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paparazzi/conf/modules/cv_opticflow.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="cv_opticflow" dir="computer_vision">
<doc>
<description>
Compute optical flow.
Made for Linux video Devices.
Computes x and y velocity using optical flow and distance to ground (using sonar).
Cannot define CAMERA2 without first defining CAMERA.
</description>
<!-- Optical flow calculation parameters -->
<section name="OPTICFLOW" prefix="OPTICFLOW_">
<define name="AGL_ID" value="ABI_BROADCAST" description="ABI receive id for ABI message (sonar measurement) (default: ABI_BROADCAST)"/>
<define name="SEND_ABI_ID" value="1" description="ABI sender id for opticflow messages (default: 1)"/>
<!-- Video device parameters -->
<define name="CAMERA" value="bottom_camera|front_camera" description="The V4L2 camera device that is used for the calculations"/>
<!-- 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)"/>
<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"/>
<define name="WINDOW_SIZE" value="10" description="Window size used for block matching (pixels)"/>
<define name="SEARCH_DISTANCE" value="10" description="Maximum search distance for blockmatching (pixels)"/>
<define name="SUBPIXEL_FACTOR" value="10" description="Amount of subpixels per pixel, used for more precise (subpixel) calculations of the flow"/>
<define name="RESOLUTION_FACTOR" value="1000" description="The resolution factor needed to calculate the divergence without floats"/>
<define name="DEROTATION" value="1" description="Derotation either turned on or off (depended on gyroscope measurements)"/>
<define name="MEDIAN_FILTER" value="0" description="A median filter on the resulting velocities to be turned on or off (last 5 measurements)"/>
<define name="FEATURE_MANAGEMENT" value="1" description="Whether to keep already tracked corners in memory for the next frame or re-detect new ones every time"/>
<define name="FPS" value="0" description="The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate"/>
<define name="TRACK_BACK" value="TRUE" description="Whether flow vectors are tracked back to the previous image and only kept if they end up close to the original point."/>
<define name="SHOW_FLOW" value="TRUE" description="Whether to draw the flow vectors in the image."/>
<!-- Lucas Kanade optical flow calculation parameters -->
<define name="MAX_TRACK_CORNERS" value="25" description="The maximum amount of corners the Lucas Kanade algorithm is tracking between two frames"/>
<define name="MAX_ITERATIONS" value="10" description="Maximum number of iterations the Lucas Kanade algorithm should take"/>
<define name="THRESHOLD_VEC" value="2" description="Threshold in subpixels when the iterations of Lucas Kanade should stop"/>
<define name="CORNER_METHOD" value="1" description="Method used to look for corners, exhaustive FAST (0) or ACT-FAST (1)."/>
<!-- FAST9 corner detection parameters -->
<define name="FAST9_ADAPTIVE" value="TRUE" description="Whether we should use and adapative FAST9 crner detection threshold"/>
<define name="FAST9_THRESHOLD" value="20" description="FAST9 default threshold"/>
<define name="FAST9_MIN_DISTANCE" value="10" description="The amount of pixels between corners that should be detected"/>
<define name="FAST9_PADDING" value="20" description="The outer border in which no corners will be searched"/>
<define name="FAST9_REGION_DETECT" value="1" description="Whether to detect fast9 corners in regions of interest or the whole image (only works with feature management)"/>
<define name="FAST9_NUM_REGIONS" value="9" description="The number of regions of interest to split the image into"/>
<!-- ACT-FAST parameters -->
<define name="ACTFAST_LONG_STEP" value="10" description="Step size to take when there is no texture"/>
