This CameraSensor calculates the optical flow at few points of the image based on a box matching technique. More...

#include <opticalflow.h>

Inheritance diagram for OpticalFlow:

Collaboration diagram for OpticalFlow:

Classes
struct	Vec2i

Public Types
typedef std::list< std::pair < Vec2i, int > >	FlowDelList

Public Types inherited from Sensor
enum	Dimensions { X = 1, Y = 2, Z = 4, XY = X \| Y, XZ = X \| Z, YZ = Y \| Z, XYZ = X \| Y \| Z }
	defines which dimensions should be sensed. The meaning is sensor specific. More...

Public Types inherited from SensorMotorInfoAble
typedef std::function < std::string(int)>	NamingFunction
	function that returns the name given the index More...

Public Member Functions
	OpticalFlow (OpticalFlowConf conf=getDefaultConf())

virtual	~OpticalFlow ()

virtual void	intern_init ()
	overload this function to initialized you data structures. More...

virtual bool	sense (const GlobalData &globaldata)
	Performs the calculations. More...

virtual int	getSensorNumber () const
	overload this function and return the number of sensor values More...

virtual int	get (sensor *sensors, int length) const
	overload this function and return the sensor values More...

Public Member Functions inherited from CameraSensor
	CameraSensor ()
	Creates a camera sensor. More...

virtual	~CameraSensor ()

virtual void	setInitData (Camera *camera, const OdeHandle &odeHandle, const OsgHandle &osgHandle, const osg::Matrix &pose)
	sets the initial data structures like the camera. More...

virtual void	setPose (const osg::Matrix &pose)
	changes the relative pose of the camera More...

virtual osg::Matrix	getPose ()
	relative pose of the camera More...

virtual void	init (Primitive own, Joint joint=0)
	this function initialized the camera (no need to overload) (Sensor interface) More...

virtual void	update ()
	we update the camera's visual appearance More...

virtual std::list< sensor >	getList () const
	this is implemented based on get(sensor*,int) More...

Public Member Functions inherited from Sensor
	Sensor ()

virtual	~Sensor ()

virtual std::list < SensorMotorInfo >	getSensorInfos () const
	returns a list of sensor infos ( More...

std::list< sensor >	getListOfArray () const
	helper function for performance implementation of list<> get() based on array-get More...

Public Member Functions inherited from SensorMotorInfoAble
	SensorMotorInfoAble ()

void	setBaseName (const std::string &basename)

void	setBaseInfo (const SensorMotorInfo &baseinfo)

SensorMotorInfo	getBaseInfo ()

void	setNamingFunc (const NamingFunction &func)

NamingFunction	getNamingFunc () const

void	setNames (const std::vector< std::string > &names)
	set names explicitly (basename is anyway suffixed) More...

std::string	getName (int index) const
	returns the name of a single item. Typically called from within Sensor and Motor class. More...

std::list< SensorMotorInfo >	getInfos (int number) const
	get all infos. More...

Static Public Member Functions
static std::list< Pos >	getDefaultPoints (int num)
	calculates default positions for optical flow detection. More...

static OpticalFlowConf	getDefaultConf ()
	the default config has 2 points in and calculates the flow in X and Y More...

Static Public Member Functions inherited from Sensor
static std::list< sensor >	selectrows (const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static int	selectrows (sensor *sensors, int length, const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static Dimensions	parseSensorDimension (char *str)

static std::string	dimensions2String (short dimensions)

Static Public Member Functions inherited from SensorMotorInfoAble
static std::string	defaultNameing (int index)
	the default implementation is for index==0: basename, otherwise basename + (index+1) More...

Protected Member Functions
Vec2i	calcFieldTransRGB (const Vec2i &field, const osg::Image current, const osg::Image last, double &minerror) const
	calculates the optimal transformation for one field in RGB using all three color channels More...

Static Protected Member Functions
static double	compareSubImg (const unsigned char const I1, const unsigned char const I2, const Vec2i &field, int size, int width, int height, int bytesPerPixel, int d_x, int d_y)
	compares a small part of two given images and returns the average absolute difference. More...

Protected Attributes
OpticalFlowConf	conf

int	num

std::list< Vec2i >	fields

sensor *	data

osg::Image *	lasts [4]

std::vector< Vec2i >	oldFlows

int	maxShiftX

int	maxShiftY

int	width

int	height

int	cnt

double	avgerror

Protected Attributes inherited from CameraSensor
Camera *	camera

OdeHandle	odeHandle

OsgHandle	osgHandle

osg::Matrix	pose

bool	isInitDataSet

Protected Attributes inherited from SensorMotorInfoAble
NamingFunction	func

SensorMotorInfo	baseinfo

Detailed Description

This CameraSensor calculates the optical flow at few points of the image based on a box matching technique.

This can be applied directly to the camera image.

Member Typedef Documentation

typedef std::list< std::pair<Vec2i,int> > FlowDelList

Constructor & Destructor Documentation

OpticalFlow ( OpticalFlowConf conf = getDefaultConf() )

See Also: CameraSensor for further parameter explanation.

~OpticalFlow ( )

virtual

Member Function Documentation

OpticalFlow::Vec2i calcFieldTransRGB	(	const Vec2i &	field,
		const osg::Image *	current,
		const osg::Image *	last,
		double &	minerror
	)		const

protected

calculates the optimal transformation for one field in RGB using all three color channels

Parameters

minerror (is to return the minimum error achieved during the matching)

double compareSubImg	(	const unsigned char *const	I1,
		const unsigned char *const	I2,
		const Vec2i &	field,
		int	size,
		int	width,
		int	height,
		int	bytesPerPixel,
		int	d_x,
		int	d_y
	)

staticprotected

compares a small part of two given images and returns the average absolute difference.

Field center, size and shift have to be choosen, so that no clipping is required!

Parameters

field	specifies position(center) of subimage to use for comparison
size	specifies the size of the field edged in pixels
d_x	shift in x direction
d_y	shift in y direction

int get	(	sensor *	sensors,
		int	length
	)		const

virtual

overload this function and return the sensor values

Implements CameraSensor.

static OpticalFlowConf getDefaultConf ( )

inlinestatic

the default config has 2 points in and calculates the flow in X and Y

list< Pos > getDefaultPoints ( int num )

static

calculates default positions for optical flow detection.

The points are in aranged horizontally in a line at the vertical center. For num 2 the points are at the border, 3 points there is additioanlly one is the center and so on.

virtual int getSensorNumber ( ) const

inlinevirtual

overload this function and return the number of sensor values

Implements CameraSensor.

void intern_init ( )

virtual

overload this function to initialized you data structures.

Use camera->getImage() to get the image from the camera

Implements CameraSensor.

bool sense ( const GlobalData & globaldata )

virtual

Performs the calculations.

Implements CameraSensor.

Member Data Documentation

double avgerror

protected

int cnt

protected

OpticalFlowConf conf

protected

sensor* data

protected

std::list<Vec2i> fields

protected

int height

protected

osg::Image* lasts[4]

protected

int maxShiftX

protected

int maxShiftY

protected

int num

protected

std::vector<Vec2i> oldFlows

protected

int width

protected

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation