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41 lines
1.3 KiB
41 lines
1.3 KiB
/* |
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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 "AP_HAL_Linux.h" |
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namespace Linux { |
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class Flow_PX4 { |
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public: |
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Flow_PX4(uint32_t width, uint32_t bytesperline, |
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uint32_t max_flow_pixel, |
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float bottom_flow_feature_threshold, |
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float bottom_flow_value_threshold); |
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uint8_t compute_flow(uint8_t *image1, uint8_t *image2, uint32_t delta_time, |
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float *pixel_flow_x, float *pixel_flow_y); |
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private: |
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uint32_t _width; |
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uint32_t _search_size; |
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uint32_t _bytesperline; |
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float _bottom_flow_feature_threshold; |
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float _bottom_flow_value_threshold; |
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uint16_t _pixlo; |
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uint16_t _pixhi; |
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uint16_t _pixstep; |
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uint8_t _num_blocks; |
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}; |
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}
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