Difference between revisions of "Flydra Localization System"

From Murray Wiki
Jump to navigationJump to search
Line 18: Line 18:
 
==Software==
 
==Software==
 
* Pose estimation (SoftPOSIT)
 
* Pose estimation (SoftPOSIT)
  * Prerequisites: Intel Math Kernel Library (MKL), GCC (incl. gcc, gfortran)
+
** Prerequisites: Intel Math Kernel Library (MKL), GCC (incl. gcc, gfortran)
  * Installation instructions: http://purl.org/hanshuo/softposit
+
** Installation instructions: http://purl.org/hanshuo/softposit
  * C API available (through mix compilation with Fortran)
+
** C API available (through mix compilation with Fortran)
  * Python API potentially available (using f2py)
+
** Python API potentially available (using f2py)
  * TODO (?): integration with ROS  
+
** TODO (?): integration with ROS  
  * Question: Is this what we need?
+
** Question: Is this what we need?
  
 
==Installation==
 
==Installation==

Revision as of 05:58, 30 November 2010

Flydra Localization System

Flydra system developed by Andrew Straw and Michael Dickinson

Operation

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