artvertiser/multigrab.h

   1 /*
   2  Copyright 2008, 2009, 2010 Julian Oliver <julian@julianoliver.com>
   3  and Damian Stewart <damian@frey.co.nz>, based on BazAR which is
   4  Copyright 2005, 2006 Computer Vision Lab, 3 Ecole Polytechnique
   5  Federale de Lausanne (EPFL), Switzerland.
   6  Distributed under the terms of the GNU General Public License v3.
   7
   8  This file is part of The Artvertiser.
   9
  10  The Artvertiser is free software: you can redistribute it and/or modify
  11  it under the terms of the GNU General Public License as published by
  12  the Free Software Foundation, either version 3 of the License, or
  13  (at your option) any later version.
  14
  15  The Artvertiser is distributed in the hope that it will be useful,
  16  but WITHOUT ANY WARRANTY; without even the implied warranty of
  17  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  18  GNU General Public License for more details.
  19
  20  You should have received a copy of the GNU Lesser General Public License
  21  along with The Artvertiser.  If not, see <http://www.gnu.org/licenses/>.
  22  */
  23
  24 #ifndef _MULTIGRAB_H
  25 #define _MULTIGRAB_H
  26
  27 #include "calibmodel.h"
  28
  29 #define USE_MULTITHREADCAPTURE
  30
  31 #include "multithreadcapture.h"
  32
  33 class MultiGrab {
  34 public:
  35
  36         CalibModel model;
  37
  38         //MultiGrab(const char *modelfile="model.bmp") : model(modelfile) {}
  39         MultiGrab() {};
  40     ~MultiGrab();
  41
  42         int init( char *avi_bg_path,
  43           int capture_width, int capture_height, int v4l_device, int detect_width, int detect_height,
  44           int desired_capture_fps );
  45     /// load or train the cache using the given modelfile. if wants_training is true, train;
  46     /// otherwise try to load and if load files, train
  47     bool loadOrTrainCache( bool wants_training, const char* modelfile, bool train_on_binoculars );
  48
  49         void allocLightCollector();
  50
  51         class Cam {
  52     public:
  53                 CvCapture *cam;
  54                 int width,height;
  55                 int detect_width, detect_height;
  56                 //PlanarObjectDetector detector;
  57                 planar_object_recognizer detector;
  58                 LightCollector *lc;
  59                 MultiThreadCapture *mtc;
  60
  61                 /// stop capturing but leave frame buffers in place
  62                 void shutdownMultiThreadCapture();
  63
  64         const FTime& getLastProcessedFrameTimestamp() { return detected_frame_timestamp; }
  65         unsigned int getFrameIndexForTime( const FTime& timestamp ) { return mtc->getFrameIndexForTime( timestamp ); }
  66                 IplImage* getLastProcessedFrame() { return frame; }
  67                 /// fetch the last raw frame + timestamp and put into *frame + timestamp. if *frame is NULL, create.
  68                 bool getLastDrawFrame( IplImage** raw_frame, FTime* timestamp=NULL )
  69             { return mtc->getLastDrawFrame( raw_frame, timestamp, true /*block*/ ); }
  70
  71                 void setCam(CvCapture *c, int capture_width, int capture_height, int detect_width, int detect_height, int desired_capture_fps );
  72                 bool detect( bool& frame_retrieved, bool &detect_succeeded );
  73
  74                 Cam(CvCapture *c=0, int _width=0, int _height=0, int _detect_width=320, int _detect_height=240, int desired_capture_fps=20 )
  75                 {
  76                     frame = 0;
  77                         width=0;
  78                         height=0;
  79                         detect_width=_detect_width;
  80                         detect_height=_detect_height;
  81                         cam=0;
  82                         lc=0;
  83                         mtc=0;
  84                         if (c) setCam(c, _width, _height, _detect_width, _detect_height, desired_capture_fps );
  85                         gray=0;
  86                         frame_detectsize=0;
  87                 }
  88                 Cam( const Cam& other ) { assert( false && "copy constructor called, arrgh" ); }
  89                 ~Cam();
  90
  91                 private:
  92             IplImage *frame, *frame_detectsize, *gray;
  93             FTime detected_frame_timestamp;
  94
  95         };
  96
  97         std::vector<Cam *> cams;
  98         struct Cam *foo;
  99 };
 100
 101 bool add_detected_homography(int n, planar_object_recognizer &detector, CamCalibration &calib);
 102 bool add_detected_homography(int n, planar_object_recognizer &detector, CamAugmentation &a);
 103 IplImage *myQueryFrame(CvCapture *capture);
 104 IplImage *myRetrieveFrame(CvCapture *capture);
 105
 106 #endif