Paparazzi UAS  v5.15_devel-113-g1b57ff1
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cv_detect_contour module

A module that detects the contour of a dronerace obstacle.

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!

1 <module name="cv_detect_contour">
2  <define name="DETECT_CONTOUR_CAMERA" value="front_camera|bottom_camera" />
3  <define name="DETECT_CONTOUR_FPS" value="0" />
4 </module>

Module configuration options

Define Options

  • name: DETECT_CONTOUR_CAMERA value: front_camera|bottom_camera
    Description: Video device to use
  • name: DETECT_CONTOUR_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.

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw cv_detect_contour.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="cv_detect_contour" dir="computer_vision">
<doc>
<description>A module that detects the contour of a dronerace obstacle.
</description>
<define name="DETECT_CONTOUR_CAMERA" value="front_camera|bottom_camera" description="Video device to use"/>
<define name="DETECT_CONTOUR_FPS" value="0" description="The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate"/>
</doc>
<header>
<file name="detect_contour.h"/>
</header>
<init fun="detect_contour_init()"/>
<makefile target="ap">
<file name="detect_contour.c"/>
<file name="opencv_contour.cpp"/>
<file name="opencv_image_functions.cpp"/>
<flag name="CXXFLAGS" value="I$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install/include"/>
<flag name="LDFLAGS" value="L$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install/lib" />
<flag name="LDFLAGS" value="lopencv_imgcodecs" />
<flag name="LDFLAGS" value="lopencv_imgproc" />
<flag name="LDFLAGS" value="lopencv_core" />
<flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install/share/OpenCV/3rdparty/lib" />
<flag name="LDFLAGS" value="lzlib" />
<flag name="LDFLAGS" value="llibpng" />
<flag name="LDFLAGS" value="lstdc++" />
<flag name="LDFLAGS" value="ldl" />
<flag name="LDFLAGS" value="lm" />
<flag name="LDFLAGS" value="lpthread" />
<flag name="LDFLAGS" value="lrt" />
</makefile>
</module>