Flydra Localization System

Flydra Localization System

Flydra system developed by Andrew Straw and Michael Dickinson

Hardware

• Cameras: Basler Ace
  • User Manual (pdf)
  • Quick Install Guide (pdf)
  • Driver information (pdf)
• Lenses:
• Triggering:
  • Trigger box
  • Trigger cable configuration
• 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 (12/3/10)
• Remove existing mounts (Noel, 12/3/10)
• Trigger cables, Noel (12/1/10)
• Mount cables, Noel (12/3/10)
• Install camera triggerbox
• Get cameras machined, Floris (??)
• Order lenses, Floris (??)
• Install Ubuntu on cPCI, Scott (done)
• Install flydra software, Scott & Floris (?)
  • MainBrain (done)
  • Camera nodes (?)
• Calibrate
• Test
• Multi-point tracking, Shuo (?)
• Document setup and operation , all