User Manual Colibri
Contents
1. include lt windows h gt Helse include lt unistd h gt amp endif define M PI 3 14159265358979323846 The main function is the only function where the Colibri sensors are scanned and the data are printed to the console In addition the methods for getting and setting the configuration will be shown int main struct TrivisioSensor sensorList 10 int sensorCount colibriGetDeviceList sensorList 10 The available devices can be triggered by calling the colibriGetDeviceList The return value of the function is the number of available sensors The two parameters of the functions are an array for the sensors and the size of this array void imu colibriCreate 100 This function creates the colibri devices whereas the parameter is the length of the buffer struct ColibriConfig conf char ID 8 Diagonal matrices with diagonal element 68 yields approx 20Hz bandwidth O 100Hz x float Ka 9 0 68f 0 00f 0 00f 0 00f 0 68f 0 00f 0 00f 0 00f 0 68f y float Kg 9 0 68f 0 00f 0 00f 0 00f 0 68f 0 00f 0 00f 0 00f 0 68f y Colibri User Manual 15 29 30 31 32 34 do 36 37 38 39 40 41 42 43 44 45 46 4T 48 49 ol 92 93 54 dO 56 struct TrivisiolMUData data double oldt 0 int i In this block an custom prefiltering parameters are generated and will later on be transmitted to the sensor Using diagonal matrices with 0 68 as diagonal element yields indepe2. WoO 2 Ls VOO lit a data q_w FR data q_y data q_z colibriEulerOri amp data eul printf Euler 10 4f 10 4f 10 4f n 180 M_Plxeul 0 180 M_Plxeul 1 180 M_Plxeul 2 oldt data t ifdef WIN32 Sleep 2 Helse usleep 2000 endif The data will be read out of the sensor by the function colibriGetData The euler orien tation can be read out by calling colibriEulerOri colibriStop imu colibriClose imu The sensor is stopped by calling colibriStop and closed by colibriClose 4 2 The opengl example As the testc c was already explained in detail only new functions or shortcuts will be shown here Key shortcuts toggles visualisation of euler angles as numbers Colibri User Manual 17 toggles visualisation of cube q quits the program Enabling jitter reduction is done by calling colibriSetJitterStatus imu true Three different types of bore sighting are provided h yaw adjustment assume yaw 0 when h is pressed Cr O align the up axis of the sensor with gravity keeping the yaw as it is ba a complete alignment current pose is matched with the nominal pose h Ho Er ha reset alignment undo any previous adjustment Boresighting is activated with colibriSetBoresight imu 1 and deactivated with colibriSetBoresight imu 0 To boresight use colibriBoresight imu type where type should be one of COLIBRI HEADING RESET for h
3. alignment current pose is matched with the nominal pose By selecting the different menu items see 2 in the image below the alignment will be set to the sensor Magnetometer Boresight Magnetic div Frequency ASCI output AutoStart RAW PO Ce E My Acceleration Gyroscope Temperature Colibri User Manual 12 3 6 Additional functions 3 6 1 Disable drawing of textures Object Magnetic div J F Alignment requency ASCI output AutoStart RAW mode Enable boresight Jitter reduction Save Gna Temperature The menu bar contains the Configuration menu entry see image above You are able to enable or disable the textures of the sensor 3 6 2 Jitter Reduction In order to enable or disable jitter reduction there s a checkbox in the expanded tree view of the sensor If you check it it is enabled otherwise not Device Configuration Devices DEMOAAS Sensor config Magnetic div Frequency ASCI output AutoStart Save Contrato E O i mu MM cito Mo a Colibri User Manual 13 3 6 3 Additional COM ports to scan Additional COM ports to scan Rescan Calibration Parameters Quit Rescan Save Configuration 0 0 0 0 0 0 0 0 Temperature Considering your colibri tracker is connected via a virtual COM port or via RS232 For this purpose you can manually add additional COM ports which should be scanned So select the Ad
4. optional p MEN AEDT FASO Your Mouse eo dci q This is the GUI ba over a component to E v SDK see its description C Headers Libraries C Sources of t Space required 17 2MB PRA PA O PM i EA pe fan MullsoFt Install System v2 45 The different options are e Full e Developer e GUI Colibri User Manual 6 e Custom whereas a Full installation includes the Developer and GUI installation After this dialog the installation is executed and you are able to use the applications and develop your own software based on the SDK 2 2 Fedora 11 If you don t have an installer yet please download the installation file from the Trivisio GmbH website Go to the website http www trivisio com Under Support Software you will find the installer for the Colibri tracker After successfully downloading the software 1 Execute the FILENAME sh file 2 Accept the license 3 Follow the instructions for the target path installation Colibri User Manual 3 GUI This section provides an overview about the graphical user interface which can be used to view the connected sensors and their values 3 1 Start the application on Windows operating systems You can start the application either by clicking the Trivisio Colibri icon on your desktop or explore your start menu folder for your installation folder default is Trivisio Prototyping GmbH Colibri_GUI_X X X see image and execute the Trivisio
