Changeset 147 in flair-src for trunk/demos/OpticalFlow/uav

Timestamp:

02/28/17 12:45:08 (7 years ago)

Author:

Sanahuja Guillaume

Message:

modif euler/lowpass

File:

• trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp (modified) (2 diffs)

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

@@ -58 +58 @@
 
         //optical flow stack
-        //opticalFlow= matrice de déplacements en pixels entre 2 images consécutives
-        opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");
-        opticalFlowSpeedRaw=new OpticalFlowSpeed(opticalFlow,"vitesse du flux optique");
-        //opticalFlowSpeed=vitesse de déplacement en pixel par seconde (moyenne sur tous les points et division par le delta T)
-        cvmatrix* twoByOneSpeed=new cvmatrix((const Thread*)this,2,1,floatType);
-        opticalFlowSpeed=new LowPassFilter(opticalFlowSpeedRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Speed lowPass",twoByOneSpeed);
-        cvmatrix* twoByOneAccelerationRaw=new cvmatrix((const Thread*)this,2,1,floatType);
-        opticalFlowAccelerationRaw=new EulerDerivative(opticalFlowSpeed,uav->GetVerticalCamera()->GetLayout()->NewRow(),"derivative",twoByOneAccelerationRaw);
-        cvmatrix* twoByOneAcceleration=new cvmatrix((const Thread*)this,2,1,floatType);
-        opticalFlowAcceleration=new LowPassFilter(opticalFlowAccelerationRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Acceleration lowPass",twoByOneAcceleration);
-
-        getFrameworkManager()->AddDeviceToLog(opticalFlowSpeedRaw);
+  //opticalFlow= matrice de déplacements en pixels entre 2 images consécutives
+  opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");
+  opticalFlowSpeedRaw=new OpticalFlowSpeed(opticalFlow,"vitesse du flux optique");
+  //opticalFlowSpeed=vitesse de déplacement en pixels par seconde (moyenne sur tous les points et division par le delta T)
+  cvmatrix* twoByOne=new cvmatrix((const Thread*)this,2,1,floatType);
+  opticalFlowSpeed=new LowPassFilter(opticalFlowSpeedRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Speed lowPass",twoByOne);
+  opticalFlowAccelerationRaw=new EulerDerivative(opticalFlowSpeed,uav->GetVerticalCamera()->GetLayout()->NewRow(),"derivative",twoByOne);
+  opticalFlowAcceleration=new LowPassFilter(opticalFlowAccelerationRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Acceleration lowPass",twoByOne);
+  delete twoByOne;
+  
+  getFrameworkManager()->AddDeviceToLog(opticalFlowSpeedRaw);
 
         Tab* opticalFlowTab=new Tab(getFrameworkManager()->GetTabWidget(),"flux optique");
         DataPlot1D* xVelocityPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x speed (px/s)",-250,250);
         DataPlot1D* yVelocityPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y speed (px/s)",-250,250);
-        DataPlot1D* xAccelerationPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x_acceleration",-250,250);
-        DataPlot1D* yAccelerationPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y_acceleration",-250,250);
+  DataPlot1D* xAccelerationPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x_acceleration",-250,250);
+  DataPlot1D* yAccelerationPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y_acceleration",-250,250);
 
         xVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(0,0));
@@ -81 +80 @@
         yVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(1,0));
         yVelocityPlot->AddCurve(opticalFlowSpeed->Matrix()->Element(1,0),DataPlot::Blue);
-        xAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(0,0));
-        xAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(0,0),DataPlot::Blue);
-        yAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(1,0));
-        yAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(1,0),DataPlot::Blue);
+  xAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(0,0));
+  xAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(0,0),DataPlot::Blue);
+  yAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(1,0));
+  yAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(1,0),DataPlot::Blue);
 
         u_x=new Pid(setupLawTab->At(1,0),"u_x");