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<div class="moz-cite-prefix">Hi Martin,<br>
I found the documentation here :<br>
<a class="moz-txt-link-freetext" href="http://www.ptgrey.com/support/downloads/documents/Bumblebee2">http://www.ptgrey.com/support/downloads/documents/Bumblebee2</a>
Getting Started Manual.pdf<br>
In the section stereo Image formats<br>
<br>
The problem with one 'image' containing two images is that our<br>
stereo pipeline is not able to process them. We always expect <br>
two separate frames. Therefore my proposal to create a custom<br>
function on the firewire driver like <br>
'getInterlacedStereoImage(base::Frame &right, base::Frame
&left)'<br>
and use this function later on in a special task to output the two
<br>
images in the 'expected' format. <br>
<br>
It would be nice if you could push your current driver version <br>
on a separate branch or mail us a patch set.<br>
Greetings<br>
Janosch<br>
<br>
<br>
<br>
On 12.07.2012 19:46, <a class="moz-txt-link-abbreviated" href="mailto:Martin.Azkarate@esa.int">Martin.Azkarate@esa.int</a> wrote:<br>
</div>
<blockquote
cite="mid:19797_1342115159_4FFF0D57_19797_15600_1_OF90790FCF.0BAAA815-ONC1257A39.003412E3-C1257A39.00619A58@esa.int"
type="cite"><font size="2" face="sans-serif">Thanks Janosch,</font>
<br>
<br>
<font size="2" face="sans-serif">Before explaining what I have
done,
I would like to ask you where exactly did you find that
Bumblebee documentation
that explains it would identify itself as one camera and
transmit per frame
two images. </font>
<br>
</blockquote>
<blockquote
cite="mid:19797_1342115159_4FFF0D57_19797_15600_1_OF90790FCF.0BAAA815-ONC1257A39.003412E3-C1257A39.00619A58@esa.int"
type="cite">
<br>
<font size="2" face="sans-serif">So now, I followed your advice,
and
I used the deinterlacing function from the libdc1394 library. [<i>Most
people
in the list may want to skip the following explanation and go
the
end of the email</i>]</font>
<br>
<br>
<font size="2" face="sans-serif">It was not necessary though to
create
a new task with two out ports because the deinterlace function
does not
generate two output separate frames but instead separates the
images in
one single frame (putting one image on top of the other). It's
actually
the same output as in Coriander, one single frame, with two
separate images.
Getting that same output as in Coriander was my objective so
far. Given
that, I could use the current deployment of the camera_firewire
orogen
component and make the changes (deinterlacing) directly to the
frame each
time it was captured. So I eventually narrowed it down to a call
function
named retrieveFrame() that is called at the updateHook of the
CameraBaseTask
(subclass of CameraTask). The retrieveFrame() is part of the
camera_firewire&camera_interface
c++ library that is used by those tasks. </font>
<br>
<br>
<font size="2" face="sans-serif">So once inside retrieveFrame()
and after
dc1394_capture_dequeue() function is called I try to deinterlace
the frame
that I de-queued and then use that new output to return it in
the retrieveFrame()
function. However, in order to make that process work properly
there are
a few parameters that have to be changed first such as, video
format, channel
data depth, frame format, color coding,...most of them are part
of the
camera_base.orogen file properties so they can be changed there
or, in
the cameraTask initialisation. However the video_mode has to be
changed
(to Format7_3) again in the c++ library in the CamFireWire.cpp
file (where
the retrieveFrame function is). I also had to make a few more
modifications
to the retrieveFrame function to make proper use of the
deinterlacing function
(which I think it has at least one bug, apart from a problem of
memory
allocation for the new deinterlaced frame).</font>
<br>
<br>
<font size="2" face="sans-serif"><b>Anyway, long story short</b>,
now
I have customised the camera_firewire library to make it work
with a Bumblebee2
stereocamera and output two deinteralced images in a single
frame. I don't
know if this can be useful for the rock community somehow. And
in case
it is I don't know which would be the best way to contribute
with it. It's
really a very small thing but anyway, after all the help that I
receive
from this list I would be glad to give something back.</font>
<br>
<br>
<font size="2" face="sans-serif">Greetings,</font><font size="3"><br>
</font>
