>> Actually, the xml has around 1MB and only describes the features of the >> camera. The feature values itself have to be queried one by one. > > And is that slow ? Would be great to be able to expose the whole > camera configuration to an attribute so that it gets logged.
Reading out the features using the arvtool.c from the aravis driver on my system takes around 3 seconds, getting an actual value from my Basler ace2040-25gc ~ 2 seconds per entry (including output and all other overhead). Not sure, how this scales: > leifole@christensen:~$ time arv-tool-0.4 -n Basler-21494118 control > PixelFormat > Basler-21494118 > PixelFormat = YUV422Packed > > real 0m2.179s > user 0m0.108s > sys 0m0.004s > leifole@christensen:~$ time arv-tool-0.4 -n Basler-21494118 control > ExposureMode > Basler-21494118 > ExposureMode = Timed > > real 0m2.177s > user 0m0.102s > sys 0m0.009s > leifole@christensen:~$ time arv-tool-0.4 -n Basler-21494118 features > Basler-21494118 > Category: 'Root' > Category: 'AnalogControls' > Enumeration: 'GainAuto' > EnumEntry: 'Continuous' > EnumEntry: 'Once' > EnumEntry: 'Off' > Enumeration: 'GainSelector' > EnumEntry: 'All' > Integer: 'GainRaw' > Enumeration: 'BlackLevelSelector' > EnumEntry: 'All' > Integer: 'BlackLevelRaw' > Boolean: 'GammaEnable' > Enumeration: 'GammaSelector' > EnumEntry: 'sRGB' > EnumEntry: 'User' > Float: 'Gamma' > Integer: 'DigitalShift' > Category: 'ImageFormat' > Enumeration: 'PixelFormat' > EnumEntry: 'BayerBG12Packed' (Not available) > EnumEntry: 'BayerRG12Packed' (Not available) > EnumEntry: 'BayerGR12Packed' > EnumEntry: 'BayerGB12Packed' (Not available) > EnumEntry: 'YUV422_YUYV_Packed' > EnumEntry: 'YUV422Packed' > EnumEntry: 'BGR8Packed' (Not available) > EnumEntry: 'RGB8Packed' (Not available) > EnumEntry: 'BayerBG12' (Not available) > EnumEntry: 'BayerGB12' (Not available) > EnumEntry: 'BayerRG12' (Not available) > EnumEntry: 'BayerGR12' > EnumEntry: 'BayerBG8' (Not available) > EnumEntry: 'BayerGB8' (Not available) > EnumEntry: 'BayerRG8' (Not available) > EnumEntry: 'BayerGR8' > EnumEntry: 'Mono12Packed' (Not available) > EnumEntry: 'Mono12' (Not available) > EnumEntry: 'Mono10' (Not available) > EnumEntry: 'Mono8' > Enumeration: 'PixelSize' > EnumEntry: 'Bpp16' > EnumEntry: 'Bpp12' > EnumEntry: 'Bpp8' > Enumeration: 'PixelColorFilter' > EnumEntry: 'None' > EnumEntry: 'Bayer_GR' > Boolean: 'ProcessedRawEnable' (Not available) > Integer: 'PixelDynamicRangeMin' > Integer: 'PixelDynamicRangeMax' > Boolean: 'ReverseX' > Boolean: 'ReverseY' > Enumeration: 'TestImageSelector' > EnumEntry: 'Testimage6' > EnumEntry: 'Testimage5' > EnumEntry: 'Testimage4' > EnumEntry: 'Testimage3' > EnumEntry: 'Testimage2' > EnumEntry: 'Testimage1' > EnumEntry: 'Off' > Category: 'AOI' > Integer: 'Width' > Integer: 'Height' > Integer: 'OffsetX' > Integer: 'OffsetY' > Boolean: 'CenterX' > Boolean: 'CenterY' > Integer: 'DecimationVertical' > Category: 'StackedZoneImaging' > Boolean: 'StackedZoneImagingEnable' > Integer: 'StackedZoneImagingIndex' (Not available) > Boolean: 'StackedZoneImagingZoneEnable' (Not available) > Integer: 'StackedZoneImagingZoneOffsetY' (Not