Merge pull request #1573 from dewagter/cv_func_update

cvFunction returns a pointer to an image (allows resizes etc)

enables e.g. resize functions to pass on the smaller images to next functions

sw/airborne/modules/computer_vision/colorfilter.c

@@ -41,8 +41,8 @@ uint8_t color_cr_max  = 255;
 int color_count = 0;
 
 // Function
-bool_t colorfilter_func(struct image_t* img);
-bool_t colorfilter_func(struct image_t* img)
+struct image_t* colorfilter_func(struct image_t* img);
+struct image_t* colorfilter_func(struct image_t* img)
 {
   // Filter
   color_count = image_yuv422_colorfilt(img,img,
@@ -51,7 +51,7 @@ bool_t colorfilter_func(struct image_t* img)
       color_cr_min,color_cr_max
       );
 
-  return FALSE;
+  return img; // Colorfilter did not make a new image
 }
 
 void colorfilter_init(void)

sw/airborne/modules/computer_vision/cv.c

@@ -42,7 +42,12 @@ void cv_add(cvFunction func)
 
 void cv_run(struct image_t *img)
 {
+  struct image_t* temp_image = img;
   for (int i = 0; i < cv_func_cnt; i++) {
-    cv_func[i](img);
+    struct image_t* new_image = cv_func[i](temp_image);
+    if (new_image != 0)
+    {
+      temp_image = new_image;
+    }
   }
 }

sw/airborne/modules/computer_vision/cv.h

@@ -32,7 +32,7 @@
 #include "std.h"
 #include "lib/vision/image.h"
 
-typedef bool_t (*cvFunction)(struct image_t *img);
+typedef struct image_t* (*cvFunction)(struct image_t *img);
 
 extern void cv_add(cvFunction func);
 extern void cv_run(struct image_t *img);

sw/airborne/modules/computer_vision/cv_blob_locator.c

@@ -122,7 +122,7 @@ bool_t cv_blob_locator_func(struct image_t *img);
 bool_t cv_blob_locator_func(struct image_t *img) {
 
   if (!blob_enabled)
-    return FALSE;
+    return 0;
 
 
   // Color Filter
@@ -209,7 +209,7 @@ bool_t cv_blob_locator_func(struct image_t *img) {
 
   image_free(&dst);
 
-  return FALSE;
+  return 0; // No new image is available for follow up modules
 }
 
 #include "modules/computer_vision/cv_georeference.h"

sw/airborne/modules/computer_vision/detect_window.c

@@ -53,7 +53,7 @@ extern bool_t detect_window(struct image_t *img)
   printf("Response = %d\n", response);
 
   image_free(&gray);
-  return 1;
+  return 0; // No new image was created
 }
 
 

sw/airborne/modules/computer_vision/qrcode/qr_code.c

@@ -41,7 +41,7 @@ void qrcode_init(void)
 
 zbar_image_scanner_t *scanner = 0;
 
-bool_t qrscan(struct image_t *img)
+struct image_t* qrscan(struct image_t *img)
 {
   int i, j;
 
@@ -98,4 +98,6 @@ bool_t qrscan(struct image_t *img)
 // clean up
   zbar_image_destroy(image);
   //zbar_image_scanner_destroy(scanner);
+
+  return 0; // QRCode is not returning a new image.
 }

sw/airborne/modules/computer_vision/viewvideo.c

@@ -189,7 +189,7 @@ bool_t viewvideo_function(struct image_t *img)
   // Free all buffers
   image_free(&img_jpeg);
   image_free(&img_small);
-  return TRUE;
+  return 0; // No new images were created
 }
 
 /**