<define name="ACTFAST_SHORT_STEP" value="2" description="Step size to take when there is an edge to be followed"/>
<define name="ACTFAST_MIN_GRADIENT" value="10" description="Threshold that decides when there is sufficient texture for edge following"/>
<define name="ACTFAST_GRADIENT_METHOD" value="1" description="Whether to use a simple (0) or Sobel (1) filter"/>
<!-- =========== CAMERA 2 SETTINGS ============ -->
<!-- Video device parameters for camera 2 -->
<define name="CAMERA2" value="bottom_camera|front_camera" description="The V4L2 camera device that is used for the calculations"/>
<!-- 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)"/>
<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"/>
<define name="WINDOW_SIZE_CAMERA2" value="10" description="Window size used for block matching (pixels)"/>
<define name="SEARCH_DISTANCE_CAMERA2" value="10" description="Maximum search distance for blockmatching (pixels)"/>
<define name="SUBPIXEL_FACTOR_CAMERA2" value="10" description="Amount of subpixels per pixel, used for more precise (subpixel) calculations of the flow"/>
<define name="RESOLUTION_FACTOR_CAMERA2" value="1000" description="The resolution factor needed to calculate the divergence without floats"/>
<define name="DEROTATION_CAMERA2" value="1" description="Derotation either turned on or off (depended on gyroscope measurements)"/>
<define name="MEDIAN_FILTER_CAMERA2" value="0" description="A median filter on the resulting velocities to be turned on or off (last 5 measurements)"/>
<define name="FEATURE_MANAGEMENT_CAMERA2" value="1" description="Whether to keep already tracked corners in memory for the next frame or re-detect new ones every time"/>
<define name="FPS_CAMERA2" value="0" description="The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate"/>
<define name="TRACK_BACK_CAMERA2" value="TRUE" description="Whether flow vectors are tracked back to the previous image and only kept if they end up close to the original point."/>
<define name="SHOW_FLOW_CAMERA2" value="TRUE" description="Whether to draw the flow vectors in the image."/>
<!-- Lucas Kanade optical flow calculation parameters -->
<define name="MAX_TRACK_CORNERS_CAMERA2" value="25" description="The maximum amount of corners the Lucas Kanade algorithm is tracking between two frames"/>
<define name="MAX_ITERATIONS_CAMERA2" value="10" description="Maximum number of iterations the Lucas Kanade algorithm should take"/>
<define name="THRESHOLD_VEC_CAMERA2" value="2" description="Threshold in subpixels when the iterations of Lucas Kanade should stop"/>
<define name="CORNER_METHOD_CAMERA2" value="1" description="Method used to look for corners, exhaustive FAST (0) or ACT-FAST (1)."/>
<!-- FAST9 corner detection parameters -->
<define name="FAST9_ADAPTIVE_CAMERA2" value="TRUE" description="Whether we should use and adapative FAST9 crner detection threshold"/>
<define name="FAST9_THRESHOLD_CAMERA2" value="20" description="FAST9 default threshold"/>
<define name="FAST9_MIN_DISTANCE_CAMERA2" value="10" description="The amount of pixels between corners that should be detected"/>
<define name="FAST9_PADDING_CAMERA2" value="20" description="The outer border in which no corners will be searched"/>
<define name="FAST9_REGION_DETECT_CAMERA2" value="1" description="Whether to detect fast9 corners in regions of interest or the whole image (only works with feature management)"/>
<define name="FAST9_NUM_REGIONS_CAMERA2" value="9" description="The number of regions of interest to split the image into"/>
<!-- ACT-FAST parameters -->
<define name="ACTFAST_LONG_STEP_CAMERA2" value="10" description="Step size to take when there is no texture"/>
<define name="ACTFAST_SHORT_STEP_CAMERA2" value="2" description="Step size to take when there is an edge to be followed"/>
