Auclient - Revision history

Jca: /* Typical configuration */

2012-08-29T08:07:01Z

Typical configuration

← Older revision		Revision as of 10:07, 29 August 2012
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	camdata add=cam		camdata add=cam
	# request some images from the camera server, when they gets updated		# request some images from the camera server, when they gets updated
	~~camonconnect cmd="cam poolpush img=0 flush;~~		camOnConnect cmd="cam poolpush img=18 cmd='poolget all'"
	camOnConnect cmd="cam poolpush img=0 cmd='poolget all'"		camOnConnect cmd="cam poolpush img=19 cmd='poolget all'"
	~~camonconnect cmd="cam poolpush img=10 flush;~~
	camOnConnect cmd="cam poolpush img=10 cmd='poolget all'"
	~~camonconnect cmd="cam poolpush img=32 flush;~~
	~~camOnConnect cmd="cam poolpush img=32 cmd='poolget all'"~~
	~~camonconnect cmd="cam poolpush img=33 flush;~~
	camOnConnect cmd="cam poolpush img=33 cmd='poolget all'"		camOnConnect cmd="cam poolpush img=33 cmd='poolget all'"
	camonconnect cmd="imageget"		camonconnect cmd="imageget"
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	#laser add=sf		#laser add=sf
	#connect to moduletester		#connect to moduletester
	~~laserOnConnect cmd="laser varpush struct=obst flush"~~
	laserOnConnect cmd="laser varpush struct=obst cmd='obst update fixed'"		laserOnConnect cmd="laser varpush struct=obst cmd='obst update fixed'"
	~~laserOnConnect cmd="laser mapposepush flush"~~
	laserOnConnect cmd="laser mapposepush cmd='mappose pose'"		laserOnConnect cmd="laser mapposepush cmd='mappose pose'"
	~~laserOnConnect cmd="laser odoposepush flush"~~
	laserOnConnect cmd="laser odoposepush cmd='odopose pose'"		laserOnConnect cmd="laser odoposepush cmd='odopose pose'"
	~~laserOnConnect cmd="laser scanpush flush"~~
	laserOnConnect cmd="laser scanpush cmd='scanget pose'"		laserOnConnect cmd="laser scanpush cmd='scanget pose'"
	laserOnConnect cmd="laser scanget"		laserOnConnect cmd="laser scanget"

Jca: /* Navigation window */

2010-10-21T12:38:07Z

Navigation window

← Older revision		Revision as of 14:38, 21 October 2010
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	As default the current pose in all coordinate systems are shown at robot position.		As default the current pose in all coordinate systems are shown at robot position.
	Robot position is always at a fixed position on the screen and forward is always up.		Robot position is always at a fixed position on the screen and forward is always up.

			====Zoom and pan====

	The display can be zoomed and panned using the disp commands (see below) or by		The display can be zoomed and panned using the disp commands (see below) or by

Jca: /* Navigation window */

2010-10-21T12:37:07Z

Navigation window

Jca: /* Navigation window */

2010-10-21T12:34:26Z

Navigation window

← Older revision		Revision as of 14:34, 21 October 2010
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	A number of features can be shown in the navigation window.		A number of features can be shown in the navigation window.
	Which data actually shown is controlled by a number of ''disp'' commands		Which data actually shown is controlled by a number of ''disp'' commands


	------ top-view (laser) image options ----------		------ top-view (laser) image options ----------
	~~scale=height Scale image for image height in meter (is 68.3648m)~~
	~~pos=X[,Y] Place robot relative to bottom-center of image (is 175.008x, -397.222y)~~
	~~bold[=false] Paint navigation image using bold lines (for presentations)~~
	curves[=false] Paint laser line-fit variance curves (is false)		curves[=false] Paint laser line-fit variance curves (is false)
	gridSys=0 \| 1 \| 2 Paint grid based on 0=odometry, 1=UTM, 2=Map coordinates (is 2)		gridSys=0 \| 1 \| 2 Paint grid based on 0=odometry, 1=UTM, 2=Map coordinates (is 2)
Line 61:		Line 59:
	polyHide="name" Hide selected poly items - accept wildchards (is '')		polyHide="name" Hide selected poly items - accept wildchards (is '')
	polyShow="name" Show among hidden poly items - accept wildchards (is '')		polyShow="name" Show among hidden poly items - accept wildchards (is '')
	robot=[smr \| mmr \| hako] Paint robot outline as SMR, MMR or Hako		robot=[smr \| mmr \| hako] Paint robot outline as SMR, MMR or Hako
	obst=N Paint N obstacle groups (is 1)		obst=N Paint N obstacle groups (is 1)
	poseHist=N Paint N pose history positions for robot (is 300)		poseHist=N Paint N pose history positions for robot (is 300)
Line 75:		Line 73:
	varDel=struct Hide all variables in this struct		varDel=struct Hide all variables in this struct
	visPoly=N Paint N polygons from vision road detection (is 1)		visPoly=N Paint N polygons from vision road detection (is 1)

			Among the display options are pose history for the three coordinate systems.
			As default the current pose in all coordinate systems are shown at robot position.
			Robot position is always at a fixed position on the screen and forward is always up.

