Added opencv example (#1663)

* Added opencv example (simple sobel filter).

.gitmodules

@@ -22,3 +22,6 @@
 [submodule "sw/ext/pprzlink"]
 	path = sw/ext/pprzlink
 	url = https://github.com/paparazzi/pprzlink.git
+[submodule "sw/ext/opencv_bebop"]
+	path = sw/ext/opencv_bebop
+	url = https://github.com/tudelft/opencv_bebop.git

conf/modules/cv_opencvdemo.xml

@@ -0,0 +1,37 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="cv_opencvdemo" dir="computer_vision">
+  <doc>
+    <description>This example shows how opencv can be used on (for example) the Bebop drone.
+	Important to know is that sw/ext/opencv_bebop must be downloaded, and made. 
+	After this is done the folder sw/ext/opencv_bebop/install has a opencv.xml file. 
+	The LDFLAGS in this file should be the same as in this conf file.
+    </description>
+  </doc>
+  <header>
+    <file name="cv_opencvdemo.h"/>
+  </header>
+  <init fun="opencvdemo_init()"/>
+  <makefile>
+    <file name="cv_opencvdemo.c"/>
+    <file name="opencv_example.cpp"/>
+
+    <flag name="CXXFLAGS" value="I$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install/include"/>
+
+  	<flag name="LDFLAGS" value="L$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install/lib" />
+	<flag name="LDFLAGS" value="lopencv_imgcodecs" />
+	<flag name="LDFLAGS" value="lopencv_imgproc" />
+	<flag name="LDFLAGS" value="lopencv_core" />
+	<flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install/share/OpenCV/3rdparty/lib" />
+	<flag name="LDFLAGS" value="lzlib" />
+	<flag name="LDFLAGS" value="llibpng" />
+	<flag name="LDFLAGS" value="lstdc++" />
+	<flag name="LDFLAGS" value="ldl" />
+	<flag name="LDFLAGS" value="lm" />
+	<flag name="LDFLAGS" value="lpthread" />
+	<flag name="LDFLAGS" value="lrt" />
+
+  </makefile>
+</module>
+
+

sw/airborne/modules/computer_vision/cv_opencvdemo.c

@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) C. De Wagter
+ *
+ * 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/>.
+ */
+/**
+ * @file "modules/computer_vision/cv_opencvdemo.c"
+ * @author C. De Wagter
+ * opencv
+ */
+
+#include "modules/computer_vision/cv.h"
+#include "modules/computer_vision/cv_opencvdemo.h"
+#include "modules/computer_vision/opencv_example.h"
+
+
+// Function
+int opencv_func(struct image_t* img);
+int opencv_func(struct image_t* img)
+{
+
+  if (img->type == IMAGE_YUV422)
+  {
+    // Call OpenCV (C++ from paparazzi C function)
+    opencv_example((char*) img->buf, img->w, img->h);
+  }
+
+// opencv_example(NULL, 10,10);
+
+  return FALSE;
+}
+
+void opencvdemo_init(void)
+{
+  cv_add(opencv_func);
+}
+

sw/airborne/modules/computer_vision/cv_opencvdemo.h

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) C. De Wagter
+ *
+ * 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/>.
+ */
+/**
+ * @file "modules/computer_vision/cv_opencvdemo.h"
+ * @author C. De Wagter
+ * opencv
+ */
+
+#ifndef CV_OPENCVDEMO_H
+#define CV_OPENCVDEMO_H
+
+extern void opencvdemo_init(void);
+
+#endif
+
+

sw/airborne/modules/computer_vision/opencv_example.cpp

@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) C. De Wagter
+ *
+ * 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/>.
+ */
+/**
+ * @file "modules/computer_vision/opencv_example.cpp"
+ * @author C. De Wagter
+ * opencv
+ */
+
+
+#include "opencv_example.h"
+
+
+
+using namespace std;
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+using namespace cv;
+
+
+int opencv_example(char *img, int width, int height)
+{
+  // Create a new image, using the original bebop image.
+  Mat M(width, height, CV_8UC2, img);
+  Mat image;
+  // If you want a color image, uncomment this line
+  // cvtColor(M, image, CV_YUV2RGB_Y422);
+  // For a grayscale image, use this one
+  cvtColor(M, image, CV_YUV2GRAY_Y422);
+
+  // Blur it, because we can
+  blur(image, image, Size(5, 5));
+
+  // Canny edges, only works with grayscale image
+  int edgeThresh = 35;
+  Canny(image, image, edgeThresh, edgeThresh * 3);
+
+  // Convert back to YUV422, and put it in place of the original image
+  for (int row = 0; row < height; row++) {
+    for (int col = 0; col < width; col++) {
+      img[(row * width + col) * 2 + 1] = image.at<uint8_t>(row, col);
+      img[(row * width + col) * 2] = 127;
+    }
+  }
+  return 0;
+}

sw/airborne/modules/computer_vision/opencv_example.h

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) C. De Wagter
+ *
+ * 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/>.
+ */
+/**
+ * @file "modules/computer_vision/cv_opencvdemo.h"
+ * @author C. De Wagter
+ * opencv
+ */
+
+#ifndef OPENCV_EXAMPLE_H
+#define OPENCV_EXAMPLE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int opencv_example(char *img, int width, int height);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+