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BlackTrax.html
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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta name="description" content="">
<meta name="author" content="">
<title>Real-Time Tracking Protocol - BlackTrax</title>
<link rel="icon" href="img/tab5.bmp"/>
<!-- Bootstrap Core CSS -->
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<style type="text/css">
.auto-style1 {
letter-spacing: normal;
background-color: #FFFFFF;
}
</style>
</head>
<body>
<!-- Navigation -->
<nav class="navbar navbar-default navbar-custom navbar-fixed-top">
<div class="container-fluid">
<!-- Brand and toggle get grouped for better mobile display -->
<div class="navbar-header page-scroll">
<button type="button" class="navbar-toggle" data-toggle="collapse" data-target="#bs-example-navbar-collapse-1">
<span class="sr-only">Toggle navigation</span>
Menu <i class="fa fa-bars"></i>
</button>
<div class="navbar-brand" href="index.html">Version 2.4.2.0</div>
</div>
<!-- Collect the nav links, forms, and other content for toggling -->
<div class="collapse navbar-collapse" id="bs-example-navbar-collapse-1">
<ul class="nav navbar-nav navbar-right">
<li>
<a href="index.html">Home</a>
</li>
<li id="rttrpmdropdown" class="dropdown">
<a>RTTrPM<span class="caret"/></a>
<ul class="dropdown-menu" id="RTTrPM-Menu">
<li>
<a href="RTTrPM.html">Packet Specification</a>
</li>
<li>
<a href="Euler-Order.html">Euler Order</a>
</li>
</ul>
</li>
<li>
<a href="RTTrPL.html">RTTrPL</a>
</li>
<li>
<a href="Systems.html">Systems and Applications</a>
</li>
<li>
<a href="Contact.html">Contact</a>
</li>
</ul>
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<!-- Page Header -->
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<div class="container">
<div class="row">
<div class="col-lg-8 col-lg-offset-2 col-md-10 col-md-offset-1">
<div class="site-heading">
<h1>BlackTrax</h1>
<hr class="small">
<span class="subheading">The BlackTrax Implementation of RTTrPM and RTTrPL</span>
</div>
</div>
</div>
</div>
</header>
<!-- Main Content -->
<div class="container">
<div class="row">
<div class="col-lg-8 col-lg-offset-2 col-md-10 col-md-offset-1">
<h2>Information</h2>
<p>Applications like the BlackTrax real-time tracking system use RTTrPL and RTTrPM to interface with other lighting and
third party applications (such as media servers, robotic
cameras, and spatial audio systems) to provide tracking for automated lights, and projection mapping. With BlackTrax, RTTrPM is sent at a fixed rate of 100Hz.</p>
<h3>BlackTrax - RTTrPM</h3>
<p>The BlackTrax tracking system generates RTTrPM to output to
third-party listeners, such as media servers. BlackTrax outputs
tracking information for individual Beacons' tracked points using Tracked Point modules. Each BlackTrax
Beacon can have up to three individual LEDs/tracked points. Alternatively, the system can also output Centroid modules, which calculate the center position of a tracked object (Trackable) based on the centroid of each individual LED attached to a
Beacon. Some other general points regarding the BlackTrax implementation of RTTrPM:</p>
<ul>
<li>
<p>BlackTrax sends out RTTrPM packets at a rate of 100Hz</p>
</li>
<li>
<p>BlackTrax by default sends out a heartbeat, or empty RTTrP header with an RTTrPM signature if no
Beacon or LED data is available in the current frame</p>
</li>
<li>
<p>BlackTrax has the ability to add and remove different modules at any given time</p>
</li>
<li>
<p>In the BlackTrax implementation of the Trackable module with Timestamp, the Timestamp value is equal to the frame ID of the cameras in the BlackTrax system,
as determined by the TimeKeeper</p>
</li>
<li>
<p>Euler Orientation modules always send with an order of 0x0123 (X1, Y1, Z1)</p>
</li>
<li>
<p>The Tracked Point modules correspond to the LEDs on a BlackTrax
Beacon (trackable), the Index is either 0x01, 0x02 or 0x03</p>
</li>
<li>
<p>The context field in the RTTrP header is always set to the value of the current BlackTrax chapter (0x00000001, etc.), regardless if the current Trackable is present in the chapter, or if no Trackables are present in the RTTrPM packet (i.e. just the heartbeat is being sent). When in standby the Context field is set to 0xFFFFFFFF.</p>
</li>
<li>
<p><span class="auto-style1">T</span><span style="color: rgb(51, 51, 51); font-family: Lora, "Times New Roman", serif; font-size: 20px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: normal; orphans: 2; text-align: start; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px; -webkit-text-stroke-width: 0px; background-color: rgb(255, 255, 255); text-decoration-style: initial; text-decoration-color: initial; display: inline !important; float: none;">he
Zone Collision Detection module should only send Zone Sub-Modules
that the Trackable is actively colliding (inside) with.
