Paparazzi UAS  v5.15_devel-109-gee85905
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
video_thread module

Read video devices in a thread.

Manager module which creates a video processing thread for each video device to be used. Only for Linux devices. To be used in other modules for further processing (e.g. opticflow, QR code, streaming). Using 'cv_add_to_device' from cv.h will register a processing function and initialize the video device if necessary. Thread priority can be changed with VIDEO_THREAD_NICE_LEVEL.

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="video_thread">
2  <define name="VIDEO_THREAD_NICE_LEVEL" value="5" />
3 </module>

Module configuration options

Define Options

  • name: VIDEO_THREAD_NICE_LEVEL value: 5
    Description: Nice level for each separate video thread

Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

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

Files

Header Files

The following headers are automatically included in modules.h

Source Files

Raw video_thread.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="video_thread" dir="computer_vision">
<doc>
<description>
Read video devices in a thread.
Manager module which creates a video processing thread for each video device to be used. Only for Linux devices.
To be used in other modules for further processing (e.g. opticflow, QR code, streaming). Using 'cv_add_to_device'
from cv.h will register a processing function and initialize the video device if necessary. Thread priority can
be changed with VIDEO_THREAD_NICE_LEVEL.
</description>
<define name="VIDEO_THREAD_NICE_LEVEL" value="5" description="Nice level for each separate video thread"/>
</doc>
<header>
<file name="video_thread.h"/>
</header>
<init fun="video_thread_init()"/>
<periodic fun="video_thread_periodic()" freq="1" start="video_thread_start()" stop="video_thread_stop()" autorun="TRUE"/>
<makefile target="ap">
<file name="video_thread.c"/>
<file name="cv.c"/>
<!-- Include the needed Computer Vision files -->
<include name="modules/computer_vision"/>
<file name="image.c" dir="modules/computer_vision/lib/vision"/>
<file name="v4l2.c" dir="modules/computer_vision/lib/v4l"/>
<file name="virt2phys.c" dir="modules/computer_vision/lib/v4l"/>
<file name="jpeg.c" dir="modules/computer_vision/lib/encoding"/>
<!-- Random flags -->
<!-- Does this influence the compilation of fast9? -->
<define name="__USE_GNU"/>
<flag name="LDFLAGS" value="lrt"/>
<flag name="LDFLAGS" value="static-libgcc"/>
</makefile>
<makefile target="nps">
<file name="video_thread_nps.c"/>
<file name="cv.c"/>
<include name="modules/computer_vision"/>
<file name="image.c" dir="modules/computer_vision/lib/vision"/>
<file name="jpeg.c" dir="modules/computer_vision/lib/encoding"/>
<flag name="LDFLAGS" value="lpthread"/>
<define name="NPS_SIMULATE_VIDEO" value="1"/>
</makefile>
</module>