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[opticflow_module] fix optical flow edgeflow segfault

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k.n.mcguire@tudelft.nl
2016-05-03 14:09:55 +02:00
parent 1a291c5713
commit ac5e36029a
6 changed files with 28 additions and 25 deletions
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conf/airframes/TUDELFT/tudelft_KM_conf.xml
+1 -1
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@@ -18,7 +18,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml settings/estimation/body_to_imu.xml"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/video_thread.xml modules/cv_opticflow.xml modules/video_rtp_stream.xml"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/video_thread.xml modules/cv_opticflow.xml"
gui_color="blue"
/>
<aircraft
conf/airframes/TUDELFT/tudelft_bebop2_indi_opticflow.xml
+12 -8
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@@ -35,17 +35,21 @@
<module name="send_imu_mag_current"/>
<module name="gps" type="ubx_ucenter"/>
<load name="video_thread.xml">
<define name="VIDEO_THREAD_FPS" value="4"/>
<define name="VIDEO_THREAD_FPS" value="30"/>
<define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
</load>
<!--load name="cv_colorfilter.xml"/-->
<load name="cv_opticflow.xml"/>
<load name="video_rtp_stream.xml">
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="70"/>
</load>
<load name="cv_opticflow.xml">
<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"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="70"/>
</load-->
</modules>
<commands>
sw/airborne/modules/computer_vision/lib/vision/edge_flow.c
+9 -9
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@@ -178,7 +178,7 @@ void calculate_edge_displacement(int32_t *edge_histogram, int32_t *edge_histogra
uint8_t SHIFT_TOO_FAR = 0;
memset(displacement, 0, size);
memset(displacement, 0, sizeof(int32_t)*size);
int32_t border[2];
@@ -299,8 +299,8 @@ void line_fit(int32_t *displacement, int32_t *divergence, int32_t *flow, uint32_
* @param[in] Displacement Pixel wise Displacement array
* @param[in] *edge_hist_x Horizontal edge_histogram
*/
void draw_edgeflow_img(struct image_t *img, struct edge_flow_t edgeflow, struct edgeflow_displacement_t displacement,
int32_t *edge_hist_x)
void draw_edgeflow_img(struct image_t *img, struct edge_flow_t edgeflow, int32_t *edge_hist_x_prev
, int32_t *edge_hist_x)
{
struct point_t point1;
struct point_t point2;
@@ -310,25 +310,25 @@ void draw_edgeflow_img(struct image_t *img, struct edge_flow_t edgeflow, struct
struct point_t point2_extra;
uint16_t i;
for (i = 120; i < 240; i++) {
for (i = 1; i < img->w - 1; i++) {
point1.y = -(uint16_t)edge_hist_x[i] / 100 + img->h / 3;
point1.x = i;
point2.y = -(uint16_t)edge_hist_x[i + 1] / 100 + img->h / 3;
point2.x = i + 1;
point1_prev.y = -(uint16_t)displacement.x[i] * 5 + img->h * 2 / 3;
point1_prev.y = -(uint16_t)edge_hist_x_prev[i] / 100 + img->h * 2 / 3;
point1_prev.x = i;
point2_prev.y = -(uint16_t)displacement.x[i + 1] * 5 + img->h * 2 / 3;
point2_prev.y = -(uint16_t)edge_hist_x_prev[i + 1] / 100 + img->h * 2 / 3;
point2_prev.x = i + 1;
image_draw_line(img, &point1, &point2);
image_draw_line(img, &point1_prev, &point2_prev);
}
point1_extra.y = (edgeflow.flow_x + edgeflow.div_x * -180) / 100 + img->h / 2;
point1_extra.y = (edgeflow.flow_x + edgeflow.div_x * img->w / 2) / 100 + img->h / 2;
point1_extra.x = 0;
point2_extra.y = (edgeflow.flow_x + edgeflow.div_x * 180) / 100 + img->h / 2;
point2_extra.x = 360;
point2_extra.y = (edgeflow.flow_x + edgeflow.div_x * img->w / 2) / 100 + img->h / 2;
point2_extra.x = img->w;
image_draw_line(img, &point1_extra, &point2_extra);
}
sw/airborne/modules/computer_vision/lib/vision/edge_flow.h
+2 -2
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@@ -85,8 +85,8 @@ struct edge_flow_t {
// Local functions of the EDGEFLOW algorithm
void draw_edgeflow_img(struct image_t *img, struct edge_flow_t edgeflow, struct edgeflow_displacement_t displacement,
int32_t *edge_hist_x);
void draw_edgeflow_img(struct image_t *img, struct edge_flow_t edgeflow, int32_t *edge_hist_x_prev
,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
+2 -2
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@@ -161,7 +161,7 @@ void opticflow_calc_init(struct opticflow_t *opticflow, uint16_t w, uint16_t h)
opticflow->prev_theta = 0.0;
/* Set the default values */
opticflow->method = 0; //0 = LK_fast9, 1 = Edgeflow
opticflow->method = OPTICFLOW_METHOD; //0 = LK_fast9, 1 = Edgeflow
opticflow->window_size = OPTICFLOW_WINDOW_SIZE;
opticflow->search_distance = OPTICFLOW_SEARCH_DISTANCE;
opticflow->derotation = OPTICFLOW_DEROTATION; //0 = OFF, 1 = ON
@@ -489,7 +489,7 @@ void calc_edgeflow_tot(struct opticflow_t *opticflow, struct opticflow_state_t *
result->vel_body_y = vel_x;
#if OPTICFLOW_SHOW_FLOW
draw_edgeflow_img(img, edgeflow, displacement, *edge_hist_x)
draw_edgeflow_img(img, edgeflow, prev_edge_histogram_x, edge_hist_x);
#endif
// Increment and wrap current time frame
current_frame_nr = (current_frame_nr + 1) % MAX_HORIZON;
sw/airborne/modules/computer_vision/opticflow_module.c
+2 -3
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@@ -152,11 +152,10 @@ 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
struct opticflow_result_t temp_result;
opticflow_calc_frame(&opticflow, &temp_state, img, &temp_result);
opticflow_calc_frame(&opticflow, &temp_state, img, &opticflow_result);
// Copy the result if finished
memcpy(&opticflow_result, &temp_result, sizeof(struct opticflow_result_t));
// memcpy(&opticflow_result, &temp_result, sizeof(struct opticflow_result_t));
opticflow_got_result = true;
return img;