Ignore:
Timestamp:
02/28/17 12:45:08 (5 years ago)
Author:
Sanahuja Guillaume
Message:

modif euler/lowpass

File:
1 edited

Legend:

Unmodified
Added
Removed
  • trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp

    r143 r147  
    5858
    5959        //optical flow stack
    60         //opticalFlow= matrice de déplacements en pixels entre 2 images consécutives
    61         opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");
    62         opticalFlowSpeedRaw=new OpticalFlowSpeed(opticalFlow,"vitesse du flux optique");
    63         //opticalFlowSpeed=vitesse de déplacement en pixel par seconde (moyenne sur tous les points et division par le delta T)
    64         cvmatrix* twoByOneSpeed=new cvmatrix((const Thread*)this,2,1,floatType);
    65         opticalFlowSpeed=new LowPassFilter(opticalFlowSpeedRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Speed lowPass",twoByOneSpeed);
    66         cvmatrix* twoByOneAccelerationRaw=new cvmatrix((const Thread*)this,2,1,floatType);
    67         opticalFlowAccelerationRaw=new EulerDerivative(opticalFlowSpeed,uav->GetVerticalCamera()->GetLayout()->NewRow(),"derivative",twoByOneAccelerationRaw);
    68         cvmatrix* twoByOneAcceleration=new cvmatrix((const Thread*)this,2,1,floatType);
    69         opticalFlowAcceleration=new LowPassFilter(opticalFlowAccelerationRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Acceleration lowPass",twoByOneAcceleration);
    70 
    71         getFrameworkManager()->AddDeviceToLog(opticalFlowSpeedRaw);
     60  //opticalFlow= matrice de déplacements en pixels entre 2 images consécutives
     61  opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");
     62  opticalFlowSpeedRaw=new OpticalFlowSpeed(opticalFlow,"vitesse du flux optique");
     63  //opticalFlowSpeed=vitesse de déplacement en pixels par seconde (moyenne sur tous les points et division par le delta T)
     64  cvmatrix* twoByOne=new cvmatrix((const Thread*)this,2,1,floatType);
     65  opticalFlowSpeed=new LowPassFilter(opticalFlowSpeedRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Speed lowPass",twoByOne);
     66  opticalFlowAccelerationRaw=new EulerDerivative(opticalFlowSpeed,uav->GetVerticalCamera()->GetLayout()->NewRow(),"derivative",twoByOne);
     67  opticalFlowAcceleration=new LowPassFilter(opticalFlowAccelerationRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Acceleration lowPass",twoByOne);
     68  delete twoByOne;
     69 
     70  getFrameworkManager()->AddDeviceToLog(opticalFlowSpeedRaw);
    7271
    7372        Tab* opticalFlowTab=new Tab(getFrameworkManager()->GetTabWidget(),"flux optique");
    7473        DataPlot1D* xVelocityPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x speed (px/s)",-250,250);
    7574        DataPlot1D* yVelocityPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y speed (px/s)",-250,250);
    76         DataPlot1D* xAccelerationPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x_acceleration",-250,250);
    77         DataPlot1D* yAccelerationPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y_acceleration",-250,250);
     75  DataPlot1D* xAccelerationPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x_acceleration",-250,250);
     76  DataPlot1D* yAccelerationPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y_acceleration",-250,250);
    7877
    7978        xVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(0,0));
     
    8180        yVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(1,0));
    8281        yVelocityPlot->AddCurve(opticalFlowSpeed->Matrix()->Element(1,0),DataPlot::Blue);
    83         xAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(0,0));
    84         xAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(0,0),DataPlot::Blue);
    85         yAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(1,0));
    86         yAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(1,0),DataPlot::Blue);
     82  xAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(0,0));
     83  xAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(0,0),DataPlot::Blue);
     84  yAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(1,0));
     85  yAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(1,0),DataPlot::Blue);
    8786
    8887        u_x=new Pid(setupLawTab->At(1,0),"u_x");
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