Ucamserver - Revision history

Jca: /* Introduction */

2019-05-20T08:51:33Z

Introduction

← Older revision		Revision as of 10:51, 20 May 2019
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	The following cameras are supported:		The following cameras are supported:
	* ~~all USB cameras supported by the pwc~~ (~~Philips Web Cam~~) ~~driver, e.g.~~		* Kinect
	* ~~- Philips 740K, 840K,~~		* Guppy (firewire)
	* - Logitech Orbit		* Any (USB) camera that supports v4l - using module auv4lgst.so.0
	* A few frame-grapper cards (~~I have not tried for a long time~~)
	* IEEE1394 DCI-standard
	* IEEE1394 DVI - not supported
	* palantir streaming video - ~~not supported p~~.t.

	===Run the server===		===Run the server===

Jca: /* Image recording */

2019-05-20T07:46:54Z

Image recording

← Older revision		Revision as of 09:46, 20 May 2019
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	Move them (including imgpool.log) into a subdirectory, e.g. log_ucamserver/log/ for replay.		Move them (including imgpool.log) into a subdirectory, e.g. log_ucamserver/log/ for replay.

	~~===Image recording===~~

	~~The imagelog can be opened with an ini-script or commands like:~~

	~~>> server imagepath="/home/chr/chr/results"~~
	~~>> server datapath="/home/chr/chr/results"~~
	~~>> camset device=1 log~~
	~~Logfile renamed OK: mv /home/chr/chr/results/image.log /home/chr/chr/results/image20110502_125734.logg~~
	~~Logging images to /home/chr/chr/results/image.log~~
	~~<camset info="done"/>~~
	~~>> camset device=0 log~~
	~~<camset info="done"/>~~

	~~all used images from device 0 and 1 are saved (to 'imagepath') with timestamp and filename saved to 'image.log' (in the 'datapath') file (see log file format below).~~

	~~Images from more than one camera can be logged in this way, e.g.:~~

	~~>> campush device=0 i=10 cmd="imageget silent"~~
	~~>> campush device=1 i=10 cmd="imageget silent"~~

	~~For the stereo camera of the GUPPY type, the cameras should be connected with a trigger cable. and both cameras set to external trigger, like:~~

	~~>> camset device=10 gain=auto shutter=auto~~
	~~>> camset device=11 gain=auto shutter=auto~~
	~~>> camset device=10 triggerExt=true;~~
	~~>> camset device=11 triggerExt=true;~~
	~~>> campush device=10 cmd="imageget silent"~~
	~~>> campush device=11 cmd="imageget silent"~~

	~~Then trigger both cameras with a regular command like:~~

	~~>> push t=0.5 cmd="camset device=11 trigger"~~

	~~To trigger new images at a rate of 2Hz (t=0.5) in this case.~~

	~~NB! the logging of images to a disk file takes time, so keep frame rate down.~~
	An alternative could be to let the imagepath point to a RAM-disk, and (tar) pack and move the files to a disk file at regular intervals. This seems to be much less demanding than to save all images directly to disk.
	~~There is an example of this solution in the bin/config_hako2 directory, using the aucron.so.0 plugin to trigger a bash script, like:~~

	~~>> cron t=11 cmd="bash move-to-usbdisk '/mnt/ram/svs*' /rhome/demo/log"~~

	~~This takes all files on the ram-disk that matches '/mnt/ram/svs*' and packs the files to a disk file at '/rhome/demo/log'.~~
	~~The bash script 'move-to-usbdisk' is in the 'bin/conf_hako2' directory too.~~


	~~To close the logging of images from a specific camera use~~

	~~>> camset device=10 log=false~~

	~~or by setting the log-flag directly:~~

	~~>> var campool.device10.log=0~~

	~~To close the log file for all cameras use the command~~

	~~>> imageget log=false~~
	~~Closed image snapshot log /home/demo/results/image.log~~

	===Unpack of packed imagelog===		===Unpack of packed imagelog===

Jca: /* Typical configuration SMR */

2019-05-20T07:45:12Z

Typical configuration SMR

← Older revision		Revision as of 09:45, 20 May 2019
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	odopose log		odopose log
	module load="aukinect.so.0"		module load="aukinect.so.0"
			var kinect.desiredframerate=3
	kinect open		kinect open
	# convert to BGR		# convert to BGR (default is Bayer GRBG)
	poolpush img=18 cmd="poolget toimg=22 fmt=BGR silent"		poolpush img=18 cmd="poolget toimg=22 fmt=BGR silent"
	# log kinect (RGB) images (every other image (i=2))		# log kinect (RGB) images (every other image (i=2))
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	# ballfinder - see 'ball help' and 'var ball' for info		# ballfinder - see 'ball help' and 'var ball' for info
	module load="auball.so.0"		module load="auball.so.0"
	~~# use an image every 1.5 seconds (image is logged and available in image pool)~~		# use the image to find balls every 3 images.
	# use the image to find balls every ~~time image 10 is updated~~
	poolpush img=22 i=3 cmd="ball blue debug='true'"		poolpush img=22 i=3 cmd="ball blue debug='true'"

