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cv_opticflow.xml
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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).
</description>
<!-- Optical flow calculation parameters -->
<section name="OPTICFLOW" prefix="OPTICFLOW_">
<define name="AGL_ID" value="ABI_SENDER_ID" description="ABI sender id for AGL message (sonar measurement) (default: ABI_BROADCAST)"/>
<!-- Video device parameters -->
<define name="DEVICE" value="/dev/video2" description="The V4L2 camera device that is used for the calculations"/>
<define name="DEVICE_SIZE" value="320,240" description="The V4L2 camera device width and height"/>
<define name="DEVICE_BUFFERS" value="15" description="Amount of V4L2 video buffers"/>
<define name="SUBDEV" description="The V4L2 subdevice to initialize before the main device"/>
<!-- Camera parameters -->
<define name="FOV_W" value="0.89360857702" description="The field of view width of the bottom camera (Defaults are from an ARDrone 2)"/>
<define name="FOV_H" value="0.67020643276" description="The field of view height of the bottom camera (Defaults are from an ARDrone 2)"/>
<define name="FX" value="343.1211" description="Field in the x direction of the camera (Defaults are from an ARDrone 2)"/>
<define name="FY" value="348.5053" description="Field in the y direction of the camera (Defaults are from an ARDrone 2)"/>
<!-- 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="WINDOW_SIZE" value="10" description="Window size used in Lucas Kanade algorithm"/>
<define name="SUBPIXEL_FACTOR" value="10" description="Amount of subpixels per pixel, used for more precise (subpixel) calculations of the flow"/>
<define name="MAX_ITERATIONS" value="10" description="Maximum number of iterations the Lucas Kanade algorithm should take"/>
<define name="THRESHOLD_VEC" value="2" description="TThreshold in subpixels when the iterations of Lucas Kanade should stop"/>
<!-- 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"/>
</section>
</doc>
<settings>
<dl_settings NAME="Vision stabilization">
<!-- Optical flow calculations parameters for Lucas Kanade and FAST9 -->
<dl_settings name="vision_calc">
<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"/>
<dl_setting var="opticflow.window_size" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="window_size" param="OPTICFLOW_WINDOW_SIZE"/>
<dl_setting var="opticflow.subpixel_factor" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="subpixel_factor" param="OPTICFLOW_SUBPIXEL_FACTOR"/>
<dl_setting var="opticflow.max_iterations" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="max_iterations" param="OPTICFLOW_MAX_ITERATIONS"/>
<dl_setting var="opticflow.threshold_vec" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="threshold_vec" param="OPTICFLOW_THRESHOLD_VEC"/>
<dl_setting var="opticflow.fast9_adaptive" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="TRUE|FALSE" shortname="fast9_adaptive" param="OPTICFLOW_FAST9_ADAPTIVE"/>
<dl_setting var="opticflow.fast9_threshold" module="computer_vision/opticflow_module" min="0" step="1" max="255" shortname="fast9_threshold" param="OPTICFLOW_FAST9_THRESHOLD"/>
<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"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="opticflow_module.h"/>
</header>
<init fun="opticflow_module_init()"/>
<periodic fun="opticflow_module_run()" start="opticflow_module_start()" stop="opticflow_module_stop()" autorun="TRUE"/>
<makefile target="ap">
<!-- Include the needed Computer Vision files -->
<define name="modules/computer_vision" type="include"/>
<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"/>
<file name="v4l2.c" dir="modules/computer_vision/lib/v4l"/>
<!-- 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="fast_rosten.c" dir="modules/computer_vision/lib/vision"/>
<file name="lucas_kanade.c" dir="modules/computer_vision/lib/vision"/>
<raw>
VIEWVIDEO_HOST ?= $(MODEM_HOST)
VIEWVIDEO_PORT_OUT ?= 5000
VIEWVIDEO_BROADCAST ?= $(MODEM_BROADCAST)
VIEWVID_CFLAGS = -DVIEWVIDEO_HOST=$(VIEWVIDEO_HOST) -DVIEWVIDEO_PORT_OUT=$(VIEWVIDEO_PORT_OUT)
ifeq ($(VIEWVIDEO_USE_NC),)
ap.CFLAGS += $(VIEWVID_CFLAGS) -DVIEWVIDEO_BROADCAST=$(VIEWVIDEO_BROADCAST)
else
ap.CFLAGS += $(VIEWVID_CFLAGS) -DVIEWVIDEO_USE_NC
endif
</raw>
</makefile>
<makefile target="nps">
<file name="viewvideo_nps.c"/>
</makefile>
</module>