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[modules] optical flow removed unnessary lines and files

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k.n.mcguire@tudelft.nl
2016-03-09 17:01:32 +01:00
parent bb7c755560
commit 3c91b3e264
5 changed files with 9 additions and 243 deletions
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conf/airframes/TUDELFT/tudelft_KM_conf.xml
+2 -2
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@@ -2,12 +2,12 @@
<aircraft <aircraft
name="ARDrone2_opticflow" name="ARDrone2_opticflow"
ac_id="12" ac_id="12"
airframe="airframes/TUDELFT/tudelft_ardrone2_opticflow_edgeflow.xml" airframe="airframes/TUDELFT/tudelft_ardrone2_opticflow.xml"
radio="radios/dummy.xml" radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml" telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.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="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/video_thread.xml" settings_modules="modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/opticflow_hover.xml"
gui_color="red" gui_color="red"
/> />
<aircraft <aircraft
conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_edgeflow.xml
-209
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@@ -1,209 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="ardrone2_opticflow">
<firmware name="rotorcraft">
<target name="ap" board="ardrone2"/>
<!--target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target-->
<define name="USE_SONAR" value="TRUE"/>
<!-- Subsystem section -->
<subsystem name="telemetry" type="transparent_udp"/>
<subsystem name="radio_control" type="datalink"/>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="ardrone2"/>
<subsystem name="imu" type="ardrone2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="extended"/>
</firmware>
<modules main_freq="512">
<load name="bat_voltage_ardrone2.xml"/>
<load name="gps_ubx_ucenter.xml"/>
<load name="send_imu_mag_current.xml"/>
<load name="logger_file.xml"/>
<load name="cv_opticflow.xml">
<define name="OPTICFLOW_DEBUG" value = "FALSE"/>
<define name="OPTICFLOW_SHOW_FLOW" value = "FALSE"/>
<define name="USE_EDGEFLOW" value = "TRUE"/>
<define name="USE_LK" value = "FALSE"/>
</load>
<load name="video_thread.xml">
<define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
</load>
<!--load name="video_rtp_stream.xml"/-->
</modules>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="3000"/>
</commands>
<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
</servos>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
<define name="TYPE" value="QUAD_X"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="VISION" prefix="VISION_">
<define name="HOVER" value="FALSE"/>
<define name="PHI_PGAIN" value="300"/>
<define name="PHI_IGAIN" value="5"/>
<define name="THETA_PGAIN" value="300"/>
<define name="THETA_IGAIN" value="5"/>
<define name="DESIRED_VX" value="0"/>
<define name="DESIRED_VY" value="0"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- Accelero -->
<define name="ACCEL_X_NEUTRAL" value="2048"/>
<define name="ACCEL_Y_NEUTRAL" value="2048"/>
<define name="ACCEL_Z_NEUTRAL" value="2048"/>
<!-- Magneto calibration -->
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="-180"/>
<define name="MAG_X_SENS" value="16." integer="16"/>
<define name="MAG_Y_SENS" value="16." integer="16"/>
<define name="MAG_Z_SENS" value="16." integer="16"/>
<!-- Magneto current calibration -->
<define name="MAG_X_CURRENT_COEF" value="0.0"/>
<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- Toulouse -->
<define name="H_X" value="0.513081"/>
<define name="H_Y" value="-0.00242783"/>
<define name="H_Z" value="0.858336"/>
<!-- Delft -->
<!--define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/ -->
</section>
<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="600" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="600." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="200" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="300." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="850"/>
<define name="PHI_DGAIN" value="425"/>
<define name="PHI_IGAIN" value="0"/>
<define name="THETA_PGAIN" value="850"/>
<define name="THETA_DGAIN" value="425"/>
<define name="THETA_IGAIN" value="0"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="700"/>
