mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-02-06 02:52:42 +08:00
e4d9e10492
- support depends, conflicts and provides nodes, all under a 'dep' node - autoload are kept for now and are not moved yet - modules are updated for new dep format - it is now required that module's name and filename are the same
83 lines
6.2 KiB
XML
83 lines
6.2 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="cv_detect_gate" dir="computer_vision">
|
|
<doc>
|
|
<description>
|
|
Detects gates as used in the IROS drone races, i.e., square colored gates. It does so with snake gate detection, a computationally efficient method that works
|
|
onboard of the computationally constrained Parrot Bebop 1/2 drones.
|
|
|
|
An initial version of this algorithm ran in the drone race 2016. The algorithm was first described in:
|
|
|
|
First autonomous multi-room exploration with an insect-inspired flapping wing vehicle, May 2018,
|
|
IEEE International Conference on Robotics and Automation (ICRA 2018), Brisbane, Australia
|
|
by Kirk Scheper, Matej Karasek, Christophe De Wagter, Bart Remes, and Guido de Croon
|
|
https://www.researchgate.net/publication/327228053_First_autonomous_multi-room_exploration_with_an_insect-inspired_flapping_wing_vehicle
|
|
|
|
For the drone race, the algorithm and performance are described in more detail in:
|
|
Autonomous drone race: A novel vision-based navigation and control strategy,
|
|
S.Li, M.M.O.I. Ozo, C. De Wagter, G.C.H.E. de Croon.
|
|
Submitted.
|
|
|
|
</description>
|
|
<!-- <define name="UNDISTORT_MIN_X_NORMALIZED" value="-2.0" description="Minimal normalized x-coordinate to be used for the undistortion"/> -->
|
|
<define name="DETECT_GATE_FPS" value="0" description="The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate."/>
|
|
<define name="DETECT_GATE_CAMERA" value="bottom_camera|front_camera" description="The V4L2 camera device that is used for the calculations."/>
|
|
<define name="DETECT_GATE_JUST_FILTER" value="FALSE|TRUE" description="Just run a color filter."/>
|
|
<define name="DETECT_GATE_N_SAMPLES" value="10000" description="The number of samples taken in an image for snake gate detection. This number is proportional to the computatinoal effort (more = slower) and the performance (more = better)."/>
|
|
<define name="DETECT_GATE_MIN_PIX_SIZE" value="30" description="The minimal size the sides of an initial (square) detection should have for further processing."/>
|
|
<define name="DETECT_GATE_MIN_GATE_QUALITY" value="0.15" description="Gate quality is checked by verifying the proportion of colored pixels on the gate outline. This is the minimal proportion of colored pixels in order to accept a gate candidate."/>
|
|
<define name="DETECT_GATE_MIN_N_SIDES" value="3" description="How many sides of the gate should have the minimal line quality (min = 0, max = 4)."/>
|
|
<define name="DETECT_GATE_GATE_THICKNESS" value="0.0" description="Snaking goes up and down, and then left and right from the extreme points. If the gate is thick, it is better to start a little bit before the end point. This value is how thick the gate border is as a proportion of the total size."/>
|
|
<define name="DETECT_GATE_Y_MIN" value="20" description="Minimal Y of the color filter."/>
|
|
<define name="DETECT_GATE_Y_MAX" value="228" description="Maximal Y of the color filter."/>
|
|