available) > Integer: 'StackedZoneImagingZoneHeight' (Not available) > Category: 'ColorImprovementsControl' > Enumeration: 'LightSourceSelector' > EnumEntry: 'Daylight6500K' > EnumEntry: 'Tungsten' > EnumEntry: 'Daylight' > EnumEntry: 'Custom' > EnumEntry: 'Off' > Command: 'BalanceWhiteReset' > Enumeration: 'BalanceWhiteAuto' > EnumEntry: 'Continuous' > EnumEntry: 'Once' > EnumEntry: 'Off' > Enumeration: 'BalanceRatioSelector' > EnumEntry: 'Blue' > EnumEntry: 'Green' > EnumEntry: 'Red' > Float: 'BalanceRatioAbs' > Integer: 'BalanceRatioRaw' > Enumeration: 'ColorTransformationSelector' > EnumEntry: 'RGBtoRGB' > Enumeration: 'ColorTransformationValueSelector' (Not available) > EnumEntry: 'Gain22' (Not available) > EnumEntry: 'Gain21' (Not available) > EnumEntry: 'Gain20' (Not available) > EnumEntry: 'Gain12' (Not available) > EnumEntry: 'Gain11' (Not available) > EnumEntry: 'Gain10' (Not available) > EnumEntry: 'Gain02' (Not available) > EnumEntry: 'Gain01' (Not available) > EnumEntry: 'Gain00' (Not available) > Float: 'ColorTransformationValue' > Integer: 'ColorTransformationValueRaw' (Not available) > Float: 'ColorTransformationMatrixFactor' > Integer: 'ColorTransformationMatrixFactorRaw' > Boolean: 'ColorAdjustmentEnable' > Command: 'ColorAdjustmentReset' (Not available) > Enumeration: 'ColorAdjustmentSelector' (Not available) > EnumEntry: 'Magenta' (Not available) > EnumEntry: 'Blue' (Not available) > EnumEntry: 'Cyan' (Not available) > EnumEntry: 'Green' (Not available) > EnumEntry: 'Yellow' (Not available) > EnumEntry: 'Red' (Not available) > Float: 'ColorAdjustmentHue' > Integer: 'ColorAdjustmentHueRaw' (Not available) > Float: 'ColorAdjustmentSaturation' > Integer: 'ColorAdjustmentSaturationRaw' (Not available) > Category: 'AcquisitionTrigger' > Enumeration: 'AcquisitionMode' > EnumEntry: 'Continuous' > EnumEntry: 'SingleFrame' > Command: 'AcquisitionStart' > Command: 'AcquisitionStop' > Integer: 'AcquisitionFrameCount' > Enumeration: 'TriggerSelector' > EnumEntry: 'FrameStart' > EnumEntry: 'AcquisitionStart' > Enumeration: 'TriggerMode' > EnumEntry: 'On' > EnumEntry: 'Off' > Command: 'TriggerSoftware' > Enumeration: 'TriggerSource' > EnumEntry: 'Line1' > EnumEntry: 'Software' > Enumeration: 'TriggerActivation' > EnumEntry: 'FallingEdge' > EnumEntry: 'RisingEdge' > Float: 'TriggerDelayAbs' > Enumeration: 'ExposureMode' > EnumEntry: 'TriggerWidth' > EnumEntry: 'Timed' > Enumeration: 'ExposureAuto' > EnumEntry: 'Continuous' > EnumEntry: 'Once' > EnumEntry: 'Off' > Float: 'ExposureTimeAbs' > Integer: 'ExposureTimeRaw' > Float: 'ReadoutTimeAbs' > Float: 'ExposureOverlapTimeMaxAbs' > Integer: 'ExposureOverlapTimeMaxRaw' (Not available) > Boolean: 'AcquisitionFrameRateEnable' > Float: 'AcquisitionFrameRateAbs' > Float: 'ResultingFrameRateAbs' > Enumeration: 'AcquisitionStatusSelector' > EnumEntry: 'ExposureActive' (Not available) > EnumEntry: 'FrameTransfer' (Not available) > EnumEntry: 'FrameActive' (Not available) > EnumEntry: 'FrameTriggerWait' > EnumEntry: 'AcquisitionTransfer' (Not available) > EnumEntry: 'AcquisitionActive' (Not available) > EnumEntry: 