Paparazzi UAS  v5.15_devel-99-g2ff7410
Paparazzi is a free software Unmanned Aircraft System.
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detect_contour.c
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1 /*
2  * Copyright (C) Roland Meertens and Peng Lu
3  *
4  * This file is part of paparazzi
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
29 
30 #ifndef DETECT_CONTOUR_FPS
31 #define DETECT_CONTOUR_FPS 0
32 #endif
33 PRINT_CONFIG_VAR(DETECT_CONTOUR_FPS)
34 
35 // Function
36 struct image_t *contour_func(struct image_t *img);
37 struct image_t *contour_func(struct image_t *img)
38 {
39 
40  if (img->type == IMAGE_YUV422) {
41  // Call OpenCV (C++ from paparazzi C function)
42  find_contour((char *) img->buf, img->w, img->h);
43  }
44  return img;
45 }
46 
48 {
49  cv_add_to_device(&DETECT_CONTOUR_CAMERA, contour_func, DETECT_CONTOUR_FPS);
50  // in the mavlab, bright
53  //
54  // for cyberzoo: Y:12-95, U:129-161, V:80-165, turn white.
55  //int y1=16; int u1=129; int v1=80; % cyberzoo, dark
56  //int y2=100; int u2=161; int v2=165;
57 }
58 
Definition: image.h:43
struct image_t * contour_func(struct image_t *img)
struct video_listener * cv_add_to_device(struct video_config_t *device, cv_function func, uint16_t fps)
Definition: cv.c:46
#define DETECT_CONTOUR_FPS
Default FPS (zero means run at camera fps)
Detects contours of an obstacle used in the autonomous drone racing.
void detect_contour_init(void)
struct contour_threshold cont_thres
Computer vision framework for onboard processing.
UYVY format (uint16 per pixel)
Definition: image.h:36
void find_contour(char *img, int width, int height)