laservisualbw

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