Paparazzi UAS
v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.

Go to the source code of this file.
Data Structures  
struct  kernel_C1 
Functions  
void  wedgebug_init (void) 
void  wedgebug_periodic (void) 
void  post_disparity_crop_rect (struct crop_t *_img_cropped_info, struct img_size_t *_original_img_dims, const int disp_n, const int block_size) 
void  set_state (uint8_t _state, uint8_t change_allowed) 
void  kernel_create (struct kernel_C1 *kernel, uint16_t width, uint16_t height, enum image_type type) 
void  kernel_free (struct kernel_C1 *kernel) 
uint8_t  getMedian (uint8_t *a, uint32_t n) 
Variables  
int  N_disparities 
Variable that saves previous mode to control the drone, for some memory. More...  
int  block_size_disparities 
Number of disparity levels (0this number) More...  
int  min_disparity 
Block size used for the block matching (SBM) function. More...  
int  max_disparity 
uint16_t  K_median_h 
Width of kernel for the median kernel. More...  
uint16_t  K_median_w 
SE size for the Sobel operation, to detect edges. More...  
int  SE_opening_OCV 
int  SE_closing_OCV 
SE size for the opening operation. More...  
int  SE_dilation_OCV_1 
SE size for the closing operation. More...  
int  SE_dilation_OCV_2 
SE size for the first dilation operation. More...  
int  SE_erosion_OCV 
SE size for the second dilation operation (see state 3 "WEDGEBUG_START" and state 6 "POSITION_EDGE" ) More...  
uint16_t  threshold_median_depth 
Below this distance (in meters) it is considered that the robot has reached the goal, in DIRECT_CONTROL mode. More...  
uint16_t  threshold_depth_of_edges 
Below this median depth (cm), an obstacle is considered to block the way (i.e. the blocking obstacle needs to be close) More...  
int  threshold_edge_magnitude 
Below this depth (cm) edges are eligible for the WedgeBug algorith. More...  
float  threshold_distance_to_goal 
Above this disparity edges are eligible for WedgeBug algorithm (i.e. edges cannot be very far away) More...  
float  threshold_distance_to_angle 
Below this distance (in meters) it is considered that the robot has reached the goal. More...  
int16_t  max_obstacle_confidence 
This is the confidence that no edge was found. More...  
int16_t  max_free_path_confidence 
This is the max confidence that an obstacle was spotted. More...  
int16_t  max_position_confidence 
This is the max confidence that an obstacle was not spotted. More...  
int16_t  max_heading_confidence 
This is the max confidence that a specific position was reached. More...  
int16_t  max_edge_found_micro_confidence 
This is the max confidence that a specific heading was reached. More...  
int16_t  max_edge_found_macro_confidence 
This is the max confidence that edges (microsee above) were found. More...  
int16_t  max_no_edge_found_confidence 
This is the max confidence that edges (macrosee above were found. More...  
int  heat_map_type 
Variable to hold distance from robot to edge to goal (used in EDGE_SCAN (9) state) More...  
uint8_t  save_images_flag 
Set to 1 if control mode of drone is changed, 0 otherwise. More...  
Note.
Definition in file wedgebug.h.
struct kernel_C1 
Definition at line 42 of file wedgebug.h.
Data Fields  

uint32_t  buf_size  Size of values of weight buffer and values buffer. 
void *  buf_values  Kernel value buffer. These are the values underneath the kernel. 
void *  buf_weights  Kernel weight buffer. 
uint16_t  h  Kernel height. 
enum image_type  type  
uint16_t  w 
void kernel_create  (  struct kernel_C1 *  kernel, 
uint16_t  width,  
uint16_t  height,  
enum image_type  type  
) 
void kernel_free  (  struct kernel_C1 *  kernel  ) 
void post_disparity_crop_rect  (  struct crop_t *  _img_cropped_info, 
struct img_size_t *  _original_img_dims,  
const int  disp_n,  
const int  block_size  
) 
void wedgebug_init  (  void  ) 
void wedgebug_periodic  (  void  ) 
int block_size_disparities 
Number of disparity levels (0this number)
Definition at line 256 of file wedgebug.c.
int heat_map_type 
Variable to hold distance from robot to edge to goal (used in EDGE_SCAN (9) state)
Definition at line 266 of file wedgebug.c.
uint16_t K_median_h 
Width of kernel for the median kernel.
Definition at line 113 of file wedgebug.c.
uint16_t K_median_w 
SE size for the Sobel operation, to detect edges.
Definition at line 112 of file wedgebug.c.
int max_disparity 
int16_t max_edge_found_macro_confidence 
This is the max confidence that edges (microsee above) were found.
Definition at line 166 of file wedgebug.c.
int16_t max_edge_found_micro_confidence 
This is the max confidence that a specific heading was reached.
Definition at line 165 of file wedgebug.c.
int16_t max_free_path_confidence 
This is the max confidence that an obstacle was spotted.
Definition at line 162 of file wedgebug.c.
int16_t max_heading_confidence 
This is the max confidence that a specific position was reached.
Definition at line 164 of file wedgebug.c.
int16_t max_no_edge_found_confidence 
This is the max confidence that edges (macrosee above were found.
Definition at line 167 of file wedgebug.c.
int16_t max_obstacle_confidence 
This is the confidence that no edge was found.
Definition at line 161 of file wedgebug.c.
int16_t max_position_confidence 
This is the max confidence that an obstacle was not spotted.
Definition at line 163 of file wedgebug.c.
int min_disparity 
Block size used for the block matching (SBM) function.
Definition at line 257 of file wedgebug.c.
Referenced by CN_escape_velocity(), CN_potential_heading(), CN_potential_velocity(), CN_vector_escape_velocity(), and CN_vector_velocity().
int N_disparities 
Variable that saves previous mode to control the drone, for some memory.
Definition at line 255 of file wedgebug.c.
uint8_t save_images_flag 
Set to 1 if control mode of drone is changed, 0 otherwise.
Definition at line 180 of file wedgebug.c.
int SE_closing_OCV 
SE size for the opening operation.
Definition at line 107 of file wedgebug.c.
int SE_dilation_OCV_1 
SE size for the closing operation.
Definition at line 108 of file wedgebug.c.
int SE_dilation_OCV_2 
SE size for the first dilation operation.
Definition at line 109 of file wedgebug.c.
int SE_erosion_OCV 
SE size for the second dilation operation (see state 3 "WEDGEBUG_START" and state 6 "POSITION_EDGE" )
Definition at line 110 of file wedgebug.c.
int SE_opening_OCV 
Definition at line 106 of file wedgebug.c.
uint16_t threshold_depth_of_edges 
Below this median depth (cm), an obstacle is considered to block the way (i.e. the blocking obstacle needs to be close)
Below this median depth (cm), an obstacle is considered to block the way (i.e. the blocking obstacle needs to be close)
Definition at line 150 of file wedgebug.c.
float threshold_distance_to_angle 
Below this distance (in meters) it is considered that the robot has reached the goal.
Definition at line 146 of file wedgebug.c.
float threshold_distance_to_goal 
Above this disparity edges are eligible for WedgeBug algorithm (i.e. edges cannot be very far away)
Definition at line 145 of file wedgebug.c.
int threshold_edge_magnitude 
Below this depth (cm) edges are eligible for the WedgeBug algorith.
Below this depth (cm) edges are eligible for the WedgeBug algorith.
Definition at line 142 of file wedgebug.c.
uint16_t threshold_median_depth 
Below this distance (in meters) it is considered that the robot has reached the goal, in DIRECT_CONTROL mode.
Definition at line 149 of file wedgebug.c.