opticflow_calculator.h

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/*
 * Copyright (C) 2014 Hann Woei Ho
 *               2015 Freek van Tienen <freek.v.tienen@gmail.com>
 *               2016 Kimberly McGuire <k.n.mcguire@tudelft.nl
 *
 * This file is part of Paparazzi.
 *
 * Paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * Paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef OPTICFLOW_CALCULATOR_H
#define OPTICFLOW_CALCULATOR_H

#include "std.h"
#include "inter_thread_data.h"
#include "lib/vision/image.h"
#include "lib/v4l/v4l2.h"

struct opticflow_t {
  bool got_first_img;             
  bool just_switched_method;
  struct FloatRates prev_rates;     
  struct image_t img_gray;          
  struct image_t prev_img_gray;     
  struct timeval prev_timestamp;    

  uint8_t method;               
  uint16_t window_size;             
  uint16_t search_distance;         
  bool derotation;             
  bool median_filter;          

  uint16_t subpixel_factor;          
  uint8_t max_iterations;           
  uint8_t threshold_vec;            
  uint8_t pyramid_level;        

  uint8_t max_track_corners;        
  bool fast9_adaptive;            
  uint8_t fast9_threshold;          
  uint16_t fast9_min_distance;      
  uint16_t fast9_padding;           

  uint16_t fast9_rsize;   
  struct point_t *fast9_ret_corners; 
};


void opticflow_calc_init(struct opticflow_t *opticflow, uint16_t w, uint16_t h);
void opticflow_calc_frame(struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img,
                          struct opticflow_result_t *result);

void calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img,
                             struct opticflow_result_t *result);
void calc_edgeflow_tot(struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img,
                       struct opticflow_result_t *result);
#endif /* OPTICFLOW_CALCULATOR_H */