Paparazzi UAS  v6.0_unstable-91-g69c55a0-dirty
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
opticflow_calculator.h
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2014 Hann Woei Ho
3  * 2015 Freek van Tienen <freek.v.tienen@gmail.com>
4  * 2016 Kimberly McGuire <k.n.mcguire@tudelft.nl
5  *
6  * This file is part of Paparazzi.
7  *
8  * Paparazzi is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2, or (at your option)
11  * any later version.
12  *
13  * Paparazzi is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU General Public License for more details.
17  *
18  * You should have received a copy of the GNU General Public License
19  * along with Paparazzi; see the file COPYING. If not, see
20  * <http://www.gnu.org/licenses/>.
21  */
22 
32 #ifndef OPTICFLOW_CALCULATOR_H
33 #define OPTICFLOW_CALCULATOR_H
34 
35 #include "std.h"
36 #include "inter_thread_data.h"
37 #include "lib/vision/image.h"
38 #include "lib/v4l/v4l2.h"
39 
40 struct opticflow_t {
43  struct image_t img_gray;
45 
50  bool derotation;
52 
55 
56  bool track_back;
57  bool show_flow;
58 
64 
70 
76 
81 
82  const struct video_config_t *camera;
84 };
85 
86 #define FAST9_MAX_CORNERS 512
87 
88 extern void opticflow_calc_init(struct opticflow_t opticflow[]);
89 extern bool opticflow_calc_frame(struct opticflow_t *opticflow, struct image_t *img,
90  struct opticflow_result_t *result);
91 
92 extern bool calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct image_t *img,
93  struct opticflow_result_t *result);
94 extern bool calc_edgeflow_tot(struct opticflow_t *opticflow, struct image_t *img,
95  struct opticflow_result_t *result);
96 
97 extern void kalman_filter_opticflow_velocity(float *velocity_x, float *velocity_y, float *acceleration_measurement, float fps,
98  float *measurement_noise, float process_noise, bool reinitialize_kalman);
99 
100 #endif /* OPTICFLOW_CALCULATOR_H */
101 
102 
bool track_back
Whether to track flow vectors back to the previous image, in order to check if the back-tracked flow ...
int actfast_gradient_method
Whether to use a simple or Sobel filter.
bool calc_edgeflow_tot(struct opticflow_t *opticflow, struct image_t *img, struct opticflow_result_t *result)
Run the optical flow with EDGEFLOW on a new image frame.
uint16_t fast9_min_distance
Minimum distance in pixels between corners.
bool opticflow_calc_frame(struct opticflow_t *opticflow, struct image_t *img, struct opticflow_result_t *result)
Run the optical flow on a new image frame.
bool feature_management
Decides whether to keep track corners in memory for the next frame instead of re-detecting every time...
uint8_t max_iterations
The maximum amount of iterations the Lucas Kanade algorithm should do.
uint16_t window_size
Window size for the blockmatching algorithm (general value for all methods)
void kalman_filter_opticflow_velocity(float *velocity_x, float *velocity_y, float *acceleration_measurement, float fps, float *measurement_noise, float process_noise, bool reinitialize_kalman)
uint16_t fast9_rsize
Amount of corners allocated.
Capture images from a V4L2 device (Video for Linux 2)
bool median_filter
Decides to use a median filter on the velocity.
Definition: image.h:44
uint16_t max_track_corners
Maximum amount of corners Lucas Kanade should track.
struct opticflow_t opticflow[ACTIVE_CAMERAS]
Opticflow calculations.
Inter-thread data structures.
uint16_t resolution_factor
The resolution in EdgeFlow to determine the Divergence.
uint8_t threshold_vec
The threshold in x, y subpixels which the algorithm should stop.
bool derotation
Derotation switched on or off (depended on the quality of the gyroscope measurement) ...
uint8_t method
Method to use to calculate the optical flow.
uint8_t fast9_num_regions
The number of regions of interest the image is split into.
Image helper functions like resizing, color filter, converters...
bool calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct image_t *img, struct opticflow_result_t *result)
Run the optical flow with fast9 and lukaskanade on a new image frame.
uint16_t subpixel_factor
The amount of subpixels per pixel.
struct point_t * fast9_ret_corners
Corners.
struct image_t prev_img_gray
Previous gray image frame.
uint8_t fast9_threshold
FAST9 corner detection threshold.
bool just_switched_method
Boolean to check if methods has been switched (for reinitialization)
Definition: image.h:58
int fps
Target FPS.
Definition: video_device.h:67
struct image_t img_gray
Current gray image frame.
bool show_flow
Whether to draw the flow vectors on the image. Watch out! This changes the image as will be received ...
bool got_first_img
If we got a image to work with.
const struct video_config_t * camera
bool fast9_region_detect
Decides whether to detect fast9 corners in specific regions of interest or the whole image (only for ...
void opticflow_calc_init(struct opticflow_t opticflow[])
Initialize the opticflow calculator.
uint16_t fast9_padding
Padding used in FAST9 detector.
bool fast9_adaptive
Whether the FAST9 threshold should be adaptive.
float derotation_correction_factor_x
Correction factor for derotation in x axis, determined from a fit from the gyros and flow rotation...
uint8_t corner_method
Method to use for determining where the corners are.
uint8_t pyramid_level
Number of pyramid levels used in Lucas Kanade algorithm (0 == no pyramids used)
float actfast_short_step
Step size to take when there is an edge to be followed.
float actfast_long_step
Step size to take when there is no texture.
uint16_t search_distance
Search distance for blockmatching alg.
float derotation_correction_factor_y
Correction factor for derotation in Y axis, determined from a fit from the gyros and flow rotation...
unsigned short uint16_t
Typedef defining 16 bit unsigned short type.
Definition: vl53l1_types.h:88
V4L2 device settings.
Definition: video_device.h:55
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
int actfast_min_gradient
Threshold that decides when there is sufficient texture for edge following.