Find georeferenced position of a target from visual detection.

Targets position are reported using the MARK telemetry message to the ground. It is also possible to update the position of a waypoint based on the latest detection.

Based on the VISUAL_DETECTION ABI message.

Example for airframe file

Add to your firmware section:

Module configuration options

Airframe file section

section name: TARGET_LOC prefix: TARGET_LOC_
- name BODY_TO_CAM_PHI value: 0.
  Description: rotation between camera and body frame (phi angle)
- name BODY_TO_CAM_THETA value: 0.
  Description: rotation between camera and body frame (theta angle)
- name BODY_TO_CAM_PSI value: M_PI_2
  Description: rotation between camera and body frame (psi angle), by default the camera is placed in front and pointing down
- name CAM_POS_X value: 0.
  Description: position of the camera in body frame
- name CAM_POS_Y value: 0.
  Description: position of the camera in body frame
- name CAM_POS_Z value: 0.
  Description: position of the camera in body frame
- name PIXEL_TO_IMAGE_X value: 0.001
  Description: conversion from pixel unit to m in image plane
- name PIXEL_TO_IMAGE_Y value: 0.001
  Description: conversion from pixel unit to m in image plane
- name WP_T1 value: WP_XXXX
  Description: associate waypoint XXXX to target 1 when using direct WP update from latest visual detection
- name WP_T2 value: WP_XXXX
  Description: associate waypoint XXXX to target 2 when using direct WP update from latest visual detection
- name WP_T3 value: WP_XXXX
  Description: associate waypoint XXXX to target 3 when using direct WP update from latest visual detection
- name WP_T1_ID value: 1
  Description: target 1 ID reported by ABI message
- name WP_T2_ID value: 2
  Description: target 2 ID reported by ABI message
- name WP_T3_ID value: 3
  Description: target 3 ID reported by ABI message
- name ID value: ABI_BROADCAST
  Description: select ABI message source
- name JEVOIS_ALT value: FALSE|TRUE
  Description: when used with Jevois smart camera, send current altitude to improve detection of object of known size

Module functions

Init Functions

These initialization functions are called once on startup.

target_localization_init()

Periodic Functions

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

target_localization_report()
- Frequency in Hz: 4.
- Autorun: TRUE
  Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

cv_target_localization.h

Source Files

modules/computer_vision/cv_target_localization.c

Raw cv_target_localization.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="cv_target_localization" dir="computer_vision">
  <doc>
    <description>
      Find georeferenced position of a target from visual detection.
      Targets position are reported using the MARK telemetry message to the ground.
      It is also possible to update the position of a waypoint based on the latest detection.
 
      Based on the VISUAL_DETECTION ABI message.
    </description>
    <section name="TARGET_LOC" prefix="TARGET_LOC_">
      <define name="BODY_TO_CAM_PHI" value="0." description="rotation between camera and body frame (phi angle)"/>
      <define name="BODY_TO_CAM_THETA" value="0." description="rotation between camera and body frame (theta angle)"/>
      <define name="BODY_TO_CAM_PSI" value="M_PI_2" description="rotation between camera and body frame (psi angle), by default the camera is placed in front and pointing down"/>
      <define name="CAM_POS_X" value="0." unit="m" description="position of the camera in body frame"/>
      <define name="CAM_POS_Y" value="0." unit="m" description="position of the camera in body frame"/>
      <define name="CAM_POS_Z" value="0." unit="m" description="position of the camera in body frame"/>
      <define name="PIXEL_TO_IMAGE_X" value="0.001" description="conversion from pixel unit to m in image plane"/>
      <define name="PIXEL_TO_IMAGE_Y" value="0.001" description="conversion from pixel unit to m in image plane"/>
      <define name="WP_T1" value="WP_XXXX" description="associate waypoint XXXX to target 1 when using direct WP update from latest visual detection"/>
      <define name="WP_T2" value="WP_XXXX" description="associate waypoint XXXX to target 2 when using direct WP update from latest visual detection"/>
      <define name="WP_T3" value="WP_XXXX" description="associate waypoint XXXX to target 3 when using direct WP update from latest visual detection"/>
      <define name="WP_T1_ID" value="1" description="target 1 ID reported by ABI message"/>
      <define name="WP_T2_ID" value="2" description="target 2 ID reported by ABI message"/>
      <define name="WP_T3_ID" value="3" description="target 3 ID reported by ABI message"/>
      <define name="ID" value="ABI_BROADCAST" description="select ABI message source"/>
      <define name="JEVOIS_ALT" value="FALSE|TRUE" description="when used with Jevois smart camera, send current altitude to improve detection of object of known size"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="Target Loc">
        <dl_setting MAX="1" MIN="0" STEP="1" VAR="target_localization_update_wp" shortname="update_wp" module="modules/computer_vision/cv_target_localization" values="FALSE|TRUE"/>
        <dl_setting MAX="5" MIN="1" STEP="1" VAR="target_localization_mark" shortname="mark" module="modules/computer_vision/cv_target_localization" handler="report_mark"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="cv_target_localization.h"/>
  </header>
  <init fun="target_localization_init()"/>
  <periodic fun="target_localization_report()" freq="4." autorun="TRUE"/>
  <makefile>
    <file name="cv_target_localization.c"/>
  </makefile>
</module>
 