cv_georeference.c File Reference

#include "modules/computer_vision/cv_georeference.h"
#include "math/pprz_trig_int.h"
#include "math/pprz_algebra.h"
#include "math/pprz_algebra_int.h"
#include "state.h"
#include "generated/flight_plan.h"
#include "subsystems/datalink/downlink.h"

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Data Structures
struct	georeference_filter_t
struct	georeference_t

Functions
void	georeference_project (struct camera_frame_t *tar, int wp)
void	georeference_filter (bool_t kalman, int wp, int length)
void	georeference_run (void)
void	georeference_init (void)

Variables
struct georeference_t	geo
int32_t	focus_length

Detailed Description

Author

C. De Wagter Geo-reference computer vision detections

Definition in file cv_georeference.c.

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Data Structure Documentation

struct georeference_filter_t

Definition at line 36 of file cv_georeference.c.

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Data Fields
int32_t	P	Covariance/Average-count.
struct Int32Vect3	v	Target Velocity.
struct Int32Vect3	x	Target.

struct georeference_t

Definition at line 42 of file cv_georeference.c.

Collaboration diagram for georeference_t:

Data Fields
struct georeference_filter_t	filter	Filter waypoint location.
struct Int32Vect3	target_i	Target in pixels, with z being the focal length in pixels, x=up,y=right,out.
struct Int32Vect3	target_l	Target in meters, relative to the drone in LTP frame.
struct Int32Vect3	x_t	Target coordinates NED.

Function Documentation

void georeference_filter	(	bool_t	kalman,
		int	wp,
		int	length
	)

Definition at line 119 of file cv_georeference.c.

References DefaultChannel, DefaultDevice, georeference_t::filter, geo, georeference_filter_t::P, georeference_filter_t::v, VECT3_ADD, VECT3_COPY, VECT3_SDIV, VECT3_SMUL, VECT3_SUB, waypoint_set_xy_i(), Int32Vect3::x, georeference_filter_t::x, georeference_t::x_t, and Int32Vect3::y.

Referenced by cv_blob_locator_event(), and georeference_run().

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void georeference_init

(

void

)

Definition at line 180 of file cv_georeference.c.

References georeference_t::filter, focus_length, geo, INT32_VECT3_ZERO, georeference_filter_t::P, georeference_t::target_i, georeference_t::target_l, georeference_filter_t::v, VECT3_ASSIGN, georeference_filter_t::x, and georeference_t::x_t.

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

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void georeference_project	(	struct camera_frame_t *	tar,
		int	wp
	)

Definition at line 53 of file cv_georeference.c.

References DefaultChannel, DefaultDevice, camera_frame_t::f, geo, camera_frame_t::h, INT32_MAT33_ZERO, int32_rmat_transp_vmult(), INT32_TRIG_FRAC, INT32_VECT3_LSHIFT, MAT33_ELMT, camera_frame_t::px, camera_frame_t::py, stateGetNedToBodyRMat_i(), stateGetPositionNed_i(), georeference_t::target_i, georeference_t::target_l, VECT3_ASSIGN, camera_frame_t::w, waypoint_set_alt_i(), waypoint_set_xy_i(), NedCoor_i::x, Int32Vect3::x, georeference_t::x_t, NedCoor_i::y, Int32Vect3::y, NedCoor_i::z, and Int32Vect3::z.

Referenced by cv_blob_locator_event(), and georeference_run().

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void georeference_run

(

void

)

Definition at line 155 of file cv_georeference.c.

References camera_frame_t::f, FALSE, focus_length, georeference_filter(), georeference_project(), camera_frame_t::h, camera_frame_t::px, camera_frame_t::py, and camera_frame_t::w.

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Variable Documentation

int32_t focus_length

Definition at line 153 of file cv_georeference.c.

Referenced by georeference_init(), and georeference_run().

struct georeference_t geo

Definition at line 51 of file cv_georeference.c.

Referenced by georeference_filter(), georeference_init(), and georeference_project().