Changeset 325 in flair-src for branches/sanscv/lib/FlairVisionFilter/src/OpticalFlow.cpp

Timestamp:

08/28/19 16:12:11 (5 years ago)

Author:

Sanahuja Guillaume

Message:

using pimpl

File:

• branches/sanscv/lib/FlairVisionFilter/src/OpticalFlow.cpp (modified) (3 diffs)

branches/sanscv/lib/FlairVisionFilter/src/OpticalFlow.cpp

@@ -14 +14 @@
 #include "OpticalFlow.h"
 #include "OpticalFlowData.h"
+#include "VisionFilter.h"
 #include <Image.h>
 #include <Layout.h>
 #include <GroupBox.h>
 #include <SpinBox.h>
-//#include <algorithm>
+//#include <dspcv_gpp.h>
+#include <algorithm>
 #include <OneAxisRotation.h>
 #include <Vector3D.h>
@@ -30 +32 @@
 using namespace flair::gui;
 
+class OpticalFlow_impl {
+public:
+    OpticalFlow_impl(flair::filter::OpticalFlow *self,const LayoutPosition* position,string name) {
+        this->self=self;
+        is_init=false;
+
+        GroupBox* reglages_groupbox=new GroupBox(position,name);
+        rotation=new OneAxisRotation(reglages_groupbox->NewRow(),"post rotation",OneAxisRotation::PostRotation);
+        max_features=new SpinBox(reglages_groupbox->NewRow(),"max features:",1,65535,1,1);
+        
+        try{
+            Image::Type const &imageType=dynamic_cast<Image::Type const &>(((IODevice*)(self->Parent()))->GetOutputDataType());
+            pyr=new Image(self,imageType.GetWidth(),imageType.GetHeight(),Image::Type::Format::Gray);
+            pyr_old=new Image(self,imageType.GetWidth(),imageType.GetHeight(),Image::Type::Format::Gray);
+            output=new flair::filter::OpticalFlowData(self->Parent(),max_features->Value());
+/*
+            pointsA=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
+            pointsB=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
+
+            found_feature=(char*)AllocFunction(max_features->Value()*sizeof(char));
+            feature_error=(unsigned int*)AllocFunction(max_features->Value()*sizeof(unsigned int));
+            
+            iplgimg = (IplImage*)AllocFunction(sizeof(IplImage));
+            iplgimg_old = (IplImage*)AllocFunction(sizeof(IplImage));
+            iplpyr = (IplImage*)AllocFunction(sizeof(IplImage));
+            iplpyr_old = (IplImage*)AllocFunction(sizeof(IplImage));
+            
+            iplpyr->width=imageType.GetWidth();
+            iplpyr->height=imageType.GetHeight();
+            iplpyr_old->width=imageType.GetWidth();
+            iplpyr_old->height=imageType.GetHeight();
+*/  
+      } catch(std::bad_cast& bc) {
+            self->Err("io type mismatch\n");
+            pyr=NULL;
+            pyr_old=NULL;
+        }
+      
+    }
+
+    ~OpticalFlow_impl() {
+        /*
+        FreeFunction((char*)pointsA);
+        FreeFunction((char*)pointsB);
+        FreeFunction((char*)found_feature);
+        FreeFunction((char*)feature_error);
+        FreeFunction((char*)iplgimg);
+        FreeFunction((char*)iplgimg_old);
+        FreeFunction((char*)iplpyr);
+        FreeFunction((char*)iplpyr_old);*/
+    }
+    
+    void UpdateFrom(const io_data *data){
+        //Time tStart=GetTime();
+        Image *img=(Image*)data;
+        Image *img_old=((Image*)data->Prev(1));
+/*
+        iplgimg->width=img->GetDataType().GetWidth();
+        iplgimg->height=img->GetDataType().GetHeight();
+        iplgimg->imageData=img->buffer;
+        
+        iplgimg_old->width=img_old->GetDataType().GetWidth();
+        iplgimg_old->height=img_old->GetDataType().GetHeight();
