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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 laser ptz camera 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