source: flair-src/trunk/lib/FlairVisionFilter/src/OpticalFlow.cpp@ 167

Last change on this file since 167 was 167, checked in by Sanahuja Guillaume, 6 years ago

modifs pour template vectors

File size: 4.6 KB
Line 
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 return;
51 }
52
53 is_init=false;
54
55 GroupBox* reglages_groupbox=new GroupBox(position,name);
56 rotation=new OneAxisRotation(reglages_groupbox->NewRow(),"post rotation");
57 max_features=new SpinBox(reglages_groupbox->NewRow(),"max features:",1,65535,1,1);
58
59 output=new OpticalFlowData(parent,max_features->Value());
60
61 pointsA=(CvPoint *)cvAlloc(max_features->Value()*sizeof(CvPoint));
62 pointsB=(CvPoint *)cvAlloc(max_features->Value()*sizeof(CvPoint));
63
64 found_feature=(char *)cvAlloc(max_features->Value()*sizeof(char));
65 feature_error=(unsigned int *)cvAlloc(max_features->Value()*sizeof(unsigned int));
66
67 SetIsReady(true);
68}
69
70OpticalFlow::~OpticalFlow(void)
71{
72 cvReleaseImage(&pyr);
73 cvReleaseImage(&pyr_old);
74 cvFree(&pointsA);
75 cvFree(&pointsB);
76 cvFree(&found_feature);
77 cvFree(&feature_error);
78}
79
80void OpticalFlow::UpdateFrom(const io_data *data)
81{
82 IplImage *gimg=((cvimage*)data)->img;
83 IplImage *gimg_old=((cvimage*)data->Prev(1))->img;
84
85 unsigned int count;
86 CvSize window = cvSize(3,3);
87 CvTermCriteria termination_criteria = cvTermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 );
88 unsigned int i;
89
90 if(max_features->ValueChanged()==true) {
91 cvFree(&pointsA);
92 cvFree(&pointsB);
93 cvFree(&found_feature);
94 cvFree(&feature_error);
95 pointsA=(CvPoint *)cvAlloc(max_features->Value()*sizeof(CvPoint));
96 pointsB=(CvPoint *)cvAlloc(max_features->Value()*sizeof(CvPoint));
97 found_feature=(char *)cvAlloc(max_features->Value()*sizeof(char));
98 feature_error=(unsigned int *)cvAlloc(max_features->Value()*sizeof(unsigned int));
99
100 output->Resize(max_features->Value());
101 }
102/*
103 if(is_init==false)
104 {
105 data->GetMutex();
106 //init image old
107 dspPyrDown(gimg,pyr_old,LEVEL_PYR);
108 data->ReleaseMutex();
109 is_init=true;
110 printf("ajouter mise a 0 des points\n");
111 return;
112 }
113
114 data->GetMutex();
115 data->Prev(1)->GetMutex();
116
117 //select good features
118 count=max_features->Value();
119 dspGoodFeaturesToTrack(gimg_old,pointsA,&count,0.08,5);
120 //pyramide
121 dspPyrDown(gimg,pyr,LEVEL_PYR);
122 //lk
123 dspCalcOpticalFlowPyrLK(gimg_old,gimg,pyr_old,pyr,pointsA,pointsB,count,window,LEVEL_PYR,found_feature,feature_error,termination_criteria,0) ;
124
125 data->Prev(1)->ReleaseMutex();
126 data->ReleaseMutex();
127*/
128 //apply rotation
129 for(i=0;i<count;i++) {
130 Vector3Df tmp;
131 tmp.x=pointsA[i].x;
132 tmp.y=pointsA[i].y;
133 tmp.z=0;
134 rotation->ComputeRotation(tmp);
135 pointsA[i].x=tmp.x;
136 pointsA[i].y=tmp.y;
137
138 tmp.x=pointsB[i].x;
139 tmp.y=pointsB[i].y;
140 tmp.z=0;
141 rotation->ComputeRotation(tmp);
142 pointsB[i].x=tmp.x;
143 pointsB[i].y=tmp.y;
144 }
145
146 output->GetMutex();
147 CvPoint2D32f* pointsBf= output->PointsB();
148 for(i=0;i<count;i++)
149 {
150 pointsBf[i].x=pointsA[i].x+((float)pointsB[i].x)/256;
151 pointsBf[i].y=pointsA[i].y+((float)pointsB[i].y)/256;
152 }
153 output->ReleaseMutex();
154
155 output->SetPointsA(pointsA);
156 output->SetFoundFeature(found_feature);
157 output->SetFeatureError(feature_error);
158 output->SetNbFeatures(count);
159
160 //rotation
161 swap(pyr,pyr_old);
162
163 output->SetDataTime(data->DataTime());
164 ProcessUpdate(output);
165}
166
167} // end namespace filter
168} // end namespace flair
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