Changeset 214 in flair-src for trunk/demos/OpticalFlow/uav

Timestamp:

02/07/18 17:49:27 (6 years ago)

Author:

Sanahuja Guillaume

Message:

matrix

Location:

trunk/demos/OpticalFlow/uav/src

Files:

• DemoOpticalFlow.cpp (modified) (4 diffs)
• DemoOpticalFlow.h (modified) (2 diffs)

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

@@ -22 +22 @@
 #include <LowPassFilter.h>
 #include <EulerDerivative.h>
-#include <cvmatrix.h>
+#include <Matrix.h>
 #include <GridLayout.h>
 #include <DataPlot1D.h>
@@ -65 +65 @@
   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);
-  cvmatrix* twoByOneOFAR=new cvmatrix((const Thread*)this,2,1,floatType);
-  cvmatrix* twoByOneOFA=new cvmatrix((const Thread*)this,2,1,floatType);
+  Matrix* twoByOneOFS=new Matrix((const Thread*)this,2,1,floatType);
+  Matrix* twoByOneOFAR=new Matrix((const Thread*)this,2,1,floatType);
+  Matrix* twoByOneOFA=new Matrix((const Thread*)this,2,1,floatType);
   opticalFlowSpeed=new LowPassFilter(opticalFlowSpeedRaw,uav->GetVerticalCamera()->GetLayout()->NewRow(),"Speed lowPass",twoByOneOFS);
   opticalFlowAccelerationRaw=new EulerDerivative(opticalFlowSpeed,uav->GetVerticalCamera()->GetLayout()->NewRow(),"derivative",twoByOneOFAR);
@@ -83 +83 @@
 
   xVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(0,0));
-  xVelocityPlot->AddCurve(opticalFlowSpeed->Matrix()->Element(0,0),DataPlot::Blue);
+  xVelocityPlot->AddCurve(opticalFlowSpeed->GetMatrix()->Element(0,0),DataPlot::Blue);
   yVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(1,0));
-  yVelocityPlot->AddCurve(opticalFlowSpeed->Matrix()->Element(1,0),DataPlot::Blue);
+  yVelocityPlot->AddCurve(opticalFlowSpeed->GetMatrix()->Element(1,0),DataPlot::Blue);
   xFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(0,0));
   xFirstPointPlot->AddCurve(opticalFlowCompensated->GetFirstPointDisplacement()->Element(1,0),DataPlot::Blue);
@@ -107 +107 @@
   
   Tab* opticalFlowRealTab=new Tab(getFrameworkManager()->GetTabWidget(),"real speed");
-  opticalFlowRealSpeed=new cvmatrix((const Thread*)this,2,1,floatType);
-  opticalFlowReference=new cvmatrix((const Thread*)this,2,1,floatType);
-  opticalFlowRealAcceleration=new cvmatrix((const Thread*)this,2,1,floatType);
+  opticalFlowRealSpeed=new Matrix((const Thread*)this,2,1,floatType);
+  opticalFlowReference=new Matrix((const Thread*)this,2,1,floatType);
+  opticalFlowRealAcceleration=new Matrix((const Thread*)this,2,1,floatType);
   DataPlot1D* xRealVelocityPlot=new DataPlot1D(opticalFlowRealTab->NewRow(),"x speed (m/s)",-2,2);
   DataPlot1D* yRealVelocityPlot=new DataPlot1D(opticalFlowRealTab->LastRowLastCol(),"y speed (m/s)",-2,2);

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

@@ -20 +20 @@
 namespace flair {
     namespace core {
-        class cvmatrix;
+        class Matrix;
     }
     namespace gui {
@@ -55 +55 @@
         flair::gui::GroupBox* opticalFlowGroupBox;
         flair::gui::DoubleSpinBox *maxXSpeed,*maxYSpeed;
-        flair::core::cvmatrix *opticalFlowReference;
+        flair::core::Matrix *opticalFlowReference;
         flair::filter::Pid *u_x, *u_y;
         flair::filter::CvtColor* greyCameraImage;
         flair::core::AhrsData *customReferenceOrientation;
-        flair::core::cvmatrix *opticalFlowRealSpeed,*opticalFlowRealAcceleration;
+        flair::core::Matrix *opticalFlowRealSpeed,*opticalFlowRealAcceleration;
 
     private: