[vision] Opticflow rewrite #1143
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| @@ -13,7 +13,6 @@ | |||
| </description> | |||
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| <section name="VISION" prefix="VISION_"> | |||
| <define name="HOVER" value="FALSE" description="TRUE/FALSE active or not"/> | |||
| <define name="PHI_PGAIN" value="500" description="optic flow pgain"/> | |||
| <define name="PHI_IGAIN" value="10" description="optic flow igain"/> | |||
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Error in define.. maybe add more ;)
| // ************************************************************************************* | ||
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| // FAST corner detection (TODO: non fixed threashold) | ||
| static uint8_t threshold = 20; |
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I think this is ok to merge now? |
dewagter
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Apr 9, 2015
[vision] Opticflow rewrite: -less grabbing threads -faster grabbing -static linking issues fixed properly -documentation -rewritten code
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Much better than the version in master: no reason to delay this merge. Make new issue if problems remain. |
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Can you please fix the dox that is now not correct any more for quite a lot of functions? |
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Which docs do you mean? I already fixed some mistakes in master.. |
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Wrong params in function docs, e.g. Lukas kanade...
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Rewrite of the optical flow and vision parts for Linux.
This adds a more modular and clean way of adding vision modules and calculations. There is a sample image library which is very well documented and could be expanded in the future.
A lot of improvement to the optical flow calculations could be done, but this is just a simple implementation. In the future we could for example keep track of previous found coners, optimize subpixel calculations etc.
What still needs to be done: