Re: Questions about cameras and PlayerStage sensors

> Hmmm... Are Comedi and CAN abstract too?
>

Well, a "ComediSubDeviceDIN" is an implementation of the abstract interface 
"DigitalInInterface", as also a "BeckhoffDIn".

So if i write a sensor component that reads digital inputs from a 
DigitalInInterface, then I can use it with the comedi device in our setup, 
while you could use the same sensor component on your setup with e.g. a 
Beckhof module.



> Herman, could you describe the way to getting video, please?

Well, up until now, we did only very basic and non realtime visual servoing.

In detail:
Our camera is connected through firewire. A non-realtime, non-periodic thread 
(SingleThread) is started in a sensor component. In this thread, the Opencv 
library is used to get images from the camera. The images are processed, and 
the data is put in a non-locking data object (DataObjectLockFree). The sensor 
component reads the latest available data from the data object.


Realtime vision has a bit been discussed on the RTAI mailinglist:
<https://mail.rtai.org/pipermail/rtai/2005-March/010508.html>


Johan