[opticflow] dox

KevinC1 · Feb 5, 2015 · 5fd3808 · 5fd3808
1 parent 11d94d7
commit 5fd3808
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Showing 5 changed files with 45 additions and 21 deletions.
diff --git a/sw/airborne/modules/computer_vision/opticflow/inter_thread_data.h b/sw/airborne/modules/computer_vision/opticflow/inter_thread_data.h
@@ -1,12 +1,35 @@
+/*
+ * Copyright (C) 2015 The Paparazzi Community
+ *
+ * This file is part of Paparazzi.
+ *
+ * Paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * Paparazzi 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 Paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file modules/computer_vision/opticflow/inter_thread_data.h
+ * @brief Inter-thread data structures.
+ *
+ * Data structures used to for inter-thread communication via Unix Domain sockets.
+ */
 
 
 #ifndef _INTER_THREAD_DATA_H
 #define _INTER_THREAD_DATA_H
 
-
-// Inter-thread communication: Unix Socket
-
-// Data from thread to module
+/// Data from thread to module
 struct CVresults {
   int cnt;          // Number of processed frames
 
@@ -22,14 +45,12 @@ struct CVresults {
   float FPS;
 };
 
-// Data from module to thread
+/// Data from module to thread
 struct PPRZinfo {
   int cnt;        // IMU msg counter
   float phi;      // roll [rad]
   float theta;    // pitch [rad]
   float agl;      // height above ground [m]
 };
 
-
-
 #endif
diff --git a/sw/airborne/modules/computer_vision/opticflow/opticflow_thread.c b/sw/airborne/modules/computer_vision/opticflow/opticflow_thread.c
@@ -23,8 +23,6 @@
  *
  */
 
-
-
 // Sockets
 #include <stdio.h>
 #include <unistd.h>
@@ -74,7 +72,10 @@ void *computervision_thread_main(void *args)
 
   // Video Input
   struct vid_struct vid;
-  vid.device = (char *)"/dev/video2"; // video1 = front camera; video2 = bottom camera
+  /* On ARDrone2:
+   * video1 = front camera; video2 = bottom camera
+   */
+  vid.device = (char *)"/dev/video2";
   vid.w = 320;
   vid.h = 240;
   vid.n_buffers = 4;

diff --git a/sw/airborne/modules/computer_vision/opticflow/opticflow_thread.h b/sw/airborne/modules/computer_vision/opticflow/opticflow_thread.h
@@ -22,8 +22,12 @@
  * @file modules/computer_vision/opticflow/opticflow_thread.h
  * @brief computer vision thread
  *
-  */
+ */
 
+#ifndef OPTICFLOW_THREAD_H
+#define OPTICFLOW_THREAD_H
 
 void *computervision_thread_main(void *args);  /* computer vision thread: should be given a pointer to a socketpair as argument */
 void computervision_thread_request_exit(void);
+
+#endif
diff --git a/sw/airborne/modules/computer_vision/opticflow/visual_estimator.c b/sw/airborne/modules/computer_vision/opticflow/visual_estimator.c
@@ -20,13 +20,13 @@
 
 /**
  * @file modules/computer_vision/opticflow/visual_estimator.c
- * @brief optical-flow based hovering for Parrot AR.Drone 2.0
+ * @brief Estimate velocity from optic flow.
  *
- * Sensors from vertical camera and IMU of Parrot AR.Drone 2.0
+ * Using sensors from vertical camera and IMU of Parrot AR.Drone 2.0.
+ *
+ * Warning: all this code is called form the Vision-Thread: do not access any autopilot data in here.
  */
 
-// Warning: all this code is called form the Vision-Thread: do not access any autopilot data in here.
-
 #include "std.h"
 
 #include <stdio.h>
@@ -185,8 +185,8 @@ void opticflow_plugin_run(unsigned char *frame, struct PPRZinfo* info, struct CV
   // *************************************************************************************
   CvtYUYV2Gray(visual_estimator.gray_frame, frame, w, h);
 
- opticFlowLK(visual_estimator.gray_frame, visual_estimator.prev_gray_frame, x, y, count_fil, w,
-                                h, new_x, new_y, status, 5, 100);
+  opticFlowLK(visual_estimator.gray_frame, visual_estimator.prev_gray_frame, x, y,
+              count_fil, w, h, new_x, new_y, status, 5, 100);
 
   results->flow_count = count_fil;
   for (int i = count_fil - 1; i >= 0; i--) {
@@ -281,4 +281,3 @@ void opticflow_plugin_run(unsigned char *frame, struct PPRZinfo* info, struct CV
   memcpy(visual_estimator.prev_gray_frame, visual_estimator.gray_frame, w * h);
 
 }
-
diff --git a/sw/airborne/modules/computer_vision/opticflow/visual_estimator.h b/sw/airborne/modules/computer_vision/opticflow/visual_estimator.h
@@ -20,15 +20,14 @@
 
 /**
  * @file modules/computer_vision/opticflow/visual_estimator.h
- * @brief optical-flow based hovering for Parrot AR.Drone 2.0
+ * @brief Estimate velocity from optic flow.
  *
- * Sensors from vertical camera and IMU of Parrot AR.Drone 2.0
+ * Using sensors from vertical camera and IMU of Parrot AR.Drone 2.0
  */
 
 #ifndef VISUAL_ESTIMATOR_H
 #define VISUAL_ESTIMATOR_H
 
-
 #include "inter_thread_data.h"
 
 /**