'AcquisitionTriggerWait' > Boolean: 'AcquisitionStatus' > Category: 'DigitalIO' > Enumeration: 'LineSelector' > EnumEntry: 'Out1' > EnumEntry: 'Line1' > Enumeration: 'LineMode' > EnumEntry: 'Input' > Enumeration: 'LineLogic' > EnumEntry: 'Negative' > EnumEntry: 'Positive' > Enumeration: 'LineFormat' > EnumEntry: 'OptoCoupled' > Boolean: 'LineInverter' > Float: 'LineDebouncerTimeAbs' > Integer: 'LineDebouncerTimeRaw' > Boolean: 'LineStatus' > Integer: 'LineStatusAll' > Enumeration: 'UserOutputSelector' > EnumEntry: 'UserOutput1' > Boolean: 'UserOutputValue' > Integer: 'UserOutputValueAll' > Enumeration: 'SyncUserOutputSelector' > EnumEntry: 'SyncUserOutput1' > Boolean: 'SyncUserOutputValue' > Integer: 'SyncUserOutputValueAll' > Category: 'SequenceControl' > Boolean: 'SequenceEnable' > Integer: 'SequenceCurrentSet' (Not available) > Command: 'SequenceAsyncRestart' (Not available) > Command: 'SequenceAsyncAdvance' (Not available) > Category: 'SequenceControlConfiguration' > Enumeration: 'SequenceAdvanceMode' > EnumEntry: 'FreeSelection' > EnumEntry: 'Controlled' > EnumEntry: 'Auto' > Enumeration: 'SequenceControlSelector' (Not available) > EnumEntry: 'Advance' (Not available) > EnumEntry: 'Restart' (Not available) > Enumeration: 'SequenceControlSource' (Not available) > Enumeration: 'SequenceAddressBitSelector' (Not available) > EnumEntry: 'Bit3' (Not available) > EnumEntry: 'Bit2' (Not available) > EnumEntry: 'Bit1' (Not available) > EnumEntry: 'Bit0' (Not available) > Enumeration: 'SequenceAddressBitSource' (Not available) > Integer: 'SequenceSetTotalNumber' > Integer: 'SequenceSetIndex' > Command: 'SequenceSetStore' > Command: 'SequenceSetLoad' > Integer: 'SequenceSetExecutions' > Category: 'TimerControls' > Float: 'TimerDelayTimebaseAbs' > Float: 'TimerDurationTimebaseAbs' > Enumeration: 'TimerSelector' > EnumEntry: 'Timer1' > Float: 'TimerDelayAbs' > Integer: 'TimerDelayRaw' > Float: 'TimerDurationAbs' > Integer: 'TimerDurationRaw' > Enumeration: 'TimerTriggerSource' > EnumEntry: 'ExposureStart' > Enumeration: 'TimerTriggerActivation' > EnumEntry: 'RisingEdge' > Enumeration: 'CounterSelector' > EnumEntry: 'Counter2' > EnumEntry: 'Counter1' > Enumeration: 'CounterEventSource' > EnumEntry: 'FrameTrigger' > Enumeration: 'CounterResetSource' > EnumEntry: 'Line1' > EnumEntry: 'Software' > EnumEntry: 'Off' > Command: 'CounterReset' (Not available) > Category: 'LUTControls' > Enumeration: 'LUTSelector' > EnumEntry: 'Luminance' > Boolean: 'LUTEnable' > Integer: 'LUTIndex' > Integer: 'LUTValue' > Category: 'UserDefinedValues' > Enumeration: 'UserDefinedValueSelector' > EnumEntry: 'Value5' > EnumEntry: 'Value4' > EnumEntry: 'Value3' > EnumEntry: 'Value2' > EnumEntry: 'Value1' > Integer: 'UserDefinedValue' > Category: 'DeviceInformation' > StringReg: 'DeviceVendorName' > StringReg: 'DeviceModelName' > StringReg: 'DeviceManufacturerInfo' > StringReg: 'DeviceVersion' > StringReg: 'DeviceFirmwareVersion' > StringReg: 'DeviceID' > StringReg: 'DeviceUserID' > Enumeration: 'DeviceScanType' > EnumEntry: 'Linescan' > EnumEntry: 'Areascan' > Command: 'DeviceReset' > Integer: 'SensorWidth' > Integer: 