Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
detect_gate.c File Reference
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Data Structures

struct  vision_relative_position_struct
 

Macros

#define DETECT_GATE_JUST_FILTER   0
 
#define DETECT_GATE_FPS   0
 Default FPS (zero means run at camera fps) More...
 
#define DETECT_GATE_CAMERA   "front_camera"
 
#define DETECT_GATE_N_SAMPLES   2000
 
#define DETECT_GATE_MIN_N_SIDES   3
 
#define DETECT_GATE_MIN_PIX_SIZE   30
 
#define DETECT_GATE_MIN_GATE_QUALITY   0.15
 
#define DETECT_GATE_GATE_THICKNESS   0.0f
 
#define DETECT_GATE_EXCLUDE_PIXELS_TOP   0
 
#define DETECT_GATE_EXCLUDE_PIXELS_BOTTOM   0
 
#define DETECT_GATE_SIMPLIFIED_PNP   0
 

Functions

static struct image_tdetect_gate_func (struct image_t *img, uint8_t camera_id)
 
void detect_gate_event (void)
 
static void send_detect_gate_visual_position (struct transport_tx *trans, struct link_device *dev)
 
void detect_gate_init (void)
 

Variables

int just_filtering
 
int n_samples
 
int min_n_sides
 
int min_px_size
 
float min_gate_quality
 
float gate_thickness
 
uint8_t color_Ym
 
uint8_t color_YM
 
uint8_t color_Um
 
uint8_t color_UM
 
uint8_t color_Vm
 
uint8_t color_VM
 
int exclude_top
 
int exclude_bottom
 
struct FloatVect3 drone_position
 
struct gate_img best_gate
 
struct gate_img gates_c [MAX_GATES]
 
struct FloatVect3 world_corners [4]
 
float gate_size_m = 1.4
 
float gate_center_height = 0.0
 
int n_corners = 3
 
struct FloatEulers cam_body
 
volatile int detect_gate_has_new_data
 
volatile float detect_gate_x
 
volatile float detect_gate_y
 
volatile float detect_gate_z
 
static pthread_mutex_t gate_detect_mutex
 Mutex lock fo thread safety. More...
 
struct vision_relative_position_struct detectgate_vision_position = {false, 0, 0.0f, 0.0f, 0.0f}
 

Data Structure Documentation

◆ vision_relative_position_struct

struct vision_relative_position_struct

Definition at line 123 of file detect_gate.c.

Data Fields
int cnt
int received
float x
float y
float z

Macro Definition Documentation

◆ DETECT_GATE_CAMERA

#define DETECT_GATE_CAMERA   "front_camera"

Definition at line 38 of file detect_gate.c.

◆ DETECT_GATE_EXCLUDE_PIXELS_BOTTOM

#define DETECT_GATE_EXCLUDE_PIXELS_BOTTOM   0

Definition at line 73 of file detect_gate.c.

◆ DETECT_GATE_EXCLUDE_PIXELS_TOP

#define DETECT_GATE_EXCLUDE_PIXELS_TOP   0

Definition at line 68 of file detect_gate.c.

◆ DETECT_GATE_FPS

#define DETECT_GATE_FPS   0

Default FPS (zero means run at camera fps)

Definition at line 33 of file detect_gate.c.

◆ DETECT_GATE_GATE_THICKNESS

#define DETECT_GATE_GATE_THICKNESS   0.0f

Definition at line 63 of file detect_gate.c.

◆ DETECT_GATE_JUST_FILTER

#define DETECT_GATE_JUST_FILTER   0

Definition at line 28 of file detect_gate.c.

◆ DETECT_GATE_MIN_GATE_QUALITY

#define DETECT_GATE_MIN_GATE_QUALITY   0.15

Definition at line 58 of file detect_gate.c.

◆ DETECT_GATE_MIN_N_SIDES

#define DETECT_GATE_MIN_N_SIDES   3

Definition at line 48 of file detect_gate.c.

