swissranger

SWISSRANGER. More...

SWISSRANGER.

The swissranger driver controls the Swiss Ranger SR4000 and SR3000 cameras. A broad range of camera option parameters are supported, via the libmesasr library. The driver provides a pointcloud3d interface and two camera interfaces for both distance and intensity images, or a stereo interface.

Compile-time dependencies

• libmesaSR.so and libMesaSR.h
• This version of the driver works for SR3000 and SR4000 using libmesa v1.0.12-583 (http://www.mesa-imaging.ch/drivers.php)

Provides

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

Requires

• none

Supported configuration requests

• none

Properties provided

• auto_exposure (integer): Set to 1 to turn auto exposure on.
• integration_time (integer): Integration time.
  • SR3k (integration_time+1)*0.200 ms
  • SR4k 0.300ms+(integration_time)*0.100 ms
  • Note auto exposure adapts integration time online
• modulation_freq (integer): The devices employ the following values: 0 == 40MHz, SR3k: maximal range 3.75m 1 == 30MHz, SR3k, SR4k: maximal range 5m 2 == 21MHz, SR3k: maximal range 7.14m 3 == 20MHz, SR3k: maximal range 7.5m 4 == 19MHz, SR3k: maximal range 7.89m 5 == 60MHz, SR4k: maximal range 2.5m 6 == 15MHz, SR4k: maximal range 10m 7 == 10MHz, SR4k: maximal range 15m 8 == 29MHz, SR4k: maximal range 5.17m 9 == 31MHz, SR4k: maximal range 4.84m 10 == 14.5MHz, SR4k: maximal range 10.34m 11 == 15.5MHz, SR4k: maximal range 9.68m
• amp_threshold (integer): Amplification threshold.
  • Setting this value will set all distance values to 0 if their amplitude is lower than the amplitude threshold

Configuration file options

• model (string)
  • "SR3000" or
  • "SR4000" (default)
• cycle_freq (integer)
  • cycle rate (in Hertz) (default is 30 Hz)
• also see Properties above

Example

driver
(
  name "swissranger"

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

  # OR ...

  provides ["stereo:0"]
)

Author

Patrick Beeson (based on sr3000 driver by Radu Bogdan Rusu)