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Pioneer
MOBILE ROBOTS
For Pioneer 2
PTZ Robotic Camera
with Pioneer Server Operating System Software
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ii PTZ Manual version 2, January, 1999 neither an endorsement nor a recommendation. trademarks of their respective companies. Mention of any third-party hardware or software constitutes The various names and logos for products used in this manual are often registered trademarks or is explicitly forbidden. Media Robotics Activ the expressed written consent of Kurt Konolige, Videre Designs, SRI International, or distribution, reverse-engineering, or commercial application of the Pioneer software
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Introduction ................................ ................................ ................................ ........... 1 ................................ ................................ ................................ ................................ ... 1 ................................ ................................ ................................ ................................ .... 1 ................................ ................................ ...............................
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iv
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Introduction PTZ Components ü ü ü ü ü ü ü ü PTZ Accessories ü ü ü ü 1 PC-104+ PCI Frame Grabber PCI-based High-Performance Frame Grabber A/V Pro Radios Fast-Track Vision System (sales@activmedia.com). browse our website (http://wwww.activmedia.com/robots) and/or contact us directly Surveillance System) and for you own vision research. For more information about these and other options, audio/video (A/V) radio system to a frame grabber in a basestation for real-time video surveillance (PTZ fr
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Where to get PTZ System Software Activ Related Resources for lists (return 2 and a team of experts will leap to the rescue. pioneer-support@activmedia.com To: an email message If something seems (or clearly is) broken with the software, your Pioneer robot, and/or PTZ System, send Pioneer operation and programming. However, the list currently is unmoderated, so please confine your comments and inquiries to that concerning Access to the pioneer-users newslist is
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Hardware Installation Mounting the Camera Power/Signal Cables and Connectors 3 into the yellow VIDEO OUT socket; and the 8-pin mini-DIN plug into the VISCA IN socket. All done. robot's Top Plate. Insert the yellow-tipped power plug into the camera's DC IN socket; the RCA-style plug Cabling for the installed PTZ camera should be hanging loosely out of the access plug in the center of the Panel already should be attached. They need only to be plugged in. Fast Track Vision System—the signal, power,
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Serial Communications Testing the Connections 4 shared Saphira library. Saphira 6.1e or later (see following sections of this manual). When executed, it exercises the camera via a The ptzsys software comes with a ptzdemo.act Colbert activity. It needs to be installed with a version of hand-held controller that comes with the camera to test the pan, tilt, and zoom features. end into a NTSC or PAL (respective of the camera) monitor. You should see a full-color image. Use the With a separate cable,
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PTZ System Software PTZ P2OS Commands ─ ─ Client Software Installation system 5 % tar -zxvf ptzsys.tgz or simply % tar -xvf ptzsys.tar % uncompress ptzsys_sunos.tgz , for example. Then uncompress and untar the files. For example, /usr/local/Saphira/ver61 and compressed archive file the top-level directory where you have previously installed Saphira; .tgz file that matches your computer. Copy the tar Download from the online website the ptzsys_ Linux/Unix Systems DLL makefile (MS VC++4.x)
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PTZ with Saphira PTZ with Colbert or { } 6 sfMessage("Pan counter-clockwise ..."); wait 20; sfPTZCamPan(95); sfMessage("Pan clockwise ..."); wait 20; sfPTZCamInit(); sfMessage("Starting up the camera ..."); nected); waitfor(sfIsCon sfMessage("Connect with Pioneer. I'll do the rest..."); /* Are we connected? */ if (!sfIsConnected){ act PTZDemo() load ptzsys; /* First load the basic PTZ functions */ and starts itself. load it from the Saphira colbert/ directory. It automatically loads th
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} 7 /* Run the demo */ start PTZDemo; /* Here's where ptzdemo begins... */ sfMessage("Bye!"); 0; wait 2 sfPTZCamZoom(0); sfMessage("Zoom out ..."); wait 20; sfPTZCamZoom(1023); wait 10; sfPTZCamPanTilt(0,0); sfMessage("Reset and zoom in ..."); wait 20; sfPTZCamTilt(-20); sfMessage("Tilt down ..."); wait 20; sfPTZCamTilt(20); sfMessage("Tilt up ..."); wait 20; sfPTZCamPan(-95);
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Appendix A Sony D30/31 Camera Specifications Lens 1,200 g 8 Weight +-25 degrees; max 50 degrees / second Tilt Angle +-100 degrees; max 80 degrees / second Pan Angle 7 lux / F1.8 Minimum illumination 37.6 degrees (wide angle) - 3.3 degrees (telephoto) Angle of View (V) 48.8 degrees (wide angle) - 4.3 degrees (telephoto) Angle of View (H) 12X Zoom, f=5.4 - 64.8 mm; F=1.8 - 2.7 350 TV lines NTSC; 400 TV lines PAL Vertical Resolution 460 TV lines NTSC; 450 TV lines PAL Horizontal Resoluti
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Warranty & Liabilities 9 custom modification to Pioneer or its software. will the developers, marketers, or manufacturers of Pioneer take responsibility for support of any special or operation or application of the robot, or for support of any of those activities. And under no circumstances involving the Pioneer Mobile Robot in any way. They shall bear no responsibilities or liabilities for any developers, marketers, or manufacturers shall not be held responsible for any injury to persons or pro
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http://www.activmedia.com/robots (603) 924-2184 fax (603) 924-9100 Peterborough, NH 03458 44 Concord Street
