Paparazzi UAS  v5.18.0_stable-1-g6993852-dirty
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wedgebug module

An integration of the WegdeBug algorithm (Laubach 1999) for path finding, for drones with stereo vision.

No detailed description...

Example for airframe file

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

1 <module name="wedgebug">
2  <define name="WEDGEBUG_CAMERA_RIGHT" value="front_camera|bottom_camera" />
3  <define name="WEDGEBUG_CAMERA_LEFT" value="front_camera|bottom_camera" />
4 </module>

Module configuration options

Define Options

  • name: WEDGEBUG_CAMERA_RIGHT value: front_camera|bottom_camera
    Description: Video device to use
  • name: WEDGEBUG_CAMERA_LEFT value: front_camera|bottom_camera
    Description: Video device to use

Module functions

Init Functions

These initialization functions are called once on startup.

Periodic Functions

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

  • wedgebug_periodic()
    • Frequency in Hz: 7
    • Autorun: LOCK
      Periodic function automatically starts after init and can't be stopped.


Header Files

The following headers are automatically included in modules.h

Source Files

Raw wedgebug.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="wedgebug" dir="wedgebug">
<description> An integration of the WegdeBug algorithm (Laubach 1999) for path finding, for drones with stereo vision. </description>
<define name="WEDGEBUG_CAMERA_RIGHT" value="front_camera|bottom_camera" description="Video device to use"/>
<define name="WEDGEBUG_CAMERA_LEFT" value="front_camera|bottom_camera" description="Video device to use"/>
<dl_settings name="W-Disparity">
<dl_setting var="SE_opening_OCV" min="5" step="1" max = "401" shortname="SE_op"/>
<dl_setting var="SE_closing_OCV" min="5" step="1" max = "401" shortname="SE_clo"/>
<dl_setting var="SE_dilation_OCV_1" min="5" step="1" max = "401" shortname="SE_dil_1"/>
<dl_setting var="SE_dilation_OCV_2" min="5" step="1" max = "101" shortname="SE_dil_2"/>
<dl_setting var="SE_erosion_OCV" min="5" step="1" max = "101" shortname="SE_ero"/>
<dl_setting var="K_median_w" min="1" step="1" max = "321" shortname="K_med_w"/>
<dl_setting var="K_median_h" min="1" step="1" max = "321" shortname="K_med_h"/>
<dl_setting var="threshold_median_depth" min="0" step="1" max = "10000" shortname="thr_obs_depth"/>
<dl_setting var="threshold_depth_of_edges" min="0" step="1" max = "10000" shortname="thr_edge_depth"/>
<dl_setting var="threshold_edge_magnitude" min="0" step="50" max = "50000" shortname="thr_edge_mag"/>
<dl_setting var="threshold_distance_to_goal" min="0.00" step="0.05" max = "1.00" shortname="thr_goal_dist"/>
<dl_setting var="threshold_distance_to_angle" min="0.0" step="0.1" max = "3.1" shortname="thr_angle_dist"/>
<dl_setting var="max_obstacle_confidence" min="0" step="1" max = "50" shortname="conf_obs"/>
<dl_setting var="max_free_path_confidence " min="0" step="1" max = "50" shortname="conf_free"/>
<dl_setting var="max_position_confidence" min="0" step="1" max = "50" shortname="conf_pos"/>
<dl_setting var="max_heading_confidence" min="0" step="1" max = "50" shortname="conf_head"/>
<dl_setting var="max_edge_found_micro_confidence" min="0" step="1" max = "50" shortname="conf_edge_mi"/>
<dl_setting var="max_edge_found_macro_confidence" min="0" step="1" max = "50" shortname="conf_edge_mac"/>
<dl_setting var="max_no_edge_found_confidence" min="0" step="1" max = "50" shortname="conf_no_edge"/>
<dl_setting var="heat_map_type" min="0" step="1" max = "11" shortname="heatmap"/>
<dl_setting var="save_images_flag" min="0" step="1" max="1" shortname="Save Images">
<strip_button name="Start image capture" icon="dcstart.png" value="1" group="cv"/>
<strip_button name="Stop image capture" icon="dcstop.png" value="0" group="cv"/>
<file name="wedgebug.h"/>
<init fun="wedgebug_init()"/>
<periodic fun="wedgebug_periodic()" freq="7"/> <!-- originally 4 -->
<makefile target="ap|nps">
<file name="wedgebug.c"/>
<file name="wedgebug_opencv.cpp"/>
<flag name="CXXFLAGS" value="I$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install_pc/include"/> <!-- needed to include headers -->
<flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_pc/lib"/>
<flag name="LDFLAGS" value="lopencv_world"/>
<flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_pc/share/OpenCV/3rdparty/lib"/>
<flag name="LDFLAGS" value="llibprotobuf"/>
<flag name="LDFLAGS" value="lquirc"/>
<flag name="LDFLAGS" value="L/usr/lib/x86_64-linux-gnu"/>
<flag name="LDFLAGS" value="ljpeg"/>
<flag name="LDFLAGS" value="lpng"/>
<flag name="LDFLAGS" value="ltiff"/>
<flag name="LDFLAGS" value="L/usr/lib/x86_64-linux-gnu/hdf5/serial"/>
<flag name="LDFLAGS" value="lhdf5"/>
<flag name="LDFLAGS" value="lpthread"/>
<flag name="LDFLAGS" value="lsz"/>
<flag name="LDFLAGS" value="lz"/>
<flag name="LDFLAGS" value="ldl"/>
<flag name="LDFLAGS" value="lm"/>
<flag name="LDFLAGS" value="lfreetype"/>
<flag name="LDFLAGS" value="lharfbuzz"/>
<flag name="LDFLAGS" value="lrt"/>