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
- 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
- Supported configuration requests
- The ptz interface supports:
- 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
|
Last updated 12 September 2005 21:38:45
|
