source: flair-src/trunk/lib/FlairVisionFilter/src/OpticalFlowSpeed.cpp @ 148

Last change on this file since 148 was 148, checked in by Sanahuja Guillaume, 4 years ago

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File size: 1.9 KB
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1//  created:    2012/04/12
2//  filename:   OpticalFlowSpeed.cpp
3//
4//  author:     Guillaume Sanahuja
5//              Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7//  version:    $Id: $
8//
9//  purpose:    calcul de la vitesse à partir du flux optique
10//
11//
12/*********************************************************************/
13
14#include "OpticalFlowSpeed.h"
15#include "OpticalFlowData.h"
16#include <cvmatrix.h>
17#include <Object.h>
18
19using std::string;
20using namespace flair::core;
21
22namespace flair
23{
24namespace filter
25{
26
27OpticalFlowSpeed::OpticalFlowSpeed(const IODevice* parent,string name) : IODevice(parent,name)
28{
29  cvmatrix_descriptor* desc=new cvmatrix_descriptor(2,1);
30  desc->SetElementName(0,0,"vx");
31  desc->SetElementName(1,0,"vy");
32  output=new cvmatrix(this,desc,floatType,name);
33  delete desc;
34
35        AddDataToLog(output);
36}
37
38OpticalFlowSpeed::~OpticalFlowSpeed(void)
39{
40}
41
42void OpticalFlowSpeed::UpdateFrom(const io_data *data)
43{
44    OpticalFlowData *input=(OpticalFlowData*)data;
45    float deplx,deply;
46    int nb_depl=0;
47
48    deplx=0;
49    deply=0;
50
51    input->GetMutex();
52    for(int i=0;i<input->NbFeatures();i++) {
53        if(input->FoundFeature()[i]!=0) {
54            deplx+=input->PointsB()[i].x-input->PointsA()[i].x;
55            deply+=input->PointsB()[i].y-input->PointsA()[i].y;
56            nb_depl++;
57        }
58    }
59    input->ReleaseMutex();
60    Time deltaT=data->DataTime()-output->DataTime();
61    output->SetDataTime(data->DataTime());
62
63    if(nb_depl!=0) {
64        output->SetValue(0,0,deplx/(nb_depl*deltaT)*1000*1000*1000);
65        output->SetValue(1,0,deply/(nb_depl*deltaT)*1000*1000*1000);
66    }
67
68    ProcessUpdate(output);
69}
70
71float OpticalFlowSpeed::Vx(void) const
72{
73    return output->Value(0,0);
74}
75
76float OpticalFlowSpeed::Vy(void) const
77{
78    return output->Value(1,0);
79}
80
81core::cvmatrix *OpticalFlowSpeed::Output() const
82{
83    return output;
84}
85} // end namespace filter
86} // end namespace flair
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