#include "modules/pano_unwrap/pano_unwrap.h"
#include "state.h"
#include "modules/computer_vision/cv.h"
#include <stdio.h>

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Data Structures
struct	LUT_t

Macros
#define	PANO_UNWRAP_CAMERA bottom_camera

#define	PANO_UNWRAP_CENTER_X 0.50

#define	PANO_UNWRAP_CENTER_Y 0.50

#define	PANO_UNWRAP_RADIUS_BOTTOM 0.20

#define	PANO_UNWRAP_RADIUS_TOP 0.30

#define	PANO_UNWRAP_FORWARD_DIRECTION 270.0

#define	PANO_UNWRAP_FLIP_HORIZONTAL FALSE

#define	PANO_UNWRAP_VERTICAL_RESOLUTION 0.18

#define	PANO_UNWRAP_DEROTATE_ATTITUDE FALSE

#define	PANO_UNWRAP_WIDTH 640

#define	PANO_UNWRAP_HEIGHT 0

#define	PANO_UNWRAP_OVERWRITE_VIDEO_THREAD TRUE

#define	PANO_UNWRAP_FPS 0

#define	PIXEL_U(img, x, y) ( ((uint8_t)((img)->buf))[4(int)((x)/2) + 2(y)(img)->w] )

#define	PIXEL_V(img, x, y) ( ((uint8_t)((img)->buf))[4(int)((x)/2) + 2(y)(img)->w + 2] )

#define	PIXEL_Y(img, x, y) ( ((uint8_t)((img)->buf))[2(x) + 1 + 2(y)(img)->w] )

#define	RED_Y 76

#define	RED_U 84

#define	RED_V 255

#define	GREEN_Y 149

#define	GREEN_U 43

#define	GREEN_V 21

#define	BLUE_Y 29

#define	BLUE_U 255

#define	BLUE_V 107

Functions
static void	set_output_image_size (void)

static void	update_LUT (const struct image_t *img)

static void	unwrap_LUT (struct image_t img_raw, struct image_t img)

static struct image_t *	camera_cb (struct image_t *img, uint8_t camera_id)

void	pano_unwrap_init ()

Variables
struct pano_unwrap_t	pano_unwrap

struct image_t	pano_unwrapped_image
	Unwrapped panoramic image. More...

static struct LUT_t	LUT

Detailed Description

Author: Tom van Dijk Unwrap images taken through a panoramic lens.

Definition in file pano_unwrap.c.

Data Structure Documentation

◆ LUT_t

struct LUT_t

Definition at line 115 of file pano_unwrap.c.

Collaboration diagram for LUT_t:

Data Fields
struct FloatVect2 *	dphi
struct FloatVect2 *	dtheta
struct pano_unwrap_t	settings
uint16_t *	x
uint16_t *	y

Macro Definition Documentation

◆ BLUE_U

#define BLUE_U 255

Definition at line 112 of file pano_unwrap.c.

◆ BLUE_V

#define BLUE_V 107

Definition at line 113 of file pano_unwrap.c.

◆ BLUE_Y

#define BLUE_Y 29

Definition at line 111 of file pano_unwrap.c.

◆ GREEN_U

#define GREEN_U 43

Definition at line 109 of file pano_unwrap.c.

◆ GREEN_V

#define GREEN_V 21

Definition at line 110 of file pano_unwrap.c.

◆ GREEN_Y

#define GREEN_Y 149

Definition at line 108 of file pano_unwrap.c.

◆ PANO_UNWRAP_CAMERA

#define PANO_UNWRAP_CAMERA bottom_camera

Definition at line 34 of file pano_unwrap.c.

◆ PANO_UNWRAP_CENTER_X

#define PANO_UNWRAP_CENTER_X 0.50

Definition at line 38 of file pano_unwrap.c.

◆ PANO_UNWRAP_CENTER_Y

#define PANO_UNWRAP_CENTER_Y 0.50

Definition at line 41 of file pano_unwrap.c.

◆ PANO_UNWRAP_DEROTATE_ATTITUDE

#define PANO_UNWRAP_DEROTATE_ATTITUDE FALSE

Definition at line 60 of file pano_unwrap.c.

◆ PANO_UNWRAP_FLIP_HORIZONTAL

#define PANO_UNWRAP_FLIP_HORIZONTAL FALSE

Definition at line 53 of file pano_unwrap.c.

