Changeset 338 in flair-src for trunk/lib/FlairVisionFilter/src/OpticalFlowSpeed.cpp

Timestamp:

Oct 17, 2019, 2:49:35 PM (6 years ago)

Author:

Sanahuja Guillaume

Message:

remove opencv dep

Location:

trunk

Files:

• . (modified) (1 prop)
• lib/FlairVisionFilter/src/OpticalFlowSpeed.cpp (modified) (1 diff)

trunk/lib/FlairVisionFilter/src/OpticalFlowSpeed.cpp

@@ -26 +26 @@
 using namespace flair::gui;
 
+class OpticalFlowSpeed_impl {
+public:
+    OpticalFlowSpeed_impl(flair::filter::OpticalFlowSpeed *self,const LayoutPosition* position,string name):output(0) {
+        this->self=self;
+        MatrixDescriptor* desc=new MatrixDescriptor(2,1);
+        desc->SetElementName(0,0,"vx");
+        desc->SetElementName(1,0,"vy");
+        output=new Matrix(self,desc,floatType,name);
+        delete desc;
+
+        self->AddDataToLog(output);
+
+        GroupBox* reglages_groupbox=new GroupBox(position,name);
+        quality=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"optical flow quality:",0.,100.,1.,1,5.);
+        weightedAverage=new CheckBox(reglages_groupbox->LastRowLastCol(),"Weighted average", true);
+        timeMultiplication=new CheckBox(reglages_groupbox->LastRowLastCol(),"Time multiplication", true);
+
+       
+    }
+
+    ~OpticalFlowSpeed_impl() {
+       
+    }
+    
+    void UpdateFrom(const io_data *data){
+        flair::filter::OpticalFlowData *input=(flair::filter::OpticalFlowData*)data;
+        float deplx,deply;
+        float nb_depl=0;
+
+        deplx=0;
+        deply=0;
+
+        //error is 0 if perfect match and 7x7x255x255 at worst
+        float qualityThreshold=quality->Value()/100.*7*7*255*255;
+        input->GetMutex();
+        int nbUsedPoints=0;
+        for(int i=0;i<input->NbFeatures();i++) {
+            //if point is found in both images and quality is sufficient
+            if((input->FoundFeature()[i]!=0)&&(input->FeatureError()[i]<qualityThreshold)) {
+              nbUsedPoints++;
+              float qualityFactor=1.0;
+              if (weightedAverage->Value()) {
+                //displacement is weigthed by quality
+                qualityFactor/=(1+input->FeatureError()[i]);
+              } 
+                deplx+=(input->PointsB()[i].x-input->PointsA()[i].x)*qualityFactor;
+                deply+=(input->PointsB()[i].y-input->PointsA()[i].y)*qualityFactor;
+                nb_depl+=qualityFactor;
+            }
+        }
+        input->ReleaseMutex();
+        float deltaT;
+        if (timeMultiplication->Value()) deltaT=(float)(data->DataTime()-output->DataTime())/(1000.*1000.*1000.);
+        else deltaT=1.;
+        output->SetDataTime(data->DataTime());
+
+        if(nb_depl!=0) {
+    //Printf("Nombre de points=%d/%d (nb_depl=%f,pondération=%d), deltaT=%f\n",nbUsedPoints,input->NbFeatures(),nb_depl,weightedAverage->Value(),deltaT);
+            output->SetValue(0,0,deplx/(nb_depl*deltaT));
+            output->SetValue(1,0,deply/(nb_depl*deltaT));
+        }
+    };
+    
+    Matrix *output;
+   
+private:
+    flair::filter::OpticalFlowSpeed *self;    
+    DoubleSpinBox *quality;
+    CheckBox *weightedAverage;
+    CheckBox *timeMultiplication;
+};
+
 namespace flair { namespace filter {
 
 OpticalFlowSpeed::OpticalFlowSpeed(const IODevice* parent, const LayoutPosition* position,string name) : IODevice(parent,name) {
-  MatrixDescriptor* desc=new MatrixDescriptor(2,1);
-  desc->SetElementName(0,0,"vx");
-  desc->SetElementName(1,0,"vy");
-  output=new Matrix(this,desc,floatType,name);
-  delete desc;
-
-  AddDataToLog(output);
-
-  GroupBox* reglages_groupbox=new GroupBox(position,name);
-  quality=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"optical flow quality:",0.,100.,1.,1,5.);
-  weightedAverage=new CheckBox(reglages_groupbox->LastRowLastCol(),"Weighted average", true);
-  timeMultiplication=new CheckBox(reglages_groupbox->LastRowLastCol(),"Time multiplication", true);
+    pimpl_=new OpticalFlowSpeed_impl(this,position,name);
 }
 
-OpticalFlowSpeed::~OpticalFlowSpeed(void) { }
+OpticalFlowSpeed::~OpticalFlowSpeed(void) {
+    delete pimpl_;
+}
 
 void OpticalFlowSpeed::UpdateFrom(const io_data *data) {
-    OpticalFlowData *input=(OpticalFlowData*)data;
-    float deplx,deply;
-    float nb_depl=0;
-
-    deplx=0;
-    deply=0;
-
-    //error is 0 if perfect match and 7x7x255x255 at worst
-    float qualityThreshold=quality->Value()/100.*7*7*255*255;
-    input->GetMutex();
-    int nbUsedPoints=0;
-    for(int i=0;i<input->NbFeatures();i++) {
-        //if point is found in both images and quality is sufficient
-        if((input->FoundFeature()[i]!=0)&&(input->FeatureError()[i]<qualityThreshold)) {
-          nbUsedPoints++;
-          float qualityFactor=1.0;
-          if (weightedAverage->Value()) {
-            //displacement is weigthed by quality
-            qualityFactor/=(1+input->FeatureError()[i]);
-          } 
-            deplx+=(input->PointsB()[i].x-input->PointsA()[i].x)*qualityFactor;
-            deply+=(input->PointsB()[i].y-input->PointsA()[i].y)*qualityFactor;
-            nb_depl+=qualityFactor;
-        }
-    }
-    input->ReleaseMutex();
-    float deltaT;
-    if (timeMultiplication->Value()) deltaT=(float)(data->DataTime()-output->DataTime())/(1000.*1000.*1000.);
-    else deltaT=1.;
-    output->SetDataTime(data->DataTime());
-
-    if(nb_depl!=0) {
-//Printf("Nombre de points=%d/%d (nb_depl=%f,pondération=%d), deltaT=%f\n",nbUsedPoints,input->NbFeatures(),nb_depl,weightedAverage->Value(),deltaT);
-        output->SetValue(0,0,deplx/(nb_depl*deltaT));
-        output->SetValue(1,0,deply/(nb_depl*deltaT));
-    }
-//    output->SetDataTime(data->DataTime());
-    ProcessUpdate(output);
+    pimpl_->UpdateFrom(data);
+    ProcessUpdate(pimpl_->output);
 }
 
 float OpticalFlowSpeed::Vx(void) const {
-    return output->Value(0,0);
+    return pimpl_->output->Value(0,0);
 }
 
 float OpticalFlowSpeed::Vy(void) const {
-    return output->Value(1,0);
+    return pimpl_->output->Value(1,0);
 }
 
 core::Matrix *OpticalFlowSpeed::Output() const {
-    return output;
+    return pimpl_->output;
 }
 } // end namespace filter