inter_thread_data.h File Reference

Inter-thread data structures. More...

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Data Structures
struct	opticflow_result_t
struct	opticflow_state_t

Detailed Description

Inter-thread data structures.

Data structures used to for inter-thread communication via Unix Domain sockets.

Definition in file inter_thread_data.h.

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Data Structure Documentation

struct opticflow_result_t

Definition at line 33 of file inter_thread_data.h.

Data Fields
uint16_t	corner_cnt	The amount of coners found by FAST9.
float	div_size	Divergence as determined with the size_divergence script.
float	divergence	Divergence as determined with a linear flow fit.
int16_t	flow_der_x	The derotated flow calculation in the x direction (in subpixels)
int16_t	flow_der_y	The derotated flow calculation in the y direction (in subpixels)
int16_t	flow_x	Flow in x direction from the camera (in subpixels)
int16_t	flow_y	Flow in y direction from the camera (in subpixels)
float	fps	Frames per second of the optical flow calculation.
float	noise_measurement	noise of measurement, for state filter
float	surface_roughness	Surface roughness as determined with a linear optical flow fit.
uint16_t	tracked_cnt	The amount of tracked corners.
float	vel_x	The velocity in the x direction.
float	vel_y	The velocity in the y direction.

struct opticflow_state_t

Definition at line 55 of file inter_thread_data.h.

Data Fields
float	agl	height above ground [m]
float	phi	roll [rad]
float	theta	pitch [rad]