TrackerThread.cpp
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00001 
00002 #include <blort/Tracker/TrackerThread.h>
00003 #include <blort/Tracker/TextureTracker.h>
00004 #include <blort/GLWindow/GLWindow.h>
00005 #include <blort/Tracker/CameraThread.h>
00006 #include <stdexcept>
00007 
00008 using namespace Tracking;
00009 using namespace std;
00010 
00011 TrackerThread::TrackerThread()
00012 {
00013         m_mutex.Lock();
00014                 m_quit = false;
00015                 cmd = IDLE;
00016         m_mutex.Unlock();
00017 }
00018 
00019 TrackerThread::~TrackerThread()
00020 {
00021         m_mutex.Lock();
00022                 m_quit = true;  // stop running loop
00023         m_mutex.Unlock();
00024         
00025         m_evCmd.Set();
00026         m_evData.Set();
00027         
00028         m_running.Wait();       // wait for running loop to stop
00029 }
00030 
00031 void TrackerThread::init(const Tracking::Tracker::Parameter &params)
00032 {
00033         m_mutex.Lock();
00034                 m_params = params;
00035                 cmd = INIT;
00036         m_mutex.Unlock();
00037         m_evCmd.Set();
00038         m_evData.Wait(); m_evData.Reset();
00039 }
00040 
00041 int TrackerThread::addModelFromFile(const char* ply_file, TomGine::tgPose& pose, std::string label, bool bfc)
00042 {
00043         int id;
00044         m_mutex.Lock();
00045                 m_ply_file = std::string(ply_file);
00046                 m_pose = pose;
00047                 m_model_label = std::string(label);
00048                 m_bfc = bfc;
00049                 cmd = ADD_MODEL_FROM_FILE;
00050         m_mutex.Unlock();
00051 
00052         m_evCmd.Set();
00053         m_evData.Wait(); m_evData.Reset();
00054         
00055         m_mutex.Lock();
00056                 id = m_model_id;
00057         m_mutex.Unlock();
00058         
00059         return id;
00060 }
00061 
00062 BOOL TrackerThread::OnTask()
00063 {
00064         m_running.Lock();
00065         unsigned w,h;
00066         
00067         IplImage* image = 0;
00068 
00069         blortGLWindow::GLWindow* window = 0;
00070         Tracking::Tracker* tracker = 0;
00071         CameraThread* camera = 0;
00072         
00073         while(!m_quit)
00074         {
00075                 switch(cmd)
00076                 {
00077                         case INIT:
00078                                 w = m_params.camPar.width;
00079                                 h = m_params.camPar.height;
00080                                 if(!camera){
00081                                         image = cvCreateImage( cvSize(w, h), 8, 3 );
00082                                         camera = new CameraThread(0, w, h);
00083                                         camera->SetThreadType(ThreadTypeIntervalDriven,0);
00084                                 }
00085                                 if(!window)
00086                                         window = new blortGLWindow::GLWindow(w, h, "Tracker");
00087                                 if(!tracker){
00088                                         tracker = new Tracking::TextureTracker();
00089                                         tracker->init(m_params);
00090                                 }
00091                                 m_mutex.Lock();
00092                                         m_evData.Set();
00093                                         cmd = IDLE;
00094                                 m_mutex.Unlock();
00095                                 break;
00096                         case ADD_MODEL_FROM_FILE:
00097                                 if(tracker){
00098                                         m_model_id = tracker->addModelFromFile(m_ply_file.c_str(), m_pose, m_model_label.c_str(), m_bfc);
00099                                         m_mutex.Lock();
00100                                                 m_evData.Set();
00101                                                 cmd = TRACK;
00102                                         m_mutex.Unlock();
00103                                 }else{
00104                                         m_mutex.Lock();
00105                                                 m_evData.Set();
00106                                                 cmd = IDLE;
00107                                         m_mutex.Unlock();
00108                                 }
00109                                 break;
00110                         case TRACK:
00111                                 if(tracker && camera && window && image){
00112                                         camera->GetImage(image);
00113                                         tracker->image_processing((unsigned char*)image->imageData);
00114                                         tracker->track();
00115                                         tracker->drawResult();
00116                                         tracker->drawCoordinates();
00117                                         window->Update();
00118                                 }
00119                                 break;
00120                         case IDLE:
00121                         default:
00122                                 m_evCmd.Wait(); m_evCmd.Reset();
00123                                 break;          
00124                 }
00125                 
00126         }
00127         
00128         if(camera) delete(camera);
00129         if(tracker) delete(tracker);
00130         if(window) delete(window);
00131         if(image) cvReleaseImage(&image);
00132 
00133         m_running.Unlock();
00134         return TRUE;
00135 }
00136 
00137 
00138 
00139 


blort
Author(s): Michael Zillich, Thomas Mörwald, Johann Prankl, Andreas Richtsfeld, Bence Magyar (ROS version)
autogenerated on Thu Jan 2 2014 11:38:26