Explorer/RaspberryPi/Visualprocessing/Motionvector - Revision history

Xp31 at 12:20, 12 February 2021

2021-02-12T12:20:48Z

← Older revision		Revision as of 06:20, 12 February 2021
Line 33:		Line 33:

	Update RaspiCV.c		Update RaspiCV.c
	cp userland/host_applications/linux/apps/raspicam/RaspiVid.c ~/RaspiCV/src/RaspiCV.c		cp ~/userland/host_applications/linux/apps/raspicam/RaspiVid.c ~/RaspiCV/src/RaspiCV.c
	and patch it		and patch it
	< #include <semaphore.h>		< #include <semaphore.h>

2020-09-29T12:35:16Z

← Older revision		Revision as of 06:35, 29 September 2020
Line 157:		Line 157:
	return((void *)0);		return((void *)0);
	}		}

	/*****************************************************************************/		/*****************************************************************************/
	void cv_init(int w, int h, int f, int fmt)		void cv_init(int w, int h, int f, int fmt)
Line 166:		Line 166:

	drawAxes_init();		drawAxes_init();

			width=w;height=h;fps=f;

	~~width=w;height=h;fps=f;~~

	gray = Mat(height, width, CV_8UC1);		gray = Mat(height, width, CV_8UC1);
	motionIn = new motion_elt_t[((width/16)+1) * (height/16)];		motionIn = new motion_elt_t[((width/16)+1) * (height/16)];

	pthread_mutex_init(&imv_mutex, NULL);		pthread_mutex_init(&imv_mutex, NULL);

	pthread_mutex_init(&img_mutex, NULL);		pthread_mutex_init(&img_mutex, NULL);
	pthread_cond_init(&img_condv, NULL);		pthread_cond_init(&img_condv, NULL);

	pthread_create(&img_thread, NULL, process_thread, (void *)0);		pthread_create(&img_thread, NULL, process_thread, (void *)0);

	init_ready=true;		init_ready=true;
	}		}

2020-09-29T12:34:03Z

← Older revision		Revision as of 06:34, 29 September 2020
Line 136:		Line 136:
	intensity = round(255 * intensity / SAD_LIMIT);		intensity = round(255 * intensity / SAD_LIMIT);
	if (intensity > 255) intensity = 255;		if (intensity > 255) intensity = 255;
	uint8_t *ptr = colormap.ptr<uchar>(0);		uint8_t *ptr = colormap.ptr<uchar>(0);
	uint8_t idx = 3*(uint8_t)intensity;		uint8_t idx = 3*(uint8_t)intensity;
	arrowedLine(grayBGR, Point(x+vec->x, y+vec->y),		arrowedLine(grayBGR, Point(x+vec->x, y+vec->y),
	Point(x, y),		Point(x, y),

2020-09-29T12:33:23Z

← Older revision		Revision as of 06:33, 29 September 2020
Line 133:		Line 133:
	int x = i*16 + 8;		int x = i*16 + 8;
	int y = j*16 + 8;		int y = j*16 + 8;
	float intensity = vec->sad;		float intensity = vec->sad;
	intensity = round(255 * intensity / SAD_LIMIT);		intensity = round(255 * intensity / SAD_LIMIT);
	if (intensity > 255) intensity = 255;		if (intensity > 255) intensity = 255;
	uint8_t *ptr = colormap.ptr<uchar>(0);		uint8_t *ptr = colormap.ptr<uchar>(0);
	uint8_t idx = 3*(uint8_t)intensity;		uint8_t idx = 3*(uint8_t)intensity;

2020-09-29T12:32:49Z

← Older revision		Revision as of 06:32, 29 September 2020
Line 138:		Line 138:
	uint8_t *ptr = colormap.ptr<uchar>(0);		uint8_t *ptr = colormap.ptr<uchar>(0);
	uint8_t idx = 3*(uint8_t)intensity;		uint8_t idx = 3*(uint8_t)intensity;
	arrowedLine(grayBGR, Point(x+vec->x, y+vec->y),		arrowedLine(grayBGR, Point(x+vec->x, y+vec->y),
	Point(x, y),		Point(x, y),
	Scalar(ptr[idx], ptr[idx+1], ptr[idx+2]));		Scalar(ptr[idx], ptr[idx+1], ptr[idx+2]));

	sum_x += (intensity * vec->x);		sum_x += (intensity * vec->x);
	sum_y += (intensity * vec->y);		sum_y += (intensity * vec->y);
	}		}
	}		}

2020-09-29T12:31:40Z

← Older revision		Revision as of 06:31, 29 September 2020
Line 132:		Line 132:
	if (vec->sad > SAD_LIMIT) continue;		if (vec->sad > SAD_LIMIT) continue;
	int x = i*16 + 8;		int x = i*16 + 8;
	int y = j*16 + 8;		int y = j*16 + 8;
	float intensity = vec->sad;		float intensity = vec->sad;
	intensity = round(255 * intensity / SAD_LIMIT);		intensity = round(255 * intensity / SAD_LIMIT);

2020-09-29T12:27:08Z

2020-06-29T07:14:34Z

← Older revision		Revision as of 01:14, 29 June 2020
Line 6:		Line 6:

	The code below, patch "raspivid" to provide a video buffer (gray scale image) with motion vectors.<br />		The code below, patch "raspivid" to provide a video buffer (gray scale image) with motion vectors.<br />
	The new code compiled as "raspicv", with a custom "cv.cpp" (see below), output ~~video stream with~~ motion vector display to /tmp/camera3		The new code compiled as "raspicv", with a custom "cv.cpp" (see below), output motion vector display to /tmp/camera3 <br />
	The "cv.cpp" is limited to 640x480 grayscale image in this sample.		The "cv.cpp" is limited to 640x480 grayscale image in this sample.<br />

	(ref. Adam Heinrich thesis: An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer)		(ref. Adam Heinrich thesis: An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer)

2020-06-29T07:13:26Z

← Older revision		Revision as of 01:13, 29 June 2020
Line 6:		Line 6:

	The code below, patch "raspivid" to provide a video buffer (gray scale image) with motion vectors.<br />		The code below, patch "raspivid" to provide a video buffer (gray scale image) with motion vectors.<br />
	The new code ~~compile~~ as "raspicv", with a custom "cv.cpp" (see below), output video stream with motion vector display to /tmp/camera3		The new code compiled as "raspicv", with a custom "cv.cpp" (see below), output video stream with motion vector display to /tmp/camera3
	The "cv.cpp" is limited to 640x480 grayscale image in this sample.		The "cv.cpp" is limited to 640x480 grayscale image in this sample.

2020-06-29T07:12:14Z

← Older revision		Revision as of 01:12, 29 June 2020
Line 9:		Line 9:
	The "cv.cpp" is limited to 640x480 grayscale image in this sample.		The "cv.cpp" is limited to 640x480 grayscale image in this sample.

	Adam Heinrich thesis		(ref. Adam Heinrich thesis: An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer)
	An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer

	git clone https://github.com/raspberrypi/userland.git		git clone https://github.com/raspberrypi/userland.git