Changeset 163 in flair-src

Timestamp:

Mar 6, 2017, 10:11:48 PM (8 years ago)

Author:

Bayard Gildas

Message:

Muffff

Location:

trunk

Files:

• demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp (modified) (1 diff)
• demos/OpticalFlow/uav/src/DemoOpticalFlow.h (modified) (2 diffs)
• lib/FlairSimulator/src/Model_impl.cpp (modified) (1 diff)

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

@@ -62 +62 @@
   opticalFlow=new OpticalFlow(greyCameraImage,uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique");
   opticalFlowCompensated=new OpticalFlowCompensated(opticalFlow,uav->GetAhrs(),uav->GetVerticalCamera()->GetLayout()->NewRow(),"flux optique compense");
-  opticalFlowSpeedRaw=new OpticalFlowSpeed(opticalFlowCompensated,"vitesse du flux optique");
+  opticalFlowSpeedRaw=new OpticalFlowSpeed(opticalFlowCompensated,uav->GetAhrs(),uav->GetVerticalCamera()->GetLayout()->NewRow(),"vitesse du Flux Optique");
   //opticalFlowSpeed=vitesse de déplacement en pixels par seconde (moyenne sur tous les points et division par le delta T)
   cvmatrix* twoByOneOFS=new cvmatrix((const Thread*)this,2,1,floatType);

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

@@ -56 +56 @@
         flair::core::cvmatrix *opticalFlowReference;
         flair::filter::Pid *u_x, *u_y;
-        flair::filter::LowPassFilter* opticalFlowSpeed;
-        flair::filter::LowPassFilter* opticalFlowAcceleration;
         flair::filter::CvtColor* greyCameraImage;
         flair::core::AhrsData *customReferenceOrientation;
+        flair::core::cvmatrix *opticalFlowRealSpeed,*opticalFlowRealAcceleration;
 
     private:
@@ -68 +67 @@
     flair::gui::PushButton *startOpticalflow,*stopOpticalflow;
     void StartOpticalFlow(void);
-        flair::core::cvmatrix *opticalFlowRealSpeed,*opticalFlowRealAcceleration;
+        flair::filter::LowPassFilter* opticalFlowSpeed;
+        flair::filter::LowPassFilter* opticalFlowAcceleration;
 };
 

trunk/lib/FlairSimulator/src/Model_impl.cpp

@@ -200 +200 @@
 
   states_mutex->GetMutex();
+//self->state[0].Pos.x=0;
+//self->state[0].Pos.y=0;
   nodePosition = ToIrrlichtCoordinates(self->state[0].Pos);
   nodeOrientation = ToIrrlichtOrientation(self->state[0].Quat);