CvTestbed.cpp

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#include "ar_track_alvar/CvTestbed.h"

CvTestbed::CvTestbed() {
        cap=NULL;
        running=false;
        videocallback=NULL;
        keycallback=NULL;
        images.clear();
}

CvTestbed::~CvTestbed() {
        for (size_t i=0; i<images.size(); i++) {
                if (images[i].release_at_exit) {
                        cvReleaseImage(&(images[i].ipl));
                }
        }
        images.clear();
}

void CvTestbed::default_videocallback(IplImage *image) {
        // TODO: Skip frames if we are too slow? Impossible using OpenCV?
        /*
        static bool semaphore=false;
        if (semaphore) return;
        semaphore = true;
        */

        if (CvTestbed::Instance().videocallback) {
                CvTestbed::Instance().videocallback(image);
        }
        CvTestbed::Instance().ShowVisibleImages();

        //semaphore = false;
}

void CvTestbed::WaitKeys() {
        running=true;
        static bool pause = false;
        while (running) {
                if (cap) {
                        IplImage *frame = cap->captureImage();
                        if (frame) {
                                default_videocallback(frame);
                                if (wintitle.size() > 0) {
                                        cvShowImage(wintitle.c_str(), frame);
                                }
                        }
                }
                int key;
#ifdef WIN32
                if( (key = cvWaitKey(1)) >= 0 ) {
#else
                if( (key = cvWaitKey(20)) >= 0 ) {
#endif
                        if (keycallback) {
                                key = keycallback(key);
                        }
                        // If 'keycallback' didn't handle key - Use default handling
                        // By default 'C' for calibration
                        if (key == 'C') {
                            if (cap) {
                    cap->showSettingsDialog();
                            }
                        }
                        // By default '0'-'9' toggles visible images
                        else if ((key >= '0') && (key <= '9')) {
                                int index=key-'0';
                                ToggleImageVisible(index);
                        }
                        else if(key == 'p') {
                                pause = !pause;
                        }
                        else if (key > 0) {
                                running=false;
                        }
                }
        }
}

void CvTestbed::ShowVisibleImages() {
        for (size_t i=0; i<images.size(); i++) {
                if (images[i].visible) {
                        cvShowImage(images[i].title.c_str(), images[i].ipl);
                }
        }
}

CvTestbed& CvTestbed::Instance() {
        static CvTestbed obj;
        return obj;
}

void CvTestbed::SetVideoCallback(void (*_videocallback)(IplImage *image)) {
        videocallback=_videocallback;
}

void CvTestbed::SetKeyCallback(int (*_keycallback)(int key)) {
        keycallback=_keycallback;
}

bool CvTestbed::StartVideo(Capture *_cap, const char *_wintitle) {
        bool clean=false;
    cap = _cap;
    if (cap == NULL) {
                CaptureFactory::CaptureDeviceVector vec = CaptureFactory::instance()->enumerateDevices();
                if (vec.size() < 1) return false;
                cap = CaptureFactory::instance()->createCapture(vec[0]);
                if (!cap->start()) {
                        delete cap;
                        return false;
                }
                clean=true;
        }
    if (_wintitle) {
        wintitle = _wintitle;
        cvNamedWindow(_wintitle, 1);
    }
        WaitKeys(); // Call the main loop
        if (clean) {
                cap->stop();
                delete cap;
        }
        return true;
}

size_t CvTestbed::SetImage(const char *title, IplImage *ipl, bool release_at_exit /* =false */) {
        size_t index = GetImageIndex(title);
        if (index == -1) {
                // If the title wasn't found create new
                Image i(ipl, title, false, release_at_exit);
                images.push_back(i);
                return (images.size()-1);
        }
        // If the title was found replace the image
        if (images[index].release_at_exit) {
                cvReleaseImage(&(images[index].ipl));
        }
        images[index].ipl = ipl;
        images[index].release_at_exit = release_at_exit;
        return index;
}

IplImage *CvTestbed::CreateImage(const char *title, CvSize size, int depth, int channels ) {
        IplImage *ipl=cvCreateImage(size, depth, channels);
        if (!ipl) return NULL;
        SetImage(title, ipl, true);
        return ipl;
}

IplImage *CvTestbed::CreateImageWithProto(const char *title, IplImage *proto, int depth /* =0 */, int channels /* =0 */) {
        if (depth == 0) depth = proto->depth;
        if (channels == 0) channels = proto->nChannels;
        IplImage *ipl= cvCreateImage(cvSize(proto->width, proto->height), depth, channels);
        if (!ipl) return NULL;
        ipl->origin = proto->origin;
        SetImage(title, ipl, true);
        return ipl;
}

IplImage *CvTestbed::GetImage(size_t index) {
        if (index < 0) return NULL;
        if (index >= images.size()) return NULL;
        return images[index].ipl;
}

size_t CvTestbed::GetImageIndex(const char *title) {
        std::string s(title);
        for (size_t i=0; i<images.size(); i++) {
                if (s.compare(images[i].title) == 0) {
                        return i;
                }
        }
        return (size_t)-1;
}

IplImage *CvTestbed::GetImage(const char *title) {
        return GetImage(GetImageIndex(title));
}

bool CvTestbed::ToggleImageVisible(size_t index, int flags) {
        if (index >= images.size()) return false;
        if (images[index].visible == false) {
                images[index].visible=true;
                cvNamedWindow(images[index].title.c_str(), flags);
                return true;
        }
        else {
                images[index].visible=false;
                cvDestroyWindow(images[index].title.c_str());
                return false;
        }
}