mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Manos Kyriakakis
3ddd5d737b
- Corners are now detected in the previous frame(instead of the new one) and tracked to the new one - A feature management method is available where corners are kept in memory for as long as they are tracked - Corners can be weighted against the number of times they have been tracked - Fast9 detection will be performed again after the number of tracked corners drops below a threshold is met and only in the regions of the image that have the less corners (optional)
127 lines
10 KiB
XML
127 lines
10 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="cv_opticflow" dir="computer_vision">
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<doc>
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<description>
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Compute optical flow.
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Made for Linux video Devices.
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Computes x and y velocity using optical flow and distance to ground (using sonar).
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</description>
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<!-- Optical flow calculation parameters -->
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<section name="OPTICFLOW" prefix="OPTICFLOW_">
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<define name="AGL_ID" value="ABI_BROADCAST" description="ABI receive id for ABI message (sonar measurement) (default: ABI_BROADCAST)"/>
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<define name="IMU_ID" value="ABI_BROADCAST" description="ABI receive id for ABI message (accelerometers) (default: ABI_BROADCAST)"/>
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<define name="BODY_TO_IMU_ID" value="ABI_BROADCAST" description="ABI receive id for ABI message (body to imu quat) (default: ABI_BROADCAST)"/>
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<define name="SEND_ABI_ID" value="1" description="ABI sender id for opticflow messages (default: 1)"/>
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<!-- Video device parameters -->
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<define name="CAMERA" value="bottom_camera|front_camera" description="The V4L2 camera device that is used for the calculations"/>
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<!-- Camera parameters -->
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<define name="FOV_W" value="0.89360857702" description="The field of view width of the bottom camera (Defaults are from an ARDrone 2)"/>
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<define name="FOV_H" value="0.67020643276" description="The field of view height of the bottom camera (Defaults are from an ARDrone 2)"/>
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<define name="FX" value="343.1211" description="Field in the x direction of the camera (Defaults are from an ARDrone 2)"/>
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<define name="FY" value="348.5053" description="Field in the y direction of the camera (Defaults are from an ARDrone 2)"/>
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<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)"/>
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<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)"/>
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<!-- General optical flow calculation parameters -->
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<define name="METHOD" value="0" description="Method used to calculate optical flow"/>
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<define name="WINDOW_SIZE" value="10" description="Window size used for block matching (pixels)"/>
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<define name="SEARCH_DISTANCE" value="10" description="Maximum search distance for blockmatching (pixels)"/>
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<define name="SUBPIXEL_FACTOR" value="10" description="Amount of subpixels per pixel, used for more precise (subpixel) calculations of the flow"/>
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<define name="RESOLUTION_FACTOR" value="1000" description="The resolution factor needed to calculate the divergence without floats"/>
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<define name="DEROTATION" value="1" description="Derotation either turned on or off (depended on gyroscope measurements)"/>
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<define name="MEDIAN_FILTER" value="0" description="A median filter on the resulting velocities to be turned on or off (last 5 measurements)"/>
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<define name="KALMAN_FILTER" value="1" description="A kalman filter on the resulting velocities to be turned on or off (fused with accelerometers)"/>
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<define name="KALMAN_FILTER_PROCESS_NOISE" value="0.01" description="The expected variance of the error of the model's prediction in the kalman filter"/>
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<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"/>
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<!-- Lucas Kanade optical flow calculation parameters -->
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<define name="MAX_TRACK_CORNERS" value="25" description="The maximum amount of corners the Lucas Kanade algorithm is tracking between two frames"/>
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<define name="MAX_ITERATIONS" value="10" description="Maximum number of iterations the Lucas Kanade algorithm should take"/>
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<define name="THRESHOLD_VEC" value="2" description="TThreshold in subpixels when the iterations of Lucas Kanade should stop"/>
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<!-- FAST9 corner detection parameters -->
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<define name="FAST9_ADAPTIVE" value="TRUE" description="Whether we should use and adapative FAST9 crner detection threshold"/>
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<define name="FAST9_THRESHOLD" value="20" description="FAST9 default threshold"/>
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<define name="FAST9_MIN_DISTANCE" value="10" description="The amount of pixels between corners that should be detected"/>
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<define name="FAST9_PADDING" value="20" description="The outer border in which no corners will be searched"/>
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<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)"/>
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<define name="FAST9_NUM_REGIONS" value="9" description="The number of regions of interest to split the image into"/>
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</section>
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</doc>
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<settings>
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<dl_settings NAME="Vision stabilization">
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<!-- Optical flow calculations parameters -->
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<dl_settings name="vision_calc">
