sr3000

SR3000. More...

SR3000.

The sr3000 driver controls the Swiss Ranger SR3000 camera. A broad range of camera option parameters are supported, via the libusbSR library. The driver provides a pointcloud3d interface and two camera interfaces for both distance and intensity images, or a stereo interface.

This version of the driver works with libusbSR v1.0.10+

Compile-time dependencies

• none

Provides

• pointcloud3d : the 3d point cloud generated by the SR3000
• camera : snapshot images (both distance and intensity) taken by the SR3000
• stereo : intensity and distance images as left and right channels, and the 3d point cloud generated by the SR3000

Requires

• none

Supported configuration requests

• none

Properties provided

• auto_illumination (integer): Set to 1 to turn auto illumination on.
• integration_time (integer): Integration time.
• modulation_freq (integer): This device employs the following values: 40MHz -> 3.75 m, 30MHz -> 5.0 m, 21MHz -> 7.1 m, 20MHz -> 7.5 m, 19MHz -> 7.9 m, 10MHz -> 15.0 m, 6.6MHz -> 22.5 m, 5MHz -> 30.0 m
• amp_threshold (integer): Amplification threshold.

Configuration file options

• none

Example

driver
(
  name "sr3000"

  provides ["pointcloud3d:0" "distance:::camera:0" "intensity:::camera:1"]

  # OR ...

  provides ["stereo:0"]
)

Author

Radu Bogdan Rusu