source: flair-src/branches/sanscv/lib/FlairVisionFilter/src/OpticalFlow.cpp@ 326

Last change on this file since 326 was 326, checked in by Sanahuja Guillaume, 3 years ago

using pimpl

File size: 7.3 KB
Line 
1// created: 2012/04/12
2// filename: OpticalFlow.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: calcul flux optique lk
10//
11//
12/*********************************************************************/
13
14#include "OpticalFlow.h"
15#include "OpticalFlowData.h"
16#include "VisionFilter.h"
17#include <Image.h>
18#include <Layout.h>
19#include <GroupBox.h>
20#include <SpinBox.h>
21#include <OneAxisRotation.h>
22#include <typeinfo>
23
24#define LEVEL_PYR 2
25
26using std::string;
27using std::swap;
28using namespace flair::core;
29using namespace flair::gui;
30
31class OpticalFlow_impl {
32public:
33 OpticalFlow_impl(flair::filter::OpticalFlow *self,const LayoutPosition* position,string name) {
34 this->self=self;
35 is_init=false;
36
37 GroupBox* reglages_groupbox=new GroupBox(position,name);
38 rotation=new OneAxisRotation(reglages_groupbox->NewRow(),"post rotation",OneAxisRotation::PostRotation);
39 max_features=new SpinBox(reglages_groupbox->NewRow(),"max features:",1,65535,1,1);
40
41 try{
42 Image::Type const &imageType=dynamic_cast<Image::Type const &>(((IODevice*)(self->Parent()))->GetOutputDataType());
43 pyr=new Image(self,imageType.GetWidth(),imageType.GetHeight(),Image::Type::Format::Gray);
44 pyr_old=new Image(self,imageType.GetWidth(),imageType.GetHeight(),Image::Type::Format::Gray);
45 output=new flair::filter::OpticalFlowData(self->Parent(),max_features->Value());
46/*
47 pointsA=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
48 pointsB=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
49
50 found_feature=(char*)AllocFunction(max_features->Value()*sizeof(char));
51 feature_error=(unsigned int*)AllocFunction(max_features->Value()*sizeof(unsigned int));
52
53 iplgimg = (IplImage*)AllocFunction(sizeof(IplImage));
54 iplgimg_old = (IplImage*)AllocFunction(sizeof(IplImage));
55 iplpyr = (IplImage*)AllocFunction(sizeof(IplImage));
56 iplpyr_old = (IplImage*)AllocFunction(sizeof(IplImage));
57
58 iplpyr->width=imageType.GetWidth();
59 iplpyr->height=imageType.GetHeight();
60 iplpyr_old->width=imageType.GetWidth();
61 iplpyr_old->height=imageType.GetHeight();
62*/
63 } catch(std::bad_cast& bc) {
64 self->Err("io type mismatch\n");
65 pyr=NULL;
66 pyr_old=NULL;
67 }
68
69 }
70
71 ~OpticalFlow_impl() {
72 /*
73 FreeFunction((char*)pointsA);
74 FreeFunction((char*)pointsB);
75 FreeFunction((char*)found_feature);
76 FreeFunction((char*)feature_error);
77 FreeFunction((char*)iplgimg);
78 FreeFunction((char*)iplgimg_old);
79 FreeFunction((char*)iplpyr);
80 FreeFunction((char*)iplpyr_old);*/
81 }
82
83 void UpdateFrom(const io_data *data){
84 //Time tStart=GetTime();
85 Image *img=(Image*)data;
86 Image *img_old=((Image*)data->Prev(1));
87/*
88 iplgimg->width=img->GetDataType().GetWidth();
89 iplgimg->height=img->GetDataType().GetHeight();
90 iplgimg->imageData=img->buffer;
91
92 iplgimg_old->width=img_old->GetDataType().GetWidth();
93 iplgimg_old->height=img_old->GetDataType().GetHeight();
94 iplgimg_old->imageData=img_old->buffer;
95
96 iplpyr->imageData=pyr->buffer;
97 iplpyr_old->imageData=pyr_old->buffer;
98
99 unsigned int count;
100 CvSize window = {3,3};
101 CvTermCriteria termination_criteria ={CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 };
102 unsigned int i;
103
104 if(max_features->ValueChanged()==true) {
