cv_blob_locator module

Find a colored item and track its geo-location and update a waypoint to it

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Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="video_thread"/>
<module name="cv_blob_locator">
  <define name="BLOB_LOCATOR_CAMERA" value="front_camera|bottom_camera" />
  <define name="BLOB_LOCATOR_FPS" value="0" />
</module>

Module configuration options

Define Options

• name: BLOB_LOCATOR_CAMERA value: front_camera|bottom_camera
  Description: Video device to use
• name: BLOB_LOCATOR_FPS value: 0
  Description: The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate

Dependencies

• video_thread module

Module functions

Init Functions

These initialization functions are called once on startup.

• cv_blob_locator_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• cv_blob_locator_event()

Periodic Functions

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

• cv_blob_locator_periodic()
  • Frequency in Hz: 30
  • Autorun: TRUE
    Periodic function automatically starts after init.
  • Start function: cv_blob_locator_start()
    Executed before the periodic function starts.
  • Stop function: cv_blob_locator_stop()
    Executed after the periodic function stops.

Files

Header Files

The following headers are automatically included in modules.h

• cv_blob_locator.h

Source Files

• modules/computer_vision/cv_blob_locator.c
• modules/computer_vision/blob/imavmarker.c
• modules/computer_vision/blob/blob_finder.c
• modules/computer_vision/detect_window.c
• modules/computer_vision/cv_georeference.c

Raw cv_blob_locator.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="cv_blob_locator" dir="computer_vision">
  <doc>
    <description>Find a colored item and track its geo-location and update a waypoint to it</description>

    <define name="BLOB_LOCATOR_CAMERA" value="front_camera|bottom_camera" description="Video device to use"/>
    <define name="BLOB_LOCATOR_FPS" value="0" description="The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate"/>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="ColorFilter">
        <dl_setting var="color_lum_min" min="0" step="1" max="255" shortname="y_min" />
        <dl_setting var="color_lum_max" min="0" step="1" max="255" shortname="y_max" />
        <dl_setting var="color_cb_min"  min="0" step="1" max="255" shortname="u_min" />
        <dl_setting var="color_cb_max"  min="0" step="1" max="255" shortname="u_max" />
        <dl_setting var="color_cr_min"  min="0" step="1" max="255" shortname="v_min" />
        <dl_setting var="color_cr_max"  min="0" step="1" max="255" shortname="v_max" />
        <dl_setting var="marker_size"  min="1" step="1" max="20" shortname="marker" />
        <dl_setting var="geofilter_length"  min="1" step="1" max="100" shortname="filter" />
        <dl_setting var="record_video"  min="0" step="1" max="1" shortname="record"  values="OFF|ON" />
        <dl_setting var="cv_blob_locator_reset" max="1" min="0" step="1" module="computer_vision/cv_blob_locator"  handler="GeoReset">
          <strip_button name="Reset Geoprojection Filter" value="1" icon="resurrect.png" group="cv"/>
        </dl_setting>
        <dl_setting var="cv_blob_locator_type" min="0" step="1" max="2" module="computer_vision/cv_blob_locator" values="NONE|BLOB|IMAVMARKER|WINDOW">
          <strip_button name="CV: None" icon="off.png" value="0" group="cv"/>
          <strip_button name="CV: Colored Blob" icon="cv_blob.png" value="1" group="cv"/>
          <strip_button name="CV: Marker" icon="cv_marker.png" value="2" group="cv"/>
          <strip_button name="CV: Window Finder" icon="cv_window.png" value="3" group="cv"/>
        </dl_setting>
      </dl_settings>
    </dl_settings>
  </settings>

  <depends>video_thread</depends>

  <header>
    <file name="cv_blob_locator.h"/>
  </header>
  <init fun="cv_blob_locator_init()"/>
  <periodic fun="cv_blob_locator_periodic()" freq="30" start="cv_blob_locator_start()" stop="cv_blob_locator_stop()" autorun="TRUE"/>
  <event fun="cv_blob_locator_event()"/>
  <makefile target="ap">
    <file name="cv_blob_locator.c"/>
    <file name="imavmarker.c" dir="modules/computer_vision/blob" />
    <file name="blob_finder.c" dir="modules/computer_vision/blob" />
    <file name="detect_window.c" dir="modules/computer_vision/" />
    <file name="cv_georeference.c" dir="modules/computer_vision/" />
  </makefile>
</module>