source: flair-src/trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp @ 163

Last change on this file since 163 was 163, checked in by Bayard Gildas, 5 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 <OpticalFlowCompensated.h>
20#include <OpticalFlowSpeed.h>
21#include <LowPassFilter.h>
22#include <EulerDerivative.h>
23#include <cvmatrix.h>
24#include <GridLayout.h>
25#include <DataPlot1D.h>
26#include <Tab.h>
27#include <TabWidget.h>
28#include <GroupBox.h>
29#include <DoubleSpinBox.h>
30#include <PushButton.h>
31#include <FrameworkManager.h>
32#include <MetaDualShock3.h>
33#include <Vector2D.h>
34#include <AhrsData.h>
35#include <Ahrs.h>
36#include <Pid.h>
37
38#include <stdio.h>
39
40using namespace std;
41using namespace flair::core;
42using namespace flair::gui;
43using namespace flair::filter;
44using namespace flair::meta;
45using namespace flair::sensor;
46
47DemoOpticalFlow::DemoOpticalFlow(TargetController *controller): UavStateMachine(controller) {
48  Uav* uav=GetUav();
49        if (uav->GetVerticalCamera() == NULL) {
50                                Err("no vertical camera found\n");
51        exit(1);
52    }
53       
54        startOpticalflow=new PushButton(GetButtonsLayout()->NewRow(),"start optical flow");
55
56        greyCameraImage=new CvtColor(uav->GetVerticalCamera(),"gray",CvtColor::Conversion_t::ToGray);
57
58        uav->GetVerticalCamera()->UseDefaultPlot(greyCameraImage->Output()); // Le defaultPlot de la caméra peut afficher n'importe quoi?
59
60        //optical flow stack
61  //opticalFlow= matrice de déplacements en pixels entre 2 images consécutives
62  opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");
63  opticalFlowCompensated=new OpticalFlowCompensated(opticalFlow,uav->GetAhrs(),uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique compense");
64  opticalFlowSpeedRaw=new OpticalFlowSpeed(opticalFlowCompensated,uav->GetAhrs(),uav->GetVerticalCamera()->GetLayout()->NewRow(),"vitesse du Flux Optique");
65  //opticalFlowSpeed=vitesse de déplacement en pixels par seconde (moyenne sur tous les points et division par le delta T)
66  cvmatrix* twoByOneOFS=new cvmatrix((const Thread*)this,2,1,floatType);
67  cvmatrix* twoByOneOFAR=new cvmatrix((const Thread*)this,2,1,floatType);
68  cvmatrix* twoByOneOFA=new cvmatrix((const Thread*)this,2,1,floatType);
69  opticalFlowSpeed=new LowPassFilter(opticalFlowSpeedRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Speed lowPass",twoByOneOFS);
70  opticalFlowAccelerationRaw=new EulerDerivative(opticalFlowSpeed,uav->GetVerticalCamera()->GetLayout()->NewRow(),"derivative",twoByOneOFAR);
71  opticalFlowAcceleration=new LowPassFilter(opticalFlowAccelerationRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Acceleration lowPass",twoByOneOFA);
72 
73  getFrameworkManager()->AddDeviceToLog(opticalFlowSpeedRaw);
74
75  Tab* opticalFlowTab=new Tab(getFrameworkManager()->GetTabWidget(),"flux optique");
76  DataPlot1D* xVelocityPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x speed (px/s)",-250,250);
77  DataPlot1D* yVelocityPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y speed (px/s)",-250,250);
78  DataPlot1D* xFirstPointPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x movement first point",-25,25);
79  DataPlot1D* yFirstPointPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y movement first point",-25,25);
80//  DataPlot1D* xAccelerationPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x_acceleration",-250,250);
81//  DataPlot1D* yAccelerationPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y_acceleration",-250,250);
82
83  xVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(0,0));
84  xVelocityPlot->AddCurve(opticalFlowSpeed->Matrix()->Element(0,0),DataPlot::Blue);
85  yVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(1,0));
86  yVelocityPlot->AddCurve(opticalFlowSpeed->Matrix()->Element(1,0),DataPlot::Blue);
87  xFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(0,0));
88  xFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(1,0),DataPlot::Blue);
89  xFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(2,0),DataPlot::Green);
90  yFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(0,1));
91  yFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(1,1),DataPlot::Blue);
92  yFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(2,1),DataPlot::Green);
93//  xAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(0,0));
94//  xAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(0,0),DataPlot::Blue);
95//  yAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(1,0));
96//  yAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(1,0),DataPlot::Blue);
97
98  u_x=new Pid(setupLawTab->At(1,0),"u_x");
99  u_x->UseDefaultPlot(graphLawTab->NewRow());
100  u_y=new Pid(setupLawTab->At(1,1),"u_y");