◆ PANO_UNWRAP_FORWARD_DIRECTION

#define PANO_UNWRAP_FORWARD_DIRECTION 270.0

Definition at line 50 of file pano_unwrap.c.

◆ PANO_UNWRAP_FPS

#define PANO_UNWRAP_FPS 0

Definition at line 75 of file pano_unwrap.c.

◆ PANO_UNWRAP_HEIGHT

#define PANO_UNWRAP_HEIGHT 0

Definition at line 67 of file pano_unwrap.c.

◆ PANO_UNWRAP_OVERWRITE_VIDEO_THREAD

#define PANO_UNWRAP_OVERWRITE_VIDEO_THREAD TRUE

Definition at line 71 of file pano_unwrap.c.

◆ PANO_UNWRAP_RADIUS_BOTTOM

#define PANO_UNWRAP_RADIUS_BOTTOM 0.20

Definition at line 44 of file pano_unwrap.c.

◆ PANO_UNWRAP_RADIUS_TOP

#define PANO_UNWRAP_RADIUS_TOP 0.30

Definition at line 47 of file pano_unwrap.c.

◆ PANO_UNWRAP_VERTICAL_RESOLUTION

#define PANO_UNWRAP_VERTICAL_RESOLUTION 0.18

Definition at line 57 of file pano_unwrap.c.

◆ PANO_UNWRAP_WIDTH

#define PANO_UNWRAP_WIDTH 640

Definition at line 64 of file pano_unwrap.c.

◆ PIXEL_U

#define PIXEL_U	(	img,
		x,
		y
	)	( ((uint8_t)((img)->buf))[4(int)((x)/2) + 2(y)(img)->w] )

Definition at line 101 of file pano_unwrap.c.

◆ PIXEL_V

#define PIXEL_V	(	img,
		x,
		y
	)	( ((uint8_t)((img)->buf))[4(int)((x)/2) + 2(y)(img)->w + 2] )

Definition at line 102 of file pano_unwrap.c.

◆ PIXEL_Y

#define PIXEL_Y	(	img,
		x,
		y
	)	( ((uint8_t)((img)->buf))[2(x) + 1 + 2(y)(img)->w] )

Definition at line 103 of file pano_unwrap.c.

◆ RED_U

#define RED_U 84

Definition at line 106 of file pano_unwrap.c.

◆ RED_V

#define RED_V 255

Definition at line 107 of file pano_unwrap.c.

◆ RED_Y

#define RED_Y 76

Definition at line 105 of file pano_unwrap.c.

Function Documentation

◆ camera_cb()

static struct image_t* camera_cb	(	struct image_t *	img,
		uint8_t	camera_id
	)

static

Definition at line 303 of file pano_unwrap.c.

References pano_unwrap_t::overwrite_video_thread, pano_unwrap, pano_unwrapped_image, image_t::pprz_ts, set_output_image_size(), image_t::ts, unwrap_LUT(), and update_LUT().

Referenced by pano_unwrap_init().

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◆ pano_unwrap_init()

void pano_unwrap_init ( void )

Definition at line 313 of file pano_unwrap.c.

References camera_cb(), cv_add_to_device(), image_create(), IMAGE_YUV422, PANO_UNWRAP_CAMERA, PANO_UNWRAP_FPS, pano_unwrapped_image, and set_output_image_size().

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◆ set_output_image_size()

static void set_output_image_size ( void )

static

Definition at line 132 of file pano_unwrap.c.

References image_t::h, pano_unwrap_t::height, image_create(), image_free(), IMAGE_YUV422, pano_unwrap, pano_unwrapped_image, pano_unwrap_t::radius_bottom, pano_unwrap_t::radius_top, pano_unwrap_t::vertical_resolution, image_t::w, and pano_unwrap_t::width.

Referenced by camera_cb(), and pano_unwrap_init().

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◆ unwrap_LUT()

static void unwrap_LUT	(	struct image_t *	img_raw,
		struct image_t *	img
	)

static

Definition at line 230 of file pano_unwrap.c.