<define name="PSI_IGAIN" value="0"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value="100"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="283"/>
<define name="HOVER_KD" value="82"/>
<define name="HOVER_KI" value="13"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<!-- Good weather -->
<define name="MAX_BANK" value="20" unit="deg"/>
<!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="79"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="30"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/modules/cv_opticflow.xml
-21
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@@ -39,8 +39,6 @@
<define name="FAST9_ADAPTIVE" value="TRUE" description="Whether we should use and adapative FAST9 crner detection threshold"/> <define name="FAST9_ADAPTIVE" value="TRUE" description="Whether we should use and adapative FAST9 crner detection threshold"/>
<define name="FAST9_THRESHOLD" value="20" description="FAST9 default threshold"/> <define name="FAST9_THRESHOLD" value="20" description="FAST9 default threshold"/>
<define name="FAST9_MIN_DISTANCE" value="10" description="The amount of pixels between corners that should be detected"/> <define name="FAST9_MIN_DISTANCE" value="10" description="The amount of pixels between corners that should be detected"/>
</section> </section>
</doc> </doc>
@@ -62,7 +60,6 @@
<dl_setting var="opticflow.fast9_adaptive" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="TRUE|FALSE" shortname="fast9_adaptive" param="OPTICFLOW_FAST9_ADAPTIVE"/> <dl_setting var="opticflow.fast9_adaptive" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="TRUE|FALSE" shortname="fast9_adaptive" param="OPTICFLOW_FAST9_ADAPTIVE"/>
<dl_setting var="opticflow.fast9_threshold" module="computer_vision/opticflow_module" min="0" step="1" max="255" shortname="fast9_threshold" param="OPTICFLOW_FAST9_THRESHOLD"/> <dl_setting var="opticflow.fast9_threshold" module="computer_vision/opticflow_module" min="0" step="1" max="255" shortname="fast9_threshold" param="OPTICFLOW_FAST9_THRESHOLD"/>
<dl_setting var="opticflow.fast9_min_distance" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="fast9_min_distance" param="OPTICFLOW_FAST9_MIN_DISTANCE"/> <dl_setting var="opticflow.fast9_min_distance" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="fast9_min_distance" param="OPTICFLOW_FAST9_MIN_DISTANCE"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
</settings> </settings>
@@ -94,24 +91,6 @@
<file name="fast_rosten.c" dir="modules/computer_vision/lib/vision"/> <file name="fast_rosten.c" dir="modules/computer_vision/lib/vision"/>
<file name="lucas_kanade.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"/> <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> </makefile>
sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
+7 -1
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@@ -161,7 +161,13 @@ void opticflow_calc_init(struct opticflow_t *opticflow, uint16_t w, uint16_t h)
opticflow->fast9_min_distance = OPTICFLOW_FAST9_MIN_DISTANCE; opticflow->fast9_min_distance = OPTICFLOW_FAST9_MIN_DISTANCE;
} }
/**
* Run the optical flow with fast9 and lukaskanade on a new image frame
* @param[in] *opticflow The opticalflow structure that keeps track of previous images
* @param[in] *state The state of the drone
* @param[in] *img The image frame to calculate the optical flow from
* @param[out] *result The optical flow result
*/
void calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img, void calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img,
struct opticflow_result_t *result) struct opticflow_result_t *result)
{ {
sw/airborne/modules/computer_vision/opticflow_module.c
-10
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@@ -68,16 +68,6 @@ PRINT_CONFIG_MSG("OPTICFLOW_DEVICE_SIZE = " _SIZE_HELPER(OPTICFLOW_DEVICE_SIZE))
#endif #endif
PRINT_CONFIG_VAR(OPTICFLOW_DEVICE_BUFFERS) PRINT_CONFIG_VAR(OPTICFLOW_DEVICE_BUFFERS)
#ifndef USE_EDGEFLOW
#define USE_EDGEFLOW FALSE
#endif
PRINT_CONFIG_VAR(USE_EDGEFLOW)
#ifndef USE_LK
#define USE_LK TRUE ///< The video device buffers (the amount of V4L2 buffers)
#endif
PRINT_CONFIG_VAR(USE_LK)
/* The main opticflow variables */ /* The main opticflow variables */
struct opticflow_t opticflow; ///< Opticflow calculations struct opticflow_t opticflow; ///< Opticflow calculations
static struct opticflow_result_t opticflow_result; ///< The opticflow result static struct opticflow_result_t opticflow_result; ///< The opticflow result