From DigitalBlacksmith

Contents 1 Integrating Point Grey Cameras into ARMAR 1.1 Background 1.2 STATUS 1.3 Overview 1.4 TO DO

[edit] Integrating Point Grey Cameras into ARMAR

[edit] Background

This page details adding PointGrey (PGR) Dragonfly cameras in to ARMAR.

The goal is to use the PointGrey cameras as both the source for the video see through display as well as real time tracking of ARTag fiducials.

[edit] STATUS

In the Summer of 2007, I completed the first generation of this (running at 21fps). I've since returned to it.

[edit] Overview

The PGR camera are integrated into ARMAR via the CameraController interface in the Valve Hook code:

The implementation of this interface uses two classes -- a Point Grey Controller and a Point Grey Worker.

[edit] TO DO

• Describe the process I used to integrate the point grey cameras into armar
• Document some of the challenging issues (threads, image buffer, etc)