blur average pixels to eliminate high freq noise in distance data

[201903hackathon.git] / cpp / sampleOpenCV / sampleOpenCV.cpp

diff --git a/cpp/sampleOpenCV/sampleOpenCV.cpp b/cpp/sampleOpenCV/sampleOpenCV.cpp
index dd94565..d0587a4 100644 (file)
--- a/cpp/sampleOpenCV/sampleOpenCV.cpp
+++ b/cpp/sampleOpenCV/sampleOpenCV.cpp
@@ -39,8 +39,21 @@ 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_];
+
+    const int DELAY_BLUR = 100;
+    // const int MAX_KERNEL_LENGTH = 31;
+    const int MAX_KERNEL_LENGTH = 23;
+
+    bool normblurImage = true;
+
+    const uint8_t confidence_threshold_ = 5;
+
 public :
 
+
     MyListener() :
         undistortImage (false)
     {
@@ -70,12 +83,16 @@ public :
             for (int x = 0; x < zImage.cols; x++, k++)
             {
                 auto curPoint = data->points.at (k);
-                if (curPoint.depthConfidence > 0)
+                if (curPoint.depthConfidence > confidence_threshold_)
                 {
                     // if the point is valid, map the pixel from 3D world
                     // coordinates to a 2D plane (this will distort the image)
                     zRowPtr[x] = adjustZValue (curPoint.z);
                     grayRowPtr[x] = adjustGrayValue (curPoint.grayValue);
+                } else {
+                    //asume point is as far away as possible and thus "SAFE" for obstacle avoidance
+                    zRowPtr[x] = 255;
+                    grayRowPtr[x] = 255;
                 }
             }
         }
@@ -100,6 +117,18 @@ public :
             undistort (temp, zImage8, cameraMatrix, distortionCoefficients);
         }
 
+        if (normblurImage)
+        {
+            auto temp = zImage8.clone();
+            for ( int i = 1; i < MAX_KERNEL_LENGTH; i = i + 2 )
+            {
+                blur( temp, zImage8, Size( i, i ), Point(-1,-1) );
+            }
+        }
+
+
+
+
         // scale and display the depth image
         scaledZImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
         resize (zImage8, scaledZImage, scaledZImage.size());
@@ -145,6 +174,12 @@ public :
         undistortImage = !undistortImage;
     }
 
+    void toggleNormBlur()
+    {
+        std::lock_guard<std::mutex> lock (flagMutex);
+        normblurImage = !normblurImage;
+    }
+
 private:
 
     // adjust z value to fit fixed scaling, here max dist is 2.5m
@@ -291,6 +326,12 @@ int main (int argc, char *argv[])
             // toggle the undistortion of the image
             listener.toggleUndistort();
         }
+
+        if (currentKey == 'b')
+        {
+            // toggle the undistortion of the image
+            listener.toggleNormBlur();
+        }
     }
 
     // stop capture mode