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IS-1500 User Guide 

 

 

 
 

Thales Visionix, Inc. 

 MNL- 0024 (D) 

Page 2 of 59 

 

 
 
 

Contacting Thales Visionix  

 

Please contact us if you need assistance.  
  

Thales Visionix, Inc.  
700 Technology Park Drive, Suite 102  
Billerica, Massachusetts 01821  
USA 

 

 

 

Telephone: +1 781 541 6330 

 

Internet: http://www.intersense.com 

 

Fax: +1 781 541 6329 

 

 

 

Technical Support: +1 781 541 7624 

email: [email protected]  

Sales: +1 781 541 7650 

email: [email protected]

 

 
 
The label below identifies the protection granted by the Government of the United States to Thales Visionix for 
InterSense products:  
 
 
 

 
 
 
 
 
 
 

 
 

 
 
 
 
 
Trademarks 

InterSense® is a registered trademark of Thales Visionix, Inc. InertiaCam™, InertiaCube™, VETracker™, and SimTracker™ 
are trademarks of Thales Visionix, Inc. All other trademarks are the property of their respective owners. 

 
 
Copyright 

 2017 

 
 

 

                        

 

U.S. Patents 
 
5645077, 5807284, 6162191, 6361507, 6786877, 6176837, 6409687, 7395181, 6314055 B1, 6757068 B2, 
7301648, 6474159 B1, 6681629 B2, 7000469 B2, 7231063 B2, 6922632 B2, 7725253, 7900524, 8224024, 
8473241, 8696458, 8762091, 8972182 and Patents Pending. 
 
Foreign Patents 
 
Europe 1280457  1071369  Israel: 152359   Taiwan: 162248    
China: 99807510.8   Hong Kong: 1039884   Japan: 4690546. 
 

Summary of Contents for InertiaCam IS-1500

Page 1: ...MNL 0024 C IS 1500 NATURAL FEATURE TRACKER USER GUIDE 2017 Thales Visionix Inc 700 Technology Park Drive Suite 102 Billerica MA 01821 USA Phone 1 781 541 6330 Fax 1 781 541 6329 www intersense com...

Page 2: ...e Government of the United States to Thales Visionix for InterSense products Trademarks InterSense is a registered trademark of Thales Visionix Inc InertiaCam InertiaCube VETracker and SimTracker are...

Page 3: ...ice may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation This product meets the applicable Industry Cana...

Page 4: ...of any kind Further Licensor does not warrant guarantee or make any representations regarding the use or the results of use of the software or written materials in terms of correctness accuracy reliab...

Page 5: ...ations hereunder e Choice of Law Jurisdiction This Agreement will be governed by the laws of the United States of America f Severability To the extent permitted by applicable law the parties hereby wa...

Page 6: ...4 4 2 sfStudio Sidebar 31 4 4 3 Tracking Data Display 32 4 4 4 Optical Data Display 33 4 4 5 3D Data Display 34 4 4 6 Tracker Sigma Data Display 35 4 4 7 Make Fiducials Tool 36 4 4 8 Simple Visual Ma...

Page 7: ...NERTIACAM 54 7 1 DATA 54 7 2 CONFIGURATION SETTINGS FOR IR INERTIACAMS 55 7 2 1 Enabling and Disabling the IR Illuminator 55 7 2 2 IR Retroreflective Fiducial Recognition 55 TROUBLESHOOTING 56 8 1 FRE...

Page 8: ...IGURE 17 LINUX 23 FIGURE 18 MAIN SFSTUDIO TOOLBAR 24 FIGURE 19 TRACKING DATA DISPLAY 24 FIGURE 20 VINS IMAGE 25 FIGURE 21 3D DATA DISPLAY 25 FIGURE 22 FIDUCIAL OVERLAY 26 FIGURE 23 TRACKING STATE CHAN...

Page 9: ...rtial 6 DOF six degrees of freedom motion tracker It pairs a monocular camera with a specially developed InterSense inertial measurement unit IMU known as the NavChip There is a female USB C connector...

Page 10: ...IS 1500 into their Unity applications sfStudio is used as the primary program for device setup display of tracking information and general diagnostics sfStudio can also be used to show the tracking s...

Page 11: ...s position and orientation as defined by the tracker reference frame relative to the world reference frame The X Y and Z position of the tracker is reported in meters Orientation is described using E...

Page 12: ...B Like the markings on the front the long and short sides of the rectangle on the back also indicate the direction of the positive X and Y axes respectively To help illustrate this the sfStudio 3D Da...

