cv_blob_locator.c File Reference

#include "modules/computer_vision/cv_blob_locator.h"
#include "modules/computer_vision/cv.h"
#include "modules/computer_vision/blob/blob_finder.h"
#include "modules/computer_vision/blob/imavmarker.h"
#include "modules/computer_vision/detect_window.h"
#include "modules/computer_vision/cv_georeference.h"
#include "generated/flight_plan.h"
#include <stdio.h>

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Macros
#define	BLOB_LOCATOR_FPS   0
	Default FPS (zero means run at camera fps) More...
#define	Img(X, Y)   (((uint8_t*)img->buf)[(Y)*img->w*2+(X)*2])

Functions
struct image_t *	cv_marker_func (struct image_t *img, uint8_t camera_id)
struct image_t *	cv_window_func (struct image_t *img, uint8_t camera_id)
struct image_t *	cv_blob_locator_func (struct image_t *img, uint8_t camera_id)
void	cv_blob_locator_init (void)
void	cv_blob_locator_periodic (void)
void	cv_blob_locator_event (void)
void	cv_blob_locator_start (void)
void	cv_blob_locator_stop (void)
void	start_vision (void)
void	start_vision_land (void)
void	stop_vision (void)

Variables
uint8_t	color_lum_min
uint8_t	color_lum_max
uint8_t	color_cb_min
uint8_t	color_cb_max
uint8_t	color_cr_min
uint8_t	color_cr_max
uint8_t	cv_blob_locator_reset
uint8_t	cv_blob_locator_type
int	geofilter_length = 5
int	marker_size = 18
int	record_video = 0
volatile uint32_t	blob_locator = 0
volatile bool	blob_enabled = false
volatile bool	marker_enabled = false
volatile bool	window_enabled = false

Detailed Description

Author

C. De Wagter Find a colored item and track its geo-location and update a waypoint to it

Definition in file cv_blob_locator.c.

Macro Definition Documentation

BLOB_LOCATOR_FPS

#define BLOB_LOCATOR_FPS   0

Default FPS (zero means run at camera fps)

Definition at line 33 of file cv_blob_locator.c.

Img

#define Img	(		X,
			Y
	)		(((uint8_t*)img->buf)[(Y)*img->w*2+(X)*2])

Definition at line 79 of file cv_blob_locator.c.

Function Documentation

cv_blob_locator_event()

void cv_blob_locator_event

(

void

)

Definition at line 264 of file cv_blob_locator.c.

References blob_enabled, blob_locator, cv_blob_locator_type, camera_frame_t::f, FALSE, geofilter_length, georeference_filter(), georeference_project(), camera_frame_t::h, marker_enabled, camera_frame_t::px, camera_frame_t::py, camera_frame_t::w, and window_enabled.

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cv_blob_locator_func()

struct image_t * cv_blob_locator_func	(	struct image_t *	img,
		uint8_t	camera_id
	)

Definition at line 131 of file cv_blob_locator.c.

References blob_enabled, blob_locator, image_t::buf, c(), color_cb_max, color_cb_min, color_cr_max, color_cr_min, color_lum_max, color_lum_min, image_label_t::filter, image_t::h, image_create(), image_free(), IMAGE_GRADIENT, image_labeling(), p, image_label_t::pixel_cnt, image_filter_t::u_max, image_filter_t::u_min, image_filter_t::v_max, image_filter_t::v_min, image_t::w, image_label_t::x_sum, image_filter_t::y_max, image_filter_t::y_min, and image_label_t::y_sum.

Referenced by cv_blob_locator_init().

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cv_blob_locator_init()

void cv_blob_locator_init

(

void

)

Definition at line 230 of file cv_blob_locator.c.

References BLOB_LOCATOR_FPS, color_cb_max, color_cb_min, color_cr_max, color_cr_min, color_lum_max, color_lum_min, cv_add_to_device(), cv_blob_locator_func(), cv_blob_locator_reset, cv_marker_func(), cv_window_func(), and georeference_init().

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cv_blob_locator_periodic()

void cv_blob_locator_periodic

(

void

)

Definition at line 257 of file cv_blob_locator.c.

cv_blob_locator_start()

void cv_blob_locator_start

(

void

)

Definition at line 316 of file cv_blob_locator.c.

