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/act_fast.h"
#include "lib/vision/edge_flow.h"
#include "lib/vision/undistortion.h"
#include "size_divergence.h"
#include "linear_flow_fit.h"
#include "modules/sonar/agl_dist.h"
#include <BOARD_CONFIG>
#include "filters/median_filter.h"

Include dependency graph for opticflow_calculator.c:

Go to the source code of this file.

Macros
#define	OPTICFLOW_SHOW_CORNERS 0

#define	EXHAUSTIVE_FAST 0

#define	ACT_FAST 1

#define	SIZE_DIV 1

#define	LINEAR_FIT 1

#define	OPTICFLOW_CORNER_METHOD ACT_FAST

#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_FEATURE_MANAGEMENT 0

#define	OPTICFLOW_FAST9_REGION_DETECT 1

#define	OPTICFLOW_FAST9_NUM_REGIONS 9

#define	OPTICFLOW_ACTFAST_LONG_STEP 10

#define	OPTICFLOW_ACTFAST_SHORT_STEP 2

#define	OPTICFLOW_ACTFAST_GRADIENT_METHOD 1

#define	OPTICFLOW_ACTFAST_MIN_GRADIENT 10

#define	OPTICFLOW_BODY_TO_CAM_PHI 0

#define	OPTICFLOW_BODY_TO_CAM_THETA 0

#define	OPTICFLOW_BODY_TO_CAM_PSI -M_PI_2

#define	OPTICFLOW_TRACK_BACK FALSE

#define	OPTICFLOW_SHOW_FLOW FALSE

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...

static void	manage_flow_features (struct image_t img, struct opticflow_t opticflow, struct opticflow_result_t *result)

static struct flow_t *	predict_flow_vectors (struct flow_t flow_vectors, uint16_t n_points, float phi_diff, float theta_diff, float psi_diff, struct opticflow_t opticflow)

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

bool	calc_fast9_lukas_kanade (struct opticflow_t opticflow, struct image_t img, struct opticflow_result_t *result)
	Run the optical flow with fast9 and lukaskanade on a new image frame. More...

bool	calc_edgeflow_tot (struct opticflow_t opticflow, struct image_t img, struct opticflow_result_t *result)
	Run the optical flow with EDGEFLOW on a new image frame. More...

bool	opticflow_calc_frame (struct opticflow_t opticflow, struct image_t img, struct opticflow_result_t *result)
	Run the optical flow on a new image frame. More...

Variables
uint16_t	n_time_steps = 10

uint16_t	n_agents = 25

struct MedianFilter3Float	vel_filt

struct FloatRMat	body_to_cam

Detailed Description

Estimate velocity from optic flow.

Definition in file opticflow_calculator.c.

Macro Definition Documentation

#define ACT_FAST 1

Definition at line 56 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define EXHAUSTIVE_FAST 0

Definition at line 55 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define FAST9_HIGH_THRESHOLD 60

Definition at line 136 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define FAST9_LOW_THRESHOLD 5

Definition at line 135 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define LINEAR_FIT 1

Definition at line 66 of file opticflow_calculator.c.

Referenced by calc_fast9_lukas_kanade().

#define OPTICFLOW_ACTFAST_GRADIENT_METHOD 1

Definition at line 193 of file opticflow_calculator.c.

bool calc_edgeflow_tot	(	struct opticflow_t *	opticflow,
		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
	computation	successful

bool calc_fast9_lukas_kanade	(	struct opticflow_t *	opticflow,
		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)

bool opticflow_calc_frame	(	struct opticflow_t *	opticflow,
		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