median_filter.h File Reference

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

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Data Structures
struct	MedianFilterInt
struct	MedianFilter3Int
struct	MedianFilterFloat
struct	MedianFilter3Float

Macros
#define	MAX_MEDIAN_DATASIZE   13
#define	MEDIAN_DEFAULT_SIZE   5
#define	InitMedianFilterVect3Int(_f, _n)
#define	InitMedianFilterEulerInt(_f, _n)   InitMedianFilterVect3Int(_f, _n)
#define	InitMedianFilterRatesInt(_f, _n)   InitMedianFilterVect3Int(_f, _n)
#define	UpdateMedianFilterVect3Int(_f, _v)
#define	UpdateMedianFilterEulerInt(_f, _v)
#define	UpdateMedianFilterRatesInt(_f, _v)
#define	GetMedianFilterVect3Int(_f, _v)
#define	GetMedianFilterEulerInt(_f, _v)
#define	GetMedianFilterRatesInt(_f, _v)
#define	InitMedianFilterVect3Float(_f, _n)
#define	InitMedianFilterEulerFloat(_f, _n)   InitMedianFilterVect3Float(_f, _n)
#define	InitMedianFilterRatesFloat(_f, _n)   InitMedianFilterVect3Float(_f, _n)
#define	UpdateMedianFilterVect3Float(_f, _v)
#define	UpdateMedianFilterEulerFloat(_f, _v)
#define	UpdateMedianFilterRatesFloat(_f, _v)
#define	GetMedianFilterVect3Float(_f, _v)
#define	GetMedianFilterEulerFloat(_f, _v)
#define	GetMedianFilterRatesFloat(_f, _v)

Functions
static void	init_median_filter_i (struct MedianFilterInt *filter, uint8_t size)
static int32_t	get_median_filter_i (struct MedianFilterInt *filter)
static int32_t	update_median_filter_i (struct MedianFilterInt *filter, int32_t new_data)
static void	init_median_filter_f (struct MedianFilterFloat *filter, uint8_t size)
static float	get_median_filter_f (struct MedianFilterFloat *filter)
static float	update_median_filter_f (struct MedianFilterFloat *filter, float new_data)

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Data Structure Documentation

struct MedianFilterInt

Definition at line 33 of file median_filter.h.

Data Fields
int32_t	data[MAX_MEDIAN_DATASIZE]
uint8_t	dataIndex
uint8_t	size
int32_t	sortData[MAX_MEDIAN_DATASIZE]

struct MedianFilter3Int

Definition at line 93 of file median_filter.h.

Collaboration diagram for MedianFilter3Int:

Data Fields
struct MedianFilterInt	mf[3]

struct MedianFilterFloat

Definition at line 142 of file median_filter.h.

Data Fields
float	data[MAX_MEDIAN_DATASIZE]
uint8_t	dataIndex
uint8_t	size
float	sortData[MAX_MEDIAN_DATASIZE]

struct MedianFilter3Float

Definition at line 201 of file median_filter.h.

Collaboration diagram for MedianFilter3Float:

Data Fields
struct MedianFilterFloat	mf[3]

Macro Definition Documentation

#define GetMedianFilterEulerFloat	(		_f,
			_v
	)

Value:

{       \
    (_v).phi = get_median_filter_f(&(_f.mf[0]));    \
    (_v).theta = get_median_filter_f(&(_f.mf[1]));  \
    (_v).psi = get_median_filter_f(&(_f.mf[2]));    \
  }

Definition at line 238 of file median_filter.h.

#define GetMedianFilterEulerInt	(		_f,
			_v
	)

Value:

{       \
    (_v).phi = get_median_filter_i(&(_f.mf[0]));    \
    (_v).theta = get_median_filter_i(&(_f.mf[1]));  \
    (_v).psi = get_median_filter_i(&(_f.mf[2]));    \
  }

Definition at line 130 of file median_filter.h.

#define GetMedianFilterRatesFloat	(		_f,
			_v
	)

Value:

{   \
    (_v).p = get_median_filter_f(&(_f.mf[0]));  \
    (_v).q = get_median_filter_f(&(_f.mf[1]));  \
    (_v).r = get_median_filter_f(&(_f.mf[2]));  \
  }

Definition at line 244 of file median_filter.h.

