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"
#include "cv.h"
#include "subsystems/datalink/telemetry.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

Functions
struct image_t *	opticflow_module_calc (struct image_t *img)
	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...
static void	opticflow_telem_send (struct transport_tx *trans, struct link_device *dev)
	Send optical flow telemetry information. 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...

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 abi_event	opticflow_agl_ev
	The altitude ABI event. More...
static bool	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 OPTICFLOW_AGL_ID   ABI_BROADCAST

Default sonar/agl to use in opticflow visual_estimator.

Definition at line 45 of file opticflow_module.c.

Referenced by opticflow_module_init().

#define OPTICFLOW_SENDER_ID   1

Definition at line 50 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 185 of file opticflow_module.c.

References opticflow_state_t::agl, and opticflow_state.

Referenced by opticflow_module_init().

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struct image_t * opticflow_module_calc

(

struct image_t *

img

)

The main optical flow calculation thread.

The main optical flow calculation thread This thread passes the images trough the optical flow calculator.

Parameters

[in]

*img

The image_t structure of the captured image

Returns

*img The processed image structure

Definition at line 150 of file opticflow_module.c.

References opticflow_state_t::agl, get_rotation_at_timestamp(), opticflow, opticflow_calc_frame(), opticflow_result, opticflow_state, image_t::pprz_ts, pose_t::rates, opticflow_state_t::rates, opticflow_result_t::vel_body_x, opticflow_result_t::vel_body_y, opticflow_result_t::vel_x, and opticflow_result_t::vel_y.

Referenced by opticflow_module_init().

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void opticflow_module_init

(

void

)

Initialize the optical flow module for the bottom camera.

Definition at line 91 of file opticflow_module.c.

References opticflow_state_t::agl, cv_add_to_device(), DefaultPeriodic, FLOAT_RATES_ZERO, opticflow_agl_cb(), OPTICFLOW_AGL_ID, opticflow_module_calc(), opticflow_state, opticflow_telem_send(), opticflow_state_t::rates, and register_periodic_telemetry().

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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 115 of file opticflow_module.c.

References opticflow_state_t::agl, opticflow_result_t::div_size, opticflow_result_t::flow_der_x, opticflow_result_t::flow_der_y, opticflow_result_t::flow_x, opticflow_result_t::flow_y, get_sys_time_usec(), opticflow_result_t::noise_measurement, opticflow_result, OPTICFLOW_SENDER_ID, opticflow_state, opticflow_result_t::vel_body_x, and opticflow_result_t::vel_body_y.

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static void opticflow_telem_send ( struct transport_tx *  trans, struct link_device *  dev  )

static

Send optical flow telemetry information.

Parameters

[in]	*trans	The transport structure to send the information over
[in]	*dev	The link to send the data over

Definition at line 72 of file opticflow_module.c.

References opticflow_result_t::corner_cnt, opticflow_result_t::div_size, opticflow_result_t::divergence, opticflow_result_t::flow_der_x, opticflow_result_t::flow_der_y, opticflow_result_t::flow_x, opticflow_result_t::flow_y, opticflow_result_t::fps, opticflow_result_t::noise_measurement, opticflow_result, opticflow_result_t::surface_roughness, opticflow_result_t::tracked_cnt, opticflow_result_t::vel_x, and opticflow_result_t::vel_y.

Referenced by opticflow_module_init().

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Variable Documentation

struct opticflow_t opticflow

Opticflow calculations.

Definition at line 54 of file opticflow_module.c.

Referenced by opticflow_module_calc().

abi_event opticflow_agl_ev

static

The altitude ABI event.

Definition at line 57 of file opticflow_module.c.

bool opticflow_got_result

static

When we have an optical flow calculation.

Definition at line 58 of file opticflow_module.c.

pthread_mutex_t opticflow_mutex

static

Mutex lock fo thread safety.

Definition at line 59 of file opticflow_module.c.

struct opticflow_result_t opticflow_result

static

The opticflow result.

Definition at line 55 of file opticflow_module.c.

Referenced by opticflow_module_calc(), opticflow_module_run(), and opticflow_telem_send().

struct opticflow_state_t opticflow_state

static

State of the drone to communicate with the opticflow.

Definition at line 56 of file opticflow_module.c.

Referenced by opticflow_agl_cb(), opticflow_module_calc(), opticflow_module_init(), and opticflow_module_run().