artvertiser/multigrab.h

   1 #ifndef _MULTIGRAB_H
   2 #define _MULTIGRAB_H
   3
   4 #include "calibmodel.h"
   5
   6 #define USE_MULTITHREADCAPTURE
   7
   8 #include "multithreadcapture.h"
   9
  10 class MultiGrab {
  11 public:
  12
  13         CalibModel model;
  14
  15         //MultiGrab(const char *modelfile="model.bmp") : model(modelfile) {}
  16         MultiGrab() {};
  17     ~MultiGrab();
  18
  19         int init( char *avi_bg_path,
  20           int capture_width, int capture_height, int v4l_device, int detect_width, int detect_height,
  21           int desired_capture_fps );
  22     /// load or train the cache using the given modelfile. if wants_training is true, train;
  23     /// otherwise try to load and if load files, train
  24     bool loadOrTrainCache( bool wants_training, const char* modelfile, bool running_on_binoculars = false );
  25
  26         void allocLightCollector();
  27
  28         class Cam {
  29     public:
  30                 CvCapture *cam;
  31                 int width,height;
  32                 int detect_width, detect_height;
  33                 //PlanarObjectDetector detector;
  34                 planar_object_recognizer detector;
  35                 LightCollector *lc;
  36                 MultiThreadCapture *mtc;
  37
  38                 /// stop capturing but leave frame buffers in place
  39                 void shutdownMultiThreadCapture();
  40
  41         const FTime& getLastProcessedFrameTimestamp() { return detected_frame_timestamp; }
  42         unsigned int getFrameIndexForTime( const FTime& timestamp ) { return mtc->getFrameIndexForTime( timestamp ); }
  43                 IplImage* getLastProcessedFrame() { return frame; }
  44                 /// fetch the last raw frame + timestamp and put into *frame + timestamp. if *frame is NULL, create.
  45                 bool getLastDrawFrame( IplImage** raw_frame, FTime* timestamp=NULL )
  46             { return mtc->getLastDrawFrame( raw_frame, timestamp, true /*block*/ ); }
  47
  48                 void setCam(CvCapture *c, int capture_width, int capture_height, int detect_width, int detect_height, int desired_capture_fps );
  49                 bool detect( bool& frame_retrieved, bool &detect_succeeded );
  50
  51                 Cam(CvCapture *c=0, int _width=0, int _height=0, int _detect_width=320, int _detect_height=240, int desired_capture_fps=20 )
  52                 {
  53                     frame = 0;
  54                         width=0;
  55                         height=0;
  56                         detect_width=_detect_width;
  57                         detect_height=_detect_height;
  58                         cam=0;
  59                         lc=0;
  60                         mtc=0;
  61                         if (c) setCam(c, _width, _height, _detect_width, _detect_height, desired_capture_fps );
  62                         gray=0;
  63                         frame_detectsize=0;
  64                 }
  65                 Cam( const Cam& other ) { assert( false && "copy constructor called, arrgh" ); }
  66                 ~Cam();
  67
  68                 private:
  69             IplImage *frame, *frame_detectsize, *gray;
  70             FTime detected_frame_timestamp;
  71
  72         };
  73
  74         std::vector<Cam *> cams;
  75         struct Cam *foo;
  76 };
  77
  78 bool add_detected_homography(int n, planar_object_recognizer &detector, CamCalibration &calib);
  79 bool add_detected_homography(int n, planar_object_recognizer &detector, CamAugmentation &a);
  80 IplImage *myQueryFrame(CvCapture *capture);
  81 IplImage *myRetrieveFrame(CvCapture *capture);
  82
  83 #endif