Changeset 123 in flair-src


Ignore:
Timestamp:
Jan 10, 2017, 3:56:53 PM (4 years ago)
Author:
Sanahuja Guillaume
Message:

vision filter

Location:
trunk
Files:
16 edited
2 moved

Legend:

Unmodified
Added
Removed
  • trunk/demos/CircleFollower/simulator/src/main.cpp

    r23 r123  
    1818#include <SimuImu.h>
    1919#ifdef GL
    20 #include <SimuCameraGL.h>
    2120#include <Parser.h>
    2221#include <Man.h>
     
    9493#ifdef GL
    9594    SimuUsGL* us_gl;
    96 
    97     Camera *cam_av,*cam_bas;
    9895    Parser *gui;
    9996    Man *man;
     
    106103
    107104#ifdef GL
    108     gui=new Parser(simu,960,480,640,480,media_path,scene_file);
     105    gui=new Parser(simu,1024,768,1024,768,media_path,scene_file);
    109106#endif
    110107
     
    119116#ifdef GL
    120117    us_gl=new SimuUsGL(drone,"us",0);
    121     cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
    122     cam_av=new SimuCameraGL(drone,"front camera",320,240,640,240,1);
     118   
    123119
    124120    man=new Man(simu,"target");
  • trunk/demos/CircleFollower/uav/CMakeLists.txt

    r42 r123  
    55SET(FLAIR_USE_FILTER TRUE)
    66SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
     7SET(FLAIR_USE_VISION_FILTER TRUE)
    78SET(FLAIR_USE_META TRUE)
    89SET(FLAIR_USE_VRPN TRUE)
  • trunk/demos/Gps/simulator/src/main.cpp

    r89 r123  
    1919#include <SimuGps.h>
    2020#ifdef GL
    21 #include <SimuCameraGL.h>
    2221#include <Parser.h>
    2322#include <Man.h>
     
    9695#ifdef GL
    9796    SimuUsGL *us_gl;
    98 
    99     Camera *cam_av,*cam_bas;
    10097    Parser *gui;
    10198    Man *man;
     
    108105
    109106#ifdef GL
    110     gui=new Parser(simu,960,480,640,480,media_path,scene_file);
     107    gui=new Parser(simu,1024,768,1024,768,media_path,scene_file);
    111108#endif
    112109
     
    121118#ifdef GL
    122119    us_gl=new SimuUsGL(drone,"us",0);
    123     cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
    124     cam_av=new SimuCameraGL(drone,"front camera",320,240,640,240,1);
    125 
    126120    man=new Man(simu,"target");
    127121#endif
  • trunk/demos/Gps/uav/CMakeLists.txt

    r122 r123  
    55SET(FLAIR_USE_FILTER TRUE)
    66SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
     7SET(FLAIR_USE_VISION_FILTER TRUE)
    78SET(FLAIR_USE_META TRUE)
    89SET(FLAIR_USE_GPS TRUE)
     10
    911
    1012include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
  • trunk/demos/OpticalFlow/simulator/CMakeLists.txt

    r122 r123  
    55SET(FLAIR_USE_SIMULATOR TRUE)
    66SET(FLAIR_USE_SIMULATOR_GL TRUE)
     7SET(FLAIR_USE_VISION_FILTER TRUE)
    78
    89include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
  • trunk/demos/OpticalFlow/uav/CMakeLists.txt

    r122 r123  
    44SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
    55SET(FLAIR_USE_FILTER TRUE)
    6 #SET(FLAIR_USE_VISION_FILTER TRUE)
    76SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
     7SET(FLAIR_USE_VISION_FILTER TRUE)
    88SET(FLAIR_USE_META TRUE)
    99
  • trunk/demos/OpticalFlow/uav/src/main.cpp

    r122 r123  
    1818#include <tclap/CmdLine.h>
    1919#include <TargetEthController.h>
    20 #include <init.h>
     20#include <VisionFilter.h>
    2121
    2222using namespace TCLAP;
     
    4141    parseOptions(argc,argv);
    4242
     43                if(!InitVisionFilter("file="+dsp_file)) {
     44                        exit(1);
     45                }
     46               
    4347    FrameworkManager *manager;
    4448    manager= new FrameworkManager(name);
     
    4650    manager->SetupUserInterface(xml_file);
    4751    manager->SetupLogger(log_path);
    48     SetupDSP(dsp_file);
    4952
    5053    Uav* drone=CreateUav(name,uav_type);
     
    5760    delete manager;
    5861
    59     CloseDSP();
     62    CloseVisionFilter();
    6063}
    6164
  • trunk/demos/SimpleFleet/uav/CMakeLists.txt

    r42 r123  
    55SET(FLAIR_USE_FILTER TRUE)
    66SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
     7SET(FLAIR_USE_VISION_FILTER TRUE)
    78SET(FLAIR_USE_META TRUE)
    89SET(FLAIR_USE_VRPN TRUE)
  • trunk/demos/Skeletons/CustomReferenceAngles/CMakeLists.txt

    r122 r123  
    55SET(FLAIR_USE_FILTER TRUE)
    66SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
     7SET(FLAIR_USE_VISION_FILTER TRUE)
    78SET(FLAIR_USE_META TRUE)
    89
  • trunk/demos/Skeletons/CustomTorques/CMakeLists.txt

