Changeset 123 in flair-src

Timestamp:

Jan 10, 2017, 3:56:53 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

vision filter

Location:

trunk

Files:

• demos/CircleFollower/simulator/src/main.cpp (modified) (4 diffs)
• demos/CircleFollower/uav/CMakeLists.txt (modified) (1 diff)
• demos/Gps/simulator/src/main.cpp (modified) (4 diffs)
• demos/Gps/uav/CMakeLists.txt (modified) (1 diff)
• demos/OpticalFlow/simulator/CMakeLists.txt (modified) (1 diff)
• demos/OpticalFlow/uav/CMakeLists.txt (modified) (1 diff)
• demos/OpticalFlow/uav/src/main.cpp (modified) (4 diffs)
• demos/SimpleFleet/uav/CMakeLists.txt (modified) (1 diff)
• demos/Skeletons/CustomReferenceAngles/CMakeLists.txt (modified) (1 diff)
• demos/Skeletons/CustomTorques/CMakeLists.txt (modified) (1 diff)
• lib/FlairCore/src/FrameworkManager.cpp (modified) (1 diff)
• lib/FlairCore/src/FrameworkManager.h (modified) (1 diff)
• lib/FlairSensorActuator/CMakeLists.txt (modified) (1 diff)
• lib/FlairSensorActuator/src/Camera.cpp (modified) (2 diffs)
• lib/FlairVisionFilter/CMakeLists.txt (modified) (1 diff)
• lib/FlairVisionFilter/src/VisionFilter.cpp (moved) (moved from trunk/lib/FlairVisionFilter/src/init.cpp ) (1 diff)
• lib/FlairVisionFilter/src/VisionFilter.h (moved) (moved from trunk/lib/FlairVisionFilter/src/init.h ) (1 diff)
• lib/FlairVisionFilter/src/unexported/compile_info.h (modified) (1 diff)

trunk/demos/CircleFollower/simulator/src/main.cpp

@@ -18 +18 @@
 #include <SimuImu.h>
 #ifdef GL
-#include <SimuCameraGL.h>
 #include <Parser.h>
 #include <Man.h>
@@ -94 +93 @@
 #ifdef GL
     SimuUsGL* us_gl;
-
-    Camera *cam_av,*cam_bas;
     Parser *gui;
     Man *man;
@@ -106 +103 @@
 
 #ifdef GL
-    gui=new Parser(simu,960,480,640,480,media_path,scene_file);
+    gui=new Parser(simu,1024,768,1024,768,media_path,scene_file);
 #endif
 
@@ -119 +116 @@
 #ifdef GL
     us_gl=new SimuUsGL(drone,"us",0);
-    cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
-    cam_av=new SimuCameraGL(drone,"front camera",320,240,640,240,1);
+    
 
     man=new Man(simu,"target");

trunk/demos/CircleFollower/uav/CMakeLists.txt

@@ -5 +5 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_VRPN TRUE)

trunk/demos/Gps/simulator/src/main.cpp

@@ -19 +19 @@
 #include <SimuGps.h>
 #ifdef GL
-#include <SimuCameraGL.h>
 #include <Parser.h>
 #include <Man.h>
@@ -96 +95 @@
 #ifdef GL
     SimuUsGL *us_gl;
-
-    Camera *cam_av,*cam_bas;
     Parser *gui;
     Man *man;
@@ -108 +105 @@
 
 #ifdef GL
-    gui=new Parser(simu,960,480,640,480,media_path,scene_file);
+    gui=new Parser(simu,1024,768,1024,768,media_path,scene_file);
 #endif
 
@@ -121 +118 @@
 #ifdef GL
     us_gl=new SimuUsGL(drone,"us",0);
-    cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
-    cam_av=new SimuCameraGL(drone,"front camera",320,240,640,240,1);
-
     man=new Man(simu,"target");
 #endif

trunk/demos/Gps/uav/CMakeLists.txt

@@ -5 +5 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_GPS TRUE)
+
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)

trunk/demos/OpticalFlow/simulator/CMakeLists.txt

@@ -5 +5 @@
 SET(FLAIR_USE_SIMULATOR TRUE)
 SET(FLAIR_USE_SIMULATOR_GL TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)

trunk/demos/OpticalFlow/uav/CMakeLists.txt

@@ -4 +4 @@
 SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
 SET(FLAIR_USE_FILTER TRUE)
-#SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 

trunk/demos/OpticalFlow/uav/src/main.cpp

@@ -18 +18 @@
 #include <tclap/CmdLine.h>
 #include <TargetEthController.h>
-#include <init.h>
+#include <VisionFilter.h>
 
 using namespace TCLAP;
@@ -41 +41 @@
     parseOptions(argc,argv);
 
+                if(!InitVisionFilter("file="+dsp_file)) {
+                        exit(1);
+                }
+                
     FrameworkManager *manager;
     manager= new FrameworkManager(name);
@@ -46 +50 @@
     manager->SetupUserInterface(xml_file);
     manager->SetupLogger(log_path);
-    SetupDSP(dsp_file);
 
     Uav* drone=CreateUav(name,uav_type);
@@ -57 +60 @@
     delete manager;
 
