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player-doc-3.0.2-5.fc14.noarch.rpm

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<h1>swissranger<br/>
<small>
[<a class="el" href="group__drivers.html">Drivers</a>]</small>
</h1>  </div>
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<p>SWISSRANGER.  
<a href="#_details">More...</a></p>
<table class="memberdecls">
</table>
<p>SWISSRANGER. </p>
<p>The swissranger driver controls the Swiss Ranger SR4000 and SR3000 cameras. A broad range of camera option parameters are supported, via the libmesasr library. The driver provides a <a class="el" href="group__interface__pointcloud3d.html">pointcloud3d</a> interface and two <a class="el" href="group__interface__camera.html">camera</a> interfaces for both distance and intensity images, *or* a <a class="el" href="group__interface__stereo.html">stereo</a> interface.</p>
<dl class="user"><dt><b>Compile-time dependencies</b></dt><dd></dd></dl>
<ul>
<li>libmesaSR.so and libMesaSR.h</li>
<li>This version of the driver works for SR3000 and SR4000 using libmesa v1.0.12-583 (<a href="http://www.mesa-imaging.ch/drivers.php">http://www.mesa-imaging.ch/drivers.php</a>)</li>
</ul>
<dl class="user"><dt><b>Provides</b></dt><dd></dd></dl>
<ul>
<li><a class="el" href="group__interface__pointcloud3d.html">pointcloud3d</a> : the 3d point cloud generated by the SWISSRANGER</li>
<li><a class="el" href="group__interface__camera.html">camera</a> : snapshot images (both distance and intensity) taken by the SWISSRANGER</li>
<li><a class="el" href="group__interface__stereo.html">stereo</a> : intensity and distance images as left and right channels, and the 3d point cloud generated by the SWISSRANGER</li>
</ul>
<dl class="user"><dt><b>Requires</b></dt><dd></dd></dl>
<ul>
<li>none</li>
</ul>
<dl class="user"><dt><b>Supported configuration requests</b></dt><dd></dd></dl>
<ul>
<li>none</li>
</ul>
<dl class="user"><dt><b>Properties provided</b></dt><dd></dd></dl>
<ul>
<li>auto_exposure (integer): Set to 1 to turn auto exposure on.</li>
</ul>
<ul>
<li>integration_time (integer): Integration time.<ul>
<li>SR3k (integration_time+1)*0.200 ms</li>
<li>SR4k 0.300ms+(integration_time)*0.100 ms</li>
<li>Note auto exposure adapts integration time online</li>
</ul>
</li>
</ul>
<ul>
<li>modulation_freq (integer): The devices employ the following values: 0 == 40MHz, SR3k: maximal range 3.75m 1 == 30MHz, SR3k, SR4k: maximal range 5m 2 == 21MHz, SR3k: maximal range 7.14m 3 == 20MHz, SR3k: maximal range 7.5m 4 == 19MHz, SR3k: maximal range 7.89m 5 == 60MHz, SR4k: maximal range 2.5m 6 == 15MHz, SR4k: maximal range 10m 7 == 10MHz, SR4k: maximal range 15m 8 == 29MHz, SR4k: maximal range 5.17m 9 == 31MHz, SR4k: maximal range 4.84m 10 == 14.5MHz, SR4k: maximal range 10.34m 11 == 15.5MHz, SR4k: maximal range 9.68m</li>
</ul>
<ul>
<li>amp_threshold (integer): Amplification threshold.<ul>
<li>Setting this value will set all distance values to 0 if their amplitude is lower than the amplitude threshold</li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Configuration file options</b></dt><dd></dd></dl>
<ul>
<li>model (string)<ul>
<li>"SR3000" or</li>
<li>"SR4000" (default)</li>
</ul>
</li>
</ul>
<ul>
<li>cycle_freq (integer)<ul>
<li>cycle rate (in Hertz) (default is 30 Hz)</li>
</ul>
</li>
</ul>
<ul>
<li>also see Properties above</li>
</ul>
<dl class="user"><dt><b>Example</b></dt><dd></dd></dl>
<div class="fragment"><pre class="fragment">
driver
(
  name "swissranger"

  provides ["pointcloud3d:0" "distance:::camera:0" "intensity:::camera:1"]

  # OR ...

  provides ["stereo:0"]
)
</pre></div><dl class="author"><dt><b>Author:</b></dt><dd>Patrick Beeson (based on sr3000 driver by Radu Bogdan Rusu) </dd></dl>
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Last updated 12 September 2005 21:38:45
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