RecognizerThread.cpp

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#include <blort/ThreadObject/RecognizerThread.h>
#include <stdexcept>
#include <opencv2/legacy/compat.hpp>

using namespace std;

CRecognizerThread::CRecognizerThread(const blortRecognizer::CameraParameter& params, std::string config_root)
{
        m_mutex.Lock();
                m_quit = false;
                m_params = params;
                this->config_root = config_root;
                cmd = IDLE;
                m_image = cvCreateImage( cvSize(params.w, params.h), 8, 3 );
        m_mutex.Unlock();

}

CRecognizerThread::~CRecognizerThread()
{
        m_mutex.Lock();
                m_quit = true;  // stop running loop
        m_mutex.Unlock();
        
        m_evCmd.Set();
        m_evData.Set();
        
        m_running.Wait();       // wait for running loop to stop
        
}

void CRecognizerThread::Recognize(IplImage* image, std::map<std::string, boost::shared_ptr<TomGine::tgPose> > & poses, std::map<std::string, double> & confs)
{
        m_mutex.Lock();
                cvCopyImage(image, m_image);
                m_poses = poses;
                cmd = RECOGNIZE;
        m_mutex.Unlock();
        
        m_evCmd.Set();
        m_evData.Wait(); m_evData.Reset();
        
        m_mutex.Lock();
                poses = m_poses;
                confs = m_confs;
        m_mutex.Unlock();
}

void CRecognizerThread::LearnSifts(IplImage* image,  TomGine::tgModel &model, TomGine::tgPose& pose)
{
        m_mutex.Lock();
                cvCopyImage(image, m_image);
        m_poses.clear();
        m_models.clear();
                m_poses["object"] = boost::shared_ptr<TomGine::tgPose>(new TomGine::tgPose(pose)); //HACK: name hardcoded
                m_models.push_back(boost::shared_ptr<TomGine::tgModel>(new TomGine::tgModel(model)));
                cmd = LEARN;
        m_mutex.Unlock();
        
        m_evCmd.Set();
        m_evData.Wait(); m_evData.Reset();
}

void CRecognizerThread::LoadSiftModel(const std::string& sift_file)
{
        m_mutex.Lock();
                m_sift_file = string(sift_file);
                cmd = LOAD;
        m_mutex.Unlock();
        
        m_evCmd.Set();
        m_evData.Wait(); m_evData.Reset();
}

void CRecognizerThread::SaveSiftModel(const std::string& sift_file)
{
        m_mutex.Lock();
                m_sift_file = string(sift_file);
                cmd = SAVE;
        m_mutex.Unlock();
        
        m_evCmd.Set();
        m_evData.Wait(); m_evData.Reset();
}

void CRecognizerThread::GetSifts(std::vector<blortRecognizer::Siftex>& sl)
{
        m_mutex.Lock();
                cmd = GETSIFT;
        m_mutex.Unlock();
        
        m_evCmd.Set();
        m_evData.Wait(); m_evData.Reset();
        
        m_mutex.Lock();
                sl = m_siftexlist;
        m_mutex.Unlock();
}

void CRecognizerThread::GetLastSifts(std::vector<blortRecognizer::Siftex>& sl)
{
        m_mutex.Lock();
                cmd = GETLASTSIFT;
        m_mutex.Unlock();
        
        m_evCmd.Set();
        m_evData.Wait(); m_evData.Reset();
        
        m_mutex.Lock();
                sl = m_lastsiftexlist;
        m_mutex.Unlock();
}

BOOL CRecognizerThread::OnTask()
{
        m_running.Lock();
        
        
        blortRecognizer::Recognizer3D m_recognizer(m_params, config_root, true, true);
        //m_recognizer.setDoUndistort(false);
        
        while(!m_quit)
        {
                switch(cmd)
                {
                        
                        case RECOGNIZE:
                                m_mutex.Lock();
                                        m_recognizer.recognize(m_image, m_poses, m_confs);
                                        result = m_recognizer.getImage();
                                        m_evData.Set();
                                        cmd = IDLE;
                                m_mutex.Unlock();
                                break;
                        
                        case LEARN:
                                m_mutex.Lock();
        m_recognizer.learnSifts(m_image, *m_models[0], *(m_poses.begin()->second));
                                        m_evData.Set();
                                        cmd = IDLE;
                                m_mutex.Unlock();
                                break;
                        
                        case LOAD:
                                m_mutex.Lock();
                                        m_recognizer.loadModelFromFile(m_sift_file.c_str());
                                        m_evData.Set();
                                        cmd = IDLE;
                                m_mutex.Unlock();
                                break;
                        
                        case SAVE:
                                m_mutex.Lock();
                                        m_recognizer.saveModelToFile(m_sift_file.c_str());
                                        m_evData.Set();
                                        cmd = IDLE;
                                m_mutex.Unlock();
                                break;
                                
                        case GETSIFT:
                                m_mutex.Lock();
                                        m_recognizer.getSifts(m_siftexlist);
                                        m_evData.Set();
                                        cmd = IDLE;
                                m_mutex.Unlock();
                                break;
                                
                        case GETLASTSIFT:
                                m_mutex.Lock();
                                        m_recognizer.getLastSifts(m_lastsiftexlist);
                                        m_evData.Set();
                                        cmd = IDLE;
                                m_mutex.Unlock();
                                break;
                        
                        case IDLE:
                        default:
                                m_evCmd.Wait(); m_evCmd.Reset();
                                break;          
                }
        }

        m_running.Unlock();
        return TRUE;
}