PTZ Robotic Camera
MOBILE ROBOTS
Pioneer
PTZ Robotic Camera
with Pioneer Server Operating System Software
ii
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. Pioneer developers and users are authorized by revocable
license to develop and operate custom software for personal research, and educational use only. Duplication,
distribution, reverse-engineering, or commercial application of the Pioneer software and hardware without
the expressed written consent of Kurt Konolige, Videre Designs, SRI International, or ActivMedia Robotics
is explicitly forbidden.
The various names and logos for products used in this manual are often registered trademarks or
trademarks of their respective companies. Mention of any third-party hardware or software constitutes
neither an endorsement nor a recommendation.
PTZ Manual version 2, January, 1999
iii
Contents
Page
Introduction...........................................................................................................1
PTZ Components................................................................................................................................... 1
PTZ Accessories ....................................................................................................................................1
Where to get PTZ System Software......................................................................................................2
Related Resources..................................................................................................................................2
Hardware Installation............................................................................................3
Mounting the Camera...........................................................................................................................3
Power/Signal Cables and Connectors ...................................................................................................3
Came with Robot................................................................................................................................. 3
FTVS/Video Side Panel....................................................................................................................... 4
Serial Communications .........................................................................................................................4
Testing the Connections ........................................................................................................................4
PTZ System Software ...........................................................................................5
PTZ P2OS Commands ..........................................................................................................................5
Client Software Installation...................................................................................................................5
WIN32 Systems................................................................................................................................... 5
Linux/Unix Systems ............................................................................................................................5
PTZ with Saphira.................................................................................................................................. 6
PTZ with Colbert ..................................................................................................................................6
Appendix A............................................................................................................8
Warranty & Liabilities ...........................................................................................9
iv
1
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.
We install the PTZ Robotic Camera System on a new
robot, and you can easily add the system to your own
Pioneer 2 Mobile Robot. The PTZ Camera supplies
standard NTSC or PAL video, so it can be used for a
variety of applications, from simple video surveillance
to state-of-the-art vision sensing. The PTZ System
software is a C-language library for use with all
distributed Pioneer software and your own client
applications, and comes with source code for custom
modifications.
PTZ Components
The following items come with your PTZ Robotic Camera System. If you ordered the PTZ with your
Pioneer 2 Robot, some items may already be attached to your Robot:
ü Sony D30 (NTSC) or D31 (PAL) Pan-Tilt-Zoom Camera
ü Remote Control Handset
ü VISCA Control Cable
ü Power Cable
ü RCA Video Cable
ü Mounting Screws
ü Disk with WIN32 PTZ System Software
ü Camera Manuals
PTZ Accessories
The PTZ Robotic Camera attaches and extends the capabilities of a variety of video and vision systems
and applications. For instance, the PTZ system is approved for use with Newton Lab's Fast-Track Vision
System (PTZ-Fast Track Vision System). And, either capture and digitize the video signal with an onboard
frame grabber in your Pioneer 2 EBX computer (PTZ Custom Vision), or send it offboard with an
audio/video (A/V) radio system to a frame grabber in a basestation for real-time video surveillance (PTZ
Surveillance System) and for you own vision research. For more information about these and other options,
browse our website (http://wwww.activmedia.com/robots) and/or contact us directly
(sales@activmedia.com).
ü Fast-Track Vision System
ü A/V Pro Radios
ü PCI-based High-Performance Frame Grabber
ü PC-104+ PCI Frame Grabber
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