If a Zone Sub-Module is not sent, it is assumed the collision is
not happening and the Trackable is outside of the Zone.</span></p>
</li>
</ul>
<h3>BlackTrax - RTTrPL</h3>
<p>The BlackTrax tracking system uses RTTrPL in a specific manner, the following are some points related specifically to the BlackTrax tracking system and its implementation and use of RTTrPL:</p>
<ul>
<li>
<p>BlackTrax's default UDP lighting packet output address: 238.210.10.3:6456 (Multicast)</p>
</li>
<li>
<p>BlackTrax's default UDP lighting packet synchronization address: 238.210.10.4:6457 (Multicast)</p>
</li>
<li>
<p>BlackTrax keeps a buffer of channels (of all universes) that it is controlling, the lighting node (Peer) should keep the same buffer as well</p>
</li>
<li>
<p>BlackTrax may release all channels and may also release only specific channels when running, it utilizes the Xfade field in a Channel Block module to define when to take control and release a channel</p>
</li>
<li>
<p>If the hold time is set to 0x00, the Peer should never release control automatically as BlackTrax may hold a channel for a long time</p>
</li>
</ul>
<p>To get a Snapshot earlier, the Peer may send out a Lighting Sync packet and BlackTrax will react with a Snapshot, this is used to help sync the two buffers together. This feature is not currently implemented and so the Lighting Sync Module is an optional module. The module structure is as follows:</p>
</div>
</div>
<hr>
<div class="row">
<div class="col-lg-8 col-lg-offset-2 col-md-10 col-md-offset-1">
<div class="col-sm-12 col-sm-offset-1">
<h4>Packet Modules - BlackTrax Specific</h3>
<table class="table-bordered table-striped table-hover" style="width:125%">
<tr>
<td>Lighting Sync</td>
<td>0x08</td>
</tr>
</table>
<br>
<h4>Packet Module - Lighting Sync Module</h4>
<table class="table-bordered table-striped table-hover" style="width:125%">
<tr>
<th>Field</th>
<th>Name</th>
<th>Type</th>
<th>Size (bytes)</th>
<th>Description</th>
</tr>
<tr>
<td>0</td>
<td>Type</td>
<td>UInt8</td>
<td>1</td>
<td>Value = 0x07</td>
</tr>
<tr>
<td>1</td>
<td>Size</td>
<td>UInt16</td>
<td>2</td>
<td>Size of packet module including type and size</td>
</tr>
<tr>
<td>2</td>
<td>Device ID</td>
<td>UInt32</td>
<td>4</td>
<td>User defined (Cast assigned)</td>
</tr>
<tr>
<td>3</td>
<td>Device Sub ID 0</td>
<td>UInt32</td>
<td>4</td>
<td>User Defined</td>
</tr>
<tr>
<td>4</td>
<td>Device Sub ID 1</td>
<td>UInt32</td>
<td>4</td>
<td>User Defined</td>
</tr>
<tr>
<td>5</td>
<td>Sequence Number</td>
<td>UInt32</td>
<td>4</td>
<td>Last mismatch sequence. 0 if unknown</td>
</tr>
</table>
</div>
</div>
</div>
<hr>
<div class="row">
<div class="col-lg-8 col-lg-offset-2 col-md-10 col-md-offset-1">
<h2>Tools and Testing Applications</h2>
<p>Some tools have been provided by the BlackTrax tracking system to be used for integration with other systems.</p>
<ul>
<li>
<p><b>Simulator</b>: The Simulator is a testing application which will simulate positional and rotational data of a
Beacon sent from the BlackTrax tracking system.
<a href="https://cast.sharefile.com/d-s7aca6ade3ab49259" style="color:#666666">Download the ZIP package</a>
and double-click on the setup.exe. The Setup Instruction
PDF file will help you configure all the communication
settings.</p>
</li>
<li>
<p><b>Rigid Body Files</b>: This is a seperate package for Third Parties that are interested in using BlackTrax's Rigid Bodies. You can download this
<a href="https://cast.sharefile.com/d-s185828a739c400f8" style="color:#666666">ZIP package</a> which contains recordings and sample files for use with a BlackTrax tracking system.
</p>
<ul>
<li>
<p><b>Please Note:</b> You need either a BlackTrax server or a BTX dongle in order to run the included files. Please get in contact with BlackTrax support ([email protected]) if you require a dongle.
</p>
</li>
</ul>
</li>
<li>
<p>Some recorded <a href="https://cast.sharefile.com/d-s1cdbef8844046079" style="color:#666666">RTTrPL data</a> from the BlackTrax tracking system has been provided, along with tools to output this data, in order to test implementations of RTTrPL</p>
</li>
<li>
<p>The use of the <a href="https://github.com/CAST-Software/Tools" style="color:#666666">UDP Player</a> is required to play back the provided RTTrPL recordings</p>
<ul>
<li>
<p>Documentation on the use of the UDP Player to play back BlackTrax RTTrPL recordings can be found in the UDP Player package</p>
</li>
</ul>
</li>
</ul>
</div>
</div>
</div>
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