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cmucam2 [Drivers] The cmucam2 driver connects over a serial port to a CMUCam2. Presents a blobfinder interface and a ptz interface and can track multiple color blobs. This driver is rudimentary but working. Color tracking parameters are defined in Player's config file (see below for an example). Compile-time dependencies none Provides blobfinder : the blobs detected by the CMUCam2 ptz : control of the servos that pan and tilt the CMUCam2 Requires none Supported configuration requests The ptz interface supports: PLAYER_PTZ_AUTOSERVO Configuration file options devicepath (string) Default: NULL Serial port where the CMUCam2 is connected num_blobs (integer) Default: 1 Number of colors to track; you must also include this many color%d options color%d (float tuple) Default: none Each color%d is a tuple [rmin rmax gmin gmax bmin bmax] of min/max values for red, green, and blue, which defines a region in RGB space that the CMUCam2 will track. Example driver ( name "cmucam2" provides ["blobfinder:0" "ptz:0"] devicepath "/dev/ttyS1" num_blobs 2 # values must be between 40 and 240 (!) color0 [ red_min red_max blue_min blue_max green_min green_max] ) # values must be between 40 and 240 (!) color1 [ red_min red_max blue_min blue_max green_min green_max] ) ) Authors Pouya Bastani, Richard Vaughan