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| <title>Sensor Fusion Box Quick Start Guide</title> |
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| <p> |
| The sensor fusion test measures timestamp accuracy of camera and other |
| sensors for Android phones. This page provides step-by-step directions on |
| how to setup the Sensor Fusion test and Sensor Fusion Box for the first |
| time. |
| </p> |
| <h2 id="required-tools">Required tools</h2> |
| <p> |
| Before getting started, ensure you have the following components:</p> |
| <figure id="sensor-fusion-test-component"> |
| <img src="/compatibility/cts/images/sensor_fusion_test_components.png" width="700" alt="Sensor fusion test components"> |
| <figcaption><b>Figure 1.</b> Components required for the sensor fusion |
| test</figcaption> |
| </figure> |
| <ol> |
| <li>USB A to B cable</li> |
| <li>USB A to C cable (for test phone)</li> |
| <li>12V 2A power cord (for servo control box)</li> |
| <li>12V power cord (for lighting, with switch)</li> |
| <li>5V male-male connection cable (for lighting)</li> |
| <li>5V male-female conversion cable (for lighting)</li> |
| </ol> |
| <h2 id="step-1-connect-lights">Step 1: Connect lights</h2> |
| <p> |
| To connect the lights: |
| </p> |
| <ol> |
| <li>Use the male-male cable to connect the two lights on the bottom ends |
| of the lights as shown in figure 2. Secure the cable to the bottom of the |
| box to keep the cable from interfering with the operation.</li> |
| <li>Connect the end of the light closer to the light cable exit hole to |
| the conversion cable |
| <figure id="sensor-fusion-connect-lights"> |
| <img src="/compatibility/cts/images/sensor_fusion_connect_lights.png" width="300" alt="Connect lights"> |
| <figcaption><b>Figure 2.</b> Connecting the lights to each other and |
| one light to the conversion cable</figcaption> |
| </figure> |
| <ol> |
| <li>Light cable exit hole</li> |
| <li>USB cable exit hole</li> |
| <li>5V male-male conversion cable</li> |
| </ol> |
| </li> |
| <li>Thread the unconnected end of the conversion cable through the round |
| hole that exits the box, then connect it to the power |
| cable for lighting. |
| <figure id="Conversion cable and power cable"> |
| <img src="/compatibility/cts/images/sensor_fusion_conversion_cable.png" width="500" alt="Conversion and power cable"> |
| <figcaption><b>Figure 3.</b> Lighting conversion cable exiting the box |
| and connecting to power cable</figcaption> |
| </figure> |
| <ol> |
| <li>Exit hole</li> |
| <li>Conversion cable</li> |
| <li>Power cable</li> |
| </ol> |
| </li> |
| </ol> |
| <h2 id="step-2-attach-servo">Step 2: Attach servo</h2> |
| <p> |
| To attach the servo: |
| </p> |
| <ol> |
| <li>Plug the servo connector into the servo control. Be sure to insert |
| the connector oriented to the corresponding colors as labeled (Y = |
| Yellow, R = Red, B = Black), as reversing the order could damage the |
| motor. If the cord is too short, use a |
| <a href="https://www.adafruit.com/product/972" class="external"> |
| servo extension cable</a>. |
| <figure id="sensor-fusion-servo-connector"> |
| <img src="/compatibility/cts/images/sensor_fusion_servo_connector.png" width="300" alt="Servo connecting to the servo control box"> |
| <figcaption><b>Figure 4.</b> Servo connecting to the servo control |
| box</figcaption> |
| </figure> |
| </li> |
| <li>Connect the servo control with its power cord (the lighting and |
| servo control have independent, dedicated power supplies as shown in |
| figure 5). |
| <figure id="sensor-fusion-servo-control"> |
| <img src="/compatibility/cts/images/sensor_fusion_servo_control.png" width="500" alt="Connecting servo control to power"> |
| <figcaption><b>Figure 5.</b> Connecting the servo control to its |
| dedicated power cord</figcaption> |
| </figure> |
| <ol> |
| <li>Power for servo control</li> |
| <li>Power for lighting</li> |
| </ol> |
| </li> |
| <li>Use the USB A to B cable to connect the servo control box to the |
| host (machine that is running the test). |
| <figure id="sensor-fusion-servo-control-box"> |
| <img src="/compatibility/cts/images/sensor_fusion_servo_control_box.png" width="500" alt="Connect servo control box to host machine"> |
| <figcaption><b>Figure 6.</b> Connecting the servo control box to the |
| host machine</figcaption> |
| </figure> |
| </ol> |
| <h2 id="step-3-attach-phone">Step 3: Attach phone</h2> |
| <ol> |
| <li>Set the phone on the fixture and clamp it down.<br> |
| <figure id="sensor-fusion-servo-connector"> |
| <img src="/compatibility/cts/images/sensor_fusion_fixture.png" width="500" alt="Attaching phone on fixture"> |
| <figcaption><b>Figure 7.</b> Placing and clamping the phone on the |
| fixture</figcaption> |
| </figure> |
| <ol> |
| <li>Back support</li> |
| <li>Tightness</li> |
| </ol> |
| <p>Phones should be placed in a manner where the USB cords are located at |
| the periphery of the phone mount and the cameras are near the center of |
| the mount. |
| </p> |
| <p>The upside-down thumb screw provides back support while the other screw |
| tightens the grip by turning right. For more details, see |
