ardupilot/libraries/AP_HAL_Linux/OpticalFlow_Onboard.h

62 lines
1.8 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 <linux/videodev2.h>
#include <AP_HAL/OpticalFlow.h>
#include <AP_Math/AP_Math.h>
#include "AP_HAL_Linux.h"
#include "CameraSensor.h"
#include "Flow_PX4.h"
#include "VideoIn.h"
class Linux::OpticalFlow_Onboard : public AP_HAL::OpticalFlow {
public:
void init(AP_HAL::OpticalFlow::Gyro_Cb);
bool read(AP_HAL::OpticalFlow::Data_Frame& frame);
private:
void _run_optflow();
static void *_read_thread(void *arg);
VideoIn* _videoin;
VideoIn::Frame _last_video_frame;
PWM_Sysfs_Base* _pwm;
CameraSensor* _camerasensor;
Flow_PX4* _flow;
pthread_t _thread;
pthread_mutex_t _mutex;
bool _initialized;
bool _data_available;
bool _crop_by_software;
bool _shrink_by_software;
uint32_t _camera_output_width;
uint32_t _camera_output_height;
uint32_t _width;
uint32_t _height;
uint32_t _format;
uint32_t _bytesperline;
uint32_t _sizeimage;
float _pixel_flow_x_integral;
float _pixel_flow_y_integral;
float _gyro_x_integral;
float _gyro_y_integral;
uint32_t _integration_timespan;
uint8_t _surface_quality;
AP_HAL::OpticalFlow::Gyro_Cb _get_gyro;
Vector3f _last_gyro_rate;
};