mirror of https://github.com/ArduPilot/ardupilot
38 lines
1.3 KiB
C++
38 lines
1.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_HAL_Linux.h"
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class Linux::Flow_PX4 {
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public:
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Flow_PX4(uint32_t width, uint32_t bytesperline,
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uint32_t max_flow_pixel,
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float bottom_flow_feature_threshold,
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float bottom_flow_value_threshold);
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uint8_t compute_flow(uint8_t *image1, uint8_t *image2, uint32_t delta_time,
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float *pixel_flow_x, float *pixel_flow_y);
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private:
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uint32_t _width;
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uint32_t _search_size;
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uint32_t _bytesperline;
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float _bottom_flow_feature_threshold;
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float _bottom_flow_value_threshold;
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uint16_t _pixlo;
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uint16_t _pixhi;
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uint16_t _pixstep;
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uint8_t _num_blocks;
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};
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