source: flair-src/trunk/lib/FlairVisionFilter/src/OpticalFlowSpeed.cpp@ 318

Last change on this file since 318 was 318, checked in by Sanahuja Guillaume, 3 years ago
File size: 3.2 KB
Line 
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 <Matrix.h>
17#include <Object.h>
18#include <Layout.h>
19#include <GroupBox.h>
20#include <SpinBox.h>
21#include <CheckBox.h>
22#include <DoubleSpinBox.h>
23
24using std::string;
25using namespace flair::core;
26using namespace flair::gui;
27
28namespace flair { namespace filter {
29
30OpticalFlowSpeed::OpticalFlowSpeed(const IODevice* parent, const LayoutPosition* position,string name) : IODevice(parent,name) {
31 MatrixDescriptor* desc=new MatrixDescriptor(2,1);
32 desc->SetElementName(0,0,"vx");
33 desc->SetElementName(1,0,"vy");
34 output=new Matrix(this,desc,floatType,name);
35 delete desc;
36
37 AddDataToLog(output);
38
39 GroupBox* reglages_groupbox=new GroupBox(position,name);
40 quality=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"optical flow quality:",0.,100.,1.,1,5.);
41 weightedAverage=new CheckBox(reglages_groupbox->LastRowLastCol(),"Weighted average", true);
42 timeMultiplication=new CheckBox(reglages_groupbox->LastRowLastCol(),"Time multiplication", true);
43}
44
45OpticalFlowSpeed::~OpticalFlowSpeed(void) { }
46
47void OpticalFlowSpeed::UpdateFrom(const io_data *data) {
48 OpticalFlowData *input=(OpticalFlowData*)data;
49 float deplx,deply;
50 float nb_depl=0;
51
52 deplx=0;
53 deply=0;
54
55 //error is 0 if perfect match and 7x7x255x255 at worst
56 float qualityThreshold=quality->Value()/100.*7*7*255*255;
57 input->GetMutex();
58 int nbUsedPoints=0;
59 for(int i=0;i<input->NbFeatures();i++) {
60 //if point is found in both images and quality is sufficient
61 if((input->FoundFeature()[i]!=0)&&(input->FeatureError()[i]<qualityThreshold)) {
62 nbUsedPoints++;
63 float qualityFactor=1.0;
64 if (weightedAverage->Value()) {
65 //displacement is weigthed by quality
66 qualityFactor/=(1+input->FeatureError()[i]);
67 }
68 deplx+=(input->PointsB()[i].x-input->PointsA()[i].x)*qualityFactor;
69 deply+=(input->PointsB()[i].y-input->PointsA()[i].y)*qualityFactor;
70 nb_depl+=qualityFactor;
71 }
72 }
73 input->ReleaseMutex();
74 float deltaT;
75 if (timeMultiplication->Value()) deltaT=(float)(data->DataTime()-output->DataTime())/(1000.*1000.*1000.);
76 else deltaT=1.;
77 output->SetDataTime(data->DataTime());
78
79 if(nb_depl!=0) {
80//Printf("Nombre de points=%d/%d (nb_depl=%f,pondération=%d), deltaT=%f\n",nbUsedPoints,input->NbFeatures(),nb_depl,weightedAverage->Value(),deltaT);
81 output->SetValue(0,0,deplx/(nb_depl*deltaT));
82 output->SetValue(1,0,deply/(nb_depl*deltaT));
83 }
84// output->SetDataTime(data->DataTime());
85 ProcessUpdate(output);
86}
87
88float OpticalFlowSpeed::Vx(void) const {
89 return output->Value(0,0);
90}
91
92float OpticalFlowSpeed::Vy(void) const {
93 return output->Value(1,0);
94}
95
96core::Matrix *OpticalFlowSpeed::Output() const {
97 return output;
98}
99} // end namespace filter
100} // end namespace flair
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