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

Compile-time dependencies
  • None
Provides
  • interface_dio - lowest bit of dio bits is set to 1 whenever any of desired blobs is found
Requires
  • interface_blobfinder
  • interface_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