vector<vector<Point2f>> GetImagePoints(cModuleSync * sync)
{
//== Create Image Points Vector of Vectors ==-- DBE
vector<vector<Point2f>> imagePoints (RECORDED_FRAMES);
for(int i = 0; i < RECORDED_FRAMES; i++)
imagePoints[i].resize(NUMBER_OF_POINTS);
//== Initialize Total Recorded Frame Count ==-- DBE
int TotalFrames = 0;
//== Pool for frame groups ==--
while(!_kbhit() && TotalFrames < RECORDED_FRAMES)
{
FrameGroup *frameGroup = sync->GetFrameGroup();
if(frameGroup)
{
//== Print something every 100 frames ==--
static int frameThrottle = X_FRAMES;
static int frameCount = 0;
frameThrottle = (frameThrottle+1)%100;
frameCount++;
if(frameThrottle==0)
{
//== Ok, lets print something about this frame group ==--
printf("Received Group Frame #%d (Contains %d frames) ", frameCount, frameGroup->Count());
if(sync->LastFrameGroupMode()==FrameGroup::Hardware)
printf("Synchronized\n");
else
printf("Unsynchronized\n");
for(int i=0; i<frameGroup->Count(); i++)
{
Frame * frame = frameGroup->GetFrame(i);
printf(" - Camera #%d is reporting %d 2D objects\n", i, frame->ObjectCount());
// print the objects and display -NR
cv::Mat M;
M.create(frame->GetCamera()->Height(), frame->GetCamera()->Width(), CV_32F);
for(int j = 0; j < frame->ObjectCount(); j++) {
cObject *object = frame->Object(j);
printf("\tObject #%d: (%4.2f,%4.2f)\n", j, object->X(), object->Y());
cv::circle(M, cv::Point2f(object->X(), object->Y()), object->Radius(), cv::Scalar(255, 0, 0));
//== Record a point into imagePoints ==-- DBE
if(frame->ObjectCount() == NUMBER_OF_POINTS)
{
imagePoints[TotalFrames][j] = Point2f(object->X(), object->Y());
}
}
if(frame->ObjectCount() == NUMBER_OF_POINTS)
TotalFrames++;
if(frame->ObjectCount()) {
cv::imshow("objects", M);
cv::waitKey(2);
}
frame->Release();
}
printf("\n");
}
frameGroup->Release();
}
Sleep(2);
}
return imagePoints;
}
void SynCaptureThread::run()
{
Camera **cameras = new Camera*[_numCameras];
CameraList list;
for(int i=0; i<list.Count(); i++)
{
cameras[i] = CameraManager::X().GetCamera(list[i].UID());
}
//== Create and attach frame synchronizer ==--
cModuleSync * sync = cModuleSync::Create();
for(int i=0; i<_numCameras; i++)
{
sync->AddCamera(cameras[i]);
}
for(int i=0; i<_numCameras; i++)
{
cameras[i]->Start();
cameras[i]->SetVideoType(Core::SegmentMode);
}
while(1)
{
if(_videoStatus == Para::PLAY_LIVE)
{
FrameGroup *frameGroup = sync->GetFrameGroup();
if(frameGroup)
{
for(int i = 0; i < _POIsList.size(); i++)
_POIsList[i].clear();
for(int i = 0; i<frameGroup->Count(); i++)
{
Frame * frame = frameGroup->GetFrame(i);
vector<POI> newPOIs;
for(int j = 0; j < frame->ObjectCount(); j++)
{
float area = frame->Object(j)->Area();
if(area > Para::markerFilterThreshold)
{
float x = frame->Object(j)->X();
float y = frame->Object(j)->Y();
POI temp(x, y);
if(!ContainNoise(_noisyList[i], temp)) // if temp is not in the nosiyList, which means temp is not a noise
newPOIs.push_back(temp);
}
}
frame->Release();
_POIsList[i] = newPOIs;
}
frameGroup->Release();
emit signalPOIsListReady(_POIsList);
}
}
else if( _videoStatus == Para::CALIBRATE)
{
FrameGroup *frameGroup = sync->GetFrameGroup();
if(frameGroup)
{
for(int i = 0; i < _POIsList.size(); i++)
_POIsList[i].clear();
_frameCount++;
if(_frameCount > Para::maxFrame * Para::frameInterval) // change to PLAY_LIVE mode when we have 500 frames
{
WriteCalibratedPoints();
_videoStatus = Para::PLAY_LIVE;
emit signalCalibrationReady();
}
for(int i = 0; i<frameGroup->Count(); i++)
{
Frame * frame = frameGroup->GetFrame(i);
vector<POI> newPOIs;
for(int j = 0; j < frame->ObjectCount(); j++)
{
float area = frame->Object(j)->Area();
if(area > Para::markerFilterThreshold)
{
float x = frame->Object(j)->X();
float y = frame->Object(j)->Y();
POI temp(x, y);
if(!ContainNoise(_noisyList[i], temp)) // if temp is not in the nosiyList, which means temp is not a noise
newPOIs.push_back(temp);
}
}
frame->Release();
_POIsList[i] = newPOIs;
}
if(_frameCount % Para::frameInterval == 0) // sample points each 3 frames
{
for(int i = 0; i < _POIsList.size(); i++)
{
if(_POIsList[i].size() == 0 || _POIsList[i].size() > 1)
{
_calibratedPoints[_frameCount / Para::frameInterval].push_back(Point2f(-1.0,-1.0));
continue;
}
for(int j = 0; j < _POIsList[i].size(); j++) // now we have only one calibration point
{
_calibratedPoints[_frameCount / Para::frameInterval].push_back(Point2f(_POIsList[i][j]._coordinates2d.x, _POIsList[i][j]._coordinates2d.y));
}
}
}
frameGroup->Release();
emit signalPOIsListReady(_POIsList);
}
}
else if(_videoStatus == Para::DENOISE)
{
FrameGroup *frameGroup = sync->GetFrameGroup();
if(frameGroup)
{
for(int i = 0; i < _POIsList.size(); i++)
_POIsList[i].clear();
for(int i = 0; i < frameGroup->Count(); i++)
{
Frame * frame = frameGroup->GetFrame(i);
for(int j = 0; j < frame->ObjectCount(); j++)
{
float area = frame->Object(j)->Area();
if(area > Para::markerFilterThreshold)
{
float x = frame->Object(j)->X();
float y = frame->Object(j)->Y();
POI temp(x, y);
if(!ContainNoise(_noisyList[i], temp)) // if temp is not in the nosiyList, which means temp is not a noise
_noisyList[i].push_back(temp);
}
}
frame->Release();
}
frameGroup->Release();
}
}
else if(_videoStatus == Para::STOP)
{
}
else if(_videoStatus == Para::BREAK)
break;
}
delete[] cameras;
exec();
}
