KLT flow, CAN support and camera driver improvements - #68

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LorenzMeier wants to merge 149 commits into

Commits on Jul 25, 2014

implementation of klt based flow on one pyramid level (+/- 1 pixel flow), this implementation needs to be extended with image pyramid with ~3 levels and reimplemented with special instructions and …
tpetri
committed
b7faf41

Commits on Jul 29, 2014

added image pyramid, now the maximum flow is around 4 pixels between frames but depending on the amount of motion blur and lens defocus it can be also much higher. Important: Gyro compensation not …
tpetri
committed
75cedc7

Commits on Jun 23, 2015

clean up
tpetri
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e797078

Commits on Jun 30, 2015

Merge branch 'klt_flow2' into feature/combine-algorithms
Severin Latkovic
committed
aebaee9

Commits on Jul 1, 2015

Added gyro compensation to KLT algorithm
Severin Latkovic
committed
589075b

Commits on Jul 2, 2015

- Fixed Gyro Compensation
Severin Latkovic
committed
9b510d8

Commits on Jul 3, 2015

-cleanup
Severin Latkovic
committed
078ef6d
implemented simple high pass filter to pre-process the images
Simon Laube
committed
2501b87

Commits on Jul 8, 2015

Added median flow
Severin Latkovic
committed
bf1a87e

Commits on Jul 9, 2015

move timer functions and flow result accumulation functions into separate modules. Not tested yet.
Simon Laube
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0ae3f70
make the code work.
Severin Latkovic
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51059d9
better fix than before.
Severin Latkovic
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8cb3c49
move calculation of mean flow out of flow measurement functions. cleanup of code and small optimisations.
Simon Laube
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0dfddb6
added some remarks about future improvements
Simon Laube
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b3552db
Merge branch 'cleanup-codebase' into feature/combine-algorithms
Simon Laube
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c899a12

Commits on Jul 10, 2015

Gyro compensation & bug fixes
Severin Latkovic
committed
526c520
- Added switch for the minimum outlier threshold for the two algorithms
Severin Latkovic
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02b16c8
- Added check if klt flow is outside of 2*topPyrStep.
Severin Latkovic
committed
995548a
- Re-added flow in meter using the same calculation as before
Severin Latkovic
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ec201c5
- Removed all traces from sensor position (BOTTOM, TOP, FRONT, ...), which were used earlier, but are not needed anymore.
Severin Latkovic
committed
f923e35

Commits on Jul 11, 2015

finally fixed the boot time us function. it now consistently counts UP.
Simon Laube
committed
3abbca0
experimented with higher block count and lower iterations for KLT. added experimental minimum determinant parameter.
Simon Laube
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6c76a3d
Merge branch 'feature/combine-algorithms' of github.com:leitwert/Flow into feature/combine-algorithms
Simon Laube
committed
9265c5a

Commits on Jul 13, 2015

small code cleanup
Simon Laube
committed
34201b7
some more tweaking to KLT. Implemented corner detector to decide whether a patch is a good patch.
Simon Laube
committed
0192245
implemented forcing capturing two images in fast sequence if algorithm takes too long. parameter tweaking.
Simon Laube
committed
a9141eb
increase processor speed to 192MHz. Looking good so far. 465Hz frame rate.
Simon Laube
committed
173b529
Merge branch 'experiment/tweak-klt-block-count' into feature/combine-algorithms
Simon Laube
committed
53507e0
reorder and rename parameters to have a coherent naming scheme. fix paremeter maximum length.
Simon Laube
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ffcccdc
Remove now obsolete quality_measurement from code.
Simon Laube
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65946f8
implemented changing video downlink rate.
Simon Laube
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9eb6112
make VIDEO_ONLY mode work again.
Simon Laube
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7a02bb1
Merge branch 'feature/combine-algorithms'
Simon Laube
committed
4a435cd

Commits on Jul 14, 2015

include the new source files in CMakeLists.txt
Simon Laube
committed
bef8bb3
add (some) missing register definitions and change naming convention to the datasheet naming. fixed writing to wrong register
Simon Laube
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63a7aac
fixed result accumulator to comply with expected scaling of i2c frames
Simon Laube
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1cef37d
Merge branch 'master' into fix/mt9v034-driver
Simon Laube
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1113d0e

Commits on Jul 15, 2015

Merge branch 'fix/mt9v034-driver'
Simon Laube
committed
0a84b0c
introduced new parameter KLT_GYRO_ASSIST and turned gyro compensation off by default.
Simon Laube
committed
66a2554

