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<html devsite>
<head>
<title>Sensor Fusion Box Quick Start Guide</title>
<meta name="project_path" value="/_project.yaml" />
<meta name="book_path" value="/_book.yaml" />
</head>
<body>
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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 cables and cords
available:</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>
<ul>
<li>USB A to B cable</li>
<li>USB A to C cable (for test phone)</li>
<li>12V power cord (for servo control box)</li>
<li>12V power cord (for lighting, with switch)</li>
<li>Interconnected cable (for lighting)</li>
<li>Conversion cable (for lighting)</li>
</ul>
<h2 id="step-1-connect-lights">Step 1: Connect lights</h2>
<p>
To connect the lights:
</p>
<ol>
<li>Use the interconnected cable to connect the two lights.</li>
<li>Connect one light 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>
</li>
<li>Thread the unconnected end of the conversion cable through the round
hole that exits the box, then connect the end of that cable to the power
cable for lighting.
<table class="columns">
<tr>
<td><img src="/compatibility/cts/images/sensor_fusion_conversion_cable1.png" width="" alt="Conversion cable and power cable"></td>
<td><img src="/compatibility/cts/images/sensor_fusion_conversion_cable2.png" width="" alt="Power cable for lighting"></td>
</tr>
</table>
<b>Figure 3.</b> Lighting conversion cable exiting the box and connecting
to power cable</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.
<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>Connect the servo control with its power cord (the lighting and
servo control have independent, dedicated power supplies).
<table class="columns">
<tr>
<td><img src="/compatibility/cts/images/sensor_fusion_servo_control1.png" width="" alt="Servo control"></td>
<td><img src="/compatibility/cts/images/sensor_fusion_servo_control2.png" width="" alt="Power to servo control"></td>
</tr>
</table>
<b>Figure 5.</b> Connecting the servo control to its dedicated power
cord
<li>Use the USB A to B cable to connect the servo control box to the
host (machine that is running the test).
<table class="columns">
<tr>
<td><img src="/compatibility/cts/images/sensor_fusion_servo_control_box1.png" width="" alt="Connect servo control box"></td>
<td><img src="/compatibility/cts/images/sensor_fusion_servo_control_box2.png" width="" alt="Connect servo control box to host"></td>
</tr>
</table>
<b>Figure 6.</b> Connecting the servo control box to the host machine</li>
</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>
<table class="columns">
<tr>
<td><img src="/compatibility/cts/images/sensor_fusion_fixture1.png" width="" alt="Phone on fixture"></td>
<td><img src="/compatibility/cts/images/sensor_fusion_fixture2.png" width="" alt="Clamping phone on fixture"></td>
</tr>
</table>
<b>Figure 7.</b> Placing and clamping the phone on the fixture
<p> The upside-down thumb screw provides back support while the
other screw tightens the grip by turning right. For more help,
refer to the video on loading the phone (included in the
<a href="/compatibility/cts/sensor_fusion_1.5.zip">Sensor
Fusion Box zip file</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">python tools/run_all_tests.py device=ID camera=0 scenes=sensor_fusion rot_rig=default</pre>
<p>You can also enter the actual rotator address at the command line
using:</p>
<pre class="prettyprint">rot_rig=VID:PID:CH</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">python tools/run_sensor_fusion_box.py device=FA7831A00278 camera=0 rotator=default img_size=640,360 fps=30 test_length=7</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 <code>dialout</code> group using:
<pre class="prettyprint">sudo adduser $username dialout</pre></li>
<li>Log out the operator.</li>
<li>Log in the operator.</li>
</ol>
<h2>Adjusting the motor</h2>
<p>
You can adjust the speed of the motor and the distance the phone' travels
using the resistance ports (labelled <strong>A</strong>,
<strong>B</strong>, and <strong>T</strong>) on the side of the controller
box.
</p>
<ol>
<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 travelled, 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>
<li>Upon first receiving the box, it is easiest to 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>
</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="" 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 help, refer to the video of the sensor fusion box running (included
in the <a href=/compatibility/cts/sensor_fusion_1.5.zip>Sensor Fusion Box
zip file</a>).
</p>
</body>
</html>
|
