| 0,0 → 1,118 |
|---|
| #ifndef DEPTHPROCESSOR_H |
| #define DEPTHPROCESSOR_H |
| |
| #include "GlobalDefines.h" |
| |
| // Divisor for visualizing the depth image (16->8 bits) |
| #define SCALE_DIVISOR 16 |
| |
| // Field of view to generate horizontal map from |
| #define VFOV_MIN 100 |
| #define VFOV_MAX 140 |
| |
| // Threshold for moving object recognition |
| #define FG_MASK_THRESHOLD 220 |
| |
| // Parameters for the background subtractor |
| #define BACKGROUND_SUBTRACTOR_HISTORY 150 |
| #define BACKGROUND_SUBTRACTOR_NMIXTURES 1 |
| |
| // Parameters for blob detection |
| #define BLOB_MIN_DISTANCE 30 |
| #define BLOB_MIN_AREA 20 |
| #define BLOB_MAX_AREA 9999 |
| |
| // Multiplier for velocity line indicator |
| #define VELOCITY_MULTIPLIER 5 |
| |
| // Indicator colors |
| #define COLOR_DEPTH_FOV QColor(255, 255, 255, 100) |
| #define COLOR_DEPTH_FOV_FILL QColor(0, 0, 0, 100) |
| #define COLOR_DEPTH_POINT QColor(0, 0, 255, 255) |
| #define COLOR_DEPTH_BACKGROUND QColor(255, 0, 0, 10) |
| #define COLOR_FOV QColor(0, 0, 0, 100) |
| #define COLOR_MOVEMENT_ZONE QColor(255, 0, 0, 5) |
| #define COLOR_KEYPOINT QColor(255, 255, 0, 200) |
| #define COLOR_EST_POSITION QColor(0, 0, 255, 200) |
| #define COLOR_EST_AVGERAGE QColor(0, 255, 0, 200) |
| |
| class DepthProcessor : public QThread |
| { |
| Q_OBJECT |
| |
| public: |
| DepthProcessor(QObject *parent = 0); |
| ~DepthProcessor(); |
| |
| public slots: |
| void setFOV(float width, float height); |
| void setDisplayImage(const int, const QString &); |
| void processDepthData(const cv::Mat &); |
| |
| signals: |
| void setImageTopLeft(const QImage &); |
| void setImageTopRight(const QImage &); |
| void setImageBotLeft(const QImage &); |
| void setImageBotRight(const QImage &); |
| |
| private: |
| // Pointer to images to be displayed on the GUI |
| QImage *topLeftImage; |
| QImage *topRightImage; |
| QImage *botLeftImage; |
| QImage *botRightImage; |
| void updateImages(); |
| |
| void drawDepthImages(); |
| void drawFOVImages(); |
| |
| void drawDistanceFOV(QImage &, QVector<float> &); |
| void drawSensorFOV(QImage &image); |
| void drawMovementZones(QImage &, QVector<float> &); |
| void drawKeyPoints(QImage &image, std::vector<cv::KeyPoint> &); |
| void drawMovingObjects(QImage &, std::vector<MOVING_OBJECT> &); |
| |
| void convertMatToQImage3C(cv::Mat &, QImage &); |
| void convertQImageToMat3C(QImage &, cv::Mat &); |
| |
| float fovWidth; |
| float fovHeight; |
| |
| cv::Mat rawData16; // Raw 16-bit sensor data |
| QImage rawDepthImage; // Image of --^ |
| cv::Mat lastValidData16; // Last known valid 16-bit data |
| QImage lastValidDepthImage; // Image of --^ |
| QImage lastValidProcessed; // Processed image with overlay |
| |
| cv::Mat fgMaskMOG; // Mask of detected movements |
| QImage movementMaskImage; // Image of --^ |
| cv::Mat fgMaskTmp; // Temporary buffer for averaging mask values |
| cv::Mat fgMaskRaw; // Raw values for movement mask |
| QImage movementMaskRawImage; // Image of --^ |
| cv::Mat fgMaskAverage; // Weighted average of mask values |
| QImage movementMaskAverageImage; // Image of --^ |
| |
| cv::Ptr<cv::BackgroundSubtractor> pMOG; // Background subtractor |
| |
| QImage rawHorizonImage; // 2D image showing depth points (raw) |
| QImage lastValidHorizonImage; // 2D image showing depth points |
| QImage overlayHorizonImage; // 2D image with all overlays |
| |
| QVector<float> rawDepthHorizon; // Depth points in inches (raw) |
| QVector<float> depthHorizon; // Depth points in inches |
| |
| QVector<int> movementMaskHorizon; // 1D condensed movement mask |
| |
| |
| cv::Mat movementPointsMat; // Image showing object movement zones |
| QImage movementPointsImage; // Image of --^ |
| cv::SimpleBlobDetector::Params params; // Parameters for blob detection |
| cv::Ptr<cv::FeatureDetector> blobDetector; // Blob detector |
| std::vector<cv::KeyPoint> blobKeypoints; // Keypoints from blob detector |
| |
| MovingPointTracker movementTracker; // Movement tracker |
| std::vector<MOVING_OBJECT> movementObjects; // Results from movement tracker |
| |
| }; |
| |
| #endif // DEPTHPROCESSOR_H |