Commits on Jul 29, 2015

Lidar driver in place of the sonar driver
tcauchois
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ce75cce
Up distance sample rate to 50Hz, 5-sample median filter
tcauchois
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1a1a1d3

Commits on Aug 4, 2015

initial prototype of the new camera driver.
Simon Laube
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d3509fa
fixed comments about the system clocks to match the actual system clocks that are used.
Simon Laube
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ef4eff2
updates to the documentation, added missing struct definitions.
Simon Laube
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ce49c1d
changes to the camera sensor and transport interfaces. started implementation of init function.
Simon Laube
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678ca42
WIP. start to move code around into new functions that do the initialisation.
Simon Laube
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c42f6df

Commits on Aug 5, 2015

use bool for success/fail return status.
Simon Laube
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a197670
finished cleaning up camera sensor configuration code. updated code with detailed documentation from the datasheet.
Simon Laube
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9d3ef04
finished camera sensor interface for mt9v034.
Simon Laube
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ef308b5
implemented image streaming logic. updated some of the documentation.
Simon Laube
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31b9aa6
finished camera_transport_interface for the DCMI module. code is now almost ready to test.
Simon Laube
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b037596
- updated main to use new API.
Simon Laube
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f4b010d
Merge remote-tracking branch 'upstream/master'
Simon Laube
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a4d6288
Merge branch 'master' into refactor/dcmi-driver
Simon Laube
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0721617
made code compile. testing is next.
Simon Laube
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18798ee
fixed warnings in code.
Simon Laube
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8fa137e
fixed bug in camera.c. The code now runs. However there is an issue with where the frame starts in the buffer.
Simon Laube
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757f011
fixed transfer alignment issue in camera driver.
Simon Laube
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b409ca6
fixed filter to not use space inside the image to do the computation.
Simon Laube
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f2fc46d
made initialisation and buffer alignment more reliable.
Simon Laube
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3a629fd
increase I2C bus speed to make it possible to switch sensor contexts between two DMA transfers.
Simon Laube
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7fdc1b1
cleanup i2c code.
Simon Laube
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7c04517
implemented snapshot mode and tested it. it works!
Simon Laube
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917cf94
default VIDEO_ONLY parameter to ON. flow calculation still works in the background.
Simon Laube
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e8a2b60

Commits on Aug 6, 2015

implemented auto exposure control algorithm wich bypasses the buggy algorithm of the camera module.
Simon Laube
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329ff49
implemented high resolution shutter and improved CPU usage of auto exposure algorithm.
Simon Laube
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c8f24b4
fixed interrupt priorities: DCMI driver needs highes priority.
Simon Laube
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f63ee6a
bugfix in exposure algorithm.
Simon Laube
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4342c16
fixed comparision with desired brightness: prevent invalid inputs.
Simon Laube
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c81e07d

Commits on Aug 7, 2015

improved documentation and generalized variable names. implemented tolerance band in exposure algorithm.
Simon Laube
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05e42cb
implemented de-synchronization detection and recovery.
Simon Laube
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14962f8
Merge branch 'refactor/dcmi-driver'
Simon Laube
committed
2643030

Commits on Aug 13, 2015

- Reverted SystemCoreClock to original setting. Overclocking is not needed.
Severin Latkovic
committed
e992fdb

Commits on Aug 14, 2015

- Fixed issue where high gyro values (like shaking) lead to a crash. KLT algorithm now checks whether the x_rate and y_rate values from the gyro are within bounds of the search area. If not, an emp…
Severin Latkovic
committed
0c9c94c

Commits on Aug 18, 2015

Don't fail on possibly-spurious warning
kevinmehall
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0c05b0a
Merge Leitwert pull request
kevinmehall
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5c02f07

Commits on Aug 19, 2015

Merge branch 'david-make-uavcan' into integration
kevinmehall
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d792be0
Switch device descriptor to structure definition
kevinmehall
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6493c8f
Move CDC descriptors to composite device, using structures
kevinmehall
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430c01d
Add image transfer endpoints
kevinmehall
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16af0b3
Send metadata with USB image
kevinmehall
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d33cf8d
Merge branch 'km-usb' into integration
kevinmehall
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2bc3edc

Commits on Aug 25, 2015

Merge remote-tracking branch 'origin/master' into integration
kevinmehall
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bba29e4

Commits on Aug 26, 2015

Move LED control to src/drivers/boards
kevinmehall
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317da1f

