CMUCam2 pan-tilt-zoom blob-tracking camera

The cmucam2 driver connects over a serial port to a CMUCam2. Presents a interface_blobfinder interface and a interface_ptz interface and can track multiple color blobs (plus an additional interface_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
  • interface_blobfinder : the blobs detected by the CMUCam2
  • interface_ptz : control of the servos that pan and tilt the CMUCam2
  • interface_camera : snapshot images taken by the CMUCam2
Requires
  • none
Supported configuration requests
  • The interface_ptz interface supports:
    • PLAYER_PTZ_REQ_AUTOSERVO
  • The interface_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