| <a href="#attach-phone-to-mount">video on how to |
| attach the phone</a>.</p> |
| </li> |
| <li>Use a zip tie to hold the phone USB cord to the fixture plate and |
| lead it outside the box through the exit hole. Plug the other end |
| of the cord to the host running the test. |
| <figure id="sensor-fusion-zip-ties"> |
| <img src="/compatibility/cts/images/sensor_fusion_zip_ties.png" width="300" alt="Phone USB cord with zip ties"> |
| <figcaption><b>Figure 8.</b> Phone USB cord held to fixture with |
| zip ties</figcaption> |
| </figure> |
| </li> |
| </ol> |
| <h2 id="step-4-run-test-script">Step 4: Run test script</h2> |
| <p> |
| The main python executable for the test script is: |
| </p> |
| <pre class="prettyprint"><code class="devsite-terminal">python tools/run_all_tests.py device=ID camera=0 scenes=sensor_fusion rot_rig=default</code> |
| </pre> |
| <p>You can modify the command to specify the actual rotator address by using:</p> |
| <pre class="prettyprint">rot_rig=<var>VID:PID:CH</var> |
| </pre> |
| <ul> |
| <li>To determine the Vendor ID (VID) and Product ID (PID), use the Linux |
| command <code>lsusb</code>.</li> |
| <li>By default, the VID and PID are set |
| to <code>04d8</code> and <code>fc73</code> with channel "1".</li> |
| </ul> |
| <h3 id="multiple-runs-different-formats">Multiple runs, different formats</h3> |
| <p>To perform multiple runs with different formats, you can use a |
| different script (however, the results will not be uploaded to |
| <code>CtsVerifier.apk</code>). Sample test script:</p> |
| <pre class="prettyprint"><code class="devsite-terminal">python tools/run_sensor_fusion_box.py device=FA7831A00278 camera=0 rotator=default img_size=640,360 fps=30 test_length=7</code></pre> |
| <h3 id="permission-issues">Permission issues</h3> |
| <p>To resolve permission issues related to controlling the motor through the |
| USB port:</p> |
| <ol> |
| <li>Add the operator username to the <code>dialout</code> group using: |
| <pre class="prettyprint"><code class="devsite-terminal">sudo adduser <var>USERNAME</var> dialout</code> |
| </pre></li> |
| <li>Log out the operator.</li> |
| <li>Log in the operator.</li> |
| </ol> |
| <h2 id="adjusting-the-motor">Adjusting the motor</h2> |
| <p> |
| You can adjust the speed of the motor and the distance the phone travels |
| using the resistance ports (labeled <strong>A</strong>, |
| <strong>B</strong>, and <strong>T</strong>) on the side of the controller |
| box. |
| </p> |
| <ol> |
| <li>Upon first receiving the box, power up the box and determine the initial |
| position. If the initial position on power-up is not close to 12 |
| o'clock, unscrew the phone fixture (single Philips head screw in mount |
| hole) and rotate the phone fixture to 12 o'clock.</li> |
| <li>Ensure the phone fixture travels a full 90 degrees (from 12 |
| o'clock to 9 o'clock when looking at the phone) for each rotation. |
| <ul> |
| <li>To adjust the distance traveled, use the <strong>A</strong> and |
| <strong>B</strong> screws (where <strong>A</strong> is the starting |
| location |
| and <strong>B</strong> is the final location).</li> |
| </ul> |
| </li> |
| <li>Adjust the rotation speed to travel a full rotation in 1.5s. Turning |
| the resistor pot clockwise slows down the motion. |
| <table class="columns"> |
| <tr> |
| <td> |
| <img src="/compatibility/cts/images/sensor_fusion_adjust.png" width="300" alt="Adjust position and speed of servo"> |
| </td> |
| <td> |
| <ul> |
| <li>A is the start position of the fixture.</li> |
| <li>B is the end position of the fixture.</li> |
| <li>T is the speed motor rotates.</li> |
| </ul> |
| </td> |
| </tr> |
| </table> |
| <b>Figure 9.</b> How to adjust the position and speed of servo and phone |
| fixture |
| </li> |
| </ol> |
| <p>For more information, see <a href="#video-tutorials">video tutorials</a>.</p> |
| <h2 id="video-tutorials">Video tutorials</h2> |
| <div class="video-wrapper-full-width"> |
| <h3 id="attach-phone-to-mount">Attaching phone to mount</h3> |
| <iframe class="devsite-embedded-youtube-video" data-video-id="ZeRGBqEZOQs" |
| data-autohide="1" data-showinfo="0" frameborder="0" allowfullscreen> |
| </iframe> |
| </div> |
| <div class="video-wrapper-full-width"> |
| <h3 id="install-phones-dual-mount">Installing phones on a dual mount</h3> |
| <iframe class="devsite-embedded-youtube-video" data-video-id="IzI6j44OMcA" |
| data-autohide="1" data-showinfo="0" frameborder="0" allowfullscreen> |
| </iframe> |
| </div> |
| <div class="video-wrapper-full-width"> |
| <h3 id="calibrate-controller">Calibrating the controller</h3> |
| <iframe class="devsite-embedded-youtube-video" data-video-id="7_nNNJ-J8tY" |
| data-autohide="1" data-showinfo="0" frameborder="0" allowfullscreen> |
| </iframe> |
| </div> |
| <div class="video-wrapper-full-width"> |
| <h3 id="adjust-phone-fixture">Adjusting the phone fixture</h3> |
| <iframe class="devsite-embedded-youtube-video" data-video-id="6wd8A0veu_M" |
| data-autohide="1" data-showinfo="0" frameborder="0" allowfullscreen> |
| </iframe> |
| </div> |
| |
| </body> |
| </html> |