Page 13: ...Instead of lying flat with the camera pointed up it has been rotated into a more vertical position and moved along an arc towards a position somewhere above the starting point The thin yellow line sh...

Page 14: ...outputs are integrated at 200Hz to track orientation and position This data allows the NavChip to also function as an attitude and heading reference system AHRS to measure yaw pitch and roll The acce...

Page 15: ...natural features If they can t be located or become compromised they are replaced with new features Reasons for this might be that the feature has moved out of the frame and is no longer visible or th...

Page 16: ...eature depth this will be indicated by a red circle or oval as seen in features 2172 and 2173 The longer the oval the greater the degree of uncertainty Figure 8 VINS Hand Waving Test If both the hand...

Page 17: ...in the EKF data from the IMU will carry more weight in the tracking calculations For instance when the InertiaCam is rotated very quickly or if its vision is temporarily obstructed VINS tracking will...

Page 18: ...tion back at the last location accurate data was recorded Orientation will be relatively unaffected Because the filter is reset when recovering from a divergence it is best to treat the tracker as tho...

Page 19: ...pattern the center eye and two outer eyes are what the system s image recognition component uses to recognize a pattern as a fiducial These circles also serve as the tracked points Damage to any of t...

Page 20: ...cked area a constellation serves two main purposes The first is that the constellation defines a fixed world reference frame Whenever the constellation is first brought into view and optical lock is a...

Page 21: ...still while tracking is initializing o To help optimize tracking performance it is good practice to begin tracking by exercising the InertiaCam s NavChip To do this begin by placing the InertiaCam on...

Page 22: ...ams Documentation Links to the folder containing various IS 1500 user guides and a printable PDF of the default 8 5x11 fiducial constellation InterSense Unity Plugin Links to the InterSense Unity pack...

Page 23: ...to map test and re configure the tracker as well as view and record both raw and fused data UnitySampleProgram Contains the precompiled Unity Sample Program UnityPlugin Contains the InterSense Unity p...

Page 24: ...io can instead be run from the Windows Start Menu or Programs list 4 When sfStudio first loads it will not yet be connected to the InertiaCam This is indicated by the No Communication Tracking State a...

Page 25: ...the VINS Image not supported with embedded settings button to show the features recognized by the VINS algorithm Figure 20 shows the VINS Image while viewing an assortment of items Figure 20 VINS Imag...

Page 26: ...tracking in State 1 position the InertiaCam so the constellation is well within the field of view This can be checked in the Optical Display tab a Turn the image transfer toggle to ON filled and the...

Page 27: ...n kept still since Point B it is the coordinate reference frame that has shifted like moving a sheet of paper from under a still pencil ii The distance from B to C is effectively the distance from the...

Page 28: ...is saved as the environmentPSEs cfg in the sfStudio subfolder Start by creating a copy of the current file and renaming it for example to FidPoster cfg The system requires environmentPSEs cfg to be t...

Page 29: ...rate the data When using sfStudio sfHub is automatically launched by the Connect button as will be discussed in the sfStudio section However end user applications will need to either launch sfHub them...

Page 30: ...isplay Optical Data Display 3D Data Display NFT Sigmas Display Make Fiducials Tool Simple Visual Mapper Tool Each of these will be briefly covered in this section relative to their functionality with...

Page 31: ...ay in State 3 for long as this mode is usually associated with a filter reset back to State 1 The Tracking Quality metric or TQ indicates how god tracking is overall A mid range TQ does not necessaril...

Page 32: ...default data display tab for the IS 1500 When the connection to the InertiaCam is established it will automatically appear and begin populating with data This tab provides the current values and histo...

Page 33: ...reading can be overwritten to the desired exposure which will take effect after pressing the Enter key To make manual exposure the default or to change the auto exposure settings see the InertiaCam E...

Page 34: ...nce frame Initially the 3D Data Display is an overhead view of the grid with X facing upwards and Y to the right When using a mouse the view can be rotated by holding the left mouse button panned by h...

Page 35: ...ical plots Note that in the plot shown in Figure 30 the yaw has a higher rotation sigma and thus a degree of uncertainty than pitch and roll Additionally the yaw and position sigmas are all steadily i...

Page 36: ...s must be divisible by 10 This is because each eye is identified by the system as x0 x1 or x2 For instance for fiducial ID 990 the center eye would be known to the system as 990 and the two outer eyes...

Page 37: ...resets that will autofill the rest of the values Among them is the 8 5 x 11 Poster preset which represents the IS 1500 s default constellation the poster that is included with the kit When the SVM map...