Commits on Aug 27, 2015

Move i2c struct filling into result_accumulator
kevinmehall
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09c0aab

Commits on Aug 28, 2015

Split i2c_slave (V1) and uavcan (V2) into separate modules
kevinmehall
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be74b0d

Commits on Aug 31, 2015

Merge remote-tracking branch '3drobotics/master'
Simon Laube
committed
4d5afe0
Merge '3dr/feature.lidar'
kevinmehall
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4054060
Merge branch 'km-led'
kevinmehall
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488a1be

Commits on Sep 1, 2015

Hack: Clear extra I2C RxNE interrupts
kevinmehall
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be2bb49
Send ground distance even if flow data is invalid
kevinmehall
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15be42a
Merge branch 'km-lidar'
kevinmehall
committed
c04310e

Commits on Sep 3, 2015

implemented checks in camera buffer management.
Simon Laube
committed
9cf78c3
fixed updating meta data of KLT image. now the preprocessing is only done for new frames.
Simon Laube
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2b0eef8
fixed buffer_count check in camera_init.
Simon Laube
committed
b530c54
Merge branch 'leitwert-fix/buffer-management-and-preprocessing'
kevinmehall
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f8a0cb7
Explict check for index-out-of-bounds warning
kevinmehall
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f882d3d

Commits on Sep 8, 2015

Commits on Sep 10, 2015

Fill range data, and send UAVCAN messages at proper rate
kevinmehall
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4a98fe2
Merge upstream PX4
kevinmehall
committed
1c344a9

Commits on Sep 16, 2015

Replace optical_flow.LegacyRawSample with optical_flow.RawSample
tcauchois
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143eb21
Fix parsing issue on old compilers
tcauchois
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96976a9
Add sensor id to uavcan message
tcauchois
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97e3c21

Commits on Sep 18, 2015

Commits on Sep 21, 2015

Commits on Sep 22, 2015

Commits on Sep 24, 2015

Commits on Sep 29, 2015

mt9v034: Refactor to reduce duplicate code
kevinmehall
committed
38d8b3b
lidarlite: mark sample invalid and reset i2c on timeout
kevinmehall
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070d84a

Commits on Sep 30, 2015

Refactor result_accumulator_feed
kevinmehall
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748bf1e
Change result accumulator to handle dropped frame time correctly
kevinmehall
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59c05f3
Implement maximum velocity calculation algorithm.

Simon Laube
authored and
kevinmehall
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50f460f
Make velocity calculation 1-dimensional, and pass it over UAVCAN
kevinmehall
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26b2bfb

Commits on Oct 1, 2015

Don't send invalid ground distance over USB
kevinmehall
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3b32e83

Commits on Oct 8, 2015

i2c_slave: Test individual interrupt-pending bits.
kevinmehall
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90640a8

Commits on Oct 9, 2015

Merge pull request #46 from 3drobotics/i2cfix
kevinmehall
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80f9cfc
Rename lidar -> lidar-lite
kevinmehall
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11776e8

Commits on Oct 10, 2015

Add Lightware SF10 Lidar driver
kevinmehall
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e478c63

Commits on Oct 12, 2015

mt9v034: write reserved registers with recommended values from Rev G datasheet
kevinmehall
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8d4fe40
Increase minimum horizontal blanking to reduce corruption.
kevinmehall
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366f80e
Merge pull request #47 from 3drobotics/km-camera
kevinmehall
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c87c937
Merge pull request #49 from 3drobotics/lightware
kevinmehall
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a4a89f6
Clean remaining sign-compare warnings
kevinmehall
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5bb7a8b
Clean all other warnings
kevinmehall
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cef5809

Commits on Oct 14, 2015

Refactor main loop poll for frame
kevinmehall
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5518ac3
Fix typo
kevinmehall
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1878226
Merge pull request #50 from 3drobotics/cleanup
kevinmehall
committed
190f7cf

Commits on Oct 28, 2015

Commits on Dec 10, 2015

Build fix
LorenzMeier
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99f4b26
Boost max exposure for indoor environments
LorenzMeier
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ee73c63
Code style fix
LorenzMeier
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dacb2f1
Remove unused headers
LorenzMeier
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2a014d3
Flow sending: Condition on USB_SEND_VIDEO only
LorenzMeier
committed
11bdc5b
Remove unused config param
LorenzMeier
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991071a
Be less excessive on exposure
LorenzMeier
committed
d24c035