USER MANUAL - ISY - Linköping University
Contents
1. Acoustic control of 2013 12 06 surveillance camera USER MANUAL Kristian Sinivaara Version 1 0 Status Revised Approved PROJECT IDENTITY Akustisk styrning av vervakningskamera 13 HT Acoustic control of surveillance camera Link pings tekniska h gskola RT ISY 2013 12 06 Name Responsibility Phone number Email Johan Andersson Test manager 0703872143 johan474 student liu se Alfred Dahlin Design manager 0733906301 alfda403 student liu se Stina H rnstr m Software manager 0706771149 stiho300 student liu se Martin Nilsson Communication manager 0736997906 marni283 student liu se Emma Ring Documentation manager 0702824827 emmri715 student liu se Kristian Sinivaara Delivery manager 0707546627 krisi745 student liu se Linus Th ren Hardware manager 0722401363 linth810 student liu se David Enberg Project leader 0704413062 daven702 student liu se Email dayen702 student liu se Home page http www isy liu se edu projekt reglerteknik 2013 aso Customer FOI Totalf rsvarets forskningsinstitut Forskningscentrum Link ping Olaus Magnus v 42 583 30 LINK PING phone 013 37 80 00 Contact at customer Maria Andersson email maria andersson Q foi se Examiner David T rnqvist RT ISY email tornqvist Qisy liu se Project client Andr Carvalho Bittencourt RT ISY email andrecb Qisy liu se Supervisor Mich2. ael Roth RT ISY email roth isy liu se TSRT10 User manual Acoustic control of 2013 12 06 surveillance camera Contents ME Goo cT 4 2 VIL REESE ae eee 5 21 HardWare GALI Zattott siones rie Seo PR D ttem pH I dieu EI esed ro EUN MEN 3 E WiLL H9 7 3 1 C in ri ANTE ALI Z AU NPE 7 OP oq tr 8 41 CSL MI SS eoo veces di HRK Dea DRIN EN NIU scene Ex I OR wena Gee 8 4 25 X Bao ose oat ba qu mida Ilem pda M Me EN IE n n M EUN 9 421 Sensor network Calibration s riti OUI RDUM tA UR SI RUNE eu cu iP PRU MER IN ror rn on 9 4 2 2 Camera Calibration i uude tiic b boot cer inde RES SAT ess nekades PAR Pe serber VO nen Ea ERE Gaa 10 Coco Pc bap aneetanaes 11 EE an e P 12 T EI o o UNO mere eee 12 8 Shutting down the system usen or pA Doni um iraq qp eS ere essens rss rer rr d endet dibus R bos pf or 12 9 JIurher TnPormbioiodesmpteesi omoia Gas malae dU pud Asa ed teen catene Sr 12 Appendix A Necessary software us M does SR OI ualet ditta bap cn Roten dixatudus baud utat di RUE 13 TSRT10 User manual ii Acoustic control of 2013 12 06 surveillance camera Document History Version Date Changes Initiated by Executed Revised 1 0 2013 12 06 Approved version Diem Johan Emma Client 0 3 2013 12 05 Third draft Internal Johan Emma 0 2 2013 12 05 Second draft I
3. ar All Insert sensor no for camera localisation START Complete Sensor No OK Sensor calibration Figure 3 GUI with the Calibrate tab open 4 2 14 Sensor network calibration 1 Enter the Calibrate tab 2 Select the number of sensors microphones that are connected to the system 3 If some sensor positions are known insert them one by one under Known sensors and press the button Add sensor Each added sensor will appear in the white area under the button a If a sensor is incorrectly added press Remove last input b Press Clear all to remove all the added sensors 4 Press Init sensors to calibrate all the sensor positions Sensor positions corresponding to each of the selected number of sensors appears 5 Place the sound source close to a sensor and press Start to begin collecting data After 8 10 pulses press Stop and make sure the sensor has a distance to each of the other TSRTIO User manual 9 Acoustic control of 2013 12 06 surveillance camera sensors Perform this step for each sensor If some sensors have invalid values redo the calibration for either of the effected sensors 6 Press the Complete sensor calibration button that appears after every sensor has a distance to every other sensor 4 2 2 Camera calibration 1 Enter the Calibrate tab 2 Start the video stream by pressing the Start Video stream button 3 Steer the camera with the manual came
