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  9. DIVERSIFIED WOODCRAFTS AUGMENTED REALITY Series User manual

DIVERSIFIED WOODCRAFTS AUGMENTED REALITY Series User manual

ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
REQUIRED HARDWARE
This tutorial focuses on installing and calibrating the software, but doesn’t cover the details of the hardware
setup. (Note: Do not plug the Kinect or projector unit until instructed by the tutorial.)
For detailed information on the hardware setup, see the AR Sandbox hardware tutorial.
Diversied Woodcrafts’ ARS Series includes:
A Our rst generation Kinect
B: Our short-throw digital projector (BenQ MW632ST)
C: Our Linux-friendly computer
D: Our 40"w x 30"D x 8"H Sandbox
(Not Included) Roughly 200 pounds of white sand like Sandtastik White Sandbox Sand
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
INSTALL SOFTWARE
A: Turn the computer on; make sure internet is connected
B: Open a terminal and run these three commands (Note: All commands must be typed exactly as shown;
upper and lowercase will make a difference):
sudo add-apt-repository -ys ppa:system76-dev/weekend-project
sudo apt-get update
sudo apt-get install arsandbox
C: Find out what your user-name is by running this command in the terminal:
whoami
D: Add yourself to the vrui-grp group with this command, replacing USERNAME with the user-name
returned by the whoami command above:
sudo adduser USERNAME vrui-grp
E: Reboot your computer so all the above changes take effect.
CALIBRATE KINECT
A: Plug-in the Kinect to the laptop and to the power source
B: Open the terminal and run:
KinectUtil getCalib 0
This will download the intrinsic calibration parameters directly from your Kinect’s rmware and then
write the result to a le in /etc/Vrui-3.1/Kinect-2.8/
ALIGN KINECT ABOVE SANDBOX
A: Open the terminal and run:
RawKinectViewer -compress 0
B: Maximize this window so it’s easier to see
your sandbox:
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
The image on the left is the depth view, the right is the standard camera view:
The Augmented Reality Sandbox only uses the depth view (left), but the camera view (right) is still helpful
in aligning your Kinect.
C: The depth view needs to cover the entire interior of your sandbox. It’s okay if it overlaps it slightly.
D: Hit Esc to close the RawKinectViewer.
CALCULATE BASE PLANE
A: There are two ways to calculate the base plane. If you haven’t yet lled your sandbox with sand, you
can calculate the base plane using a region on the oor of your sandbox.
On the other hand, if you’ve already led your sandbox with sand, you can calculate the base plane
by placing a piece of poster board (or a similar at surface) on top of your sandbox, which is what
we’ll do in this example:
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
B: From a terminal, launch: the RawKinectViewer:
RawKinectViewer -compress 0
C: Maximize this window so it’s easier to see your sandbox:
D: Press and hold the right mouse button, move your cursor over Average Frames, then release the
mouse button:
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
E: Press and hold the 1 key, move your cursor over Extract Planes, then release the 1 key:
F: You now need to draw a rectangle that ts within the interior of your at surface (in the depth view).
You want some space between your rectangle and the edges of your at surface.
Start with your cursor near the top-left corner of your at surface. Press and hold the 1 key,
drag out a rectangle toward the bottom-right corner, then release the 1 key:
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
G: Hit Esc to close the RawKinectViewer.
H: In the terminal you’ll see two lines printed. Select the portion of the 2nd line shown below, then right
click and select Copy:
I: Edit the BoxLayout.txt le by running this command from the terminal:
gedit /etc/SARndbox-1.6/BoxLayout.txt
J: Paste the line you just copied over the rst line in the BoxLayout.txt le.
You also need edit this line, replacing the “=” (equal sign) with a “,” (comma).
You should end up with a rst line something like this:
K: Save the le and close gedit
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
MEASURE 3D EXTENTS OF SAND SURFACE
A: This step requires you to have led your sandbox with sand. You want the sand surface to be as level
as possible, but it doesn’t need to be perfectly level.
If you placed a piece of poster board (or another at surface) on top of your sandbox in the previous
step, you’ll need to remove it for this step.
