opencl works

diff --git a/examples/opencvdbusconfig.in b/examples/opencvdbusconfig.in
index bef6107..a374398 100644 (file)
--- a/examples/opencvdbusconfig.in
+++ b/examples/opencvdbusconfig.in
@@ -11,8 +11,8 @@
       "pixelLowerBound" : "18",
       "pixelUpperBound" : "255",
       "device" : "0",
-      "codec" : "h264",
-      "logging" : "false",
+      "codec" : "divx",
+      "logging" : "true",
       "logfile" : "/tmp/video.avi",
       "ddd" : "true"
     },

diff --git a/plugins/opencvlux/CMakeLists.txt b/plugins/opencvlux/CMakeLists.txt
index acb48ed..f7ef01c 100644 (file)
--- a/plugins/opencvlux/CMakeLists.txt
+++ b/plugins/opencvlux/CMakeLists.txt
@@ -1,15 +1,19 @@
 if(opencvlux_plugin)
 
+set(qtmainloop "ON")
+
 find_package(OpenCV REQUIRED)
 
 if(OpenCV_LIBS)
-   message(STATUS "opencv found")
+   message(STATUS "opencv found: ${OpenCV_INCLUDE_DIRS}")
 else(OpenCV_LIBS)
    message(FATAL_ERROR "opencv missing.  please install opencv")
 endif(OpenCV_LIBS)
 
 option(ocl "enable opencl" OFF)
 
+add_definitions(-DCV_DATA="${OpenCV_CONFIG_PATH}")
+
 if(ocl)
   message(STATUS "found opencv ocl headers. enabling opencl support. ${ocl}")
   add_definitions(-DOPENCL)
@@ -37,6 +41,7 @@ if(Qt5Core_FOUND)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${Qt5Core_EXECUTABLE_COMPILE_FLAGS}")
   message(STATUS "size of void_p: ${CMAKE_SIZEOF_VOID_P}")
   add_definitions(${Qt5Core_DEFINITIONS})
+  add_definitions(-DQT_NO_KEYWORDS)
 
 endif(Qt5Core_FOUND)
 set(CMAKE_AUTOMOC ON)

diff --git a/plugins/opencvlux/README b/plugins/opencvlux/README
index 014dd8d..9d88b6f 100644 (file)
--- a/plugins/opencvlux/README
+++ b/plugins/opencvlux/README
@@ -69,11 +69,7 @@ Default: "255"
 
 "opencl" (experimental)
 Use a specialized CPU/GPU device to calculate the mean pixel intensity.  This will only work if OpenCV
-was compiled with OpenCL support.  This plugin looks for the OpenCV ocl headers and adds support at 
-compile time.
-
-NOTE: This option has not been tested because at implementation, OpenCL 1.2 was not available from devices
-on-hand.
+was compiled with OpenCL support.  To enable openCL, pass -Docl=ON to cmake.
 
 Default: "false"
 
@@ -85,3 +81,39 @@ NOTE: this does not appear to have a noticable impact on processing given the wa
 this does however make memory usage explode.
 
 Default: "false"
+
+"logging"
+Turn on video logging.
+
+Default: "false"
+
+"logfile"
+File to encode video to.
+
+Default: "/tmp/video.avi"
+
+"codec"
+Fourcc name of codec.  See http://www.fourcc.org/codecs.php
+
+Default: "mjpg"
+
+"ddd" (experimental)
+Driver Drowsiness Detection.  For a driver facing camera, detect whether or not eyes are
+open or closed.  If closed for a period of time, DriverDrowsiness will change to "true".
+
+Default: "false"
+
+
+AMB Properties:
+
+VideoLogging
+Turn on and off video logging
+
+Type: bool
+Access: readwrite
+
+DriverDrowsiness
+True if the driver has been detected drowsy.
+
+Type: bool
+Access: readonly

diff --git a/plugins/opencvlux/opencvluxplugin.cpp b/plugins/opencvlux/opencvluxplugin.cpp
index 9bcfba0..6c34045 100644 (file)
--- a/plugins/opencvlux/opencvluxplugin.cpp
+++ b/plugins/opencvlux/opencvluxplugin.cpp
@@ -41,6 +41,7 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 using namespace std;
 
 const std::string VideoLogging = "VideoLogging";
+const std::string DriverDrowsiness = "DriverDrowsiness";
 
 #include "debugout.h"
 
@@ -50,8 +51,8 @@ extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<str
                return new BasicPropertyType<bool>(VideoLogging, false);
        });
 
-       VehicleProperty::registerProperty("DriverDrowsiness", [](){
-               return new OpenCvLuxPlugin::DriverDrowsinessType("DriverDrowsiness", false);
+       VehicleProperty::registerProperty(DriverDrowsiness, [](){
+               return new OpenCvLuxPlugin::DriverDrowsinessType(DriverDrowsiness, false);
        });
 
        return new OpenCvLuxPlugin(routingengine, config);
@@ -60,9 +61,9 @@ extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<str
 OpenCvLuxPlugin::OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string> config)
        :AbstractSource(re, config), lastLux(0), speed(0), latitude(0), longitude(0), extBrightness(new VehicleProperty::ExteriorBrightnessType(0))
 {
-       driverDrowsiness = amb::make_unique(new DriverDrowsinessType("DriverDrowsiness", false));
+       driverDrowsiness = amb::make_unique(new DriverDrowsinessType(DriverDrowsiness, false));
 
-       shared = new Shared;
+       shared = amb::make_unique(new Shared);
        shared->parent = this;
 
        shared->m_capture = NULL;
@@ -125,7 +126,7 @@ OpenCvLuxPlugin::OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string>
 #ifdef OPENCL
                shared->useOpenCl = config["opencl"] == "true";
 #else
-               DebugOut(DebugOut::Warning) << "You really don't have openCL support.  Disabling." << endl;S
+               DebugOut(DebugOut::Warning) << "You really don't have openCL support.  Disabling." << endl;
                shared->useOpenCl = false;
 #endif
 
@@ -212,24 +213,28 @@ OpenCvLuxPlugin::OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string>
 #ifdef OPENCL
                if(shared->useOpenCl)
                {
-                       faceCascade = new cv::ocl::OclCascadeClassifier();
-                       eyeCascade = new cv::ocl::OclCascadeClassifier();
+                       faceCascade = amb::make_unique(new cv::ocl::OclCascadeClassifier());
+                       eyeCascade = amb::make_unique(new cv::ocl::OclCascadeClassifier());
                }
                else
 #endif
                {
-                       faceCascade = new cv::CascadeClassifier();
-                       eyeCascade = new cv::CascadeClassifier();
+                       faceCascade = amb::make_unique(new cv::CascadeClassifier());
+                       eyeCascade = amb::make_unique(new cv::CascadeClassifier());
                }
 
-               if(!faceCascade->load("/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml"))
+               std::string faceFile = CV_DATA "/haarcascades/haarcascade_frontalface_alt.xml";
+               if(!faceCascade->load(faceFile))
                {
-                       DebugOut(DebugOut::Warning) << "Could not load face cascade.  Disabling ddd" << endl;
+                       DebugOut(DebugOut::Warning) << "Could not load face cascade: " << faceFile <<". Disabling ddd" << endl;
                        shared->ddd = false;
                }
-               if(!eyeCascade->load("/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml"))
+
+               std::string eyeFile = CV_DATA "/haarcascades/haarcascade_eye_tree_eyeglasses.xml";
+
+               if(!eyeCascade->load(eyeFile))
                {
-                       DebugOut(DebugOut::Warning) << "Could not load face cascade.  Disabling ddd" << endl;
+                       DebugOut(DebugOut::Warning) << "Could not load eye cascade: " << eyeFile <<". Disabling ddd" << endl;
                        shared->ddd = false;
                }
 
@@ -242,7 +247,7 @@ OpenCvLuxPlugin::OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string>
 
 OpenCvLuxPlugin::~OpenCvLuxPlugin()
 {
-       delete shared->mWriter;
+
 }
 
 const string OpenCvLuxPlugin::uuid()
@@ -261,7 +266,7 @@ void OpenCvLuxPlugin::getPropertyAsync(AsyncPropertyReply *reply)
                /// we want to turn on the camera for one shot to get an image and determine the intensity
 
                if(init())
-                       grabImage(shared);
+                       grabImage(shared.get());
        }
 
        if(reply->property == VehicleProperty::ExteriorBrightness)
@@ -313,7 +318,7 @@ void OpenCvLuxPlugin::subscribeToPropertyChanges(VehicleProperty::Property prope
        if(!shared->mRequests.size())
        {
                if(init())
-                       g_timeout_add(1000 / shared->fps, grabImage, shared);
+                       g_timeout_add(1000 / shared->fps, grabImage, shared.get());
        }
 
        shared->mRequests.push_back(property);
@@ -328,6 +333,7 @@ PropertyList OpenCvLuxPlugin::supported()
 {
        PropertyList props;
        props.push_back(VehicleProperty::ExteriorBrightness);
+       props.push_back(DriverDrowsiness);
        props.push_back(VideoLogging);
 
        return props;
@@ -373,7 +379,7 @@ static int grabImage(void *data)
        }
        else
        {
-               *(shared->m_capture) >> m_image;
+               *(shared->m_capture.get()) >> m_image;
        }
 
        if(shared->ddd)
@@ -466,14 +472,14 @@ bool OpenCvLuxPlugin::init()
 {
        if(!shared->m_capture && shared->kinect)
        {
-               shared->m_capture = new cv::VideoCapture(CV_CAP_OPENNI);
+               shared->m_capture = amb::make_unique(new cv::VideoCapture(CV_CAP_OPENNI));
        }
        else if(!shared->m_capture)
        {
                if(device == "")
-                       shared->m_capture = new cv::VideoCapture(0);
+                       shared->m_capture = amb::make_unique(new cv::VideoCapture(0));
                else
-                       shared->m_capture = new cv::VideoCapture(atoi(device.c_str()));
+                       shared->m_capture = amb::make_unique(new cv::VideoCapture(atoi(device.c_str())));
        }
 
        if(!shared->m_capture->isOpened())
@@ -503,9 +509,7 @@ bool OpenCvLuxPlugin::init()
 
                boost::algorithm::to_upper(codec);
 
