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CameraServer [Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX, Windows] A hardware abstraction component for scanning laser range-finders. More... Provides Home Camera [CameraServer.Provides.Camera] Status Requires none Drivers This component dynamically loads an implementation of a Hydro hardware interface hydrointerfaces::Camera. You can also load your own implementation as long as the shared library is in the path. See Hydro documentation for the list of available drivers. Camera drivers Configuration CameraServer.Config.DriverLib (string) Name of shared library containing the hardware driver Valid values are at least: { 'libHydroCameraOpenCV.so', 'libHydoCameraFake.so' } Default: "libHydroCameraOpenCV.so" CameraServer Settings CameraServer.Config.NumOfCameras (int) Valid Values: NumOfCameras>=1 Default: 1 Individual Camera Settings For each camera in a set several options are available. Replace N with the camera number. Geometry CameraServer.Config.N.ID (int) The unique device identity number. Useful to ensure the camera N is described correctly here. Default: ID taken from the Nth camera on the bus that is found. CameraServer.Config.N.Offset (Frame3d) [m, deg] Position of the camera sensor plane with respect to the robot's local coordinate system. Format: x y z roll pitch yaw (space separated) Example: a camera mounted upside down with now translation: "0.0 0.0 0.0 180.0 0.0 0.0" Default: 0.0 0.0 0.0 0.0 0.0 0.0 CameraServer.Config.N.FocalLength (double) [mm] Focal length of attached lense. Useful to other components. Default: 0 CameraServer.Config.N.SensorSize (Size2d) [cm,cm] Physical dimensions of the CCD or CMOS sensor. Format: width height (space separated) Default: 0.846 0.846 (1/3" 1/3", a typical sensor size) CameraServer.Config.N.ImageWidth (int) [pixels] Width of desired image in pixels Default: 320 CameraServer.Config.N.ImageHeight (int) [pixels] Height of desired image in pixels Default: 240 CameraServer.Config.N.ImageFormat (string) The format of the image that the camera produces. This is what is sent over the wire. Valid Values: {'ImageFormatModeGray8', 'ImageFormatModeBGR8', 'ImageFormat ModeRGB8', 'ImageFormatModeYUV422', 'ImageFormatBayerBg', 'ImageFormatBayerGb', 'ImageFormatBayerRg', 'ImageFormatBayerGr'} Default: 'ImageFormatModeBGR8' See also: Individual drivers may have additional configuration parameters which are specified as Camera.Config.XXX. See driver documentation. An example configuration file is installed into [ORCA-INSTALL-DIR]/share/orca/cfg/ directory. Notes This should work on all platforms where opencv is available. The FPS setting at the moment is completely ignored by the available drivers. The width/height settings only need to be correct at the moment relative the default camera settings that opencv uses. In the future a libdc1394 based image grabber may take a more aggresive approach in attempting ot setup the camera to the desired settings. Authors Alex Brooks, Tom Burdick, Tobias Kaupp, Alex Makarenko

Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)

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