5. 1 0 006244 0 006753 0 002973 a 0 007978 0 004964 0 999954 0 011561 5 118333 0 019283 0 009514 0 008112 E ff Calibration Parameters for DEMOAAJ 1 000124 0 005624 0 024233 0 011666 10 411111 0 003865 0 000212 0 002761 OMEGacalid aab 0 001896 1 000327 0 020584 0 011803 12 453611 0 006244 0 006753 0 002973 0 007978 0 004964 0 999954 0 011561 5 118333 0 019283 0 009514 0 008112 ff Calibration Parameters for DEMOAAJ 0 998399 0 009705 0 020530 0 018610 340 229858 H ib 2 0 051432 0 999763 0 002567 0 017807 416 061707 divider Starting to collect data for magnetometer calibration Slowly rotate the sensor in all directions to acquire data 0 023538 0 019513 0 999786 0 009622 23 901003 i ii If you want to calibrate the magnetometers press the Run Calibration button Then you have to turn the sensor in smooth motions so that as many different angles as possible can be measured If the calibration was successful the parameters can be stored to the sensor or dropped otherwise Colibri User Manual 11 3 5 Boresighting Concerning boresighting the user is able to enable boresighting in the tree view of the sen sor see 1 in the image below In order to set different alignments the menu items in the Configuration gt Boresight menu allow the user to set e object alignment aligns the z axis with gravity e heading alignment assume yaw 0 e and complete
6. Colibri Trivisio Prototyping GmbH do Colibri GUL1 1 0 E FAQ y README Trivisio Colibri E Uninstall 3 2 Start the application on Linux 1 Open a shell 2 Go to your installation directory 3 Execute the application by calling bin TrivisioGUI Colibri User Manual 8 3 3 The GUI This is a snapshot of the gui application Device Configuration Devices Values DEMOAAF Magnetometer DEMOAAJ 1 Sensor config Magnetic div Frequency ASCI output AutoStart Save Configuratio 22 9 105 8 gt Sensor DEMOAA started Temperature 31 31 Based on this image the functionalities will be described briefly in the following enumera tion 1 shows the list of the found sensors The information of each sensor can be seen and changed by expanding the tree within the view by pressing the plus symbol If the sensor is not running the parameters can be changed otherwise not The user can enable the magnetometers the accelerometers and the gyroscopes in Sensor Config see image on the bottom In addition the Magnetic deviation the frequency the ASCII output the autostart and the RAW mode can be enabled or disabled Pay attention the graphical representation is only suitable for disabled ASCII and disabled RAW mode The modes and the according enabled widgets are shown in the following table gt Devices ASCII Enabled displays T san off off Sensor and graphs Rc on off Only grap
7. User Manual Colibri Inertial Motion Tracker Subject to technical modifications Copyright 2010 Augmented Vision Group of the German Research Center for Artificial Intelligence GmbH http www dfki de TRIVISIO http www trivisio com Contents Contents 1 Introduction 2 Installation Quel MM Se oe eR wR ee ee Oe RRR oe aS ow ED A 2 1 1 Step 1 Welcome Screen 2 a a a al eee BULA ociosa DEER Ho we Ea dE RO 2 1 3 Step 3 Installation path 0 2 0 2 0000 2 1 4 Step 4 Start menu folder sn ana AAA 2 1 5 Step 5 Component installation 0 0 0 040 e MMA essre erage a AAA 3 GUI 3 1 Start the application on Windows operating systems 3 2 Start the application on Linux O Me ee et EA hoe he E RAS DD 3 4 Calibrating the magnetometers 2 oo a e a a a 30 Bores ME ie kee REE HERA AAA 3 6 Additional functions 2 a 3 6 1 Disable drawing of textures oa a a a a 3 6 2 Jitter Reduction eee eee eee eee SED HO RHO 3 6 3 Additional COM ports to scada 4 SDK al EUR OCG oes eee kh Eek eee BREE EOE SGA 4 2 The opengl example lt 4 4 6 2 dB EK OEE REE BREE RESO A 4 3 Simple Import mechanism for data profiling 1 Introduction Thank you for purchasing the Trivisio Colibri and using the SDK This document contains the user manual for the Colibri Tracker The first chapter includes the installati
