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Fixed requested changes

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This commit is contained in:
Manos Kyriakakis
2017-06-12 10:52:19 +02:00
parent e39ed3c22c
commit 1d1e45889b
3 changed files with 221 additions and 220 deletions
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sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c
+11 -10
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@@ -49,7 +49,8 @@ static void fast_make_offsets(int32_t *pixel, uint16_t row_stride, uint8_t pixel
* @param[in] **ret_corners pointer to the array which contains the corners that were detected. * @param[in] **ret_corners pointer to the array which contains the corners that were detected.
* @param[in] *roi array of format [x0 y0 x1 y1] describing the region of interest in the image where the corners will be detected. If null, the whole image is used. * @param[in] *roi array of format [x0 y0 x1 y1] describing the region of interest in the image where the corners will be detected. If null, the whole image is used.
*/ */
void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uint16_t x_padding, uint16_t y_padding, uint16_t *num_corners, uint16_t *ret_corners_length, struct point_t **ret_corners, uint16_t *roi) { void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uint16_t x_padding, uint16_t y_padding, uint16_t *num_corners, uint16_t *ret_corners_length, struct point_t **ret_corners, uint16_t *roi)
{
uint16_t corner_cnt = 0; uint16_t corner_cnt = 0;
int pixel[16]; int pixel[16];
@@ -62,13 +63,12 @@ void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uin
pixel_size = 2; pixel_size = 2;
} }
if (!roi){ if (!roi) {
x_start = 3 + x_padding; x_start = 3 + x_padding;
y_start = 3 + y_padding; y_start = 3 + y_padding;
x_end =img->w - 3 - x_padding; x_end = img->w - 3 - x_padding;
y_end =img->h - 3 - y_padding; y_end = img->h - 3 - y_padding;
} } else {
else{
x_start = roi[0] > 0 ? roi[0] : 3 + x_padding; x_start = roi[0] > 0 ? roi[0] : 3 + x_padding;
y_start = roi[1] > 0 ? roi[1] : 3 + y_padding; y_start = roi[1] > 0 ? roi[1] : 3 + y_padding;
x_end = roi[2] < (img->w - 3 - x_padding) ? roi[2] : img->w - 3 - x_padding; x_end = roi[2] < (img->w - 3 - x_padding) ? roi[2] : img->w - 3 - x_padding;
@@ -82,7 +82,7 @@ void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uin
// Go trough all the pixels (minus the borders and inside the requested roi) // Go trough all the pixels (minus the borders and inside the requested roi)
for (y = y_start; y < y_end; y++) { for (y = y_start; y < y_end; y++) {
if (min_dist > 0) y_min = y - min_dist; if (min_dist > 0) { y_min = y - min_dist; }
for (x = x_start; x < x_end; x++) { for (x = x_start; x < x_end; x++) {
// First check if we aren't in range vertical (TODO: fix less intensive way) // First check if we aren't in range vertical (TODO: fix less intensive way)
@@ -95,13 +95,14 @@ void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uin
// Go through the previous corners until y goes out of range // Go through the previous corners until y goes out of range
i = corner_cnt-1; i = corner_cnt - 1;
while( i >= 0) { while (i >= 0) {
// corners are stored with increasing y, // corners are stored with increasing y,
// so if we go from the last to the first, then their y-coordinate will go out of range // so if we go from the last to the first, then their y-coordinate will go out of range
if((*ret_corners)[i].y < y_min) if ((*ret_corners)[i].y < y_min) {
break; break;
}
if (x_min < (*ret_corners)[i].x && (*ret_corners)[i].x < x_max) { if (x_min < (*ret_corners)[i].x && (*ret_corners)[i].x < x_max) {
need_skip = 1; need_skip = 1;
sw/airborne/modules/computer_vision/lib/vision/fast_rosten.h
+1 -1
View File
@@ -37,6 +37,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "std.h" #include "std.h"
#include "lib/vision/image.h" #include "lib/vision/image.h"
void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uint16_t x_padding, uint16_t y_padding, uint16_t *num_corners,uint16_t *ret_corners_length, struct point_t **ret_corners, uint16_t *roi); void fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uint16_t x_padding, uint16_t y_padding, uint16_t *num_corners, uint16_t *ret_corners_length, struct point_t **ret_corners, uint16_t *roi);
#endif #endif
sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
+1 -1
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@@ -284,7 +284,7 @@ void calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct opticflow_sta
opticflow->fast9_padding, opticflow->fast9_padding, &result->corner_cnt, opticflow->fast9_padding, opticflow->fast9_padding, &result->corner_cnt,
&opticflow->fast9_rsize, &opticflow->fast9_rsize,
&opticflow->fast9_ret_corners, &opticflow->fast9_ret_corners,
0); NULL);
// Adaptive threshold // Adaptive threshold
if (opticflow->fast9_adaptive) { if (opticflow->fast9_adaptive) {