--- /dev/null
+/*
+Copyright (C) 2012 Intel Corporation
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*/
+
+#include "opencvluxplugin.h"
+#include "timestamp.h"
+
+#include <iostream>
+#include <boost/assert.hpp>
+#include <QFuture>
+#include <QFutureWatcher>
+#include <QtConcurrentRun>
+
+using namespace std;
+
+#include "debugout.h"
+
+OpenCvLuxPlugin::OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string> config)
+ :QObject(),AbstractSource(re, config), m_capture(0),lastLux(0)
+{
+ re->setSupported(supported(), this);
+
+ threaded = false;
+ kinect = false;
+ timer = new QTimer(this);
+ fps=30;
+ device="0";
+ pixelLowerBound = 0;
+ pixelUpperBound = 255;
+
+ connect(timer,SIGNAL(timeout()),this,SLOT(grabImage()));
+
+ if(config.find("threaded") != config.end())
+ {
+ threaded = config["threaded"] == "true";
+ }
+
+ if(config.find("kinect") != config.end())
+ {
+ kinect = config["kinect"] == "true";
+ }
+
+ if(config.find("fps") != config.end())
+ {
+ fps = boost::lexical_cast<int>(config["fps"]);
+ }
+
+ if(config.find("device") != config.end())
+ {
+ device = config["device"].c_str();
+ }
+
+ if(config.find("pixelLowerBound") != config.end())
+ {
+ pixelLowerBound = boost::lexical_cast<int>(config["pixelLowerBound"]);
+
+ if(pixelLowerBound < 0)
+ pixelLowerBound = 0;
+ }
+
+
+ if(config.find("pixelUpperBound") != config.end())
+ {
+ pixelUpperBound = boost::lexical_cast<int>(config["pixelUpperBound"]);
+
+ if(pixelUpperBound > 255)
+ pixelUpperBound = 255;
+ }
+}
+
+
+
+extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<string, string> config)
+{
+ return new OpenCvLuxPlugin(routingengine, config);
+
+}
+
+string OpenCvLuxPlugin::uuid()
+{
+ return "3c7a1ea0-7d2e-11e2-9e96-0800200c9a66";
+}
+
+
+void OpenCvLuxPlugin::getPropertyAsync(AsyncPropertyReply *reply)
+{
+ if(!timer->isActive())
+ {
+ /// we want to turn on the camera for one shot to get an image and determine the intensity
+
+ init();
+ timer->singleShot(1,this,SLOT(grabImage()));
+ }
+
+ if(reply->property == VehicleProperty::ExteriorBrightness)
+ {
+ replyQueue.append(reply);
+ }
+
+ else ///We don't support what you are asking for. Reply false
+ {
+ reply->value = NULL;
+ reply->success = false;
+ reply->completed(reply);
+ }
+}
+
+void OpenCvLuxPlugin::getRangePropertyAsync(AsyncRangePropertyReply *reply)
+{
+
+}
+
+AsyncPropertyReply *OpenCvLuxPlugin::setProperty(AsyncSetPropertyRequest request )
+{
+
+}
+
+void OpenCvLuxPlugin::subscribeToPropertyChanges(VehicleProperty::Property property)
+{
+ if(!timer->isActive())
+ {
+ init();
+ timer->start(1000 / fps);
+ }
+
+ mRequests.push_back(property);
+}
+
+void OpenCvLuxPlugin::unsubscribeToPropertyChanges(VehicleProperty::Property property)
+{
+ mRequests.remove(property);
+
+ if(!mRequests.size())
+ {
+ timer->stop();
+ }
+}
+
+PropertyList OpenCvLuxPlugin::supported()
+{
+ PropertyList props;
+ props.push_back(VehicleProperty::ExteriorBrightness);
+
+
+ return props;
+}
+
+int OpenCvLuxPlugin::supportedOperations()
+{
+ return Get;
+}
+
+void OpenCvLuxPlugin::grabImage()
+{
+
+ if(kinect)
+ {
+ m_capture->grab();
+ m_capture->retrieve( m_image, CV_CAP_OPENNI_GRAY_IMAGE );
+ }
+ else
+ {
+ (*m_capture) >> m_image;
+ }
+
+ if(threaded)
+ {
+ QFutureWatcher<uint> *watcher = new QFutureWatcher<uint>();
+ connect(watcher,SIGNAL(finished()),this,SLOT(imageGrabCompleted()));
+
+ QFuture<uint> future = QtConcurrent::run(this, &OpenCvLuxPlugin::evalImage, m_image);
+ watcher->setFuture(future);
+ }
+ else
+ {
+ uint lux = evalImage(m_image);
+
+ updateProperty(lux);
+ }
+
+}
+
+uint OpenCvLuxPlugin::evalImage(cv::Mat qImg)
+{
+ cv::Scalar avgPixelIntensity = cv::mean(qImg);
+
+ double val = avgPixelIntensity.val[0];
+
+ double qualifiedPixel = (val - pixelLowerBound);
+
+ if(qualifiedPixel < 0) qualifiedPixel = 0;
+
+ uint lux = qualifiedPixel * (130000.0 / pixelUpperBound);
+
+ DebugOut(7)<<"average pixel value: "<<qualifiedPixel<<" lux: "<<lux<<endl;
+
+ return lux;
+}
+
+void OpenCvLuxPlugin::imageGrabCompleted()
+{
+ QFutureWatcher<uint> * watcher = dynamic_cast<QFutureWatcher<uint>* >(sender());
+
+ uint lux = watcher->result();
+
+ updateProperty(lux);
+}
+
+void OpenCvLuxPlugin::init()
+{
+ if(m_capture) delete m_capture;
+
+ if(kinect)
+ {
+ m_capture = new cv::VideoCapture(CV_CAP_OPENNI);
+ }
+ else if(device == "")
+ m_capture = new cv::VideoCapture(0);
+ else m_capture = new cv::VideoCapture(device.toInt());
+
+ if(!m_capture->isOpened())
+ {
+ qDebug()<<"we failed to open camera device ("<<device<<") or no camera found";
+ return;
+ }
+
+ DebugOut()<<"camera frame width: "<<m_capture->get(CV_CAP_PROP_FRAME_WIDTH)<<endl;
+ DebugOut()<<"camera frame height: "<<m_capture->get(CV_CAP_PROP_FRAME_HEIGHT)<<endl;
+ DebugOut()<<"camera frame fps: "<<m_capture->get(CV_CAP_PROP_FPS)<<endl;
+}
+
+void OpenCvLuxPlugin::updateProperty(uint lux)
+{
+ VehicleProperty::ExteriorBrightnessType l(lux);
+
+ Q_FOREACH(AsyncPropertyReply* reply, replyQueue)
+ {
+ reply->value = &l;
+ reply->success = true;
+ reply->completed(reply);
+ }
+
+ replyQueue.clear();
+
+ if(!timer->isActive())
+ {
+ delete m_capture;
+ m_capture = NULL;
+ }
+
+ if(lux != lastLux && mRequests.size())
+ {
+ lastLux = lux;
+ routingEngine->updateProperty(VehicleProperty::ExteriorBrightness,&l, uuid());
+ }
+
+
+}
+
--- /dev/null
+/*
+Copyright (C) 2012 Intel Corporation
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+*/
+
+#ifndef EXAMPLEPLUGIN_H
+#define EXAMPLEPLUGIN_H
+
+#include <abstractsource.h>
+#include <string>
+
+#include <QTimer>
+#include <QImage>
+#include <QList>
+#include <opencv/cv.h>
+#include <opencv/highgui.h>
+
+using namespace std;
+
+class OpenCvLuxPlugin: public QObject, public AbstractSource
+{
+ Q_OBJECT
+
+public:
+
+ OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string> config);
+
+ string uuid();
+ void getPropertyAsync(AsyncPropertyReply *reply);
+ void getRangePropertyAsync(AsyncRangePropertyReply *reply);
+ AsyncPropertyReply * setProperty(AsyncSetPropertyRequest request);
+ void subscribeToPropertyChanges(VehicleProperty::Property property);
+ void unsubscribeToPropertyChanges(VehicleProperty::Property property);
+ PropertyList supported();
+
+ int supportedOperations();
+
+ void propertyChanged(VehicleProperty::Property property, AbstractPropertyType* value, string uuid) {}
+ void supportedChanged(PropertyList) {}
+
+private Q_SLOTS:
+ void grabImage();
+ uint evalImage(cv::Mat qImg);
+ void imageGrabCompleted();
+
+private: /// method s:
+ void init();
+ void updateProperty(uint lux);
+
+private:
+ bool started;
+ double fps;
+ bool threaded;
+ bool kinect;
+ int pixelLowerBound;
+ int pixelUpperBound;
+ uint lastLux;
+ QString device;
+ PropertyList mRequests;
+ QTimer *timer;
+ QList<AsyncPropertyReply*> replyQueue;
+
+ cv::VideoCapture *m_capture;
+ cv::Mat m_image;
+};
+
+#endif // EXAMPLEPLUGIN_H
projects / profile / ivi / automotive-message-broker.git / commitdiff