tracking
GmbH & Co. KG:
trademarks illustrated as in Germany in the EU in the U.S.
A.R.T. R
ART ×
ART R
ART ×××
ARTtrack R
ARTTRACK ×××
DTrack R
DTRACK3 ×
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 open source software
Advanced Realtime Tracking GmbH & Co. KG (denoted as ART ) 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 ART . The licenses define the warranty, if any, from the authors or
licensors of the open source software. ART 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 ART 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 ART directly.
Disclaimer
In no event shall Advanced Realtime Tracking GmbH & Co. KG 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 - 2023 by Advanced Realtime Tracking GmbH & Co. KG
Advanced Realtime Tracking GmbH & Co. KG
Am Öferl 6
82362 Weilheim i. OB
Germany
T+49 (0)881-92530-00
v+49 (0)881-92530-01
 http://ar-tracking.com

Edition May 2023
The following new features are available:
•Support of up to 80 cameras
Edition June 2022
The following new features are available:
•Simplified camera licensing for Cascaded Systems
Edition October 2021
The following products have been added:
•SMARTTRACK3/M
The following new features are available:
•Approx 30% increased tracking range for ARTTRACK6/M
Edition May 2021
The following products have been added:
•ARTTRACK6/M for Active Markers
•Flystick2+
Edition January 2021
The following products have been added:
•ARTTRACK6/M Installation
Edition May 2020
The following products have been added:
•ART Controller/M Installation
Edition October 2019
The following products have been added:
•SMARTTRACK3 Installation including Cascaded System capability

Contents
Termsanddefinitions ................................. 9
1 Safety 12
1.1 Symbols and their meaning . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2 Warnings ..................................... 12
1.2.1 Installation ................................ 12
1.2.2 Mounting ................................. 13
1.2.3 Operation................................. 14
1.2.4 Maintenance ............................... 15
1.2.5 Disposal & Recycling . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2 General Information 17
2.1 Cleaning of the equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Maintenance and service . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.3 Disposal and recycling of equipment . . . . . . . . . . . . . . . . . . . . . . 17
2.4 Disposal and recycling of batteries . . . . . . . . . . . . . . . . . . . . . . . 19
2.5 Warranty ..................................... 20
2.6 Liability ...................................... 20
3 Introduction to tracking 22
4 Hardware Components 25
4.1 Cameras ..................................... 25
4.1.1 ARTTRACK6/M ............................. 25
4.1.1.1 ARTTRACK6/M for Active Markers ............ 26
4.1.2 ARTTRACK5 .............................. 26
4.1.3 ARTTRACK5/C ............................. 27
4.1.4 TRACKPACK/E ............................. 28
4.2 Controller ..................................... 28
4.2.1 ART Controller ............................. 28
4.2.2 ART Controller/M ............................ 29
4.2.3 Compatibility ............................... 31
4.3 Integratedsystems................................ 31
4.3.1 SMARTTRACK3 &SMARTTRACK3/M ................ 31
4.4 Otherequipment ................................. 33
4.4.1 PoE+ switch for larger systems . . . . . . . . . . . . . . . . . . . . . 33
4.4.2 RadioTransceiver2/3 .......................... 34
4.5 Discontinuedhardware.............................. 35
4.5.1 ARTTRACK2 .............................. 35
4.5.2 ARTTRACK3 .............................. 35
5

4.5.3 TRACKPACK .............................. 36
4.5.4 TRACKPACK/C ............................. 37
4.5.5 SMARTTRACK2 ............................ 38
5 System setup 40
5.1 Settingupthecameras ............................. 40
5.1.1 Camera orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
5.1.2 Localizing and removing of disturbing reflections . . . . . . . . . . . 40
5.1.3 Mutualblinding.............................. 41
5.1.3.1 Assigning syncgroups (available for ART Cameras and SMART-
TRACK3 &SMARTTRACK3/M cascades only) . . . . . . 42
5.1.4 Static reflex suppression . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.1.5 Room Calibration - Overview . . . . . . . . . . . . . . . . . . . . . . 43
5.1.5.1 Room calibration - integrated systems . . . . . . . . . . . . 43
5.1.5.2 Room calibration - multi-camera setups . . . . . . . . . . . 43
5.1.5.3 Room calibration hardware . . . . . . . . . . . . . . . . . . 45
5.1.5.4 Room calibration process . . . . . . . . . . . . . . . . . . . 45
5.1.6 Mounting the cameras . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.1.6.1 General requirements . . . . . . . . . . . . . . . . . . . . . 46
5.1.6.2 Tripod mounting . . . . . . . . . . . . . . . . . . . . . . . . 47
5.1.6.3 Wall mounting . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.1.6.4 Mounting the ARTTRACK6/M ................ 48
5.1.6.5 Mounting the ARTTRACK5 ................. 49
5.1.6.6 Mounting the ARTTRACK5/C ................ 49
5.1.6.7 Mounting the TRACKPACK/E ................ 51
5.1.6.8 Mounting the SMARTTRACK3 &SMARTTRACK3/M . . . 51
5.1.7 Installation of cables . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.2 Installation of the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.2.1 Installation of the ART Controller ................... 52
5.2.2 Ports & Plugs on the ART Controller ................. 53
5.2.3 Installation of the ART Controller/M .................. 55
5.2.4 Ports & Plugs on the ART Controller/M ................ 56
5.2.5 Connecting cameras . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
5.2.5.1 Connection of ARTTRACK6/M ,ARTTRACK5 ,ARTTRACK5/C or
TRACKPACK/E cameras................... 58
5.2.5.2 Connection of ARTTRACK1 ,ARTTRACK2 or ARTTRACK3 cam-
eras (backwards compatible systems) . . . . . . . . . . . . 60
5.2.6 Dynamically adding / removing of cameras . . . . . . . . . . . . . . 60
5.3 Installation of the SMARTTRACK3 &SMARTTRACK3/M .......... 60
5.3.1 Ports & Plugs on the SMARTTRACK3 ................ 60
5.3.2 Connecting & starting the SMARTTRACK3 .............. 62
5.4 Connection to local network LAN . . . . . . . . . . . . . . . . . . . . . . . . 62
5.4.1 Connection to LAN using DHCP . . . . . . . . . . . . . . . . . . . . 63
5.4.2 Connection to LAN using a static IP address . . . . . . . . . . . . . 63
5.5 Synchronization ................................. 65
5.5.1 Synchronization Input . . . . . . . . . . . . . . . . . . . . . . . . . . 65

