Point Cloud

CSV.pro

@@ -23,7 +23,8 @@ SOURCES += main.cpp \
     svcurve.cpp \
     svsimplepoint.cpp \
     svfigure.cpp \
-    svobject.cpp
+    svobject.cpp \
+    svpointcloud.cpp
 
 HEADERS += \
     svimage.h \
@@ -37,7 +38,9 @@ HEADERS += \
     svcurve.h \
     svsimplepoint.h \
     svfigure.h \
-    svobject.h
+    svobject.h \
+    svpointcloud.h \
+    svdefs.h
 
 RESOURCES += \
     resource.qrc

main.cpp

@@ -15,7 +15,7 @@ int main(int argc, char *argv[])
     QQmlApplicationEngine engine;
     SvImageProvider imageProvider;
 
-    QImage imgLeft("../CSV/img/left1.png");
+    QImage imgLeft("../CSV/img/right9.png");
     QImage imgRight("../CSV/img/right1.png");
     QImage imgStereo(imgLeft.width(), imgLeft.height(), QImage::Format_RGB32);
 

svabstractkernel.h

@@ -2,19 +2,18 @@
 #define SVABSTRACTKERNEL_H
 
 #include "svimage.h"
+#include "svpointcloud.h"
 
 class SvAbstractKernel
 {
 
 protected:
-    SvImage* m_left;
-    SvImage* m_right;
-    SvImage* m_result;
+    SvImage* m_image;
+    SvPointCloud* m_pointCloud;
 
 public:
-    void setLeftImage(SvImage* image) {m_left = image;}
-    void setRightImage(SvImage* image) {m_right = image;}
-    void setResultImage(SvImage* image) {m_result = image;}
+    void setImage(SvImage* image) {m_image = image;}
+    void setPointCloud(SvPointCloud* pointCloud) {m_pointCloud = pointCloud;}
     virtual void exec(int line) = 0;
     virtual ~SvAbstractKernel() {}
 };

svcurve.h

@@ -1,7 +1,11 @@
 #ifndef SVCURVE_H
 #define SVCURVE_H
 
+#include <QColor>
+
+#include "svdefs.h"
 #include "svpoint.h"
+#include "svsimplepoint.h"
 
 class SvPoint;
 
@@ -11,6 +15,9 @@ protected:
     SvPoint *m_ends;
     SvPoint *m_points;
     SvSimplePoint *m_keyPoints;
+    QColor m_leftColor;
+    QColor m_rightColor;
+
 
 public:
     SvCurve();

svdefs.h

@@ -0,0 +1,12 @@
+#ifndef SVDEFS_H
+#define SVDEFS_H
+
+#include <QDebug>
+
+typedef unsigned int SvFrameId;
+
+#define sign(a) (a == 0 ? 0 : (a > 0 ? 1 : -1))
+#define max(a,b,c) (a > b ? (a > c ? a : c) : (b > c ? b : c))
+#define min(a,b,c) (a < b ? (a < c ? a : c) : (b < c ? b : c))
+
+#endif // SVDEFS_H

svimage.h

@@ -2,8 +2,8 @@
 #define SVIMAGE_H
 
 #include <QImage>
-#include <QRgb>
 #include <QColor>
+#include <QRgb>
 
 class SvImage
 {

svkernelv2.cpp

@@ -23,7 +23,7 @@ int SvKernelV2::rgbDiff(QRgb left, QRgb right)
 
     int minDiff= leftDiff < rightDiff ? rightDiff : leftDiff;
 
-    int diff = cLeft.value() - cRight.value();
+    int diff = qGray(left) - qGray(right);
     int hsvDiff = minDiff > 70 ? abs(cLeft.hsvHue() - cRight.hsvHue()) : 0;
     if (hsvDiff > 180) {
         hsvDiff = 360 - hsvDiff;
@@ -32,10 +32,10 @@ int SvKernelV2::rgbDiff(QRgb left, QRgb right)
     int dsign = sign(diff);
     dsign = dsign == 0 ? 1 : dsign;
 
-    return /*dsign * ((rightDiff - leftDiff)>>2) + */diff /*+ (hsvDiff > 5 ? dsign * 10 : 0)*/;
+    return dsign * (abs(rightDiff - leftDiff)>>2) + diff /*+ (hsvDiff > 5 ? dsign * 10 : 0)*/;
 }
 