<define name="DETECT_GATE_U_MIN" value="42" description="Minimal U of the color filter."/>
|
|
<define name="DETECT_GATE_U_MAX" value="121" description="Maximal U of the color filter."/>
|
|
<define name="DETECT_GATE_V_MIN" value="134" description="Minimal V of the color filter."/>
|
|
<define name="DETECT_GATE_V_MAX" value="230" description="Maximal V of the color filter."/>
|
|
<define name="DETECT_GATE_EXCLUDE_PIXELS_TOP" value="0" description="Band on top of the image in which we do not take snake gate samples."/>
|
|
<define name="DETECT_GATE_EXCLUDE_PIXELS_BOTTOM" value="0" description="Band at the bottom of the image in which we do not take snake gate samples."/>
|
|
<define name="DETECT_GATE_SIMPLIFIED_PNP" value="0" description="When set to 0, the full PnP will fit all corners. When set to 1, a simple camera model will be used." />
|
|
<define name="CAMERA_ROTATED_90DEG_RIGHT" value="FALSE" description="If the camera does not have its longest side as horizontal, then the rotated define should be enabled." />
|
|
</doc>
|
|
|
|
<settings>
|
|
<dl_settings>
|
|
<dl_settings NAME="Detect gate">
|
|
<dl_setting var="just_filtering" min="0" step="1" max="1" values="FALSE|TRUE" shortname="just_filter" param="DETECT_GATE_JUST_FILTER"/>
|
|
<dl_setting var="n_samples" min="0" step="10" max="10000" shortname="n_samples" param="DETECT_GATE_N_SAMPLES"/>
|
|
<dl_setting var="min_px_size" min="10" step="5" max="500" shortname="min_px" param="DETECT_GATE_MIN_PIX_SIZE"/>
|
|
<dl_setting var="min_gate_quality" min="0.0" step="0.01" max="1.0" shortname="min_qual" param="DETECT_GATE_MIN_GATE_QUALITY"/>
|
|
<dl_setting var="min_n_sides" min="0" step="1" max="4" shortname="min_sides" param="DETECT_GATE_MIN_N_SIDES"/>
|
|
<dl_setting var="gate_thickness" min="0.0" step="0.01" max="0.2" shortname="thickness" param="DETECT_GATE_GATE_THICKNESS"/>
|
|
<dl_setting var="color_Ym" min="0" step="1" max="255" shortname="Y_min" param="DETECT_GATE_Y_MIN"/>
|
|
<dl_setting var="color_YM" min="0" step="1" max="255" shortname="Y_max" param="DETECT_GATE_Y_MAX"/>
|
|
<dl_setting var="color_Um" min="0" step="1" max="255" shortname="U_min" param="DETECT_GATE_U_MIN"/>
|
|
<dl_setting var="color_UM" min="0" step="1" max="255" shortname="U_max" param="DETECT_GATE_U_MAX"/>
|
|
<dl_setting var="color_Vm" min="0" step="1" max="255" shortname="V_min" param="DETECT_GATE_V_MIN"/>
|
|
<dl_setting var="color_VM" min="0" step="1" max="255" shortname="V_max" param="DETECT_GATE_V_MAX"/>
|
|
<dl_setting var="exclude_top" min="0" step="1" max="320" shortname="exclude_top" param="DETECT_GATE_EXCLUDE_PIXELS_TOP"/>
|
|
<dl_setting var="exclude_bottom" min="0" step="1" max="320" shortname="exclude_bottom" param="DETECT_GATE_EXCCLUDE_PIXELS_BOTTOM"/>
|
|
</dl_settings>
|
|
</dl_settings>
|
|
</settings>
|
|
|
|
<dep>
|
|
<depends>video_thread</depends>
|
|
</dep>
|
|
|
|
<header>
|
|
<file name="detect_gate.h"/>
|
|
</header>
|
|
|
|
<init fun="detect_gate_init()"/>
|
|
<event fun="detect_gate_event()"/>
|
|
<makefile target="ap|nps">
|
|
<file name="detect_gate.c"/>
|
|
<file name="undistortion.c" dir="modules/computer_vision/lib/vision"/>
|
|
<file name="image.c" dir="modules/computer_vision/lib/vision"/>
|
|
<file name="PnP_AHRS.c" dir="modules/computer_vision/lib/vision"/>
|
|
<file name="snake_gate_detection.c" dir="modules/computer_vision"/>
|
|
</makefile>
|
|
</module>
|
|
|