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 "lib/filters/kalman_filter_vision.h"
#include "subsystems/imu.h"
#include "filters/median_filter.h"

Include dependency graph for opticflow_calculator.c:

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_RESOLUTION_FACTOR 100

#define	OPTICFLOW_MAX_ITERATIONS 10

#define	OPTICFLOW_THRESHOLD_VEC 2

#define	OPTICFLOW_PYRAMID_LEVEL 2

#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_DEROTATION_CORRECTION_FACTOR_X 1.0

#define	OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y 1.0

#define	OPTICFLOW_MEDIAN_FILTER FALSE

#define	OPTICFLOW_KALMAN_FILTER TRUE

#define	OPTICFLOW_KALMAN_FILTER_PROCESS_NOISE 0.01

#define	OPTICFLOW_FEATURE_MANAGEMENT 1

#define	OPTICFLOW_FAST9_REGION_DETECT 1

#define	OPTICFLOW_FAST9_NUM_REGIONS 9

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...

static int	cmp_array (const void a, const void b)
	Compare the rows of an integer (uint16_t) 2D array based on the first column. More...

void	opticflow_calc_init (struct opticflow_t *opticflow)
	Initialize the opticflow calculator. More...

void	calc_fast9_lukas_kanade (struct opticflow_t opticflow, struct opticflow_state_t cam_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 cam_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 cam_state, struct image_t img, struct opticflow_result_t result)
	Run the optical flow on a new image frame. More...

void	kalman_filter_opticflow_velocity (float velocity_x, float velocity_y, float acceleration_measurement, float fps, float measurement_noise, float kalman_process_noise, bool reinitialize_kalman)
	Filter the velocity with a simple linear kalman filter, together with the accelerometers. 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 147 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define FAST9_LOW_THRESHOLD 5

Definition at line 146 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define LINEAR_FIT 1

Definition at line 61 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define OPTICFLOW_DEROTATION TRUE

Definition at line 159 of file opticflow_calculator.c.

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

[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

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

[in]	*a	The first row (should be *uint16_t)
[in]	*b	The second flow vector (should be *uint16_t)

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

void kalman_filter_opticflow_velocity	(	float *	velocity_x,
		float *	velocity_y,
		float *	acceleration_measurement,
		float	fps,
		float *	measurement_noise,
		float	kalman_process_noise,
		bool	reinitialize_kalman
	)

[in]	*velocity_x	Velocity in x direction of body fixed coordinates
[in]	*velocity_y	Belocity in y direction of body fixed coordinates
[in]	*acceleration_measurement	Measurements of the accelerometers
[in]	fps	Frames per second
[in]	*measurement_noise	Expected variance of the noise of the measurements
[in]	*measurement_noise	Expected variance of the noise of the model prediction
[in]	reinitialize_kalman	Boolean to reinitialize the kalman filter

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

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

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

Function Documentation

Variable Documentation