source: flair-src/trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp @ 274

Last change on this file since 274 was 274, checked in by Sanahuja Guillaume, 2 years ago

opticalflow modif

File size: 9.7 KB
Line 
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 <V4LCamera.h>
18#include <CvtColor.h>
19#include <OpticalFlow.h>
20#include <OpticalFlowCompensated.h>
21#include <OpticalFlowSpeed.h>
22#include <LowPassFilter.h>
23#include <EulerDerivative.h>
24#include <Matrix.h>
25#include <GridLayout.h>
26#include <DataPlot1D.h>
27#include <Tab.h>
28#include <TabWidget.h>
29#include <GroupBox.h>
30#include <DoubleSpinBox.h>
31#include <PushButton.h>
32#include <FrameworkManager.h>
33#include <MetaDualShock3.h>
34#include <Vector2D.h>
35#include <AhrsData.h>
36#include <Ahrs.h>
37#include <Pid.h>
38
39#include <stdio.h>
40
41using namespace std;
42using namespace flair::core;
43using namespace flair::gui;
44using namespace flair::filter;
45using namespace flair::meta;
46using namespace flair::sensor;
47
48DemoOpticalFlow::DemoOpticalFlow(TargetController *controller): UavStateMachine(controller) {
49  Uav* uav=GetUav();
50        if (uav->GetVerticalCamera() == NULL) {
51                                Err("no vertical camera found\n");
52        exit(1);
53    }
54       
55        startOpticalflow=new PushButton(GetButtonsLayout()->NewRow(),"start optical flow");
56
57        greyCameraImage=new CvtColor(uav->GetVerticalCamera(),"gray",CvtColor::Conversion_t::ToGray);
58
59        uav->GetVerticalCamera()->UseDefaultPlot(greyCameraImage->Output()); // Le defaultPlot de la caméra peut afficher n'importe quoi?
60
61        //optical flow stack
62  //opticalFlow= matrice de déplacements en pixels entre 2 images consécutives
63  opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");
64  opticalFlowCompensated=new OpticalFlowCompensated(opticalFlow,uav->GetAhrs(),uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique compense");
65  opticalFlowSpeedRaw=new OpticalFlowSpeed(opticalFlowCompensated,uav->GetVerticalCamera()->GetLayout()->NewRow(),"vitesse du Flux Optique");
66  //opticalFlowSpeed=vitesse de déplacement en pixels par seconde (moyenne sur tous les points et division par le delta T)
67  Matrix* twoByOneOFS=new Matrix((const Thread*)this,2,1,floatType);
68  Matrix* twoByOneOFAR=new Matrix((const Thread*)this,2,1,floatType);
69  Matrix* twoByOneOFA=new Matrix((const Thread*)this,2,1,floatType);
70  opticalFlowSpeed=new LowPassFilter(opticalFlowSpeedRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Speed lowPass",twoByOneOFS);
71  opticalFlowAccelerationRaw=new EulerDerivative(opticalFlowSpeed,uav->GetVerticalCamera()->GetLayout()->NewRow(),"derivative",twoByOneOFAR);
72  opticalFlowAcceleration=new LowPassFilter(opticalFlowAccelerationRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Acceleration lowPass",twoByOneOFA);
73 
74  getFrameworkManager()->AddDeviceToLog(opticalFlowSpeedRaw);
75
76  Tab* opticalFlowTab=new Tab(getFrameworkManager()->GetTabWidget(),"flux optique");
77  DataPlot1D* xVelocityPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x speed (px/s)",-250,250);
78  DataPlot1D* yVelocityPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y speed (px/s)",-250,250);
79  DataPlot1D* xFirstPointPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x movement first point",-25,25);
80  DataPlot1D* yFirstPointPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y movement first point",-25,25);
81//  DataPlot1D* xAccelerationPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x_acceleration",-250,250);
82//  DataPlot1D* yAccelerationPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y_acceleration",-250,250);
83
84  xVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(0,0));
85  xVelocityPlot->AddCurve(opticalFlowSpeed->GetMatrix()->Element(0,0),DataPlot::Blue);
86  yVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(1,0));
87  yVelocityPlot->AddCurve(opticalFlowSpeed->GetMatrix()->Element(1,0),DataPlot::Blue);
88  xFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(0,0));
89  xFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(1,0),DataPlot::Blue);
90  xFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(2,0),DataPlot::Green);
91  yFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(0,1));
92  yFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(1,1),DataPlot::Blue);
93  yFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(2,1),DataPlot::Green);
94//  xAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(0,0));
95//  xAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(0,0),DataPlot::Blue);
96//  yAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(1,0));
97//  yAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(1,0),DataPlot::Blue);
98
99  u_x=new Pid(setupLawTab->At(1,0),"u_x");
100  u_x->UseDefaultPlot(graphLawTab->NewRow());
101  u_y=new Pid(setupLawTab->At(1,1),"u_y");
102  u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());
103
104  opticalFlowGroupBox=new GroupBox(GetJoystick()->GetTab()->NewRow(),"consignes fo");
