cv_detect_color_object module

Color Object Detector

Detects an object by a continuous color. Optionally draws on image.

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_detect_color_object">
  b'<define name="COLOR_OBJECT_DETECTOR_CAMERA1" value="front_camera|bottom_camera" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_FPS1" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_LUM_MIN1" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_LUM_MAX1" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_CB_MIN1" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_CB_MAX1" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_CR_MIN1" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_CR_MAX1" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_DRAW1" value="FALSE|TRUE" />\n\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_CAMERA2" value="front_camera|bottom_camera" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_FPS2" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_LUM_MIN2" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_LUM_MAX2" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_CB_MIN2" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_CB_MAX2" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_CR_MIN2" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_CR_MAX2" value="0" />\n    '
  b'<define name="COLOR_OBJECT_DETECTOR_DRAW2" value="FALSE|TRUE" />\n  '
</module>

Module configuration options

Define Options

• name: COLOR_OBJECT_DETECTOR_CAMERA1 value: front_camera|bottom_camera
  Description: Video device to use
• name: COLOR_OBJECT_DETECTOR_FPS1 value: 0
  Description: Desired FPS (0: camera rate)
• name: COLOR_OBJECT_DETECTOR_LUM_MIN1 value: 0
  Description: Filter 1 min luminance
• name: COLOR_OBJECT_DETECTOR_LUM_MAX1 value: 0
  Description: Filter 1 max luminance
• name: COLOR_OBJECT_DETECTOR_CB_MIN1 value: 0
  Description: Filter 1 min blue chroma
• name: COLOR_OBJECT_DETECTOR_CB_MAX1 value: 0
  Description: Filter 1 max blue chroma
• name: COLOR_OBJECT_DETECTOR_CR_MIN1 value: 0
  Description: Filter 1 min red chroma
• name: COLOR_OBJECT_DETECTOR_CR_MAX1 value: 0
  Description: Filter 1 max red chroma
• name: COLOR_OBJECT_DETECTOR_DRAW1 value: FALSE|TRUE
  Description: Whether or not to draw on image
• name: COLOR_OBJECT_DETECTOR_CAMERA2 value: front_camera|bottom_camera
  Description: Video device to use
• name: COLOR_OBJECT_DETECTOR_FPS2 value: 0
  Description: Desired FPS (0: camera rate)
• name: COLOR_OBJECT_DETECTOR_LUM_MIN2 value: 0
  Description: Filter 1 min luminance
• name: COLOR_OBJECT_DETECTOR_LUM_MAX2 value: 0
  Description: Filter 2 max luminance
• name: COLOR_OBJECT_DETECTOR_CB_MIN2 value: 0
  Description: Filter 2 min blue chroma
• name: COLOR_OBJECT_DETECTOR_CB_MAX2 value: 0
  Description: Filter 2 max blue chroma
• name: COLOR_OBJECT_DETECTOR_CR_MIN2 value: 0
  Description: Filter 2 min red chroma
• name: COLOR_OBJECT_DETECTOR_CR_MAX2 value: 0
  Description: Filter 2 max red chroma
• name: COLOR_OBJECT_DETECTOR_DRAW2 value: FALSE|TRUE
  Description: Whether or not to draw on image

Module functions

Init Functions

These initialization functions are called once on startup.

• color_object_detector_init()

Periodic Functions

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

• color_object_detector_periodic()
  • Frequency in Hz: 50
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• cv_detect_color_object.h

Source Files

• modules/computer_vision/cv_detect_color_object.c

Raw cv_detect_color_object.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="cv_detect_color_object" dir="computer_vision">
  <doc>
    <description>Color Object Detector
    Detects an object by a continuous color. Optionally draws on image.
    
