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moved the opticflow_calc_init call to opticflow_module.c and moved the LK related parts to the LK function

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Titus
2017-03-27 12:45:19 +02:00
parent b7e0f2e9bf
commit 6c8fb1fbf9
3 changed files with 14 additions and 18 deletions
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sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
+12 -17
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@@ -194,23 +194,9 @@ static int cmp_flow(const void *a, const void *b);
/** /**
* Initialize the opticflow calculator * Initialize the opticflow calculator
* @param[out] *opticflow The new optical flow calculator * @param[out] *opticflow The new optical flow calculator
* @param[in] *w The image width
* @param[in] *h The image height
*/ */
void opticflow_calc_init(struct opticflow_t *opticflow, uint16_t w, uint16_t h) void opticflow_calc_init(struct opticflow_t *opticflow)
{ {
init_median_filter(&vel_x_filt);
init_median_filter(&vel_y_filt);
/* Create the image buffers */
image_create(&opticflow->img_gray, w, h, IMAGE_GRAYSCALE);
image_create(&opticflow->prev_img_gray, w, h, IMAGE_GRAYSCALE);
/* Set the previous values */
opticflow->got_first_img = false;
FLOAT_RATES_ZERO(opticflow->prev_rates);
/* Set the default values */ /* Set the default values */
opticflow->method = OPTICFLOW_METHOD; //0 = LK_fast9, 1 = Edgeflow opticflow->method = OPTICFLOW_METHOD; //0 = LK_fast9, 1 = Edgeflow
opticflow->window_size = OPTICFLOW_WINDOW_SIZE; opticflow->window_size = OPTICFLOW_WINDOW_SIZE;
@@ -234,7 +220,6 @@ void opticflow_calc_init(struct opticflow_t *opticflow, uint16_t w, uint16_t h)
opticflow->fast9_padding = OPTICFLOW_FAST9_PADDING; opticflow->fast9_padding = OPTICFLOW_FAST9_PADDING;
opticflow->fast9_rsize = 512; opticflow->fast9_rsize = 512;
opticflow->fast9_ret_corners = malloc(sizeof(struct point_t) * opticflow->fast9_rsize); opticflow->fast9_ret_corners = malloc(sizeof(struct point_t) * opticflow->fast9_rsize);
} }
/** /**
* Run the optical flow with fast9 and lukaskanade on a new image frame * Run the optical flow with fast9 and lukaskanade on a new image frame
@@ -247,7 +232,17 @@ void calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct opticflow_sta
struct opticflow_result_t *result) struct opticflow_result_t *result)
{ {
if (opticflow->just_switched_method) { if (opticflow->just_switched_method) {
opticflow_calc_init(opticflow, img->w, img->h); // Create the image buffers
image_create(&opticflow->img_gray, img->w, img->h, IMAGE_GRAYSCALE);
image_create(&opticflow->prev_img_gray, img->w, img->h, IMAGE_GRAYSCALE);
// Set the previous values
opticflow->got_first_img = false;
FLOAT_RATES_ZERO(opticflow->prev_rates);
// Init median filters with zeros
init_median_filter(&vel_x_filt);
init_median_filter(&vel_y_filt);
} }
// variables for size_divergence: // variables for size_divergence:
sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h
+1 -1
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@@ -72,7 +72,7 @@ struct opticflow_t {
}; };
void opticflow_calc_init(struct opticflow_t *opticflow, uint16_t w, uint16_t h); void opticflow_calc_init(struct opticflow_t *opticflow);
void opticflow_calc_frame(struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img, void opticflow_calc_frame(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
+1
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@@ -124,6 +124,7 @@ void opticflow_module_init(void)
// Initialize the opticflow calculation // Initialize the opticflow calculation
opticflow_got_result = false; opticflow_got_result = false;
opticflow_calc_init(&opticflow);
cv_add_to_device(&OPTICFLOW_CAMERA, opticflow_module_calc); cv_add_to_device(&OPTICFLOW_CAMERA, opticflow_module_calc);