◆ DETECT_GATE_MIN_PIX_SIZE

#define DETECT_GATE_MIN_PIX_SIZE   30

Definition at line 53 of file detect_gate.c.

◆ DETECT_GATE_N_SAMPLES

#define DETECT_GATE_N_SAMPLES   2000

Definition at line 43 of file detect_gate.c.

◆ DETECT_GATE_SIMPLIFIED_PNP

#define DETECT_GATE_SIMPLIFIED_PNP   0

Definition at line 78 of file detect_gate.c.

Function Documentation

◆ detect_gate_event()

◆ detect_gate_func()

◆ detect_gate_init()

◆ send_detect_gate_visual_position()

static void send_detect_gate_visual_position ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Variable Documentation

◆ best_gate

struct gate_img best_gate

Definition at line 101 of file detect_gate.c.

Referenced by detect_gate_func(), and snake_gate_detection().

◆ cam_body

struct FloatEulers cam_body

◆ color_Um

uint8_t color_Um

Definition at line 92 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ color_UM

uint8_t color_UM

Definition at line 93 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ color_Vm

uint8_t color_Vm

Definition at line 94 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ color_VM

uint8_t color_VM

Definition at line 95 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ color_Ym

uint8_t color_Ym

Definition at line 90 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ color_YM

uint8_t color_YM

Definition at line 91 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ detect_gate_has_new_data

volatile int detect_gate_has_new_data

Definition at line 115 of file detect_gate.c.

Referenced by detect_gate_event(), detect_gate_func(), and detect_gate_init().

◆ detect_gate_x

volatile float detect_gate_x

Definition at line 116 of file detect_gate.c.

Referenced by detect_gate_event(), detect_gate_func(), and detect_gate_init().

◆ detect_gate_y

volatile float detect_gate_y

Definition at line 117 of file detect_gate.c.

Referenced by detect_gate_event(), detect_gate_func(), and detect_gate_init().

◆ detect_gate_z

volatile float detect_gate_z

Definition at line 118 of file detect_gate.c.

Referenced by detect_gate_event(), detect_gate_func(), and detect_gate_init().

◆ detectgate_vision_position

struct vision_relative_position_struct detectgate_vision_position = {false, 0, 0.0f, 0.0f, 0.0f}

◆ drone_position

struct FloatVect3 drone_position

Definition at line 100 of file detect_gate.c.

Referenced by detect_gate_func().

◆ exclude_bottom

int exclude_bottom

Definition at line 97 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ exclude_top

int exclude_top

Definition at line 96 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ gate_center_height

float gate_center_height = 0.0

Definition at line 108 of file detect_gate.c.

Referenced by detect_gate_init().

◆ gate_detect_mutex

pthread_mutex_t gate_detect_mutex
static

Mutex lock fo thread safety.

Definition at line 120 of file detect_gate.c.

Referenced by detect_gate_event(), detect_gate_func(), and detect_gate_init().

◆ gate_size_m

float gate_size_m = 1.4

Definition at line 107 of file detect_gate.c.

Referenced by detect_gate_func(), and detect_gate_init().

◆ gate_thickness

float gate_thickness

Definition at line 89 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ gates_c

struct gate_img gates_c[MAX_GATES]

Definition at line 103 of file detect_gate.c.

Referenced by detect_gate_func(), and snake_gate_detection().

◆ just_filtering

int just_filtering

Definition at line 84 of file detect_gate.c.

Referenced by detect_gate_func(), and detect_gate_init().

◆ min_gate_quality

float min_gate_quality

Definition at line 88 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ min_n_sides

int min_n_sides

Definition at line 86 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ min_px_size

int min_px_size

Definition at line 87 of file detect_gate.c.

Referenced by detect_gate_func(), detect_gate_init(), and snake_gate_detection().

◆ n_corners

int n_corners = 3

Definition at line 109 of file detect_gate.c.

Referenced by detect_gate_func(), and get_world_position_from_image_points().

◆ n_samples

◆ world_corners

struct FloatVect3 world_corners[4]