References BLUE_U, BLUE_V, BLUE_Y, pano_unwrap_t::center, pano_unwrap_t::derotate_attitude, LUT_t::dphi, LUT_t::dtheta, GREEN_U, GREEN_V, GREEN_Y, image_t::h, pano_unwrap_t::height, LUT, MAT33_ELMT, pano_unwrap, PIXEL_U, PIXEL_V, PIXEL_Y, RED_U, RED_V, RED_Y, pano_unwrap_t::show_calibration, stateGetNedToBodyRMat_f(), pano_unwrap_t::vertical_resolution, image_t::w, pano_unwrap_t::width, FloatVect2::x, LUT_t::x, FloatVect2::y, and LUT_t::y.

Referenced by camera_cb().

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◆ update_LUT()

static void update_LUT ( const struct image_t * img )

static

Definition at line 153 of file pano_unwrap.c.

References pano_unwrap_t::center, LUT_t::dphi, LUT_t::dtheta, pano_unwrap_t::flip_horizontal, pano_unwrap_t::forward_direction, image_t::h, pano_unwrap_t::height, LUT, pano_unwrap, pano_unwrapped_image, pano_unwrap_t::radius_bottom, pano_unwrap_t::radius_top, s, LUT_t::settings, image_t::w, pano_unwrap_t::width, FloatVect2::x, LUT_t::x, FloatVect2::y, and LUT_t::y.

Referenced by camera_cb().

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Variable Documentation

◆ LUT

struct LUT_t LUT

static

Definition at line 1 of file pano_unwrap.c.

Referenced by unwrap_LUT(), and update_LUT().

◆ pano_unwrap

struct pano_unwrap_t pano_unwrap

Initial value:

= {
    .center = {
        .x = PANO_UNWRAP_CENTER_X,
        .y = PANO_UNWRAP_CENTER_Y,
    },
    .radius_bottom = PANO_UNWRAP_RADIUS_BOTTOM,
    .radius_top = PANO_UNWRAP_RADIUS_TOP,
    .forward_direction = PANO_UNWRAP_FORWARD_DIRECTION,
    .flip_horizontal = PANO_UNWRAP_FLIP_HORIZONTAL,
 
    .vertical_resolution = PANO_UNWRAP_VERTICAL_RESOLUTION,
    .derotate_attitude = PANO_UNWRAP_DEROTATE_ATTITUDE,
 
    .width = PANO_UNWRAP_WIDTH,
    .height = PANO_UNWRAP_HEIGHT,
 
    .overwrite_video_thread = PANO_UNWRAP_OVERWRITE_VIDEO_THREAD,
 
    .show_calibration = FALSE,
}

Definition at line 1 of file pano_unwrap.c.

Referenced by camera_cb(), set_output_image_size(), unwrap_LUT(), and update_LUT().

◆ pano_unwrapped_image

struct image_t pano_unwrapped_image

Unwrapped panoramic image.

Definition at line 1 of file pano_unwrap.c.

Referenced by camera_cb(), pano_unwrap_init(), set_output_image_size(), and update_LUT().

Data Structures

Macros

Functions

Variables

Detailed Description

Data Structure Documentation

◆ LUT_t

Macro Definition Documentation

◆ BLUE_U

◆ BLUE_V

◆ BLUE_Y

◆ GREEN_U

◆ GREEN_V

◆ GREEN_Y

◆ PANO_UNWRAP_CAMERA

◆ PANO_UNWRAP_CENTER_X

◆ PANO_UNWRAP_CENTER_Y

◆ PANO_UNWRAP_DEROTATE_ATTITUDE

◆ PANO_UNWRAP_FLIP_HORIZONTAL

◆ PANO_UNWRAP_FORWARD_DIRECTION

◆ PANO_UNWRAP_FPS

◆ PANO_UNWRAP_HEIGHT

◆ PANO_UNWRAP_OVERWRITE_VIDEO_THREAD

◆ PANO_UNWRAP_RADIUS_BOTTOM

◆ PANO_UNWRAP_RADIUS_TOP

◆ PANO_UNWRAP_VERTICAL_RESOLUTION

◆ PANO_UNWRAP_WIDTH

◆ PIXEL_U

◆ PIXEL_V

◆ PIXEL_Y

◆ RED_U

◆ RED_V

◆ RED_Y

Function Documentation

◆ camera_cb()

◆ pano_unwrap_init()

◆ set_output_image_size()

◆ unwrap_LUT()

◆ update_LUT()

Variable Documentation

◆ LUT

◆ pano_unwrap

◆ pano_unwrapped_image