Page 38: ...y may by overwritten or deleted by a software update o After updating the software rather than rolling back to an older configuration file manually edit the newly installed configuration files to matc...

Page 39: ...g once the desired data has been collected The data is not overwritten when sfHub is restarted and if it s not disabled will continue to consume hard drive space until the hard drive is full Also logg...

Page 40: ...arded manually from the system later i Open sfStudio ii If you would like to watch any displays while tracking such as 3D Data display or Optical Data Display open these and drag them off to their own...

Page 41: ...aster Serial port for sensor connection Windows COMx Linux dev ttyACMx AutoDetect auto serialPort auto imgTx 1 1 Enable image transfer imgTxMode 1 1 Shared mem 2 UDP tcpPort 51717 TCP port for communi...

Page 42: ...uide Thales Visionix Inc MNL 0024 D Page 42 of 59 10 After the second entry is made sfHub will begin running playing the log and data will be streamed to sfStudio or the end user application Figure 35...

Page 43: ...ms 2 Open the sfHub info file 3 Under the General section set appMode 3 General appMode 3 1 Tracking 2 Playback 3 Configuration Utility numSensors 1 1 Min 4 Max verbosity 0 0 Low 1 Med 2 High replaySp...

Page 44: ...autoExposureMin 100 Microseconds autoExposureMax 15000 Microseconds autoExpsureLum 1000 Auto exposure target luminosity 4 Change the values to reflect the desired minimum and maximum auto exposure val...

Page 45: ...re can be toggled on or off at any time in in the Optical Data display toolbar where the current exposure value is displayed By default the exposure setting will be the value entered in the sfHub ini...

Page 46: ...ablet The boresight and tip offset of the InertiaCam is typically defined in the end user application through function calls to the Intersense or sfAccess libraries However some applications may requi...

Page 47: ...UdpSfRxPort 9001 UdpSfRxImgPort 9003 UdpSfCorePort 9002 UdpSfRxInputPort 9004 UdpSfHubPort 9005 UdpNftPort 9007 4 Change the values as needed for the system In this example it will be assumed there is...

Page 48: ...a udpCore udpNFT and udpImg match the ports for TcpSfRxPort UdpSfRxPort UdpSfCorePort UdpNftPort and UdpSfRxImgPort entered in Step 4 TCP port for communication with sfAccess tcpPort 51718 udpMeta loc...

Page 49: ...bled true TcpSfRxAddr 192 168 1 101 TcpSfRxPort 51717 5 Once the changes have been made save the file 6 On the host computer open the sfHub info file from the sfHub subfolder of the IS 1500 software d...

Page 50: ...for a HObIT may wish to disable this setting When AutoLaunch is disabled the sfHub software will need to be run manually for sfStudio to connect to the InertiaCam Use the following directions to chang...

Page 51: ...seen in Figure 38 Use the following directions to change the sfStudio theme 1 If they are currently running close the sfHub and sfStudio programs 2 Open sfStudio ini 3 Under the Theme section find th...

Page 52: ...n board processor Instead raw image and IMU data is passed directly to sfHub which performs both image processing and tracking on the host computer When using the InertiaCam sensor communication and t...

Page 53: ...re 6DOF 3 NFT Fid 4 NFT GPS 5 NFT GPS Fid trkMode 3 sensorType 2 1 HObIT 2 InertiaCam initState 1 1 Streaming 0 Paused logData 1 1 Enable data logging 4 To change sfHub to connect to a HObIT set senso...

Page 54: ...ain when sfHub is closed The blue status light is turned on when the IR illumination is active For eye safety reasons users are advised against looking directly at the IR LEDs while this blue light is...

Page 55: ...hip data rate divisor rate 1000 divisor in Hz frameInterval 50000 Frame interval in microseconds manualExposure 2500 Initial manual exposure autoExposure 1 1 Enable 0 Disable autoExposureMin 100 Micro...

Page 56: ...has been designed specifically for natural feature tracking in mind Changes from other InterSense trackers include the type of lens used for the camera lack of on board processing and different commun...

Page 57: ...InertiaCam s field of view are moving or are at very long distances away Tracking is performed over long distances greater than 200 meters without periodically achieving optical lock on fiducials The...

Page 58: ...it already running When I press the Connect button in sfStudio the State is still 0 No Communication Yes No there is an error saying it could not be found No nothing happens Search your computer for...

Page 59: ...A method of describing objects as relative to the point they are observed from parallax The visual concept that an object appears to change orientation position as the point of observation is moved a...

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