IS-1500 User Guide
Thales Visionix, Inc.
MNL- 0024 (D)
Page 23 of 59
3.1.2
Linux
1.
Download the full software package from the InterSense website at https://intersense.com/is1500/. This is a different download
than the installation executable and contains the full software suite for both Windows and Linux. When using the software on a
Linux system, it is important to only use software and files from the Linux folder. The file architecture can be found in Figure 17.
Descriptions for notable folders are as follows.
Configuration Files: Contains backups of the default constellation and configuration files
Documentation: Contains various IS-1500 user guides and a printable PDF of the default
8.5x11 fiducial constellation
SDKs: Contains the required DLL files and sample code for integrating tracking data into the
user software application
sfHub: Contains the sfHub software and required files, which receives sensory data from
the InertiaCam and processes it to produce raw tracking data
sfStudio: Contains the main GUI application used 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 package, which enables the user to interface
Unity applications with tracking data from the IS-1500
2.
Linux systems will require a number of prerequisite library installations before being able to run the sensor fusion software. The
following libraries should be installed or updated to the latest version using apt-get commands.
libopencv-core2.4v5
libopencv-features2d2.4v5
libyaml-cpp0.5v5
libudev1
v4l-utils
3.
Once the libraries are installed, a few additional settings need to be established for the software to run properly.
a.
The following two lines need to be added to /etc/security/limits.conf to enable setting of thread priorities:
hard rtprio 99
soft rtprio 99
b.
For the software to access the serial port immediately after the InertiaCam is hot-plugged, modemmanager must be removed
using the following command:
sudo apt-get remove modemmanager
c.
To allow access to the serial ports, the user must be added to the dialout group using the following command:
sudo usermod –a –G dialout <username>
Figure 17 – Linux
Software Package