Flow_PX4.cpp File Reference

#include <AP_HAL/AP_HAL.h>
#include "Flow_PX4.h"
#include <cmath>
#include <stdio.h>
#include <stdlib.h>

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Functions
static uint32_t	compute_diff (uint8_t *image, uint16_t offx, uint16_t offy, uint16_t row_size, uint8_t window_size)
	Compute the average pixel gradient of all horizontal and vertical steps. More...
static uint32_t	compute_sad (uint8_t *image1, uint8_t *image2, uint16_t off1x, uint16_t off1y, uint16_t off2x, uint16_t off2y, uint16_t row_size, uint16_t window_size)
	Compute SAD of two pixel windows. More...
static uint32_t	compute_subpixel (uint8_t *image1, uint8_t *image2, uint16_t off1x, uint16_t off1y, uint16_t off2x, uint16_t off2y, uint32_t *acc, uint16_t row_size, uint16_t window_size)
	Compute SAD distances of subpixel shift of two pixel patterns. More...

Variables
const AP_HAL::HAL &	hal
	-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- More...

Function Documentation

compute_diff()

static uint32_t compute_diff ( uint8_t *  image, uint16_t  offx, uint16_t  offy, uint16_t  row_size, uint8_t  window_size  )

inlinestatic

Compute the average pixel gradient of all horizontal and vertical steps.

Parameters

image	...
offX	x coordinate of upper left corner of 8x8 pattern in image
offY	y coordinate of upper left corner of 8x8 pattern in image

Definition at line 87 of file Flow_PX4.cpp.

Referenced by Linux::Flow_PX4::compute_flow().

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compute_sad()

static uint32_t compute_sad ( uint8_t *  image1, uint8_t *  image2, uint16_t  off1x, uint16_t  off1y, uint16_t  off2x, uint16_t  off2y, uint16_t  row_size, uint16_t  window_size  )

inlinestatic

Compute SAD of two pixel windows.

Parameters

image1	...
image2	...
off1X	x coordinate of upper left corner of pattern in image1
off1Y	y coordinate of upper left corner of pattern in image1
off2X	x coordinate of upper left corner of pattern in image2
off2Y	y coordinate of upper left corner of pattern in image2

Definition at line 128 of file Flow_PX4.cpp.

Referenced by Linux::Flow_PX4::compute_flow().

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compute_subpixel()

static uint32_t compute_subpixel ( uint8_t *  image1, uint8_t *  image2, uint16_t  off1x, uint16_t  off1y, uint16_t  off2x, uint16_t  off2y, uint32_t *  acc, uint16_t  row_size, uint16_t  window_size  )

inlinestatic

Compute SAD distances of subpixel shift of two pixel patterns.

Parameters

image1	...
image2	...
off1X	x coordinate of upper left corner of pattern in image1
off1Y	y coordinate of upper left corner of pattern in image1
off2X	x coordinate of upper left corner of pattern in image2
off2Y	y coordinate of upper left corner of pattern in image2
acc	array to store SAD distances for shift in every direction

Definition at line 161 of file Flow_PX4.cpp.

Referenced by Linux::Flow_PX4::compute_flow().

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Variable Documentation

hal

const AP_HAL::HAL& hal

-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

Definition at line 14 of file AC_PID_test.cpp.