laservisualbarcode
[Drivers]
- Todo:
- This driver has not been tested with the v2.0 API
The laser visual barcode detector searches the laser range data to find retro-reflective targets, points the camera at each of these targets in turn, then uses color information to determine the presence and identity of fiducials. Thus, this detector makes use of three underlying devices: a laser range finder, a pan-tilt-zoom camera and a color blob detector. Note that the laser is used to determine the geometry of the fidicual (range, bearing and orientation), while the camera is used to determine its identity.
The range at which fiducials can be both detected and identified depends on a number of factors, including the size of the fiducial and the angular resolution of the laser. Generally speaking, however, this detector has better range than the laserbarcode detector, but produces fewer observations.
See also the laserbar and laserbarcode drivers.
A sample laser visual barcode.
- 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: 2.0
- ??
- 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
- bit_height (length)
- Default: 0.02 m
- Height of each bit in visual barcode
- Example
driver ( name "laservisualbarcode" requires ["laser:0" "ptz:0" "blobfinder:0"] provides ["fiducial:0"] )
- Author:
- Andrew Howard