Camera Specifications
A Basler camera is used for the indoor positioning system in the lab.
The system was originally intended to work in the infrared. The NIR sensor was selected for that reason. Due to eye safety concerns the system was switched to visible light.
The camera is mounted at a height of 3.3 meters to overlook the complete map area. It is centered to the map and orientated straight downwards. In order to simplify the positioning of the camera, we installed three aluminum profiles in an H-form to be able to move the camera along the x- and y-axis.
| Model Number | acA2040-90umNIR |
| Camera Sensor Format | 1" |
| Pixels (H x V) | 2,048 x 2,048 |
| Type | NIR Camera |
| Camera Family | ace |
| Conformity | USB3 Vision, GenICam |
| Dimensions (mm) | 29.3 x 29.0 x 29.0 |
| Exposure Control | Freely Programmable |
| Frame Rate (fps) | 90 |
| Imaging Device | CMOSIS CMV4000 NIR-enhanced |
| Input/Output Options | 1 Opto-isolated Input/Output, 2 Fast-GPIO Ports |
| Manufacturer | Basler |
| Mount | C-Mount |
| Operating Temperature (°C) | 0 to +60 |
| Pixel Size, H x V (μm) | 5.5 x 5.5 |
| Power Requirement | Via USB 3.0 interface |
| Synchronization | Via External Trigger, or Free-Run |
| Type of Sensor | Progressive Scan CMOS |
| Type of Shutter | Global |
| Video Output | USB 3.0 |
Calibration
A PVC canvas of the size 4.0 x 4.5 m with a 0.1 x 0.1 m checkerboard pattern printed on it is used to calibrate the IPS. This pattern is also used to define the coordinate system in the lab.
Compile and test
cd ~/dev
git clone https://git.rwth-aachen.de/CPM/Project/Lab/software.git
cd software
cd ips2
./build.bash
To test that the IPS works, open two terminals. In the first, run
./build/BaslerLedDetection --visualization=true
Switch a vehicle on and place it in front of the camera. The flashing LEDs should be highlighted in the visualization.
In the second terminal, run
./build/ips_pipeline --visualization=true
The detected LEDs sould also show up in this second visualization.
Overview
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