mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
e4d9e10492
- support depends, conflicts and provides nodes, all under a 'dep' node - autoload are kept for now and are not moved yet - modules are updated for new dep format - it is now required that module's name and filename are the same
85 lines
5.4 KiB
XML
85 lines
5.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
|
|
|
|
<module name="pano_unwrap">
|
|
<doc>
|
|
<description>
|
|
Unwrap images taken through a panoramic lens
|
|
|
|
@image html images/airborne/modules/pano_unwrap/pano_unwrap.jpg "Left: AR.Drone 2.0 with Kogeto Dot 360 panoramic lens on bottom camera. Middle: raw image and region of interest (blue). Right: unwrapped image."
|
|
|
|
This module unwraps images taken through a panoramic lens. The unwrapped
|
|
image is returned to the video thread or available as
|
|
`pano_unwrapped_image`.
|
|
|
|
The user should specify the region of interest (the part of the raw image
|
|
that should be unwrapped) by setting the following values:
|
|
- The center of the lens (`center_x` and `center_y`)
|
|
- The radii of the top and bottom of the ROI (`radius_bottom` and
|
|
`radius_top`)
|
|
- The body +x direction in the raw image (`forward_direction`)
|
|
- The body +y direction in the raw image (`flip_horizontal`)
|
|
The region of interest can be shown by setting `show_calibration` to TRUE
|
|
and `overwrite_video` to FALSE.
|
|
|
|
The size of the output image can be set with `width` and `height`. The
|
|
height of the image can also be set to zero, in which case it is determined
|
|
automatically from the `vertical_resolution`.
|
|
|
|
Optionally, the image can be derotated to cancel the pitch and roll
|
|
movements of the drone. This requires a correct setting of the
|
|
`vertical_resolution`. Reasonable values can be found by looking at the
|
|
unwrapped and derotated image and adjusting the vertical resolution until
|
|
the environment no longer appears to move during pitch and roll motions.
|
|
|
|
The following assumptions are made:
|
|
- The vertical resolution is constant throughout the region of interest.
|
|
- Pitch and roll angles are small (for derotation).
|
|
|
|
@image html images/airborne/modules/pano_unwrap/unwrapped_derotated.png "Derotation (shown for large roll angle)."
|
|
</description>
|
|
<define name="PANO_UNWRAP_CAMERA" value="front_camera|bottom_camera (default)" description="Camera to use"/>
|
|
<define name="PANO_UNWRAP_CENTER_X" value="0.50" description="Center of lens in raw image [fraction of raw image width]"/>
|
|
<define name="PANO_UNWRAP_CENTER_Y" value="0.50" description="Center of lens in raw image [fraction of raw image height]"/>
|
|
<define name="PANO_UNWRAP_RADIUS_BOTTOM" value="0.20" description="Distance from the lens center to the bottom of the region of interest [fraction of raw image height]"/>
|
|
<define name="PANO_UNWRAP_RADIUS_TOP" value="0.30" description="Distance from lens center to the top of the region of interest [fraction of raw image height]"/>
|
|
<define name="PANO_UNWRAP_FORWARD_DIRECTION" value="270.0" description="Forward direction in raw image measured counterclockwise from right [deg]"/>
|
|
<define name="PANO_UNWRAP_FLIP_HORIZONTAL" value="TRUE|FALSE (default)" description="Flip output image horizontally"/>
|
|
<define name="PANO_UNWRAP_VERTICAL_RESOLUTION" value="0.18" description="Vertical resolution of region of interest [fraction of raw image height/rad]"/>
|
|
<define name="PANO_UNWRAP_DEROTATE_ATTITUDE" value="TRUE|FALSE (default)" description="Derotate the image, i.e. keep the panorama aligned with the horizon"/>
|
|
<define name="PANO_UNWRAP_WIDTH" value="640" description="Width of the unwrapped image [px]"/>
|
|
<define name="PANO_UNWRAP_HEIGHT" value="0" description="Height of the unwrapped image [px]. Set to 0 to determine automatically."/>
|
|
<define name="PANO_UNWRAP_OVERWRITE_VIDEO_THREAD" value="TRUE (default)|FALSE" description="Write unwrapped image to the video thread"/>
|
|
<define name="PANO_UNWRAP_FPS" value="0" description="Maximum FPS (0: unlimited)"/>
|
|
</doc>
|
|
<settings>
|
|
<dl_settings>
|
|
<dl_settings name="pano_unwrap">
|
|
<dl_setting shortname="center_x" var="pano_unwrap.center.x" min="0.0" step="0.01" max="1.0"/>
|
|
<dl_setting shortname="center_y" var="pano_unwrap.center.y" min="0.0" step="0.01" max="1.0"/>
|
|
<dl_setting shortname="radius_bottom" var="pano_unwrap.radius_bottom" min="0.0" step="0.01" max="1.0"/>
|
|
<dl_setting shortname="radius_top" var="pano_unwrap.radius_top" min="0.0" step="0.01" max="1.0"/>
|
|
<dl_setting shortname="forward_direction" var="pano_unwrap.forward_direction" min="0" step="1" max="360"/>
|
|
<dl_setting shortname="flip_hor" var="pano_unwrap.flip_horizontal" type="uint8" values="FALSE|TRUE" min="0" step="1" max="1"/>
|
|
<dl_setting shortname="v_resolution" var="pano_unwrap.vertical_resolution" min="-0.2" step="0.01" max="0.2"/>
|
|
<dl_setting shortname="derotate" var="pano_unwrap.derotate_attitude" type="uint8" values="FALSE|TRUE" min="0" step="1" max="1"/>
|
|
<dl_setting shortname="width" var="pano_unwrap.width" min="1" step="1" max="1920"/>
|
|
<dl_setting shortname="height" var="pano_unwrap.height" min="0" step="1" max="1080"/>
|
|
<dl_setting shortname="overwrite_video" var="pano_unwrap.overwrite_video_thread" type="uint8" values="FALSE|TRUE" min="0" step="1" max="1"/>
|
|
<dl_setting shortname="show_calibration" var="pano_unwrap.show_calibration" type="uint8" values="FALSE|TRUE" min="0" step="1" max="1"/>
|
|
</dl_settings>
|
|
</dl_settings>
|
|
</settings>
|
|
<dep>
|
|
<depends>video_thread</depends>
|
|
</dep>
|
|
<header>
|
|
<file name="pano_unwrap.h"/>
|
|
</header>
|
|
<init fun="pano_unwrap_init()"/>
|
|
<makefile>
|
|
<file name="pano_unwrap.c"/>
|
|
<define name="CV_ALLOW_VIDEO_TO_CHANGE_SIZE" value="1"/>
|
|
</makefile>
|
|
</module>
|
|
|