source: flair-src/trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp@ 133

//  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 <PushButton.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) {
                                Err("no vertical camera found\n");
        exit(1);
    }
uav->GetVerticalCamera()->SetLogFormat(Camera::LogFormat::JPG);
getFrameworkManager()->AddDeviceToLog(uav->GetVerticalCamera());
        
        startOpticalflow=new PushButton(GetButtonsLayout()->NewRow(),"start optical flow");

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

        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::StartOpticalFlow(void) {
        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");
        }
}

void DemoOpticalFlow::ExtraCheckPushButton(void) {
        if(startOpticalflow->Clicked()) {
        //StartOpticalFlow();
                                GetUav()->GetVerticalCamera()->SavePictureToFile("./toto.jpg");
                                
        }
}

void DemoOpticalFlow::ExtraCheckJoystick(void) {
    static bool wasOpticalFlowModeButtonPressed=false;
    // controller button R1 enters optical flow mode
    if(GetJoystick()->IsButtonPressed(9)) { // R1
        if (!wasOpticalFlowModeButtonPressed) {
            wasOpticalFlowModeButtonPressed=true;
            StartOpticalFlow();
        }
    } 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() {
}