-void SvKernelV2::exec(int line)
+void SvKernelV2::exec(SvImage *image, int line)
 {
     QRgb vtop, top, right, bottom, vbottom, _xy, xy;
 
@@ -44,7 +44,7 @@ void SvKernelV2::exec(int line)
 
     int value;
 
-    for (int x = 0; x < m_result->getWidth(); x++) {
+    for (int x = 0; x < image->getWidth(); x++) {
         value = 0;
 
         vtop    = m_left->getPixelRGB(x - 1, line - 3);
@@ -65,6 +65,7 @@ void SvKernelV2::exec(int line)
             if (dX == _dX) {
                 if (dX > dX_ && _dX > __dX ||
                     dX < dX_ && _dX < __dX) {
+
                     value += abs(dX);
                 }
             } else {
@@ -87,6 +88,7 @@ void SvKernelV2::exec(int line)
         }
 
         if (value > 0) {
+            m_pointCloud->addPoint();
             m_result->putGrayPixel(x - 1, line - 1, value);
         }
 

svkernelv2.h

@@ -1,18 +1,15 @@
 #ifndef SVKERNELV2_H
 #define SVKERNELV2_H
 
+#include "svdefs.h"
 #include "svabstractkernel.h"
-#include <QDebug>
-#define sign(a) (a == 0 ? 0 : (a > 0 ? 1 : -1))
-#define max(a,b,c) (a > b ? (a > c ? a : c) : (b > c ? b : c))
-#define min(a,b,c) (a < b ? (a < c ? a : c) : (b < c ? b : c))
 
 class SvKernelV2: public SvAbstractKernel
 {
 public:
     SvKernelV2();
     virtual ~SvKernelV2();
-    void exec(int line) override;
+    void exec(SvImage *image, int line) override;
     int rgbDiff(QRgb left, QRgb right);
 };
 

svpoint.h

@@ -2,7 +2,7 @@
 #define SVPOINT_H
 
 #include "svsimplepoint.h"
-#include "svcurve.h"
+#include "svdefs.h"
 
 class SvCurve;
 

svpointcloud.cpp

@@ -0,0 +1,10 @@
+#include "svpointcloud.h"
+
+SvPointCloud::SvPointCloud()
+{
+}
+
+void SvPointCloud::addPoint(SvFrameId frame, SvPoint point)
+{
+
+}

svpointcloud.h

@@ -0,0 +1,15 @@
+#ifndef SVPOINTCLOUD_H
+#define SVPOINTCLOUD_H
+
+#include "svdefs.h"
+#include "svpoint.h"
+
+class SvPointCloud
+{
+public:
+    SvPointCloud();
+
+    void addPoint(SvFrameId frame, SvPoint point);
+};
+
+#endif // SVPOINTCLOUD_H

svprocessor.cpp

@@ -6,7 +6,7 @@ SvProcessor::SvProcessor(QObject *parent):
 
 }
 
-SvProcessor::SvProcessor(SvImage* left, SvImage* right, SvImage* result, int numberOfWorkers, int version)
+SvProcessor::SvProcessor(SvPointCloud* pointCloud, int numberOfWorkers, int version)
 {
     unsigned int i;
 
@@ -16,10 +16,7 @@ SvProcessor::SvProcessor(SvImage* left, SvImage* right, SvImage* result, int num
         m_kernel = new SvKernelV2();
     }
 
-    m_kernel->setLeftImage(left);
-    m_kernel->setRightImage(right);
-    m_kernel->setResultImage(result);
-
+    m_kernel->setPointCloud(pointCloud);
     m_numberOfWorkers = numberOfWorkers;
     m_workers = new SvWorker[m_numberOfWorkers];
     m_threads = new QThread[m_numberOfWorkers];
@@ -32,17 +29,40 @@ SvProcessor::SvProcessor(SvImage* left, SvImage* right, SvImage* result, int num
         connect(&m_threads[i], &QThread::started, &m_workers[i], &SvWorker::start);
         connect(&m_workers[i], &SvWorker::finished, this, &SvProcessor::workerFinished);
     }
-
-    for (i = 0; i < result->getHeight(); i++) {
-        m_workers[i % m_numberOfWorkers].addTask(i);
-    }
 }
+
 SvProcessor::~SvProcessor()
 {
     delete   m_kernel;
     delete[] m_workers;
 }
 
