RainMaker.h

   1 /***********************************************************************
   2 RainMaker - Class to detect objects moving through a given range of
   3 depths in a depth image sequence to trigger rainfall on virtual terrain.
   4 Copyright (c) 2012-2015 Oliver Kreylos
   5
   6 This file is part of the Augmented Reality Sandbox (SARndbox).
   7
   8 The Augmented Reality Sandbox is free software; you can redistribute it
   9 and/or modify it under the terms of the GNU General Public License as
  10 published by the Free Software Foundation; either version 2 of the
  11 License, or (at your option) any later version.
  12
  13 The Augmented Reality Sandbox is distributed in the hope that it will be
  14 useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
  15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  16 General Public License for more details.
  17
  18 You should have received a copy of the GNU General Public License along
  19 with the Augmented Reality Sandbox; if not, write to the Free Software
  20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  21 ***********************************************************************/
  22
  23 #ifndef RAINMAKER_INCLUDED
  24 #define RAINMAKER_INCLUDED
  25
  26 #include <vector>
  27 #include <Threads/Thread.h>
  28 #include <Threads/MutexCond.h>
  29 #include <Geometry/Point.h>
  30 #include <Geometry/Matrix.h>
  31 #include <Geometry/ProjectiveTransformation.h>
  32 #include <Kinect/FrameBuffer.h>
  33
  34 /* Forward declarations: */
  35 namespace Misc {
  36 template <class ParameterParam>
  37 class FunctionCall;
  38 }
  39 namespace Geometry {
  40 template <class ScalarParam, int dimensionParam>
  41 class Plane;
  42 }
  43 class ValidPixelProperty;
  44
  45 class RainMaker {
  46     /* Embedded classes: */
  47   public:
  48     typedef unsigned short RawDepth; // Data type for raw depth values
  49     typedef Geometry::Point<double, 3> Point;
  50     typedef Geometry::Plane<double, 3> Plane;
  51     typedef Geometry::ProjectiveTransformation<double, 3> PTransform;
  52
  53     struct Blob { // Structure to describe a detected object in camera space
  54         /* Elements: */
  55       public:
  56         Point centroid; // Object's centroid in camera space
  57         double radius; // Object's approximate radius in camera space
  58     };
  59
  60     typedef std::vector<Blob> BlobList; // Type for lists of detected objects
  61     typedef Misc::FunctionCall<const BlobList&>
  62     OutputBlobsFunction; // Type for functions called when a new object list has been extracted
  63
  64     /* Elements: */
  65   private:
  66     unsigned int depthSize[2]; // Width and height of incoming depth frames
  67     bool depthIsFloat; // Flag whether the incoming depth frames have float pixel values
  68     unsigned int colorSize[2]; // Width and height of incoming color frames
  69     PTransform depthProjection; // Projective transformation from depth image space to camera space
  70     PTransform colorProjection; // Projective transformation from camera space to color image space
  71     Geometry::Matrix<float, 3, 4>
  72     colorDepthHomography; // Homography from 3D depth image space into 2D color image space
  73     float minPlane[4]; // Plane equation of the lower bound of valid depth values in depth image space
  74     float maxPlane[4]; // Plane equation of the upper bound of valid depth values in depth image space
  75     int minBlobSize; // Minimum size of objects to be detected
  76     Threads::MutexCond inputCond; // Condition variable to signal arrival of a new input frame
  77     Kinect::FrameBuffer inputDepthFrame; // The most recent input depth frame
  78     unsigned int inputDepthFrameVersion; // Version number of input depth frame
  79     Kinect::FrameBuffer inputColorFrame; // The most recent input color frame
  80     unsigned int inputColorFrameVersion; // Version number of input color frame
  81     volatile bool runDetectionThread; // Flag to keep the background object detection thread running
  82     Threads::Thread detectionThread; // The background object detection thread
  83     OutputBlobsFunction*
  84     outputBlobsFunction; // Function called when a new (potentially empty) object list has been extracted
  85
  86     /* Private methods: */
  87     template <class DepthPixelParam>
  88     void extractBlobs(const Kinect::FrameBuffer& depthFrame, const ValidPixelProperty& vpp,
  89                       BlobList& blobsCc);
  90     void* detectionThreadMethod(void); // Method for the object detection thread
  91
  92     /* Constructors and destructors: */
  93   public:
  94     RainMaker(const unsigned int sDepthSize[2], const unsigned int sColorSize[2],
  95               const PTransform& sDepthProjection, const PTransform& sColorProjection, const Plane& basePlane,
  96               double minElevation, double maxElevation,
  97               int sMinBlobSize); // Creates an object detector for frames of the given size and the given range of elevation values relative to the given base plane in camera space
  98     ~RainMaker(void); // Destroys the object detector
  99
 100     /* Methods: */
 101     void setDepthIsFloat(bool
 102                          newDepthIsFloat); // Sets whether incoming depth frames have float pixel values
 103     void setOutputBlobsFunction(OutputBlobsFunction*
 104                                 newOutputBlobsFunction); // Sets the output function; adopts given functor object
 105     void receiveRawDepthFrame(const Kinect::FrameBuffer&
 106                               newDepthFrame); // Called to receive a new raw depth frame
 107     void receiveRawColorFrame(const Kinect::FrameBuffer&
 108                               newColorFrame); // Called to receive a new raw color frame
 109 };
 110
 111 #endif