Blobtracker

Blob tracker that sends ptz commands in order to make camera follow certain blobs. More...

Blob tracker that sends ptz commands in order to make camera follow certain blobs.

Compile-time dependencies

• None

Provides

• dio - lowest bit of dio bits is set to 1 whenever any of desired blobs is found

Requires

• blobfinder
• ptz

Configuration requests

• None

Configuration file options

• r (integer)
  • Default: 0
  • r value of desired blobs RGB
• g (integer)
  • Default: 0
  • g value of desired blobs RGB
• b (integer)
  • Default: 0
  • b value of desired blobs RGB
• idle_area (double)
  • Default: 0.4
  • Valid value range 0.0 to 1.0
  • Middle part of the image where blob moves are not followed
  • Border cases: 0.0 - no part of the image is idle, 1.0 - whole image
• step (degrees)
  • Default: 1.0
  • How many degrees to move during one iteration
  • The default value (1.0) is good for Stage, however it's too small for Logitech Sphere AF camera
• pan_speed (degrees)
  • Default: 10.0
  • Angular pan speed
• tilt_speed (degrees)
  • Default: 10.0
  • Agular tilt speed
• zoom (degrees)
  • Default: not set
  • Field of view (typically it is not required to set this value)
  • Negative value means 'not set' - field of view will not be changed

Example

Look for a green sheet:

driver
(
  name "camerauvc"
  provides ["camera:0"]
  port "/dev/video1"
  size [640 480]
)
driver
(
  name "sphereptz"
  provides ["ptz:0"]
  port "/dev/video1"
  autoreset 0
)
driver
(
  name "cmvision"
  provides ["blobfinder:0"]
  requires ["camera:0"]
  colorfile "colors.txt"
)
driver
(
  name "blobtracker"
  provides ["dio:0"]
  requires ["6665:blobfinder:0" "6665:ptz:0"]
  r 0
  g 255
  b 0
  step 5.0
  alwayson 1
)

colors.txt file I used for this was:

[Colors]
(255,  0,  0) 0.000000 10 Red
(  0,255,  0) 0.000000 10 Greeen
(  0,  0,255) 0.000000 10 Blue

[Thresholds]
( 25:164, 80:120,150:240)
( 20:220, 50:120, 40:115)
( 15:190,145:255, 40:120)

Author:

Paul Osmialowski