+void SvProcessor::enqueueImage(SvFrameId frame, SvImage *image)
+{
+    SvProcessorTask *task;
+
+    for (int i = 0; i < image->getHeight(); i++) {
+        task = new SvProcessorTask;
+        task->image = image;
+        task->line  = i;
+        m_queue.enqueue(task);
+    }
+}
+
+SvProcessorTask SvProcessor::nextTask()
+{
+    SvProcessorTask  task;
+    SvProcessorTask *taskPtr;
+
+    m_nextTaskMutex.lock();
+    taskPtr = m_queue.dequeue();
+    m_nextTaskMutex.unlock();
+    task = *taskPtr;
+    delete taskPtr;
+
+    return task;
+}
+
 void SvProcessor::workerFinished(int workerId)
 {
     qDebug() << "worker " << workerId  << " finished";

svprocessor.h

@@ -3,15 +3,25 @@
 
 #include <time.h>
 
-#include<QObject>
-#include<QThread>
-#include<QDebug>
+#include <QObject>
+#include <QThread>
+#include <QDebug>
+#include <QQueue>
+#include <QMutex>
 
 #include "svimage.h"
 #include "svworker.h"
 #include "svabstractkernel.h"
 #include "svkernelv1.h"
 #include "svkernelv2.h"
+#include "svpointcloud.h"
+
+
+typedef struct {
+    SvImage *image;
+    int      line;
+} SvProcessorTask;
+
 
 class SvProcessor: public QObject
 {
@@ -24,12 +34,18 @@ protected:
     unsigned int        m_numberOfWorkers;
     unsigned int        m_workersFinished;
     unsigned int        m_startTime;
+    QQueue<SvProcessorTask*> m_queue;
+    QMutex              m_nextTaskMutex;
 
 public:
     explicit SvProcessor(QObject *parent = 0);
-    SvProcessor(SvImage *left, SvImage *right, SvImage *result, int numberOfWorkers = 1, int version = 1);
+    SvProcessor(SvPointCloud *pointCloud, int numberOfWorkers = 1, int version = 1);
     ~SvProcessor();
     void execute();
+    void enqueueImage(SvFrameId frame, SvImage *image);
+
+protected:
+    SvProcessorTask nextTask();
 
 protected slots:
     void workerFinished(int workerId);

svworker.cpp

@@ -6,8 +6,9 @@ SvWorker::SvWorker(QObject *parent) :
 
 }
 
-SvWorker::SvWorker(SvAbstractKernel* kernel)
+SvWorker::SvWorker(SvProcessorTask *processor, SvAbstractKernel *kernel)
 {
+    m_processor = processor;
     m_kernel = kernel;
 }
 
@@ -18,8 +19,16 @@ void SvWorker::stop()
 
 void SvWorker::start()
 {
-    for (int i: m_tasks) {
-        m_kernel->exec(i);
+    SvProcessorTask task;
+
+    while(true) {
+        try {
+            task = m_processor->nextTask();
+        } catch (SvNoMoreTasks ex) {
+            break;
+        }
+
+        m_kernel->exec(task.image, task.line);
     }
 
     emit finished(m_id);

svworker.h

@@ -5,6 +5,7 @@
 #include <QList>
 
 #include "svabstractkernel.h"
+#include "svprocessor.h"
 #include "svimage.h"
 
 class SvWorker : public QObject
@@ -13,15 +14,14 @@ class SvWorker : public QObject
 
 protected:
     int                 m_id;
-    SvAbstractKernel*   m_kernel;
-    QList<unsigned int> m_tasks;
+    SvAbstractKernel   *m_kernel;
+    SvProcessor        *m_processor;
 
 public:
     explicit SvWorker(QObject *parent = 0);
-    SvWorker(SvAbstractKernel* kernel);
+    SvWorker(SvProcessorTask *processor, SvAbstractKernel *kernel);
 
     void setId(int id) {m_id = id;}
-    void addTask(int line) {m_tasks << line;}
     void setKernel(SvAbstractKernel* kernel) {m_kernel = kernel;}
 
 signals:
@@ -30,7 +30,6 @@ signals:
 public slots:
     void stop();
     void start();
-
 };
 
 #endif // SVWORKER_H