opticflow_calculator.c File Reference

Estimate velocity from optic flow. More...

#include "std.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "opticflow_calculator.h"
#include "lib/vision/image.h"
#include "lib/vision/lucas_kanade.h"
#include "lib/vision/fast_rosten.h"
#include "lib/vision/edge_flow.h"
#include "size_divergence.h"
#include "linear_flow_fit.h"
#include "filters/median_filter.h"

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Go to the source code of this file.

Macros
#define	OPTICFLOW_SHOW_FLOW   0
#define	OPTICFLOW_SHOW_CORNERS   0
#define	SIZE_DIV   1
#define	LINEAR_FIT   1
#define	OPTICFLOW_FOV_W   0.89360857702
#define	OPTICFLOW_FOV_H   0.67020643276
#define	OPTICFLOW_FX   343.1211
#define	OPTICFLOW_FY   348.5053
#define	OPTICFLOW_MAX_TRACK_CORNERS   25
#define	OPTICFLOW_WINDOW_SIZE   10
#define	OPTICFLOW_SEARCH_DISTANCE   20
#define	OPTICFLOW_SUBPIXEL_FACTOR   10
#define	OPTICFLOW_MAX_ITERATIONS   10
#define	OPTICFLOW_THRESHOLD_VEC   2
#define	OPTICFLOW_PYRAMID_LEVEL   0
#define	OPTICFLOW_FAST9_ADAPTIVE   TRUE
#define	OPTICFLOW_FAST9_THRESHOLD   20
#define	OPTICFLOW_FAST9_MIN_DISTANCE   10
#define	OPTICFLOW_FAST9_PADDING   20
#define	FAST9_LOW_THRESHOLD   5
#define	FAST9_HIGH_THRESHOLD   60
#define	OPTICFLOW_METHOD   0
#define	OPTICFLOW_DEROTATION   TRUE
#define	OPTICFLOW_MEDIAN_FILTER   TRUE

Functions
static uint32_t	timeval_diff (struct timeval *starttime, struct timeval *finishtime)
	Calculate the difference from start till finish. More...
static int	cmp_flow (const void *a, const void *b)
	Compare two flow vectors based on flow distance Used for sorting. More...
void	opticflow_calc_init (struct opticflow_t *opticflow, uint16_t w, uint16_t h)
	Initialize the opticflow calculator. More...
void	calc_fast9_lukas_kanade (struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img, struct opticflow_result_t *result)
	Run the optical flow with fast9 and lukaskanade on a new image frame. More...
void	calc_edgeflow_tot (struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img, struct opticflow_result_t *result)
	Run the optical flow with EDGEFLOW on a new image frame. More...
void	opticflow_calc_frame (struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img, struct opticflow_result_t *result)
	Run the optical flow on a new image frame. More...

Variables
struct MedianFilterInt vel_x_filt	vel_y_filt

Detailed Description

Estimate velocity from optic flow.

Using images from a vertical camera and IMU sensor data.

Definition in file opticflow_calculator.c.

Macro Definition Documentation

#define FAST9_HIGH_THRESHOLD   60

Definition at line 137 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define FAST9_LOW_THRESHOLD   5

Definition at line 136 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define LINEAR_FIT   1

Definition at line 56 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define OPTICFLOW_DEROTATION   TRUE

Definition at line 149 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_FAST9_ADAPTIVE   TRUE

Definition at line 116 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_FAST9_MIN_DISTANCE   10

Definition at line 126 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_FAST9_PADDING   20

Definition at line 131 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_FAST9_THRESHOLD   20

Definition at line 121 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_FOV_H   0.67020643276

Definition at line 65 of file opticflow_calculator.c.

Referenced by calc_edgeflow_tot(), and calc_fast9_lukas_kanade().

#define OPTICFLOW_FOV_W   0.89360857702

Definition at line 60 of file opticflow_calculator.c.

Referenced by calc_edgeflow_tot(), and calc_fast9_lukas_kanade().

#define OPTICFLOW_FX   343.1211

Definition at line 70 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define OPTICFLOW_FY   348.5053

Definition at line 75 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define OPTICFLOW_MAX_ITERATIONS   10

Definition at line 101 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_MAX_TRACK_CORNERS   25

Definition at line 81 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade(), and opticflow_calc_init().

#define OPTICFLOW_MEDIAN_FILTER   TRUE

Definition at line 154 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_METHOD   0

Definition at line 140 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_PYRAMID_LEVEL   0

Definition at line 111 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_SEARCH_DISTANCE   20

Definition at line 91 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_SHOW_CORNERS   0

Definition at line 49 of file opticflow_calculator.c.

