Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
lucas_kanade.h
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2014 G. de Croon
3  * 2015 Freek van Tienen <freek.v.tienen@gmail.com>
4  *
5  * This file is part of Paparazzi.
6  *
7  * Paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * Paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with Paparazzi; see the file COPYING. If not, see
19  * <http://www.gnu.org/licenses/>.
20  */
21 
31 #ifndef OPTIC_FLOW_INT_H
32 #define OPTIC_FLOW_INT_H
33 
34 #include "std.h"
35 #include "image.h"
36 
37 #define LARGE_FLOW_ERROR 1E5
38 #define MEDIUM_FLOW_ERROR 1E3
39 
40 struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, struct point_t *points,
41  uint16_t *points_cnt, uint16_t half_window_size,
42  uint16_t subpixel_factor, uint8_t max_iterations, uint8_t step_threshold, uint8_t max_points, uint8_t pyramid_level,
43  uint8_t keep_bad_points);
44 
45 // used when pyramid level is 0:
46 struct flow_t *opticFlowLK_flat(struct image_t *new_img, struct image_t *old_img, struct point_t *points,
47  uint16_t *points_cnt,
48  uint16_t half_window_size, uint16_t subpixel_factor, uint8_t max_iterations, uint8_t step_threshold,
49  uint16_t max_points, uint8_t keep_bad_points);
50 
51 #endif /* OPTIC_FLOW_INT_H */
unsigned short uint16_t
Definition: types.h:16
struct flow_t * opticFlowLK(struct image_t *new_img, struct image_t *old_img, struct point_t *points, uint16_t *points_cnt, uint16_t half_window_size, uint16_t subpixel_factor, uint8_t max_iterations, uint8_t step_threshold, uint8_t max_points, uint8_t pyramid_level, uint8_t keep_bad_points)
Definition: lucas_kanade.c:74
Definition: image.h:43
Definition: image.h:66
Image helper functions like resizing, color filter, converters...
Definition: image.h:57
unsigned char uint8_t
Definition: types.h:14
struct flow_t * opticFlowLK_flat(struct image_t *new_img, struct image_t *old_img, struct point_t *points, uint16_t *points_cnt, uint16_t half_window_size, uint16_t subpixel_factor, uint8_t max_iterations, uint8_t step_threshold, uint16_t max_points, uint8_t keep_bad_points)
Compute the optical flow of several points using the Lucas-Kanade algorithm by Yves Bouguet The initi...
Definition: lucas_kanade.c:275