    </description>
    <define name="COLOR_OBJECT_DETECTOR_CAMERA1" value="front_camera|bottom_camera" description="Video device to use"/>
    <define name="COLOR_OBJECT_DETECTOR_FPS1" value="0" description="Desired FPS (0: camera rate)"/>
    <define name="COLOR_OBJECT_DETECTOR_LUM_MIN1" value="0" description="Filter 1 min luminance"/>
    <define name="COLOR_OBJECT_DETECTOR_LUM_MAX1" value="0" description="Filter 1 max luminance"/>
    <define name="COLOR_OBJECT_DETECTOR_CB_MIN1" value="0" description="Filter 1 min blue chroma"/>
    <define name="COLOR_OBJECT_DETECTOR_CB_MAX1" value="0" description="Filter 1 max blue chroma"/>
    <define name="COLOR_OBJECT_DETECTOR_CR_MIN1" value="0" description="Filter 1 min red chroma"/>
    <define name="COLOR_OBJECT_DETECTOR_CR_MAX1" value="0" description="Filter 1 max red chroma"/>
    <define name="COLOR_OBJECT_DETECTOR_DRAW1" value="FALSE|TRUE" description="Whether or not to draw on image"/>
 
    <define name="COLOR_OBJECT_DETECTOR_CAMERA2" value="front_camera|bottom_camera" description="Video device to use"/>
    <define name="COLOR_OBJECT_DETECTOR_FPS2" value="0" description="Desired FPS (0: camera rate)"/>
    <define name="COLOR_OBJECT_DETECTOR_LUM_MIN2" value="0" description="Filter 1 min luminance"/>
    <define name="COLOR_OBJECT_DETECTOR_LUM_MAX2" value="0" description="Filter 2 max luminance"/>
    <define name="COLOR_OBJECT_DETECTOR_CB_MIN2" value="0" description="Filter 2 min blue chroma"/>
    <define name="COLOR_OBJECT_DETECTOR_CB_MAX2" value="0" description="Filter 2 max blue chroma"/>
    <define name="COLOR_OBJECT_DETECTOR_CR_MIN2" value="0" description="Filter 2 min red chroma"/>
    <define name="COLOR_OBJECT_DETECTOR_CR_MAX2" value="0" description="Filter 2 max red chroma"/>
    <define name="COLOR_OBJECT_DETECTOR_DRAW2" value="FALSE|TRUE" description="Whether or not to draw on image"/>
  </doc>
 
  <settings>
    <dl_settings>
      <dl_settings name="ColorObjectDetector">
         <dl_setting var="cod_lum_min1" min="0" step="1" max="255" shortname="y_min1"/>
         <dl_setting var="cod_lum_max1" min="0" step="1" max="255" shortname="y_max1"/>
         <dl_setting var="cod_cb_min1"   min="0" step="1" max="255" shortname="u_min1"/>
         <dl_setting var="cod_cb_max1"   min="0" step="1" max="255" shortname="u_max1"/>
         <dl_setting var="cod_cr_min1"   min="0" step="1" max="255" shortname="v_min1"/>
         <dl_setting var="cod_cr_max1"   min="0" step="1" max="255" shortname="v_max1"/>
         <dl_setting var="cod_draw1"  min="0" step="1" max="1" values="False|True" shortname="draw 1" />
         <dl_setting var="cod_lum_min2" min="0" step="1" max="255" shortname="y_min2"/>
         <dl_setting var="cod_lum_max2" min="0" step="1" max="255" shortname="y_max2"/>
         <dl_setting var="cod_cb_min2"   min="0" step="1" max="255" shortname="u_min2"/>
         <dl_setting var="cod_cb_max2"   min="0" step="1" max="255" shortname="u_max2"/>
         <dl_setting var="cod_cr_min2"   min="0" step="1" max="255" shortname="v_min2"/>
         <dl_setting var="cod_cr_max2"   min="0" step="1" max="255" shortname="v_max2"/>
         <dl_setting var="cod_draw2"  min="0" step="1" max="1" values="False|True" shortname="draw 2" />
      </dl_settings>
    </dl_settings>
  </settings>
 
  <dep>
    <depends>video_thread</depends>
  </dep>
 
  <header>
    <file name="cv_detect_color_object.h"/>
  </header>
 
  <init fun="color_object_detector_init()"/>
  <periodic fun="color_object_detector_periodic()" freq="50"/>
  <makefile target="ap|nps">
    <file name="cv_detect_color_object.c"/>
  </makefile>
</module>