laservisualbw
[Drivers]
- 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
- Provides
- This driver provides detected target information through a fiducial device.
- Requires
- Configuration requests
- Configuration file options
- max_ptz_attention (float)
- retire_time (float)
- max_dist (float) (should be a length?)
- 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
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Last updated 12 September 2005 21:38:45
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