source: flair-src/trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp@ 123

//  created:    2011/05/01

//  filename:   DemoOpticalFlow.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    demo optical flow

//

//

/*********************************************************************/



#include "DemoOpticalFlow.h"

#include <Uav.h>

#include <Camera.h>

#include <CvtColor.h>

#include <OpticalFlow.h>

#include <OpticalFlowSpeed.h>

#include <LowPassFilter.h>

#include <cvmatrix.h>

#include <GridLayout.h>

#include <DataPlot1D.h>

#include <Tab.h>

#include <TabWidget.h>

#include <GroupBox.h>

#include <DoubleSpinBox.h>

#include <FrameworkManager.h>

#include <MetaDualShock3.h>

#include <Vector2D.h>

#include <AhrsData.h>

#include <Ahrs.h>

#include <Pid.h>



#include <stdio.h>



using namespace std;

using namespace flair::core;

using namespace flair::gui;

using namespace flair::filter;

using namespace flair::meta;

using namespace flair::sensor;



DemoOpticalFlow::DemoOpticalFlow(TargetController *controller): UavStateMachine(controller) {

  Uav* uav=GetUav();

        if (uav->GetVerticalCamera() == NULL) {

        exit(1);

    }

uav->GetVerticalCamera()->SetLogFormat(Camera::LogFormat::JPG);

getFrameworkManager()->AddDeviceToLog(uav->GetVerticalCamera());

    greyCameraImage=new CvtColor(uav->GetVerticalCamera(),"gray",CvtColor::Conversion_t::GRAY);



    uav->GetVerticalCamera()->UseDefaultPlot(greyCameraImage->Output()); // Le defaultPlot de la caméra peut afficher n'importe quoi?



    //optical flow stack

    opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");

    opticalFlowSpeed=new OpticalFlowSpeed(opticalFlow,"vitesse du flux optique");



    cvmatrix_descriptor* desc=new cvmatrix_descriptor(2,1);

    for(int i=0;i<2;i++) {

        desc->SetElementName(i,0,opticalFlowSpeed->Output()->Name(i,0));

    }

    cvmatrix* prev_value=new cvmatrix((const Thread*)this,desc,floatType,uav->ObjectName()); // diamond inheritance

    for(int i=0;i<2;i++) {

        prev_value->SetValue(i,0,0);

    }



    opticalFlowSpeedFiltered=new LowPassFilter(opticalFlowSpeed,uav->GetVerticalCamera()->GetLayout()->NewRow(),"passe bas",prev_value);

// delete prev_value?



    getFrameworkManager()->AddDeviceToLog(opticalFlowSpeed);



    Tab* opticalFlowTab=new Tab(getFrameworkManager()->GetTabWidget(),"flux optique");

    DataPlot1D* xVelocityPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x_velocity",-5,5);

    DataPlot1D* yVelocityPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y_velocity",-5,5);



    xVelocityPlot->AddCurve(opticalFlowSpeed->Output()->Element(0,0));

    xVelocityPlot->AddCurve(opticalFlowSpeedFiltered->Matrix()->Element(0,0),DataPlot::Blue);

    yVelocityPlot->AddCurve(opticalFlowSpeed->Output()->Element(1,0));

    yVelocityPlot->AddCurve(opticalFlowSpeedFiltered->Matrix()->Element(1,0),DataPlot::Blue);



    u_x=new Pid(setupLawTab->At(1,0),"u_x");

    u_x->UseDefaultPlot(graphLawTab->NewRow());

    u_y=new Pid(setupLawTab->At(1,1),"u_y");

    u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());



    opticalFlowGroupBox=new GroupBox(GetJoystick()->GetTab()->NewRow(),"consignes fo");

    maxXSpeed=new DoubleSpinBox(opticalFlowGroupBox->NewRow(),"debattement x"," m/s",-5,5,0.1,1);

    maxYSpeed=new DoubleSpinBox(opticalFlowGroupBox->LastRowLastCol(),"debattement y"," m/s",-5,5,0.1,1);



    opticalFlowReference=new cvmatrix((const Thread*)this,2,1,floatType);

    xVelocityPlot->AddCurve(opticalFlowReference->Element(0,0),DataPlot::Green,"consigne");

    yVelocityPlot->AddCurve(opticalFlowReference->Element(1,0),DataPlot::Green,"consigne");



    customReferenceOrientation= new AhrsData(this,"reference");

    uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);

    AddDataToControlLawLog(customReferenceOrientation);

}



void DemoOpticalFlow::SignalEvent(Event_t event) {

    switch(event) {

    case Event_t::EnteringControlLoop:

        opticalFlowReference->SetValue(0,0,GetJoystick()->GetAxisValue(1)*maxXSpeed->Value());//joy axis 0 maps to x displacement

        opticalFlowReference->SetValue(1,0,GetJoystick()->GetAxisValue(0)*maxYSpeed->Value());//joy axis 1 maps to y displacement

        break;

    }

}



void DemoOpticalFlow::ExtraCheckJoystick(void) {

    static bool wasOpticalFlowModeButtonPressed=false;

    // controller button R1 enters optical flow mode

    if(GetJoystick()->IsButtonPressed(9)) { // R1

        if (!wasOpticalFlowModeButtonPressed) {

            wasOpticalFlowModeButtonPressed=true;

            if (SetOrientationMode(OrientationMode_t::Custom)) {

                Thread::Info("(Re)entering optical flow mode\n");

                u_x->Reset();

                u_y->Reset();

            } else {

                Thread::Warn("Could not enter optical flow mode\n");

            }

        }

    } else {

        wasOpticalFlowModeButtonPressed=false;

    }

}



const AhrsData *DemoOpticalFlow::GetReferenceOrientation(void) {

    Euler refAngles=GetDefaultReferenceOrientation()->GetQuaternion().ToEuler();//to keep default yaw reference



    // /!\ in this demo, the target value is a speed (in pixel/s). As a consequence the error is the difference between the current speed and the target speed

    Vector2D error, errorVariation; // in Uav coordinate system



    //opticalFlow= matrice de déplacements en pixels entre 2 images consécutives

    //opticalFlowSpeed=vitesse de déplacement en pixel par seconde (moyenne sur tous les points et division par le delta T)

    error.x=opticalFlowSpeedFiltered->Output(0,0)-opticalFlowReference->Value(0,0);

    error.y=opticalFlowSpeedFiltered->Output(1,0)-opticalFlowReference->Value(1,0);



    //la dérivée est à la fréquence de la loi de commande ("rapide") alors que le flux optique est à la fréquence de la caméra

    // fréquemment la dérivée car le signal n'a pas bougé -> dérivée super crade

    //gsanahuj: brancher un eulerderivative derriere le opticalFlowSpeedFiltered pour avoir la derivee

    //opticalFlowSpeed doit etre renomme car finalement ce n'est pas une vitesse mais un deplacement

    errorVariation.x=0;

    errorVariation.y=0;



    u_x->SetValues(error.x, errorVariation.x);

    u_x->Update(GetTime());

    refAngles.pitch=u_x->Output();



    u_y->SetValues(error.y, errorVariation.y);

    u_y->Update(GetTime());

    refAngles.roll=-u_y->Output();



    customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3D(0,0,0));



    return customReferenceOrientation;

}



DemoOpticalFlow::~DemoOpticalFlow() {

}