<p><font size="2" color="#001fe2" face="Verdana">Martin Azkarate</font>
</p>
<p><font size="1" color="#8f8f8f" face="Verdana"><b>ESA - European
Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </font>
</p>
<p><font size="1" color="#8f8f8f" face="Verdana"><b>ESTEC -
European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands <br>
<a class="moz-txt-link-abbreviated" href="mailto:Martin.Azkarate@esa.int">Martin.Azkarate@esa.int</a> | </font><a moz-do-not-send="true"
href="www.esa.int"><font size="1" color="#8f8f8f"
face="Verdana">www.esa.int</font></a><font size="1"
color="#8f8f8f" face="Verdana">
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </font>
<br>
<br>
<br>
<table width="100%">
<tbody>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">From:</font>
</td>
<td><font size="1" face="sans-serif">Janosch Machowinski
<a class="moz-txt-link-rfc2396E" href="mailto:Janosch.Machowinski@dfki.de"><Janosch.Machowinski@dfki.de></a></font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">To:</font>
</td>
<td><font size="1" face="sans-serif"><a class="moz-txt-link-abbreviated" href="mailto:Martin.Azkarate@esa.int">Martin.Azkarate@esa.int</a>,
Rock-Dev <a class="moz-txt-link-rfc2396E" href="mailto:rock-dev@dfki.de"><rock-dev@dfki.de></a></font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">Date:</font>
</td>
<td><font size="1" face="sans-serif">10/07/2012 19:41</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">Subject:</font>
</td>
<td><font size="1" face="sans-serif">Re: [Rock-dev] set up
of camera_firewire</font></td>
</tr>
</tbody>
</table>
<br>
</p>
<hr noshade="noshade">
<br>
<br>
<br>
<font size="3">Hi Martin, <br>
I had a short look at the documentation of the bumblebee.<br>
The camera will identify itself as one camera and transmit <br>
per (firewire) frame two images. In order to use our driver <br>
you must modify it and decode the second image. <br>
<br>
To do so you can use the libdc1394 function<br>
dc1394_deinterlace_stereo()<br>
<br>
Sadly neither the camera_interface nor the camera base <br>
class were designed with such a use case in mind. <br>
Therefore I would suggest you create a second Task<br>
'firewire::StereoCameraTask' <br>
with two output ports (one for each frame).<br>
<br>
Greetings<br>
Janosch<br>
<br>
On 10.07.2012 18:44, </font><a moz-do-not-send="true"
href="mailto:Martin.Azkarate@esa.int"><font size="3"
color="blue"><u>Martin.Azkarate@esa.int</u></font></a><font
size="3">
wrote:</font>
<br>
<font size="2" face="sans-serif">Hello Janosch,</font><font
size="3"> <br>
</font><font size="2" face="sans-serif"><br>
Thanks for the help again. </font><font size="3"><br>
</font><font size="2" face="sans-serif"><br>
Using Coriander I get two camera images, one for each sensor of
the stereocam.</font><font size="3">
<br>
</font><font size="2" face="sans-serif"><br>
In the ruby script (attached) I actually start two CameraTasks,
one for
each sensor, but when assigning the ID property in the
deployment section
of the .orogen file (attached) I have only one ID that I can put
(because
the component only detects one camera even though there are two
sensors...).
So I don't know if how to get the second output without having
two
different camera IDs to assign one to each Task. What I need is
to separate
somehow the two outputs that are under the same device, thus
under the
same camera ID. Soo far, assigning the same camera ID to both
Tasks only
shows one output and the other frame stays grey with "No Image".</font><font
size="3"><br>
<br>
<br>
Thanks a lot!</font>
<p><font size="2" color="#001fe2" face="Verdana">Martin Azkarate</font><font
size="3">
</font>
</p>
<p><font size="1" color="#8f8f8f" face="Verdana"><b>ESA - European
Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </font>
</p>
<p><font size="1" color="#8f8f8f" face="Verdana"><b>ESTEC -
European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands </font><font size="1"
color="blue" face="Verdana"><u><br>
</u></font><a moz-do-not-send="true"
href="mailto:Martin.Azkarate@esa.int"><font size="1"
color="blue" face="Verdana"><u>Martin.Azkarate@esa.int</u></font></a><font
size="1" color="#8f8f8f" face="Verdana">
| </font><a moz-do-not-send="true" href="www.esa.int"><font
size="1" color="#8f8f8f" face="Verdana"><u>www.esa.int</u></font></a><font
size="1" color="#8f8f8f" face="Verdana">
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </font><font