#define OPTICFLOW_SHOW_FLOW   0

Definition at line 48 of file opticflow_calculator.c.

#define OPTICFLOW_SUBPIXEL_FACTOR   10

Definition at line 96 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_THRESHOLD_VEC   2

Definition at line 106 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define OPTICFLOW_WINDOW_SIZE   10

Definition at line 86 of file opticflow_calculator.c.

Referenced by opticflow_calc_init().

#define SIZE_DIV   1

Definition at line 53 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

Function Documentation

void calc_edgeflow_tot	(	struct opticflow_t *	opticflow,
		struct opticflow_state_t *	state,
		struct image_t *	img,
		struct opticflow_result_t *	result
	)

Run the optical flow with EDGEFLOW on a new image frame.

Parameters

[in]	*opticflow	The opticalflow structure that keeps track of previous images
[in]	*state	The state of the drone
[in]	*img	The image frame to calculate the optical flow from
[out]	*result	The optical flow result

Definition at line 404 of file opticflow_calculator.c.

References opticflow_state_t::agl, calc_previous_frame_nr(), calculate_edge_displacement(), calculate_edge_histogram(), opticflow_result_t::corner_cnt, opticflow_t::derotation, DISP_RANGE_MAX, opticflow_result_t::div_size, edge_flow_t::div_x, edge_flow_t::div_y, opticflow_result_t::divergence, draw_edgeflow_img(), FLOAT_RATES_ZERO, opticflow_result_t::flow_der_x, opticflow_result_t::flow_der_y, opticflow_result_t::flow_x, edge_flow_t::flow_x, opticflow_result_t::flow_y, edge_flow_t::flow_y, opticflow_result_t::fps, edge_hist_t::frame_time, getAmountPeaks(), image_t::h, opticflow_t::just_switched_method, line_fit(), MAX_HORIZON, MAX_WINDOW_SIZE, opticflow_t::median_filter, opticflow_result_t::noise_measurement, OPTICFLOW_FOV_H, OPTICFLOW_FOV_W, FloatRates::p, FloatRates::q, opticflow_state_t::rates, edge_hist_t::rates, RES, opticflow_t::search_distance, opticflow_t::subpixel_factor, opticflow_result_t::surface_roughness, timeval_diff(), opticflow_result_t::tracked_cnt, image_t::ts, update_median_filter(), opticflow_result_t::vel_x, opticflow_result_t::vel_y, vel_y_filt, image_t::w, opticflow_t::window_size, edge_hist_t::x, edgeflow_displacement_t::x, edge_hist_t::y, and edgeflow_displacement_t::y.

Referenced by opticflow_calc_frame().

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void calc_fast9_lukas_kanade	(	struct opticflow_t *	opticflow,
		struct opticflow_state_t *	state,
		struct image_t *	img,
		struct opticflow_result_t *	result
	)

Run the optical flow with fast9 and lukaskanade on a new image frame.

Parameters

[in]	*opticflow	The opticalflow structure that keeps track of previous images
[in]	*state	The state of the drone
[in]	*img	The image frame to calculate the optical flow from
[out]	*result	The optical flow result

Definition at line 218 of file opticflow_calculator.c.

References opticflow_state_t::agl, analyze_linear_flow_field(), cmp_flow(), opticflow_result_t::corner_cnt, opticflow_t::derotation, opticflow_result_t::div_size, linear_flow_fit_info::divergence, opticflow_result_t::divergence, opticflow_t::fast9_adaptive, fast9_detect(), FAST9_HIGH_THRESHOLD, FAST9_LOW_THRESHOLD, opticflow_t::fast9_min_distance, opticflow_t::fast9_padding, opticflow_t::fast9_ret_corners, opticflow_t::fast9_rsize, opticflow_t::fast9_threshold, opticflow_result_t::flow_der_x, opticflow_result_t::flow_der_y, opticflow_result_t::flow_x, flow_t::flow_x, opticflow_result_t::flow_y, flow_t::flow_y, opticflow_result_t::fps, get_size_divergence(), opticflow_t::got_first_img, image_t::h, image_copy(), image_show_flow(), image_show_points(), image_switch(), image_to_grayscale(), opticflow_t::img_gray, opticflow_t::just_switched_method, LINEAR_FIT, opticflow_t::max_iterations, opticflow_t::max_track_corners, opticflow_t::median_filter, opticflow_result_t::noise_measurement, opticflow_calc_init(), OPTICFLOW_FOV_H, OPTICFLOW_FOV_W, OPTICFLOW_FX, OPTICFLOW_FY, OPTICFLOW_MAX_TRACK_CORNERS, opticFlowLK(), FloatRates::p, opticflow_t::prev_img_gray, opticflow_t::prev_rates, opticflow_t::prev_timestamp, opticflow_t::pyramid_level, FloatRates::q, opticflow_state_t::rates, SIZE_DIV, opticflow_t::subpixel_factor, linear_flow_fit_info::surface_roughness, opticflow_result_t::surface_roughness, opticflow_t::threshold_vec, timeval_diff(), opticflow_result_t::tracked_cnt, image_t::ts, update_median_filter(), opticflow_result_t::vel_x, opticflow_result_t::vel_y, vel_y_filt, image_t::w, and opticflow_t::window_size.

