February Testing Campaign Summary

Disclaimer

This presentation is based on the reports of the testing campaign and focuses on the problems arisen during it. Detailed results can be found on the fellows’ reports. It is possible that the issues reported here were solved in the past months after the campaign.

Some numbers

• 2 weeks (+1) of campaign• ~80% of the identified items accomplished

• Maybe more but no reports from some fellows

PTU, Supervision System

• The HW of the PTUs and their software has been tested quite successfully.

• Cooling problems in both prototypes

PTU – Server Communications

• Using the NTP protocol, computer clock synchronization is possible through network.

• Small factor USB WiFi adapters perform poorly in the ATLAS environment.

Server Setup

• The server has been successfully set up and tested. HW and SW installation for the DB, DAQ, CS (Control System) and UI development is completed and in case we need a brand new installation there are instructions and documentation ready to apply.

• Integration with EPFL+ROME code. Installation of SW dependencies, EPFL’s and WRM code on the server (OpenCV, Eigen, ArUco) is completed.

WRM (Software Implementation)

• No major issues• Each block of the scheme has been tested (performances and speed) in

their software implementation

EPFL algorithm

• Tested and improved (see reports for details).

PTU only

PTU + sever

Total time per frame (markerless): ~740 ms

Total time per frame (markerless): ~610 ms (USB camera)~690 ms (GoPro)

EPFL algorithm (2)

• Remarks:• The accuracy is similar using a simple

edge detector (Canny) and more sophisticated segments detectors (WRM or LSD). This suggests there’s margin for better segment exploitation in the tracking algorithm.

• Pose transmission time over WiFi is not stable. Image processing time (markerless)

Pose transmission time over WiFi

IMU and Sensor Fusion

• The behavior of IMU drift over time has been studied• Camera-IMU calibration• Virtual content rendering

Sensor Board and Power Board

• HW and SW integration in the system tested but we need to finalize the HW specifications for future prototype including processor board with all input output devices

• Some bugs needs to be fixed

EDUSS UI

• Code and interface improved• Some bug fixes requested• Performances optimization requested

GUI integration

Completed: • Dose data information integration• AR view integration• Gamma-camera (EduPix) interface integration• Function transition test• (HMD-based architecture design)

Issues:• Split GUI elements to the monitor window and the HMD

window

Known issues

• All the problems that prevents the tests has been faced and solved by each fellows

• Some bugs still remains and should be investigated:• Overheating problems in both prototypes

• PTU processor (i5), Frame grabber, Splitter and GoPro are very hot after few minutes of operations

• Random crashed (e.g. blank images)• Someone probably related to the cooling

• Small factor USB WiFi adapters perform poorly in the ATLAS environment• WiFi transmission is not stable• Some problems in software modules communication• Bugs in single parts of the system

Few remarks

• The “tablet” prototypes (especially GoPro version) are not so manoeuvrable

• Several combinations of hardware and software to test. Some bugs could not have been seen

• We should converge on a final configuration• One last thing…

Thank you

• Questions?• Remarks?