size="3"><br>
<br>
</font>
<table width="100%">
<tbody>
<tr valign="top">
<td width="14%"><font size="1" color="#5f5f5f"
face="sans-serif">From:</font><font size="3">
</font>
</td>
<td width="85%"><font size="1" face="sans-serif">Janosch
Machowinski </font><a moz-do-not-send="true"
href="mailto:Janosch.Machowinski@dfki.de"><font
size="1" color="blue" face="sans-serif"><u><Janosch.Machowinski@dfki.de></u></font></a><font
size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">To:</font><font
size="3">
</font>
</td>
<td><a moz-do-not-send="true"
href="mailto:rock-dev@dfki.de"><font size="1"
color="blue" face="sans-serif"><u>rock-dev@dfki.de</u></font></a><font
size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">Date:</font><font
size="3">
</font>
</td>
<td><font size="1" face="sans-serif">06/07/2012 15:29</font><font
size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">Subject:</font><font
size="3">
</font>
</td>
<td><font size="1" face="sans-serif">Re: [Rock-dev] set up
of camera_firewire</font><font size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">Sent
by:</font><font size="3">
</font>
</td>
<td><a moz-do-not-send="true"
href="mailto:rock-dev-bounces@dfki.de"><font size="1"
color="blue" face="sans-serif"><u>rock-dev-bounces@dfki.de</u></font></a></td>
</tr>
</tbody>
</table>
<br>
</p>
<p>
</p>
<hr noshade="noshade"><font size="3"><br>
<br>
<br>
Hello Martin,<br>
For the changes from stable to master enter the driver<br>
directory and execute <br>
gitk --all<br>
In general I would recommend to have a look at the <br>
git documentation.<br>
<br>
Does the bumblebee output two images if you use coriander ?<br>
<br>
Atm, the CameraTask is intended to be used with a monosensor<br>
camera. The Design is to start one task per camera. <br>
But it should not be a big problem to make it output <br>
two frames from one sensor. <br>
Greetings<br>
Janosch<br>
<br>
On 04.07.2012 18:57, </font><a moz-do-not-send="true"
href="mailto:Martin.Azkarate@esa.int"><font size="3"
color="blue"><u>Martin.Azkarate@esa.int</u></font></a><font
size="3">
wrote: </font><font size="2" face="sans-serif"><br>
Ok!</font><font size="3"> </font><font size="2"
face="sans-serif"><br>
<br>
Autoproj update, then build the package again, run the script
and got it!
I get camera output now, can somebody tell what were the changes
from stable
branch to master branch? (maybe pointing the functions or
settings that
were modified...)</font><font size="3"> </font><font size="2"
face="sans-serif"><br>
<br>
One last thing, I can only get one camera output, not two, I am
using a
stereocam so I should be able to get two separate frames, right?
However,
when running the camera_firewire component it shows a list of
available
cameras and identifies them with a unique ID. It actually only
finds one
camera so I can only assign that unique ID to one of the two
cameraTasks.
If I assign that ID to both tasks I get two vizkit displays one
with camera
output and the other with the <i>No Signal</i> message with the
grey background.</font><font size="3">
</font><font size="2" face="sans-serif"><br>
<br>
The camera_firewire component deployment actually sets two
CameraTasks,
one for left camera and another one to right camera (that's why
I thought
that I could use it with the stereocam) but maybe it is intended
to be
used with two separate monosensor cameras like the AVT Guppy? <br>
<br>
Thanks a lot for the help!</font><font size="3"> </font>
<p><font size="2" color="#001fe2" face="Verdana">Martin Azkarate</font><font
size="3">
</font>
</p>
<p><font size="1" color="#8f8f8f" face="Verdana"><b>ESA - European
Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </font>
</p>
<p><font size="1" color="#8f8f8f" face="Verdana"><b>ESTEC -
European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands </font><font size="3"
color="blue"><u><br>
</u></font><a moz-do-not-send="true"
href="mailto:Martin.Azkarate@esa.int"><font size="1"
color="blue" face="Verdana"><u>Martin.Azkarate@esa.int</u></font></a><font
size="1" color="#8f8f8f" face="Verdana">
| </font><a moz-do-not-send="true" href="www.esa.int"><font
size="1" color="#8f8f8f" face="Verdana"><u>www.esa.int</u></font></a><font
size="1" color="#8f8f8f" face="Verdana">
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </font><font
size="3"><br>
</font>
<table width="100%">
<tbody>
<tr valign="top">
