int PhotoViewer::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QWidget::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: showList(); break;
case 1: showFlow(); break;
case 2: showFileInfo(); break;
case 3: showImage(); break;
}
_id -= 4;
}
return _id;
}
void my_plugin_run(unsigned char *frame)
{
short threshold_n_points = 25;
int tot_x=0;
int tot_y=0;
int x_avg = 0;
int y_avg = 0;
//magical scaling needed in order to calibrate opt flow angles to imu angles
short scalex = 1024; //1024*(1/0.75)
short scaley = 1024; //1024*(1/0.76)
int i;
if(old_img_init == 1)
{
memcpy(prev_frame,frame,imgHeight*imgWidth*2);
old_img_init = 0;
}
// ***********************************************************************************************************************
// (1) possibly find new points - keeping possible old ones (normal cv methods / efficient point finding / active corners)
// ***********************************************************************************************************************
if(ALWAYS_NEW_POINTS)
{
// Clear corners
memset(flow_points,0,sizeof(flowPoint)*flow_point_size);
findPoints(gray_frame, frame, imgWidth, imgHeight, &count, max_count, MAX_COUNT, flow_points, &flow_point_size, detected_points);
}
else
{
if(flow_point_size < threshold_n_points)
{
findPoints(gray_frame, frame, imgWidth, imgHeight, &count, max_count, MAX_COUNT, flow_points, &flow_point_size, detected_points);
}
}
// **********************************************************************************************************************
// (2) track the points to the new image, possibly using external information (TTC, known lateral / rotational movements)
// **********************************************************************************************************************
if(count)
{
trackPoints(frame, prev_frame, imgWidth, imgHeight, &count, max_count, MAX_COUNT, flow_points, &flow_point_size, detected_points, x, y, new_x, new_y, dx, dy, status);
//showFlow(frame, x, y, status, count, new_x, new_y, imgWidth, imgHeight);
for (i=0; i<count;i++)
{
// dx[i] = (new_x[i]-x[i]);
// dy[i] = (new_y[i]-y[i]);
dx[i] = flow_points[i].dx;
dy[i] = flow_points[i].dy;
tot_x = tot_x + dx[i];
tot_y = tot_y + dy[i];
}
// using moving average to filter out the noise
if(count)
{
x_buf[buf_point] = (tot_x*scalex)/count;
y_buf[buf_point] = (tot_y*scaley)/count;
buf_point = (buf_point+1) %5;
}
for (i=0;i<5;i++) {
x_avg+=x_buf[i];
y_avg+=y_buf[i];
}
//raw optic flow (for telemetry purpose)
opt_angle_x_raw = x_avg;
opt_angle_y_raw = y_avg;
//tele purpose
//int diff_roll, diff_pitch, mean_alt;
//float mean_tti, median_tti, d_heading, d_pitch, pu[3], pv[3], divergence_error;
/*int USE_FITTING = 0;
if(USE_FITTING == 1)
{
analyseTTI(&divergence, x, y, dx, dy, n_inlier_minu, n_inlier_minv, count, imgWidth, imgHeight);
}*/
memcpy(prev_frame,frame,imgHeight*imgWidth*2);
showFlow(frame, x, y, status, count, new_x, new_y, imgWidth, imgHeight);
//DOWNLINK_SEND_OPTIC_FLOW(DefaultChannel, DefaultDevice, &FPS, &opt_angle_x_raw, &opt_angle_y_raw, &opt_trans_x, &opt_trans_y, &diff_roll, &diff_pitch, &mean_alt, &count, &count, &divergence, &mean_tti, &median_tti, &d_heading, &d_pitch, &pu[2], &pv[2], &divergence_error, n_inlier_minu, n_inlier_minv);
}
//DOWNLINK_SEND_OF_ERROR(DefaultChannel, DefaultDevice, &error_corner, &error_opticflow);
// Send to paparazzi
//gst2ppz.ID = 0x0001;
//gst2ppz.counter++; // to keep track of data through ppz communication
}