5.5.2 Synchronization Output . . . . . . . . . . . . . . . . . . . . . . . . . 65
5.6 Cascadedsystems................................ 66
5.6.1 Connecting a cascade . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.6.1.1 Connecting cascaded controllers . . . . . . . . . . . . . . . 67
5.6.1.2 Starting the cascades . . . . . . . . . . . . . . . . . . . . . 69
5.7 Markers and targets (rigid bodies) . . . . . . . . . . . . . . . . . . . . . . . 75
5.7.1 Passivemarkers ............................. 75
5.7.2 Activemarkers .............................. 76
5.7.3 Standardtargets............................. 79
5.8 Interactiondevices................................ 83
5.8.1 Flystick2+................................. 83
5.8.1.1 Control elements . . . . . . . . . . . . . . . . . . . . . . . . 84
5.8.1.2 Dataoutput........................... 85
5.8.1.3 Feedback control . . . . . . . . . . . . . . . . . . . . . . . 85
5.8.1.4 Batteries ............................ 85
5.8.1.5 Charging jack . . . . . . . . . . . . . . . . . . . . . . . . . 87
5.8.1.6 Battery charger . . . . . . . . . . . . . . . . . . . . . . . . 87
5.8.1.7 Radiomodule ......................... 87
5.8.2 Flystick2.................................. 88
5.8.2.1 Control elements . . . . . . . . . . . . . . . . . . . . . . . . 89
5.8.2.2 Dataoutput........................... 90
5.8.2.3 Batterypack .......................... 90
5.8.2.4 Charging jack . . . . . . . . . . . . . . . . . . . . . . . . . 90
5.8.2.5 Battery charger . . . . . . . . . . . . . . . . . . . . . . . . 91
5.8.2.6 Radiomodule ......................... 92
5.8.3 FINGERTRACKING2 . . . . . . . . . . . . . . . . . . . . . . . . . . 92
5.8.3.1 FINGERTRACKING2 and FINGERTRACKING2 Tactile Hand
Targets ............................. 93
5.8.3.2 Finger thimble sets FINGERTRACKING2 ......... 96
5.8.3.3 Wireless synchronization . . . . . . . . . . . . . . . . . . . 96
5.8.3.4 Battery charger . . . . . . . . . . . . . . . . . . . . . . . . 97
5.8.3.5 Dataoutput........................... 98
5.8.3.6 Tactile control . . . . . . . . . . . . . . . . . . . . . . . . . 98
5.8.4 MeasurementTool............................ 98
5.8.4.1 Dataoutput........................... 99
5.9 Discontinued hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
5.9.1 Mounting the cameras . . . . . . . . . . . . . . . . . . . . . . . . . . 100
5.9.1.1 Mounting the ARTTRACK2 and ARTTRACK3 (discontin-
ued)...............................100
5.9.1.2 Mounting the TRACKPACK (discontinued) . . . . . . . . . 100
5.9.1.3 Mounting the TRACKPACK/C (discontinued) . . . . . . . . 100
5.9.1.4 Mounting the SMARTTRACK2 (discontinued) . . . . . . . 100
5.9.2 Installation of the ARTTRACK Controller (discontinued) . . . . . . . 101
5.9.3 Installation of the TRACKPACK Controller (discontinued) . . . . . . 103
5.9.4 Installation of the SMARTTRACK2 (discontinued) . . . . . . . . . . 104