<td width="14%"><font size="1" color="#5f5f5f"
face="sans-serif">From:</font><font size="3">
</font>
</td>
<td width="85%"><font size="1" face="sans-serif">Janosch
Machowinski </font><a moz-do-not-send="true"
href="mailto:Janosch.Machowinski@dfki.de"><font
size="1" color="blue" face="sans-serif"><u><Janosch.Machowinski@dfki.de></u></font></a><font
size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">To:</font><font
size="3">
</font>
</td>
<td><a moz-do-not-send="true"
href="mailto:rock-dev@dfki.de"><font size="1"
color="blue" face="sans-serif"><u>rock-dev@dfki.de</u></font></a><font
size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">Date:</font><font
size="3">
</font>
</td>
<td><font size="1" face="sans-serif">04/07/2012 15:45</font><font
size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">Subject:</font><font
size="3">
</font>
</td>
<td><font size="1" face="sans-serif">Re: [Rock-dev] set up
of camera_firewire</font><font size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">Sent
by:</font><font size="3">
</font>
</td>
<td><a moz-do-not-send="true"
href="mailto:rock-dev-bounces@dfki.de"><font size="1"
color="blue" face="sans-serif"><u>rock-dev-bounces@dfki.de</u></font></a></td>
</tr>
</tbody>
</table>
<br>
</p>
<p>
</p>
<hr noshade="noshade"><font size="3"><br>
<br>
<br>
Hi Martin,<br>
did you run an autoproj update prior to the autoproj build ?<br>
If not, autoproj won't change the branch.<br>
<br>
Janosch<br>
<br>
On 04.07.2012 13:40, </font><a moz-do-not-send="true"
href="mailto:Martin.Azkarate@esa.int"><font size="3"
color="blue"><u>Martin.Azkarate@esa.int</u></font></a><font
size="3">
wrote: </font><font size="2" face="sans-serif"><br>
Hi Janosch,</font><font size="3"> </font><font size="2"
face="sans-serif"><br>
<br>
I changed the overwrites.yml file as you told, autoproj build
the package
again and tried that out but I'm still getting the same
error...any other
ideas?</font><font size="3"> </font><font size="2"
face="sans-serif"><br>
<br>
Thanks for the help,</font><font size="3"> </font>
<p><font size="2" color="#001fe2" face="Verdana">Martin Azkarate</font><font
size="3">
</font>
</p>
<p><font size="1" color="#8f8f8f" face="Verdana"><b>ESA - European
Space Agency</b><br>
Spanish Trainee, TEC-MMA - Automation and Robotics Section </font>
</p>
<p><font size="1" color="#8f8f8f" face="Verdana"><b>ESTEC -
European Space
research and TEchnology Centre</b><br>
Keplerlaan 1, PO Box 299 <br>
NL-2200 AG Noordwijk, The Netherlands </font><font size="3"
color="blue"><u><br>
</u></font><a moz-do-not-send="true"
href="mailto:Martin.Azkarate@esa.int"><font size="1"
color="blue" face="Verdana"><u>Martin.Azkarate@esa.int</u></font></a><font
size="1" color="#8f8f8f" face="Verdana">
| </font><a moz-do-not-send="true" href="www.esa.int"><font
size="1" color="#8f8f8f" face="Verdana"><u>www.esa.int</u></font></a><font
size="1" color="#8f8f8f" face="Verdana">
<br>
Tel +31 71 565 3480 | Mob +31 650 625 564 </font>
<table width="100%">
<tbody>
<tr valign="top">
<td width="14%"><font size="1" color="#5f5f5f"
face="sans-serif">From:</font><font size="3">
</font>
</td>
<td width="85%"><font size="1" face="sans-serif">Janosch
Machowinski </font><a moz-do-not-send="true"
href="mailto:Janosch.Machowinski@dfki.de"><font
size="1" color="blue" face="sans-serif"><u><Janosch.Machowinski@dfki.de></u></font></a><font
size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">To:</font><font
size="3">
</font>
</td>
<td><a moz-do-not-send="true"
href="mailto:rock-dev@dfki.de"><font size="1"
color="blue" face="sans-serif"><u>rock-dev@dfki.de</u></font></a><font
size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">Date:</font><font
size="3">
</font>
</td>
<td><font size="1" face="sans-serif">04/07/2012 11:19</font><font
size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">Subject:</font><font
size="3">
</font>
</td>
<td><font size="1" face="sans-serif">Re: [Rock-dev] set up
of camera_firewire</font><font size="3">
</font>
</td>
</tr>
<tr valign="top">
<td><font size="1" color="#5f5f5f" face="sans-serif">Sent
by:</font><font size="3">
</font>
</td>
<td><a moz-do-not-send="true"
href="mailto:rock-dev-bounces@dfki.de"><font size="1"
color="blue" face="sans-serif"><u>rock-dev-bounces@dfki.de</u></font></a></td>
</tr>
</tbody>
</table>
<br>
</p>
<p>
</p>
<hr noshade="noshade"><font size="3"><br>
<br>
<br>
Hi Martin,<br>