<define name="ACTFAST_MIN_GRADIENT_CAMERA2" value="10" description="Threshold that decides when there is sufficient texture for edge following"/>
<define name="ACTFAST_GRADIENT_METHOD_CAMERA2" value="1" description="Whether to use a simple (0) or Sobel (1) filter"/>
</section>
</doc>
<settings>
<dl_settings name="Vision stabilization">
<!-- Optical flow calculations parameters -->
<dl_settings name="vision_calc camera1">
<dl_setting var="opticflow[0].method" min="0" step="1" max="1" module="computer_vision/opticflow_module" shortname="method" values="LK_Fast9|EdgeFlow" param="METHOD"/>
<dl_setting var="opticflow[0].corner_method" min="0" step="1" max="1" module="computer_vision/opticflow_module" shortname="corner_method" values="exhaustive-FAST|ACT-FAST" param="CORNER_METHOD"/>
<dl_setting var="opticflow[0].window_size" module="computer_vision/opticflow_module" min="0" step="1" max="20" shortname="window_size" param="OPTICFLOW_WINDOW_SIZE"/>
<dl_setting var="opticflow[0].search_distance" module="computer_vision/opticflow_module" min="0" step="1" max="50" shortname="search_distance" param="SEARCH_DISTANCE"/>
<dl_setting var="opticflow[0].subpixel_factor" module="computer_vision/opticflow_module" min="0" step="10" max="1000" shortname="subpixel_factor" param="OPTICFLOW_SUBPIXEL_FACTOR"/>
<dl_setting var="opticflow[0].resolution_factor" module="computer_vision/opticflow_module" min="10" step="10" max="10000" shortname="resolution_factor" param="OPTICFLOW_RESOLUTION_FACTOR"/>
<dl_setting var="opticflow[0].derotation" min="0" step="1" max="1" module="computer_vision/opticflow_module" values="OFF|ON" shortname="derotation" param="OPTICFLOW_DEROTATION"/>
<dl_setting var="opticflow[0].median_filter" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="OFF|ON" shortname="median_filter" param="OPTICFLOW_MEDIAN_FILTER"/>
<dl_setting var="opticflow[0].feature_management" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="OFF|ON" shortname="feature_management" param="OPTICFLOW_FEATURE_MANAGEMENT"/>
<dl_setting var="opticflow[0].track_back" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="FALSE|TRUE" shortname="track_back" param="OPTICFLOW_TRACK_BACK"/>
<dl_setting var="opticflow[0].show_flow" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="FALSE|TRUE" shortname="show_flow" param="OPTICFLOW_SHOW_FLOW"/>
<!-- Specifically for Lucas Kanade and FAST9 -->
<dl_setting var="opticflow[0].max_track_corners" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="max_trck_corners" param="OPTICFLOW_MAX_TRACK_CORNERS"/>
<dl_setting var="opticflow[0].max_iterations" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="max_iterations" param="OPTICFLOW_MAX_ITERATIONS"/>
<dl_setting var="opticflow[0].threshold_vec" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="threshold_vec" param="OPTICFLOW_THRESHOLD_VEC"/>
<dl_setting var="opticflow[0].fast9_adaptive" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="FALSE|TRUE" shortname="fast9_adaptive" param="OPTICFLOW_FAST9_ADAPTIVE"/>
<dl_setting var="opticflow[0].fast9_threshold" module="computer_vision/opticflow_module" min="0" step="1" max="255" shortname="fast9_threshold" param="OPTICFLOW_FAST9_THRESHOLD"/>
<dl_setting var="opticflow[0].fast9_min_distance" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="fast9_min_distance" param="OPTICFLOW_FAST9_MIN_DISTANCE"/>
<dl_setting var="opticflow[0].fast9_padding" module="computer_vision/opticflow_module" min="0" step="1" max="50" shortname="fast9_padding" param="OPTICFLOW_FAST9_PADDING"/>
<dl_setting var="opticflow[0].fast9_region_detect" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="OFF|ON" shortname="fast9_region_detect" param="OPTICFLOW_FAST9_REGION_DETECT"/>