Referenced by opticflow_calc_frame().

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static int cmp_flow ( const void *  a, const void *  b  )

static

Compare two flow vectors based on flow distance Used for sorting.

Parameters

[in]	*a	The first flow vector (should be vect flow_t)
[in]	*b	The second flow vector (should be vect flow_t)

Returns

Negative if b has more flow than a, 0 if the same and positive if a has more flow than b

Definition at line 611 of file opticflow_calculator.c.

References flow_t::flow_x, and flow_t::flow_y.

Referenced by calc_fast9_lukas_kanade().

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void opticflow_calc_frame	(	struct opticflow_t *	opticflow,
		struct opticflow_state_t *	state,
		struct image_t *	img,
		struct opticflow_result_t *	result
	)

Run the optical flow on a new image frame.

Parameters

[in]	*opticflow	The opticalflow structure that keeps track of previous images
[in]	*state	The state of the drone
[in]	*img	The image frame to calculate the optical flow from
[out]	*result	The optical flow result

Definition at line 567 of file opticflow_calculator.c.

References calc_edgeflow_tot(), calc_fast9_lukas_kanade(), opticflow_t::just_switched_method, and opticflow_t::method.

Referenced by opticflow_module_calc().

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void opticflow_calc_init	(	struct opticflow_t *	opticflow,
		uint16_t	w,
		uint16_t	h
	)

Initialize the opticflow calculator.

Parameters

[out]	*opticflow	The new optical flow calculator
[in]	*w	The image width
[in]	*h	The image height

Definition at line 175 of file opticflow_calculator.c.

References opticflow_t::derotation, opticflow_t::fast9_adaptive, opticflow_t::fast9_min_distance, opticflow_t::fast9_padding, opticflow_t::fast9_ret_corners, opticflow_t::fast9_rsize, opticflow_t::fast9_threshold, FLOAT_RATES_ZERO, opticflow_t::got_first_img, image_create(), IMAGE_GRAYSCALE, opticflow_t::img_gray, init_median_filter(), opticflow_t::max_iterations, opticflow_t::max_track_corners, opticflow_t::median_filter, opticflow_t::method, OPTICFLOW_DEROTATION, OPTICFLOW_FAST9_ADAPTIVE, OPTICFLOW_FAST9_MIN_DISTANCE, OPTICFLOW_FAST9_PADDING, OPTICFLOW_FAST9_THRESHOLD, OPTICFLOW_MAX_ITERATIONS, OPTICFLOW_MAX_TRACK_CORNERS, OPTICFLOW_MEDIAN_FILTER, OPTICFLOW_METHOD, OPTICFLOW_PYRAMID_LEVEL, OPTICFLOW_SEARCH_DISTANCE, OPTICFLOW_SUBPIXEL_FACTOR, OPTICFLOW_THRESHOLD_VEC, OPTICFLOW_WINDOW_SIZE, opticflow_t::prev_img_gray, opticflow_t::prev_rates, opticflow_t::pyramid_level, opticflow_t::search_distance, opticflow_t::subpixel_factor, opticflow_t::threshold_vec, vel_y_filt, and opticflow_t::window_size.

Referenced by calc_fast9_lukas_kanade().

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static uint32_t timeval_diff ( struct timeval *  starttime, struct timeval *  finishtime  )

static

Calculate the difference from start till finish.

Parameters

[in]	*starttime	The start time to calculate the difference from
[in]	*finishtime	The finish time to calculate the difference from

Returns

The difference in milliseconds

Definition at line 596 of file opticflow_calculator.c.

Referenced by calc_edgeflow_tot(), and calc_fast9_lukas_kanade().

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Variable Documentation

struct MedianFilterInt vel_x_filt vel_y_filt

Definition at line 160 of file opticflow_calculator.c.

Referenced by calc_edgeflow_tot(), calc_fast9_lukas_kanade(), and opticflow_calc_init().