Pioneer M O B I L E R O B O T S with Pioneer Server Operating System Software PTZ Robotic Camera For Pioneer 2
Copyright 1999, ActivMedia, Inc. All rights reserved. Under international copyright laws, this manual or any portion of it may not be copied or in any way duplicated without the expressed written consent of ActivMedia, Inc. The software on disk and which accompany the robot or are available for network download by Pioneer Mobile Robot customers, are solely owned and copyrighted by Kurt Konolige, Videre Designs, SRI International, Inc. or ActivMedia Robotics, Inc.
Contents Page Introduction ...........................................................................................................1 PTZ Components................................................................................................................................... 1 PTZ Accessories .................................................................................................................................... 1 Where to get PTZ System Software ............................................
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Introduction The Pioneer Pan-Tilt-Zoom PTZ Robotic Camera System is a fully integrated accessory for Pioneer Mobile Robots. Developed by Kurt Konolige, Ph.D., of Videre Designs, the system consists of a Sony D30/31 pan-tilt-zoom color camera and PTZ System software for integration of the robotic camera with the Pioneer 2 Operating System (P2OS) and with client control applications, including Saphira.
Where to get PTZ System Software The Windows95/NT version of the PTZ System Software comes on disk with every Pioneer, included in the Saphira distribution software. Updates and other platform-based versions are available online from the ActivMedia Robotics Internet website. The compressed archives contain the shared executables and accessory files you need to operate the PTZ System and integrate it with your own C-language programs. Note that the PTZ system software works with Saphira version 5.3 or later.
Hardware Installation The PTZ Robotic Camera System requires some assembly, even if you had ordered it with a new Pioneer 2 Mobile Robot. Mounting the Camera The PTZ camera comes detached from the robot for safe shipment. We recommend mounting the camera to the front of the robot, centered on top of the Console (Figure 2-1). We have prepared the Pioneer 2 Console with mounting holes, and include the mounting screws with the PTZ camera installation kit.
FTVS/Video Side Panel If you purchased your PTZ Camera sometime after you had received your robot, and depending on the optional video or vision package, you may have to install the FTVS/Video Side Panel (Figure 2-2). Figure 2-2. FTVS/Video Side Panel Using the hex wrenches that came with your robot, remove the blank side panel from the left side of your Pioneer 2 (four screws; save them).
PTZ System Software The PTZ Robotic Camera comes with software support for controlling the pan, tilt, and zoom features of the camera through the Pioneer 2 Operating System (P2OS). In addition, we provide C-language-based libraries and source code for integration of the PTZ System with your Pioneer client applications. PTZ P2OS Commands Integrated control of the PTZ Robotic Camera happens through a single P2OS command with a string argument containing camera commands.
These are the Linux/Unix files when extracted relative to the Saphira top-level path ($SAPHIRA): $SAPHIRA/path colbert/ptzsys.so /ptzdemo.act devices/ptzsys/ptzdoc.c /makefile Description Shared object library for Saphira/Colbert Colbert demo of PTZ software Shared library source file Library makefile PTZ with Saphira The Saphira C-language-based application development environment automatically manages Pioneer communications and P2OS command packets.
sfPTZCamPan(-95); wait 20; sfMessage("Tilt up ..."); sfPTZCamTilt(20); wait 20; sfMessage("Tilt down ..."); sfPTZCamTilt(-20); wait 20; sfMessage("Reset and zoom in ..."); sfPTZCamPanTilt(0,0); wait 10; sfPTZCamZoom(1023); wait 20; sfMessage("Zoom out ..."); sfPTZCamZoom(0); wait 20; sfMessage("Bye!"); } /* Here's where ptzdemo begins...
Appendix A Sony D30/31 Camera Specifications Image Sensor 1/3" IT CCD Effective Pixels 768(H) x 494(V) NTSC; 752(H) x 585(V) PAL Horizontal Resolution 460 TV lines NTSC; 450 TV lines PAL Vertical Resolution 350 TV lines NTSC; 400 TV lines PAL Lens 12X Zoom, f=5.4 - 64.8 mm; F=1.8 - 2.7 Angle of View (H) 48.8 degrees (wide angle) - 4.3 degrees (telephoto) Angle of View (V) 37.6 degrees (wide angle) - 3.3 degrees (telephoto) Minimum illumination 7 lux / F1.
Warranty & Liabilities Your Pioneer is fully warranted against defective parts or assembly for one year, and the PTZ System for 90 days after it is shipped to you from the factory. This warranty explicitly does not include damage from shipping or from abuse or inappropriate operation, such as if the robot is allowed to tumble or fall off a ledge, or if it is overloaded with heavy objects.
44 Concord Street Peterborough, NH 03458 (603) 924-9100 (603) 924-2184 fax http://www.activmedia.
