Ucamserver
From Rsewiki
Camera server
Intended for image handling functions.
The following camera-related plug-ins are available:
- Camera control (camget, camset etc)
- Image access (imageget, imageset) access to fresh images.
- Image pool handling (poolget poollist etc.) pool of imege buffers with image handling functionality.
- Guidemark detection (gmkget) giudemark 3D pose and code
- Road outline plugin (pathget) polygon with road outline matching a seed area.
- Sample plugin (center of gravity)
The following cameras are supported:
- all USB cameras supported by the pwc (Philips Web Cam) driver, e.g.
- - Philips 740K, 840K,
- - Logitech Orbit
- 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.
To run the server
./ucamserver
It then shows a command prompt:
>>
To monitor images and results use the monitoring client UCLIENT or AUCLIENT (or the server console directly - or as a last resort TELNET)
See:
>> module list
For heneral help about the server and a list of all available commandes (from all plug-ins) use:
>> help
Each of the listed commands should have an on-line help function, e.g:
>> camset help
Typical configuration SMR
A camera server configuration for the SMR could be:
server dataPath="/vhome/jca/logfiles" server imagepath="/vhome/jca/logfiles/imgorg" module load=var module load=gmk module load=odopose odopose log # camera parameters for GUPPY camera (device 10) camset device=10 focallength=650 camset posx=0.4 posy=0.0 posz=0.87 rotphi=0.3 module load=path # ballfinder and configuration module load="./aub2.so.0" var b2.redlim="105 127 129 180" var b2.bluelim="115 200 95 132" 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) push t=1.5 cmd="imageget img=10" # use the image to find balls every time image 10 is updated poolpush img=10 cmd="ball blue debug='true'"