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Revision as of 06:45, 6 June 2012 by Chronos (talk | contribs)


The 5dpo Component Library (Sdpo) is a set of components released by the 5dpo Robotic Soccer Team as we are porting our robot's software from Kylix to Lazarus.

This library includes a serial communication component (TSdpoSerial), an IEEE1394 camera component (TSdpoVideo1394), an UVC video driver component (TSdpoVideo4L2), a Gtk form component (TSdpoFastForm) and a Joystick component (TSdpoJoystick).

  • TSdpoSerial allows asynchronous communication using a serial port based on Synaser. Works in Windows and Linux.
  • TSdpoVideo1394 makes a connection between Lazarus and libdc1394. Allows the control of IEEE 1394 based cameras that conform to the 1394-based Digital Camera Specifications (also known as the IIDC or DCAM Specifications). Works only in Linux. Deprecated since version 0.1.8.
  • TSdpoVideo4L2 allows the control of UVC compliant USB cameras, tested with:
    • Logitech Quickcam Orbit/Sphere AF
    • Logitech Quickcam Pro 9000
    • Logitech Quickcam Ultra Vision
    • Acer CrystalEye webcam (Acer Aspire One)
    • Imaging Source industrial and astronomy cameras

For more information go to http://linux-uvc.berlios.de/. Works only in Linux.

  • TSdpoFastForm creates a Gtk window that is useful for fast painting of images (like the ones from the camera) and allows full control of the paint action, useful for real-time image processing. Works only in Linux.
  • TSdpoJoystick returns the state of the joystick's axis and buttons. Works in Windows and Linux.


  • Paulo Costa
  • Paulo Malheiros
  • Paulo Marques
  • Joao Paulo Silva


Modified LGPL (read LICENSE and LICENSE.ADDON included).


Sdpo-0.2.0 - 2012-04-07

Source Code


  • 07.04.2012 - 0.2.0 released. Removed support for SdpoVideo1394. Added SdpoPvAPI implementation, SdpoFreenect for Kinect, matrix functions in SdpoDynmatrix and debayer functions in SdpoDebayer. Changed file structure.
  • 08.11.2010 - 0.1.8 released. Added FlowControl in SdpoSerial. SdpoFastForm ported to Windows
  • 30.03.2010 - 0.1.7 released. Minor bug fix in SdpoSerial and SdpoVideo1394. Added icon to SdpoFastForm and Lazarus 0.9.28 support. Components tested in Linux 64 bit
  • 17.02.2009 - 0.1.6 released. Added TSdpoJoystick. Updated SdpoVideo4L2 to work with Monochrome and Bayer cameras. Added form functions to SdpoFastForm
  • 15.10.2008 - 0.1.5 released. Added SdpoVideo4L2
  • 02.04.2008 - 0.1.4 released. Updated Canvas in SdpoFastForm
  • 22.02.2008 - 0.1.3 released. Created Canvas in SdpoFastForm. Fixed non locking in SdpoSerial
  • 24.01.2008 - 0.1.2 released. Gtk2 support in SdpoFastForm
  • 12.01.2008 - 0.1.1 released. Created SdpoVideo1394, SdpoSerial and SdpoFastForm

Read the CHANGELOG file included for more details