CMUcam2 Emulation

The CMUcam2 has the following capabilities:

• Track user defined color blobs at up to 50 Frames Per Second (frame rate depends on resolution and window size settings)
• Track motion using frame differencing at 26 Frames Per Second
• Find the centroid of any tracking data
• Gather mean color and variance data
• Gather a 28 bin histogram of each color channel
• Process Horizontally Edge Filtered Images
• Transfer a real-time binary bitmap of the tracked pixels in an image
• Arbitrary image windowing
• Image Down Sampling
• Adjust the camera's image properties
• Dump a raw image (single or multiple channels)
• Up to 176 x 255 Resolution
• Supports baudrates of: 115,200 57,600 38,400 19,200 9,600 4,800 2,400 1,200
• Control 5 servo outputs
• Slave parallel image processing mode off of a single camera bus
• Automatically use servos to do two axis color tracking
• B/W Analog video output (PAL or NTSC, depending on camera module used)
• Flexible output packet customization
• Power Down Mode
• Multiple pass image processing on a buffered image

Pre-compiled CMUcam2 Emulation Images
Compiled Firmware Image (115,200 8N1)
Compiled Firmware Image (57,600 8N1)
Compiled Firmware Image (38,400 8N1)
Compiled Firmware Image (19,200 8N1)
Compiled Firmware Image (9,600 8N1)
Compiled Firmware Image (4,800 8N1)
Compiled Firmware Image (2,400 8N1)
Compiled Firmware Image (1,200 8N1)
Compiled Firmware Image (300 8N1)

Source File (Right click and save)

Compiled Firmware Image (115,200 8N1 Servo Reverse)
Compiled Firmware Image (115,200 8N1 Servo Normal)

There are several differences between the CMUcam2 emulation and the actual CMUcam2. Below is a list of all CMUcam2 functionality with non-supported features crossed off. Many crossed off features will be supported in the near future.

BM Buffer Mode
CR Camera Register
CP Camera Power
DC Difference Channel
DS Down Sample
FD Frame Difference
FS Frame Stream (added r553)
GB Get Button
GH Get Histogram
GI Get Aux IO inputs
GM Get Mean
GS Get Servo Positions
GT Get Tracking Parameters
GV Get Version
GW Get Window
HC Historgram Configure
HD High Resolution Difference
HR Hi-Res Mode
HT Set Histogram Track
L0 Led Control
LF Load Frame to Difference
LM Line Mode
MD Mask Difference
NF Noise Filter
OM Output Packet Mask
PD Pixel Difference
PF Packet Filter
PM Poll Mode
RF Read Frame into Buffer
RM Raw Mode
RS Reset
SF Send Frame
SM Servo Mask
SO Servo Output
SP Servo Parameters
ST Set Track Command
SV Servo Position
TC Track Color
TI Track Inverted
TW Track Window
UD Upload Difference buffer
VW Virtual Window

The following commands will not be supported in the near future:
CT Set Camera Type
DM Delay Mode
L1 Led Control (look at SO instead)
PS Packet Skip
SD Sleep Deeply
SL Sleep Command

CMUcam2 Emulation Differences

• Servo Input Range
  • Servos are now 0-255 8bit values.
• Jumpers
  • Due to the lack of jumpers on the CMUcam3, baudrate and servo direction changes need to be done at compile time. These are controlled by #defines at the top of cmucam.c
• Set Input (SI pin) Command
  • sets the pin to be an input
• Software Color Space (CS value) Command
  • CS 0 sets the color space to the hardware default (RGB or YCrCb)
  • CS 1 does a software conversion to the HSV color space
    • Conversion assumes hardware is set to RGB for correct results
    • HSV space is integer where all values are scaled between 16 and 240
  • Note, this is only available in r504 and higher
• Set Output Can Control the Blue and Orange LEDs
  • Servos 2 and 3 will stop working
  • so 2 1 -> Blue on
  • so 2 0 -> Blue off
  • so 3 1 -> Orange on
  • so 3 0 -> Orange off
• No Slave Mode.
  • It is possible, but we currently don't support it.
• Output Mask (OM)
  • only supports T and S packets (type 0 and 1)
• Line Mode (LM)
  • only supports track color mode (LM 0 1)
  • track color statistics added in r523 (LM 0 2)
• Send JPEG (SJ)
  • sends a jpeg compressed frame, header and all
• Demo Mode
  • Since holding down the programming button puts the CMUcam3 into programming mode, you need to press the button half a second after startup to enter demo mode.
• Hi-Res Frame Difference
  • This now works the same as low-res frame differencing, just at a higher resolution.