[10] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[10] | 4 | // %flair:license}
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[7] | 5 | // created: 2011/05/01
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| 6 | // filename: LowPassFilter_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet permettant le calcul d'un filtre passe bas
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "LowPassFilter_impl.h"
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| 19 | #include "LowPassFilter.h"
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| 20 | #include <cvmatrix.h>
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| 21 | #include <Layout.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <SpinBox.h>
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| 24 | #include <DoubleSpinBox.h>
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| 25 |
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| 26 | #define PI ((float)3.14159265358979323846)
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| 27 |
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| 28 | using std::string;
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| 29 | using namespace flair::core;
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| 30 | using namespace flair::gui;
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| 31 | using namespace flair::filter;
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| 32 |
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[15] | 33 | LowPassFilter_impl::LowPassFilter_impl(const LowPassFilter *self,
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| 34 | const LayoutPosition *position,
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| 35 | string name,
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| 36 | const cvmatrix *init_value) {
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[7] | 37 |
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[15] | 38 | if (init_value != NULL) {
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[147] | 39 | // init output matrix of same size as init
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| 40 | cvmatrix_descriptor *desc =new cvmatrix_descriptor(init_value->Rows(), init_value->Cols());
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| 41 |
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| 42 | for (int i = 0; i < init_value->Rows(); i++) {
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| 43 | for (int j = 0; j < init_value->Cols(); j++) {
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| 44 | desc->SetElementName(i, j, init_value->Name(i, j));
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| 45 | }
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| 46 | }
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| 47 | output = new cvmatrix(self, desc,init_value->GetDataType().GetElementDataType(), name);
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| 48 | for (int i = 0; i < init_value->Rows(); i++) {
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| 49 | for (int j = 0; j < init_value->Cols(); j++) {
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| 50 | output->SetValue(i, j, init_value->Value(i,j));
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| 51 | }
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| 52 | }
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[148] | 53 | delete desc;
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[15] | 54 | } else {
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| 55 | // if NULL, assume dimension 1, and init=0
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| 56 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(1, 1);
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| 57 | desc->SetElementName(0, 0, "output");
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[147] | 58 | output = new cvmatrix(self, desc, floatType, name);
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[148] | 59 | delete desc;
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[15] | 60 | }
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[7] | 61 |
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[15] | 62 | // init UI
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| 63 | GroupBox *reglages_groupbox = new GroupBox(position, name);
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| 64 | T = new DoubleSpinBox(reglages_groupbox->NewRow(), "period, 0 for auto", " s",
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| 65 | 0, 10, 0.01);
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| 66 | freq = new DoubleSpinBox(reglages_groupbox->NewRow(), "cutoff frequency",
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| 67 | " Hz", 0, 10000, 0.1, 2, 1);
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[147] | 68 |
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| 69 | previous_time=GetTime();
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[7] | 70 | }
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| 71 |
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[15] | 72 | LowPassFilter_impl::~LowPassFilter_impl() {}
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[7] | 73 |
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[15] | 74 | void LowPassFilter_impl::UpdateFrom(const io_data *data) {
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| 75 | float delta_t;
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| 76 | cvmatrix *input = (cvmatrix *)data;
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[7] | 77 |
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[15] | 78 | // on prend une fois pour toute les mutex et on fait des accès directs
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| 79 | output->GetMutex();
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| 80 | input->GetMutex();
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[7] | 81 |
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[147] | 82 | if (T->Value() == 0) {
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| 83 | delta_t = (float)(data->DataTime() - previous_time) / 1000000000.;
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[15] | 84 | } else {
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[147] | 85 | delta_t = T->Value();
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| 86 | }
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| 87 | for (int i = 0; i < input->Rows(); i++) {
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| 88 | for (int j = 0; j < input->Cols(); j++) {
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| 89 | float cutoff=freq->Value();
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| 90 | if (cutoff == 0 || freq->ValueChanged()) {
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| 91 | output->SetValueNoMutex(i, j, input->ValueNoMutex(i, j));
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| 92 | } else {
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| 93 | output->SetValueNoMutex(i, j, (1 - 2 * PI * cutoff * delta_t) *
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| 94 | output->ValueNoMutex(i, j) +
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| 95 | 2 * PI * cutoff * delta_t *
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| 96 | input->ValueNoMutex(i, j));
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[15] | 97 | }
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[7] | 98 | }
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[15] | 99 | }
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[147] | 100 |
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[15] | 101 | input->ReleaseMutex();
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| 102 | output->ReleaseMutex();
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[7] | 103 |
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[15] | 104 | output->SetDataTime(data->DataTime());
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| 105 | previous_time = data->DataTime();
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[7] | 106 | }
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