8. ditonal COM ports to scan from the menu and the following dialog will raise where you can enter those ports Pay attention In order to scan for the new ports and have the devices in the list you must press the Rescan button ff Additional COM ports to scan _ 2 e Enter additional sensors by specifying the sensors separated by commas e 9 COM1 COM14 COM16 Colibri User Manual 14 O OO NOT AUN FH pa 12 13 14 15 17 18 19 20 21 22 23 24 25 26 27 28 4 SDK Within the SDK two example applications are provided The first one is a console application named testc and the second one is a GLUT application The two applications can be found in your installation directory in the src directory For the Windows installation predefined Visual Studio project files and a solution exist in your installation directory The Fedora installation includes a predefined Makefile The needed header files are in your installation directory in the include folder The used libraries are in the lib or bin directory Before using the SDK under Windows you need to install vcredist x86 exe to get the required Visual Studio libraries 4 1 The test c example In the following section we will have a deeper look at the first application The following headers are included in the testc application The TrivisioColibri h is the default header which must be included include TrivisioColibri h include lt stdio h gt H ifdef WIN32
9. eading rest COLIBRI OBJECT RESET for object reset and COLIBRI ALIGNMENT RESET 4 3 Simple Import mechanism for data profiling In order to log the output to a file use testc exe Win32 or testc Fedora to log data as follows Windows testc exe gt YOUR FILE NAME txt Fedora testc gt YOUR FILE NAME txt The file can be imported with MS Excel or OpenOffice For the latter the delimiters are Tab Comma and Space The settings for the data format are Advanced Text Import Settings 6 9 e Decimal separator a e Thousands separator e Uncheck Trailing minus for negative numbers Colibri User Manual 18
10. ee to the terms and conditions please press the I Agree button to continue EP Trivisio Prototyping GmbH Colibri GUL1 1 0 Setup TE eal License Agreement TRIMIGIO Please review the license terms before installing Trivisio COLEX Motica Trecke Prototyping GmbHiColibri GUI_1 1 0 Press Page Down to see the rest of the agreement License Agreement a This is a license agreement between you a final user of computer software and the author Trivisio Please read carefully By dicking on Accept key you express your approval of the conditons and terms hereof land you are bound thereby Should you disagree with the conditions and terms hereof promptly Iterminate the use of this software and Idestroy any copies thereof or delete the program already downloaded If you accept the terms of the agreement dick I Agree to continue You must accept the agreement to install Trivisio Prototyping GmbHiColibri GUT 1 10 lt Bad 1Agee canei 2 1 3 Step 3 Installation path In this dialog the user is able to choose or select the desired installation path E Trivisio Prototyping GmbH Colibri GUI_1 1 0 Setup E tes Choose Install Location TRIVISIO Choose the folder in which to install Trivisio Prototyping COLES hotia Tracks _ OMBH Colibri GUI_1 1 0 Setup will install Trivisio Prototyping GmbH Colibri GUI_ 1 1 0 in the following folder To install in a different folder cl
11. hs pera off on No output ia on on No output ae Navigation Magnetic div m p 4 4 S Y S Y a 4 a a E i 4 4 Colibri User Manual 9 2 is the start and stop button for the sensors The desired sensor must be selected and can be started or stopped by this button 3 is the rescan button When you connect a sensor during run time you can rescan for new sensors by hitting this button 4 can be pressed if you changed the configuration of the sensor and want to save it to the sensor 5 are the computed roll pitch and yaw values of the sensor 6 is the OpenGL representation of the sensor orientation The OpenGL textures can be enabled or disabled by the menubar item Configuration 7 is the graphical view of the magnetometer sensor values 8 is the graphical view of the accelerometer sensor values 9 is the graphical view of the gyroscope sensor values Colibri User Manual 10 3 4 Calibrating the magnetometers If you want to view the parameters of the magnetometers the accelerometers or the gyroscopes you can select a sensor and press on Calibration Parameters hidden in the Device menubar item The dialog looks as follows a ff Calibration Parameters for DEMOAAJ 1 000124 0 005624 0 024233 0 011666 10 411111 0 003865 0 000212 0 002761 OMEGacalib omega aca Decal 0 001896 1 000327 0 020584 0 011803 g 12 45361
