plugins/opencvlux/opencvluxplugin.h

   1 /*
   2 Copyright (C) 2012 Intel Corporation
   3
   4 This library is free software; you can redistribute it and/or
   5 modify it under the terms of the GNU Lesser General Public
   6 License as published by the Free Software Foundation; either
   7 version 2.1 of the License, or (at your option) any later version.
   8
   9 This library is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12 Lesser General Public License for more details.
  13
  14 You should have received a copy of the GNU Lesser General Public
  15 License along with this library; if not, write to the Free Software
  16 Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
  17 */
  18
  19 #ifndef OPENCVLUXPLUGIN_H
  20 #define OPENCVLUXPLUGIN_H
  21
  22 #include <abstractsource.h>
  23 #include <string>
  24 #include <memory>
  25
  26 #include <opencv/cv.h>
  27 #include <opencv2/highgui/highgui.hpp>
  28
  29 #include <QObject>
  30 #include <QMutex>
  31
  32 using namespace std;
  33
  34 class OpenCvLuxPlugin: public QObject, public AbstractSource
  35 {
  36 Q_OBJECT
  37 public:
  38
  39         struct Shared
  40         {
  41                 cv::VideoCapture *m_capture;
  42                 cv::VideoWriter *mWriter;
  43                 PropertyList mRequests;
  44                 OpenCvLuxPlugin* parent;
  45
  46                 double fps;
  47                 bool threaded;
  48                 bool kinect;
  49                 bool useOpenCl;
  50                 bool useCuda;
  51                 int pixelLowerBound;
  52                 int pixelUpperBound;
  53                 bool loggingOn;
  54         };
  55
  56         OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string> config);
  57
  58         ~OpenCvLuxPlugin();
  59
  60         const string uuid();
  61         void getPropertyAsync(AsyncPropertyReply *reply);
  62         void getRangePropertyAsync(AsyncRangePropertyReply *reply);
  63         AsyncPropertyReply * setProperty(AsyncSetPropertyRequest request);
  64         void subscribeToPropertyChanges(VehicleProperty::Property property);
  65         void unsubscribeToPropertyChanges(VehicleProperty::Property property);
  66         PropertyList supported();
  67
  68         int supportedOperations();
  69
  70         void propertyChanged(AbstractPropertyType* value);
  71
  72         void supportedChanged(const PropertyList &);
  73
  74         void updateProperty(uint lux);
  75
  76         void writeVideoFrame(cv::Mat frame);
  77
  78 public Q_SLOTS:
  79         void imgProcResult();
  80
  81
  82 private: /// methods:
  83         bool init();
  84
  85 private:
  86         uint speed;
  87         uint latitude;
  88         uint longitude;
  89
  90         uint lastLux;
  91         std::string device;
  92         std::list<AsyncPropertyReply*> replyQueue;
  93
  94         std::unique_ptr<VehicleProperty::ExteriorBrightnessType> extBrightness;
  95
  96         Shared* shared;
  97         QMutex mutex;
  98 };
  99
 100 static int grabImage(void *data);
 101 static uint evalImage(cv::Mat qImg, OpenCvLuxPlugin::Shared *shared);
 102
 103 namespace TrafficLight
 104 {
 105 enum Color
 106 {
 107         Unknown = -1,
 108         Red = 0,
 109         Yellow,
 110         Green
 111 };
 112 }
 113
 114 TrafficLight::Color detectLight(cv::Mat img, OpenCvLuxPlugin::Shared* shared);
 115
 116 #endif // EXAMPLEPLUGIN_H