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Merge branch 'computervisionframework' Closes #1328
Conflicts: conf/airframes/BR/bebop_indi.xml sw/airborne/modules/computer_vision/viewvideo.c
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| Original file line number | Diff line number | Diff line change |
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@@ -12,3 +12,5 @@ BOARD_CFG = \"boards/pc_sim.h\" | |
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| $(TARGET).ARCHDIR = $(ARCH) | ||
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| MODEM_HOST ?= 127.0.0.1 | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,56 @@ | ||
| <!DOCTYPE module SYSTEM "module.dtd"> | ||
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| <module name="video_thread" dir="computer_vision"> | ||
| <doc> | ||
| <description> | ||
| Video streaming for Linux devices | ||
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| - Sends a RTP/UDP stream of the camera | ||
| - Possibility to save an image(shot) on the internal memory (JPEG, full size, best quality) | ||
| </description> | ||
| <define name="video_thread_DEVICE" value="/dev/video1" description="The video device to capture from"/> | ||
| <define name="video_thread_DEVICE_SIZE" value="1280,720" description="Video capture size (width, height)"/> | ||
| <define name="video_thread_DEVICE_BUFFERS" value="10" description="Amount of V4L2 image buffers"/> | ||
| <define name="video_thread_FPS" value="4" description="Video stream frame rate"/> | ||
| <define name="video_thread_SHOT_PATH" value="/data/video/images" description="Path where the images should be saved"/> | ||
| </doc> | ||
| <settings> | ||
| <dl_settings> | ||
| <dl_settings name="video"> | ||
| <dl_setting var="video_thread.take_shot" min="0" step="1" max="1" shortname="take_shot" module="computer_vision/video_thread" handler="take_shot"> | ||
| <strip_button name="Shoot" icon="digital-camera.png" value="1" group="video"/> | ||
| </dl_setting> | ||
| </dl_settings> | ||
| </dl_settings> | ||
| </settings> | ||
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| <header> | ||
| <file name="video_thread.h"/> | ||
| </header> | ||
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| <init fun="video_thread_init()"/> | ||
| <periodic fun="video_thread_periodic()" freq="1" start="video_thread_start()" stop="video_thread_stop()" autorun="TRUE"/> | ||
| <makefile target="ap"> | ||
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| <file name="video_thread.c"/> | ||
| <file name="cv.c"/> | ||
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| <!-- Include the needed Computer Vision files --> | ||
| <define name="modules/computer_vision" type="include"/> | ||
| <file name="image.c" dir="modules/computer_vision/lib/vision"/> | ||
| <file name="v4l2.c" dir="modules/computer_vision/lib/v4l"/> | ||
| <file name="jpeg.c" dir="modules/computer_vision/lib/encoding"/> | ||
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| <!-- Random flags --> | ||
| <define name="__USE_GNU"/> | ||
| <flag name="LDFLAGS" value="lrt"/> | ||
| <flag name="LDFLAGS" value="static-libgcc"/> | ||
| </makefile> | ||
| <makefile target="nps"> | ||
| <file name="video_thread_nps.c"/> | ||
| <file name="cv.c"/> | ||
| <file name="image.c" dir="modules/computer_vision/lib/vision"/> | ||
| <file name="jpeg.c" dir="modules/computer_vision/lib/encoding"/> | ||
| <flag name="LDFLAGS" value="lpthread"/> | ||
| </makefile> | ||
| </module> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,48 @@ | ||
| /* | ||
| * Copyright (C) 2015 | ||
| * | ||
| * This file is part of Paparazzi. | ||
| * | ||
| * Paparazzi is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation; either version 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * Paparazzi is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with paparazzi; see the file COPYING. If not, see | ||
| * <http://www.gnu.org/licenses/>. | ||
| * | ||
| */ | ||
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| /** | ||
| * @file modules/computer_vision/cv.c | ||
| * | ||
| * Computer vision framework for onboard processing | ||
| */ | ||
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| #include "cv.h" | ||
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| #define MAX_CV_FUNC 10 | ||
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| int cv_func_cnt = 0; | ||
| cvFunction cv_func[MAX_CV_FUNC]; | ||
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| void cv_add(cvFunction func) | ||
| { | ||
| if (cv_func_cnt < (MAX_CV_FUNC - 1)) { | ||
| cv_func[cv_func_cnt] = func; | ||
| cv_func_cnt++; | ||
| } | ||
| } | ||
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| void cv_run(struct image_t *img) | ||
| { | ||
| for (int i = 0; i < cv_func_cnt; i++) { | ||
| cv_func[i](img); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,40 @@ | ||
| /* | ||
| * Copyright (C) 2015 | ||
| * | ||
| * This file is part of Paparazzi. | ||
| * | ||
| * Paparazzi is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation; either version 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * Paparazzi is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with paparazzi; see the file COPYING. If not, see | ||
| * <http://www.gnu.org/licenses/>. | ||
| * | ||
| */ | ||
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| /** | ||
| * @file modules/computer_vision/cv.h | ||
| * | ||
| * Computer vision framework for onboard processing | ||
| */ | ||
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| #ifndef CV_H_ | ||
| #define CV_H_ | ||
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| #include "std.h" | ||
| #include "lib/vision/image.h" | ||
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| typedef bool_t (*cvFunction)(struct image_t *img); | ||
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| extern void cv_add(cvFunction func); | ||
| extern void cv_run(struct image_t *img); | ||
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| #endif /* CV_H_ */ |
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