source: flair-src/trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp@ 143

Last change on this file since 143 was 143, checked in by Bayard Gildas, 7 years ago

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1// created: 2011/05/01
2// filename: DemoOpticalFlow.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: demo optical flow
10//
11//
12/*********************************************************************/
13
14#include "DemoOpticalFlow.h"
15#include <Uav.h>
16#include <Camera.h>
17#include <CvtColor.h>
18#include <OpticalFlow.h>
19#include <OpticalFlowSpeed.h>
20#include <LowPassFilter.h>
21#include <EulerDerivative.h>
22#include <cvmatrix.h>
23#include <GridLayout.h>
24#include <DataPlot1D.h>
25#include <Tab.h>
26#include <TabWidget.h>
27#include <GroupBox.h>
28#include <DoubleSpinBox.h>
29#include <PushButton.h>
30#include <FrameworkManager.h>
31#include <MetaDualShock3.h>
32#include <Vector2D.h>
33#include <AhrsData.h>
34#include <Ahrs.h>
35#include <Pid.h>
36
37#include <stdio.h>
38
39using namespace std;
40using namespace flair::core;
41using namespace flair::gui;
42using namespace flair::filter;
43using namespace flair::meta;
44using namespace flair::sensor;
45
46DemoOpticalFlow::DemoOpticalFlow(TargetController *controller): UavStateMachine(controller) {
47 Uav* uav=GetUav();
48 if (uav->GetVerticalCamera() == NULL) {
49 Err("no vertical camera found\n");
50 exit(1);
51 }
52
53 startOpticalflow=new PushButton(GetButtonsLayout()->NewRow(),"start optical flow");
54
55 greyCameraImage=new CvtColor(uav->GetVerticalCamera(),"gray",CvtColor::Conversion_t::ToGray);
56
57 uav->GetVerticalCamera()->UseDefaultPlot(greyCameraImage->Output()); // Le defaultPlot de la caméra peut afficher n'importe quoi?
58
59 //optical flow stack
60 //opticalFlow= matrice de déplacements en pixels entre 2 images consécutives
61 opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");
62 opticalFlowSpeedRaw=new OpticalFlowSpeed(opticalFlow,"vitesse du flux optique");
63 //opticalFlowSpeed=vitesse de déplacement en pixel par seconde (moyenne sur tous les points et division par le delta T)
64 cvmatrix* twoByOneSpeed=new cvmatrix((const Thread*)this,2,1,floatType);
65 opticalFlowSpeed=new LowPassFilter(opticalFlowSpeedRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Speed lowPass",twoByOneSpeed);
66 cvmatrix* twoByOneAccelerationRaw=new cvmatrix((const Thread*)this,2,1,floatType);
67 opticalFlowAccelerationRaw=new EulerDerivative(opticalFlowSpeed,uav->GetVerticalCamera()->GetLayout()->NewRow(),"derivative",twoByOneAccelerationRaw);
68 cvmatrix* twoByOneAcceleration=new cvmatrix((const Thread*)this,2,1,floatType);
69 opticalFlowAcceleration=new LowPassFilter(opticalFlowAccelerationRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Acceleration lowPass",twoByOneAcceleration);
70
71 getFrameworkManager()->AddDeviceToLog(opticalFlowSpeedRaw);
72
73 Tab* opticalFlowTab=new Tab(getFrameworkManager()->GetTabWidget(),"flux optique");
74 DataPlot1D* xVelocityPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x speed (px/s)",-250,250);
75 DataPlot1D* yVelocityPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y speed (px/s)",-250,250);
76 DataPlot1D* xAccelerationPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x_acceleration",-250,250);
77 DataPlot1D* yAccelerationPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y_acceleration",-250,250);
78
79 xVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(0,0));
80 xVelocityPlot->AddCurve(opticalFlowSpeed->Matrix()->Element(0,0),DataPlot::Blue);
81 yVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(1,0));
82 yVelocityPlot->AddCurve(opticalFlowSpeed->Matrix()->Element(1,0),DataPlot::Blue);
