Pioneer PTZ System Software, PTZ P2OS Commands, Client Software Installation, WIN32 Systems

PTZ System Software

The PTZ Robotic Camera comes with software support for controlling the pan, tilt, and zoom features of the camera through the Pioneer 2 Operating System (P2OS). In addition, we provide C-language-based libraries and source code for integration of the PTZ System with your Pioneer client applications.

PTZ P2OS Commands

Integrated control of the PTZ Robotic Camera happens through a single P2OS command with a string argument containing camera commands. P2OS automatically packages the argument and shunts it through the AUX serial port on the Pioneer 2 microcontroller to the VISCA Input port of the camera. Currently, communications is one-way¾command-only¾there is no way to verify camera position or to take advantage of the camera's built-in tracking algorithms through P2OS.

The P2OS command number is 42 followed by a string argument which comprises the camera control command. A complete list of Sony VISCA control commands for the PTZ Robotic Camera (D30/31) can be found through:

http://www.sony.co.jp/soj/BizPartners/ISP/dtp

See the Pioneer 2 Operation Manual for P2OS command formats.

Client Software Installation

The PTZ client-side software (ptzsys) works with the Saphira robotics applications development environment, version 6.1e or later. Consult the included header and source files for guidelines on integration of the embedded P2OS commands with your own programs.

WIN32 Systems

Download from the online website or locate on the included 3.5-inch diskette the ptzsys.EXE file to your boot Windows95 or NT disk. Double-click the program icon to execute the self-extracting archive of PTZ System programs and files. Choose the top-level directory where you have previously installed Saphira; C:\Saphira\ver61, for example.

These are the WIN32 files when extracted relative to the Saphira top-level path ($SAPHIRA):

$SAPHIRA\path	Description
colbert\ptzsys.dll	Saphira/Colbert shared library
\ptzdemo.act	Colbert activity demo
devices\ptzsys\ptzsys.c	Shared library source file
\ptzsys.mak	DLL makefile (MS VC++4.x)

Linux/Unix Systems

Download from the online website the ptzsys_system.tgz file that matches your computer. Copy the tar and compressed archive file the top-level directory where you have previously installed Saphira; /usr/local/Saphira/ver61, for example. Then uncompress and untar the files. For example,

%uncompress ptzsys_sunos.tgz

%tar -xvf ptzsys.tar

or simply

% tar -zxvf ptzsys.tgz

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