#define GetMedianFilterRatesInt	(		_f,
			_v
	)

Value:

{   \
    (_v).p = get_median_filter_i(&(_f.mf[0]));  \
    (_v).q = get_median_filter_i(&(_f.mf[1]));  \
    (_v).r = get_median_filter_i(&(_f.mf[2]));  \
  }

Definition at line 136 of file median_filter.h.

#define GetMedianFilterVect3Float	(		_f,
			_v
	)

Value:

{   \
    (_v).x = get_median_filter_f(&(_f.mf[0]));  \
    (_v).y = get_median_filter_f(&(_f.mf[1]));  \
    (_v).z = get_median_filter_f(&(_f.mf[2]));  \
  }

Definition at line 232 of file median_filter.h.

#define GetMedianFilterVect3Int	(		_f,
			_v
	)

Value:

{   \
    (_v).x = get_median_filter_i(&(_f.mf[0]));  \
    (_v).y = get_median_filter_i(&(_f.mf[1]));  \
    (_v).z = get_median_filter_i(&(_f.mf[2]));  \
  }

Definition at line 124 of file median_filter.h.

#define InitMedianFilterEulerFloat	(		_f,
			_n
	)		InitMedianFilterVect3Float(_f, _n)

Definition at line 211 of file median_filter.h.

#define InitMedianFilterEulerInt	(		_f,
			_n
	)		InitMedianFilterVect3Int(_f, _n)

Definition at line 103 of file median_filter.h.

#define InitMedianFilterRatesFloat	(		_f,
			_n
	)		InitMedianFilterVect3Float(_f, _n)

Definition at line 212 of file median_filter.h.

#define InitMedianFilterRatesInt	(		_f,
			_n
	)		InitMedianFilterVect3Int(_f, _n)

Definition at line 104 of file median_filter.h.

Referenced by imu_navgo_init().

#define InitMedianFilterVect3Float	(		_f,
			_n
	)

Value:

{  \
    for (int i = 0; i < 3; i++) {             \
      init_median_filter_f(&(_f.mf[i]), _n);  \
    }                                         \
  }

Definition at line 205 of file median_filter.h.

Referenced by stereocam_init().

#define InitMedianFilterVect3Int	(		_f,
			_n
	)

Value:

{    \
    for (int i = 0; i < 3; i++) {             \
      init_median_filter_i(&(_f.mf[i]), _n);  \
    }                                         \
  }

Definition at line 97 of file median_filter.h.

Referenced by imu_krooz_init(), and imu_navgo_init().

#define MAX_MEDIAN_DATASIZE   13

Definition at line 27 of file median_filter.h.

Referenced by init_median_filter_f(), and init_median_filter_i().

#define MEDIAN_DEFAULT_SIZE   5

Definition at line 28 of file median_filter.h.

Referenced by baro_init(), calc_fast9_lukas_kanade(), imu_krooz_init(), imu_navgo_init(), lidar_sf11_init(), and stereocam_init().

#define UpdateMedianFilterEulerFloat	(		_f,
			_v
	)

Value:

{                  \
    (_v).phi = update_median_filter_f(&(_f.mf[0]), (_v).phi);     \
    (_v).theta = update_median_filter_f(&(_f.mf[1]), (_v).theta); \
    (_v).psi = update_median_filter_f(&(_f.mf[2]), (_v).psi);     \
  }

Definition at line 220 of file median_filter.h.

#define UpdateMedianFilterEulerInt	(		_f,
			_v
	)

Value:

{                  \
    (_v).phi = update_median_filter_i(&(_f.mf[0]), (_v).phi);     \
    (_v).theta = update_median_filter_i(&(_f.mf[1]), (_v).theta); \
    (_v).psi = update_median_filter_i(&(_f.mf[2]), (_v).psi);     \
  }

Definition at line 112 of file median_filter.h.

