OpenPose3DDepthImageConverter.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    VisionX::ArmarXObjects::OpenPoseEstimation
 * @author     Stefan Reither ( stef dot reither at web dot de )
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
// STD/STL
 
// IVT
#include <ivt/Calibration/Calibration.h>
 
// ArmarX
#include <VisionX/core/ImageProcessor.h>
 
// OpenPose stuff
#include "OpenPoseEstimation.h"
 
namespace visionx
{
 
    class OpenPose3DDepthImageConverter : OpenPoseEstimation
    {
    public:
    protected:
        virtual void setupPropertyDefinitions(armarx::PropertyDefinitionsPtr& def) override;
        virtual void setupLocalVariables() override;
        virtual void destroyLocalVariables() override;
        void calculate3DEntitiesFrom2DEntitiesInBuffer() const;
 
        CByteImage* VisualizeTransparentImageMask(const CByteImage& maskedInputImage,
                                                  int brightnessIncrease,
                                                  const CByteImage& inputImage);
 
    private:
        int getMedianDepthFromImage(int x, int y, int radius) const;
 
    protected:
        // Depth image info
        unsigned int radius = 10;
        unsigned int maxDepth = 3000;
        unsigned int maxDepthDifference = 700;
 
        // Image calibration
        const CCalibration* calibration = nullptr;
        std::string cameraNodeName = "";
 
        // ImageBuffer und ImageInformations
        CByteImage* maskedrgbImageBuffer;
 
        CByteImage* depthImageBuffer;
        std::mutex depthImageBufferMutex;
    };
} // namespace visionx