    r122 r123  
    55SET(FLAIR_USE_FILTER TRUE)
    66SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
     7SET(FLAIR_USE_VISION_FILTER TRUE)
    78SET(FLAIR_USE_META TRUE)
    89
  • trunk/lib/FlairCore/src/FrameworkManager.cpp

    r122 r123  
    174174}
    175175
     176string FrameworkManager::GetLogPath(void) const {
     177        return pimpl_->log_path;
     178}
    176179void FrameworkManager::AddDeviceToLog(IODevice *device) {
    177180  pimpl_->AddDeviceToLog(device);
  • trunk/lib/FlairCore/src/FrameworkManager.h

    r122 r123  
    109109  */
    110110  void SetupLogger(std::string log_path);
     111       
     112        /*!
     113  * \brief Get log path
     114  *
     115        * get the path defined by SetupLogger
     116  *
     117  * \return log path
     118  */
     119  std::string GetLogPath(void) const;
    111120
    112121  /*!
  • trunk/lib/FlairSensorActuator/CMakeLists.txt

    r45 r123  
    2323        ${CMAKE_CURRENT_SOURCE_DIR}/src/unexported
    2424        ${CMAKE_CURRENT_SOURCE_DIR}/../FlairCore/src
     25        ${CMAKE_CURRENT_SOURCE_DIR}/../FlairVisionFilter/src
    2526        ${CMAKE_SYSROOT}/usr/include/opencv
    2627        ${CMAKE_SYSROOT}/usr/include/vrpn
    27 #       $ENV{IGEP_ROOT}/uav_dev/include
    2828)
    2929
  • trunk/lib/FlairSensorActuator/src/Camera.cpp

    r122 r123  
    2424#include <DataPlot1D.h>
    2525#include <Picture.h>
     26#include <VisionFilter.h>
    2627#include <highgui.h>
    2728#include <fstream>
     
    118119                        case LogFormat::JPG:
    119120                                        IplImage *img=((cvimage*)data)->img;
    120                                         //dspSaveToJpeg(img,"toto");
     121                                        string filename=getFrameworkManager()->GetLogPath()+"/"+ObjectName()+"_"+std::to_string(data->DataTime())+".jpg";
     122                                        saveToJpeg(img,filename);
    121123                                break;
    122124                }
  • trunk/lib/FlairVisionFilter/CMakeLists.txt

    r122 r123  
    2121        ${LIBXML2_INCLUDE_DIR}
    2222        ${CMAKE_CURRENT_SOURCE_DIR}/src
     23        ${CMAKE_CURRENT_SOURCE_DIR}/src/unexported
    2324        $ENV{FLAIR_ROOT}/flair-src/lib/FlairCore/src
    2425        ${CMAKE_SYSROOT}/usr/include/opencv
  • trunk/lib/FlairVisionFilter/src/VisionFilter.cpp

    r122 r123  
    1 #include "init.h"
     1#include "VisionFilter.h"
     2#include "compile_info.h"
     3#include <highgui.h>
    24
     5static void constructor() __attribute__((constructor));
    36
    4 void SetupDSP(std::string file,int globalTimeoutMs) {
    5    
     7void constructor() {
     8  compile_info("FlairVisionFilter");
    69}
    710
    8 void CloseDSP(void) {
     11void saveToJpeg(IplImage* src_img,std::string filename,unsigned char compression_level) {
     12        if(!cvSaveImage(filename.c_str(),src_img)) printf("Could not save.\n");
     13}
     14
     15bool InitVisionFilter(std::string args) {
     16  printf("Using default vision lib filter, all functions are not ready!\n");
     17        return true;
     18}
     19
     20void CloseVisionFilter(void) {
    921 
    1022}
  • trunk/lib/FlairVisionFilter/src/VisionFilter.h

    r122 r123  
    11#include <string>
     2#include <cxtypes.h>
    23
    34/*!
    4 * \brief DSP setup
     5* \brief InitVisionFilter
    56*
    6 * Setup DSP executable file. \n
    7 * If this method is not called, no DSP processing will be available. \n
    8 *
    9 * \param file DSP executable file
    10 * \param globalTimeoutMs timeout for all DSP functions, in ms (timeout is only
    11 * used to display a warning. -1 to disable timeout
     7* \return true
    128*/
    13 void SetupDSP(std::string file,int globalTimeoutMs=-1);
    149
     10bool InitVisionFilter(std::string args);
    1511
    16 void CloseDSP(void);
     12void CloseVisionFilter(void);
     13
     14void saveToJpeg(IplImage* src_img,std::string filename,unsigned char compression_level=95);
  • trunk/lib/FlairVisionFilter/src/unexported/compile_info.h

    r122 r123  
    55
    66#define USER "gsanahuj@gsanahuj-Latitude-E6420"
    7 #define DATE "vendredi 6 janvier 2017, 12:43:09 (UTC+0100)"
     7#define DATE "mardi 10 janvier 2017, 15:56:33 (UTC+0100)"
    88#define GCC_REV "4.9.1"
    99#define GCC_PATH "/opt/robomap3/1.7.3/armv7a-neon/sysroots/x86_64-pokysdk-linux/usr/bin/arm-poky-linux-gnueabi/arm-poky-linux-gnueabi-gcc"
    1010#define SVN_PATH "/home/gsanahuj/HDS/igep/flair-src_svn/trunk/lib/FlairVisionFilter"
    11 #define SVN_REV "Ajout, copie ou déplacement local non propagé"
     11#define SVN_REV "122M"
    1212
    1313inline void compile_info(std::string name) {
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