Flydra Localization System

Flydra Localization System

Flydra system developed by Andrew Straw and Michael Dickinson

Hardware

• Cameras:
• Lenses:
• Trigger:
• Computing:
• Cabling:
  • Network cables: Cat.-6 gigabit ethernet cables
  • Camera trigger cables: RG-58 Co-Axial with BNC connector
• Mounts:
  • Combination of Powerstrut PS200 and PS500 channel and connectors. A (seemingly compatible) alternative is the Unistrut system.

Software

• Pose estimation (SoftPOSIT)

 * Prerequisites: Intel Math Kernel Library (MKL), GCC (incl. gcc, gfortran)
 * Installation instructions: http://purl.org/hanshuo/softposit
 * C API available (through mix compilation with Fortran)
 * Python API potentially available (using f2py)
 * TODO (?): integration with ROS 
 * Question: Is this what we need?

Installation

Format: Task, person (estimated completion date)

• Install mounts for cameras, Noel (12/2/10)
• Mount cables, Noel (12/2/10)
• Install camera trigger
• Install Ubuntu on cPCI, Scott (?)
• Install flydra software, Scott & Floris (?)
• Calibrate
• Test
• Multi-point tracking, Shuo (?)
• Document setup and operation , all