Last change
on this file since 240 was 122, checked in by Sanahuja Guillaume, 7 years ago |
modifs uav vrpn i686
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File size:
1.8 KB
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[122] | 1 | /*!
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| 2 | * \file OpticalFlow.h
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| 3 | * \brief Lucas and Kanade optical flow algorithm
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| 4 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 5 | * \date 2012/04/12
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| 6 | * \version 4.0
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| 7 | */
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| 8 |
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| 9 |
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| 10 | #ifndef OPTICALFLOW_H
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| 11 | #define OPTICALFLOW_H
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| 12 |
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| 13 | #include <IODevice.h>
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| 14 | #include <cv.h>
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| 15 |
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| 16 | namespace flair
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| 17 | {
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| 18 | namespace core
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| 19 | {
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| 20 | class cvimage;
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| 21 | class OneAxisRotation;
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| 22 | }
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| 23 | namespace gui
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| 24 | {
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| 25 | class LayoutPosition;
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| 26 | class SpinBox;
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| 27 | }
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| 28 | namespace filter
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| 29 | {
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| 30 | class OpticalFlowData;
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| 31 | }
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| 32 | }
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| 33 |
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| 34 | namespace flair
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| 35 | {
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| 36 | namespace filter
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| 37 | {
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| 38 | /*! \class OpticalFlow
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| 39 | *
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| 40 | * \brief Lucas and Kanade optical flow algorithm
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| 41 | *
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| 42 | * Optical flow is done using the DSP of the DM3730.
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| 43 | */
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| 44 | class OpticalFlow : public core::IODevice
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| 45 | {
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| 46 |
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| 47 | public:
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| 48 | /*!
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| 49 | * \brief Constructor
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| 50 | *
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| 51 | * Construct an OpticalFlow filter at given position. \n
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| 52 | * After calling this function, position will be deleted as it is no longer usefull. \n
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| 53 | *
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| 54 | * \param parent parent
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| 55 | * \param position position
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| 56 | * \param name name
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| 57 | */
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| 58 | OpticalFlow(const core::IODevice* parent,const gui::LayoutPosition* position,std::string name);
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| 59 |
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| 60 | /*!
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| 61 | * \brief Destructor
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| 62 | *
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| 63 | */
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| 64 | ~OpticalFlow();
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| 65 |
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| 66 | private:
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| 67 | void UpdateFrom(const core::io_data *data);
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| 68 | OpticalFlowData *output;
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| 69 | gui::SpinBox *max_features;
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| 70 | core::OneAxisRotation* rotation;
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| 71 |
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| 72 | CvPoint* pointsA;
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| 73 | CvPoint* pointsB;
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| 74 | char *found_feature;
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| 75 | unsigned int *feature_error;
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| 76 | IplImage *pyr,*pyr_old;
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| 77 |
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| 78 | bool is_init;
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| 79 | };
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| 80 | } // end namespace filter
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| 81 | } // end namespace flair
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| 82 | #endif // OPTICALFLOW_H
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