7adbccac9a
This commit adds support for OpticalFlow to MinnowBoardMax trying to leave the OpticalFlow implementation as generic as it already is. We had to add some format conversion and software crop to the cameras that do not have this features.
60 lines
1.8 KiB
C++
60 lines
1.8 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 <linux/videodev2.h>
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#include <AP_HAL/OpticalFlow.h>
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#include <AP_Math/AP_Math.h>
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#include "AP_HAL_Linux.h"
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#include "CameraSensor.h"
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#include "Flow_PX4.h"
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#include "VideoIn.h"
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class Linux::OpticalFlow_Onboard : public AP_HAL::OpticalFlow {
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public:
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void init(AP_HAL::OpticalFlow::Gyro_Cb);
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bool read(AP_HAL::OpticalFlow::Data_Frame& frame);
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private:
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void _run_optflow();
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static void *_read_thread(void *arg);
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VideoIn* _videoin;
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VideoIn::Frame _last_video_frame;
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PWM_Sysfs_Base* _pwm;
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CameraSensor* _camerasensor;
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Flow_PX4* _flow;
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pthread_t _thread;
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pthread_mutex_t _mutex;
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bool _initialized;
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bool _data_available;
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bool _crop_by_software;
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uint32_t _crop_by_software_width;
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uint32_t _crop_by_software_height;
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uint32_t _width;
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uint32_t _height;
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uint32_t _format;
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uint32_t _bytesperline;
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uint32_t _sizeimage;
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float _pixel_flow_x_integral;
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float _pixel_flow_y_integral;
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float _gyro_x_integral;
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float _gyro_y_integral;
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uint32_t _integration_timespan;
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uint8_t _surface_quality;
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AP_HAL::OpticalFlow::Gyro_Cb _get_gyro;
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};
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