<dl_setting var="opticflow[0].fast9_num_regions" module="computer_vision/opticflow_module" min="1" step="1" max="25" shortname="fast9_num_regions" param="OPTICFLOW_FAST9_NUM_REGIONS"/>
<!-- ACT-FAST settings -->
<dl_setting var="opticflow[0].actfast_long_step" module="computer_vision/opticflow_module" min="1" step="1" max="100" shortname="actfast_long_step" param="OPTICFLOW_ACTFAST_LONG_STEP"/>
<dl_setting var="opticflow[0].actfast_short_step" module="computer_vision/opticflow_module" min="1" step="1" max="10" shortname="actfast_short_step" param="OPTICFLOW_ACTFAST_SHORT_STEP"/>
<dl_setting var="opticflow[0].actfast_min_gradient" module="computer_vision/opticflow_module" min="1" step="1" max="255" shortname="actfast_min_gradient" param="OPTICFLOW_ACTFAST_MIN_GRADIENT"/>
<dl_setting var="opticflow[0].actfast_gradient_method" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="SIMPLE|SOBEL" shortname="actfast_gradient_method" param="OPTICFLOW_ACTFAST_GRADIENT_METHOD"/>
<!-- Changes pyramid level of lucas kanade optical flow. -->
<dl_setting var="opticflow[0].pyramid_level" module="computer_vision/opticflow_module" min="0" step="1" max="10" shortname="pyramid_level" param="OPTICFLOW_PYRAMID_LEVEL"/>
</dl_settings>
<dl_settings name="vision_calc camera2">
<dl_setting var="opticflow[1].method" min="0" step="1" max="1" module="computer_vision/opticflow_module" shortname="method" values="LK_Fast9|EdgeFlow" param="METHOD_CAMERA2"/>
<dl_setting var="opticflow[1].corner_method" min="0" step="1" max="1" module="computer_vision/opticflow_module" shortname="corner_method" values="exhaustive-FAST|ACT-FAST" param="CORNER_METHOD_CAMERA2"/>
<dl_setting var="opticflow[1].window_size" module="computer_vision/opticflow_module" min="0" step="1" max="20" shortname="window_size" param="OPTICFLOW_WINDOW_SIZE_CAMERA2"/>
<dl_setting var="opticflow[1].search_distance" module="computer_vision/opticflow_module" min="0" step="1" max="50" shortname="search_distance" param="SEARCH_DISTANCE_CAMERA2"/>
<dl_setting var="opticflow[1].subpixel_factor" module="computer_vision/opticflow_module" min="0" step="10" max="1000" shortname="subpixel_factor" param="OPTICFLOW_SUBPIXEL_FACTOR_CAMERA2"/>
<dl_setting var="opticflow[1].resolution_factor" module="computer_vision/opticflow_module" min="10" step="10" max="10000" shortname="resolution_factor" param="OPTICFLOW_RESOLUTION_FACTOR_CAMERA2"/>
<dl_setting var="opticflow[1].derotation" min="0" step="1" max="1" module="computer_vision/opticflow_module" values="OFF|ON" shortname="derotation" param="OPTICFLOW_DEROTATION_CAMERA2"/>
<dl_setting var="opticflow[1].median_filter" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="OFF|ON" shortname="median_filter" param="OPTICFLOW_MEDIAN_FILTER_CAMERA2"/>
<dl_setting var="opticflow[1].feature_management" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="OFF|ON" shortname="feature_management" param="OPTICFLOW_FEATURE_MANAGEMENT_CAMERA2"/>
<dl_setting var="opticflow[1].track_back" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="FALSE|TRUE" shortname="track_back" param="OPTICFLOW_TRACK_BACK_CAMERA2"/>
<dl_setting var="opticflow[1].show_flow" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="FALSE|TRUE" shortname="show_flow" param="OPTICFLOW_SHOW_FLOW_CAMERA2"/>
<!-- Specifically for Lucas Kanade and FAST9 -->
<dl_setting var="opticflow[1].max_track_corners" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="max_trck_corners" param="OPTICFLOW_MAX_TRACK_CORNERS_CAMERA2"/>
<dl_setting var="opticflow[1].max_iterations" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="max_iterations" param="OPTICFLOW_MAX_ITERATIONS_CAMERA2"/>
<dl_setting var="opticflow[1].threshold_vec" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="threshold_vec" param="OPTICFLOW_THRESHOLD_VEC_CAMERA2"/>
