^RTMaps Components library

VIDEO

Webcams: video acquisition through generic webcams (USB1.1 or USB2.0)
DV Camcorders: video acquisition through digital DV camcorders and DV vcrs.
Firewire IEEE1394 DCAM: video acquisition through digital DCAM compliant FireWire cameras through the CMU DCAM driver.
Network cameras from Axis: (More details on http://www.axis.com)
Matrox: video acquisition through Matrox boards (Cronos, Cronos Plus, Meteor II Std, Meteor II/MC, Meteor II/1394, Meteor II/Dig, Meteor II/CL, Corona, etc.). For more details, see the Matrox website.
Ellips Rio: video acquisition through the RIO board from Ellips (analog video such as PAL & NTSC)
Ellips Santos: video acquisition through the SANTOS board from Ellips (analog video such as PAL & NTSC).
Euresys Picolo Jet-X: video acquisition from the Jet-X board from Euresys: 4 simultaneous analog videos (full resolution, full rate) with available hardware jpeg compression. (This board can require PCI-X slot for high throughput).
Sensoray S615: video acquition from 1 to 16 analog signals (PAL or NTSC) with hardware jpeg compression. Frame rate lowers as number of tracks grows form 1 to 16.
Sensoray S2255: video acquition for up to 4 analog signals (PAL or NTSC) on a USB frame grabber. More details here.
OmniAlert 360: video acquition 360 degrees perspective high resolution camera from RemoteReality.
VidereDesign: video acquisition for stereoscopic devices from VidereDesign (on FireWire port).
PixeLink: video acquisition through PL A642 high-resolution digital camera (FireWire port) from PixeLink.
Screen capture: video acquisition through successive screenshots.
Movie player: recording and playback of video files (mpeg, avi...) based on FFMpeg.
Mono or stereo vision systems XAECK10001 and XAECK10005 : SMaL / Sensata video acquisition kit (logarithmic 12 bits images) (www.sensata.com) (More details: XAECK10001 et XAECK10005).
Sapera : video acquisition through Sapera Digital Imaging Library from Dalsa. This package handles Video Cameras like GigaE Camera or frame grabbers.
CVB : video acquisition through Common Vision Blox (CVB) library from Stemmer Imaging. CVB allow various device acquisition, like GigE Caméras.
PointGrey : video acquisition and stereovision processing through PointGrey Digiclops and Triclops libraries.
VISCA Control: control of motorized cameras (Pan/Tilt/Zoom) with the VISCA protocol.

STANDARD IOs

COM ports: data acquisition/output on serial ports such as RS232 or RS422, etc.: data are handled by RTMaps as byte streams, and sensor-specific encoding/decoding components will have to be connected to this module in order to handle the sensor protocol.
Sockets: data acquisition/output through any IP network (Ethernet, WiFi, etc.). With TCP, UDP and multicast support. Also supports IPv6.
Keyboard: acquisition of keyboard inputs
Mouse: acquisition of mouse inputs
Joystick: acquisition of joystick devices input and related (steering wheels, gamepads, etc.)
IVY : generic components for the IVY protocol : broadcast and reception of messages over an IP network based on regular expressions. Ivy is a CENA product. More details can be found at http://www.tls.cena.fr/products/ivy/.

ANALOG/DIGITAL IO

NIDAQ: analog/digital IO (analog inputs, digital inputs, counters, analog outputs, digital outputs, pulse train generation) through National Instruments boards (with Nidaq MX drivers).
Data Translation: analog inputs through DT 300 series boards from Data Translation
Audio: audio tracks recording (mono, stereo)

CAN

Vector: CAN and LIN data acquisition/output through Vector boards : PCI (CANboard/XL and CAN AC2/PCI), USB2 (CANcase/XL), or PCMCIA (CANcard/XL),
NICAN: CAN data acquisition/output through National Instruments boards.
Softing CAN: CAN data acquisition/output through AC2/PCI board from Softing.
NSI: CAN data acquisition/output through PCI boards from NSI.
EMS CPC Thomas Wuensche CAN: CAN data acquisition/output through EMS CPC Thomas Wuensche boards (PCI or PCMCIA).
PEAK: CAN data acquisition through PEAK devices (PCI or USB).
CAN decoder: CAN frames decoding with the help of a ".dbc" file (CAN messages description file).
CAN encoder: CAN frames encoding with the help of a ".dbc" file.
LIN components: LIN frames encoding/decoding, master & slave modes.

