Servolens¶

class Servolens(*args, **kwargs)¶

Bases: pybind11_object

Interface for the Servolens lens attached to the camera fixed on the Afma4 robot.

The code below shows how to manipulate this class to get and modify the position of the focal lens.

#include <iostream>
#include <visp3/vs/vpServolens.h>

int main()
{
  // Open the serial device to communicate with the Servolens lens
  vpServolens servolens("/dev/ttyS0");

  // Get the current zoom position
  unsigned zoom;
  servolens.getPosition(vpServolens::ZOOM, zoom);
  std::cout << "Actual zoom value: " << zoom << std::endl;

  // Set a new zoom value
  servolens.setPosition(vpServolens::ZOOM, zoom+1000);
}

Overloaded function.

__init__(self: visp._visp.robot.Servolens) -> None

Default constructor. Does nothing.

Note

See open()

__init__(self: visp._visp.robot.Servolens, port: str) -> None

Open and initialize the Servolens serial link at 9600 bauds, 7 data bits, even parity, 1 stop bit. The cariage return mode is not active, that means that each character is directly read without waitong for a cariage return.

Note

See open()

Methods

`__init__`	Overloaded function.
`close`	Close the Servolens serial link.
`enablePrompt`	Enable or disable the emission of the Servolens prompt "SERVOLENS>".
`getCameraParameters`	These parameters are computed from the Dragonfly2 DR2-COL camera sensor pixel size (7.4 um) and from the servolens zoom position.
`getPosition`	Get the Servolens current servo position.
`open`	Open and initialize the Servolens serial link at 9600 bauds, 7 data bits, even parity, 1 stop bit.
`reset`	Reset the Servolens.
`setAutoIris`	Activates the auto iris mode of the Servolens.
`setController`	Set the controller type.
`setPosition`	Set the Servolens servo to the desired position.

Inherited Methods

Operators

`__doc__`
`__init__`	Overloaded function.
`__module__`

Attributes

`AUTO`
`CONTROLLED`
`FOCUS`
`FOCUS_MAX`
`FOCUS_MIN`
`IRIS`
`IRIS_MAX`
`IRIS_MIN`
`RELEASED`
`ZOOM`
`ZOOM_MAX`
`ZOOM_MIN`
`__annotations__`

class ControllerType(self, value: int)¶

Bases: pybind11_object

Values:

AUTO
CONTROLLED
RELEASED

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

class LimitsType(self, value: int)¶

Bases: pybind11_object

Values:

AUTO
CONTROLLED
RELEASED

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

class ServoType(self, value: int)¶

Bases: pybind11_object

Values:

AUTO
CONTROLLED
RELEASED

__and__(self, other: object) → object¶

__eq__(self, other: object) → bool¶

__ge__(self, other: object) → bool¶

__getstate__(self) → int¶

__gt__(self, other: object) → bool¶

__hash__(self) → int¶

__index__(self) → int¶

__init__(self, value: int)¶

__int__(self) → int¶

__invert__(self) → object¶

__le__(self, other: object) → bool¶

__lt__(self, other: object) → bool¶

__ne__(self, other: object) → bool¶

__or__(self, other: object) → object¶

__rand__(self, other: object) → object¶

__ror__(self, other: object) → object¶

__rxor__(self, other: object) → object¶

__setstate__(self, state: int) → None¶

__xor__(self, other: object) → object¶

property name : str¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: visp._visp.robot.Servolens) -> None

Default constructor. Does nothing.

Note

See open()

__init__(self: visp._visp.robot.Servolens, port: str) -> None

Note

See open()

close(self) → None¶: Close the Servolens serial link.

Note

See open()

enablePrompt(self, active: bool) → None¶

Enable or disable the emission of the Servolens prompt “SERVOLENS>”.

Parameters:

active: bool¶: true to activate the emission of the prompy. false to disable this functionality.

getCameraParameters(self, I: visp._visp.core.ImageGray) → visp._visp.core.CameraParameters¶

These parameters are computed from the Dragonfly2 DR2-COL camera sensor pixel size (7.4 um) and from the servolens zoom position.

#include <visp3/vs/vpServolens.h>

int main()
{
  // UNIX vpServolens servolens("/dev/ttyS0");
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))

  vpImage<unsigned char> I(240, 320);
  vpCameraParameters cam = servolens.getCameraParameters(I);
  std::cout << "Camera parameters: " << cam << std::endl;
#endif
  }

Parameters:

I: visp._visp.core.ImageGray¶: An image coming from the Dragonfly2 camera attached to the servolens.

getPosition(self, servo: visp._visp.robot.Servolens.ServoType, position: int) → tuple[bool, int]¶

Get the Servolens current servo position.

Parameters:

servo: visp._visp.robot.Servolens.ServoType¶: Servolens servo motor to actuate.
position: int¶: Measured position of the servo.

Returns:

A tuple containing:

position: Measured position of the servo.

open(self: visp._visp.robot.Servolens, port: str = /dev/ttyS0) → None¶

Note

See close()

Parameters:

port: Serial device like /dev/ttyS0 or /dev/ttya.

reset(self) → None¶: Reset the Servolens.

setAutoIris(self, enable: bool) → None¶

Activates the auto iris mode of the Servolens.

Parameters:

enable: bool¶: true to activate the auto iris.

setController(self, controller: visp._visp.robot.Servolens.ControllerType) → None¶

Set the controller type.

Parameters:

controller: visp._visp.robot.Servolens.ControllerType¶: Controller type.

setPosition(self, servo: visp._visp.robot.Servolens.ServoType, position: int) → None¶

Set the Servolens servo to the desired position.

Parameters:

servo: visp._visp.robot.Servolens.ServoType¶: Servolens servo motor to actuate.
position: int¶: Desired position of the servo.