which branch of the driver are you using ?<br>
As the line in the error message does not match<br>
master I assume next or stable. <br>
We recently fixed bugs in this driver. <br>
Try switching (only the driver) to master.<br>
To do so add these three lines to <br>
autoproj/overwrites.yml :<br>
overrides:<br>
- drivers/camera_firewire:<br>
branch: master<br>
<br>
Greetings<br>
Janosch<br>
<br>
P.S.: We only tested this driver with a AVT guppy. For this
camera it is
working stable.<br>
<br>
On 02.07.2012 18:08, </font><a moz-do-not-send="true"
href="mailto:Martin.Azkarate@esa.int"><font size="3"
color="blue"><u>Martin.Azkarate@esa.int</u></font></a><font
size="3">
wrote: <br>
Hello, <br>
<br>
I have a Bumblebee2 camera that I am trying to use with the
camera_firewire
library package and its corresponding orogen component. I am
running the
following script: <br>
<br>
<br>
<br>
<br>
<br>
An getting the following error: <br>
<br>
--------- beginning of terminal output ---------------------- <br>
<br>
lrm@ubuntu:~/rock/drivers/orogen/camera_firewire/scripts$ ruby
camera_firewire_live.rb
<br>
Found 1 cameras: <br>
<br>
=== begin CamInfo === <br>
display_name: Bumblebee2 BB2-08S2C <br>
interface_id: 0 <br>
interface_type: InterfaceFirewire <br>
current_ip_address: 0 <br>
current_ip_subnet: 0 <br>
part_number: 0 <br>
part_version: 0 <br>
permitted_access: 0 <br>
reachable: 0 <br>
serial_string: <br>
unique_id: 49712223532727488 <br>
=== end CamInfo === <br>
<br>
Press ENTER to exit <br>
<br>
libdc1394 error: Generic failure: in
dc1394_video_set_transmission (control.c,
line 953): Could not stop ISO transmission <br>
<br>
[20120702-11:32:28:599] [ERROR] - $PROJECT_NAME::Generic failure
<br>
(/home/lrm/rock/drivers/camera_firewire/src/CamFireWire.cpp:617
- bool
camera::CamFireWire::checkHandleError(dc1394error_t) const) <br>
<br>
--------------------- end of terminal output -------------------
<br>
<br>
<br>
Actually the script is completely executed and a vizkit image
window is
opened but without any camera output, just a grey window with
the message
"no image" in the middle. So when I press enter to exit I get
the libdc1394 error output in the terminal that you can see
above. I am
guessing that the error is in some setting of the libdc1394
library, I
have tried complying with the BB2 camera specs and edited a
couple of properties
that should be the right ones but I still can't manage to get a
camera
output. The camera works and communicates properly with the 1394
interface
(checked it using Coriander). So, can anyone with experience in
cameras
with firewire interface give me a hint here? I add a couple more
files
in case these are helpful. </font><font size="2"
face="sans-serif"><br>
<br>
<br>
<br>
Thanks for the help,</font><font size="3"> </font><font
size="2" face="sans-serif"><br>
<br>
Martin</font><font size="3"> </font><tt><font size="3"><br>
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DFKI Bremen<br>
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28359 Bremen, Germany<br>
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SAR- & Sicherheitsrobotik<br>
<br>
DFKI Bremen<br>
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Robert-Hooke-Straße 5<br>
28359 Bremen, Germany<br>
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<br>
DFKI Bremen<br>
Robotics Innovation Center<br>
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<pre>This message and any attachments are intended for the use of the addressee or addressees only. The unauthorised disclosure, use, dissemination or copying (either in whole or in part) of its content is not permitted. If you received this message in error, please notify the sender and delete it from your system. Emails can be altered and their integrity cannot be guaranteed by the sender.
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</pre>
</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">--
Dipl. Inf. Janosch Machowinski
SAR- & Sicherheitsrobotik
DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
Phone: +49 (0)421 178 45-6614
Fax: +49 (0)421 178 45-4150
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:robotik@dfki.de">robotik@dfki.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a>
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
-----------------------------------------------------------------------
</pre>
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