'SensorHeight' > Integer: 'WidthMax' > Integer: 'HeightMax' > Category: 'ChunkDataStreams' > Boolean: 'ChunkModeActive' > Enumeration: 'ChunkSelector' (Not available) > EnumEntry: 'GainAll' > EnumEntry: 'ExposureTime' > EnumEntry: 'SequenceSetIndex' > EnumEntry: 'Stride' (Not available) > EnumEntry: 'PayloadCRC16' > EnumEntry: 'FramesPerTriggerCounter' (Not available) > EnumEntry: 'FrameTriggerCounter' (Not available) > EnumEntry: 'LineTriggerEndToEndCounter' (Not available) > EnumEntry: 'FrameTriggerIgnoredCounter' (Not available) > EnumEntry: 'LineTriggerIgnoredCounter' (Not available) > EnumEntry: 'Triggerinputcounter' > EnumEntry: 'Framecounter' > EnumEntry: 'LineStatusAll' > EnumEntry: 'Timestamp' > EnumEntry: 'DynamicRangeMin' (Not available) > EnumEntry: 'DynamicRangeMax' (Not available) > EnumEntry: 'PixelFormat' (Not available) > EnumEntry: 'Height' (Not available) > EnumEntry: 'Width' (Not available) > EnumEntry: 'OffsetY' (Not available) > EnumEntry: 'OffsetX' (Not available) > EnumEntry: 'Image' (Not available) > Boolean: 'ChunkEnable' (Not available) > Category: 'ChunkData' > Integer: 'ChunkStride' > Integer: 'ChunkSequenceSetIndex' > Integer: 'ChunkOffsetX' > Integer: 'ChunkOffsetY' > Integer: 'ChunkWidth' > Integer: 'ChunkHeight' > Integer: 'ChunkDynamicRangeMin' > Integer: 'ChunkDynamicRangeMax' > Enumeration: 'ChunkPixelFormat' > EnumEntry: 'BayerBG12Packed' > EnumEntry: 'BayerRG12Packed' > EnumEntry: 'BayerGR12Packed' > EnumEntry: 'BayerGB12Packed' > EnumEntry: 'YUV422_YUYV_Packed' > EnumEntry: 'YUV422Packed' > EnumEntry: 'BGR8Packed' > EnumEntry: 'RGB8Packed' > EnumEntry: 'BayerBG12' > EnumEntry: 'BayerGB12' > EnumEntry: 'BayerRG12' > EnumEntry: 'BayerGR12' > EnumEntry: 'BayerBG8' > EnumEntry: 'BayerGB8' > EnumEntry: 'BayerRG8' > EnumEntry: 'BayerGR8' > EnumEntry: 'Mono12Packed' > EnumEntry: 'Mono12' > EnumEntry: 'Mono10' > EnumEntry: 'Mono8' > Integer: 'ChunkTimestamp' > Integer: 'ChunkFramecounter' > Integer: 'ChunkLineStatusAll' > Integer: 'ChunkTriggerinputcounter' > Integer: 'ChunkLineTriggerIgnoredCounter' > Integer: 'ChunkFrameTriggerIgnoredCounter' > Integer: 'ChunkFrameTriggerCounter' > Integer: 'ChunkFramesPerTriggerCounter' > Integer: 'ChunkLineTriggerEndToEndCounter' > Integer: 'ChunkInputStatusAtLineTriggerBitsPerLine' > Integer: 'ChunkInputStatusAtLineTriggerIndex' > Integer: 'ChunkInputStatusAtLineTriggerValue' > Integer: 'ChunkShaftEncoderCounter' > Float: 'ChunkExposureTime' (Not available) > Integer: 'ChunkPayloadCRC16' > Integer: 'ChunkGainAll' > Category: 'EventsGeneration' > Enumeration: 'EventSelector' > EnumEntry: 'EventOverrun' > EnumEntry: 'AcquisitionStart' > EnumEntry: 'FrameStart' > EnumEntry: 'AcquisitionStartOvertrigger' > EnumEntry: 'FrameStartOvertrigger' > EnumEntry: 'ExposureEnd' > Enumeration: 'EventNotification' > EnumEntry: 'On' > EnumEntry: 'GenICamEvent' > EnumEntry: 'Off' > Category: 'ExposureEndEventData' > Integer: 'ExposureEndEventStreamChannelIndex' > Integer: 'ExposureEndEventFrameID' > Integer: 'ExposureEndEventTimestamp' > Category: 'LineStartOvertriggerEventData' > Integer: 'LineStartOvertriggerEventStreamChannelIndex' > Integer: 