Changeset 143 in flair-src for trunk/lib/FlairVisionFilter/src

Timestamp:

02/21/17 16:37:58 (7 years ago)

Author:

Bayard Gildas

Message:

Plop

Location:

trunk/lib/FlairVisionFilter/src

Files:

• OpticalFlowSpeed.cpp (modified) (2 diffs)
• OpticalFlowSpeed.h (modified) (2 diffs)

trunk/lib/FlairVisionFilter/src/OpticalFlowSpeed.cpp

@@ -49 +49 @@
 
     input->GetMutex();
-    for(int i=0;i<input->NbFeatures();i++)
-    {
-        if(input->FoundFeature()[i]!=0)
-        {
+    for(int i=0;i<input->NbFeatures();i++) {
+        if(input->FoundFeature()[i]!=0) {
             deplx+=input->PointsB()[i].x-input->PointsA()[i].x;
             deply+=input->PointsB()[i].y-input->PointsA()[i].y;
@@ -59 +57 @@
     }
     input->ReleaseMutex();
+    Time deltaT=data->DataTime()-output->DataTime();
+    output->SetDataTime(data->DataTime());
 
-    if(nb_depl!=0)
-    {
-        output->SetValue(0,0,deplx/nb_depl);
-        output->SetValue(1,0,deply/nb_depl);
+    if(nb_depl!=0) {
+        output->SetValue(0,0,deplx/(nb_depl*deltaT)*1000*1000*1000);
+        output->SetValue(1,0,deply/(nb_depl*deltaT)*1000*1000*1000);
     }
 
-    output->SetDataTime(data->DataTime());
     ProcessUpdate(output);
 }

trunk/lib/FlairVisionFilter/src/OpticalFlowSpeed.h

@@ -31 +31 @@
     * \brief Optical flow speed calculation
     *
-    * Speed is the mean of all optical flow values.
+    * Speed is the mean of all optical flow values divided by the delta time between images.
     */
     class OpticalFlowSpeed : public core::IODevice
@@ -67 +67 @@
             * \brief Output matrix
             *
-            * Matrix is of sze (2,1). \n
+            * Matrix is of size (2,1). \n
             * First line is speed along x axis. \n
             * Second line is speed along y axis. \n