[modules] added edge_flow files to be inserted in the optical flow module

conf/modules/cv_opticflow.xml

@@ -82,7 +82,26 @@
     <!-- Main vision calculations -->
     <file name="fast_rosten.c" dir="modules/computer_vision/lib/vision"/>
     <file name="lucas_kanade.c" dir="modules/computer_vision/lib/vision"/>
+    <file name="edge_flow.c" dir="modules/computer_vision/lib/vision"/>
+  <raw>
+      include $(CFG_SHARED)/udp.makefile
+
+      VIEWVIDEO_HOST        ?= $(MODEM_HOST)
+      VIEWVIDEO_PORT_OUT    ?= 5000
+      VIEWVIDEO_BROADCAST   ?= TRUE
+      VIEWVIDEO_USE_NETCAT  ?= FALSE
+
+      VIEWVID_CFLAGS  = -DVIEWVIDEO_HOST=$(VIEWVIDEO_HOST) -DVIEWVIDEO_PORT_OUT=$(VIEWVIDEO_PORT_OUT)
+      ifneq (,$(findstring $(VIEWVIDEO_USE_NETCAT),0 FALSE))
+        ap.CFLAGS += $(VIEWVID_CFLAGS) -DVIEWVIDEO_BROADCAST=$(VIEWVIDEO_BROADCAST)
+        nps.CFLAGS += $(VIEWVID_CFLAGS) -DVIEWVIDEO_BROADCAST=FALSE
+      else
+        $(TARGET).CFLAGS += $(VIEWVID_CFLAGS) -DVIEWVIDEO_USE_NETCAT
+      endif
+    </raw>
+
   </makefile>
 
+
 </module>
 

sw/airborne/modules/computer_vision/lib/vision/edge_flow.c

@@ -0,0 +1,14 @@
+/*
+ * edge_flow.c
+ *
+ *  Created on: Feb 22, 2016
+ *      Author: knmcguire
+ */
+#include <lib/vision/edge_flow.h>
+
+
+void test_function(struct image_t *img,struct image_t *img_gray)
+{
+	image_to_grayscale(img, img_gray);
+
+}

sw/airborne/modules/computer_vision/lib/vision/edge_flow.h

@@ -0,0 +1,19 @@
+/*
+ * edge_flow.h
+ *
+ *  Created on: Feb 22, 2016
+ *      Author: knmcguire
+ */
+
+#ifndef EDGE_FLOW_H_
+#define EDGE_FLOW_H_
+
+
+#include "std.h"
+#include "opticflow/inter_thread_data.h"
+#include "lib/vision/image.h"
+#include "lib/v4l/v4l2.h"
+
+void test_function(struct image_t *image,struct image_t *image_gray);
+
+#endif /* EDGE_FLOW_H_ */

sw/airborne/modules/computer_vision/opticflow_module.c

@@ -36,6 +36,8 @@
 #include "lib/v4l/v4l2.h"
 #include "lib/encoding/jpeg.h"
 #include "lib/encoding/rtp.h"
+#include "lib/vision/edge_flow.h"
+
 
 /* Default sonar/agl to use in opticflow visual_estimator */
 #ifndef OPTICFLOW_AGL_ID
@@ -77,6 +79,8 @@ static pthread_t opticflow_calc_thread;            ///< The optical flow calcula
 static bool_t opticflow_got_result;                ///< When we have an optical flow calculation
 static pthread_mutex_t opticflow_mutex;            ///< Mutex lock fo thread safety
 
+struct UdpSocket video_sock;
+
 /* Static functions */
 static void *opticflow_module_calc(void *data);                   ///< The main optical flow calculation thread
 static void opticflow_agl_cb(uint8_t sender_id, float distance);  ///< Callback function of the ground altitude
@@ -140,6 +144,12 @@ void opticflow_module_init(void)
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_OPTIC_FLOW_EST, opticflow_telem_send);
 #endif
+
+#if OPTICFLOW_DEBUG
+
+  udp_socket_create(&video_sock, STRINGIFY(VIEWVIDEO_HOST), VIEWVIDEO_PORT_OUT, -1, VIEWVIDEO_BROADCAST);
+
+#endif
 }
 
 /**
@@ -224,9 +234,14 @@ static void *opticflow_module_calc(void *data __attribute__((unused)))
 #if OPTICFLOW_DEBUG
   // Create a new JPEG image
   struct image_t img_jpeg;
+
   image_create(&img_jpeg, opticflow_dev->w, opticflow_dev->h, IMAGE_JPEG);
 #endif
 
+  struct image_t img_gray;
+  image_create(&img_gray, opticflow_dev->w, opticflow_dev->h, IMAGE_YUV422);
+
+
   /* Main loop of the optical flow calculation */
   while (TRUE) {
     // Try to fetch an image
@@ -243,6 +258,9 @@ static void *opticflow_module_calc(void *data __attribute__((unused)))
     struct opticflow_result_t temp_result;
     opticflow_calc_frame(&opticflow, &temp_state, &img, &temp_result);
 
+    test_function(&img,&img_gray);
+	//image_to_grayscale(&img, &img_gray);
+
     // Copy the result if finished
     pthread_mutex_lock(&opticflow_mutex);
     memcpy(&opticflow_result, &temp_result, sizeof(struct opticflow_result_t));
@@ -250,9 +268,9 @@ static void *opticflow_module_calc(void *data __attribute__((unused)))
     pthread_mutex_unlock(&opticflow_mutex);
 
 #if OPTICFLOW_DEBUG
-    jpeg_encode_image(&img, &img_jpeg, 70, FALSE);
+    jpeg_encode_image(&img_gray, &img_jpeg, 70, FALSE);
     rtp_frame_send(
-      &VIEWVIDEO_DEV,           // UDP device
+      &video_sock,           // UDP device
       &img_jpeg,
       0,                        // Format 422
       70, // Jpeg-Quality
@@ -267,6 +285,7 @@ static void *opticflow_module_calc(void *data __attribute__((unused)))
 
 #if OPTICFLOW_DEBUG
   image_free(&img_jpeg);
+  image_free(&img_gray);
 #endif
 }