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Added opencv example (#1663)
* Added opencv example (simple sobel filter).
This commit is contained in:
Roland Meertens
committed by
Felix Ruess
Felix Ruess
parent
eea355253c
commit
ce8b47d060
@@ -22,3 +22,6 @@
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[submodule "sw/ext/pprzlink"]
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path = sw/ext/pprzlink
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url = https://github.com/paparazzi/pprzlink.git
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[submodule "sw/ext/opencv_bebop"]
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path = sw/ext/opencv_bebop
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url = https://github.com/tudelft/opencv_bebop.git
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@@ -0,0 +1,37 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="cv_opencvdemo" dir="computer_vision">
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<doc>
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<description>This example shows how opencv can be used on (for example) the Bebop drone.
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Important to know is that sw/ext/opencv_bebop must be downloaded, and made.
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After this is done the folder sw/ext/opencv_bebop/install has a opencv.xml file.
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The LDFLAGS in this file should be the same as in this conf file.
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</description>
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</doc>
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<header>
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<file name="cv_opencvdemo.h"/>
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</header>
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<init fun="opencvdemo_init()"/>
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<makefile>
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<file name="cv_opencvdemo.c"/>
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<file name="opencv_example.cpp"/>
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<flag name="CXXFLAGS" value="I$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install/include"/>
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<flag name="LDFLAGS" value="L$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install/lib" />
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<flag name="LDFLAGS" value="lopencv_imgcodecs" />
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<flag name="LDFLAGS" value="lopencv_imgproc" />
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<flag name="LDFLAGS" value="lopencv_core" />
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<flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install/share/OpenCV/3rdparty/lib" />
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<flag name="LDFLAGS" value="lzlib" />
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<flag name="LDFLAGS" value="llibpng" />
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<flag name="LDFLAGS" value="lstdc++" />
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<flag name="LDFLAGS" value="ldl" />
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<flag name="LDFLAGS" value="lm" />
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<flag name="LDFLAGS" value="lpthread" />
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<flag name="LDFLAGS" value="lrt" />
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</makefile>
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</module>
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@@ -0,0 +1,51 @@
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/*
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* Copyright (C) C. De Wagter
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*
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* This file is part of paparazzi
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file "modules/computer_vision/cv_opencvdemo.c"
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* @author C. De Wagter
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* opencv
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*/
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#include "modules/computer_vision/cv.h"
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#include "modules/computer_vision/cv_opencvdemo.h"
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#include "modules/computer_vision/opencv_example.h"
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// Function
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int opencv_func(struct image_t* img);
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int opencv_func(struct image_t* img)
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{
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if (img->type == IMAGE_YUV422)
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{
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// Call OpenCV (C++ from paparazzi C function)
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opencv_example((char*) img->buf, img->w, img->h);
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}
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// opencv_example(NULL, 10,10);
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return FALSE;
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}
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void opencvdemo_init(void)
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{
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cv_add(opencv_func);
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}
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@@ -0,0 +1,33 @@
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/*
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* Copyright (C) C. De Wagter
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*
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* This file is part of paparazzi
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file "modules/computer_vision/cv_opencvdemo.h"
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* @author C. De Wagter
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* opencv
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*/
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#ifndef CV_OPENCVDEMO_H
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#define CV_OPENCVDEMO_H
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extern void opencvdemo_init(void);
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#endif
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@@ -0,0 +1,62 @@
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/*
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* Copyright (C) C. De Wagter
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*
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* This file is part of paparazzi
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file "modules/computer_vision/opencv_example.cpp"
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* @author C. De Wagter
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* opencv
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*/
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#include "opencv_example.h"
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using namespace std;
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#include <opencv2/core/core.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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using namespace cv;
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int opencv_example(char *img, int width, int height)
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{
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// Create a new image, using the original bebop image.
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Mat M(width, height, CV_8UC2, img);
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Mat image;
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// If you want a color image, uncomment this line
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// cvtColor(M, image, CV_YUV2RGB_Y422);
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// For a grayscale image, use this one
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cvtColor(M, image, CV_YUV2GRAY_Y422);
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// Blur it, because we can
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blur(image, image, Size(5, 5));
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// Canny edges, only works with grayscale image
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int edgeThresh = 35;
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Canny(image, image, edgeThresh, edgeThresh * 3);
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// Convert back to YUV422, and put it in place of the original image
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for (int row = 0; row < height; row++) {
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for (int col = 0; col < width; col++) {
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img[(row * width + col) * 2 + 1] = image.at<uint8_t>(row, col);
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img[(row * width + col) * 2] = 127;
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}
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}
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return 0;
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}
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@@ -0,0 +1,40 @@
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/*
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* Copyright (C) C. De Wagter
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*
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* This file is part of paparazzi
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file "modules/computer_vision/cv_opencvdemo.h"
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* @author C. De Wagter
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* opencv
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*/
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#ifndef OPENCV_EXAMPLE_H
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#define OPENCV_EXAMPLE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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int opencv_example(char *img, int width, int height);
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#ifdef __cplusplus
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}
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#endif
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#endif
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Submodule
+1
Submodule sw/ext/opencv_bebop added at 9eb660dde0
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