ART tracking

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Introduction

ART tracking is an infrared tracking system supplied by the advanced realitime tracking GmbH (a partner of metaio).

Configuration

For utilising ART IR-tracking support a calibrated IR-target is required. This calibration can be done with ART's DTrack body calibration feature. After that the ART system is able to track this specific target and to transmit tracking information (via UDP packets) to machines that are running metaio's Unifeye SDK. In order to utilise these packets the user only needs to specify the IR target's ART_ID which was set-up in DTrack and a network port that Unifeye SDK should be listening to for incoming packets. The advantages of IR tracking are high accuracy and robustness.

<Sensor type="ARTSensorSource">  
 <SensorID>ART1</SensorID><!-- give it an ID, as there might be several sensors of the same type -->
 <Parameters><!-- sensor specific parameters -->
  <Port>5000</Port>
 </Parameters>
 <SensorCOS>
  <SensorCosID>Kamera</SensorCosID>
  <Parameters>
   <ART_ID>15</ART_ID>
  </Parameters>
  <SensorCOSDirection>TargetToWorld</SensorCOSDirection>
 </SensorCOS>
</Sensor>

Sensor configuration parameters:

• <Port>PORT_NUMBER</Port> specifies the UDP port for incoming ART tracking packages.

Sensor coordinate system specific parameters:

• <ART_ID>ID</ART_ID> defines the IR target ID which has to be set up/defined using the ART DTrack tool.
• <ART_TYPE>BODY_TYPE</ART_TYPE> can either be Body, Flystick or MeasurementTool , defines the type of the ART tracking target and is also set up in the ART DTrack tool. Usually you will deal with the type Body.

You can find an example tracking data in the folder config\SensorSources.

Further notes:

• In order to track a visualization camera with an IR-target a Hand Eye Calibration is needed in addition. Also usually for such scenarios you will invert the ART tracking values (defining the Sensor coordinate system parameter: <SensorCOSDirection> to TargetToWorld (see also the common parameters section) and add a static coordinate system offset to achieve a setup as shown below. Using the Hand Eye Calibration will do most of this automatically for you.
  
• a

Using ART tracking configuration files

To activate ART tracking within the Unifeye SDK you simply have to load an according tracking configuration file and use the API function setTrackingData() (see http://doxygen.metaio.com/UnifeyeSDK/UnifeyeSDK_doxygen/group__Configuration.html). You can also load the according tracking configuration file within the Unifeye GUI using the Tracking Configuration Tool.

→Return to Tracking Configuration

-- SupportMetaio - 2011-01-21