opticflow_calculator.h

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/*
 * Copyright (C) 2014 Hann Woei Ho
 *               2015 Freek van Tienen <freek.v.tienen@gmail.com>
 *
 * 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_t got_first_img;             
  float prev_phi;                   
  float prev_theta;                 
  struct image_t img_gray;          
  struct image_t prev_img_gray;     
  struct timeval prev_timestamp;    

  uint8_t max_track_corners;        
  uint16_t window_size;             
  uint8_t subpixel_factor;          
  uint8_t max_iterations;           
  uint8_t threshold_vec;            

  bool_t fast9_adaptive;            
  uint8_t fast9_threshold;          
  uint16_t fast9_min_distance;      
};


void opticflow_calc_init(struct opticflow_t *opticflow, uint16_t w, uint16_t h);
void opticflow_calc_frame(struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img, struct opticflow_result_t *result);

#endif /* OPTICFLOW_CALCULATOR_H */