References georeference_init().

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cv_blob_locator_stop()

void cv_blob_locator_stop

(

void

)

Definition at line 321 of file cv_blob_locator.c.

cv_marker_func()

struct image_t * cv_marker_func	(	struct image_t *	img,
		uint8_t	camera_id
	)

Definition at line 62 of file cv_blob_locator.c.

References blob_locator, marker(), marker_enabled, marker_size, marker_deviation_t::x, and marker_deviation_t::y.

Referenced by cv_blob_locator_init().

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cv_window_func()

struct image_t * cv_window_func	(	struct image_t *	img,
		uint8_t	camera_id
	)

Definition at line 84 of file cv_blob_locator.c.

References blob_locator, image_t::buf, detect_window_sizes(), image_t::h, image_create(), image_free(), IMAGE_GRAYSCALE, image_to_grayscale(), Img, MODE_BRIGHT, image_t::w, and window_enabled.

Referenced by cv_blob_locator_init().

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start_vision()

void start_vision

(

void

)

Definition at line 326 of file cv_blob_locator.c.

References cv_blob_locator_type, georeference_init(), and record_video.

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start_vision_land()

void start_vision_land

(

void

)

Definition at line 332 of file cv_blob_locator.c.

References cv_blob_locator_type, georeference_init(), and record_video.

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stop_vision()

void stop_vision

(

void

)

Definition at line 338 of file cv_blob_locator.c.

References cv_blob_locator_type, georeference_init(), and record_video.

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Variable Documentation

blob_enabled

volatile bool blob_enabled = false

Definition at line 56 of file cv_blob_locator.c.

Referenced by cv_blob_locator_event(), and cv_blob_locator_func().

blob_locator

volatile uint32_t blob_locator = 0

Definition at line 54 of file cv_blob_locator.c.

Referenced by cv_blob_locator_event(), cv_blob_locator_func(), cv_marker_func(), and cv_window_func().

color_cb_max

uint8_t color_cb_max

Definition at line 42 of file cv_blob_locator.c.

Referenced by cv_blob_locator_func(), and cv_blob_locator_init().

color_cb_min

uint8_t color_cb_min

Definition at line 41 of file cv_blob_locator.c.

Referenced by cv_blob_locator_func(), and cv_blob_locator_init().

color_cr_max

uint8_t color_cr_max

Definition at line 45 of file cv_blob_locator.c.

Referenced by cv_blob_locator_func(), and cv_blob_locator_init().

color_cr_min

uint8_t color_cr_min

Definition at line 44 of file cv_blob_locator.c.

Referenced by cv_blob_locator_func(), and cv_blob_locator_init().

color_lum_max

uint8_t color_lum_max

Definition at line 39 of file cv_blob_locator.c.

Referenced by cv_blob_locator_func(), and cv_blob_locator_init().

color_lum_min

uint8_t color_lum_min

Definition at line 38 of file cv_blob_locator.c.

Referenced by cv_blob_locator_func(), and cv_blob_locator_init().

cv_blob_locator_reset

uint8_t cv_blob_locator_reset

Definition at line 47 of file cv_blob_locator.c.

Referenced by cv_blob_locator_init().

cv_blob_locator_type

uint8_t cv_blob_locator_type

Definition at line 48 of file cv_blob_locator.c.

Referenced by cv_blob_locator_event(), start_vision(), start_vision_land(), and stop_vision().

geofilter_length

int geofilter_length = 5

Definition at line 50 of file cv_blob_locator.c.

Referenced by cv_blob_locator_event().

marker_enabled

volatile bool marker_enabled = false

Definition at line 57 of file cv_blob_locator.c.

Referenced by cv_blob_locator_event(), and cv_marker_func().

marker_size

int marker_size = 18

Definition at line 51 of file cv_blob_locator.c.

Referenced by cv_marker_func().

record_video

int record_video = 0

Definition at line 52 of file cv_blob_locator.c.

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

window_enabled

volatile bool window_enabled = false

Definition at line 58 of file cv_blob_locator.c.

Referenced by cv_blob_locator_event(), and cv_window_func().