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[opticflow_module] make initializing undependent on a fixed image size for generality

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This commit is contained in:
k.n.mcguire@tudelft.nl
2016-05-03 16:13:17 +02:00
parent ac5e36029a
commit 870a544a85
5 changed files with 49 additions and 18 deletions
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conf/airframes/TUDELFT/tudelft_bebop2_indi_opticflow.xml
+1 -3
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@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="bebop2_indi">
<airframe name="bebop2_indi_opticflow">
<firmware name="rotorcraft">
<target name="ap" board="bebop2">
@@ -43,8 +43,6 @@
<define name="OPTICFLOW_METHOD" value="1"/>
<define name="OPTICFLOW_SHOW_FLOW" value="1"/>
<define name="MAX_HORIZON" value="2"/>
<define name="IMAGE_HEIGHT" value="480"/>
<define name="IMAGE_WIDTH" value="640"/>
</load>
<!--load name="video_rtp_stream.xml">
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
sw/airborne/modules/computer_vision/lib/vision/edge_flow.h
+9 -11
View File
@@ -43,6 +43,10 @@
#ifndef MAX_HORIZON
#define MAX_HORIZON 10
#else
#if MAX_HORIZON < 2
#define MAX_HORIZON 2
#endif
#endif
#ifndef DISP_RANGE_MAX
#define DISP_RANGE_MAX 50
@@ -50,12 +54,6 @@
#ifndef MAX_WINDOW_SIZE
#define MAX_WINDOW_SIZE 20
#endif
#ifndef IMAGE_HEIGHT
#define IMAGE_HEIGHT 240
#endif
#ifndef IMAGE_WIDTH
#define IMAGE_WIDTH 360
#endif
#ifndef OPTICFLOW_FOV_W
#define OPTICFLOW_FOV_W 0.89360857702
#endif
@@ -64,16 +62,16 @@
#endif
struct edge_hist_t {
int32_t x[IMAGE_WIDTH];
int32_t y[IMAGE_HEIGHT];
int32_t *x;
int32_t *y;
struct timeval frame_time;
float roll;
float pitch;
};
struct edgeflow_displacement_t {
int32_t x[IMAGE_WIDTH];
int32_t y[IMAGE_HEIGHT];
int32_t *x;
int32_t *y;
};
struct edge_flow_t {
@@ -86,7 +84,7 @@ struct edge_flow_t {
// Local functions of the EDGEFLOW algorithm
void draw_edgeflow_img(struct image_t *img, struct edge_flow_t edgeflow, int32_t *edge_hist_x_prev
,int32_t *edge_hist_x);
, int32_t *edge_hist_x);
void calc_previous_frame_nr(struct opticflow_result_t *result, struct opticflow_t *opticflow, uint8_t current_frame_nr,
uint8_t *previous_frame_offset, uint8_t *previous_frame_nr);
void calculate_edge_histogram(struct image_t *img, int32_t edge_histogram[],
sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
+34 -1
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@@ -187,6 +187,10 @@ void opticflow_calc_init(struct opticflow_t *opticflow, uint16_t w, uint16_t h)
void calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img,
struct opticflow_result_t *result)
{
if (opticflow->just_switched_method == 1) {
opticflow_calc_init(opticflow, img->w, img->h);
}
// variables for size_divergence:
float size_divergence; int n_samples;
@@ -365,11 +369,26 @@ void calc_edgeflow_tot(struct opticflow_t *opticflow, struct opticflow_state_t *
// Define Static Variables
static struct edge_hist_t edge_hist[MAX_HORIZON];
static uint8_t current_frame_nr = 0;
static struct edge_flow_t edgeflow;
struct edge_flow_t edgeflow;
static uint8_t previous_frame_offset[2] = {1, 1};
// Define Normal variables
struct edgeflow_displacement_t displacement;
displacement.x = malloc(sizeof(int32_t) * img->w);
displacement.y = malloc(sizeof(int32_t) * img->h);
// If the methods just switched to this one, reintialize the
// array of edge_hist structure.
if (opticflow->just_switched_method == 1) {
int i;
for (i = 0; i < MAX_HORIZON; i++) {
edge_hist[i].x = malloc(sizeof(int32_t) * img->w);
edge_hist[i].y = malloc(sizeof(int32_t) * img->h);
edge_hist[i].roll = 0.0f;
edge_hist[i].pitch = 0.0f;
}
}
uint16_t disp_range;
if (opticflow->search_distance < DISP_RANGE_MAX) {
disp_range = opticflow->search_distance;
@@ -395,6 +414,7 @@ void calc_edgeflow_tot(struct opticflow_t *opticflow, struct opticflow_state_t *
calculate_edge_histogram(img, edge_hist_x, 'x', 0);
calculate_edge_histogram(img, edge_hist_y, 'y', 0);
// Copy frame time and angles of image to calculated edge histogram
memcpy(&edge_hist[current_frame_nr].frame_time, &img->ts, sizeof(struct timeval));
edge_hist[current_frame_nr].pitch = state->theta;
@@ -506,6 +526,14 @@ void calc_edgeflow_tot(struct opticflow_t *opticflow, struct opticflow_state_t *
void opticflow_calc_frame(struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img,
struct opticflow_result_t *result)
{
static int8_t switch_counter = OPTICFLOW_METHOD;
if (switch_counter != opticflow->method || opticflow->got_first_img) {
opticflow->just_switched_method = 1;
switch_counter = opticflow->method;
} else {
opticflow->just_switched_method = 0;
}
if (opticflow->method == 0) {
calc_fast9_lukas_kanade(opticflow, state, img, result);
} else {
@@ -513,6 +541,11 @@ void opticflow_calc_frame(struct opticflow_t *opticflow, struct opticflow_state_
calc_edgeflow_tot(opticflow, state, img, result);
} else {}
}
if (opticflow->got_first_img == 1) {
opticflow->got_first_img = 0;
}
}
/**
sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h
+1
View File
@@ -37,6 +37,7 @@
struct opticflow_t {
bool got_first_img; ///< If we got a image to work with
bool just_switched_method;
float prev_phi; ///< Phi from the previous image frame
float prev_theta; ///< Theta from the previous image frame
struct image_t img_gray; ///< Current gray image frame
sw/airborne/modules/computer_vision/opticflow_module.c
+4 -3
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@@ -94,9 +94,8 @@ void opticflow_module_init(void)
opticflow_state.agl = 0;
// Initialize the opticflow calculation
// TODO: make it independable on img size!
opticflow_calc_init(&opticflow, 640, 480);
opticflow_got_result = false;
opticflow.got_first_img = 1;
cv_add(opticflow_module_calc);
#if PERIODIC_TELEMETRY
@@ -152,7 +151,7 @@ struct image_t *opticflow_module_calc(struct image_t *img)
memcpy(&temp_state, &opticflow_state, sizeof(struct opticflow_state_t));
// Do the optical flow calculation
opticflow_calc_frame(&opticflow, &temp_state, img, &opticflow_result);
opticflow_calc_frame(&opticflow, &opticflow_state, img, &opticflow_result);
// Copy the result if finished
// memcpy(&opticflow_result, &temp_result, sizeof(struct opticflow_result_t));
@@ -171,5 +170,7 @@ static void opticflow_agl_cb(uint8_t sender_id __attribute__((unused)), float di
// Update the distance if we got a valid measurement
if (distance > 0) {
opticflow_state.agl = distance;
}
}