cs_status mc_init()
{
if(mc_dev_init()) {
MC_LOG(IROS_LOG_LEVEL_CRI, "mc_init() fail!\n");
return CS_E_ERROR;
}
mc_timer_init(mc_static_timer_handler);
return CS_E_OK;
}
void VideoWatcher::CheckFiles()
{
if (QFile("no_calibration").exists() && Undistort)
{
Undistort = false;
MC_LOG("Disable the calibration");
} else
if (!QFile("no_calibration").exists() && !Undistort)
{
Undistort = true;
MC_LOG("Enable the calibration");
}
if (QFile("debug_corners").exists() && !DebugCorners)
{
DebugCorners = true;
MC_LOG("Enable corner detection debugging");
} else
if (!QFile("debug_corners").exists() && DebugCorners)
{
DebugCorners = false;
MC_LOG("Disable corner detection debugging");
}
if (QFile("debug_motions").exists() && !DebugMotions)
{
DebugMotions = true;
MC_LOG("Enable motion detection debugging");
} else
if (!QFile("debug_motions").exists() && DebugMotions)
{
DebugMotions = false;
MC_LOG("Disable motion detection debugging");
}
}
void VideoWatcher::CaptureFinished()
{
QFuture<void> CaptureTask;
static bool AudioStarted = false;
// In debug mode, keep the audio and video playback in sync
if (WaitDuration > 0)
MCSleep(WaitDuration);
FrameCount++;
OverallFrameCount++;
*OriginalImage = *CapturedImage;
if (AudioStarted == false)
{
QTimer::singleShot(100, this, SIGNAL(StartAudio()));
AudioStarted = true;
}
// Start a new capture
CaptureTask = QtConcurrent::run(boost::bind(&VideoWatcher::CaptureImage, this));
CaptureWatcher.setFuture(CaptureTask);
if (FrameCount % 3 == 1)
return;
OriginalImage->ConvertBGRToRGB();
*FinalImage = *OriginalImage;
CheckFiles();
// Check if the capture process stopped by some reason
if (!CaptureDevice->IsCapturing())
{
MC_LOG("Capture stopped");
QCoreApplication::quit();
}
// Be sure that the image has the expected size
if (FinalImage->GetWidth() != FrameWidth && FinalImage->GetHeight() != FrameHeight)
{
FinalImage->Resize(FrameWidth, FrameHeight);
}
if (Undistort && FinalImage->GetWidth() == FrameWidth && FinalImage->GetHeight() == FrameHeight)
{
Calibration->Undistort(*FinalImage);
// TODO: The rotational correction is too CPU expensive
if (!MCIsFloatInfinity(RotationAngle))
{
FinalImage->Rotate(RotationCenter.X, RotationCenter.Y, RotationAngle);
}
}
// Check if the lights are off
if (FinalImage->AverageBrightnessLevel() < 10)
{
Markers->Reset();
MotionDetection->Reset();
Q_EMIT(VideoEvent(IOP::IdleEvent));
Q_EMIT(VideoEvent(IOP::CaptureEvent));
return;
}
// Calculate fps
if (FrameCount % 300 == 0)
{
MC_LOG("Capture speed: %1.2f fps", (float)1000 / FpsTimer.elapsed()*FrameCount);
FpsTimer.start();
FrameCount = 0;
MC_LOG("Average brightness level: %1.2f", FinalImage->AverageBrightnessLevel());
}
// Corner detection
Markers->AddImage(*FinalImage);
// TODO: The rotational correction is too CPU expensive
if (Markers->IsReady() && !Markers->IsAnyMissingCorner() && MCIsFloatInfinity(RotationAngle))
{
// Get the rotational angle and reset the marker detection
Markers->GetRotationalCorrection(*FinalImage, RotationAngle, RotationCenter);
MC_LOG("Detected rotation: %1.2f degrees", RotationAngle);
Markers->Reset();
}
// Motion detection
MEImage MotionFrame = *FinalImage;
MotionFrame.Resize(FrameWidth / 4, FrameHeight / 4);
MotionDetection->DetectMotions(MotionFrame);
/*
* Draw the debug signs and texts on the original image
*/
DebugMessageImage->Clear();
// Composite debug signs
if (DebugMotions)
{
MEImage MaskImage;
MotionDetection->GetMotionsMask(MaskImage);
// Convert the grayscale image back to RGB
MaskImage.ConvertToRGB();
MaskImage.Resize(FrameWidth, FrameHeight);
FinalImage->Addition(MaskImage, ME::MaskAddition);
}
if (DebugCorners)
Markers->DrawDebugSigns(*FinalImage);
if (Markers->IsReady() && Markers->IsAnyMissingCorner())
{
Markers->DrawMissingCorners(*FinalImage);
DebugMessageImage->DrawText(160, 320, "Table not detected", 1, MEColor(255, 255, 255));
Q_EMIT(VideoEvent(IOP::MissingCornersEvent));
}
Q_EMIT(VideoEvent(IOP::NormalEvent));
Q_EMIT(VideoEvent(IOP::CaptureEvent));
}
void mc_static_timer_handler()
{
MC_LOG(IROS_LOG_LEVEL_DBG0, "mc tmr heartbeat\n");
mc_node_fdb_age(g_mc_dev);
}
