source: flair-src/trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.h@ 137

Last change on this file since 137 was 124, checked in by Sanahuja Guillaume, 6 years ago

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File size: 1.7 KB
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1// created: 2011/05/01
2// filename: DemoOpticalFlow.h
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
15#ifndef DEMOOPTICALFLOW_H
16#define DEMOOPTICALFLOW_H
17
18#include <UavStateMachine.h>
19
20namespace flair {
21 namespace core {
22 class cvmatrix;
23 }
24 namespace gui {
25 class GroupBox;
26 class DoubleSpinBox;
27 class PushButton;
28 }
29 namespace filter {
30 class OpticalFlow;
31 class OpticalFlowSpeed;
32 class LowPassFilter;
33 class CvtColor;
34 }
35 namespace sensor {
36 class TargetController;
37 }
38}
39
40class DemoOpticalFlow : public flair::meta::UavStateMachine {
41
42 public:
43 DemoOpticalFlow(flair::sensor::TargetController *controller);
44 ~DemoOpticalFlow();
45
46 protected:
47 void SignalEvent(Event_t event);
48 void ExtraCheckJoystick(void);
49 void ExtraCheckPushButton(void);
50 const flair::core::AhrsData *GetReferenceOrientation(void);
51
52 flair::gui::GroupBox* opticalFlowGroupBox;
53 flair::gui::DoubleSpinBox *maxXSpeed,*maxYSpeed;
54 flair::core::cvmatrix *opticalFlowReference;
55 flair::filter::Pid *u_x, *u_y;
56 flair::filter::LowPassFilter* opticalFlowSpeedFiltered;
57 flair::filter::CvtColor* greyCameraImage;
58 flair::core::AhrsData *customReferenceOrientation;
59
60 private:
61 flair::filter::OpticalFlow *opticalFlow;
62 flair::filter::OpticalFlowSpeed *opticalFlowSpeed;
63 flair::gui::PushButton *startOpticalflow,*stopOpticalflow;
64 void StartOpticalFlow(void);
65};
66
67#endif // DEMOOPTICALFLOW_H
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