Changeset 338 in flair-src for trunk/demos/OpticalFlow/uav

Timestamp:

Oct 17, 2019, 2:49:35 PM (5 years ago)

Author:

Sanahuja Guillaume

Message:

remove opencv dep

Location:

trunk

Files:

• . (modified) (1 prop)
• demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp (modified) (4 diffs)
• demos/OpticalFlow/uav/src/DemoOpticalFlow.h (modified) (1 diff)

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

@@ -47 +47 @@
 
 DemoOpticalFlow::DemoOpticalFlow(TargetController *controller): UavStateMachine(controller) {
-  Uav* uav=GetUav();
+    Uav* uav=GetUav();
         if (uav->GetVerticalCamera() == NULL) {
                                 Err("no vertical camera found\n");
@@ -57 +57 @@
         greyCameraImage=new CvtColor(uav->GetVerticalCamera(),"gray",CvtColor::Conversion_t::ToGray);
 
-        uav->GetVerticalCamera()->UseDefaultPlot(greyCameraImage->Output()); // Le defaultPlot de la caméra peut afficher n'importe quoi?
+        uav->GetVerticalCamera()->UseDefaultPlot(greyCameraImage->Output());
 
         //optical flow stack
@@ -77 +77 @@
   DataPlot1D* xVelocityPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x speed (px/s)",-250,250);
   DataPlot1D* yVelocityPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y speed (px/s)",-250,250);
-  DataPlot1D* xFirstPointPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x movement first point",-25,25);
-  DataPlot1D* yFirstPointPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y movement first point",-25,25);
-//  DataPlot1D* xAccelerationPlot=new DataPlot1D(opticalFlowTab->NewRow(),"x_acceleration",-250,250);
-//  DataPlot1D* yAccelerationPlot=new DataPlot1D(opticalFlowTab->LastRowLastCol(),"y_acceleration",-250,250);
-
+  
   xVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(0,0));
   xVelocityPlot->AddCurve(opticalFlowSpeed->GetMatrix()->Element(0,0),DataPlot::Blue);
   yVelocityPlot->AddCurve(opticalFlowSpeedRaw->Output()->Element(1,0));
   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);
-  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);
-//  yAccelerationPlot->AddCurve(opticalFlowAccelerationRaw->Matrix()->Element(1,0));
-//  yAccelerationPlot->AddCurve(opticalFlowAcceleration->Matrix()->Element(1,0),DataPlot::Blue);
-
+  
   u_x=new Pid(setupLawTab->At(1,0),"u_x");
   u_x->UseDefaultPlot(graphLawTab->NewRow());
@@ -129 +115 @@
 
 void DemoOpticalFlow::SignalEvent(Event_t event) {
+    UavStateMachine::SignalEvent(event);
     switch(event) {
     case Event_t::EnteringControlLoop:

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

@@ -66 +66 @@
         flair::filter::OpticalFlowSpeed *opticalFlowSpeedRaw;
         flair::filter::EulerDerivative *opticalFlowAccelerationRaw;
-    flair::gui::PushButton *startOpticalflow,*stopOpticalflow;
-    void StartOpticalFlow(void);
+        flair::gui::PushButton *startOpticalflow,*stopOpticalflow;
+        void StartOpticalFlow(void);
         flair::filter::LowPassFilter* opticalFlowSpeed;
         flair::filter::LowPassFilter* opticalFlowAcceleration;