-               if(shared->mWriter) delete shared->mWriter;
-
-               shared->mWriter = new cv::VideoWriter(filename, CV_FOURCC(codec.at(0), codec.at(1), codec.at(2), codec.at(3)),30,s);
+               shared->mWriter = amb::make_unique(new cv::VideoWriter(filename, CV_FOURCC(codec.at(0), codec.at(1), codec.at(2), codec.at(3)),30,s));
        }
 
        DebugOut()<<"camera frame width: "<<shared->m_capture->get(CV_CAP_PROP_FRAME_WIDTH)<<endl;
@@ -679,10 +683,15 @@ TrafficLight::Color detectLight(cv::Mat img, OpenCvLuxPlugin::Shared *shared)
 
 void OpenCvLuxPlugin::detectEyes(cv::Mat frame)
 {
+       if(frame.empty())
+               return;
+
        bool hasEyes = false;
        std::vector<cv::Rect> faces;
        cv::Mat frameGray;
+#ifdef OPENCL
        cv::ocl::oclMat gray2;
+#endif
 
        if(shared->useOpenCl)
        {
@@ -690,7 +699,8 @@ void OpenCvLuxPlugin::detectEyes(cv::Mat frame)
                cv::ocl::oclMat src(frame);
                cv::ocl::cvtColor(src, gray2, CV_BGR2GRAY);
                cv::ocl::equalizeHist(gray2, gray2);
-               faceCascade->detectMultiScale(gray2, faces, 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, cv::Size(30, 30));
+               cv::ocl::OclCascadeClassifier* fc = static_cast<cv::ocl::OclCascadeClassifier*>(faceCascade.get());
+               fc->detectMultiScale(gray2, faces, 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, cv::Size(30, 30));
 #endif
        }
        else
@@ -704,15 +714,22 @@ void OpenCvLuxPlugin::detectEyes(cv::Mat frame)
        {
                cv::Point center( faces[i].x + faces[i].width*0.5, faces[i].y + faces[i].height*0.5 );
                cv::ellipse( frame, center, cv::Size( faces[i].width*0.5, faces[i].height*0.5), 0, 0, 360, cv::Scalar( 255, 0, 255 ), 4, 8, 0 );
-#ifdef OPENCL
-               cv::ocl::oclMat faceROI = gray2(faces[i]);
-#else
-               cv::Mat faceROI = frameGray(faces[i]);
-#endif
+
                std::vector<cv::Rect> eyes;
 
-               //-- In each face, detect eyes
-               eyeCascade->detectMultiScale( faceROI, eyes, 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, cv::Size(30, 30) );
+               if(shared->useOpenCl)
+               {
+#ifdef OPENCL
+                       cv::ocl::oclMat faceROI = gray2(faces[i]);
+                       cv::ocl::OclCascadeClassifier* ec = static_cast<cv::ocl::OclCascadeClassifier*>(eyeCascade.get());
+                       ec->detectMultiScale( faceROI, eyes, 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, cv::Size(30, 30) );
+#endif
+               }
+               else
+               {
+                       cv::Mat faceROI = frameGray(faces[i]);
+                       eyeCascade->detectMultiScale( faceROI, eyes, 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, cv::Size(30, 30) );
+               }
 
                if(eyes.size())
                {
@@ -727,4 +744,6 @@ void OpenCvLuxPlugin::detectEyes(cv::Mat frame)
                        cv::circle( frame, center, radius, cv::Scalar( 255, 0, 0 ), 4, 8, 0 );
                }
        }
+
+       routingEngine->updateProperty(driverDrowsiness.get(),this->uuid());
 }

diff --git a/plugins/opencvlux/opencvluxplugin.h b/plugins/opencvlux/opencvluxplugin.h
index 3a17878..9bb7930 100644 (file)
--- a/plugins/opencvlux/opencvluxplugin.h
+++ b/plugins/opencvlux/opencvluxplugin.h
@@ -40,8 +40,8 @@ public:
 
        struct Shared
        {
-               cv::VideoCapture *m_capture;
-               cv::VideoWriter *mWriter;
+               std::unique_ptr<cv::VideoCapture> m_capture;
+               std::unique_ptr<cv::VideoWriter> mWriter;
                PropertyList mRequests;
                OpenCvLuxPlugin* parent;
 
@@ -100,11 +100,11 @@ private:
 
        std::unique_ptr<VehicleProperty::ExteriorBrightnessType> extBrightness;
 
-       Shared* shared;
+       std::unique_ptr<Shared> shared;
        QMutex mutex;
 
-       cv::CascadeClassifier *faceCascade;
-       cv::CascadeClassifier *eyeCascade;
+       std::unique_ptr<cv::CascadeClassifier> faceCascade;
+       std::unique_ptr<cv::CascadeClassifier> eyeCascade;
 
        std::unique_ptr<DriverDrowsinessType> driverDrowsiness;
 };