cmucam2

CMUCam2 pan-tilt-zoom blob-tracking camera. More...

CMUCam2 pan-tilt-zoom blob-tracking camera.

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 (plus an additional camera for getting image data). 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
• camera : snapshot images taken by the CMUCam2

Requires

• none

Supported configuration requests

• The ptz interface supports:
  • PLAYER_PTZ_REQ_AUTOSERVO
• The blobfinder interface supports:
  • PLAYER_BLOBFINDER_REQ_SET_COLOR
  • PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS

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 colord options
• colord (float tuple)
  • Default: none
  • Each colord 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.
• bloborcamera (integer)
  • Default: 1
  • Set bloborcamera to 1 if you want the blobfinder/ptz active, or set it to 2 if you want camera/ptz active. (this will be changed in the future)

Example

driver
(
  name "cmucam2"
  provides ["blobfinder:0" "ptz:0" "camera:0"]
  devicepath "/dev/ttyS1"
  bloborcamera 1
  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] )
)

Author

Pouya Bastani, Richard Vaughan, Radu Bogdan Rusu