B: From a terminal, again launch: the RawKinectViewer:
RawKinectViewer -compress 0
C: Maximize this window so it’s easier to see your sandbox:
D: Press and hold the right mouse button, move your cursor over Average Frames, then release
the mouse button:
E: Press and hold the 1 key, move your cursor over Measure 3D positions, then release the 1 key:
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
You’ll now measure the 3D extents of the interior of the sandbox
F: Use the color-coded depth map to make sure you position your cursor over the sand surface and not
over the sides of your sandbox. Position your cursor so that there’s a small amount of space between
the sand surface and the sides of your sandbox.
First, move your cursor to the lower-left interior corner, then press the 1 key:
Note there is no feedback from the computer when you press the 1 key.
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
G: Second, move your cursor to the lower-right interior corner, then press the 1 key:
H: Third, move your cursor to the upper-left interior corner, then press the 1 key:
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
I Finally, move your cursor to the upper-right interior corner: then press the 1 key:
J: Hit Esc to exit RawKinectViewer .
K: In the terminal you’ll see four lines printed. You need to highlight these four lines as shown below,
then right click and select Copy:
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
L: Edit the BoxLayout.txt le by running this command from the terminal:
gedit /etc/SARndbox-1.6/BoxLayout.txt
M: Replace the bottom four lines in BoxLayout.txt with the four lines you just copied,
so you end up with something like this:
N: Save the le and close gedit
POSITION PROJECTOR
A: Turn on your projector and plug the HDMI cord into your computer.
B: If you have a dedicated display in addition to the projector, you'll nd it easier if you set up the two
displays to be mirrored:
C: As the full-screen hot key for the Augmented Reality Sandbox currently dosen't work under Unity, we
also recommend you set the Ubuntu launcher to auto-hide:
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
D: Launch the XBackground tool from a terminal like this:
XBackground
E: You’ll need to position the projector so that it lls
the interior of your sandbox. It’s okay if it overlaps
slightly. Use the pand qbuttons on the projectors
remote to ll the interior of the sandbox. Each time
your restart the projector, you will have to do this.
If the arrows are not working. It may be that the
"Menu" is still open. Close "Menu" on the projector's
remote to close.
F: After you’re done positioning your projector,
hit Esc to close the Background application.
CALIBRATE AR SANDBOX
A: As with step 5, this step requires you to have lled
your sandbox with sand. You want the sand
surface to be as level as possible, but it doesn’t
need to be perfectly level.
B: To calibrate your sandbox, you’ll need an alignment
target and several spacers to help you perform the
alignment at multiple heights:
The easiest way to build an alignment target is to
create a target cross-hair on a piece of paper and
tape it to the top of an old CD or DVD. The cross-
hairs should be at right angles to one-another and
be centered on the CD or DVD.
A few rolls of tape make great spacers. Note the
rolls of tape need to have a diameter smaller than
the CD or DVD you’re using for the alignment target.
At each height, you’ll capture 12 tie-points. For a
decent calibration, you’ll need to capture tie-points
at least two heights (24 total tie-points). For an optimal
calibration, we recommend capturing tie-points at
three different heights (36 total tie-points)).
C: Launch CalibrateProjector from a terminal like this:
CalibrateProjector -s WIDTH HEIGHT
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
Replacing WIDTH and HEIGHT with the settings for your projector. The Kinect itself has a 4:3 aspect
ratio, so a resolution like 1024x768 or 1600x1200 is best.
To match the resolution of the laptop we used in this tutorial, we set our projector to 1920x1080, but
our particular BenQ projector allows us to force a 4:3 aspect ratio even when the resolution is a 16:9
aspect ratio. So in our case, we launched CalibrateProjector like this:
CalibrateProjector -s 1920 1080
D: Then maximize this window so it lls your entire sandbox:
E: Press and hold the 1 key, move your cursor over Capture, then release the 1 key:
F: Then press the 2 key when
you see this dialog:
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
G: Press the 2 key to capture the background image, after which you’ll briey see a uniform red
color projected onto your sandbox:
After this is completed, you can proceed with the calibration.
