Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
cv_textons module

Represent the appearance (texture, color) of an image by means of a texton histogram.

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="cv_textons"/>

Module configuration options

Airframe file section

  • section name: TEXTONS prefix: TEXTONS_
    • name FPS value: 0
      Description: The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate
    • name CAMERA value: bottom_camera|front_camera
      Description: The V4L2 camera device that is used for the calculations
    • name RUN value: YES
      Description: Whether the texton function is running (YES) or not (NO).
    • name LOAD_DICTIONARY value: YES
      Description: Whether a dictionary is loaded (YES) or learned (NO).
    • name REINITIALIZE_DICTIONARY value: NO
      Description: If set to YES, the dictionary will be reinitialized with the current image.
    • name N_TEXTONS value: 10
      Description: The number of textons (words) in the dictionary.
    • name PATCH_SIZE value: 6
      Description: Size of the image patches extracted from the image - even numbers.
    • name FULL_SAMPLING value: NO
      Description: If YES, the entire image is covered with samples, if NO sub-sampling is used (faster).
    • name DICTIONARY_NUMBER value: 0
      Description: Number of the dictionary (so that different environments can each have their specific dictionary).
    • name N_SAMPLES value: 50
      Description: Number of samples extracted form the image when not doing full sampling.
    • name N_LEARNING_SAMPLES value: 5000
      Description: Number of samples used for learning the dictionary.
    • name ALPHA value: 10
      Description: Learning rate when creating the dictionary: 0 = no learning, 255 = the texton becomes equal to the new patch.
    • name BORDER_WIDTH value: 0
      Description: Width of the image border from which no samples are taken.
    • name BORDER_HEIGHT value: 0
      Description: Height of the border from which no samples are taken.
    • name DICTIONARY_PATH value: /data/ftp/internal_000
      Description: Path to which the textons dictionary is saved.

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_textons.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="cv_textons" dir="computer_vision">
<doc>
<description>Represent the appearance (texture, color) of an image by means of a texton histogram.</description>
<section name="TEXTONS" prefix="TEXTONS_">
<define name="FPS" value="0" description="The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate"/>
<define name="CAMERA" value="bottom_camera|front_camera" description="The V4L2 camera device that is used for the calculations"/>
<define name="RUN" value="YES" description="Whether the texton function is running (YES) or not (NO)."/>
<define name="LOAD_DICTIONARY" value="YES" description="Whether a dictionary is loaded (YES) or learned (NO)."/>
<define name="REINITIALIZE_DICTIONARY" value="NO" description="If set to YES, the dictionary will be reinitialized with the current image."/>
<define name="N_TEXTONS" value="10" description="The number of textons (words) in the dictionary."/>
<define name="PATCH_SIZE" value="6" description="Size of the image patches extracted from the image - even numbers."/>
<define name="FULL_SAMPLING" value="NO" description="If YES, the entire image is covered with samples, if NO sub-sampling is used (faster)."/>
<define name="DICTIONARY_NUMBER" value="0" description="Number of the dictionary (so that different environments can each have their specific dictionary)."/>
<define name="N_SAMPLES" value="50" description="Number of samples extracted form the image when not doing full sampling."/>
<define name="N_LEARNING_SAMPLES" value="5000" description="Number of samples used for learning the dictionary."/>
<define name="ALPHA" value="10" description="Learning rate when creating the dictionary: 0 = no learning, 255 = the texton becomes equal to the new patch."/>
<define name="BORDER_WIDTH" value="0" description="Width of the image border from which no samples are taken."/>
<define name="BORDER_HEIGHT" value="0" description="Height of the border from which no samples are taken."/>
<define name="DICTIONARY_PATH" value="/data/ftp/internal_000" description="Path to which the textons dictionary is saved."/>
</section>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="Textons">
<dl_setting var="running" min="0" step="1" max="1" module="computer_vision/textons" shortname="running" values="NO|YES" param="TEXTONS_RUN"/>
<dl_setting var="load_dictionary" min="0" step="1" max="1" module="computer_vision/textons" shortname="load dict." values="NO|YES" param="TEXTONS_LOAD_DICTIONARY"/>
<dl_setting var="reinitialize_dictionary" min="0" step="1" max="1" module="computer_vision/textons" shortname="reinit dict." values="NO|YES" param="TEXTONS_REINITIALIZE_DICTIONARY"/>
<dl_setting var="n_textons" min="1" step="1" max="255" shortname="n_textons" param="TEXTONS_N_TEXTONS"/>
<dl_setting var="patch_size" min="2" step="2" max="40" shortname="p_size" param="TEXTONS_PATCH_SIZE" />
<dl_setting var="FULL_SAMPLING" min="0" step="1" max="1" shortname="full_sam" values="NO|YES" param="TEXTONS_FULL_SAMPLING" />
<dl_setting var="dictionary_number" min="0" step="1" max="20" shortname="dict_num" param="TEXTONS_DICTIONARY_NUMBER" />
<dl_setting var="n_samples_image" min="0" step="10" max="1000" shortname="n_samples" param="TEXTONS_N_SAMPLES" />
<dl_setting var="n_learning_samples" min="1" step="100" max="250000" shortname="n_l_samples" param="TEXTONS_N_LEARNING_SAMPLES" />
<dl_setting var="alpha_uint" min="0" step="1" max="255" shortname="alpha" param="TEXTONS_ALPHA"/>
<dl_setting var="border_width" min="0" step="1" max="200" shortname="b_w" param="TEXTONS_BORDER_WIDTH"/>
<dl_setting var="border_height" min="0" step="1" max="200" shortname="b_h" param="TEXTONS_BORDER_HEIGHT"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="textons.h"/>
</header>
<init fun="textons_init()"/>
<makefile target="ap|nps">
<file name="textons.c"/>
<file name="image.c" dir="modules/computer_vision/lib/vision"/>
</makefile>
</module>