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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 Optic Flow from Ardrone2 Bottom Camera
Computes Pitch- and rollrate corrected optic flow from downward looking
ARDrone2 camera looking at a textured floor.
- Sonar is required.
- Controller can hold position
</description>
<section name="VISION" prefix="VISION_">
<define name="HOVER" value="FALSE" description="TRUE/FALSE active or not"/>
<define name="PHI_PGAIN" value="500" description="optic flow pgain"/>
<define name="PHI_IGAIN" value="10" description="optic flow igain"/>
<define name="THETA_PGAIN" value="500" description="optic flow pgain"/>
<define name="THETA_IGAIN" value="10" description="optic flow igain"/>
<define name="DESIRED_VX" value="0" description="feedforward optic flow vx"/>
<define name="DESIRED_VY" value="0" description="feedforward optic flow vy"/>
</section>
<define name="DOWNLINK_VIDEO" value="FALSE" description="Also stream video: warning: this makes the optic flow slow: DEBUGGING only" />
<define name="OPTICFLOW_AGL_ID" value="ABI_SENDER_ID" description="ABI sender id for AGL message (sonar measurement) (default: ABI_BROADCAST)"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="Vision Loop">
<dl_setting var="activate_opticflow_hover" min="0" step="1" max="1" module="computer_vision/opticflow/hover_stabilization" shortname="hover" param="VISION_HOVER" values="FALSE|TRUE"/>
<dl_setting var="vision_phi_pgain" min="0" step="1" max="10000" shortname="kp_v_phi" param="VISION_PHI_PGAIN"/>
<dl_setting var="vision_phi_igain" min="0" step="1" max="1000" shortname="ki_v_phi" param="VISION_PHI_IGAIN"/>
<dl_setting var="vision_theta_pgain" min="0" step="1" max="10000" shortname="kp_v_theta" param="VISION_THETA_PGAIN"/>
<dl_setting var="vision_theta_igain" min="0" step="1" max="1000" shortname="ki_v_theta" param="VISION_THETA_IGAIN"/>
<dl_setting var="vision_desired_vx" min="-5" step="0.01" max="5" shortname="desired_vx" param="VISION_DESIRED_VX"/>
<dl_setting var="vision_desired_vy" min="-5" step="0.01" max="5" shortname="desired_vy" param="VISION_DESIRED_VY"/>
</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">
<define name="ARDRONE_VIDEO_PORT" value="2002" />
<file name="opticflow_module.c"/>
<file name="opticflow_thread.c" dir="modules/computer_vision/opticflow"/>
<file name="visual_estimator.c" dir="modules/computer_vision/opticflow"/>
<file name="hover_stabilization.c" dir="modules/computer_vision/opticflow"/>
<file name="optic_flow_int.c" dir="modules/computer_vision/cv/opticflow"/>
<file name="fastRosten.c" dir="modules/computer_vision/cv/opticflow/fast9"/>
<file name="trig.c" dir="modules/computer_vision/cv"/>
<file name="framerate.c" dir="modules/computer_vision/cv"/>
<file name="jpeg.c" dir="modules/computer_vision/cv/encoding"/>
<file name="rtp.c" dir="modules/computer_vision/cv/encoding"/>
<file name="socket.c" dir="modules/computer_vision/lib/udp"/>
<file name="video.c" dir="modules/computer_vision/lib/v4l"/>
<define name="modules/computer_vision/cv" type="include"/>
<define name="modules/computer_vision/lib" type="include"/>
<define name="pthread" type="raw"/>
<define name="__USE_GNU"/>
<flag name="LDFLAGS" value="pthread"/>
<flag name="LDFLAGS" value="lrt"/>
<flag name="LDFLAGS" value="static"/>
</makefile>
<makefile target="nps">
<file name="viewvideo_nps.c"/>
</makefile>
</module>