visual_estimator.h

/*
 * Copyright (C) 2014 Hann Woei Ho
 *
 * This file is part of Paparazzi.
 *
 * Paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * Paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

/**
 * @file modules/computer_vision/optic_flow/visual_estimator.h
 * @brief optical-flow based hovering for Parrot AR.Drone 2.0
 *
 * Sensors from vertical camera and IMU of Parrot AR.Drone 2.0
 */

#ifndef _OPT_FL_LAND_H
#define _OPT_FL_LAND_H

// Settable by pluging
extern unsigned int imgWidth, imgHeight;
extern unsigned int verbose;

// Variables used by the controller
extern float Velx, Vely;
extern int count;
extern int flow_count;
extern struct FloatVect3 V_body;

// Called by plugin
void my_plugin_init(void);
void my_plugin_run(unsigned char *frame);

// Timer
void start_timer_rates(void);
long end_timer_rates(void);
#endif