5.9.5 Flystick3 (discontinued) . . . . . . . . . . . . . . . . . . . . . . . . . 106
5.9.5.1 Control elements . . . . . . . . . . . . . . . . . . . . . . . . 107
5.9.5.2 Dataoutput...........................108
5.9.5.3 Batterypack ..........................108
5.9.5.4 Battery charger . . . . . . . . . . . . . . . . . . . . . . . . 109
5.9.5.5 Radio module . . . . . . . . . . . . . . . . . . . . . . . . . 110
5.9.5.6 Wireless synchronization (active Flystick3 discontinued) . 110
5.9.6 Fingertracking (discontinued) . . . . . . . . . . . . . . . . . . . . . . 111
5.9.6.1 Fingertracking Hand Targets . . . . . . . . . . . . . . . . 112
5.9.6.2 Finger thimble sets Fingertracking .............115
5.9.6.3 Wireless synchronization . . . . . . . . . . . . . . . . . . . 115
5.9.6.4 Battery charger . . . . . . . . . . . . . . . . . . . . . . . . 116
5.9.6.5 Dataoutput...........................116
6 Frequently asked questions (FAQ) 117
6.1 Cameras .....................................117
6.2 Synchronization .................................119
A Technical specifications 126
A.1 Cameras .....................................126
A.1.1 ARTTRACK6/M and ARTTRACK6/M for Active Markers . . . . . 126
A.1.2 ARTTRACK5 ..............................127
A.1.3 ARTTRACK5/C .............................128
A.1.4 TRACKPACK/E .............................129
A.2 Controller .....................................130
A.2.1 ART Controller .............................130
A.2.2 ART Controller/M ............................131
A.3 IntegratedSystems................................132
A.3.1 SMARTTRACK3 &SMARTTRACK3/M ................132
A.4 Flystick2 &Flystick2+ .............................134
A.5 Fingertracking ..................................135
A.5.1 FINGERTRACKING2 ..........................135
A.5.2 FINGERTRACKING2 Tactile ......................136
A.6 Discontinued products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
A.6.1 ARTTRACK cameras ..........................136
A.6.2 TRACKPACK cameras .........................138
A.6.3 SMARTTRACK2 ............................139
A.6.4 Flystick3 .................................140
A.6.5 Fingertracking .............................141
A.7 Overallsystem ..................................141
A.8 Declaration of conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
A.9 Declaration of conformity (discontinued products) . . . . . . . . . . . . . . . 171
List of Figures 182
List of Tables 184
8

Chapter 0
Index 185
9

Terms and definitions
term definition
3DOF three degrees of freedom (i.e. only position)
6DOF six degrees of freedom (i.e. position and orientation)
5DOF five degrees of freedom (i.e. one degree less in orientation)
base imaginary connecting line between two cameras (e.g. the two
integrated cameras inside the SMARTTRACK2/3/M )
ART Controller controller for rackmounting, calculates tracking data and gener-
ates the data output stream (compatible to ARTTRACK2 ,ART-
TRACK3 ,ARTTRACK5 ,ARTTRACK5/C ,ARTTRACK6/M ,
TRACKPACK/E )
ART Controller/M compact size controller, calculates tracking data and generates
the data output stream (compatible to ARTTRACK2 ,ART-
TRACK3 ,ARTTRACK5 ,ARTTRACK5/C ,ARTTRACK6/M ,
TRACKPACK/E )
ARTTRACK Controller (discontin-
ued)
calculates tracking data and generates the data output stream
(compatible to ARTTRACK1 ,ARTTRACK2 ,ARTTRACK3 )
ARTTRACK2 (discontinued) infrared camera
ARTTRACK3 (discontinued) infrared camera
ARTTRACK5 infrared camera
ARTTRACK5/C infrared camera dedicated for multi-sided projections
ARTTRACK6/M infrared camera dedicated for compact environments or multi-
sided projections
ARTTRACK6/M for Active Markers flashless camera dedicated for use with active targets in com-
pact environments or multi-sided projections
body calibration teach the system the geometry of a rigid body
body, rigid body rigid arrangement of multiple markers intended for 6DOF track-
ing (see also "target")
calibration angle belongs to the room calibration set and defines origin and orien-
tation of the room coordinate system
ceiling suspension equipment to mount an infrared camera or SMART-
TRACK2/3/M to the ceiling
DTRACK3
backend software software running on the ART Controller ,ART Controller/M or
SMARTTRACK2/3/M doing all necessary calculations
frontend software graphical user interface running on customer’s computer to
control the ART Controller ,ART Controller/M or SMART-
TRACK2/3/M
Field of View (FoV) is the area of interest captured on the camera’s image
finger thimble a fixture for the finger tip to hold the active marker(s) (not avail-
able for SMARTTRACK2/3/M )
Fingertracking (discontinued) tracks the orientation of the hand and the position of the fingers
(not available for SMARTTRACK2/3/M )
FINGERTRACKING2 tracks the orientation of the hand and the position of the fingers
(not available for SMARTTRACK2/3/M )
FINGERTRACKING2 Tactile tracks the orientation of the hand and the position of the fingers
and provides Tactile Feedback
Flystick2/2+/3 wireless interaction device for virtual reality (VR) applications
Flystick feedback vibrational or acoustic signal that can be triggered in a capable
Flystick
hand geometry describes the dimensions of your hand and fingers (not available
for SMARTTRACK2/3/M )
10