			The display can be zoomed and panned using the disp commands (see below) or by

			* ctrl left mouse click: to put the clicked position at the center of the screen.
			* shift-ctrl left mouse click: to zoom out and center at the clicked position
			* ctrl left mouse drag a rectangle: to zoom in to show the dragged rectangle.

			scale=height Scale image for image height in meter (is 68.3648m)
			pos=X[,Y] Place robot relative to bottom-center of image (is 175.008x, -397.222y)
			bold[=false] Paint navigation image using bold lines (for presentations)

			(note, scale grid will be shown around the robot only (on the @todo list))

	===Typical configuration===		===Typical configuration===

Jca: /* Camera image analysis */

2010-10-21T12:26:41Z

Camera image analysis

← Older revision		Revision as of 14:26, 21 October 2010
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	Once an image is shown by the client, a new window can be opened with colour analysis information.		Once an image is shown by the client, a new window can be opened with colour analysis information.

	The color analysis can either be shown in ~~IUV~~ color coordinates or as cromaticity.		The color analysis can either be shown in UV color coordinates or as cromaticity.
	The following ''disp'' comands are available (from on-line help)		The following ''disp'' comands are available (from on-line help)

Line 31:		Line 31:
	croma=N Do cromaticity analysis on this image number		croma=N Do cromaticity analysis on this image number
	intensMin Minimum intensity to display colour		intensMin Minimum intensity to display colour
	intensMax Maximum intensity to display colour		intensMax Maximum intensity to display colour

			This means that a command like:

			>> disp uvimg=0

			will show an image analysis (UV format) of image 0 in image pool. See poollist for available images in image pool.

	===Navigation window===		===Navigation window===

Jca: /* Introduction */

2010-10-21T12:15:26Z

Introduction

@@ Line 14: / Line 14: @@
   laser cmd="scanget"
-If the laser scanner is running on smr16 (the mmr), then the laser scanner data should be displayed.
+If the laser scanner is running on (smr16 (the mmr)), then the laser scanner data should be displayed in a navigation window.
 The camera server can be accessed like (if it is connected):
@@ Line 20: / Line 20: @@
   cam cmd="imageget all"
-Some display options are available as shown by the help command
+===Camera image analysis===
- disp help
+Once an image is shown by the client, a new window can be opened with colour analysis information.
-NB! the client is implemented as modules in the standard server frame, and thus the modules must be loaded before use. (they are most likely loaded from the ini-file (auclient.ini) if this exist in the directory where the AUCLIENT were started.
+The color analysis can either be shown in IUV color coordinates or as cromaticity.
-The AUCLIENT is converted from the old UCLIENT and all future development is added here.
+===Navigation window===
 ===Typical configuration===

Jca at 14:41, 20 October 2010

2010-10-20T14:41:25Z

@@ Line 1: / Line 1: @@
-''' AU Client '''
+===Introduction===
-A client capable of connecting to the main servers (laser scanner, camera server and other servers) to get data, and to display this data.
+A client capable of connecting to the main servers (laser scanner, camera server and other servers) to get data, and to display data graphically.
 The client implements a command line interface, and a module to display images using openCV X-interface.
-The program is started with the command (from the bin directory):
+The program is started with the command in a directory with a ''auclient.ini'' configuration file:
-  ./auclient
+  auclient
 A command to a laser server running on smr16 could be:
@@ Line 15: / Line 13: @@
   laser connect=smr16:24919
   laser cmd="scanget"
-If the laser scanner is running, then the laser scanner data should be displayed.
+If the laser scanner is running on smr16 (the mmr), then the laser scanner data should be displayed.
-The camera server can be accessed like:
+The camera server can be accessed like (if it is connected):
   cam cmd="imageget all"
@@ Line 31: / Line 27: @@
 The AUCLIENT is converted from the old UCLIENT and all future development is added here.

Lvm: New page: ''' AU Client ''' A client capable of connecting to the main servers (laser scanner, camera server and other servers) to get data, and to display this data. Image:auclient.png The c...

