Image ServerSince we use the robot simulation in a GNU/Linux environment we had to find a way to extract camera images out of it. Inspired by previous approaches we modified the Simple DirectMedia Layer library (SDL) to provide a multi-threaded image server. The image server supports JPEG and PNG compression as well as caching of the encoded images. The current version of the software is SDL-1.2.14-20100225. You can download the modified source code here. The USARSim manual provides a more detailed description of the image server.
USARSim modificationshere . The modified sensor has been contributed to the USARSim project. Additionally the code has been ported to the most recent version of USARSim which is based on the Unreal Engine 3. contributed to the USARSim project.
ContactIf you are interested in further informations regarding this project please contact Dipl.-Inf. Sebastian Drews.
- Drews, S., Lange, S., Protzel, P. (2010). Validating an Active Stereo System Using USARSim. Proc. of International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Darmstadt, Germany.
- Drews, S., Lange, S., Protzel, P. (2010). Creating a Distributed Development Environment for Unmanned Aerial Vehicles using USARSim. 55th International Scientific Colloquium (IWK), Ilmenau.