mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
112 lines
4.9 KiB
XML
112 lines
4.9 KiB
XML
<!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 compiled.
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After this is done the folder sw/ext/opencv_bebop/install has an 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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// Install OpenCV:
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WARNING! During simulation, a native version of OpenCV is needed, while for AP you need a cross-compiled version included in ./sw/ext/opencv_bebop.
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The following instructions are for the AP (ARM) version:
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1) For OpenCV on the bebop, make sure to use Ubuntu 20.4: This solution was only tested for this version of Ubuntu.
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In NPS, newer versions of OpenCV also work. Then do not follow the instructions below but install (sudo apt-get install) corresponding opencv-dev packages instead, and then skip to step 7)
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2) Navigate to paparazzi/sw/ext/opencv_bebop:
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cd ~/paparazzi/sw/ext/opencv_bebop
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3) Install the required OpenCV Libraries:
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sudo apt install libjpeg-turbo8-dev libpng-dev libtiff-dev zlib1g-dev libdc1394-22-dev
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4) Do make (inside the current directory):
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make
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5) Then go to the build files for the drone : (will configure the files for OpenCV on the drone)
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command: cd /home/username/paparazzi/sw/ext/opencv_bebop/install_arm
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command: make install
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6) Then go to the build files for the computer: (will configure the files for OpenCV on your on computer)
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command: cd /home/username/paparazzi/sw/ext/opencv_bebop/install_pc
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command: make install
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7) finally update the paths in this module file (XML file) for your drone (AP) and for your computer (NPS):
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For the Bebop, check the paths are: $(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install_arm/include and lib.
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Example for NPS, if you followed the steps 2 to 6 above, your opencv will normally be in $(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install_pc/include
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But if you did: sudo apt-get install of opencv-dev, then you will need to update all paths to where opencv-dev is on your machine: /usr/bin/...
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8) USEFUL BACKGROUND INFORMATION
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OpenCv only works on C++ code, therefore you need to use a special trick to call a C++ function from C:
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#ifdef __cplusplus
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extern "C" {
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#endif
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</description>
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<define name="OPENCVDEMO_CAMERA" value="front_camera|bottom_camera" description="Video device to use"/>
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<define name="OPENCVDEMO_FPS" value="0" description="The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate"/>
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</doc>
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<header>
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<file name="cv_opencvdemo.h"/>
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</header>
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<init fun="opencvdemo_init()"/>
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<makefile target="ap">
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<file name="cv_opencvdemo.c"/>
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<file name="opencv_example.cpp"/>
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<file name="opencv_image_functions.cpp"/>
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<flag name="CXXFLAGS" value="I$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install_arm/include/opencv4"/>
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<flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_arm/lib"/>
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<flag name="LDFLAGS" value="lopencv_world"/>
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<flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_arm/lib/opencv4/3rdparty"/>
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<flag name="LDFLAGS" value="llibprotobuf"/>
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<flag name="LDFLAGS" value="llibjpeg-turbo"/>
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<flag name="LDFLAGS" value="llibpng"/>
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<flag name="LDFLAGS" value="llibtiff"/>
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<flag name="LDFLAGS" value="llibopenjp2"/>
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<flag name="LDFLAGS" value="lzlib"/>
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<flag name="LDFLAGS" value="lade"/>
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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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<makefile target="nps">
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<file name="cv_opencvdemo.c"/>
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<file name="opencv_example.cpp"/>
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<file name="opencv_image_functions.cpp"/>
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<flag name="CXXFLAGS" value="I$(PAPARAZZI_SRC)/sw/ext/opencv_bebop/install_pc/include/opencv4"/>
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<flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_pc/lib"/>
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<flag name="LDFLAGS" value="lopencv_world"/>
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<flag name="LDFLAGS" value="L$(PAPARAZZI_HOME)/sw/ext/opencv_bebop/install_pc/lib/opencv4/3rdparty"/>
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<flag name="LDFLAGS" value="llibprotobuf"/>
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<flag name="LDFLAGS" value="lade"/>
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<flag name="LDFLAGS" value="L/usr/lib/x86_64-linux-gnu"/>
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<flag name="LDFLAGS" value="ljpeg"/>
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<flag name="LDFLAGS" value="lpng"/>
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<flag name="LDFLAGS" value="ltiff"/>
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<flag name="LDFLAGS" value="lopenjp2"/>
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<flag name="LDFLAGS" value="L/usr/lib/x86_64-linux-gnu/hdf5/serial"/>
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<flag name="LDFLAGS" value="lhdf5"/>
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<flag name="LDFLAGS" value="lcrypto"/>
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<flag name="LDFLAGS" value="lcurl"/>
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<flag name="LDFLAGS" value="lpthread"/>
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<flag name="LDFLAGS" value="lsz"/>
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<flag name="LDFLAGS" value="lz"/>
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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="lfreetype"/>
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<flag name="LDFLAGS" value="lharfbuzz"/>
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<flag name="LDFLAGS" value="lrt"/>
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</makefile>
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</module>
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