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laservisualbw
[Drivers]

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

Configuration requests
  • PLAYER_FIDUCIAL_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 )

Authors
Andrew Howard


Generated on Tue May 3 14:16:11 2005 for Player by doxygen 1.3.6