Bioloid Vision Module

[Jiri]

Hallo,
I have problem with get picture from HaViMo Vision module1 to PC. Software Camera_Calib.exe is working, but I need get picture to LabView. I buy USB2Dinamixel. I can control AX-12 actuator or read information from AX-S1 sensor, but I don't know how I can get picture from H-Vision. Can you help me please?
Thank you
Jiri

[Raymond]

Hi Hamid,

I found a typo in my code which contributed to some of the overexposed look of my images and after juggling a little bit with the YCrCb values I got at least colours to be in sync with the actual colours! Thanks again for sharing your insight without which I'd never have guessed the phase sync issue.

Cheers

Mark

[Raymond]

Hi Jiri,

I can give you a high level process to retrieve the raw image data and after that you can use the code Hamid shared earlier in this post how to parse the raw data to produce raw RGB datato save in a picture format to your liking.

To issue the raw image dump simply issue an AX comand using the ID as 100 and the comand value as 15 (0x0f) with no parameters, then a pool of data will pass via the comport to sum of 160x120 bytes. Please note the ID is fixed at 100 so if you wish to use the AS-S1 u will have to change the ID for that device before you connect both to the USBDynamixel

Now you do the rest

Mark

[Jiri]

Hi Mark,

Thank you for your answer.
Can you send me your high level process please. My email is JIRIJJJ3@seznam.cz Thank you.

But for me is better use USB interface, I already bought converter USB2Dynamixel, it is working very well with AX-12 actuator or AX-S1 sensor, but if I connect H-Vision camera, I can send command to H-Vision but I can’t receive answer, I don’t know why. Probably I do something wrong. I use standard library USB2Dynamixel SDK.

Thank you

Jiri

[hamid_m]

Hi Mark, Hi Jiri,

Again Sorry for my late reply. (I should program a shortcut key for this sentence )

Mark, Ur welcome. It would be great if you could share your program.

Jiri, the procedure described by Mark is the right one. If you still have problems, would you please post a dump of what you send to the module, and what comes back?

Best regards,
Hamid.

[Jiri]

Hi Hamid

For communication I use LabView, I don’t know how I can show code (code is picture). For example I want read ID of H-Vision. I want read from ID = 100, and address = 0 and supposed that I get 100 (40h), but I get 0 this is standard return for every address. I use function “dynamixel.lvlib:dxl read byte.vi” this function working with sensor or actuator correctly, but if I use it for H-Vision, this function always return zero for every command.

Best regards,
Jiri

[hamid_m]

Hi jiri,

HaViMo has a different internal structure. It means a normal read instruction does not access the register table as in Dynamixel servos (because it does not exist), but It reads the content of Image processing result data.

40h = 64 is the content of register 0 of the camera chip which is the product ID. this is different as the module ID. Module ID is not readable form any register.

To be able to access camera registers you should construct your request packet using a register read command, which is described in HaViMo documentation.

Best regards,
Hamid.

[Jiri]

Hi Hamid
Thank you
I don't know that HaViMo has diferent interna software structure than actuator.
May I ask if somewhere already exist library for communication with HaViMo as "USB2Dynamixel SDK" for actuator?
Thank you very much.

Best regards,
Jiri

[Raymond]

Hi Jiri,

I recomend aquainting yourself with teh AX manual which speaks to the format to send read/write msgs and simply substitute the new read value for the Havimo. Then send the packet to your comport via the USBDynamixel and you will get the desired return msg as described in the AX manual.
Please note you must become very familiar with the parameters and layout of the AX command structure, then and only then can you explore substituting the Havimo readreg/writereg commands.

AX Standard read/write are:

Read = 0x02
Write = 0x03

Havimo Standard read/write are:

Read Reg = 0x0C
Write Reg = 0x0D

Hope this helps and is accurate and welcome correction from Havimo's creator

Mark

[Jiri]

Hi Mark,

Thank you very much, I will trying.

Jiri

[hamid_m]

Hi Mark, Hi Jiri,

It is correct,
however I should add the following:

There are 3 different read and 2 different write commands.
You can read :
Image processing results,
Camera registers,
and Filter thresholds

and write,
Camera registers,
and Filter thresholds

Best regards,
Hamid.

[Raymond]

Hi Hamid,

As I like to keep up with developments I will purchase the Hamid with the new HV7131RP cmos camera. Kindly outline the differences in the raw sample dump, such as:

1) # of bytes still 160x120?
2) YCbCr phase formula same?
3) Any other differences

Many thanks

Mark

[hamid_m]

Hi Mark,

There is no difference in data stream format. the only difference is in the camera registers.
for more information about the camera registers please refer to the included data sheet of the camera.
It is important to know that the old version of calibration program cannot recognize HaViMo1.5 as the content of Register 0 is 0x42 instead of 0x40.
The new version supports both cameras.

Best regards,
Hamid.

[Raymond]

Hi Hamid,

That's splendid! Thanks for your feedback. I placed my order for the new unit today

Cheers

Mark

[Raymond]

Hi Hamid,

The new Havimo product is called Havimo Module 1.5? As this is the new item to be offered starting June 1st, can I assume the label on the online store stating Module 1.0 needs to be corrected to show that only Module 1.5 is being offered?

I just want to make sure I'm ordering the latest which is actually in stock.

Cheers

Mark