H: Next, you’ll capture tie-points at the lowest height. Using your shortest spacer, line-up your
alignment target under the white cross-hairs projected onto the sand surface:
Then press the 1 key to capture this tie-point. After a brief moment, the software will
automatically move the projected cross-hairs to the next tie-point.
Repeat this process for the remaining 11 tie-points at this depth. Once the white projected cross-
hairs are back at their original position, you’re ready to switch to a taller spacer.
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
I: Now you’ll capture tie-points at the middle height. Using a taller spacer, line-up your alignment target under
the white cross-hairs projected onto the sand surface:
Then press the 1 key to capture this tie-point. After a brief moment, the software will automatically
move the projected cross-hairs to the next tie-point.
Repeat this process for the remaining 11 tie-points at this depth. Once the white projected cross-hairs
are back at their original position, you’re ready to switch to a larger spacer.
J: Finally, you’ll capture tie-points at highest height. Using your tallest spacer (or stacking two spacers on top of
each other), line-up your alignment target under the white cross-hairs projected onto the sand surface:
Then press the 1 key to capture this tie-point. After a brief moment, the software will automatically
move the projected cross-hairs to the next tie-point.
Repeat this process for the remaining 11 tie-points at this depth. Once the white projected cross-hairs
are back at their original position, you’re done with the calibration!
K: Once you’ve completed the calibration, hit Esc to close the Calibrate Projector application.
Hitting Esc will automatically write the calibration le in /etc/SARndbox-1.6/ProjectorMatrix.dat
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
ADJUST THE “SEA LEVEL”
A: Launch the main SARndbox application by searching for “sandbox” in the Ubuntu dash:
B: Then maximize the application so it lls: your entire sandbox:
C: If in step 4 you calculated the base plane with a piece of poster board (or a similar at surface) on
top of your sandbox, your sea level will be too high, and you’ll see something like this:
On the other hand, if in step 4 you calculated the base plane when your sandbox was empty, the sea
level will be too low. Either way, you’ll want to adjust the sea level so it’s just below the surface of
your sand when it’s more or less attened out.
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
D: Hit Esc to close the AR Sandbox D: application.
E: To adjust the sea level, edit the /etc/SARndbox-1.6/BoxLayout.txt by running this command from
the terminal:
gedit /etc/SARndbox-1.6/BoxLayout.txt
The value highlighted below in BoxLayout.txt controls the sea-level:
F: You’ll want to adjust the nal value in the rst line to be roughly the same as the smallest of the nal
value on the four lines at the end.
In our example -106.927 is the smallest value:
So we’ll set the sea-level to -107 , like this:
G Save the le and close gedit
H: Re-launch the AR Sandbox application from the Ubuntu dash, maximize the window, and
you’ll see something like this:
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
You can experiment with different values for the sea-level to suite your preferences, but our
recommendations here will give you a good starting point.
Note that you can adjust the sea level at any time in the future without recalibrating your sandbox.
USE THE SANDBOX
A: Whew! You made it through the setup and calibration!
As long as you don’t change the physical setup of your sandbox (in particular, the position of the
Kinect, the projector, and the sandbox relative to each other), you never need to calibrate it again.
Although now that you have the hang of it, you might want to go through the calibration again in
order to achieve a more accurate setup.
B: If you hold your hand above the sand surface (like a cloud), you can “make it rain”:
C: As a convenience, the System76 packaging for Ubuntu includes a launcher you can search for
in the Ubuntu dash:
ARS | AUGMENTED REALITY SERIES
https://system76.com/weekendproject/
This is a shortcut to launch SARndbox with the following arguments (which you can also do directly
from a terminal):
SARndbox -uhm -fpv -evr -0.01
The -evr -0.01 bit of the above command sets the evaporation rate. Without any evaporation rate
set, the sandbox will steadily ll with more and more water as you “make it rain”, which eventually
will cause the real-time uid simulation to become slow.
So you typically want to set an evaporation rate, especially when deploying the Augmented Reality
Sandbox in schools or museums.
D: If our recommended evaporation rate seems too fast for your tastes, try:
SARndbox -uhm -fpv -evr -0.005
If our recommended evaporation rate seems too slow for your tastes, try:
SARndbox -uhm -fpv -evr -0.02

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