B Technical Appendix
B.2.10 Fingertracking
Identifier gl and glcal.
i
Only available, if the Fingertracking license is present for DTrack2
The output data include all necessary data to reconstruct the hand with all fingers and
phalanxes. The output format in detail:
• The first number gives the number of tracked hands
• The data for each hand show up in blocks (several consecutive []) like:
[id qu lr nf][s
x
s
y
s
z
][b
0
b
1
b
2
b
3
b
4
b
5
b
6
b
7
b
8
] [s
f
x
s
f
y
s
f
z
][b
f
0
b
f
1
b
f
2
b
f
3
b
f
4
b
f
5
b
f
6
b
f
7
b
f
8
] [r
f
o
l
f
o
α
f
om
l
f
m
α
f
mi
l
f
i
]...
They contain:
1. ID number (id, starting with 0), a quality value (qu, unused), a number to distin-
guish left and right hands (lr, 0 to denote a left, 1 a right hand) and the number
of tracked fingers (nf, always 3 or 5 with current hardware),
2. Position of the back of the hand (s
i
),
3. Orientation of the back of the hand, given as rotation matrix (b
i
, like standard
bodies),
4. For each finger (starting with the thumb):
a) Position of the tip of the finger (s
f
i
), given in the hand’s coordinate system,
b) Orientation of the outermost phalanx (b
f
i
, like standard bodies), given in the
hand’s coordinate system,
c) Radius of the tip of the finger (r
f
o
), lengths of the phalanxes from the outer-
most (l
f
o
) to the innermost (l
f
i
) phalanx; angles between the outermost and
the middle phalanx (α
f
om
) as well as between the middle and the innermost
phalanx (α
f
mi
).
Z
Note that the number of blocks vary because of the variable number of
supported fingers per hand.
Example (one line):
gl 1 [0 1.000 1 5][-25.835 -221.498 135.999][0.603034 0.783519 0.149826 -0.729406
0.617627 -0.294114 -0.322981 0.068077 0.943954][1.4 -42.4 46.7][0.6110 0.3126 0.7273
-0.5609 -0.4773 0.6764 0.5586 -0.8212 -0.1163][11.6 23.7 -42.9 39.6 -22.6 59.4][36.4
-12.8 56.0][-0.4019 -0.0429 0.9147 -0.1640 -0.9794 -0.1180 0.9009 -0.1975 0.3865][9.2
18.2 -24.5 27.6 -73.2 46.0][39.1 14.8 58.1][-0.6598 -0.1451 0.7373 0.0650 -0.9885
-0.1364 0.7487 -0.0421 0.6616][10.4 20.7 -46.2 31.3 -74.7 52.2][36.3 31.3 55.9][-0.6461
-0.0294 0.7627 0.0779 0.9915 0.1042 -0.7593 0.1268 -0.6383][9.2 18.5 52.0 27.8 65.0
46.3][30.1 52.2 39.9][-0.4985 -0.0406 0.8659 0.1099 0.9879 0.1096 -0.8599 0.1499
-0.4880][6.7 13.4 50.7 20.1 63.3 33.6]
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