[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 | /*!
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| 6 | * \file OpticalFlowCompensated.h
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| 7 | * \brief Compensate optical flow data for rotations
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| 8 | * \author Gildas Bayard, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2017/02/17
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| 10 | * \version 1.0
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| 11 | */
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| 12 |
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| 13 | #ifndef OPTICALFLOWCOMPENSATED_H_
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| 14 | #define OPTICALFLOWCOMPENSATED_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 | #include <Object.h>
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| 18 | #include <Vector3D.h>
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| 19 |
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| 20 | namespace flair {
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| 21 | namespace core {
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| 22 | class io_data;
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| 23 | class Matrix;
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| 24 | }
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| 25 | namespace gui {
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| 26 | class LayoutPosition;
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| 27 | class SpinBox;
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| 28 | class DoubleSpinBox;
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| 29 | }
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| 30 | namespace filter {
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| 31 | class Ahrs;
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| 32 | class OpticalFlow;
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| 33 | class OpticalFlowData;
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| 34 | }
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| 35 | }
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| 36 |
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| 37 | namespace flair { namespace filter {
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| 38 |
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| 39 | /*! \class OpticalFlowCompensated
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| 40 | *
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| 41 | * \brief Compensate optical flow data for rotations
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| 42 | *
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| 43 | */
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| 44 | class OpticalFlowCompensated : public core::IODevice {
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| 45 | public:
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| 46 | /*!
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| 47 | * \brief Constructor
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| 48 | *
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| 49 | * Construct an optical flow compensated filter
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| 50 | *
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| 51 | * \param parent parent
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| 52 | * \param name name
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| 53 | * \param ahrs ahrs object used to get rotational speed
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| 54 | */
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| 55 | OpticalFlowCompensated(const filter::OpticalFlow *parent, const filter::Ahrs *ahrs, const gui::LayoutPosition* position, std::string name);
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| 56 |
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| 57 | /*!
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| 58 | * \brief Destructor
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| 59 | *
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| 60 | */
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| 61 | ~OpticalFlowCompensated();
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| 62 |
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| 63 | void UpdateFrom(const core::io_data *data);
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| 64 |
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| 65 | core::Matrix *GetFirstPointDisplacement() const;
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| 66 | private:
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| 67 | OpticalFlowData *output;
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| 68 | core::Time previousTime;
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| 69 | const Ahrs *ahrs;
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| 70 | core::Matrix *firstPointDisplacement;
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| 71 | core::Vector3Df **previousStepsAngularRates;
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| 72 | unsigned int previousStepsAngularRatesIndex;
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| 73 | gui::SpinBox *gyroDelay;
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| 74 | gui::DoubleSpinBox *gyroGain;
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| 75 | };
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| 76 |
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| 77 | }} // end namespace flair::filter
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| 78 | #endif // OPTICALFLOWCOMPENSATED_H
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