/*! \fn void Camera::SendARtag()
* \brief Send the ARtag id and pose info over to remote through udp.
* \see ARtag
*/
void Camera::SendARtag()
{
Packet packet;
memset(&packet, -1, sizeof(packet));
packet.type = DATA;
int numARtags = ar->getARtagSize();
numARtags = numARtags < MAXARTAGSEEN ? numARtags:MAXARTAGSEEN;
for (int i = 0; i < numARtags; ++i)
{
ARtag* tag = ar->getARtag(i);
packet.u.data.tagId[i] = tag->getId();
cv::Mat pose = tag->getPose();
packet.u.data.x[i] = pose.at<float>(0,3)/1000.f;
packet.u.data.y[i] = pose.at<float>(1,3)/1000.f;
packet.u.data.z[i] = pose.at<float>(2,3)/1000.f;
packet.u.data.yaw[i] = -atan2(pose.at<float>(1,0), pose.at<float>(0,0));
if (packet.u.data.yaw[i] < 0)
{
packet.u.data.yaw[i] += 6.28;
}
}
if (sendto(_sock, (unsigned char*)&packet, ARTAG_PACKET_SIZE, 0, (const struct sockaddr *)&_artagPort, sizeof(struct sockaddr_in)) < 0) printf("sendto\n");
}
void ObjDetect::imageCaptured ( const FCam::Frame & frame )
{
IplImage * img = capture_rgb24 ( frame );
// printf("[imageCaptured]: I got here! yeye!\n");
IplImage * gray = cvCreateImage(cvSize(img->width,img->height),IPL_DEPTH_8U,1);
cvCvtColor(img,gray,CV_RGB2GRAY);
// if ( !img1 )
// {
img1 = img;
// }
// else
// {
// img2 = img;
// thread = new ObjDetectThread ( this, img1, img2,
// ui->getFeatureType (), ui->getMatchType () );
// // QObject::connect ( thread, SIGNAL ( progressUpdate ( int ) ),
// // progressBar, SLOT ( setValue ( int ) ) );
// QObject::connect ( thread, SIGNAL ( finished () ),
// this, SLOT ( computed () ) );
// thread->start ();
// }
isready = true;
arloc.getARtagPose(gray,img1,0);
ARtag * ar;
CvMat * pose;
OverlayText ot;
QByteArray ba; // ot.u + ot.v + ot.ID + ot.poseX + ot.poseY + ot.poseZ + ot.timestamp ;
int packetSize = sizeof(struct OverlayText)*arloc.getARtagSize();
ba.resize(packetSize);
for (int n = 0; n < arloc.getARtagSize(); ++n)
{
ar = arloc.getARtag(n);
pose = ar->getPose();
ot.u = ar->getU();
ot.v = ar->getV();
ot.ID = ar->getId();
ot.poseX = CV_MAT_ELEM(*pose , float, 0, 3);
ot.poseY = CV_MAT_ELEM(*pose , float, 1, 3);
ot.poseZ = CV_MAT_ELEM(*pose , float, 2, 3);
ot.timestamp = (double)t.elapsed()/1000.0;
ui->getViewfinder()->setText(ot);
memcpy(ba.data()+n*sizeof(struct OverlayText),(char*)&ot,sizeof(struct OverlayText));
}
ui->udpSender->broadcastDatagram(ba);
cvReleaseImage(&gray);
isready = true;
completed = true;
// image = QImage ( ( const uchar * )img1->imageData,
// img1->width,
// img1->height,
// img1->widthStep,
// QImage::Format_RGB888 );
// canvas = new QLabel ( this );
// // progressBar->hide ();
// QHBoxLayout * layout = new QHBoxLayout ( this );
// layout->addWidget ( canvas );
// setLayout ( layout );
// QPicture picture;
// QPainter painter;
// painter.begin ( &picture );
//// painter.drawImage ( QRect ( QPoint ( 0, 0 ), QPoint ( 800, 600 ) ), image );
// painter.drawText(arloc.getARtag());
// painter.end ();
// canvas->setPicture ( picture );
// canvas->show ();
}