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#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