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<dl_setting var="opticflow.method" min="0" step="1" max="1" module="computer_vision/opticflow_module" shortname="method" values="LK_Fast9|EdgeFlow" param="METHOD"/>
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<dl_setting var="opticflow.window_size" module="computer_vision/opticflow_module" min="0" step="1" max="20" shortname="window_size" param="OPTICFLOW_WINDOW_SIZE"/>
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<dl_setting var="opticflow.search_distance" module="computer_vision/opticflow_module" min="0" step="1" max="50" shortname="search_distance" param="SEARCH_DISTANCE"/>
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<dl_setting var="opticflow.subpixel_factor" module="computer_vision/opticflow_module" min="0" step="10" max="1000" shortname="subpixel_factor" param="OPTICFLOW_SUBPIXEL_FACTOR"/>
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<dl_setting var="opticflow.resolution_factor" module="computer_vision/opticflow_module" min="10" step="10" max="10000" shortname="resolution_factor" param="OPTICFLOW_RESOLUTION_FACTOR"/>
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<dl_setting var="opticflow.derotation" min="0" step="1" max="1" module="computer_vision/opticflow_module" values="OFF|ON" shortname="derotation" param="OPTICFLOW_DEROTATION"/>
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<dl_setting var="opticflow.median_filter" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="OFF|ON" shortname="median_filter" param="OPTICFLOW_MEDIAN_FILTER"/>
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<dl_setting var="opticflow.kalman_filter" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="OFF|ON" shortname="kalman_filter" param="OPTICFLOW_KALMAN_FILTER"/>
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<dl_setting var="opticflow.kalman_filter_process_noise" module="computer_vision/opticflow_module" min="0.0001" step="0.0001" max="0.1" shortname="KF_process_noise" param="OPTICFLOW_KALMAN_FILTER_PROCESS_NOISE"/>
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<dl_setting var="opticflow.feature_management" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="OFF|ON" shortname="feature_management" param="OPTICFLOW_FEATURE_MANAGEMENT"/>
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<!-- Specifically for Lucas Kanade and FAST9 -->
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<dl_setting var="opticflow.max_track_corners" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="max_trck_corners" param="OPTICFLOW_MAX_TRACK_CORNERS"/>
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<dl_setting var="opticflow.max_iterations" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="max_iterations" param="OPTICFLOW_MAX_ITERATIONS"/>
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<dl_setting var="opticflow.threshold_vec" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="threshold_vec" param="OPTICFLOW_THRESHOLD_VEC"/>
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<dl_setting var="opticflow.fast9_adaptive" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="FALSE|TRUE" shortname="fast9_adaptive" param="OPTICFLOW_FAST9_ADAPTIVE"/>
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<dl_setting var="opticflow.fast9_threshold" module="computer_vision/opticflow_module" min="0" step="1" max="255" shortname="fast9_threshold" param="OPTICFLOW_FAST9_THRESHOLD"/>
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<dl_setting var="opticflow.fast9_min_distance" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="fast9_min_distance" param="OPTICFLOW_FAST9_MIN_DISTANCE"/>
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<dl_setting var="opticflow.fast9_padding" module="computer_vision/opticflow_module" min="0" step="1" max="50" shortname="fast9_padding" param="OPTICFLOW_FAST9_PADDING"/>
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<dl_setting var="opticflow.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"/>
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<dl_setting var="opticflow.fast9_num_regions" module="computer_vision/opticflow_module" min="1" step="1" max="25" shortname="fast9_num_regions" param="OPTICFLOW_FAST9_NUM_REGIONS"/>
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<!-- Changes pyramid level of lucas kanade optical flow. -->
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<dl_setting var="opticflow.pyramid_level" module="computer_vision/opticflow_module" min="0" step="1" max="10" shortname="pyramid_level" param="OPTICFLOW_PYRAMID_LEVEL"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<depends>video_thread,pose_history</depends>
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<header>
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<file name="opticflow_module.h"/>
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</header>
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<init fun="opticflow_module_init()"/>
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<periodic fun="opticflow_module_run()" autorun="TRUE"/>
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<makefile target="ap">
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<!-- Include the needed Computer Vision files -->
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<include name="modules/computer_vision"/>
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<file name="image.c" dir="modules/computer_vision/lib/vision"/>
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<file name="jpeg.c" dir="modules/computer_vision/lib/encoding"/>
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<file name="rtp.c" dir="modules/computer_vision/lib/encoding"/>
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<file name="v4l2.c" dir="modules/computer_vision/lib/v4l"/>
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<!-- The optical flow module (calculator) -->
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<file name="opticflow_module.c"/>
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<file name="opticflow_calculator.c" dir="modules/computer_vision/opticflow"/>
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<file name="size_divergence.c" dir="modules/computer_vision/opticflow"/>
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<file name="linear_flow_fit.c" dir="modules/computer_vision/opticflow"/>
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<file name="pprz_algebra_float.c" dir="math"/>
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<file name="pprz_matrix_decomp_float.c" dir="math"/>
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<!-- Main vision calculations -->
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<file name="fast_rosten.c" dir="modules/computer_vision/lib/vision"/>
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<file name="lucas_kanade.c" dir="modules/computer_vision/lib/vision"/>
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<file name="edge_flow.c" dir="modules/computer_vision/lib/vision"/>
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<file name="kalman_filter_vision.c" dir="modules/computer_vision/lib/filters"/>
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</makefile>
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</module>
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