Flow_PX4.h

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/*
   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;
};

}