[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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[338] | 34 | class OpticalFlowCompensated_impl {
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| 35 | public:
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| 36 | OpticalFlowCompensated_impl(flair::filter::OpticalFlowCompensated *self,const flair::filter::Ahrs *ahrs, const LayoutPosition* position, string name): ahrs(ahrs), output(NULL) {
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| 37 | this->self=self;
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| 38 | previousStepsAngularRates=new Vector3Df*[10];
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| 39 | for (int i=0; i<10; i++) previousStepsAngularRates[i]=NULL;
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| 40 | previousStepsAngularRatesIndex=0;
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[274] | 41 |
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[338] | 42 | GroupBox* reglages_groupbox=new GroupBox(position,name);
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| 43 | //TODO: the gyroDelay is set to compensate for the time difference between image snapshot et gyro measurements
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| 44 | //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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| 45 | //here it is approximated by 2 video frames
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| 46 | gyroDelay=new SpinBox(reglages_groupbox->NewRow(),"gyro delay (in video frames):",0,10,1,2);
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| 47 | gyroGain=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"gyro gain:",0.,500.,10.,2,300.);
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[274] | 48 |
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[338] | 49 |
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| 50 | }
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[274] | 51 |
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[338] | 52 | ~OpticalFlowCompensated_impl() {
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| 53 | delete output;
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| 54 | }
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| 55 |
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| 56 | void UpdateFrom(const io_data *data){
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| 57 | flair::filter::OpticalFlowData *input=(flair::filter::OpticalFlowData *)data;
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| 58 | if (!output) { //first pass
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| 59 | output=new flair::filter::OpticalFlowData(self,input->MaxFeatures(),input->ObjectName()+"_filtered");
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| 60 | previousTime=input->DataTime();
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| 61 | return;
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| 62 | }
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| 63 | // 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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| 64 | // float kY=240/Euler::ToRadian(70); //TEST: only for default simuCameraGL. fov=70° and image height=240
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| 65 | float kX=gyroGain->Value();
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| 66 | float kY=gyroGain->Value();
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| 67 | float deltaT=(input->DataTime()-previousTime)/(1000*1000*1000.);
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| 68 | previousTime=input->DataTime();
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[274] | 69 |
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[338] | 70 | int delayedIndex=previousStepsAngularRatesIndex-gyroDelay->Value(); // Ahhh décalage, esprit canal...
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| 71 | if (delayedIndex<0) delayedIndex+=10;
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[274] | 72 |
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[338] | 73 | if (!previousStepsAngularRates[previousStepsAngularRatesIndex]) {
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| 74 | previousStepsAngularRates[previousStepsAngularRatesIndex]=new Vector3Df();
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| 75 | }
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| 76 | *previousStepsAngularRates[previousStepsAngularRatesIndex++]=ahrs->GetDatas()->GetAngularRates();
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[274] | 77 |
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[338] | 78 | if (!previousStepsAngularRates[delayedIndex]) return;
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| 79 | float rotationFlowX=previousStepsAngularRates[delayedIndex]->y*deltaT*kY;
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| 80 | float rotationFlowY=-previousStepsAngularRates[delayedIndex]->x*deltaT*kX;
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| 81 | if (previousStepsAngularRatesIndex==10) previousStepsAngularRatesIndex=0;
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| 82 | input->GetMutex();
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| 83 | output->GetMutex();
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[274] | 84 |
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[338] | 85 | for (int i=0; i<input->NbFeatures(); i++) {
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| 86 | output->PointsA()[i].x=input->PointsA()[i].x;
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| 87 | output->PointsA()[i].y=input->PointsA()[i].y;
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| 88 | output->PointsB()[i].x=input->PointsB()[i].x-rotationFlowX;
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| 89 | output->PointsB()[i].y=input->PointsB()[i].y-rotationFlowY;
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| 90 | }
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| 91 | output->SetNbFeatures(input->NbFeatures());
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| 92 | output->SetFoundFeature(input->FoundFeature());
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| 93 | output->SetFeatureError(input->FeatureError());
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[274] | 94 |
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[338] | 95 | output->ReleaseMutex();
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| 96 | input->ReleaseMutex();
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[274] | 97 |
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[338] | 98 | output->SetDataTime(input->DataTime());
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| 99 |
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| 100 | };
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| 101 |
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| 102 | flair::filter::OpticalFlowData *output;
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[274] | 103 |
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[338] | 104 | private:
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| 105 | flair::filter::OpticalFlowCompensated *self;
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| 106 | Time previousTime;
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| 107 | const flair::filter::Ahrs *ahrs;
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| 108 | Vector3Df **previousStepsAngularRates;
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| 109 | unsigned int previousStepsAngularRatesIndex;
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| 110 | SpinBox *gyroDelay;
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| 111 | DoubleSpinBox *gyroGain;
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| 112 | };
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[274] | 113 |
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[338] | 114 |
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| 115 | namespace flair {
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| 116 | namespace filter {
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| 117 |
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| 118 | OpticalFlowCompensated::OpticalFlowCompensated(const OpticalFlow *parent, const Ahrs *ahrs, const LayoutPosition* position, string name) : IODevice(parent, name) {
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| 119 | pimpl_=new OpticalFlowCompensated_impl(this,ahrs,position,name);
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| 120 |
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[274] | 121 | }
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| 122 |
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[338] | 123 | OpticalFlowCompensated::~OpticalFlowCompensated() {
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| 124 | delete pimpl_;
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| 125 | }
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[274] | 126 |
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[338] | 127 | void OpticalFlowCompensated::UpdateFrom(const io_data *data) {
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| 128 | pimpl_->UpdateFrom(data);
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| 129 | ProcessUpdate(pimpl_->output);
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| 130 | }
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| 131 |
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| 132 |
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[274] | 133 | } // end namespace filter
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| 134 | } // end namespace flair
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