12. ick Browse and select another folder Click Next to continue Destination Folder Browse c Program FilesiTrivisio Prototyping GmbH Colibri aUI_ 1 1 0 Space required 17 2MB Space available 9 7GB lt Back Next gt Cancel aa Colibri User Manual 2 1 4 Step 4 Start menu folder If you want to have a different name for your start menu folder please modify the path to your personal need i a a a A ME IC E A LS 2 a j TRIWMISIO Choose a Start Menu folder for the Trivisio Prototyping COL BS Motica Tracker GmbH Colibri GUI_ 1 1 0 shortcuts Select the Start Menu folder in which you would like to create the program s shortcuts You can also enter a name to create a new folder Trivisio Prototyping GmbHiColibri GUI 1 1 0 7 Zip Accessories Administrative Tools Boost C Libraries 1 39 CMake 2 6 Extras and Upgrades Games Git Maintenance Microsoft Office Microsoft Office Live Add n Do not create shortcuts MullsoFt Install System v2 45 2 1 5 Step 5 Component installation The next dialog can be used to select different installation types The default installation type is FULL Choose Components TRIVISIO Choose which features of Trivisio Prototyping ail E ici GmbHiColibri GUI_1 1 0 you want to install Check the components you want to install and uncheck the components you don t want to install Click Install to start the installation Or select the
13. ndent filtering of each data channel with a bandwidth of approximately 20 Hz Some variable need later are also defined printf Number of Colibris found d n sensorCount if sensorCount lt 0 sensorCount 10 for i 0 i lt sensorCount i printf s t s FW d d n sensorList i dev sensorList i ID sensorList i l FWver sensorList i FWsubver printf Anin if sensorCount lt l fprintf stderr No Colibri sensors found n return 0 This block prints the available sensors to the console The printing shows e the device sensorList i dev e g COMI e the id of the sensor sensorList i ID e the firmware version of the sensor sensorList i FWver e and the firmware sub verion number of the sensor sensorList i FWsubver if colibriOpen imu 0 0 lt 0 fprintf stderr Error while trying to access Colibri n return 1 j Try to open a sensor by calling colibriOpen The parameters are the imu which was created earlier a predefined configuration of the sensor and a device port The opening of the sensor fails if the function returns a negative value Retrieve the current configuration of the acquired sensor and set raw and ascii mode frequency and sensor configuration to the desired values The configuration is then written back to the sensor using colibriSetConfig to take effect colibriGetConfig imu amp conf conf raw 0 conf freq 100 co
14. nf sensor 1023 cont asc 0 colibriSetConfig imu amp conf Next preprocessing of the accelerometer and gyroscope data is activated as well as jitter reduction Colibri User Manual 16 58 59 60 61 62 64 65 66 67 68 69 70 1 12 13 76 ih 18 19 80 81 82 83 84 9 86 ST 88 89 90 91 92 94 95 96 97 98 100 101 colibriSetKa imu Ka colibriSetKaStatus imu 1 colibriSetKg imu Kg colibriSetKgStatus imu 1 colibriSetJitterStatus imu 1 And the sensor settings are printed out printf Colibri IMUAn colibriGetID imu ID printf Device ID s n ID printf Sensor config din conf sensor printf Magnetic div d n unsigned conf magDiv printf Frequency Ydin conf freq printf ASCII output din conf ascii printf autoStart din conf autoStart printf RAW mode Ydin conf raw printf Jitter reduction d n colibriGetJitterStatus imu Start the colibri by calling the function colibriStart colibriStart imu for colibriGetData imu amp data if data t gt oldt float eul 3 printf Time 6 2f t data t le 4 printf Temp 6 2f t data temp printf Acc 6 2f 6 2f 6 2f t data acc_x data acc_y data acc_z printf Gyr 6 2f 6 2f 6 2f t data gyr_x data gyr_y data gyr_z printf Mag 6 2f 6 2f 6 2f t data mag_x data mag_y data mag_z printf Quat 6 of
15. on guide Within the second chapter the GUI with the including functionalities will be described Chapter three represents the documentation of the SDK The two basic applications are shown whereas the testc example will be described Colibri User Manual 2 Installation This chapter provides the two installation guides for Microsoft Windows and Fedora 11 2 1 Windows If you don t have an installer yet please download the installation file from the Trivisio GmbH website Go to the website http www trivisio com Under Support Software you will find the installer for the Colibri tracker After downloading the installer to a directory of your choice execute the file The following images will guide you through the installation 2 1 1 Step 1 Welcome Screen This is the welcome screen of the installer Press next to start the installation or cancel to abort C Trivisio Prototyping GmbHiColibri GUL 1 1 0 Setup o O E Welcome to the Trivisio Prototyping GmbH Colibn GUI_1 1 0 Setup This wizard will guide you through the installation of Trivisio Prototyping GmbH Colibri GUI_1 1 0 It is recommended that you close all other applications before starting Setup This will make it possible to update relevant system files without having to reboot your computer Click Next to continue Colibri User Manual 4 2 1 2 Step 2 EULA The next dialog is the End User License Agreement Please read it carefully If you agr
Download Pdf Manuals
Related Search