laservisualbw
Drivers

Black & white laser/visual barcode detector. More...

Black & white laser/visual barcode detector.

Todo:
  This driver has not been tested with the player 2 API.

Parses a laser scan to find the retro-reflective patches (lines or circles), then points the camera at the patch, zooms in, and attempts to read the B&W barcode. Will not return sensible orientations for circular patches.

Compile-time dependencies

- none

Provides

- This driver provides detected target information through a fiducial device.

Requires

- laser
- ptz
- camera

Configuration requests

- PLAYER_FIDUCIAL_REQ_GET_GEOM

Configuration file options

- max_ptz_attention (float)
  - Default: 6.0
  - ??
- retire_time (float)
  - Default: 1.0
  - ??
- max_dist (float) (should be a length?)
  - Default: 0.2
  - ??
- bit_count (integer)
  - Default: 3
  - Number of bits in visual barcode
- bit_width (length)
  - Default: 0.08 m
  - Width of each bit in visual barcode
- guard_min (integer)
  - Default: 4
  - Minimum height of bit (pixels)
- guard_tol (length)
  - Default: 0.2 m
  - Height tolerance of bit (ratio)
- digit_err_first (float)
  - Default: 0.5
  - Error threshold on the best bit
- digit_err_second (float)
  - Default: 1.0
  - Error threshold on the second-best bit

Example

    driver
    (
      name "laserbar"
      requires ["laser:0"]
      provides ["fiducial:0"]
      width 0.2
    )

Author
  Andrew Howard

Last updated 12 September 2005 21:38:45