105  maxXSpeed=new DoubleSpinBox(opticalFlowGroupBox->NewRow(),"debattement x"," m/s",-5,5,0.1,1);
106  maxYSpeed=new DoubleSpinBox(opticalFlowGroupBox->LastRowLastCol(),"debattement y"," m/s",-5,5,0.1,1);
107 
108  Tab* opticalFlowRealTab=new Tab(getFrameworkManager()->GetTabWidget(),"real speed");
109  opticalFlowRealSpeed=new Matrix((const Thread*)this,2,1,floatType);
110  opticalFlowReference=new Matrix((const Thread*)this,2,1,floatType);
111  opticalFlowRealAcceleration=new Matrix((const Thread*)this,2,1,floatType);
112  DataPlot1D* xRealVelocityPlot=new DataPlot1D(opticalFlowRealTab->NewRow(),"x speed (m/s)",-2,2);
113  DataPlot1D* yRealVelocityPlot=new DataPlot1D(opticalFlowRealTab->LastRowLastCol(),"y speed (m/s)",-2,2);
114  DataPlot1D* xRealAccelerationPlot=new DataPlot1D(opticalFlowRealTab->NewRow(),"x acceleration (m/s2)",-2,2);
115  DataPlot1D* yRealAccelerationPlot=new DataPlot1D(opticalFlowRealTab->LastRowLastCol(),"y acceleration (m/s2)",-2,2);
116  xRealVelocityPlot->AddCurve(opticalFlowRealSpeed->Element(0));
117  xRealVelocityPlot->AddCurve(opticalFlowReference->Element(0),DataPlot::Blue,"consigne");
118  yRealVelocityPlot->AddCurve(opticalFlowRealSpeed->Element(1));
119  yRealVelocityPlot->AddCurve(opticalFlowReference->Element(1),DataPlot::Blue,"consigne");
120  xRealAccelerationPlot->AddCurve(opticalFlowRealAcceleration->Element(0));
121  yRealAccelerationPlot->AddCurve(opticalFlowRealAcceleration->Element(1));
122
123  customReferenceOrientation= new AhrsData(this,"reference");
124  uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
125  AddDataToControlLawLog(customReferenceOrientation);
126 
127  flagCameraLost=false;
128}
129
130void DemoOpticalFlow::SignalEvent(Event_t event) {
131    switch(event) {
132    case Event_t::EnteringControlLoop:
133        opticalFlowReference->SetValue(0,0,GetJoystick()->GetAxisValue(1)*maxXSpeed->Value());//joy axis 0 maps to x displacement
134        opticalFlowReference->SetValue(1,0,GetJoystick()->GetAxisValue(0)*maxYSpeed->Value());//joy axis 1 maps to y displacement
135        float focal=271.76;
136        float z,dz;
137        AltitudeValues(z, dz);
138        float scale=z/focal;
139        opticalFlowRealSpeed->SetValue(0,0,opticalFlowSpeed->Output(0,0)*scale);
140        opticalFlowRealSpeed->SetValue(1,0,opticalFlowSpeed->Output(1,0)*scale);
141        opticalFlowRealAcceleration->SetValue(0,0,opticalFlowAcceleration->Output(0,0)*scale);
142        opticalFlowRealAcceleration->SetValue(1,0,opticalFlowAcceleration->Output(1,0)*scale);
143        break;
144    }
145}
146
147void DemoOpticalFlow::StartOpticalFlow(void) {
148        if (SetOrientationMode(OrientationMode_t::Custom)) {
149                        Thread::Info("(Re)entering optical flow mode\n");
150                        u_x->Reset();
151                        u_y->Reset();
152        } else {
153                        Thread::Warn("Could not enter optical flow mode\n");
154        }
155}
156
157void DemoOpticalFlow::ExtraCheckPushButton(void) {
158        if(startOpticalflow->Clicked()) {
159            StartOpticalFlow();
160        }
161}
162
163void DemoOpticalFlow::ExtraCheckJoystick(void) {
164    static bool wasOpticalFlowModeButtonPressed=false;
165    // controller button R1 enters optical flow mode
166    if(GetJoystick()->IsButtonPressed(9)) { // R1
167        if (!wasOpticalFlowModeButtonPressed) {
168            wasOpticalFlowModeButtonPressed=true;
169            StartOpticalFlow();
170        }
171    } else {
172        wasOpticalFlowModeButtonPressed=false;
173    }
174}
175
176const AhrsData *DemoOpticalFlow::GetReferenceOrientation(void) {
177    Euler refAngles=GetDefaultReferenceOrientation()->GetQuaternion().ToEuler();//to keep default yaw reference
178
179    // /!\ 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
180    Vector2Df error, errorVariation; // in Uav coordinate system
181
182    error.x=opticalFlowRealSpeed->Value(0,0)-opticalFlowReference->Value(0,0);
183    error.y=opticalFlowRealSpeed->Value(1,0)-opticalFlowReference->Value(1,0);
184    errorVariation.x=opticalFlowRealAcceleration->Value(0,0);
185    errorVariation.y=opticalFlowRealAcceleration->Value(1,0);
186//Printf("Altitude=%f, Error=(%f,%f)\n",z,error.x,error.y);
187
188    u_x->SetValues(error.x, errorVariation.x);
189    u_x->Update(GetTime());
190    refAngles.pitch=u_x->Output();
191
192    u_y->SetValues(error.y, errorVariation.y);
193    u_y->Update(GetTime());
194    refAngles.roll=-u_y->Output();
195
196    customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
197
198    return customReferenceOrientation;
199}
200
201void DemoOpticalFlow::ExtraSecurityCheck(void) {
202  if(GetUav()->GetType()=="hds_x8") {
203    if(((V4LCamera*)GetUav()->GetVerticalCamera())->HasProblems() && !flagCameraLost) {
204      flagCameraLost = true;
205      Thread::Err("Camera lost\n");
206      SafeStop();
207      Land();
208    }
209  }
210}
211
212DemoOpticalFlow::~DemoOpticalFlow() {
213}
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