Blob tracker that sends ptz commands in order to make camera follow certain blobs.
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Blob tracker that sends ptz commands in order to make camera follow certain blobs.
- Compile-time dependencies
- Provides
- dio - lowest bit of dio bits is set to 1 whenever any of desired blobs is found
- Requires
- Configuration requests
- 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