#include "modules/computer_vision/cv_detect_color_object.h"
#include "modules/computer_vision/cv.h"
#include "subsystems/abi.h"
#include "std.h"
#include <stdio.h>
#include <stdbool.h>
#include <math.h>
#include "pthread.h"

Include dependency graph for cv_detect_color_object.c:

Data Structures
struct	color_object_t

Macros
#define	PRINT(string, ...) fprintf(stderr, "[object_detector->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)

#define	VERBOSE_PRINT(...)

#define	COLOR_OBJECT_DETECTOR_FPS1 0
	Default FPS (zero means run at camera fps) More...

#define	COLOR_OBJECT_DETECTOR_FPS2 0
	Default FPS (zero means run at camera fps) More...

Functions
uint32_t	find_object_centroid (struct image_t img, int32_t p_xc, int32_t *p_yc, bool draw, uint8_t lum_min, uint8_t lum_max, uint8_t cb_min, uint8_t cb_max, uint8_t cr_min, uint8_t cr_max)

static struct image_t *	object_detector (struct image_t *img, uint8_t filter)

struct image_t *	object_detector1 (struct image_t *img, uint8_t camera_id)

struct image_t *	object_detector2 (struct image_t *img, uint8_t camera_id)

void	color_object_detector_init (void)

void	color_object_detector_periodic (void)

Variables
static pthread_mutex_t	mutex

uint8_t	cod_lum_min1 = 0

uint8_t	cod_lum_max1 = 0

uint8_t	cod_cb_min1 = 0

uint8_t	cod_cb_max1 = 0

uint8_t	cod_cr_min1 = 0

uint8_t	cod_cr_max1 = 0

uint8_t	cod_lum_min2 = 0

uint8_t	cod_lum_max2 = 0

uint8_t	cod_cb_min2 = 0

uint8_t	cod_cb_max2 = 0

uint8_t	cod_cr_min2 = 0

uint8_t	cod_cr_max2 = 0

bool	cod_draw1 = false

bool	cod_draw2 = false

struct color_object_t	global_filters [2]

Data Structure Documentation

◆ color_object_t

struct color_object_t

Definition at line 74 of file cv_detect_color_object.c.

Data Fields
uint32_t	color_count
bool	updated
int32_t	x_c
int32_t	y_c

Macro Definition Documentation

◆ COLOR_OBJECT_DETECTOR_FPS1

#define COLOR_OBJECT_DETECTOR_FPS1 0

Default FPS (zero means run at camera fps)

Definition at line 49 of file cv_detect_color_object.c.

◆ COLOR_OBJECT_DETECTOR_FPS2

#define COLOR_OBJECT_DETECTOR_FPS2 0

Default FPS (zero means run at camera fps)

Definition at line 52 of file cv_detect_color_object.c.

◆ PRINT

#define PRINT	(	string,
		...
	)	fprintf(stderr, "[object_detector->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)

Definition at line 39 of file cv_detect_color_object.c.

◆ VERBOSE_PRINT

#define VERBOSE_PRINT ( ... )

Definition at line 43 of file cv_detect_color_object.c.

Function Documentation

◆ color_object_detector_init()

void color_object_detector_init ( void )

Definition at line 154 of file cv_detect_color_object.c.

References cod_cb_max1, cod_cb_max2, cod_cb_min1, cod_cb_min2, cod_cr_max1, cod_cr_max2, cod_cr_min1, cod_cr_min2, cod_draw1, cod_draw2, cod_lum_max1, cod_lum_max2, cod_lum_min1, cod_lum_min2, COLOR_OBJECT_DETECTOR_FPS1, COLOR_OBJECT_DETECTOR_FPS2, cv_add_to_device(), global_filters, mutex, object_detector1(), and object_detector2().

Here is the call graph for this function:

◆ color_object_detector_periodic()

void color_object_detector_periodic ( void )

Definition at line 259 of file cv_detect_color_object.c.

References color_count, COLOR_OBJECT_DETECTION1_ID, COLOR_OBJECT_DETECTION2_ID, global_filters, mutex, color_object_t::updated, color_object_t::x_c, and color_object_t::y_c.

◆ find_object_centroid()

uint32_t find_object_centroid	(	struct image_t *	img,
		int32_t *	p_xc,
		int32_t *	p_yc,
		bool	draw,
		uint8_t	lum_min,
		uint8_t	lum_max,
		uint8_t	cb_min,
		uint8_t	cb_max,
		uint8_t	cr_min,
		uint8_t	cr_max
	)