#define UpdateMedianFilterRatesFloat	(		_f,
			_v
	)

Value:

{          \
    (_v).p = update_median_filter_f(&(_f.mf[0]), (_v).p); \
    (_v).q = update_median_filter_f(&(_f.mf[1]), (_v).q); \
    (_v).r = update_median_filter_f(&(_f.mf[2]), (_v).r); \
  }

Definition at line 226 of file median_filter.h.

#define UpdateMedianFilterRatesInt	(		_f,
			_v
	)

Value:

{          \
    (_v).p = update_median_filter_i(&(_f.mf[0]), (_v).p); \
    (_v).q = update_median_filter_i(&(_f.mf[1]), (_v).q); \
    (_v).r = update_median_filter_i(&(_f.mf[2]), (_v).r); \
  }

Definition at line 118 of file median_filter.h.

Referenced by imu_navgo_event().

#define UpdateMedianFilterVect3Float	(		_f,
			_v
	)

Value:

{          \
    (_v).x = update_median_filter_f(&(_f.mf[0]), (_v).x); \
    (_v).y = update_median_filter_f(&(_f.mf[1]), (_v).y); \
    (_v).z = update_median_filter_f(&(_f.mf[2]), (_v).z); \
  }

Definition at line 214 of file median_filter.h.

Referenced by stereocam_parse_msg().

#define UpdateMedianFilterVect3Int	(		_f,
			_v
	)

Value:

{          \
    (_v).x = update_median_filter_i(&(_f.mf[0]), (_v).x); \
    (_v).y = update_median_filter_i(&(_f.mf[1]), (_v).y); \
    (_v).z = update_median_filter_i(&(_f.mf[2]), (_v).z); \
  }

Definition at line 106 of file median_filter.h.

Referenced by imu_krooz_event(), imu_krooz_periodic(), and imu_navgo_event().

Function Documentation

static float get_median_filter_f ( struct MedianFilterFloat *  filter )

inlinestatic

Definition at line 165 of file median_filter.h.

References MedianFilterFloat::size, and MedianFilterFloat::sortData.

Referenced by update_median_filter_f().

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static int32_t get_median_filter_i ( struct MedianFilterInt *  filter )

inlinestatic

Definition at line 58 of file median_filter.h.

References MedianFilterInt::size, and MedianFilterInt::sortData.

Referenced by update_median_filter_i().

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static void init_median_filter_f ( struct MedianFilterFloat *  filter, uint8_t  size  )

inlinestatic

Definition at line 148 of file median_filter.h.

References MedianFilterFloat::data, MedianFilterFloat::dataIndex, MAX_MEDIAN_DATASIZE, MedianFilterFloat::size, and MedianFilterFloat::sortData.

Referenced by sonar_bebop_init().

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static void init_median_filter_i ( struct MedianFilterInt *  filter, uint8_t  size  )

inlinestatic

Definition at line 39 of file median_filter.h.

References MedianFilterInt::data, MedianFilterInt::dataIndex, MAX_MEDIAN_DATASIZE, MedianFilterInt::size, and MedianFilterInt::sortData.

Referenced by baro_init(), calc_fast9_lukas_kanade(), lidar_lite_init(), lidar_sf11_init(), and px4flow_i2c_init().

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static float update_median_filter_f ( struct MedianFilterFloat *  filter, float  new_data  )

inlinestatic

Definition at line 175 of file median_filter.h.

References MedianFilterFloat::data, MedianFilterFloat::dataIndex, get_median_filter_f(), MedianFilterFloat::size, and MedianFilterFloat::sortData.

Referenced by sonar_bebop_read().

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static int32_t update_median_filter_i ( struct MedianFilterInt *  filter, int32_t  new_data  )

inlinestatic

Definition at line 68 of file median_filter.h.

References MedianFilterInt::data, MedianFilterInt::dataIndex, get_median_filter_i(), MedianFilterInt::size, and MedianFilterInt::sortData.

Referenced by ardrone_baro_event(), calc_edgeflow_tot(), calc_fast9_lukas_kanade(), lidar_lite_periodic(), lidar_sf11_periodic(), and px4flow_i2c_frame_cb().

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