NAVIGATION : GPS & INERTIAL SENSORS

GPS Trimble: Trimble protocol decoding for GPS.
GPS NMEA: NMEA0183 protocol decoding for GPS, ability to synchronise the RTMaps clock based on the PPS signal and the ZDA frame.
F350 Compass: Digital Compass from Silicon Laboratories (www.silabs.com). Provides the current direction, 2 axis inclination, and temperature.
KVH C100 Compass
Crossbow IMUs and gyros: Crossbow sensors from the VG and IMU family.
KvH: E-core2xxx gyrometers.
MicroStrain inclinometer: 3DM sensor.
Xsens : Hybridized navigation units (MTi – MTx models) (http://www.xsens.com)
Phidgets: every sensors sold by Phidgets: 2- and 3-axis accelerometer, analog and digital acquisition, motor control, servo motor, weight sensor, temperature, pH, RFID, text LED and LCD display, LED control, on USB.
SBG-Systems : Miniature MEMS based navigation units (IG-XXX models) integrating accelerometers, gyrometers, magnetometers, barometer, and GPS (http://www.sbg-systems.com)

LASER SCANNERS

Velodyne HDL sensors : High definition 3D lidar (64 planes, 360 degrees, with 300 to 900 RPM). See http://www.velodyne.com/lidar/ for more details.
IBEO: laser scanners from IBEO through serial or Arcnet ports (models Alasca XT, LUX, ...)
SICK: laser telemeters from SICK through serial ports (ex : LMS 220)
HOKUYO: laser and IR telemeters from Hokuyo (URG and PBS sensors). See http://www.hokuyo-aut.jp/02sensor/index.html#scanner for more details.

RADARS

Autocruise TRW :AC10, AC20 radars. See http://www.adaptive-cruise-control.com/.
Other CAN bus based radars (Bosch, Omron...

ROBOTICS

WIFIBOT: components for Wifibot robot sensors and actuators. See http://www.wifibot.com/index.php.
I2C sensors: SRF08 and SRF 010 (ultrasonic sensors), Lane trackers...
BIOLOID systems
ER1: control components for the ER1 robot from Evolution Robotics.

OCULOMETERS

SmartEye eye tracking system: Acquisition and decoding for the Eye Tracker system from SmartEye (see http://www.smarteye.se/ for details).
FaceLab: FaceLab is a software from SeeingMachines. These components allow to capture the UDP data from FaceLab into RTMaps and decode them.
ASL Eye Trackers Series 6000: Acquisition and decoding for the Eye Tracker systems from ASL (see http://www.a-s-l.com/ for details).
Pertech : Acquisition and synchronization of video and data from the Pertech systems (http://en.pertech.fr).

Recording/Playback

Recorder: synchronized recording of any kind of data. Creation of STDBs (Synchronized Timestamped Databases).
Player: playback of previously recorded STDBs.

Record/Playback methods: (these modules define the available data storage formats for differents type of data).

Raw: uncompressed images are concatenated in a single "raw" file.
Jseq: images with jpeg compression/decompression concatenated in a single file.
Jpeg: images with jpeg compression/decompression with a .jpg file for each image.
FFMpeg: software compression/decompression with FFMpeg codecs. Supports mpeg4 codecs and avi format for instance.
ImageFiles: images compression/décompression to standard file formats (bmp, png, tiff, jpg, gif)
Numeric binary: numerical data stored in binary format.
Mfile: numerical data stored in .m files (Matlab format)
Tabbed text: numerical data stored in tabbed text or csv files (to be exported to Excel for example)
Can: CAN frames recording & playback.
Stream8: recording & playback of byte streams (for RS232 data, audio, TCP/IP, etc.)
Txt: character strings recording & playback.

