mirror of https://github.com/ArduPilot/ardupilot
42 lines
1.3 KiB
C++
42 lines
1.3 KiB
C++
/*
|
|
This program 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 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include "AP_HAL_Linux.h"
|
|
|
|
namespace Linux {
|
|
|
|
class Flow_PX4 {
|
|
public:
|
|
Flow_PX4(uint32_t width, uint32_t bytesperline,
|
|
uint32_t max_flow_pixel,
|
|
float bottom_flow_feature_threshold,
|
|
float bottom_flow_value_threshold);
|
|
uint8_t compute_flow(uint8_t *image1, uint8_t *image2, uint32_t delta_time,
|
|
float *pixel_flow_x, float *pixel_flow_y);
|
|
private:
|
|
uint32_t _width;
|
|
uint32_t _search_size;
|
|
uint32_t _bytesperline;
|
|
float _bottom_flow_feature_threshold;
|
|
float _bottom_flow_value_threshold;
|
|
uint16_t _pixlo;
|
|
uint16_t _pixhi;
|
|
uint16_t _pixstep;
|
|
uint8_t _num_blocks;
|
|
};
|
|
|
|
}
|