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

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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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conf/modules/cv_opticflow.xml
+6 -6
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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"/>