SR3000

The sr3000 driver controls the Swiss Ranger SR3000 camera. A broad range of camera option parameters are supported, via the libusbSR library. The driver provides a interface_pointcloud3d interface and two interface_camera interfaces for both distance and intensity images, or a interface_stereo interface.

This version of the driver works with libusbSR v1.0.10+

Compile-time dependencies
  • none
Provides
  • interface_pointcloud3d : the 3d point cloud generated by the SR3000
  • interface_camera : snapshot images (both distance and intensity) taken by the SR3000
  • interface_stereo : intensity and distance images as left and right channels, and the 3d point cloud generated by the SR3000
Requires
  • none
Supported configuration requests
  • none
Properties provided
  • auto_illumination (integer): Set to 1 to turn auto illumination on.
  • integration_time (integer): Integration time.
  • modulation_freq (integer): This device employs the following values: 40MHz -> 3.75 m, 30MHz -> 5.0 m, 21MHz -> 7.1 m, 20MHz -> 7.5 m, 19MHz -> 7.9 m, 10MHz -> 15.0 m, 6.6MHz -> 22.5 m, 5MHz -> 30.0 m
  • amp_threshold (integer): Amplification threshold.
Configuration file options
  • none
Example
driver
(
  name "sr3000"

  provides ["pointcloud3d:0" "distance:::camera:0" "intensity:::camera:1"]

  # OR ...

  provides ["stereo:0"]
)
Author
Radu Bogdan Rusu