83 xAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(0,0));
84 xAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(0,0),DataPlot::Blue);
85 yAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(1,0));
86 yAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(1,0),DataPlot::Blue);
87
88 u_x=new Pid(setupLawTab->At(1,0),"u_x");
89 u_x->UseDefaultPlot(graphLawTab->NewRow());
90 u_y=new Pid(setupLawTab->At(1,1),"u_y");
91 u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());
92
93 opticalFlowGroupBox=new GroupBox(GetJoystick()->GetTab()->NewRow(),"consignes fo");
94 maxXSpeed=new DoubleSpinBox(opticalFlowGroupBox->NewRow(),"debattement x"," m/s",-5,5,0.1,1);
95 maxYSpeed=new DoubleSpinBox(opticalFlowGroupBox->LastRowLastCol(),"debattement y"," m/s",-5,5,0.1,1);
96
97 opticalFlowReference=new cvmatrix((const Thread*)this,2,1,floatType);
98 xVelocityPlot->AddCurve(opticalFlowReference->Element(0,0),DataPlot::Green,"consigne");
99 yVelocityPlot->AddCurve(opticalFlowReference->Element(1,0),DataPlot::Green,"consigne");
100
101 customReferenceOrientation= new AhrsData(this,"reference");
102 uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
103 AddDataToControlLawLog(customReferenceOrientation);
104}
105
106void DemoOpticalFlow::SignalEvent(Event_t event) {
107 switch(event) {
108 case Event_t::EnteringControlLoop:
109 opticalFlowReference->SetValue(0,0,GetJoystick()->GetAxisValue(1)*maxXSpeed->Value());//joy axis 0 maps to x displacement
110 opticalFlowReference->SetValue(1,0,GetJoystick()->GetAxisValue(0)*maxYSpeed->Value());//joy axis 1 maps to y displacement
111 break;
112 }
113}
114
115void DemoOpticalFlow::StartOpticalFlow(void) {
116 if (SetOrientationMode(OrientationMode_t::Custom)) {
117 Thread::Info("(Re)entering optical flow mode\n");
118 u_x->Reset();
119 u_y->Reset();
120 } else {
121 Thread::Warn("Could not enter optical flow mode\n");
122 }
123}
124
125void DemoOpticalFlow::ExtraCheckPushButton(void) {
126 if(startOpticalflow->Clicked()) {
127 StartOpticalFlow();
128 }
129}
130
131void DemoOpticalFlow::ExtraCheckJoystick(void) {
132 static bool wasOpticalFlowModeButtonPressed=false;
133 // controller button R1 enters optical flow mode
134 if(GetJoystick()->IsButtonPressed(9)) { // R1
135 if (!wasOpticalFlowModeButtonPressed) {
136 wasOpticalFlowModeButtonPressed=true;
137 StartOpticalFlow();
138 }
139 } else {
140 wasOpticalFlowModeButtonPressed=false;
141 }
142}
143
144const AhrsData *DemoOpticalFlow::GetReferenceOrientation(void) {
145 Euler refAngles=GetDefaultReferenceOrientation()->GetQuaternion().ToEuler();//to keep default yaw reference
146
147 // /!\ in this demo, the target value is a speed (in m/s). As a consequence the error is the difference between the current speed and the target speed
148 Vector2D error, errorVariation; // in Uav coordinate system
149 float focal=271.76;
150 float z,dz;
151 AltitudeValues(z, dz);
152 float scale=z/focal;
153 error.x=opticalFlowSpeed->Output(0,0)*scale-opticalFlowReference->Value(0,0);
154 error.y=opticalFlowSpeed->Output(1,0)*scale-opticalFlowReference->Value(1,0);
155 errorVariation.x=opticalFlowAcceleration->Output(0,0)*scale;
156 errorVariation.y=opticalFlowAcceleration->Output(1,0)*scale;
157//Printf("Altitude=%f, Error=(%f,%f)\n",z,error.x,error.y);
158
159 u_x->SetValues(error.x, errorVariation.x);
160 u_x->Update(GetTime());
161 refAngles.pitch=u_x->Output();
162
163 u_y->SetValues(error.y, errorVariation.y);
164 u_y->Update(GetTime());
165 refAngles.roll=-u_y->Output();
166
167 customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3D(0,0,0));
168
169 return customReferenceOrientation;
170}
171
172DemoOpticalFlow::~DemoOpticalFlow() {
173}
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