From bb4adc75407aa251dadb16c8230b316893f12577 Mon Sep 17 00:00:00 2001
From: Bernhard Tittelbach <bernhard@tittelbach.org>
Date: Tue, 26 Mar 2019 03:15:00 +0100
Subject: [PATCH] divide image into columns and give min distance for each

---
 cpp/sampleOpenCV/sampleOpenCV.cpp |   25 ++++++++++++++++++++-----
 1 file changed, 20 insertions(+), 5 deletions(-)

diff --git a/cpp/sampleOpenCV/sampleOpenCV.cpp b/cpp/sampleOpenCV/sampleOpenCV.cpp
index d0587a4..0968319 100644
--- a/cpp/sampleOpenCV/sampleOpenCV.cpp
+++ b/cpp/sampleOpenCV/sampleOpenCV.cpp
@@ -39,9 +39,9 @@ using namespace cv;
 class MyListener : public IDepthDataListener
 {
 
-    static uint32_t const num_dist_columns_=5;
-    uint32_t latest_distance_[num_dist_columns_];
-    uint32_t latest_distance_diff_[num_dist_columns_];
+    static uint32_t const num_dist_columns_=4;
+    double latest_min_distance_[num_dist_columns_];
+    double latest_min_distance_diff_[num_dist_columns_];
 
     const int DELAY_BLUR = 100;
     // const int MAX_KERNEL_LENGTH = 31;
@@ -126,8 +126,22 @@ public :
             }
         }
 
-
-
+        //// Debug: show column part of image
+        // Mat subimg = zImage8(Rect((zImage.cols/num_dist_columns_)*3,0, zImage.cols/num_dist_columns_ , zImage8.rows));
+        // imshow ("column", subimg);
+ 
+        //detect column distance
+        auto col_width = zImage.cols/num_dist_columns_;
+        for (uint32_t col=0; col<num_dist_columns_; col++)
+        {
+            auto col_y_start = col*col_width;
+            Mat subimg = zImage8(Rect(col_y_start, 0, col_width , zImage8.rows));
+            double min, max;
+            minMaxLoc(subimg,&min,&max);
+            latest_min_distance_diff_[col]=min-latest_min_distance_[col];
+            latest_min_distance_[col]=min;
+            std::cout << "col" << col << "   min:" << min << "("<<latest_min_distance_diff_[col]<<")"<< "   max:" << max << std::endl;
+        }
 
         // scale and display the depth image
         scaledZImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
@@ -306,6 +320,7 @@ int main (int argc, char *argv[])
     // create two windows
     namedWindow ("Depth", WINDOW_AUTOSIZE);
     namedWindow ("Gray", WINDOW_AUTOSIZE);
+    // namedWindow ("column", WINDOW_AUTOSIZE);
 
     // start capture mode
     if (cameraDevice->startCapture() != CameraStatus::SUCCESS)
-- 
1.7.10.4