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

Module XML file: cv_blob_locator.xml

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Example for airframe file

1 <modules>
2  <load name="cv_blob_locator.xml"/>
3 </modules>

Module functions

Init Functions

These initialization functions are called once on startup.

Event Functions

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

Periodic Functions

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


Header Files

The following headers are automatically included in modules.h

Source Files

Raw cv_blob_locator.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="cv_blob_locator" dir="computer_vision">
<description>Find a colored item and track its geo-location and update a waypoint to it</description>
<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 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"/>
<file name="cv_blob_locator.h"/>
<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()"/>
<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/" />