2008-09-29T11:12:33Z

New page: ''' AU Client ''' A client capable of connecting to the main servers (laser scanner, camera server and other servers) to get data, and to display this data. Image:auclient.png The c...

New page

''' AU Client '''

A client capable of connecting to the main servers (laser scanner, camera server and other servers) to get data, and to display this data.

[[Image:auclient.png]]

The client implements a command line interface, and a module to display images using openCV X-interface.

The program is started with the command (from the bin directory):

./auclient

A command to a laser server running on smr16 could be:

laser connect=smr16:24919
laser cmd="scanget"
laser cmd="module load="./ulmspassable.so.0"
laser cmd="pass"

If the laser scanner is running, then the laser scanner data should be displayed.

The camera server can be accessed like:

cam cmd="imageget all"

Some display options are available as shown by the help command

disp help

NB! the client is implemented as modules in the standard server frame, and thus the modules must be loaded before use. (they are most likely loaded from the ini-file (auclient.ini) if this exist in the directory where the AUCLIENT were started.

The AUCLIENT is converted from the old UCLIENT and all future development is added here.

← Older revision		Revision as of 14:37, 21 October 2010
Line 45:		Line 45:


	------ top-view (laser) image options ----------		------ top-view (laser) image options ----------
	curves[=false] Paint laser line-fit variance curves (is false)		curves[=false] Paint laser line-fit variance curves (is false)
	gridSys=0 \| 1 \| 2 Paint grid based on 0=odometry, 1=UTM, 2=Map coordinates (is 2)		gridSys=0 \| 1 \| 2 Paint grid based on 0=odometry, 1=UTM, 2=Map coordinates (is 2)
	odoPose[=false] Show odometry pose at bottom of display (is true)		odoPose[=false] Show odometry pose at bottom of display (is true)
	utmPose[=false] Show UTM (GPS) pose at bottom of display (is true)		utmPose[=false] Show UTM (GPS) pose at bottom of display (is true)
	mapPose[=false] Show map pose at bottom of display (is true)		mapPose[=false] Show map pose at bottom of display (is true)
	~~hereNow Synchronoze all coordinate systems to here now~~
	~~grid[=M] Paint coordinate grid every M meter (is 1m)~~
	~~rangeRings[=M] Paint M range rings around laser scanner (is 8m)~~
	pass[=false] Paint passable lines from laser scanner (is false)		pass[=false] Paint passable lines from laser scanner (is false)
	poly[=false] Paint poly items - planned mission lines etc. (is true)		poly[=false] Paint poly items - planned mission lines etc. (is true)
	polyNameCnt=N Paint polygon name, max N characters (last), N=5		polyNameCnt=N Paint polygon name, max N characters (last), N=5
	polyHide="name" Hide selected poly items - accept wildchards (is '')		polyHide="name" Hide selected poly items - accept wildchards (is '')
	polyShow="name" Show among hidden poly items - accept wildchards (is '')		polyShow="name" Show among hidden poly items - accept wildchards (is '')
	robot=[smr \| mmr \| hako] Paint robot outline as SMR, MMR or Hako		robot=[smr \| mmr \| hako] Paint robot outline as SMR, MMR or Hako
	obst=N Paint N obstacle groups (is 1)		obst=N Paint N obstacle groups (is 1)
	poseHist=N Paint N pose history positions for robot (is 300)		poseHist=N Paint N pose history positions for robot (is 300)
	poseHistVecCnt=N Paint every N pose hist cnt a heading vector (is -1)		poseHistVecCnt=N Paint every N pose hist cnt a heading vector (is -1)
	poseHistVecLng=N Paint pose hist heading vector N pixels long (is 50)		poseHistVecLng=N Paint pose hist heading vector N pixels long (is 50)
Line 84:		Line 81:
	* ctrl left mouse drag a rectangle: to zoom in to show the dragged rectangle.		* ctrl left mouse drag a rectangle: to zoom in to show the dragged rectangle.

	scale=height Scale image for image height in meter (is 68.3648m)		scale=height Scale image for image height in meter (is 68.3648m)
	pos=X[,Y] Place robot relative to bottom-center of image (is 175.008x, -397.222y)		pos=X[,Y] Place robot relative to bottom-center of image (is 175.008x, -397.222y)
	bold[=false] Paint navigation image using bold lines (for presentations)		bold[=false] Paint navigation image using bold lines (for presentations)
			hereNow Synchronoze all coordinate systems at robot pose
			grid[=M] Paint coordinate grid every M meter (is 1m)
			rangeRings[=M] Paint M range rings around laser scanner (is 8m)

	(note, scale grid will be shown around the robot only (on the @todo list))		(note, scale grid will be shown around the robot only (on the @todo list))