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knmcguire
ed9a15ca6f
This pull request adds a rotation matrix to the stereocam module group. The stereocam in combination with the lisa-s, the new lisa MXs, and the ardrone are usually mounted on there in different direction (facing backwards, forwards and downwards). Before, we had to constantly double check the direction of the velocities to transform that manually to body fixed coordinates, which was very prone to mistakes. Same goes with the derotation of optical flow on the stereocam. This addition should make it easier and more generic for platforms with the mounted stereocamera.
27 lines
1.1 KiB
XML
27 lines
1.1 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="stereocam_state2camera" dir="stereocam">
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<doc>
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<description>Writes rotation to the uart bus. Meant for sending the rotation
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to the ODROID board or to the stereo camera boards.
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Can be used to improve vision algorithms.
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The protocol that is used is the stereocommunication protocol.
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</description>
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<configure name="STEREO_UART" value="UARTX" description="Sets the UART port number of the connected camera (required)"/>
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<configure name="STEREO_BAUD" value="BXXXXX" description="Sets the BAUD rate of the connected camera (required: must be same as camera)"/>
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</doc>
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<header>
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<file name="state2camera/state2camera.h"/>
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</header>
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<periodic fun="write_serial_rot()" freq="30."/>
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<makefile>
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<file name="state2camera/state2camera.c"/>
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<file name="stereoprotocol.c" dir="modules/stereocam"/>
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<configure name="STEREO_UART" case="upper|lower"/>
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<define name="USE_$(STEREO_UART_UPPER)"/>
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<define name="UART_LINK" value="$(STEREO_UART_LOWER)"/>
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<define name="$(STEREO_UART_UPPER)_BAUD" value="$(STEREO_BAUD)"/>
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</makefile>
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</module>
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