+        iplgimg_old->imageData=img_old->buffer;
+        
+        iplpyr->imageData=pyr->buffer;
+        iplpyr_old->imageData=pyr_old->buffer;
+
+        unsigned int count;
+        CvSize window = {3,3};
+        CvTermCriteria termination_criteria ={CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 };
+        unsigned int i;
+
+        if(max_features->ValueChanged()==true) {
+            FreeFunction((char*)pointsA);
+            FreeFunction((char*)pointsB);
+            FreeFunction((char*)found_feature);
+            FreeFunction((char*)feature_error);
+            pointsA=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
+            pointsB=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
+            found_feature=(char*)AllocFunction(max_features->Value()*sizeof(char));
+            feature_error=(unsigned int*)AllocFunction(max_features->Value()*sizeof(unsigned int));
+
+            output->Resize(max_features->Value());
+        }
+
+        if(is_init==false) {
+            data->GetMutex();
+            //init image old
+            dspPyrDown(iplgimg,iplpyr_old,LEVEL_PYR);
+            data->ReleaseMutex();
+            is_init=true;
+            printf("ajouter mise a 0 des points\n");
+            return;
+        }
+
+        data->GetMutex();
+        data->Prev(1)->GetMutex();
+
+        //select good features
+        count=max_features->Value();
+        dspGoodFeaturesToTrack(iplgimg_old,pointsA,&count,0.08,5);
+        //pyramide
+        dspPyrDown(iplgimg,iplpyr,LEVEL_PYR);
+        //lk
+        dspCalcOpticalFlowPyrLK(iplgimg_old,iplgimg,iplpyr_old,iplpyr,pointsA,pointsB,count,window,LEVEL_PYR,found_feature,feature_error,termination_criteria,0) ;
+
+        data->Prev(1)->ReleaseMutex();
+        data->ReleaseMutex();
+
+        //apply rotation
+        for(i=0;i<count;i++) {
+            Vector3Df tmp;
+            tmp.x=pointsA[i].x;
+            tmp.y=pointsA[i].y;
+            tmp.z=0;
+            rotation->ComputeRotation(tmp);
+            pointsA[i].x=tmp.x;
+            pointsA[i].y=tmp.y;
+
+            tmp.x=pointsB[i].x;
+            tmp.y=pointsB[i].y;
+            tmp.z=0;
+            rotation->ComputeRotation(tmp);
+            pointsB[i].x=tmp.x;
+            pointsB[i].y=tmp.y;
+        }
+
+        output->GetMutex();
+        CvPoint2D32f* pointsBf= output->PointsB();
+        for(i=0;i<count;i++) {
+            pointsBf[i].x=pointsA[i].x+((float)pointsB[i].x)/256;
+            pointsBf[i].y=pointsA[i].y+((float)pointsB[i].y)/256;
+        }
+        output->ReleaseMutex();
+
+        output->SetPointsA(pointsA);
+        output->SetFoundFeature(found_feature);
+        output->SetFeatureError(feature_error);
+        output->SetNbFeatures(count);
+
+        //rotation
+        swap(pyr,pyr_old);
+*/
+        output->SetDataTime(data->DataTime());
+        //Printf("Optical flow computation time=%f\n",(GetTime()-tStart)/(1000.*1000));
+    };
+    
+    flair::filter::OpticalFlowData *output;
+
+private:
+    flair::filter::OpticalFlow *self;
+    SpinBox *max_features;
+    OneAxisRotation* rotation;
+
+    //CvPoint* pointsA;
+    //CvPoint* pointsB;
+    char *found_feature;
+    unsigned int *feature_error;
+    Image *pyr,*pyr_old;
+    //IplImage *iplgimg,*iplgimg_old;
+    //IplImage *iplpyr,*iplpyr_old;
+
+    bool is_init;
+};
+
+
 namespace flair
 {
@@ -35 +204 @@
 {
 
