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[fix] Optical-Flow: configures not configuring, possible FAST9 segfault, several parameters not active in OF (#3140)

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This commit is contained in:
Christophe De Wagter
2023-10-11 11:35:42 +02:00
committed by GitHub
parent 94319edf5a
commit 673beb5e6e
6 changed files with 25 additions and 13 deletions
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7
conf/airframes/examples/bebop2_opticflow.xml
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@@ -53,8 +53,6 @@
<module name="cv_opticflow">
<define name="MAX_HORIZON" value="10"/>
<configure name="OPTICFLOW_MAX_TRACK_CORNERS" value="20"/>
<configure name="OPTICFLOW_MAX_TRACK_CORNERS_CAMERA2" value="20"/>
</module>
<module name="video_rtp_stream">
@@ -126,6 +124,7 @@
<section name="OPTICAL_FLOW" prefix="OPTICFLOW_">
<define name="CAMERA" value="bottom_camera"/>
<define name="MAX_TRACK_CORNERS" value="20"/>
<define name="FX" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
<define name="FY" value="347.22222222"/> <!-- 2.5 / (3.6 * 2.0) * 1000 -->
@@ -141,6 +140,8 @@
<define name="CAMERA2" value="front_camera"/>
<define name="MAX_TRACK_CORNERS_CAMERA2" value="20"/>
<define name="DEROTATION_CORRECTION_FACTOR_X_CAMERA2" value="0.8"/>
<define name="DEROTATION_CORRECTION_FACTOR_Y_CAMERA2" value="0.85"/>
<define name="FEATURE_MANAGEMENT_CAMERA2" value="0"/>
@@ -272,7 +273,7 @@
<define name="REF_RATE_Q" value="28.0"/>
<define name="REF_RATE_R" value="28.0"/>
<define name="FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->

12
conf/modules/cv_opticflow.xml
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@@ -20,9 +20,9 @@
<!-- Camera parameters -->
<define name="DEROTATION_CORRECTION_FACTOR_X" value="1.0" description="Correction factor for derotation (in x direction), estimated from a fit between the gyro's rates and the resulting flow (caused by the camera not being exactly in the middle (Defaults are from an ARDrone 2)"/>
<define name="DEROTATION_CORRECTION_FACTOR_Y" value="1.0" description="Correction factor for derotation (in y direction), estimated from a fit between the gyro's rates and the resulting flow (caused by the camera not being exactly in the middle (Defaults are from an ARDrone 2)"/>
<configure name="BODY_TO_CAM_PHI" value="0" description="Rotation from body frame to camera frame around x axis"/>
<configure name="BODY_TO_CAM_THETA" value="0" description="Rotation from body frame to camera frame around y axis"/>
<configure name="BODY_TO_CAM_PSI" value="0" description="Rotation from body frame to camera frame around z axis"/>
<define name="BODY_TO_CAM_PHI" value="0" description="Rotation from body frame to camera frame around x axis"/>
<define name="BODY_TO_CAM_THETA" value="0" description="Rotation from body frame to camera frame around y axis"/>
<define name="BODY_TO_CAM_PSI" value="0" description="Rotation from body frame to camera frame around z axis"/>
<!-- General optical flow calculation parameters -->
<define name="METHOD" value="0" description="Method used to calculate optical flow"/>
@@ -66,9 +66,9 @@
<!-- Camera 2 parameters -->
<define name="DEROTATION_CORRECTION_FACTOR_X_CAMERA2" value="1.0" description="Correction factor for derotation (in x direction), estimated from a fit between the gyro's rates and the resulting flow (caused by the camera not being exactly in the middle (Defaults are from an ARDrone 2)"/>
<define name="DEROTATION_CORRECTION_FACTOR_Y_CAMERA2" value="1.0" description="Correction factor for derotation (in y direction), estimated from a fit between the gyro's rates and the resulting flow (caused by the camera not being exactly in the middle (Defaults are from an ARDrone 2)"/>
<configure name="BODY_TO_CAM_PHI_CAMERA2" value="0" description="Rotation from body frame to camera frame around x axis"/>
<configure name="BODY_TO_CAM_THETA_CAMERA2" value="0" description="Rotation from body frame to camera frame around y axis"/>
<configure name="BODY_TO_CAM_PSI_CAMERA2" value="0" description="Rotation from body frame to camera frame around z axis"/>
<define name="BODY_TO_CAM_PHI_CAMERA2" value="0" description="Rotation from body frame to camera frame around x axis"/>
<define name="BODY_TO_CAM_THETA_CAMERA2" value="0" description="Rotation from body frame to camera frame around y axis"/>
<define name="BODY_TO_CAM_PSI_CAMERA2" value="0" description="Rotation from body frame to camera frame around z axis"/>
<!-- General optical flow calculation parameters for camera 2-->
<define name="METHOD_CAMERA2" value="0" description="Method used to calculate optical flow"/>

15
sw/airborne/modules/computer_vision/lib/vision/act_fast.c
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@@ -27,17 +27,21 @@ All rights reserved.
#include "math.h"
#include "image.h"
#include "../../opticflow/opticflow_calculator.h"
#include "generated/airframe.h"
// ACT-FAST agents arrays
// equal to the maximal number of corners defined by fast9_rsize in opticflow_calculator.c
// TODO Currently hardcoded to two cameras
#define MAX_AGENTS FAST9_MAX_CORNERS
#ifndef OPTICFLOW_CAMERA2
struct agent_t agents[1][MAX_AGENTS];
#ifdef OPTICFLOW_CAMERA2
#define FAST9_MAX_CAMERAS 2
#else
struct agent_t agents[2][MAX_AGENTS];
#define FAST9_MAX_CAMERAS 1
#endif
struct agent_t agents[FAST9_MAX_CAMERAS][MAX_AGENTS];
/**
* Do an ACT-FAST corner detection.
* @param[in] *img The image to do the corner detection on
@@ -55,6 +59,11 @@ void act_fast(struct image_t *img, uint8_t fast_threshold, uint16_t *num_corners
uint16_t n_agents, uint16_t n_time_steps, float long_step, float short_step, int min_gradient,
int gradient_method, int camera_id)
{
// Input protection:
if (camera_id >= FAST9_MAX_CAMERAS) {
*num_corners = 0;
return;
}
/*
* Procedure:

1
sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
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@@ -45,6 +45,7 @@
#include "size_divergence.h"
#include "linear_flow_fit.h"
#include "modules/sonar/agl_dist.h"
#include "generated/airframe.h"
// to get the definition of front_camera / bottom_camera
#include BOARD_CONFIG

1
sw/airborne/modules/computer_vision/opticflow_module.c
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@@ -39,6 +39,7 @@
#include "errno.h"
#include "cv.h"
#include "generated/airframe.h"
uint16_t fps_OF;

2
sw/airborne/modules/sensors/baro_MS5534A.c
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@@ -218,7 +218,7 @@ static void calibration(void)
#ifndef BARO_NO_DOWNLINK
float debug[4];
for (int i=0; i<4; i++){
debug[0] = words[0];
debug[i] = words[i];
}
DOWNLINK_SEND_DEBUG_VECT(DefaultChannel, DefaultDevice, "baro_calib", 4, debug);
#endif