Improvements to snake gate detection and subsequent pose estimation #2334
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…all necessary parameters) and snaake_gate_detection (which only takes the image and coordinates)
Mutex [fix] mutex_init gate_detect
…and added the memory of snake end points for higher snaking success
…filtered for drawing. Now multiple detections.
…d detecting, because it reduces the FPS considerably.
gautierhattenberger
previously approved these changes
Sep 25, 2018
| @@ -46,14 +46,14 @@ | |||
| #include "paparazzi.h" | |||
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| // to debug the algorithm, uncomment the define: | |||
| // #define DEBUG_SNAKE_GATE | |||
| #define DEBUG_SNAKE_GATE | |||
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do you really want to keep this enabled by default ? all the other ones are disabled
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Good catch! Changed it.
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Commented out the define, and went over comments, removing some that were no longer necessary |
kirkscheper
approved these changes
Sep 26, 2018
shuoli-robotics
pushed a commit
to shuoli-robotics/paparazzi
that referenced
this pull request
Oct 15, 2018
…aparazzi#2334) * First addition of snake gate functions, no refinement of the gate corners yet. * Added corner refinement functions * Added an initial module, and added check_color to both image.h (with all necessary parameters) and snaake_gate_detection (which only takes the image and coordinates) * Compiling * Debugging the snake gate detection * Added settings to the gate detection module * Added a few settings, removed a few spurious variables * start of code for pose estimation - missing mathematical functions by Michael * Added the matrix calcaluation functions necessary for PnP * In principle, the pipeline is in place, not compiling yet though. * Resolving some first small errors * Code compiling without warnings. * debugging position estimator * Pose estimation working * GateDetect pushes ABI message Mutex [fix] mutex_init gate_detect * correct the x,x,x to x,y,z mistake * First part of Kirks comments * Processed remaining remarks of Kirk * Use Bound, now correctly * Removed listener * Added comments, removed printing, fixed code style * Added total number of samples for better execution frequency control and added the memory of snake end points for higher snaking success * added intersection over union * Added possibility to do the intial check with a polygon * Use intersection of union to detect different gates * multiple gates first step working * plotting the gate too soon results in grey boxes, since the image is filtered for drawing. Now multiple detections. * extra drawing * Better rejection of filled blobs, not doing filtering when drawing and detecting, because it reduces the FPS considerably. * Debugged gate coordinates * Actually passing back all gates * Preparing for pull request, formatting code, etc. * Changes based on pull request comments
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Improvements to the gate detection and pose estimation, including: