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         typedef BasicPropertyType<bool> DriverDrowsinessType;
  40
  41         struct Shared
  42         {
  43                 std::unique_ptr<cv::VideoCapture> m_capture;
  44                 std::unique_ptr<cv::VideoWriter> mWriter;
  45                 PropertyList mRequests;
  46                 OpenCvLuxPlugin* parent;
  47
  48                 double fps;
  49                 bool threaded;
  50                 bool kinect;
  51                 bool useOpenCl;
  52                 bool useCuda;
  53                 int pixelLowerBound;
  54                 int pixelUpperBound;
  55                 bool loggingOn;
  56                 bool ddd;
  57         };
  58
  59         OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string> config);
  60
  61         ~OpenCvLuxPlugin();
  62
  63         const string uuid();
  64         void getPropertyAsync(AsyncPropertyReply *reply);
  65         void getRangePropertyAsync(AsyncRangePropertyReply *reply);
  66         AsyncPropertyReply * setProperty(AsyncSetPropertyRequest request);
  67         void subscribeToPropertyChanges(VehicleProperty::Property property);
  68         void unsubscribeToPropertyChanges(VehicleProperty::Property property);
  69         PropertyList supported();
  70
  71         int supportedOperations();
  72
  73         void propertyChanged(AbstractPropertyType* value);
  74
  75         void supportedChanged(const PropertyList &);
  76
  77         void updateProperty(uint lux);
  78
  79         void writeVideoFrame(cv::Mat frame);
  80
  81         void detectEyes(cv::Mat frame);
  82
  83 public Q_SLOTS:
  84         void imgProcResult();
  85
  86
  87 private: /// methods:
  88         bool init();
  89
  90 private:
  91
  92
  93         uint speed;
  94         uint latitude;
  95         uint longitude;
  96
  97         uint lastLux;
  98         std::string device;
  99         std::list<AsyncPropertyReply*> replyQueue;
 100
 101         std::unique_ptr<VehicleProperty::ExteriorBrightnessType> extBrightness;
 102
 103         std::unique_ptr<Shared> shared;
 104         QMutex mutex;
 105
 106         std::unique_ptr<cv::CascadeClassifier> faceCascade;
 107         std::unique_ptr<cv::CascadeClassifier> eyeCascade;
 108
 109         std::unique_ptr<DriverDrowsinessType> driverDrowsiness;
 110
 111         std::unique_ptr<BasicPropertyType<bool>> openCl;
 112 };
 113
 114 static int grabImage(void *data);
 115 static uint evalImage(cv::Mat qImg, OpenCvLuxPlugin::Shared *shared);
 116
 117 namespace TrafficLight
 118 {
 119 enum Color
 120 {
 121         Unknown = -1,
 122         Red = 0,
 123         Yellow,
 124         Green
 125 };
 126 }
 127
 128 TrafficLight::Color detectLight(cv::Mat img, OpenCvLuxPlugin::Shared* shared);
 129
 130
 131 #endif // EXAMPLEPLUGIN_H