101  u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());
102
103  opticalFlowGroupBox=new GroupBox(GetJoystick()->GetTab()->NewRow(),"consignes fo");
104  maxXSpeed=new DoubleSpinBox(opticalFlowGroupBox->NewRow(),"debattement x"," m/s",-5,5,0.1,1);
105  maxYSpeed=new DoubleSpinBox(opticalFlowGroupBox->LastRowLastCol(),"debattement y"," m/s",-5,5,0.1,1);
106 
107  Tab* opticalFlowRealTab=new Tab(getFrameworkManager()->GetTabWidget(),"real speed");
108  opticalFlowRealSpeed=new cvmatrix((const Thread*)this,2,1,floatType);
109  opticalFlowReference=new cvmatrix((const Thread*)this,2,1,floatType);
110  opticalFlowRealAcceleration=new cvmatrix((const Thread*)this,2,1,floatType);
111  DataPlot1D* xRealVelocityPlot=new DataPlot1D(opticalFlowRealTab->NewRow(),"x speed (m/s)",-2,2);
112  DataPlot1D* yRealVelocityPlot=new DataPlot1D(opticalFlowRealTab->LastRowLastCol(),"y speed (m/s)",-2,2);
113  DataPlot1D* xRealAccelerationPlot=new DataPlot1D(opticalFlowRealTab->NewRow(),"x acceleration (m/s2)",-2,2);
114  DataPlot1D* yRealAccelerationPlot=new DataPlot1D(opticalFlowRealTab->LastRowLastCol(),"y acceleration (m/s2)",-2,2);
115  xRealVelocityPlot->AddCurve(opticalFlowRealSpeed->Element(0));
116  xRealVelocityPlot->AddCurve(opticalFlowReference->Element(0),DataPlot::Blue,"consigne");
117  yRealVelocityPlot->AddCurve(opticalFlowRealSpeed->Element(1));
118  yRealVelocityPlot->AddCurve(opticalFlowReference->Element(1),DataPlot::Blue,"consigne");
119  xRealAccelerationPlot->AddCurve(opticalFlowRealAcceleration->Element(0));
120  yRealAccelerationPlot->AddCurve(opticalFlowRealAcceleration->Element(1));
121
122  customReferenceOrientation= new AhrsData(this,"reference");
123  uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
124  AddDataToControlLawLog(customReferenceOrientation);
125}
126
127void DemoOpticalFlow::SignalEvent(Event_t event) {
128    switch(event) {
129    case Event_t::EnteringControlLoop:
130        opticalFlowReference->SetValue(0,0,GetJoystick()->GetAxisValue(1)*maxXSpeed->Value());//joy axis 0 maps to x displacement
131        opticalFlowReference->SetValue(1,0,GetJoystick()->GetAxisValue(0)*maxYSpeed->Value());//joy axis 1 maps to y displacement
132        float focal=271.76;
133        float z,dz;
134        AltitudeValues(z, dz);
135        float scale=z/focal;
136        opticalFlowRealSpeed->SetValue(0,0,opticalFlowSpeed->Output(0,0)*scale);
137        opticalFlowRealSpeed->SetValue(1,0,opticalFlowSpeed->Output(1,0)*scale);
138        opticalFlowRealAcceleration->SetValue(0,0,opticalFlowAcceleration->Output(0,0)*scale);
139        opticalFlowRealAcceleration->SetValue(1,0,opticalFlowAcceleration->Output(1,0)*scale);
140        break;
141    }
142}
143
144void DemoOpticalFlow::StartOpticalFlow(void) {
145        if (SetOrientationMode(OrientationMode_t::Custom)) {
146                        Thread::Info("(Re)entering optical flow mode\n");
147                        u_x->Reset();
148                        u_y->Reset();
149        } else {
150                        Thread::Warn("Could not enter optical flow mode\n");
151        }
152}
153
154void DemoOpticalFlow::ExtraCheckPushButton(void) {
155        if(startOpticalflow->Clicked()) {
156            StartOpticalFlow();
157        }
158}
159
160void DemoOpticalFlow::ExtraCheckJoystick(void) {
161    static bool wasOpticalFlowModeButtonPressed=false;
162    // controller button R1 enters optical flow mode
163    if(GetJoystick()->IsButtonPressed(9)) { // R1
164        if (!wasOpticalFlowModeButtonPressed) {
165            wasOpticalFlowModeButtonPressed=true;
166            StartOpticalFlow();
167        }
168    } else {
169        wasOpticalFlowModeButtonPressed=false;
170    }
171}
172
173const AhrsData *DemoOpticalFlow::GetReferenceOrientation(void) {
174    Euler refAngles=GetDefaultReferenceOrientation()->GetQuaternion().ToEuler();//to keep default yaw reference
175
176    // /!\ 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
177    Vector2D error, errorVariation; // in Uav coordinate system
178
179    error.x=opticalFlowRealSpeed->Value(0,0)-opticalFlowReference->Value(0,0);
180    error.y=opticalFlowRealSpeed->Value(1,0)-opticalFlowReference->Value(1,0);
181    errorVariation.x=opticalFlowRealAcceleration->Value(0,0);
182    errorVariation.y=opticalFlowRealAcceleration->Value(1,0);
183//Printf("Altitude=%f, Error=(%f,%f)\n",z,error.x,error.y);
184
185    u_x->SetValues(error.x, errorVariation.x);
186    u_x->Update(GetTime());
187    refAngles.pitch=u_x->Output();
188
189    u_y->SetValues(error.y, errorVariation.y);
190    u_y->Update(GetTime());
191    refAngles.roll=-u_y->Output();
192
193    customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3D(0,0,0));
194
195    return customReferenceOrientation;
196}
197
198DemoOpticalFlow::~DemoOpticalFlow() {
199}
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