4. e Settings Save Reset See also the advanced TCP IP settings Figure 1 Setting the camera server to have a static IP address TSRT10 User manual 6 Acoustic control of 2013 12 06 surveillance camera 3 SOFTWARE Short summary of the necessary system files e A shell script will initiate the user program e Several shell scripts will be included in a folder to be able to start the other dependencies 3 1 Software initialization Install Ubuntu 12 04 Install ROS Robot Operating System Install all necessary libraries see Appendix A Download the project code xd Eodem 3 2 Multiple machines If the system is to run on multiple machines the following two steps needs to be performed Synchronize your machines to one system clock by for example using a NTP server 2 Change certain environment variables in ROS Every node represented by a script in the RUN SCRIPT folder needs to have the following environment variables added a export ROS MASTER URI http master ip 11311 b export ROS IP local node ip Where the master ip is the IP address of the computer which the ros master is running on and the local node ip is the IP address of the computer where the node is running TSRTIO User manual 7 Acoustic control of 2013 12 06 surveillance camera 4 START UP Before running the system the desired modules have to be connected and a calibration of the sensors positions and the camera position ha
5. e the result of several different causes The main source of error is the environment if the sensors are placed such that the sound is reflected false detections may occur Try to place the sensors further away from walls and other reflective surfaces also try to cover problematic surfaces with a less sound reflective material e g textile The tracking algorithm is using a constant velocity motion model which might have trouble keeping track on a target if it performs several fast turns Try to redo the calibration step If the calibration is done wrong the system won t be able to track properly Adding known sensor positions may give a more precise calibration If the trajectory looks proper but the video stream does not see the target try to redo the camera calibration Using sensors with known positions for the camera calibration may give a better result The tracker can always be turned on and off again to reset the target position using a coarse estimation 8 SHUTTING DOWN THE SYSTEM To shut down the system simply close the GUI by pressing the cross in the top left corner Then manually close down the open module windows and the ROSMASTER To turn of the sound card there is a button on the front of the card To turn of the camera there is a small black button underneath the dome 9 FURTHER INFORMATION For further information please visit the project website where you will find more documentation http www isy liu se edu projek
6. nternal Kristian Emma 0 1 2013 12 04 First draft Internal Linus Kristian TSRT10 User manual iii Acoustic control of 2013 12 06 surveillance camera 1 INTRODUCTION This user manual treat the all the necessary steps to set up and run the system Acoustic control of surveillance camera The manual is developed by the ASO group whom also created the ASO system during the autumn 2013 as a CDIO project at Link ping University For more information of how the system is structured and its functionality see the project s technical documentation TSRTIO User manual 4 Acoustic control of 2013 12 06 surveillance camera 2 HARDWARE Short summary of the included hardware components AXIS 233D Camera Surveillance camera that communicates with the system via http requests and have implemented auto focus AKG CBL99 Microphones Eight microphones that have a flat design to avoid sound reflections from the floor M AUDIO Fast Track Ultra 8R Soundcard Can record audio from up to eight microphones simultaneous at a selected sample rate Server computer A computer with Ubuntu as operating system and an USB port as well as Ethernet connection possibilities Sound source The sound source shall be able to play a sound file of the format wav e g a mobile phone 2 1 Hardware initialization 1 Fix the camera in the ceiling and connect it via Ethernet cable to a computer or a router Deploy the mic
