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Merge pull request #1558 from knmcguire/pull_request_ARdrone_edgeflow

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edgeflow: improved optic flow calculation

a new method to calculate the global optical flow in a efficient way. It should run twice as fast as the current implementation.
This commit is contained in:
Felix Ruess
2016-03-21 15:14:18 +01:00
parent 794d786704 402034944e
commit 382873ac24
9 changed files with 745 additions and 29 deletions
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conf/airframes/TUDELFT/tudelft_KM_conf.xml
+11
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@@ -1,4 +1,15 @@
<conf>
<aircraft
name="ARDrone2_opticflow"
ac_id="12"
airframe="airframes/TUDELFT/tudelft_ardrone2_opticflow.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/opticflow_hover.xml"
gui_color="red"
/>
<aircraft
name="LadyLisaBluegiga"
ac_id="114"
conf/airframes/TUDELFT/tudelft_KM_control_panel.xml
+7
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@@ -85,5 +85,12 @@
<arg flag="4252" />
</program>
</session>
<session name="Flight UDP/WiFi">
<program name="Server"/>
<program name="GCS"/>
<program name="Data Link">
<arg flag="-udp"/>
</program>
</session>
</section>
</control_panel>
conf/modules/cv_opticflow.xml
+17 -5
View File
@@ -24,10 +24,15 @@
<define name="FX" value="343.1211" description="Field in the x direction of the camera (Defaults are from an ARDrone 2)"/>
<define name="FY" value="348.5053" description="Field in the y direction of the camera (Defaults are from an ARDrone 2)"/>
<!-- General optical flow calculation parameters -->
<define name="METHOD" value="0" description="Method used to calculate optical flow"/>
<define name="WINDOW_SIZE" value="10" description="Window size used for block matching (pixels)"/>
<define name="SEARCH_DISTANCE" value="10" description="Maximum search distance for blockmatching (pixels)"/>
<define name="SUBPIXEL_FACTOR" value="100" description="Amount of subpixels per pixel, used for more precise (subpixel) calculations of the flow"/>
<define name="DEROTATION" value="1" description="Derotation either turned on or off (depended on gyroscope measurements)"/>
<!-- Lucas Kanade optical flow calculation parameters -->
<define name="MAX_TRACK_CORNERS" value="25" description="The maximum amount of corners the Lucas Kanade algorithm is tracking between two frames"/>
<define name="WINDOW_SIZE" value="10" description="Window size used in Lucas Kanade algorithm"/>
<define name="SUBPIXEL_FACTOR" value="10" description="Amount of subpixels per pixel, used for more precise (subpixel) calculations of the flow"/>
<define name="MAX_ITERATIONS" value="10" description="Maximum number of iterations the Lucas Kanade algorithm should take"/>
<define name="THRESHOLD_VEC" value="2" description="TThreshold in subpixels when the iterations of Lucas Kanade should stop"/>
@@ -41,11 +46,16 @@
<settings>
<dl_settings NAME="Vision stabilization">
<!-- Optical flow calculations parameters for Lucas Kanade and FAST9 -->
<!-- Optical flow calculations parameters -->
<dl_settings name="vision_calc">
<dl_setting var="opticflow.max_track_corners" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="max_trck_corners" param="OPTICFLOW_MAX_TRACK_CORNERS"/>
<dl_setting var="opticflow.window_size" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="window_size" param="OPTICFLOW_WINDOW_SIZE"/>
<dl_setting var="opticflow.method" min="0" step="1" max="1" module="computer_vision/opticflow_module" shortname="method" values="LK_Fast9|EdgeFlow" param="METHOD"/>
<dl_setting var="opticflow.window_size" module="computer_vision/opticflow_module" min="0" step="1" max="20" shortname="window_size" param="OPTICFLOW_WINDOW_SIZE"/>
<dl_setting var="opticflow.search_distance" module="computer_vision/opticflow_module" min="0" step="1" max="50" shortname="search_distance" param="SEARCH_DISTANCE"/>
<dl_setting var="opticflow.subpixel_factor" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="subpixel_factor" param="OPTICFLOW_SUBPIXEL_FACTOR"/>
<dl_setting var="opticflow.derotation" min="0" step="1" max="1" module="computer_vision/opticflow_module" values="OFF|ON" shortname="derotation" param="OPTICFLOW_DEROTATION"/>
<!-- Specifically for Lucas Kanade and FAST9 -->
<dl_setting var="opticflow.max_track_corners" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="max_trck_corners" param="OPTICFLOW_MAX_TRACK_CORNERS"/>
<dl_setting var="opticflow.max_iterations" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="max_iterations" param="OPTICFLOW_MAX_ITERATIONS"/>
<dl_setting var="opticflow.threshold_vec" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="threshold_vec" param="OPTICFLOW_THRESHOLD_VEC"/>
@@ -82,7 +92,9 @@
<!-- 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"/>
</makefile>
</module>