| 1 | // created: 2011/05/01
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| 2 | // filename: DemoOpticalFlow.h
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: demo optical flow
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 | //------------
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| 14 |
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| 15 | #ifndef DEMOOPTICALFLOW_H
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| 16 | #define DEMOOPTICALFLOW_H
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| 17 |
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| 18 | #include <UavStateMachine.h>
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| 19 |
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| 20 | namespace flair {
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| 21 | namespace core {
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| 22 | class Matrix;
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| 23 | }
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| 24 | namespace gui {
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| 25 | class GroupBox;
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| 26 | class DoubleSpinBox;
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| 27 | class PushButton;
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| 28 | }
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| 29 | namespace filter {
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| 30 | class OpticalFlow;
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| 31 | class OpticalFlowCompensated;
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| 32 | class OpticalFlowSpeed;
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| 33 | class LowPassFilter;
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| 34 | class EulerDerivative;
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| 35 | class CvtColor;
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| 36 | }
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| 37 | namespace sensor {
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| 38 | class TargetController;
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| 39 | }
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| 40 | }
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| 41 |
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| 42 | class DemoOpticalFlow : public flair::meta::UavStateMachine {
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| 43 |
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| 44 | public:
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| 45 | DemoOpticalFlow(flair::sensor::TargetController *controller);
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| 46 | ~DemoOpticalFlow();
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| 47 |
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| 48 | protected:
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| 49 | void SignalEvent(Event_t event);
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| 50 | void ExtraCheckJoystick(void);
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| 51 | void ExtraCheckPushButton(void);
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| 52 | void ExtraSecurityCheck(void);
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| 53 | const flair::core::AhrsData *GetReferenceOrientation(void);
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| 54 |
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| 55 | flair::gui::GroupBox* opticalFlowGroupBox;
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| 56 | flair::gui::DoubleSpinBox *maxXSpeed,*maxYSpeed;
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| 57 | flair::core::Matrix *opticalFlowReference;
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| 58 | flair::filter::Pid *u_x, *u_y;
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| 59 | flair::filter::CvtColor* greyCameraImage;
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| 60 | flair::core::AhrsData *customReferenceOrientation;
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| 61 | flair::core::Matrix *opticalFlowRealSpeed,*opticalFlowRealAcceleration;
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| 62 |
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| 63 | private:
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| 64 | flair::filter::OpticalFlow *opticalFlow;
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| 65 | flair::filter::OpticalFlowCompensated *opticalFlowCompensated;
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| 66 | flair::filter::OpticalFlowSpeed *opticalFlowSpeedRaw;
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| 67 | flair::filter::EulerDerivative *opticalFlowAccelerationRaw;
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| 68 | flair::gui::PushButton *startOpticalflow,*stopOpticalflow;
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| 69 | void StartOpticalFlow(void);
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| 70 | flair::filter::LowPassFilter* opticalFlowSpeed;
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| 71 | flair::filter::LowPassFilter* opticalFlowAcceleration;
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| 72 | bool flagCameraLost;
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| 73 | };
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| 74 |
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| 75 | #endif // DEMOOPTICALFLOW_H
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