source: flair-src/trunk/lib/FlairVisionFilter/src/OpticalFlow.cpp@ 144

Last change on this file since 144 was 144, checked in by Bayard Gildas, 6 years ago

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1// created: 2012/04/12
2// filename: OpticalFlow.cpp
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: calcul flux optique lk
10//
11//
12/*********************************************************************/
13
14#include "OpticalFlow.h"
15#include "OpticalFlowData.h"
16#include <cvimage.h>
17#include <Layout.h>
18#include <GroupBox.h>
19#include <SpinBox.h>
20//#include <algorithm>
21#include <OneAxisRotation.h>
22#include <Vector3D.h>
23#include <typeinfo>
24
25#define LEVEL_PYR 2
26
27using std::string;
28using std::swap;
29using namespace flair::core;
30using namespace flair::gui;
31
32namespace flair
33{
34namespace filter
35{
36
37OpticalFlow::OpticalFlow(const IODevice* parent,const LayoutPosition* position,string name) : IODevice(parent,name)
38{
39 Printf("optical flow: voir pour faire du multiple output\n");//pour pts A et B, found et error
40
41 try{
42 cvimage::Type const &imageType=dynamic_cast<cvimage::Type const &>(parent->GetOutputDataType());
43 pyr=cvCreateImage(cvSize(imageType.GetWidth(),imageType.GetHeight()),IPL_DEPTH_8U,1);
44 pyr_old=cvCreateImage(cvSize(imageType.GetWidth(),imageType.GetHeight()),IPL_DEPTH_8U,1);
45
46 } catch(std::bad_cast& bc) {
47 Err("io type mismatch\n");
48 pyr=NULL;
49 pyr_old=NULL;
50 }
51
52 is_init=false;
53
54 GroupBox* reglages_groupbox=new GroupBox(position,name);
55 rotation=new OneAxisRotation(reglages_groupbox->NewRow(),"post rotation");
56 max_features=new SpinBox(reglages_groupbox->NewRow(),"max features:",1,65535,1,1);
57
58 output=new OpticalFlowData(parent,max_features->Value());
59
60 pointsA=(CvPoint *)cvAlloc(max_features->Value()*sizeof(CvPoint));
61 pointsB=(CvPoint *)cvAlloc(max_features->Value()*sizeof(CvPoint));
62
63 found_feature=(char *)cvAlloc(max_features->Value()*sizeof(char));
64 feature_error=(unsigned int *)cvAlloc(max_features->Value()*sizeof(unsigned int));
65}
66
67OpticalFlow::~OpticalFlow(void)
68{
69 cvReleaseImage(&pyr);
70 cvReleaseImage(&pyr_old);
71 cvFree(&pointsA);
72 cvFree(&pointsB);
73 cvFree(&found_feature);
74 cvFree(&feature_error);
75}
76
77void OpticalFlow::UpdateFrom(const io_data *data)
78{
79 IplImage *gimg=((cvimage*)data)->img;
80 IplImage *gimg_old=((cvimage*)data->Prev(1))->img;
81
82 unsigned int count;
83 CvSize window = cvSize(3,3);
84 CvTermCriteria termination_criteria = cvTermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 );
85 unsigned int i;
86
87 if(max_features->ValueChanged()==true) {
88 cvFree(&pointsA);
89 cvFree(&pointsB);
90 cvFree(&found_feature);
91 cvFree(&feature_error);
92 pointsA=(CvPoint *)cvAlloc(max_features->Value()*sizeof(CvPoint));
93 pointsB=(CvPoint *)cvAlloc(max_features->Value()*sizeof(CvPoint));
94 found_feature=(char *)cvAlloc(max_features->Value()*sizeof(char));
95 feature_error=(unsigned int *)cvAlloc(max_features->Value()*sizeof(unsigned int));
96
97 output->Resize(max_features->Value());
98 }
99/*
100 if(is_init==false)
101 {
102 data->GetMutex();
103 //init image old
104 dspPyrDown(gimg,pyr_old,LEVEL_PYR);
105 data->ReleaseMutex();
106 is_init=true;
107 printf("ajouter mise a 0 des points\n");
108 return;
109 }
110
111 data->GetMutex();
112 data->Prev(1)->GetMutex();
113
114 //select good features
115 count=max_features->Value();
116 dspGoodFeaturesToTrack(gimg_old,pointsA,&count,0.08,5);
117 //pyramide
118 dspPyrDown(gimg,pyr,LEVEL_PYR);
119 //lk
120 dspCalcOpticalFlowPyrLK(gimg_old,gimg,pyr_old,pyr,pointsA,pointsB,count,window,LEVEL_PYR,found_feature,feature_error,termination_criteria,0) ;
121
122 data->Prev(1)->ReleaseMutex();
123 data->ReleaseMutex();
124*/
125 //apply rotation
126 for(i=0;i<count;i++) {
127 Vector3D tmp;
128 tmp.x=pointsA[i].x;
129 tmp.y=pointsA[i].y;
130 tmp.z=0;
131 rotation->ComputeRotation(tmp);
132 pointsA[i].x=tmp.x;
133 pointsA[i].y=tmp.y;
134
135 tmp.x=pointsB[i].x;
136 tmp.y=pointsB[i].y;
137 tmp.z=0;
138 rotation->ComputeRotation(tmp);
139 pointsB[i].x=tmp.x;
140 pointsB[i].y=tmp.y;
141 }
142
143 output->GetMutex();
144 CvPoint2D32f* pointsBf= output->PointsB();
145 for(i=0;i<count;i++)
146 {
147 pointsBf[i].x=pointsA[i].x+((float)pointsB[i].x)/256;
148 pointsBf[i].y=pointsA[i].y+((float)pointsB[i].y)/256;
149 }
150 output->ReleaseMutex();
151
152 output->SetPointsA(pointsA);
153 output->SetFoundFeature(found_feature);
154 output->SetFeatureError(feature_error);
155 output->SetNbFeatures(count);
156
157 //rotation
158 swap(pyr,pyr_old);
159
160 output->SetDataTime(data->DataTime());
161 ProcessUpdate(output);
162}
163
164} // end namespace filter
165} // end namespace flair
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