Display & rendering

Oscilloscope: as its name says
Image viewer: images and video display and/or standard primitives
Console: character string or byte streams displayed in the standard console.
Overlay drawing: overlay standard primitives on images (such as circles, squares, spots, text, timestamps, etc.)
Objects viewer: graphical objects display (circles, environments reconstructions...)
Can frames viewer: raw CAN frames display
Vector viewer: numerical data display in table (vectors or scalars)
Audio: audio rendering
OSG viewer: viewer based on OpenSceneGraph for 3D rendering of clouds of points (acquired from laser scanner systems for example).

Data generation/formatting/conversions

Waveforms : signal generation (sinus, PWM, sawtooth, noise)
StringFormat: character strings formatting (for dynamic insertion of numerical data in character strings).
String generator: generates character strings.
Text files readers: import data from text / csv files
Converters: Floats <-> Integers, String <-> Stream, Integers 64 <-> Integers 32, etc...
Integers generator : numerical data generation (random or not)
CAN frames generator: random CAN frames generation
Random stream8 : random bytes streams generation
Countdown : countdown timers
Vectorizer/Devectorizer: numerical data formatting into vectors of data

Image processing

OpenCV functions: some basic image processing functions from the OpenCV library : blur, add, gradients & edges, threshold, zoom, resize, pattern recognition, points tracking, morphology, etc.
Conv2Matrix: image to matrix conversion (for being sent to Matlab for example)
Conv2IPLimage: conversion from a matrix to an image
Crop and Decimate: reduce the size of an image and/or crop it.
Gray2Color: conversion from 8bpp gray images to RGB 24bpp images.
JPEG Compressor / Decompressor: software jpeg compression.
Quad demux: tear of an image coming from a Quad devices into 4 independent images (with 1/4 resolution).
Reverse: horizontal and/or vertical reverse of an image.
Color space converters: conversion from RGB<->GRAY, RGB<->YUV, HSV, etc.
YUV demux: separate Y, U and V channels of YUV images intor 3 independent gray images.
HSV demux: sperate H, S and V channels of YUV images into 3 independent gray images.
Image files player: read and uncompress standard image files (bmp, jpeg, tiff, gif, png).
AVI encoder : export images to an avi file.
BlobAnalyser : connex pixel blocks segmentation
HoughTransform : straight lines detection
HistogramEqualize : histograms equalization (auto or not), LookUp tables
LUT2Image : histograms and LUTs visualization.
...

Signal processing

Several filters for signal processing: High pass, Low pass (1rst order and 2nd order), PID controlers, Linear Kalman filters, Adders, Subtractors, Amplifier, Absolute filter, Mean, Min/Max, Noise adder
Calc: script simple operations on numerical inputs (additions, substractions, multiply, divide...)

Third party software interfaces

SCIENTIFIC SOFTWARE

Matlab: send data to Matlab, execute a Matlab script, then retrieve the results.
Scilab: same as Matlab.

DATA DISPLAY/EXPLOTATION SOFTWARE

Gnuplot: display of plots, graphs, histograms through the Gnuplot software.
Excel: send data to an Excel sheet. Synchronize RTMaps replay with the selection in the corresponding Excel sheet.
Internet Explorer: use activeX controls (for specific HMIs).

SIMULATION

Marilou robotics simulator: Virtual sensors data exchange between simulated robotics environments and RTMaps. See http://www.anykode.com/index.php.
SIVIC: Vehicle and Infrastructure sensors simulator from CIVITEC. Virtual sensors data exchange between SIVIC and RTMaps. See http://www.civitec.net/.
SCANER II: Driving simulator from OKTAL. See http://www.oktal.fr/index.php?Lang=en.

Miscellaneous

SamleRate: display the number of samples per seconds received on its input.
Watchdog: detection of missing data after a certain duration on component outputs.
Get processing duration: allows to compute the time spent by samples inside a component in order to assess its performance.
DataInfos: display the type of data received on its input.
Condition: events triggering on specific conditions (monitoring of the values on an output of the diagram for example)
PowerManagement: automatic shutdown of the PC
Property2Output: periodically send the value of any property on the diagram on its output.
Input2Property:controls the value of a component property so that it matches the values received on an input (opposite from Property2Output)
Projection: projection for overlaying 3D objects onto 2D images.