inter_thread_data.h File Reference

Inter-thread data structures. More...

#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"

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Data Structures
struct	opticflow_result_t

Detailed Description

Inter-thread data structures.

Data structures used to for inter-thread communication via Unix Domain sockets.

Definition in file inter_thread_data.h.

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Data Structure Documentation

opticflow_result_t

struct opticflow_result_t

Definition at line 37 of file inter_thread_data.h.

Collaboration diagram for opticflow_result_t:

Data Fields
uint8_t	camera_id	Camera id as passed to cv_add_to_device.
uint16_t	corner_cnt	The amount of coners found by FAST9.
float	div_size	Divergence as determined with the size_divergence script.
float	divergence	Divergence as determined with a linear flow fit.
int16_t	flow_der_x	The derotated flow calculation in the x direction (in subpixels)
int16_t	flow_der_y	The derotated flow calculation in the y direction (in subpixels)
int16_t	flow_x	Flow in x direction from the camera (in subpixels) with X positive to the right.
int16_t	flow_y	Flow in y direction from the camera (in subpixels) with Y positive to the bottom.
float	fps	Frames per second of the optical flow calculation.
float	noise_measurement	noise of measurement, for state filter
float	surface_roughness	Surface roughness as determined with a linear optical flow fit.
uint16_t	tracked_cnt	The amount of tracked corners.
struct FloatVect3	vel_body	The velocity in body frame (m/s) with X positive to the front of the aircraft, Y positive to the right and Z positive downwards to the ground.
struct FloatVect3	vel_cam	The velocity in camera frame (m/s)