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 image_t img_gray;              
  struct image_t prev_img_gray;         

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

  float derotation_correction_factor_x;     
  float derotation_correction_factor_y;     

  bool track_back;                    
  bool show_flow;                     

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

  uint16_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;    
  bool feature_management;        
  bool fast9_region_detect;       
  uint8_t fast9_num_regions;      

  float actfast_long_step;        
  float actfast_short_step;       
  int actfast_min_gradient;       
  int actfast_gradient_method;    


};

#define FAST9_MAX_CORNERS 512

extern void opticflow_calc_init(struct opticflow_t *opticflow);
extern bool opticflow_calc_frame(struct opticflow_t *opticflow, struct image_t *img,
                          struct opticflow_result_t *result);

extern bool calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct image_t *img,
                             struct opticflow_result_t *result);
extern bool calc_edgeflow_tot(struct opticflow_t *opticflow, struct image_t *img,
                       struct opticflow_result_t *result);

extern void kalman_filter_opticflow_velocity(float *velocity_x, float *velocity_y, float *acceleration_measurement, float fps,
                                      float *measurement_noise, float process_noise, bool reinitialize_kalman);

#endif /* OPTICFLOW_CALCULATOR_H */