[paparazzi-commits] [paparazzi/paparazzi] f264db: Improvements to snake gate detection and subsequen...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: f264db7a34eec9f234b1f9072ce2fb7d7f9c0d56
      
https://github.com/paparazzi/paparazzi/commit/f264db7a34eec9f234b1f9072ce2fb7d7f9c0d56
  Author: guidoAI <address@hidden>
  Date:   2018-09-26 (Wed, 26 Sep 2018)

  Changed paths:
    M sw/airborne/modules/computer_vision/detect_gate.c
    M sw/airborne/modules/computer_vision/lib/vision/PnP_AHRS.c
    M sw/airborne/modules/computer_vision/snake_gate_detection.c
    M sw/airborne/modules/computer_vision/snake_gate_detection.h

  Log Message:
  -----------
  Improvements to snake gate detection and subsequent pose estimation (#2334)

* First addition of snake gate functions, no refinement of the gate corners yet.

* Added corner refinement functions

* Added an initial module, and added check_color to both image.h (with all 
necessary parameters) and snaake_gate_detection (which only takes the image and 
coordinates)

* Compiling

* Debugging the snake gate detection

* Added settings to the gate detection module

* Added a few settings, removed a few spurious variables

* start of code for pose estimation - missing mathematical functions by Michael

* Added the matrix calcaluation functions necessary for PnP

* In principle, the pipeline is in place, not compiling yet though.

* Resolving some first small errors

* Code compiling without warnings.

* debugging position estimator

* Pose estimation working

* GateDetect pushes ABI message

Mutex

[fix] mutex_init gate_detect

* correct the x,x,x to x,y,z mistake

* First part of Kirks comments

* Processed remaining remarks of Kirk

* Use Bound, now correctly

* Removed listener

* Added comments, removed printing, fixed code style

* Added total number of samples for better execution frequency control and 
added the memory of snake end points for higher snaking success

* added intersection over union

* Added possibility to do the intial check with a polygon

* Use intersection of union to detect different gates

* multiple gates first step working

* plotting the gate too soon results in grey boxes, since the image is filtered 
for drawing. Now multiple detections.

* extra drawing

* Better rejection of filled blobs, not doing filtering when drawing and 
detecting, because it reduces the FPS considerably.

* Debugged gate coordinates

* Actually passing back all gates

* Preparing for pull request, formatting code, etc.

* Changes based on pull request comments



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