'LineStartOvertriggerEventTimestamp' > Category: 'FrameStartOvertriggerEventData' > Integer: 'FrameStartOvertriggerEventStreamChannelIndex' > Integer: 'FrameStartOvertriggerEventTimestamp' > Category: 'AcquisitionStartOvertriggerEventData' > Integer: 'AcquisitionStartOvertriggerEventStreamChannelIndex' > Integer: 'AcquisitionStartOvertriggerEventTimestamp' > Category: 'FrameTimeoutEventData' > Integer: 'FrameTimeoutEventStreamChannelIndex' > Integer: 'FrameTimeoutEventTimestamp' > Category: 'FrameStartEventData' > Integer: 'FrameStartEventStreamChannelIndex' > Integer: 'FrameStartEventTimestamp' > Category: 'AcquisitionStartEventData' > Integer: 'AcquisitionStartEventStreamChannelIndex' > Integer: 'AcquisitionStartEventTimestamp' > Category: 'EventOverrunEventData' > Integer: 'EventOverrunEventStreamChannelIndex' > Integer: 'EventOverrunEventFrameID' > Integer: 'EventOverrunEventTimestamp' > Category: 'OverTemperatureEventData' > Integer: 'OverTemperatureEventStreamChannelIndex' > Integer: 'OverTemperatureEventTimestamp' > Category: 'CriticalTemperatureEventData' > Integer: 'CriticalTemperatureEventStreamChannelIndex' > Integer: 'CriticalTemperatureEventTimestamp' > Category: 'UserSets' > Enumeration: 'UserSetSelector' > EnumEntry: 'UserSet3' > EnumEntry: 'UserSet2' > EnumEntry: 'UserSet1' > EnumEntry: 'Default' > Command: 'UserSetLoad' > Command: 'UserSetSave' > Enumeration: 'UserSetDefaultSelector' > EnumEntry: 'UserSet3' > EnumEntry: 'UserSet2' > EnumEntry: 'UserSet1' > EnumEntry: 'Default' > Enumeration: 'DefaultSetSelector' > EnumEntry: 'Custom1' (Not available) > EnumEntry: 'Custom0' (Not available) > EnumEntry: 'Color' > EnumEntry: 'AutoFunctions' > EnumEntry: 'HighGain' > EnumEntry: 'Standard' > Category: 'TransportLayer' > Integer: 'PayloadSize' > Integer: 'GevSCPSPacketSize' > Integer: 'GevSCPD' > Integer: 'GevSCFTD' > Integer: 'GevSCBWR' > Integer: 'GevSCBWRA' > Integer: 'GevSCBWA' > Integer: 'GevSCDMT' > Integer: 'GevSCDCT' > Integer: 'GevSCFJM' > Integer: 'GevVersionMajor' > Integer: 'GevVersionMinor' > Boolean: 'GevDeviceModeIsBigEndian' > Integer: 'GevDeviceModeCharacterSet' > Enumeration: 'GevInterfaceSelector' > EnumEntry: 'NetworkInterface0' > Integer: 'GevMACAddress' > Boolean: 'GevSupportedIPConfigurationLLA' > Boolean: 'GevSupportedIPConfigurationDHCP' > Boolean: 'GevSupportedIPConfigurationPersistentIP' > Integer: 'GevCurrentIPConfiguration' > Integer: 'GevCurrentIPAddress' > Integer: 'GevCurrentSubnetMask' > Integer: 'GevCurrentDefaultGateway' > Integer: 'GevPersistentIPAddress' > Integer: 'GevPersistentSubnetMask' > Integer: 'GevPersistentDefaultGateway' > Integer: 'GevLinkSpeed' > Boolean: 'GevLinkMaster' > Boolean: 'GevLinkFullDuplex' > Boolean: 'GevLinkCrossover' > StringReg: 'GevFirstURL' > StringReg: 'GevSecondURL' > Integer: 'GevNumberOfInterfaces' > Integer: 'GevMessageChannelCount' > Integer: 'GevStreamChannelCount' > Boolean: 'GevSupportedOptionalCommandsEVENTDATA' > Boolean: 'GevSupportedOptionalCommandsEVENT' > Boolean: 'GevSupportedOptionalCommandsPACKETRESEND' > Boolean: 'GevSupportedOptionalCommandsWRITEMEM' > Boolean: 