ardupilot/libraries/AP_HAL_Linux/Flow_PX4.h

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;
};
}