Changeset 124 in flair-src for trunk/demos/OpticalFlow/uav/src

Timestamp:

Jan 12, 2017, 10:39:23 AM (8 years ago)

Author:

Sanahuja Guillaume

Message:

modifs jpeg

Location:

trunk/demos/OpticalFlow/uav/src

Files:

• DemoOpticalFlow.cpp (modified) (4 diffs)
• DemoOpticalFlow.h (modified) (3 diffs)

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

@@ -26 +26 @@
 #include <GroupBox.h>
 #include <DoubleSpinBox.h>
+#include <PushButton.h>
 #include <FrameworkManager.h>
 #include <MetaDualShock3.h>
@@ -49 +50 @@
 uav->GetVerticalCamera()->SetLogFormat(Camera::LogFormat::JPG);
 getFrameworkManager()->AddDeviceToLog(uav->GetVerticalCamera());
-    greyCameraImage=new CvtColor(uav->GetVerticalCamera(),"gray",CvtColor::Conversion_t::GRAY);
+        
+        startOpticalflow=new PushButton(GetButtonsLayout()->NewRow(),"start optical flow");
 
-    uav->GetVerticalCamera()->UseDefaultPlot(greyCameraImage->Output()); // Le defaultPlot de la caméra peut afficher n'importe quoi?
+        greyCameraImage=new CvtColor(uav->GetVerticalCamera(),"gray",CvtColor::Conversion_t::ToGray);
 
-    //optical flow stack
-    opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");
-    opticalFlowSpeed=new OpticalFlowSpeed(opticalFlow,"vitesse du flux optique");
+        uav->GetVerticalCamera()->UseDefaultPlot(greyCameraImage->Output()); // Le defaultPlot de la caméra peut afficher n'importe quoi?
 
-    cvmatrix_descriptor* desc=new cvmatrix_descriptor(2,1);
-    for(int i=0;i<2;i++) {
-        desc->SetElementName(i,0,opticalFlowSpeed->Output()->Name(i,0));
-    }
-    cvmatrix* prev_value=new cvmatrix((const Thread*)this,desc,floatType,uav->ObjectName()); // diamond inheritance
-    for(int i=0;i<2;i++) {
-        prev_value->SetValue(i,0,0);
-    }
+        //optical flow stack
+        opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");
+        opticalFlowSpeed=new OpticalFlowSpeed(opticalFlow,"vitesse du flux optique");
 
-    opticalFlowSpeedFiltered=new LowPassFilter(opticalFlowSpeed,uav->GetVerticalCamera()->GetLayout()->NewRow(),"passe bas",prev_value);
+        cvmatrix_descriptor* desc=new cvmatrix_descriptor(2,1);
+        for(int i=0;i<2;i++) {
+                        desc->SetElementName(i,0,opticalFlowSpeed->Output()->Name(i,0));
+        }
+        cvmatrix* prev_value=new cvmatrix((const Thread*)this,desc,floatType,uav->ObjectName()); // diamond inheritance
+        for(int i=0;i<2;i++) {
+                        prev_value->SetValue(i,0,0);
+        }
+
+        opticalFlowSpeedFiltered=new LowPassFilter(opticalFlowSpeed,uav->GetVerticalCamera()->GetLayout()->NewRow(),"passe bas",prev_value);
 // delete prev_value?
 
-    getFrameworkManager()->AddDeviceToLog(opticalFlowSpeed);
+        getFrameworkManager()->AddDeviceToLog(opticalFlowSpeed);
 
-    Tab* opticalFlowTab=new Tab(getFrameworkManager()->GetTabWidget(),"flux optique");
-    DataPlot1D* xVelocityPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x_velocity",-5,5);
-    DataPlot1D* yVelocityPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y_velocity",-5,5);
+        Tab* opticalFlowTab=new Tab(getFrameworkManager()->GetTabWidget(),"flux optique");
+        DataPlot1D* xVelocityPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x_velocity",-5,5);
+        DataPlot1D* yVelocityPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y_velocity",-5,5);
 
-    xVelocityPlot->AddCurve(opticalFlowSpeed->Output()->Element(0,0));
-    xVelocityPlot->AddCurve(opticalFlowSpeedFiltered->Matrix()->Element(0,0),DataPlot::Blue);
-    yVelocityPlot->AddCurve(opticalFlowSpeed->Output()->Element(1,0));
-    yVelocityPlot->AddCurve(opticalFlowSpeedFiltered->Matrix()->Element(1,0),DataPlot::Blue);
+        xVelocityPlot->AddCurve(opticalFlowSpeed->Output()->Element(0,0));
+        xVelocityPlot->AddCurve(opticalFlowSpeedFiltered->Matrix()->Element(0,0),DataPlot::Blue);
+        yVelocityPlot->AddCurve(opticalFlowSpeed->Output()->Element(1,0));
+        yVelocityPlot->AddCurve(opticalFlowSpeedFiltered->Matrix()->Element(1,0),DataPlot::Blue);
 
