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Summary of Contents for Trivisio Colibri
- Page 1 User Manual Colibri Inertial Motion Tracker (Subject to technical modifications) Copyright c 2011 Augmented Vision Group of the (http://www.dfki.de) (http://www.trivisio.com)
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Page 3: Table Of Contents
......21 4.3 Simple Import mechanism for data profiling ....21 Colibri User Manualsdf df... -
Page 5: Introduction
The graphical user interface (GUI) provided with the sensor is described in Chapter 3. It covers the functionality of the GUI and does also gives some hint on how to get the most out of the Colibri Tracker. Chapter describes two examples of using the SDK’s API. -
Page 6: Installation
This chapter provides the installation guides for Microsoft Windows and Linux. If you do not have an installer yet, please download the installation file from the Trivisio GmbH website: http://www.trivisio.com. Installers for Window and Linux (32 and 64 bit) can be freely downloaded from the Support — Software section (http: //www.trivisio.com/index.php/support/software). - Page 7 If you agree to the terms and conditions, please press the “I Agree” button to continue the installation procedure. Step 3: Installation path In this dialog the user is able to choose or select the desired installation path. Colibri User Manualsdf df...
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Page 8: Linux
After this dialog the installation is executed and you are able to use the applications and develop your own software based on the SDK. Linux Simply run the installer, accept the EULA, and follow the instruction presented. Colibri User Manualsdf df... -
Page 9: Gui
Starting the application Using Microsoft Windows You can start the application either by clicking the Trivisio – Colibri icon on your desktop or by selecting it from the start menu. The default location is: Trivisio – Colibri X.X.X (see below) and execute the Trivisio – Colibri. -
Page 10: The Gui
By expanding the Sensor Config (see figure below), it is possible to see what indi- vidual sensor elements are enabled in the Colibri. The user can enable the individual magnetometers, accelerometers, and gyroscopes, and also the built in temperature sensor. - Page 11 4. Save configuration button. Normally, the selected sensor configuration is downloaded (but not saved to the Colibri) as it is started and will be reset once the power is lost. Use this button to save the configuration to the Colibri’s permanent memory.
- Page 12 5. Euler angle orientation. This describes the rotation of the Colibri as a sequence of three rotations, yaw (around the sensors positive z-axis), pitch (around the sensors negative y-axis), and finally roll (around the positive x-axis). Note that boresighting changes the sensors axis.
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Page 13: Calibration Parameters
This means that to obtain best possible orientation estimates, the Colibri should have its magnetometers recalibrated after it has been mounted in the way it is intended to be used. -
Page 14: Boresighting
Boresighting can enabled and disabled in the tree view of the sensor (see 1 in the image below). When turned on this way, the Colibri will be boresighted according to the pa- rameters saved in the sensor. The menu items in the Configuration Boresight menu allows the user to update these parameters (see 2 in the figure below). -
Page 15: Jitter Reduction
In settings where it is more important to have a smooth orientation estimate than high precision (especially when the Colibri is nearly stationary) jitter reduction should be turned on. This can be done with the checkbox in the expanded tree view of the sensor. -
Page 16: Additional Com Ports To Scan
3.6.2 Additional COM ports to scan The Trivisio GUI does its best to find all available sensors, but it sometimes fails due to system specifics. One such reason is having a sensor connected via RS232. In this cases it is possible to manually specify additional COM ports or devices to be scanned for Colibris. -
Page 17: Sensor Diagnosis
The diagnostic information contains information about all settings stored in the Colibri, as well as the result from a few seconds of collected data. This provides valuable information about the IMU such as bias and noise levels in the current setting. -
Page 18: Firmware Upgrade
Device menu. You are next asked, if you are sure to upgrade your firmware: By pressing OK a new dialog will open with instructions on how to upgrade the firmware. Please follow the instructions. Colibri User Manualsdf df... - Page 19 If this does not happen, for example due to aggressive caching, safely remove it manually to speed up the procedure. 3. Unplug and then replug the sensor to complete the firmware update. Check the sensor entry in the GUI to see that the upgrade was successful. Colibri User Manualsdf df...
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Page 20: Sdk
10 #define M_PI 3 . 1 4 1 5 9 2 6 5 3 5 8 9 7 9 3 2 3 8 4 6 This simple example contains just a main function. In it the Colibri sensors are scanned and the measurements are printed to the console. - Page 21 = c o l i b r i C r e a t e ( 1 0 0 ) ; This function creates the Colibri devices, whereas the parameter is the length of the buffer internal buffer. struct C o l i b r i C o n f i g c o n f ;...
- Page 22 And the sensor settings are printed. c o l i b r i S t a r t ( imu ) ; Start the colibri by calling the function colibriStart. f o r ( ; ; ) { c o l i b r i G e t D a t a ( imu , &data ) ;...
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Page 23: The Orientation.cpp Example
The sensor is stopped by calling colibriStop and closed by colibriClose. The orientation.cpp example The orientation program is a short illustration of how to use the Colibri in a graph- ical application. Since the testc.c has already been explained in detail, only the new functions will be explained.
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