opticflow_module.c File Reference

Optical-flow estimation module. 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_FPS   0
	Default FPS (zero means run at camera fps) More...
#define	OPTICFLOW_FPS_CAMERA2   0
	Default FPS (zero means run at camera fps) More...
#define	ACTIVE_CAMERAS   1

Functions
struct image_t *	opticflow_module_calc (struct image_t *img, uint8_t camera_id)
	The main optical flow calculation thread. 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 [ACTIVE_CAMERAS]
	Opticflow calculations. More...
static struct opticflow_result_t	opticflow_result [ACTIVE_CAMERAS]
	The opticflow result. More...
static bool	opticflow_got_result [ACTIVE_CAMERAS]
	When we have an optical flow calculation. More...
static pthread_mutex_t	opticflow_mutex
	Mutex lock fo thread safety. More...

Detailed Description

Optical-flow estimation module.

Definition in file opticflow_module.c.

Macro Definition Documentation

ACTIVE_CAMERAS

#define ACTIVE_CAMERAS   1

Definition at line 61 of file opticflow_module.c.

OPTICFLOW_AGL_ID

#define OPTICFLOW_AGL_ID   ABI_BROADCAST

Default sonar/agl to use in opticflow visual_estimator.

Definition at line 44 of file opticflow_module.c.

OPTICFLOW_FPS

#define OPTICFLOW_FPS   0

Default FPS (zero means run at camera fps)

Definition at line 49 of file opticflow_module.c.

OPTICFLOW_FPS_CAMERA2

#define OPTICFLOW_FPS_CAMERA2   0

Default FPS (zero means run at camera fps)

Definition at line 53 of file opticflow_module.c.

Function Documentation

opticflow_module_calc()

struct image_t * opticflow_module_calc	(	struct image_t *	img,
		uint8_t	camera_id
	)

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
[in]	camera_id	The camera index id

Returns

*img The processed image structure

Definition at line 167 of file opticflow_module.c.

References ACTIVE_CAMERAS, opticflow_result_t::camera_id, pose_t::eulers, image_t::eulers, get_rotation_at_timestamp(), opticflow, opticflow_calc_frame(), opticflow_got_result, opticflow_mutex, opticflow_result, and image_t::pprz_ts.

Referenced by opticflow_module_init().

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opticflow_module_init()

void opticflow_module_init

(

void

)

Initialize the optical flow module for the bottom camera.

Definition at line 105 of file opticflow_module.c.

References ACTIVE_CAMERAS, cv_add_to_device(), DefaultPeriodic, opticflow, opticflow_calc_init(), OPTICFLOW_FPS, OPTICFLOW_FPS_CAMERA2, opticflow_got_result, opticflow_module_calc(), opticflow_telem_send(), and register_periodic_telemetry().

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opticflow_module_run()

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 128 of file opticflow_module.c.

References ACTIVE_CAMERAS, FLOW_OPTICFLOW_ID, get_sys_time_usec(), opticflow_result_t::noise_measurement, opticflow_got_result, opticflow_mutex, opticflow_result, opticflow_result_t::vel_body, VEL_OPTICFLOW_ID, and FloatVect3::y.

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opticflow_telem_send()

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 81 of file opticflow_module.c.

References ACTIVE_CAMERAS, opticflow_result_t::camera_id, dev, opticflow_result_t::div_size, opticflow_result_t::divergence, opticflow_mutex, opticflow_result, opticflow_result_t::surface_roughness, opticflow_result_t::vel_body, FloatVect3::y, and FloatVect3::z.

Referenced by opticflow_module_init().

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Variable Documentation

opticflow

struct opticflow_t opticflow[ACTIVE_CAMERAS]

Opticflow calculations.

Definition at line 65 of file opticflow_module.c.

Referenced by calc_edgeflow_tot(), calc_fast9_lukas_kanade(), calc_previous_frame_nr(), manage_flow_features(), opticflow_calc_frame(), opticflow_calc_init(), opticflow_module_calc(), opticflow_module_init(), and predict_flow_vectors().

opticflow_got_result

bool opticflow_got_result[ACTIVE_CAMERAS]

static

When we have an optical flow calculation.

Definition at line 68 of file opticflow_module.c.

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

opticflow_mutex

pthread_mutex_t opticflow_mutex

static

Mutex lock fo thread safety.

Definition at line 69 of file opticflow_module.c.

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

opticflow_result

struct opticflow_result_t opticflow_result[ACTIVE_CAMERAS]

static

The opticflow result.

Definition at line 66 of file opticflow_module.c.

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