105 FreeFunction((char*)pointsA);
106 FreeFunction((char*)pointsB);
107 FreeFunction((char*)found_feature);
108 FreeFunction((char*)feature_error);
109 pointsA=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
110 pointsB=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
111 found_feature=(char*)AllocFunction(max_features->Value()*sizeof(char));
112 feature_error=(unsigned int*)AllocFunction(max_features->Value()*sizeof(unsigned int));
113
114 output->Resize(max_features->Value());
115 }
116
117 if(is_init==false) {
118 data->GetMutex();
119 //init image old
120 dspPyrDown(iplgimg,iplpyr_old,LEVEL_PYR);
121 data->ReleaseMutex();
122 is_init=true;
123 printf("ajouter mise a 0 des points\n");
124 return;
125 }
126
127 data->GetMutex();
128 data->Prev(1)->GetMutex();
129
130 //select good features
131 count=max_features->Value();
132 dspGoodFeaturesToTrack(iplgimg_old,pointsA,&count,0.08,5);
133 //pyramide
134 dspPyrDown(iplgimg,iplpyr,LEVEL_PYR);
135 //lk
136 dspCalcOpticalFlowPyrLK(iplgimg_old,iplgimg,iplpyr_old,iplpyr,pointsA,pointsB,count,window,LEVEL_PYR,found_feature,feature_error,termination_criteria,0) ;
137
138 data->Prev(1)->ReleaseMutex();
139 data->ReleaseMutex();
140
141 //apply rotation
142 for(i=0;i<count;i++) {
143 Vector3Df tmp;
144 tmp.x=pointsA[i].x;
145 tmp.y=pointsA[i].y;
146 tmp.z=0;
147 rotation->ComputeRotation(tmp);
148 pointsA[i].x=tmp.x;
149 pointsA[i].y=tmp.y;
150
151 tmp.x=pointsB[i].x;
152 tmp.y=pointsB[i].y;
153 tmp.z=0;
154 rotation->ComputeRotation(tmp);
155 pointsB[i].x=tmp.x;
156 pointsB[i].y=tmp.y;
157 }
158
159 output->GetMutex();
160 CvPoint2D32f* pointsBf= output->PointsB();
161 for(i=0;i<count;i++) {
162 pointsBf[i].x=pointsA[i].x+((float)pointsB[i].x)/256;
163 pointsBf[i].y=pointsA[i].y+((float)pointsB[i].y)/256;
164 }
165 output->ReleaseMutex();
166
167 output->SetPointsA(pointsA);
168 output->SetFoundFeature(found_feature);
169 output->SetFeatureError(feature_error);
170 output->SetNbFeatures(count);
171
172 //rotation
173 swap(pyr,pyr_old);
174*/
175 output->SetDataTime(data->DataTime());
176 //Printf("Optical flow computation time=%f\n",(GetTime()-tStart)/(1000.*1000));
177 };
178
179 flair::filter::OpticalFlowData *output;
180
181private:
182 flair::filter::OpticalFlow *self;
183 SpinBox *max_features;
184 OneAxisRotation* rotation;
185
186 //CvPoint* pointsA;
187 //CvPoint* pointsB;
188 char *found_feature;
189 unsigned int *feature_error;
190 Image *pyr,*pyr_old;
191 //IplImage *iplgimg,*iplgimg_old;
192 //IplImage *iplpyr,*iplpyr_old;
193
194 bool is_init;
195};
196
197
198namespace flair
199{
200namespace filter
201{
202
203OpticalFlow::OpticalFlow(const IODevice* parent,const LayoutPosition* position,string name) : IODevice(parent,name) {
204 Printf("optical flow: voir pour faire du multiple output\n");//pour pts A et B, found et error
205 pimpl_=new OpticalFlow_impl(this,position,name);
206}
207
208OpticalFlow::~OpticalFlow(void) {
209 delete pimpl_;
210}
211
212void OpticalFlow::UpdateFrom(const io_data *data) {
213 pimpl_->UpdateFrom(data);
214 ProcessUpdate(pimpl_->output);
215}
216
217OpticalFlowData* OpticalFlow::Output(void) {
218 return pimpl_->output;
219
220}
221
222DataType const &OpticalFlow::GetOutputDataType() const {
223 if(pimpl_->output!=NULL) {
224 return pimpl_->output->GetDataType();
225 } else {
226 return dummyType;
227 }
228}
229
230} // end namespace filter
231} // end namespace flair
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