[274] | 1 | // %flair:license{
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| 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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| 4 | // %flair:license}
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| 5 | // created: 2014/01/14
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| 6 | // filename: OpticalFlowCompensated.cpp
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| 7 | //
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| 8 | // author: Gildas Bayard
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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: Compensate optical flow data for rotations
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #include "OpticalFlowCompensated.h"
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| 18 | #include <io_data.h>
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| 19 | #include <Ahrs.h>
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| 20 | #include <AhrsData.h>
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| 21 | #include <OpticalFlow.h>
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| 22 | #include <OpticalFlowData.h>
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| 23 | #include <Euler.h>
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| 24 | #include <Matrix.h>
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| 25 | #include <Layout.h>
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| 26 | #include <GroupBox.h>
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| 27 | #include <SpinBox.h>
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| 28 | #include <DoubleSpinBox.h>
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| 29 |
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| 30 | using std::string;
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| 31 | using namespace flair::core;
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| 32 | using namespace flair::gui;
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| 33 |
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| 34 | namespace flair {
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| 35 | namespace filter {
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| 36 |
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| 37 | OpticalFlowCompensated::OpticalFlowCompensated(const OpticalFlow *parent, const Ahrs *ahrs, const LayoutPosition* position, string name) : IODevice(parent, name), ahrs(ahrs), output(NULL) {
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| 38 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(3,2);
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| 39 | desc->SetElementName(0,0,"raw displacement X");
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| 40 | desc->SetElementName(0,1,"raw displacement Y");
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| 41 | desc->SetElementName(1,0,"compensation X");
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| 42 | desc->SetElementName(1,1,"compensation Y");
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| 43 | desc->SetElementName(2,0,"displacement with compensation X");
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| 44 | desc->SetElementName(2,0,"displacement with compensation Y");
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| 45 | firstPointDisplacement=new Matrix(this,desc,floatType,name);
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| 46 | delete desc;
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| 47 | previousStepsAngularRates=new Vector3Df*[10];
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| 48 | for (int i=0; i<10; i++) previousStepsAngularRates[i]=NULL;
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| 49 | previousStepsAngularRatesIndex=0;
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| 50 |
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| 51 | GroupBox* reglages_groupbox=new GroupBox(position,name);
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| 52 | //TODO: the gyroDelay is set to compensate for the time difference between image snapshot et gyro measurements
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| 53 | //it is equal to the time between 2 images (because optical flow always lags 1 frame) + the time to compute optical flow
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| 54 | //here it is approximated by 2 video frames
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| 55 | gyroDelay=new SpinBox(reglages_groupbox->NewRow(),"gyro delay (in video frames):",0,10,1,2);
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| 56 | gyroGain=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"gyro gain:",0.,500.,10.,2,300.);
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| 57 |
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| 58 | }
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| 59 |
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| 60 | OpticalFlowCompensated::~OpticalFlowCompensated() {
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| 61 | delete output;
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| 62 | }
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| 63 |
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| 64 | void OpticalFlowCompensated::UpdateFrom(const io_data *data) {
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| 65 | OpticalFlowData *input=(OpticalFlowData *)data;
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| 66 | if (!output) { //first pass
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| 67 | output=new OpticalFlowData(this,input->MaxFeatures(),input->ObjectName()+"_filtered");
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| 68 | previousTime=input->DataTime();
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| 69 | return;
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| 70 | }
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| 71 | // float kX=320/Euler::ToRadian(70); //TEST: only for default simuCameraGL. fov=70° and image width=320 => k=320*180/(70*pi)
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| 72 | // float kY=240/Euler::ToRadian(70); //TEST: only for default simuCameraGL. fov=70° and image height=240
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| 73 | float kX=gyroGain->Value();
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| 74 | float kY=gyroGain->Value();
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| 75 | float deltaT=(input->DataTime()-previousTime)/(1000*1000*1000.);
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| 76 | previousTime=input->DataTime();
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| 77 |
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| 78 | int delayedIndex=previousStepsAngularRatesIndex-gyroDelay->Value(); // Ahhh décalage, esprit canal...
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| 79 | if (delayedIndex<0) delayedIndex+=10;
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| 80 |
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| 81 | if (!previousStepsAngularRates[previousStepsAngularRatesIndex]) {
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| 82 | previousStepsAngularRates[previousStepsAngularRatesIndex]=new Vector3Df();
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| 83 | }
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| 84 | *previousStepsAngularRates[previousStepsAngularRatesIndex++]=ahrs->GetDatas()->GetAngularRates();
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| 85 |
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| 86 | if (!previousStepsAngularRates[delayedIndex]) return;
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| 87 | float rotationFlowX=previousStepsAngularRates[delayedIndex]->y*deltaT*kY;
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| 88 | float rotationFlowY=-previousStepsAngularRates[delayedIndex]->x*deltaT*kX;
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| 89 | if (previousStepsAngularRatesIndex==10) previousStepsAngularRatesIndex=0;
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| 90 | input->GetMutex();
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| 91 | output->GetMutex();
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| 92 |
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| 93 | for (int i=0; i<input->NbFeatures(); i++) {
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| 94 | if (!i) {
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| 95 | firstPointDisplacement->SetValue(0,0,input->PointsB()[i].x-input->PointsA()[i].x);
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| 96 | firstPointDisplacement->SetValue(0,1,input->PointsB()[i].y-input->PointsA()[i].y);
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| 97 | firstPointDisplacement->SetValue(1,0,-rotationFlowX);
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| 98 | firstPointDisplacement->SetValue(1,1,-rotationFlowY);
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| 99 | firstPointDisplacement->SetValue(2,0,input->PointsB()[i].x-input->PointsA()[i].x-rotationFlowX);
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| 100 | firstPointDisplacement->SetValue(2,1,input->PointsB()[i].y-input->PointsA()[i].y-rotationFlowY);
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| 101 | }
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| 102 | output->PointsA()[i].x=input->PointsA()[i].x;
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| 103 | output->PointsA()[i].y=input->PointsA()[i].y;
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| 104 | output->PointsB()[i].x=input->PointsB()[i].x-rotationFlowX;
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| 105 | output->PointsB()[i].y=input->PointsB()[i].y-rotationFlowY;
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| 106 | }
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| 107 | output->SetNbFeatures(input->NbFeatures());
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| 108 | output->SetFoundFeature(input->FoundFeature());
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| 109 | output->SetFeatureError(input->FeatureError());
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| 110 |
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| 111 | output->ReleaseMutex();
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| 112 | input->ReleaseMutex();
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| 113 |
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| 114 | output->SetDataTime(input->DataTime());
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| 115 | ProcessUpdate(output);
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| 116 | }
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| 117 |
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| 118 | Matrix *OpticalFlowCompensated::GetFirstPointDisplacement() const {
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| 119 | return firstPointDisplacement;
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| 120 | }
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| 121 |
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| 122 | } // end namespace filter
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| 123 | } // end namespace flair
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