Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
cv_georeference.c File Reference
#include "modules/computer_vision/cv_georeference.h"
#include "math/pprz_trig_int.h"
#include "math/pprz_algebra.h"
#include "math/pprz_algebra_int.h"
#include "state.h"
#include "generated/flight_plan.h"
#include "modules/datalink/downlink.h"
+ Include dependency graph for cv_georeference.c:

Go to the source code of this file.

Data Structures

struct  georeference_filter_t
struct  georeference_t


void georeference_project (struct camera_frame_t *tar, int wp)
void georeference_filter (bool kalman, int wp, int length)
void georeference_run (void)
void georeference_init (void)


struct georeference_t geo
int32_t focus_length

Detailed Description

C. De Wagter Geo-reference computer vision detections

Definition in file cv_georeference.c.

Data Structure Documentation

◆ georeference_filter_t

struct georeference_filter_t

Definition at line 36 of file cv_georeference.c.

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Data Fields
int32_t P Covariance/Average-count.
struct Int32Vect3 v Target Velocity.
struct Int32Vect3 x Target.

◆ georeference_t

struct georeference_t

Definition at line 42 of file cv_georeference.c.

+ Collaboration diagram for georeference_t:
Data Fields
struct georeference_filter_t filter Filter waypoint location.
struct Int32Vect3 target_i Target in pixels, with z being the focal length in pixels, x=up,y=right,out.
struct Int32Vect3 target_l Target in meters, relative to the drone in LTP frame.
struct Int32Vect3 x_t Target coordinates NED.

Function Documentation

◆ georeference_filter()

void georeference_filter ( bool  kalman,
int  wp,
int  length 

◆ georeference_init()

void georeference_init ( void  )

Definition at line 180 of file cv_georeference.c.

Referenced by cv_blob_locator_init(), cv_blob_locator_start(), start_vision(), start_vision_land(), and stop_vision().

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◆ georeference_project()

◆ georeference_run()

void georeference_run ( void  )

Definition at line 155 of file cv_georeference.c.

References FALSE, focus_length, georeference_filter(), georeference_project(), and target.

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Variable Documentation

◆ focus_length

int32_t focus_length

Definition at line 153 of file cv_georeference.c.

Referenced by georeference_run().

◆ geo

struct georeference_t geo

Definition at line 1 of file cv_georeference.c.

Referenced by georeference_filter(), and georeference_project().