KLT flow, CAN support and camera driver improvements#68

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LorenzMeier wants to merge 149 commits intomasterfrom klt

+4,466-3,308

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

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

Commits on Jun 23, 2015

clean up
tpetri
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Commits on Jun 30, 2015

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

Commits on Jul 1, 2015

Added gyro compensation to KLT algorithm
Severin Latkovic
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Commits on Jul 2, 2015

- Fixed Gyro Compensation
Severin Latkovic
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Commits on Jul 3, 2015

-cleanup
Severin Latkovic
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implemented simple high pass filter to pre-process the images
Simon Laube
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Commits on Jul 8, 2015

Added median flow
Severin Latkovic
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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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make the code work.
Severin Latkovic
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better fix than before.
Severin Latkovic
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move calculation of mean flow out of flow measurement functions. cleanup of code and small optimisations.
Simon Laube
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added some remarks about future improvements
Simon Laube
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Merge branch 'cleanup-codebase' into feature/combine-algorithms
Simon Laube
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Commits on Jul 10, 2015

Gyro compensation & bug fixes
Severin Latkovic
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- Added switch for the minimum outlier threshold for the two algorithms
Severin Latkovic
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- Added check if klt flow is outside of 2*topPyrStep.
Severin Latkovic
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- Re-added flow in meter using the same calculation as before
Severin Latkovic
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- Removed all traces from sensor position (BOTTOM, TOP, FRONT, ...), which were used earlier, but are not needed anymore.
Severin Latkovic
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Commits on Jul 11, 2015

Commits on Jul 13, 2015

small code cleanup
Simon Laube
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some more tweaking to KLT. Implemented corner detector to decide whether a patch is a good patch.
Simon Laube
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implemented forcing capturing two images in fast sequence if algorithm takes too long. parameter tweaking.
Simon Laube
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increase processor speed to 192MHz. Looking good so far. 465Hz frame rate.
Simon Laube
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Merge branch 'experiment/tweak-klt-block-count' into feature/combine-algorithms
Simon Laube
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reorder and rename parameters to have a coherent naming scheme. fix paremeter maximum length.
Simon Laube
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Remove now obsolete quality_measurement from code.
Simon Laube
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implemented changing video downlink rate.
Simon Laube
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make VIDEO_ONLY mode work again.
Simon Laube
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Merge branch 'feature/combine-algorithms'
Simon Laube
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Commits on Jul 14, 2015

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

Commits on Jul 15, 2015

Merge branch 'fix/mt9v034-driver'
Simon Laube
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introduced new parameter KLT_GYRO_ASSIST and turned gyro compensation off by default.
Simon Laube
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Commits on Jul 29, 2015

Commits on Aug 4, 2015

initial prototype of the new camera driver.
Simon Laube
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fixed comments about the system clocks to match the actual system clocks that are used.
Simon Laube
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updates to the documentation, added missing struct definitions.
Simon Laube
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changes to the camera sensor and transport interfaces. started implementation of init function.
Simon Laube
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WIP. start to move code around into new functions that do the initialisation.
Simon Laube
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Commits on Aug 5, 2015

use bool for success/fail return status.
Simon Laube
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finished cleaning up camera sensor configuration code. updated code with detailed documentation from the datasheet.
Simon Laube
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finished camera sensor interface for mt9v034.
Simon Laube
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implemented image streaming logic. updated some of the documentation.
Simon Laube
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finished camera_transport_interface for the DCMI module. code is now almost ready to test.
Simon Laube
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- updated main to use new API.
Simon Laube
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Merge remote-tracking branch 'upstream/master'
Simon Laube
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Merge branch 'master' into refactor/dcmi-driver
Simon Laube
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made code compile. testing is next.
Simon Laube
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fixed warnings in code.
Simon Laube
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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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fixed transfer alignment issue in camera driver.
Simon Laube
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fixed filter to not use space inside the image to do the computation.
Simon Laube
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made initialisation and buffer alignment more reliable.
Simon Laube
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increase I2C bus speed to make it possible to switch sensor contexts between two DMA transfers.
Simon Laube
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cleanup i2c code.
Simon Laube
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implemented snapshot mode and tested it. it works!
Simon Laube
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default VIDEO_ONLY parameter to ON. flow calculation still works in the background.
Simon Laube
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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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implemented high resolution shutter and improved CPU usage of auto exposure algorithm.
Simon Laube
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fixed interrupt priorities: DCMI driver needs highes priority.
Simon Laube
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bugfix in exposure algorithm.
Simon Laube
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fixed comparision with desired brightness: prevent invalid inputs.
Simon Laube
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Commits on Aug 7, 2015

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

Commits on Aug 13, 2015

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

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

Commits on Aug 18, 2015

Commits on Aug 25, 2015

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

Commits on Aug 26, 2015

Move LED control to src/drivers/boards
kevinmehall
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Commits on Aug 27, 2015

Move i2c struct filling into result_accumulator
kevinmehall
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Commits on Aug 28, 2015

Split i2c_slave (V1) and uavcan (V2) into separate modules
kevinmehall
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Commits on Aug 31, 2015

Merge remote-tracking branch '3drobotics/master'
Simon Laube
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Merge '3dr/feature.lidar'
kevinmehall
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Merge branch 'km-led'
kevinmehall
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Commits on Sep 1, 2015

Commits on Sep 3, 2015

Commits on Sep 8, 2015

Commits on Sep 10, 2015

Commits on Sep 16, 2015

Commits on Sep 18, 2015

Commits on Sep 22, 2015

Commits on Sep 24, 2015

Commits on Sep 29, 2015

Commits on Sep 30, 2015

Commits on Oct 1, 2015

Don't send invalid ground distance over USB
kevinmehall
committed

Commits on Oct 8, 2015

i2c_slave: Test individual interrupt-pending bits.
kevinmehall
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Commits on Oct 9, 2015

Commits on Oct 10, 2015

Add Lightware SF10 Lidar driver
kevinmehall
committed

Commits on Oct 14, 2015

Commits on Oct 28, 2015