CameraImageDiff Class Reference

Computes pixel-wise differences between consecutive grayscale camera images. More...

#include <CameraImageDiff.h>

Public Member Functions
void	process (const uint8_t *image, size_t width, size_t height)
void	threshold (uint8_t thresh)
	Simple thresholding: convert difference to binary mask.
uint32_t	countChanges ()
	Count number of pixels above threshold.
std::tuple< uint32_t, uint32_t, uint32_t >	countChangesSplitVertical ()
std::tuple< uint32_t, uint32_t, uint32_t >	countChangesSplitHorizontal ()
void	end ()
int	getWidth () const
int	getHeight () const
int	getPixelCount () const
uint8_t *	getDiff ()

Protected Attributes
int	width_ = 0
int	height_ = 0
std::vector< uint8_t, AllocatorPSRAM< uint8_t > >	prevImage_
std::vector< uint8_t, AllocatorPSRAM< uint8_t > >	diff_
std::vector< uint8_t, AllocatorPSRAM< uint8_t > >	mask_

Detailed Description

Computes pixel-wise differences between consecutive grayscale camera images.

This class is designed for simple motion or change detection in a sequence of grayscale images. It calculates the absolute difference between the current and previous image, applies a threshold, and provides methods to count the number of changed pixels globally or in image regions.

Features:

• Computes per-pixel absolute difference between frames
• Thresholds the difference to create a binary mask of changed pixels
• Counts changed pixels globally, by vertical thirds (left/center/right), or by horizontal thirds (top/center/bottom)
• Lightweight and suitable for embedded/Arduino use

Usage Example:

CameraImageDiff diff;
diff.process(image, width, height);
diff.threshold(30);
uint32_t changed = diff.countChanges();
auto [left, center, right] = diff.countChangesSplitVertical();
auto [top, center, bottom] = diff.countChangesSplitHorizontal();

Member Function Documentation

countChangesSplitHorizontal()

std::tuple< uint32_t, uint32_t, uint32_t > countChangesSplitHorizontal ( )

inline

Count number of changed pixels in top, center, and bottom thirds of the image.

Returns

std::tuple<uint32_t, uint32_t, uint32_t> (top, center, bottom)

countChangesSplitVertical()

std::tuple< uint32_t, uint32_t, uint32_t > countChangesSplitVertical ( )

inline

Count number of changed pixels in left, center, and right thirds of the image.

Returns

std::tuple<uint32_t, uint32_t, uint32_t> (left, center, right)

getDiff()

uint8_t * getDiff ( )

inline

Provides the raw difference buffer (grayscale values 0–255) for external use or debugging.

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The documentation for this class was generated from the following file:

• src/TinyRobotics/sensors/CameraImageDiff.h