mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Tom van Dijk
829f8d7796
* Create unwrap_pano module Create basic settings structure. * Get basic image unwrapping working * Add module settings * Fix incorrect declaration of pano_unwrap_init() * Add video_thread dependency * Fix incorrect minus sign on real drone * Set default forward direction for ARDrone2 * Set default vertical resolution to 0.18 Seems to be a better match with the gazebo model. * Use LUT for unwrapping LUT seems to work fine in simulation, except it crashes when overwrite_video_thread is set to false...? * FIX Add workaround for overwrite disable crash * Add calibration pattern * Expand module documentation BUG: Segfault on startup on real drone, outside of camera_cb. * Add example images to documentation * Remove unused code and printf's * Add max FPS define * WIP add to ardrone2 example * Fix #2187 * Clean up merge and temporary changes
83 lines
5.4 KiB
XML
83 lines
5.4 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="pano_unwrap">
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<doc>
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<description>
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Unwrap images taken through a panoramic lens
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@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."
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This module unwraps images taken through a panoramic lens. The unwrapped
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image is returned to the video thread or available as
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`pano_unwrapped_image`.
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The user should specify the region of interest (the part of the raw image
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that should be unwrapped) by setting the following values:
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- The center of the lens (`center_x` and `center_y`)
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- The radii of the top and bottom of the ROI (`radius_bottom` and
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`radius_top`)
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- The body +x direction in the raw image (`forward_direction`)
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- The body +y direction in the raw image (`flip_horizontal`)
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The region of interest can be shown by setting `show_calibration` to TRUE
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and `overwrite_video` to FALSE.
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The size of the output image can be set with `width` and `height`. The
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height of the image can also be set to zero, in which case it is determined
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automatically from the `vertical_resolution`.
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Optionally, the image can be derotated to cancel the pitch and roll
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movements of the drone. This requires a correct setting of the
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`vertical_resolution`. Reasonable values can be found by looking at the
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unwrapped and derotated image and adjusting the vertical resolution until
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the environment no longer appears to move during pitch and roll motions.
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The following assumptions are made:
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- The vertical resolution is constant throughout the region of interest.
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- Pitch and roll angles are small (for derotation).
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@image html images/airborne/modules/pano_unwrap/unwrapped_derotated.png "Derotation (shown for large roll angle)."
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</description>
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<define name="PANO_UNWRAP_CAMERA" value="front_camera|bottom_camera (default)" description="Camera to use"/>
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<define name="PANO_UNWRAP_CENTER_X" value="0.50" description="Center of lens in raw image [fraction of raw image width]"/>
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<define name="PANO_UNWRAP_CENTER_Y" value="0.50" description="Center of lens in raw image [fraction of raw image height]"/>
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<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]"/>
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<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]"/>
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<define name="PANO_UNWRAP_FORWARD_DIRECTION" value="270.0" description="Forward direction in raw image measured counterclockwise from right [deg]"/>
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<define name="PANO_UNWRAP_FLIP_HORIZONTAL" value="TRUE|FALSE (default)" description="Flip output image horizontally"/>
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<define name="PANO_UNWRAP_VERTICAL_RESOLUTION" value="0.18" description="Vertical resolution of region of interest [fraction of raw image height/rad]"/>
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<define name="PANO_UNWRAP_DEROTATE_ATTITUDE" value="TRUE|FALSE (default)" description="Derotate the image, i.e. keep the panorama aligned with the horizon"/>
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<define name="PANO_UNWRAP_WIDTH" value="640" description="Width of the unwrapped image [px]"/>
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<define name="PANO_UNWRAP_HEIGHT" value="0" description="Height of the unwrapped image [px]. Set to 0 to determine automatically."/>
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<define name="PANO_UNWRAP_OVERWRITE_VIDEO_THREAD" value="TRUE (default)|FALSE" description="Write unwrapped image to the video thread"/>
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<define name="PANO_UNWRAP_FPS" value="0" description="Maximum FPS (0: unlimited)"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="pano_unwrap">
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<dl_setting shortname="center_x" var="pano_unwrap.center.x" min="0.0" step="0.01" max="1.0"/>
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<dl_setting shortname="center_y" var="pano_unwrap.center.y" min="0.0" step="0.01" max="1.0"/>
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<dl_setting shortname="radius_bottom" var="pano_unwrap.radius_bottom" min="0.0" step="0.01" max="1.0"/>
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<dl_setting shortname="radius_top" var="pano_unwrap.radius_top" min="0.0" step="0.01" max="1.0"/>
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<dl_setting shortname="forward_direction" var="pano_unwrap.forward_direction" min="0" step="1" max="360"/>
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<dl_setting shortname="flip_hor" var="pano_unwrap.flip_horizontal" type="uint8" values="FALSE|TRUE" min="0" step="1" max="1"/>
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<dl_setting shortname="v_resolution" var="pano_unwrap.vertical_resolution" min="-0.2" step="0.01" max="0.2"/>
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<dl_setting shortname="derotate" var="pano_unwrap.derotate_attitude" type="uint8" values="FALSE|TRUE" min="0" step="1" max="1"/>
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<dl_setting shortname="width" var="pano_unwrap.width" min="1" step="1" max="1920"/>
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<dl_setting shortname="height" var="pano_unwrap.height" min="0" step="1" max="1080"/>
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<dl_setting shortname="overwrite_video" var="pano_unwrap.overwrite_video_thread" type="uint8" values="FALSE|TRUE" min="0" step="1" max="1"/>
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<dl_setting shortname="show_calibration" var="pano_unwrap.show_calibration" type="uint8" values="FALSE|TRUE" min="0" step="1" max="1"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<depends>video_thread</depends>
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<header>
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<file name="pano_unwrap.h"/>
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</header>
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<init fun="pano_unwrap_init()"/>
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<makefile>
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<file name="pano_unwrap.c"/>
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<define name="CV_ALLOW_VIDEO_TO_CHANGE_SIZE" value="1"/>
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</makefile>
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</module>
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