7. ra control buttons so that a selected sensor is at the centre of the video screen 4 Input the number of the selected sensor from step 3 in the Sensor No field and press OK 5 Redo step 3 and 4 for additionally two sensors TSRTIO User manual 10 Acoustic control of 2013 12 06 surveillance camera 5 TRACKING When the initialization of the system and the necessary start up procedures is completed the system is ready to use for tracking a target 1 Make sure that the video stream window is open if not go to the calibration tab and press Start Video stream 2 Enter the Track tab 3 Place the sound source in the sensor network moving or stationary and play the superchirp wav audio file 4 Press Turn on Tracking Automatic mode to start the tracking 5 The tracking can now be enjoyed in the camera view Enjoy TSRTIO User manual 11 Acoustic control of 2013 12 06 surveillance camera 6 VIEW THE RESULT The target that is tracked will appear in the live video stream If no target is detected or a tracked target is lost the camera will follow the latest predicted direction i e going in a straight line from where the target was heading before new detections is received 7 TROUBLESHOOTING If the system crash i e the GUI don t react to any commands or there is no reaction when sound is played Try to restart the system and redo the set up steps Problems with inaccurate tracking could b
8. rophones on the floor and connect them to the sound card Four sensors or more are needed for a good result Connect the soundcard via USB to the computer Download the provided superchirp wav to your sound source device TSRT10 User manual 5 Acoustic control of 2013 12 06 surveillance camera 2 2 Camera server initialization 1 Connect the camera to a router 2 Find it s IP address using Axis IP Utility http www axis com techsup software iputility 3 Type its IP address in the URL field of an internet browser Press Enter Go to Setup Basic configuration and then TCP IP 5 Use the following IP address 192 168 0 90 see Figure 1 gt AXIS a AXIS 233D Network Dome Camera Live View Setup Help Basic TCP IP Settings v Basic Configuration g Q Instructions Network Settings 1 TENES View current network settings View 2 TCP IP 3 Date amp Time IPv4 Address Configuration 4 Video amp Image Ms 5 Audio Obtain IP address via DHCP gt Video amp Image e Use the following IP address gt Audio IP address 192 168 0 90 Test Subnet mask 255 255 255 0 gt Live View Config Default router 192 168 0 1 Dome Configuration IPv6 Address Configuration gt Event Config Enable IPv6 Services gt i Zi System Options V Enable ARP Ping setting of IP Address About Options for notification of IP address change Settings AXIS Internet Dynamic DNS Servic
9. s to be performed Note that the latter only needs to been done at start up while the previous can be done as many times as wished Both procedures are described thoroughly below 4 1 Connect modules When you run the script run all sh the GUI in Figure 1 will appear First of all the modules have to be connected this is done by pressing the Connect all modules button If you don t want to run all modules at the same time use the Connect button for each module To disconnect any or all module press the respective button once more ASO User module h Connect Calibrate Track ASO Acoustic control of surveillance camera Connect Sensor module Connect Detection module Connect Sensor calibration module Connect all modules Connect Tracking module Connect Camera calibration module Connect Camera control module Figure 2 GUI with the Connect tab open TSRT10 User manual 8 Acoustic control of 2013 12 06 surveillance camera 4 2 Calibration Before the system is able to run properly it has to be calibrated The calibration is divided into two parts the sensor network calibration to the left and the camera calibration to the right as seen in Figure 2 ASO User module Connect Calibrate Track Total sensors Known sensors Start Video stream x coordinate Add sensor Remove init Manual camera control y coordinate Up Datei Left Zoom in Zoom out Right Down Remove last input Cle
10. t reglerteknik 2013 aso TSRTIO User manual 12 Acoustic control of 2013 12 06 surveillance camera APPENDIX A NECESSARY SOFTWARE In addition to libraries included in the Linux kernel the following are needed to get the system running e asound newest version can already be included in your Linux kernel Is necessary for the sound card e itpp FFTW LAPACK BLAS is needed for various mathematical operations e gtkmm 3 0 for the GUI e libcurl supports HTTP requests e gstreamer 0 10 necessary for playing the video stream e minpack for optimization functionality in camera calibration TSRTIO User manual 13
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