cv_blob_locator module

Find a colored item and track its geo-location and update a waypoint to it

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="cv_blob_locator">
  b'<define name="BLOB_LOCATOR_CAMERA" value="front_camera|bottom_camera" />\n    '
  b'<define name="BLOB_LOCATOR_FPS" value="0" />\n  '
</module>

Module configuration options

Define Options

• name: BLOB_LOCATOR_CAMERA value: front_camera|bottom_camera
  Description: Video device to use
• name: BLOB_LOCATOR_FPS value: 0
  Description: The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate

Module functions

Init Functions

These initialization functions are called once on startup.

• cv_blob_locator_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• cv_blob_locator_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• cv_blob_locator_periodic()
  • Frequency in Hz: 30
  • Autorun: TRUE
    Periodic function automatically starts after init.
  • Start function: cv_blob_locator_start()
    Executed before the periodic function starts.
  • Stop function: cv_blob_locator_stop()
    Executed after the periodic function stops.

Files

Header Files

The following headers are automatically included in modules.h

• cv_blob_locator.h

Source Files

• modules/computer_vision/cv_blob_locator.c
• modules/computer_vision/blob/imavmarker.c
• modules/computer_vision/blob/blob_finder.c
• modules/computer_vision/detect_window.c
• modules/computer_vision/cv_georeference.c

Raw cv_blob_locator.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="cv_blob_locator" dir="computer_vision">
  <doc>
    <description>Find a colored item and track its geo-location and update a waypoint to it</description>
 
    <define name="BLOB_LOCATOR_CAMERA" value="front_camera|bottom_camera" description="Video device to use"/>
    <define name="BLOB_LOCATOR_FPS" value="0" description="The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate"/>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="ColorFilter">
        <dl_setting var="color_lum_min" min="0" step="1" max="255" shortname="y_min" />
        <dl_setting var="color_lum_max" min="0" step="1" max="255" shortname="y_max" />
        <dl_setting var="color_cb_min"  min="0" step="1" max="255" shortname="u_min" />
        <dl_setting var="color_cb_max"  min="0" step="1" max="255" shortname="u_max" />
        <dl_setting var="color_cr_min"  min="0" step="1" max="255" shortname="v_min" />
        <dl_setting var="color_cr_max"  min="0" step="1" max="255" shortname="v_max" />
        <dl_setting var="marker_size"  min="1" step="1" max="20" shortname="marker" />
        <dl_setting var="geofilter_length"  min="1" step="1" max="100" shortname="filter" />
        <dl_setting var="record_video"  min="0" step="1" max="1" shortname="record"  values="OFF|ON" />
        <dl_setting var="cv_blob_locator_reset" max="1" min="0" step="1" module="computer_vision/cv_blob_locator"  handler="GeoReset">
          <strip_button name="Reset Geoprojection Filter" value="1" icon="resurrect.png" group="cv"/>
        </dl_setting>
        <dl_setting var="cv_blob_locator_type" min="0" step="1" max="2" module="computer_vision/cv_blob_locator" values="NONE|BLOB|IMAVMARKER|WINDOW">
          <strip_button name="CV: None" icon="off.png" value="0" group="cv"/>
          <strip_button name="CV: Colored Blob" icon="cv_blob.png" value="1" group="cv"/>
          <strip_button name="CV: Marker" icon="cv_marker.png" value="2" group="cv"/>
          <strip_button name="CV: Window Finder" icon="cv_window.png" value="3" group="cv"/>
        </dl_setting>
      </dl_settings>
    </dl_settings>
  </settings>
 
  <dep>
    <depends>video_thread</depends>
  </dep>
 
  <header>
    <file name="cv_blob_locator.h"/>
  </header>
  <init fun="cv_blob_locator_init()"/>
  <periodic fun="cv_blob_locator_periodic()" freq="30" start="cv_blob_locator_start()" stop="cv_blob_locator_stop()" autorun="TRUE"/>
  <event fun="cv_blob_locator_event()"/>
  <makefile target="ap">
    <file name="cv_blob_locator.c"/>
    <file name="imavmarker.c" dir="modules/computer_vision/blob" />
    <file name="blob_finder.c" dir="modules/computer_vision/blob" />
    <file name="detect_window.c" dir="modules/computer_vision/" />
    <file name="cv_georeference.c" dir="modules/computer_vision/" />
  </makefile>
</module>