<dl_setting var="opticflow[1].fast9_adaptive" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="FALSE|TRUE" shortname="fast9_adaptive" param="OPTICFLOW_FAST9_ADAPTIVE_CAMERA2"/>
<dl_setting var="opticflow[1].fast9_threshold" module="computer_vision/opticflow_module" min="0" step="1" max="255" shortname="fast9_threshold" param="OPTICFLOW_FAST9_THRESHOLD_CAMERA2"/>
<dl_setting var="opticflow[1].fast9_min_distance" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="fast9_min_distance" param="OPTICFLOW_FAST9_MIN_DISTANCE_CAMERA2"/>
<dl_setting var="opticflow[1].fast9_padding" module="computer_vision/opticflow_module" min="0" step="1" max="50" shortname="fast9_padding" param="OPTICFLOW_FAST9_PADDING_CAMERA2"/>
<dl_setting var="opticflow[1].fast9_region_detect" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="OFF|ON" shortname="fast9_region_detect" param="OPTICFLOW_FAST9_REGION_DETECT_CAMERA2"/>
<dl_setting var="opticflow[1].fast9_num_regions" module="computer_vision/opticflow_module" min="1" step="1" max="25" shortname="fast9_num_regions" param="OPTICFLOW_FAST9_NUM_REGIONS_CAMERA2"/>
<!-- ACT-FAST settings -->
<dl_setting var="opticflow[1].actfast_long_step" module="computer_vision/opticflow_module" min="1" step="1" max="100" shortname="actfast_long_step" param="OPTICFLOW_ACTFAST_LONG_STEP_CAMERA2"/>
<dl_setting var="opticflow[1].actfast_short_step" module="computer_vision/opticflow_module" min="1" step="1" max="10" shortname="actfast_short_step" param="OPTICFLOW_ACTFAST_SHORT_STEP_CAMERA2"/>
<dl_setting var="opticflow[1].actfast_min_gradient" module="computer_vision/opticflow_module" min="1" step="1" max="255" shortname="actfast_min_gradient" param="OPTICFLOW_ACTFAST_MIN_GRADIENT_CAMERA2"/>
<dl_setting var="opticflow[1].actfast_gradient_method" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="SIMPLE|SOBEL" shortname="actfast_gradient_method" param="OPTICFLOW_ACTFAST_GRADIENT_METHOD_CAMERA2"/>
<!-- Changes pyramid level of lucas kanade optical flow. -->
<dl_setting var="opticflow[1].pyramid_level" module="computer_vision/opticflow_module" min="0" step="1" max="10" shortname="pyramid_level" param="OPTICFLOW_PYRAMID_LEVEL_CAMERA2"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>video_thread,agl_dist,pose_history</depends>
<provides>velocity</provides>
</dep>
<header>
<file name="opticflow_module.h"/>
</header>
<init fun="opticflow_module_init()"/>
<periodic fun="opticflow_module_run()" autorun="TRUE"/>
<makefile target="ap|nps">
<!-- Include the needed Computer Vision files -->
<include name="modules/computer_vision"/>
<file name="image.c" dir="modules/computer_vision/lib/vision"/>
<file name="jpeg.c" dir="modules/computer_vision/lib/encoding"/>
<file name="rtp.c" dir="modules/computer_vision/lib/encoding"/>
<!-- The optical flow module (calculator) -->
<file name="opticflow_module.c"/>
<file name="opticflow_calculator.c" dir="modules/computer_vision/opticflow"/>
<file name="size_divergence.c" dir="modules/computer_vision/opticflow"/>
<file name="linear_flow_fit.c" dir="modules/computer_vision/opticflow"/>
<file name="pprz_algebra_float.c" dir="math"/>
<file name="pprz_matrix_decomp_float.c" dir="math"/>
<!-- Main vision calculations -->
<file name="act_fast.c" dir="modules/computer_vision/lib/vision"/>
<file name="fast_rosten.c" dir="modules/computer_vision/lib/vision"/>
<file name="lucas_kanade.c" dir="modules/computer_vision/lib/vision"/>
<file name="edge_flow.c" dir="modules/computer_vision/lib/vision"/>
<file name="undistortion.c" dir="modules/computer_vision/lib/vision"/>
<test arch="linux">
<include name="modules/computer_vision"/>
<define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
</test>
</makefile>
</module>
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