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Camera Control Loop & Base Station

This document provides a comprehensive overview of the operational framework for Pan/Tilt/Zoom (PTZ) camera systems deployed in various base stations using Linux and C++. It addresses the architecture of node networks, RF communications, and serial data management. It includes the software functionalities for camera control, position estimation of pursuers and evaders, as well as experimental setups utilizing k-means clustering for node grouping. Key configurations and debugging processes are also highlighted to ensure effective integration and data handling within the monitoring system.

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Camera Control Loop & Base Station

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  1. Camera Control Loop & Base Station Shawn Schaffert

  2. System Overview Node network RF serial Base Station (Linux & C++) Pan/Tilt/Zoom Camera serial

  3. Base Station Software Overview TOS packet Mote Position Mote Packet serial Estimate Pursuer & Evader Position Predict Evader Position Base Station Base Station Camera Camera packet Camera Interface serial

  4. Estimating Position • Loudest Node • Center of mass • Grouping (Experimental) • k-means • ??

  5. max_x_inches max_y_inches max_x_discrete max_y_discrete number_motes_x number_motes_y camera_base_x_inches camera_base_y_inches camera_base_z_inches camera_base_height_inches camera_descent_angle_degrees camera_zoom_factor mote_proxy_server_ip mote_proxy_server_port_number camera_device mote_device connect_to_mote_proxy base_station_camera_debug base_station_debug mote_proxy_debug max_number_sensor_readings mote_group_id am_handler log_data log_file_name read_data_from_file input_file_name Base Station Configuration File

  6. Alternative System Overview(ping pong table light tracking) Node network Pan/Tilt/Zoom Camera RF serial serial Base Station 2 (Linux & C++) (UGV) Base Station 1 (Windows & Matlab) Serial or RF

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