[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

20 A. Babiarz et al.
patrol point in the actual camera position and then reading the information of the
elements values responsible for the camera position. Information this is returned
in two ways: in text form and in the vector form of the figure values. Alternatively
an inertial measurement unit could be used [4].
The description of input/output signals:
The module of obtaining information about the patrol point of the camera
works only in the module of reading/obtaining information about the increment
for individual position of the PTZ head:
• The camera IP address control (“remote ip address”) in optional input no.1 is a
required parameter for realization of the task connected with the record/reading
of the image stream transmission parameters; this value is defined as a chain of
signs (text) of a structure commonly used in IP address definition : [A.B.C.D –
where A, B, C parameters and D are the values of the 0 – 255 set, for e.g.
168.254.0.99]
• A control of the name of the patrol point (“bstrPosition”) describes the label
which the patrol point is going to be written under: the value of this control is
defined as a chain of signs (text)unique in relation to other patrol points defined
in the camera as the patrol rout out automatic work mode;
• The array/vector control (“ptz_poz”) is a vector of Tyree numbers defining
Reading of the increment values for given configuration of the variable Pan,
Tilt and Zoom positions;
• Testing control (“string”) contains information about the increments value
returned in “ptz_poz” vector in text format (chain of signs);
3 Examples of Use of Control Modules
3.1 Reconstruction of the Feedback Information on the Position
of the Camera
One of the most import ant information that are required in the process of control
realization, especially camera control, is the knowledge about the current state
(e.g. the position)of the controlled object. In case of presented modules and their
use for controlling PTZ cameras, this information can be understood as value
vector (signals) defining the camera head position in relation to its base. Presented
on fig.1 sample cameras are the finished solutions, in which the information about
the actual position of the camera’ s head was not revealed. Those cameras, from
the point of their usage in monitoring, so to say, work on open-track control. In
reality, the control configurations which are the construction of those camera and
which complete the controlling of the camera’s movement, use the information
about the actual location of particular rotation units (in case of a rotation around
the Pan and Tilt axes) and the virtual image unit of the relocation of the realized
by the optical change in the image zoom (zoom). Below, a an exemplary
realization of a task of feedback information acquisition, this mean the rotate