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
  25 #include <opencv/cv.h>
  26 #include <opencv2/highgui/highgui.hpp>
  27
  28 #include <QObject>
  29
  30 using namespace std;
  31
  32 class OpenCvLuxPlugin: public QObject, public AbstractSource
  33 {
  34 Q_OBJECT
  35 public:
  36
  37         struct Shared
  38         {
  39                 cv::VideoCapture *m_capture;
  40                 PropertyList mRequests;
  41                 OpenCvLuxPlugin* parent;
  42
  43                 double fps;
  44                 bool threaded;
  45                 bool kinect;
  46                 bool useOpenCl;
  47         bool useCuda;
  48                 int pixelLowerBound;
  49                 int pixelUpperBound;
  50         };
  51
  52         OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string> config);
  53
  54         const string uuid();
  55         void getPropertyAsync(AsyncPropertyReply *reply);
  56         void getRangePropertyAsync(AsyncRangePropertyReply *reply);
  57         AsyncPropertyReply * setProperty(AsyncSetPropertyRequest request);
  58         void subscribeToPropertyChanges(VehicleProperty::Property property);
  59         void unsubscribeToPropertyChanges(VehicleProperty::Property property);
  60         PropertyList supported();
  61
  62         int supportedOperations();
  63
  64         void supportedChanged(PropertyList) {}
  65
  66         void updateProperty(uint lux);
  67
  68 public Q_SLOTS:
  69         void imgProcResult();
  70
  71
  72 private: /// methods:
  73         bool init();
  74
  75 private:
  76         uint lastLux;
  77         std::string device;
  78         std::list<AsyncPropertyReply*> replyQueue;
  79
  80         Shared* shared;
  81 };
  82
  83 static int grabImage(void *data);
  84 static uint evalImage(cv::Mat qImg, OpenCvLuxPlugin::Shared *shared);
  85
  86 namespace TrafficLight
  87 {
  88 enum Color
  89 {
  90         Unknown = -1,
  91         Red = 0,
  92         Yellow,
  93         Green
  94 };
  95 }
  96
  97 TrafficLight::Color detectLight(cv::Mat img, OpenCvLuxPlugin::Shared* shared);
  98
  99 #endif // EXAMPLEPLUGIN_H