opticflow_module.c File Reference

optical-flow based hovering for Parrot AR.Drone 2.0 More...

#include "opticflow_module.h"
#include <stdio.h>
#include <pthread.h>
#include "state.h"
#include "subsystems/abi.h"
#include "lib/v4l/v4l2.h"
#include "lib/encoding/jpeg.h"
#include "lib/encoding/rtp.h"
#include "errno.h"

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Macros
#define	OPTICFLOW_AGL_ID   ABI_BROADCAST
	Default sonar/agl to use in opticflow visual_estimator. More...
#define	OPTICFLOW_SENDER_ID   1
#define	OPTICFLOW_DEVICE   /dev/video2
	The video device. More...
#define	OPTICFLOW_DEVICE_SIZE   320,240
	The video device size (width, height) More...
#define	__SIZE_HELPER(x, y)   #x", "#y
#define	_SIZE_HELPER(x)   __SIZE_HELPER(x)
#define	OPTICFLOW_DEVICE_BUFFERS   15
	The video device buffers (the amount of V4L2 buffers) More...

Functions
static void *	opticflow_module_calc (void *data)
	The main optical flow calculation thread. More...
static void	opticflow_agl_cb (uint8_t sender_id, float distance)
	Callback function of the ground altitude. More...
void	opticflow_module_init (void)
	Initialize the optical flow module for the bottom camera. More...
void	opticflow_module_run (void)
	Update the optical flow state for the calculation thread and update the stabilization loops with the newest result. More...
void	opticflow_module_start (void)
	Start the optical flow calculation. More...
void	opticflow_module_stop (void)
	Stop the optical flow calculation. More...

Variables
struct opticflow_t	opticflow
	Opticflow calculations. More...
static struct opticflow_result_t	opticflow_result
	The opticflow result. More...
static struct opticflow_state_t	opticflow_state
	State of the drone to communicate with the opticflow. More...
static struct v4l2_device *	opticflow_dev
	The opticflow camera V4L2 device. More...
static abi_event	opticflow_agl_ev
	The altitude ABI event. More...
static pthread_t	opticflow_calc_thread
	The optical flow calculation thread. More...
static bool_t	opticflow_got_result
	When we have an optical flow calculation. More...
static pthread_mutex_t	opticflow_mutex
	Mutex lock fo thread safety. More...

Detailed Description

optical-flow based hovering for Parrot AR.Drone 2.0

Sensors from vertical camera and IMU of Parrot AR.Drone 2.0

Definition in file opticflow_module.c.

Macro Definition Documentation

#define __SIZE_HELPER	(		x,
			y
	)		#x", "#y

Definition at line 60 of file opticflow_module.c.

#define _SIZE_HELPER

(

x

)

__SIZE_HELPER(x)

Definition at line 61 of file opticflow_module.c.

#define OPTICFLOW_AGL_ID   ABI_BROADCAST

Default sonar/agl to use in opticflow visual_estimator.

Definition at line 42 of file opticflow_module.c.

Referenced by opticflow_module_init().

#define OPTICFLOW_DEVICE   /dev/video2

The video device.

Definition at line 52 of file opticflow_module.c.

Referenced by opticflow_module_init().

#define OPTICFLOW_DEVICE_BUFFERS   15

The video device buffers (the amount of V4L2 buffers)

Definition at line 66 of file opticflow_module.c.

Referenced by opticflow_module_init().

#define OPTICFLOW_DEVICE_SIZE   320,240

The video device size (width, height)

Definition at line 58 of file opticflow_module.c.

Referenced by opticflow_module_init().

#define OPTICFLOW_SENDER_ID   1

Definition at line 47 of file opticflow_module.c.

Referenced by opticflow_module_run().

Function Documentation

static void opticflow_agl_cb ( uint8_t  sender_id, float  distance  )

static

Callback function of the ground altitude.

Get the altitude above ground of the drone.

Parameters

[in]	sender_id	The id that send the ABI message (unused)
[in]	distance	The distance above ground level in meters

Definition at line 278 of file opticflow_module.c.

Referenced by opticflow_module_init().

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static void * opticflow_module_calc ( void *  data )

static

The main optical flow calculation thread.

The main optical flow calculation thread This thread passes the images trough the optical flow calculator based on Lucas Kanade.

Definition at line 216 of file opticflow_module.c.

References FALSE, image_create(), image_free(), IMAGE_JPEG, jpeg_encode_image(), opticflow_calc_frame(), rtp_frame_send(), TRUE, v4l2_image_free(), v4l2_image_get(), v4l2_start_capture(), and image_t::w.

Referenced by opticflow_module_start().

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void opticflow_module_init

(

void

)

Initialize the optical flow module for the bottom camera.

Definition at line 108 of file opticflow_module.c.

References DefaultPeriodic, FALSE, opticflow_agl_cb(), OPTICFLOW_AGL_ID, opticflow_calc_init(), OPTICFLOW_DEVICE, OPTICFLOW_DEVICE_BUFFERS, OPTICFLOW_DEVICE_SIZE, PRINT_CONFIG_MSG(), register_periodic_telemetry(), v4l2_init(), and v4l2_init_subdev().

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void opticflow_module_run

(

void

)

Update the optical flow state for the calculation thread and update the stabilization loops with the newest result.

Definition at line 149 of file opticflow_module.c.

References FALSE, get_sys_time_usec(), OPTICFLOW_SENDER_ID, FloatEulers::phi, stateGetNedToBodyEulers_f(), and FloatEulers::theta.

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void opticflow_module_start

(

void

)

Start the optical flow calculation.

Definition at line 184 of file opticflow_module.c.

References opticflow_module_calc().

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void opticflow_module_stop

(

void

)

Stop the optical flow calculation.

Definition at line 202 of file opticflow_module.c.

References v4l2_stop_capture().

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Variable Documentation

struct opticflow_t opticflow

Opticflow calculations.

Definition at line 71 of file opticflow_module.c.

abi_event opticflow_agl_ev

static

The altitude ABI event.

Definition at line 75 of file opticflow_module.c.

pthread_t opticflow_calc_thread

static

The optical flow calculation thread.

Definition at line 76 of file opticflow_module.c.

struct v4l2_device* opticflow_dev

static

The opticflow camera V4L2 device.

Definition at line 74 of file opticflow_module.c.

bool_t opticflow_got_result

static

When we have an optical flow calculation.

Definition at line 77 of file opticflow_module.c.

pthread_mutex_t opticflow_mutex

static

Mutex lock fo thread safety.

Definition at line 78 of file opticflow_module.c.

struct opticflow_result_t opticflow_result

static

The opticflow result.

Definition at line 72 of file opticflow_module.c.

struct opticflow_state_t opticflow_state

static

State of the drone to communicate with the opticflow.

Definition at line 73 of file opticflow_module.c.