'GevSupportedOptionalCommandsConcatenation' > Integer: 'GevHeartbeatTimeout' > Integer: 'GevTimestampTickFrequency' > Command: 'GevTimestampControlLatch' > Command: 'GevTimestampControlReset' > Command: 'GevTimestampControlLatchReset' > Integer: 'GevTimestampValue' > Enumeration: 'GevCCP' > EnumEntry: 'ExclusiveControl' > EnumEntry: 'Control' > EnumEntry: 'Exclusive' > Enumeration: 'GevStreamChannelSelector' > EnumEntry: 'StreamChannel0' > Integer: 'GevSCPInterfaceIndex' > Integer: 'GevSCDA' > Integer: 'GevSCPHostPort' > Command: 'GevSCPSFireTestPacket' > Boolean: 'GevSCPSDoNotFragment' > Boolean: 'GevSCPSBigEndian' > Integer: 'TLParamsLocked' > Category: 'FileAccessControl' > Enumeration: 'FileSelector' > EnumEntry: 'UserGainShading2' (Not available) > EnumEntry: 'UserGainShading1' (Not available) > EnumEntry: 'UserSet3' > EnumEntry: 'UserSet2' > EnumEntry: 'UserSet1' > EnumEntry: 'UserData' (Not available) > Enumeration: 'FileOperationSelector' > EnumEntry: 'Write' (Not available) > EnumEntry: 'Read' (Not available) > EnumEntry: 'Close' (Not available) > EnumEntry: 'Open' > Enumeration: 'FileOpenMode' > EnumEntry: 'Write' > EnumEntry: 'Read' > Integer: 'FileAccessOffset' > Integer: 'FileAccessLength' > Enumeration: 'FileOperationStatus' > EnumEntry: 'Failure' > EnumEntry: 'Success' > Integer: 'FileOperationResult' > Integer: 'FileSize' > Command: 'FileOperationExecute' > Category: 'AutoFunctions' > Integer: 'AutoTargetValue' > Float: 'GrayValueAdjustmentDampingAbs' > Integer: 'GrayValueAdjustmentDampingRaw' > Integer: 'AutoGainRawLowerLimit' > Integer: 'AutoGainRawUpperLimit' > Float: 'AutoExposureTimeAbsLowerLimit' > Float: 'AutoExposureTimeAbsUpperLimit' > Enumeration: 'AutoFunctionProfile' > EnumEntry: 'ExposureMinimum' > EnumEntry: 'GainMinimum' > Category: 'AutoFunctionAOIs' > Enumeration: 'AutoFunctionAOISelector' > EnumEntry: 'AOI2' > EnumEntry: 'AOI1' > Integer: 'AutoFunctionAOIWidth' > Integer: 'AutoFunctionAOIHeight' > Integer: 'AutoFunctionAOIOffsetX' > Integer: 'AutoFunctionAOIOffsetY' > Boolean: 'AutoFunctionAOIUsageIntensity' > Boolean: 'AutoFunctionAOIUsageWhiteBalance' > Category: 'ImageQuality' > Float: 'ContrastAbs' > Integer: 'ContrastRaw' > Category: 'RemoveParamLimits' > Enumeration: 'ParameterSelector' > EnumEntry: 'Gain' > Boolean: 'RemoveLimits' > Category: 'ExpertFeatureAccess' > Enumeration: 'ExpertFeatureAccessSelector' > EnumEntry: 'ExpertFeature5' > EnumEntry: 'ExpertFeature4' > EnumEntry: 'ExpertFeature3' > EnumEntry: 'ExpertFeature2' > EnumEntry: 'ExpertFeature1' > EnumEntry: 'ExpertFeature1_Legacy' > Integer: 'ExpertFeatureAccessKey' > Boolean: 'ExpertFeatureEnable' (Not available) > > real 0m3.186s > user 0m0.233s > sys 0m0.049s -- Leif Christensen DFKI Bremen Robotics Innovation Center Robert-Hooke-Straße 5 28359 Bremen, Germany Phone: +49 (0)421 17845-4149 Fax: +49 (0)421 17845-4150 E-Mail: [email protected] Weitere Informationen: http://www.dfki.de/robotik ----------------------------------------------------------------------- Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. 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