-    u_x=new Pid(setupLawTab->At(1,0),"u_x");
-    u_x->UseDefaultPlot(graphLawTab->NewRow());
-    u_y=new Pid(setupLawTab->At(1,1),"u_y");
-    u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());
+        u_x=new Pid(setupLawTab->At(1,0),"u_x");
+        u_x->UseDefaultPlot(graphLawTab->NewRow());
+        u_y=new Pid(setupLawTab->At(1,1),"u_y");
+        u_y->UseDefaultPlot(graphLawTab->LastRowLastCol());
 
-    opticalFlowGroupBox=new GroupBox(GetJoystick()->GetTab()->NewRow(),"consignes fo");
-    maxXSpeed=new DoubleSpinBox(opticalFlowGroupBox->NewRow(),"debattement x"," m/s",-5,5,0.1,1);
-    maxYSpeed=new DoubleSpinBox(opticalFlowGroupBox->LastRowLastCol(),"debattement y"," m/s",-5,5,0.1,1);
+        opticalFlowGroupBox=new GroupBox(GetJoystick()->GetTab()->NewRow(),"consignes fo");
+        maxXSpeed=new DoubleSpinBox(opticalFlowGroupBox->NewRow(),"debattement x"," m/s",-5,5,0.1,1);
+        maxYSpeed=new DoubleSpinBox(opticalFlowGroupBox->LastRowLastCol(),"debattement y"," m/s",-5,5,0.1,1);
 
-    opticalFlowReference=new cvmatrix((const Thread*)this,2,1,floatType);
-    xVelocityPlot->AddCurve(opticalFlowReference->Element(0,0),DataPlot::Green,"consigne");
-    yVelocityPlot->AddCurve(opticalFlowReference->Element(1,0),DataPlot::Green,"consigne");
+        opticalFlowReference=new cvmatrix((const Thread*)this,2,1,floatType);
+        xVelocityPlot->AddCurve(opticalFlowReference->Element(0,0),DataPlot::Green,"consigne");
+        yVelocityPlot->AddCurve(opticalFlowReference->Element(1,0),DataPlot::Green,"consigne");
 
-    customReferenceOrientation= new AhrsData(this,"reference");
-    uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
-    AddDataToControlLawLog(customReferenceOrientation);
+        customReferenceOrientation= new AhrsData(this,"reference");
+        uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
+        AddDataToControlLawLog(customReferenceOrientation);
 }
 
@@ -107 +111 @@
 }
 
+void DemoOpticalFlow::StartOpticalFlow(void) {
+        if (SetOrientationMode(OrientationMode_t::Custom)) {
+                        Thread::Info("(Re)entering optical flow mode\n");
+                        u_x->Reset();
+                        u_y->Reset();
+        } else {
+                        Thread::Warn("Could not enter optical flow mode\n");
+        }
+}
+
+void DemoOpticalFlow::ExtraCheckPushButton(void) {
+        if(startOpticalflow->Clicked()) {
+        //StartOpticalFlow();
+                                GetUav()->GetVerticalCamera()->SavePictureToFile("./toto.jpg");
+                                
+        }
+}
+
 void DemoOpticalFlow::ExtraCheckJoystick(void) {
     static bool wasOpticalFlowModeButtonPressed=false;
@@ -113 +135 @@
         if (!wasOpticalFlowModeButtonPressed) {
             wasOpticalFlowModeButtonPressed=true;
-            if (SetOrientationMode(OrientationMode_t::Custom)) {
-                Thread::Info("(Re)entering optical flow mode\n");
-                u_x->Reset();
-                u_y->Reset();
-            } else {
-                Thread::Warn("Could not enter optical flow mode\n");
-            }
+            StartOpticalFlow();
         }
     } else {

trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.h

@@ -25 +25 @@
         class GroupBox;
         class DoubleSpinBox;
+        class PushButton;
     }
     namespace filter {
@@ -46 +47 @@
         void SignalEvent(Event_t event);
         void ExtraCheckJoystick(void);
+                                void ExtraCheckPushButton(void);
         const flair::core::AhrsData *GetReferenceOrientation(void);
 
@@ -59 +61 @@
         flair::filter::OpticalFlow *opticalFlow;
         flair::filter::OpticalFlowSpeed *opticalFlowSpeed;
+                                flair::gui::PushButton *startOpticalflow,*stopOpticalflow;
+                                void StartOpticalFlow(void);
 };