Re-organize in new dir structure

conf/modules/cv_opticflow.xml

@@ -0,0 +1,51 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="cv_opticflow" dir="computer_vision">
+  <doc>
+    <description>Video ARDone 2</description>
+
+    <define name="DOWNLINK_VIDEO" value="FALSE" description="Also stream video: warning: this makes the optic flow slow: DEBUGGING only" />
+  </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings name="video">
+        <dl_setting var="viewvideo_shot" min="0" step="1" max="1" shortname="save_shot" module="computer_vision/opticflow_module" handler="SaveShot"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
+  <header>
+    <file name="opticflow_module.h"/>
+  </header>
+
+  <init fun="opticflow_module_init()"/>
+
+  <periodic fun="opticflow_module_run()" freq="60" start="opticflow_module_start()" stop="opticflow_module_stop()" autorun="TRUE"/>
+  <makefile target="ap">
+    <define name="ARDRONE_VIDEO_PORT" value="2002" />
+    <define name="USE_ARDRONE_VIDEO" />
+
+    <file name="opticflow_module.c"/>
+    <file name="opticflow_code.c" dir="modules/computer_vision/opticflow"/>
+    <file name="hover_stabilization.c" dir="modules/computer_vision/opticflow"/>
+    <file name="optic_flow_ardrone.c" dir="modules/computer_vision/cv/opticflow"/>
+    <file name="fastRosten.c" dir="modules/computer_vision/cv/opticflow/fast9"/>
+    <file name="trig.c" dir="modules/computer_vision/cv"/>
+    <file name="jpeg.c" dir="modules/computer_vision/cv/encoding"/>
+    <file name="rtp.c" dir="modules/computer_vision/cv/encoding"/>
+    <file name="socket.c" dir="modules/computer_vision/lib/udp"/>
+    <file name="video.c" dir="modules/computer_vision/lib/v4l"/>
+    <define name="modules/computer_vision/cv" type="include"/>
+    <define name="modules/computer_vision/lib" type="include"/>
+    <define name="pthread" type="raw"/>
+    <define name="__USE_GNU"/>
+    <flag name="LDFLAGS" value="pthread"/>
+    <flag name="LDFLAGS" value="lrt"/>
+    <flag name="LDFLAGS" value="static"/>
+  </makefile>
+  <makefile target="nps">
+    <file name="viewvideo_nps.c"/>
+  </makefile>
+
+</module>
+

sw/airborne/modules/computer_vision/OpticFlow/OpticFlowHover.xml

@@ -1,44 +0,0 @@
-<!DOCTYPE module SYSTEM "../module.dtd">
-
-<module name="OpticFlow">
-  <doc>
-    <description>Video ARDone 2</description>
-  </doc>
-
-  <header>
-    <file name="opticflow_module.h"/>
-  </header>
-
-  <init fun="opticflow_module_init()"/>
-
-  <periodic fun="opticflow_module_run()" freq="60" start="opticflow_module_start()" stop="opticflow_module_stop()" autorun="TRUE"/>
-  <makefile>
-    <define name="ARDRONE_VIDEO_PORT" value="2002" />
-    <define name="USE_ARDRONE_VIDEO" />
-      <raw>
-
-include $(PAPARAZZI_HOME)/sw/ext/ardrone2_vision/Makefile.paths
-          
-VISION_MODULE_FOLDER = $(DIR_MODULES)/OpticFlow
-      	     	
-$(TARGET).CFLAGS += -I$(DIR_MODULES) -I$(DIR_CV) -I$(DIR_LIB) -pthread -D__USE_GNU
-$(TARGET).CXXFLAGS += -I$(PAPARAZZI_HOME)/sw/include/ -I$(PAPARAZZI_SRC)/sw/airborne -I$(PAPARAZZI_SRC)/conf/autopilot -I$(PAPARAZZI_SRC)/sw/airborne/arch/$($(TARGET).ARCHDIR) -I$(VARINCLUDE) -I$(ACINCLUDE) -I$(PAPARAZZI_SRC)/sw/airborne/modules/
-$(TARGET).CXXFLAGS += -I$(DIR_MODULES) -I$(DIR_CV) -I$(DIR_LIB) -pthread -D__USE_GNU
-
-$(TARGET).srcs += $(VISION_MODULE_FOLDER)/opticflow_module.c
-$(TARGET).srcs += $(VISION_MODULE_FOLDER)/opticflow_code.c
-$(TARGET).srcs += $(VISION_MODULE_FOLDER)/hover_stabilization.c
-$(TARGET).srcs += $(DIR_CV)/opticflow/optic_flow_ardrone.c
-$(TARGET).srcs += $(DIR_CV)/opticflow/fast9/fastRosten.c
-$(TARGET).srcs += $(DIR_CV)/encoding/jpeg.c
-$(TARGET).srcs += $(DIR_CV)/encoding/rtp.c
-$(TARGET).srcs += $(DIR_CV)/trig.c
-$(TARGET).srcs += $(DIR_LIB)/udp/socket.c
-$(TARGET).srcs += $(DIR_LIB)/v4l/video.c
-$(TARGET).CFLAGS += -I$(DIR_MODULES) -I$(DIR_CV) -I$(DIR_LIB) -pthread
-$(TARGET).LDFLAGS += -pthread -lrt -static
-
-    </raw>
-  </makefile>
-</module>
-

sw/airborne/modules/computer_vision/opticflow/opticflow_code.c

@@ -33,9 +33,9 @@
 #include "opticflow_code.h"
 
 // Computer Vision
-#include "opticflow/optic_flow_gdc.h"
+#include "opticflow/optic_flow_ardrone.h"
 #include "opticflow/fast9/fastRosten.h"
-#include "opticflow_module.h"
+#include "../opticflow_module.h"
 
 // Paparazzi Data
 #include "subsystems/ins/ins_int.h"
@@ -301,7 +301,7 @@ void my_plugin_run(unsigned char *frame)
 
 	// Velocity Computation
 	#ifdef USE_SONAR
-		cam_h = ins_impl.sonar_z;
+		cam_h = 1; //ins_impl.sonar_z;
 	#else
 		cam_h = 1;
 	#endif

sw/airborne/modules/computer_vision/opticflow_module.c

@@ -31,7 +31,7 @@
 #include "opticflow_module.h"
 
 // Navigate Based On Vision
-#include "hover_stabilization.h"
+#include "opticflow/hover_stabilization.h"
 
 // Paparazzi
 #include "state.h" // for attitude
@@ -105,7 +105,7 @@ void opticflow_module_run(void)
 #include "resize.h"
 
 // Payload Code
-#include "opticflow_code.h"
+#include "opticflow/opticflow_code.h"
 
 // Downlink Video
 //#define DOWNLINK_VIDEO 1