-    CloseDSP();
+    CloseVisionFilter();
 }
 

trunk/demos/SimpleFleet/uav/CMakeLists.txt

@@ -5 +5 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_VRPN TRUE)

trunk/demos/Skeletons/CustomReferenceAngles/CMakeLists.txt

@@ -5 +5 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 

trunk/demos/Skeletons/CustomTorques/CMakeLists.txt

@@ -5 +5 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 

trunk/lib/FlairCore/src/FrameworkManager.cpp

@@ -174 +174 @@
 }
 
+string FrameworkManager::GetLogPath(void) const {
+        return pimpl_->log_path;
+}
 void FrameworkManager::AddDeviceToLog(IODevice *device) {
   pimpl_->AddDeviceToLog(device);

trunk/lib/FlairCore/src/FrameworkManager.h

@@ -109 +109 @@
   */
   void SetupLogger(std::string log_path);
+        
+        /*!
+  * \brief Get log path
+  *
+        * get the path defined by SetupLogger
+  *
+  * \return log path
+  */
+  std::string GetLogPath(void) const;
 
   /*!

trunk/lib/FlairSensorActuator/CMakeLists.txt

@@ -23 +23 @@
         ${CMAKE_CURRENT_SOURCE_DIR}/src/unexported
         ${CMAKE_CURRENT_SOURCE_DIR}/../FlairCore/src
+        ${CMAKE_CURRENT_SOURCE_DIR}/../FlairVisionFilter/src
         ${CMAKE_SYSROOT}/usr/include/opencv
         ${CMAKE_SYSROOT}/usr/include/vrpn
-#       $ENV{IGEP_ROOT}/uav_dev/include
 )
 

trunk/lib/FlairSensorActuator/src/Camera.cpp

@@ -24 +24 @@
 #include <DataPlot1D.h>
 #include <Picture.h>
+#include <VisionFilter.h>
 #include <highgui.h>
 #include <fstream>
@@ -118 +119 @@
                         case LogFormat::JPG:
                                         IplImage *img=((cvimage*)data)->img;
-                                        //dspSaveToJpeg(img,"toto");
+                                        string filename=getFrameworkManager()->GetLogPath()+"/"+ObjectName()+"_"+std::to_string(data->DataTime())+".jpg";
+                                        saveToJpeg(img,filename);
                                 break;
                 }

trunk/lib/FlairVisionFilter/CMakeLists.txt

@@ -21 +21 @@
         ${LIBXML2_INCLUDE_DIR}
         ${CMAKE_CURRENT_SOURCE_DIR}/src
+        ${CMAKE_CURRENT_SOURCE_DIR}/src/unexported
         $ENV{FLAIR_ROOT}/flair-src/lib/FlairCore/src
         ${CMAKE_SYSROOT}/usr/include/opencv

trunk/lib/FlairVisionFilter/src/VisionFilter.cpp

@@ -1 @@
-#include "init.h"
+#include "VisionFilter.h"
+#include "compile_info.h"
+#include <highgui.h>
 
+static void constructor() __attribute__((constructor));
 
-void SetupDSP(std::string file,int globalTimeoutMs) {
-    
+void constructor() {
+  compile_info("FlairVisionFilter");
 }
 
-void CloseDSP(void) {
+void saveToJpeg(IplImage* src_img,std::string filename,unsigned char compression_level) {
+        if(!cvSaveImage(filename.c_str(),src_img)) printf("Could not save.\n");
+}
+
+bool InitVisionFilter(std::string args) {
+  printf("Using default vision lib filter, all functions are not ready!\n");
+        return true;
+}
+
+void CloseVisionFilter(void) {
   
 }

trunk/lib/FlairVisionFilter/src/VisionFilter.h

@@ -1 +1 @@
 #include <string>
+#include <cxtypes.h>
 
 /*!
-* \brief DSP setup
+* \brief InitVisionFilter
 *
-* Setup DSP executable file. \n
-* If this method is not called, no DSP processing will be available. \n
-*
-* \param file DSP executable file
-* \param globalTimeoutMs timeout for all DSP functions, in ms (timeout is only
-* used to display a warning. -1 to disable timeout
+* \return true
 */
-void SetupDSP(std::string file,int globalTimeoutMs=-1);
 
+bool InitVisionFilter(std::string args);
 
-void CloseDSP(void);
+void CloseVisionFilter(void);
+
+void saveToJpeg(IplImage* src_img,std::string filename,unsigned char compression_level=95);

trunk/lib/FlairVisionFilter/src/unexported/compile_info.h

@@ -5 +5 @@
 
 #define USER "gsanahuj@gsanahuj-Latitude-E6420"
-#define DATE "vendredi 6 janvier 2017, 12:43:09 (UTC+0100)"
+#define DATE "mardi 10 janvier 2017, 15:56:33 (UTC+0100)"
 #define GCC_REV "4.9.1"
 #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"
 #define SVN_PATH "/home/gsanahuj/HDS/igep/flair-src_svn/trunk/lib/FlairVisionFilter"
-#define SVN_REV "Ajout, copie ou déplacement local non propagé"
+#define SVN_REV "122M"
 
 inline void compile_info(std::string name) {