wedgebug module

An integration of the WegdeBug algorithm (Laubach 1999) for path finding, for drones with stereo vision.

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!

<module name="wedgebug">
  b'<define name="WEDGEBUG_CAMERA_RIGHT" value="front_camera|bottom_camera" />\n    '
  b'<define name="WEDGEBUG_CAMERA_LEFT" value="front_camera|bottom_camera" />\n\n  '
</module>

Module configuration options

Define Options

• name: WEDGEBUG_CAMERA_RIGHT value: front_camera|bottom_camera
  Description: Video device to use
• name: WEDGEBUG_CAMERA_LEFT value: front_camera|bottom_camera
  Description: Video device to use

Module functions

Init Functions

These initialization functions are called once on startup.

• wedgebug_init()

Periodic Functions

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

• wedgebug_periodic()
  • Frequency in Hz: 7
  • 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

• wedgebug.h

Source Files

• modules/wedgebug/wedgebug.c
• modules/wedgebug/wedgebug_opencv.cpp

Raw wedgebug.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="wedgebug" dir="wedgebug">
  <doc>
    <description> An integration of the WegdeBug algorithm (Laubach 1999) for path finding, for drones with stereo vision. </description>
    <define name="WEDGEBUG_CAMERA_RIGHT" value="front_camera|bottom_camera" description="Video device to use"/>
    <define name="WEDGEBUG_CAMERA_LEFT" value="front_camera|bottom_camera" description="Video device to use"/>
 
  </doc>
  <settings>
    <dl_settings>
      <dl_settings name="W-Disparity">
       
        <dl_setting var="SE_opening_OCV" min="5" step="1" max = "401" shortname="SE_op"/>
        <dl_setting var="SE_closing_OCV" min="5" step="1" max = "401" shortname="SE_clo"/>
        <dl_setting var="SE_dilation_OCV_1" min="5" step="1" max = "401" shortname="SE_dil_1"/>
        <dl_setting var="SE_dilation_OCV_2" min="5" step="1" max = "101" shortname="SE_dil_2"/>
        <dl_setting var="SE_erosion_OCV" min="5" step="1" max = "101" shortname="SE_ero"/>
        
        <dl_setting var="K_median_w" min="1" step="1" max = "321" shortname="K_med_w"/>
        <dl_setting var="K_median_h" min="1" step="1" max = "321" shortname="K_med_h"/>
        <dl_setting var="threshold_median_depth" min="0" step="1" max = "10000" shortname="thr_obs_depth"/>
        <dl_setting var="threshold_depth_of_edges" min="0" step="1" max = "10000" shortname="thr_edge_depth"/>
        <dl_setting var="threshold_edge_magnitude" min="0" step="50" max = "50000" shortname="thr_edge_mag"/>
        <dl_setting var="threshold_distance_to_goal" min="0.00" step="0.05" max = "1.00" shortname="thr_goal_dist"/>
        <dl_setting var="threshold_distance_to_angle" min="0.0" step="0.1" max = "3.1" shortname="thr_angle_dist"/>
        
    <dl_setting var="max_obstacle_confidence" min="0" step="1" max = "50" shortname="conf_obs"/>
    <dl_setting var="max_free_path_confidence " min="0" step="1" max = "50" shortname="conf_free"/>
    <dl_setting var="max_position_confidence" min="0" step="1" max = "50" shortname="conf_pos"/>
    <dl_setting var="max_heading_confidence" min="0" step="1" max = "50" shortname="conf_head"/>
    <dl_setting var="max_edge_found_micro_confidence" min="0" step="1" max = "50" shortname="conf_edge_mi"/>
    <dl_setting var="max_edge_found_macro_confidence" min="0" step="1" max = "50" shortname="conf_edge_mac"/>
    <dl_setting var="max_no_edge_found_confidence" min="0" step="1" max = "50" shortname="conf_no_edge"/>
        
        
        <dl_setting var="heat_map_type" min="0" step="1" max = "11" shortname="heatmap"/>
        
        <dl_setting var="save_images_flag" min="0" step="1" max="1" shortname="Save Images">
          <strip_button name="Start image capture" icon="dcstart.png" value="1" group="cv"/>
          <strip_button name="Stop image capture" icon="dcstop.png" value="0" group="cv"/>
        </dl_setting>
        
        
      </dl_settings>
 
    </dl_settings>
  </settings>
  <header>
    <file name="wedgebug.h"/>
  </header>
  <init fun="wedgebug_init()"/>
  <periodic fun="wedgebug_periodic()" freq="7"/> <!-- originally 4 -->
  <makefile target="ap|nps">
    <file name="wedgebug.c"/>
    <file name="wedgebug_opencv.cpp"/>
    
    <flag name="CXXFLAGS" value="I$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install_pc/include"/> <!-- needed to include headers -->
    
    <flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_pc/lib"/>
    <flag name="LDFLAGS" value="lopencv_world"/>
    <flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_pc/share/OpenCV/3rdparty/lib"/>
    <flag name="LDFLAGS" value="llibprotobuf"/>
    <flag name="LDFLAGS" value="lquirc"/>
    <flag name="LDFLAGS" value="L/usr/lib/x86_64-linux-gnu"/>
    <flag name="LDFLAGS" value="ljpeg"/>
    <flag name="LDFLAGS" value="lpng"/>
    <flag name="LDFLAGS" value="ltiff"/>
    <flag name="LDFLAGS" value="L/usr/lib/x86_64-linux-gnu/hdf5/serial"/>
    <flag name="LDFLAGS" value="lhdf5"/>
    <flag name="LDFLAGS" value="lpthread"/>
    <flag name="LDFLAGS" value="lsz"/>
    <flag name="LDFLAGS" value="lz"/>
    <flag name="LDFLAGS" value="ldl"/>
    <flag name="LDFLAGS" value="lm"/>
    <flag name="LDFLAGS" value="lfreetype"/>
    <flag name="LDFLAGS" value="lharfbuzz"/>
    <flag name="LDFLAGS" value="lrt"/>
  </makefile>
</module>