-OpticalFlow::OpticalFlow(const IODevice* parent,const LayoutPosition* position,string name) : IODevice(parent,name)
-{
+OpticalFlow::OpticalFlow(const IODevice* parent,const LayoutPosition* position,string name) : IODevice(parent,name) {
     Printf("optical flow: voir pour faire du multiple output\n");//pour pts A et B, found et error
-
-    try{
-        Image::Type const &imageType=dynamic_cast<Image::Type const &>(parent->GetOutputDataType());
-        pyr=new Image(this,imageType.GetWidth(),imageType.GetHeight(),Image::Type::Format::Gray);
-        pyr_old=new Image(this,imageType.GetWidth(),imageType.GetHeight(),Image::Type::Format::Gray);
-    } catch(std::bad_cast& bc) {
-        Err("io type mismatch\n");
-        pyr=NULL;
-        pyr_old=NULL;
-        return;
+    pimpl_=new OpticalFlow_impl(this,position,name);
+}
+
+OpticalFlow::~OpticalFlow(void) {
+    delete pimpl_;
+}
+
+void OpticalFlow::UpdateFrom(const io_data *data) {
+    pimpl_->UpdateFrom(data);
+    ProcessUpdate(pimpl_->output);
+}
+
+OpticalFlowData* OpticalFlow::Output(void) {
+    return pimpl_->output;
+
+}
+
+DataType const &OpticalFlow::GetOutputDataType() const {
+    if(pimpl_->output!=NULL) {
+        return pimpl_->output->GetDataType();
+    } else {
+        return dummyType;
     }
-
-    is_init=false;
-
-    GroupBox* reglages_groupbox=new GroupBox(position,name);
-    rotation=new OneAxisRotation(reglages_groupbox->NewRow(),"post rotation",OneAxisRotation::PostRotation);
-    max_features=new SpinBox(reglages_groupbox->NewRow(),"max features:",1,65535,1,1);
-
-    output=new OpticalFlowData(parent,max_features->Value());
-
-    pointsA=(CvPoint*)malloc(max_features->Value()*sizeof(CvPoint));
-    pointsB=(CvPoint*)malloc(max_features->Value()*sizeof(CvPoint));
-
-    found_feature=(char*)malloc(max_features->Value()*sizeof(char));
-    feature_error=(unsigned int*)malloc(max_features->Value()*sizeof(unsigned int));
-    
-    SetIsReady(true);
-}
-
-OpticalFlow::~OpticalFlow(void) {
-    free((char*)pointsA);
-    free((char*)pointsB);
-    free((char*)found_feature);
-    free((char*)feature_error);
-}
-
-void OpticalFlow::UpdateFrom(const io_data *data) {/*
-    IplImage *gimg=((Image*)data)->img;
-    IplImage *gimg_old=((Image*)data->Prev(1))->img;
-
-    unsigned int count;
-    CvSize window = cvSize(3,3);
-    CvTermCriteria termination_criteria = cvTermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 );
-    unsigned int i;
-
-    if(max_features->ValueChanged()==true) {
-        cvFree(&pointsA);
-        cvFree(&pointsB);
-        cvFree(&found_feature);
-        cvFree(&feature_error);
-        pointsA=(CvPoint *)cvAlloc(max_features->Value()*sizeof(CvPoint));
-        pointsB=(CvPoint *)cvAlloc(max_features->Value()*sizeof(CvPoint));
-        found_feature=(char *)cvAlloc(max_features->Value()*sizeof(char));
-        feature_error=(unsigned int *)cvAlloc(max_features->Value()*sizeof(unsigned int));
-
-        output->Resize(max_features->Value());
-    }
-
-    if(is_init==false)
-    {
-        data->GetMutex();
-        //init image old
-        dspPyrDown(gimg,pyr_old,LEVEL_PYR);
-        data->ReleaseMutex();
-        is_init=true;
-        printf("ajouter mise a 0 des points\n");
-        return;
-    }
-
-    data->GetMutex();
-    data->Prev(1)->GetMutex();
-
-    //select good features
-    count=max_features->Value();
-    dspGoodFeaturesToTrack(gimg_old,pointsA,&count,0.08,5);
-    //pyramide
-    dspPyrDown(gimg,pyr,LEVEL_PYR);
-    //lk
-    dspCalcOpticalFlowPyrLK(gimg_old,gimg,pyr_old,pyr,pointsA,pointsB,count,window,LEVEL_PYR,found_feature,feature_error,termination_criteria,0) ;
-
-    data->Prev(1)->ReleaseMutex();
-    data->ReleaseMutex();
-
-    //apply rotation
-    for(i=0;i<count;i++) {
-        Vector3Df tmp;
-        tmp.x=pointsA[i].x;
-        tmp.y=pointsA[i].y;
-        tmp.z=0;
-        rotation->ComputeRotation(tmp);
-        pointsA[i].x=tmp.x;
-        pointsA[i].y=tmp.y;
-
-        tmp.x=pointsB[i].x;
-        tmp.y=pointsB[i].y;
-        tmp.z=0;
-        rotation->ComputeRotation(tmp);
-        pointsB[i].x=tmp.x;
-        pointsB[i].y=tmp.y;
-    }
-
-    output->GetMutex();
-    CvPoint2D32f* pointsBf= output->PointsB();
-    for(i=0;i<count;i++)
-    {
-        pointsBf[i].x=pointsA[i].x+((float)pointsB[i].x)/256;
-        pointsBf[i].y=pointsA[i].y+((float)pointsB[i].y)/256;
-    }
-    output->ReleaseMutex();
-
-    output->SetPointsA(pointsA);
-    output->SetFoundFeature(found_feature);
-    output->SetFeatureError(feature_error);
-    output->SetNbFeatures(count);
-
-    //rotation
-    swap(pyr,pyr_old);
-*/
-    output->SetDataTime(data->DataTime());
-    ProcessUpdate(output);
 }