Changeset 156 in flair-src for trunk/demos/OpticalFlow

Timestamp:

Mar 4, 2017, 10:52:29 AM (8 years ago)

Author:

Bayard Gildas

Message:

Additionnal graphs

Location:

trunk/demos/OpticalFlow/uav

Files:

• build_x86_64/bin/setup_x4.xml (modified) (2 diffs)
• src/DemoOpticalFlow.cpp (modified) (2 diffs)

trunk/demos/OpticalFlow/uav/build_x86_64/bin/setup_x4.xml

@@ -175 +175 @@
       <DoubleSpinBox value="1" name="cutoff frequency"/>
      </GroupBox>
-    <GroupBox name="derivative"><DoubleSpinBox name="period, 0 for auto:" value="0.02"/></GroupBox><GroupBox name="Speed lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2"/></GroupBox><GroupBox name="Acceleration lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2"/></GroupBox></GridLayout>
+    <GroupBox name="derivative"><DoubleSpinBox name="period, 0 for auto:" value="0.02"/></GroupBox><GroupBox name="Speed lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2"/></GroupBox><GroupBox name="Acceleration lowPass"><DoubleSpinBox name="period, 0 for auto" value="0.02"/><DoubleSpinBox name="cutoff frequency" value="2"/></GroupBox><GroupBox name="flux optique compens&#xE9;"><SpinBox name="gyro delay (in video frames):" value="2"/></GroupBox></GridLayout>
    </Tab>
    <Tab name="Picture">
@@ -283 +283 @@
    <Setup period="100" enabled="1"/>
   </DataPlot1D>
- <DataPlot1D name="x_velocity_derivative" period="100" enabled="1"/><DataPlot1D name="y_velocity_derivative" period="100" enabled="1"/><DataPlot1D name="x_acceleration" period="100" enabled="1"/><DataPlot1D name="y_acceleration" period="100" enabled="1"/><DataPlot1D name="x speed (px/s)" period="100" enabled="1"/><DataPlot1D name="y speed (px/s)" period="100" enabled="1"/></Tab>
-  <Tab name="real speed"><DataPlot1D name="x speed (m/s)" period="100" enabled="1"/><DataPlot1D name="y speed (m/s)" period="100" enabled="1"/></Tab></TabWidget>
+ <DataPlot1D name="x_velocity_derivative" period="100" enabled="1"/><DataPlot1D name="y_velocity_derivative" period="100" enabled="1"/><DataPlot1D name="x_acceleration" period="100" enabled="1"/><DataPlot1D name="y_acceleration" period="100" enabled="1"/><DataPlot1D name="x speed (px/s)" period="100" enabled="1"/><DataPlot1D name="y speed (px/s)" period="100" enabled="1"/><DataPlot1D name="x movement first point" period="100" enabled="0"/><DataPlot1D name="y movement first point" period="100" enabled="0"/></Tab>
+  <Tab name="real speed"><DataPlot1D name="x speed (m/s)" period="100" enabled="1"/><DataPlot1D name="y speed (m/s)" period="100" enabled="1"/><DataPlot1D name="x acceleration (m/s2)" period="100" enabled="0"/><DataPlot1D name="y acceleration (m/s2)" period="100" enabled="0"/></Tab></TabWidget>
 <TabWidget name="App_TabWidget"><Tab name="x4_0"><PushButton name="save config on target" value="1"/></Tab></TabWidget><PushButton name="save config on target (x4_0)" value="1"/></root>

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

@@ -61 +61 @@
   //opticalFlow= matrice de déplacements en pixels entre 2 images consécutives
   opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");
-  opticalFlowCompensated=new OpticalFlowCompensated(opticalFlow,uav->GetAhrs(),"flux optique compensé");
+  opticalFlowCompensated=new OpticalFlowCompensated(opticalFlow,uav->GetAhrs(),uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique compense");
   opticalFlowSpeedRaw=new OpticalFlowSpeed(opticalFlowCompensated,"vitesse du flux optique");
   //opticalFlowSpeed=vitesse de déplacement en pixels par seconde (moyenne sur tous les points et division par le delta T)
@@ -88 +88 @@
   xFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(1,0),DataPlot::Blue);
   xFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(2,0),DataPlot::Green);
+  yFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(0,1));
+  yFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(1,1),DataPlot::Blue);
+  yFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(2,1),DataPlot::Green);
 //  xAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(0,0));
 //  xAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(0,0),DataPlot::Blue);