Jca: /* Typical configuration SMR */

2019-05-20T07:40:16Z

Typical configuration SMR

← Older revision		Revision as of 09:40, 20 May 2019
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	A camera server configuration (ucamserver.ini) for the SMR could be:		A camera server configuration (ucamserver.ini) for the SMR could be:

	server ~~dataPath~~="~~/vhome/jca/logfiles~~"		do cmd="mkdir -p log_ucamserver"
	server ~~imagepath~~="~~/vhome/jca/logfiles/imgorg~~"		server imagepath="log_ucamserver"
			server datapath="log_ucamserver"
			server replayPath="log"
			server port=24920
			#
	module load=var		module load=var
	module load=gmk		module load=gmk
	module load=odopose		module load=odopose
			module load=aupoly.so.0
			# log odometry (as seen by ucamserver)
	odopose log		odopose log
	~~# camera parameters for GUPPY camera (device 10)~~		module load="aukinect.so.0"
	~~camset device~~=~~10 focallength=650~~		kinect open
	~~camset device=10 posx=0~~.~~4 posy=0~~.0 ~~posz=0.87 rotphi=0.3~~		# convert to BGR
	~~module load=path~~		poolpush img=18 cmd="poolget toimg=22 fmt=BGR silent"
	# ~~ballfinder and configuration~~		# log kinect (RGB) images (every other image (i=2))
	~~module load~~="~~./aub2.so.0"~~		poolset img=22 log i=2
	~~var b2.redlim~~=~~"105 127 129 180"~~		# ballfinder - see 'ball help' and 'var ball' for info
	~~var b2.bluelim~~=~~"115 200 95 132~~"		module load="auball.so.0"
	~~var b2.ballsize~~=~~0.12~~
	~~var b2.topline~~=75
	~~var b2.minsize~~=20
	var ~~b2.maxsize=65~~
	~~# log images from device 10~~
	~~camset device~~=~~10 log~~
	# use an image every 1.5 seconds (image is logged and available in image pool)		# use an image every 1.5 seconds (image is logged and available in image pool)
	~~push t=1.5 cmd="imageget img=10"~~
	# use the image to find balls every time image 10 is updated		# use the image to find balls every time image 10 is updated
	poolpush img=10 cmd="ball blue debug='true'"		poolpush img=22 i=3 cmd="ball blue debug='true'"


	Logfile for odometry and used images will then be produced in ''datapath'', and the images saved in the ''imagepata''.		Logfile for odometry and used images will then be produced in ''datapath'', and the images saved in the ''imagepata''.

	~~These files cam be replayed~~ for ~~repeated function testing~~.		Move them (including imgpool.log) into a subdirectory, e.g. log_ucamserver/log/ for replay.

	===Image recording===		===Image recording===

Jca: /* Images to mpeg video */

2011-05-02T17:54:33Z

Images to mpeg video

← Older revision		Revision as of 19:54, 2 May 2011
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	==== Images to mpeg video ====		=== Images to mpeg video ===

	The images can be packed into a video sequence using a script. If images from more than one camera is used, then it may be a good idea to make an empty directory and link all the images from one of the cameras to this directory first, e.g.:		The images can be packed into a video sequence using a script. If images from more than one camera is used, then it may be a good idea to make an empty directory and link all the images from one of the cameras to this directory first, e.g.:

Jca: /* Images to mpeg video = */

2011-05-02T17:54:06Z

Images to mpeg video =

← Older revision		Revision as of 19:54, 2 May 2011
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	=== Images to mpeg video ====		==== Images to mpeg video ====

	The images can be packed into a video sequence using a script. If images from more than one camera is used, then it may be a good idea to make an empty directory and link all the images from one of the cameras to this directory first, e.g.:		The images can be packed into a video sequence using a script. If images from more than one camera is used, then it may be a good idea to make an empty directory and link all the images from one of the cameras to this directory first, e.g.:

Jca: /* Unpack of packed imagelog */

2011-05-02T17:53:51Z

Unpack of packed imagelog

@@ Line 152: / Line 152: @@
   done
-The images are the available for replay.
+The images are then available for replay.
 The images can be packed into a video sequence using a script. If images from more than one camera is used, then it may be a good idea to make an empty directory and link all the images from one of the cameras to this directory first, e.g.:
@@ Line 162: / Line 165: @@
 A script like this may then be used to pack them into a video sequence:
-  @todo
+  #! /bin/bash
 ===Replay configuration===

Jca: /* Image recording */

2011-05-02T16:01:54Z

Image recording

← Older revision		Revision as of 18:01, 2 May 2011
Line 116:		Line 116:

	NB! the logging of images to a disk file takes time, so keep frame rate down.		NB! the logging of images to a disk file takes time, so keep frame rate down.
	An alternative could be to let the imagepath to a RAM-disk, and (tar) pack and move the files to a ~~diskfile~~ at regular intervals. This seems to be much less demanding than to save all images directly to disk.		An alternative could be to let the imagepath point to a RAM-disk, and (tar) pack and move the files to a disk file at regular intervals. This seems to be much less demanding than to save all images directly to disk.
	There is an example of this solution in the bin/config_hako2 directory, using the aucron.so.0 plugin to trigger a bash script, like:		There is an example of this solution in the bin/config_hako2 directory, using the aucron.so.0 plugin to trigger a bash script, like:

Jca: /* Image recording */

2011-05-02T16:00:36Z

Image recording

← Older revision		Revision as of 18:00, 2 May 2011
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	===Image recording===		===Image recording===

	The imagelog can be opened with a ini-script or commands like:		The imagelog can be opened with an ini-script or commands like:

	>> server imagepath="/home/chr/chr/results"		>> server imagepath="/home/chr/chr/results"

Jca: /* Replay configuration */

2011-05-02T15:59:49Z

Replay configuration

@@ Line 137: / Line 137: @@
   >> imageget log=false
   Closed image snapshot log /home/demo/results/image.log
 ===Replay configuration===