Add Image Manager Code

ImageManager.cpp

@@ -1,13 +1,93 @@
-#include <QDBusConnection>
+#include <opencv2/core.hpp>
-#include <QDebug>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/imgproc.hpp>
 
 #include "ImageManager.hpp"
+#include "FaultManager.hpp"
+
+#define ZERO 0
+#define BITS8 0xff
+#define BITS14 0x3fff
+#define BITS16 0xffff
+
+using namespace cv;
+
+//Mat testFrame = imread("/home/midstate/Documents/flirTest.tif", CV_16UC1);
 
 ImageManager::ImageManager(QObject *parent) : QObject(parent)
 {
+    socket = new QUdpSocket();
+    socket->connectToHost(QHostAddress::LocalHost, 40000, QIODevice::ReadWrite);
 }
 
 ImageManager::~ImageManager()
 {
 
 }
+
+void ImageManager::ProcessImage(uint32_t width, uint32_t height, uint8_t *imgPointer)
+{
+    Mat frame, mask, viewfinder;
+    std::vector<std::vector<Point>> contours;
+
+    static int lower_bound = ZERO;
+    static int upper_bound = BITS14;
+    static int temp_threshold = BITS14;
+    static int fault_area = ZERO;
+
+    if (throttle_count == THROTTLE_AMOUNT) 
+    {
+        throttle_count = 1;
+    }
+    else
+    {
+        throttle_count++;
+        return;
+    }
+
+    // Read in frame
+    //if (!test)
+    //    frame = Mat(height, width, CV_16UC1, imgPointer, Mat::AUTO_STEP);
+    //else
+    //    frame = testFrame;
+
+    // Create mask and then flatten
+    GaussianBlur(frame, mask, cv::Size(0, 0), 1);
+    threshold(mask, mask, temp_threshold, BITS16, THRESH_BINARY); // use inrange for mask in range of values
+    mask.convertTo(mask, CV_8UC1);
+
+    // Analyze mask
+    findContours(mask, contours, RETR_EXTERNAL, CHAIN_APPROX_NONE);
+
+    // Create viewfinder with results
+    viewfinder = frame.clone();
+    viewfinder.setTo(lower_bound, viewfinder < lower_bound);
+    viewfinder.setTo(upper_bound, viewfinder > upper_bound);
+    normalize(viewfinder, viewfinder, ZERO, BITS8, NORM_MINMAX, CV_8UC1);
+    applyColorMap(viewfinder, viewfinder, COLORMAP_HOT);
+
+    // Apply contours to viewfinder
+    for(int i = 0; i< contours.size(); i++)
+    {
+       double area = contourArea(contours[i]);
+
+       if (area > fault_area)
+       {
+           drawContours(viewfinder, contours, i, Scalar(ZERO, BITS8, ZERO), 2);
+           //parent->fault_mgr.SaveImage(frame);
+           //((FaultFinder*)(parent()))->fault_mgr.SaveImage(frame);
+       }
+    }
+
+    // Send image to other servers
+    SendImage(viewfinder);}
+
+void ImageManager::SendImage(Mat image)
+{
+    std::vector<uchar> buff;
+    cv::imencode(".jpg", image, buff);
+
+    QByteArray *datagram = new QByteArray(reinterpret_cast<const char*>(buff.data()), buff.size());
+    socket->write(*datagram);
+}

ImageManager.hpp

@@ -2,16 +2,27 @@
 #define IMAGE_MANAGER_H
 
 #include <QObject>
+#include <QUdpSocket>
+#include <opencv2/core.hpp>
+
+#define THROTTLE_AMOUNT 1
 
 class ImageManager: public QObject
 {
     Q_OBJECT;
 
 public:
-
     ImageManager(QObject *parent);
     virtual ~ImageManager();
 
+    void ProcessImage(uint32_t width, uint32_t height, uint8_t *imgPointer);
+    void SendImage(cv::Mat image);
+
+    QUdpSocket *socket;
+
+private:
+    int throttle_count = 1;
+    
 };
 
 #endif