sonyevid30

Sony EVI-D30 and EVI-D100 pan-tilt-zoom cameras. More...

Sony EVI-D30 and EVI-D100 pan-tilt-zoom cameras.

The sonyevid30 driver provides control of a Sony EVI-D30, Sony EVI-D70 or Sony EVI-D100 pan-tilt-zoom camera unit.

The sonyevid30 driver operates over a direct serial link, not through the P2OS microcontroller's AUX port, as is the normal configuration for ActivMedia robots. You may have to make or buy a cable to connect your camera to a normal serial port. Look here for more information and wiring instructions.

The sonyevid30 driver supports position and velocity control. Position estimates from the camera can be considered accurate, velocity estimates can not.

Known Issues and Bugs

• Speed and position can not be set simultaneously.
• All angles (and angular speeds) are communicated in radians (rad/s) except the FOV setting in the configuration file.
• No data is returned from a generic request.
• Zoom values are approximate only.
• The D70 model cameras may not function correctly when inverted.

Compile-time dependencies

• none

Provides

• ptz

Requires

• None

Configuration requests

• PLAYER_PTZ_REQ_GENERIC

Configuration file options

• port (string)
  • Default: "/dev/ttyS2"
  • The serial port to be used.
• fov (float tuple)
  • Default depends on detected camera model
    • D30: [4.4 48.8]
      • D70: [2.7 48.0]
      • D100: [6.6 65.0]
  • The minimum and maximum fields of view (in degrees), which will depend on the lens(es) you are using.
• movement (integer)
  • Default: 0
  • Movement mode (?)

Example

driver
(
  name "sonyevid30"
  provides ["ptz:0"]
  port "/dev/ttyS2"
  fov [3 30]
)

Author

Brian Gerkey, Brad Tonkes (D70, D100 mode)