px4flow.hpp
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/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* px4flow.hpp
*
* Created on: Dec 21, 2016
* Author: Christoph
*/
#pragma once
#include <stdint.h>
class PX4Flow
{
private:
//params which can be set
uint32_t image_width;
uint32_t search_size;
uint32_t flow_feature_threshold;
uint32_t flow_value_threshold;
uint32_t __USAD8(uint32_t val1, uint32_t val2);
uint32_t __USADA8(uint32_t val1, uint32_t val2, uint32_t val3);
uint32_t __UHADD8(uint32_t val1, uint32_t val2);
uint32_t compute_diff(uint8_t *image, uint16_t offX, uint16_t offY, uint16_t row_size);
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);
uint32_t compute_sad_8x8(uint8_t *image1, uint8_t *image2, uint16_t off1X, uint16_t off1Y,
uint16_t off2X, uint16_t off2Y, uint16_t row_size);
public:
PX4Flow(uint32_t image_width_, uint32_t search_size_,
uint32_t flow_feature_threshold_, uint32_t flow_value_threshold_);
uint8_t compute_flow(uint8_t *image1, uint8_t *image2, float x_rate, float y_rate,
float z_rate, float *pixel_flow_x, float *pixel_flow_y);
};