void cv_blob_locator_init(void) {
// Red board in sunlight
color_lum_min = 100;
color_lum_max = 200;
color_cb_min = 140;
color_cb_max = 255;
color_cr_min = 140;
color_cr_max = 255;
// Lamp during night
color_lum_min = 180;
color_lum_max = 255;
color_cb_min = 100;
color_cb_max = 150;
color_cr_min = 100;
color_cr_max = 150;
cv_blob_locator_reset = 0;
georeference_init();
cv_add(cv_blob_locator_func);
cv_add(cv_marker_func);
cv_add(cv_window_func);
}
/**
* Initialize the view video
*/
void viewvideo_init(void)
{
char save_name[512];
cv_add(viewvideo_function);
viewvideo.is_streaming = TRUE;
#if VIEWVIDEO_USE_NETCAT
// Create an Netcat receiver file for the streaming
sprintf(save_name, "%s/netcat-recv.sh", STRINGIFY(VIEWVIDEO_SHOT_PATH));
FILE *fp = fopen(save_name, "w");
if (fp != NULL) {
fprintf(fp, "i=0\n");
fprintf(fp, "while true\n");
fprintf(fp, "do\n");
fprintf(fp, "\tn=$(printf \"%%04d\" $i)\n");
fprintf(fp, "\tnc -l 0.0.0.0 %d > img_${n}.jpg\n", (int)(VIEWVIDEO_PORT_OUT));
fprintf(fp, "\ti=$((i+1))\n");
fprintf(fp, "done\n");
fclose(fp);
} else {
printf("[viewvideo] Failed to create netcat receiver file.\n");
}
#else
// Open udp socket
udp_socket_create(&video_sock, STRINGIFY(VIEWVIDEO_HOST), VIEWVIDEO_PORT_OUT, -1, VIEWVIDEO_BROADCAST);
// Create an SDP file for the streaming
sprintf(save_name, "%s/stream.sdp", STRINGIFY(VIEWVIDEO_SHOT_PATH));
FILE *fp = fopen(save_name, "w");
if (fp != NULL) {
fprintf(fp, "v=0\n");
fprintf(fp, "m=video %d RTP/AVP 26\n", (int)(VIEWVIDEO_PORT_OUT));
fprintf(fp, "c=IN IP4 0.0.0.0\n");
fclose(fp);
} else {
printf("[viewvideo] Failed to create SDP file.\n");
}
#endif
}
/**
* Initialize the optical flow module for the bottom camera
*/
void opticflow_module_init(void)
{
// Subscribe to the altitude above ground level ABI messages
AbiBindMsgAGL(OPTICFLOW_AGL_ID, &opticflow_agl_ev, opticflow_agl_cb);
// Set the opticflow state to 0
opticflow_state.phi = 0;
opticflow_state.theta = 0;
opticflow_state.agl = 0;
// Initialize the opticflow calculation
opticflow_got_result = false;
cv_add(opticflow_module_calc);
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_OPTIC_FLOW_EST, opticflow_telem_send);
#endif
}
extern void detect_window_init(void)
{
cv_add(detect_window);
}
void variance_calculator_init(void)
{
cv_add(opencv_func);
}