FileLogger()
{
kString name = GetEnv()->GetEnvValue(Environment::ENV_KEY_LOG_DIR) + KT("/") + GetEnv()->GetEnvValue(Environment::ENV_KEY_APP_NAME) + KT(".log");
m_LogFile.Open(name.c_str(), IOWrite);
m_Thread = new Os::Thread([this]()->void {
while (true)
{
if (m_Logs.empty())
{
unique_lock<std::mutex> uSignal(m_Signal);
m_CV.wait(uSignal);
}
else
{
lock_guard<mutex> scopeLock(m_LogMutex);
while (!m_Logs.empty())
{
std::string log = m_Logs.front();
m_LogFile.Write(log.data(), log.size());
m_Logs.pop();
}
}
}
}, "FileLogger");
m_Thread->Start();
}
//--------------------------------------------decomposeProhMats-------------------------------------------//
// through the projection matrix we can get nearly all the information of the cameras
// the position of the camera
// the direction of the camera
// the focal of the camera
// the axises of the camera
void Camera::decomposeProjMats()
{
// 1.0 get direction
this->dir_.at<float>(0) = this->project_.at<float>(2,0);
this->dir_.at<float>(1) = this->project_.at<float>(2,1);
this->dir_.at<float>(2) = this->project_.at<float>(2,2);
this->dir_ = this->dir_/ norm(this->dir_);
// 2.0 get position
cv::Mat KR(3,3,CV_32FC1);
cv::Mat KT(3,1,CV_32FC1);
for(int i=0; i<3; i++)
{
for(int j=0; j<3; j++)
{
KR.at<float>(i,j) = this->project_.at<float>(i,j);
}
}
for(int i=0; i<3; i++)
KT.at<float>(i,0) = this->project_.at<float>(i,3);
this->pos_ = -KR.inv()* KT;
// 3.0 compute the focal
cv::Mat R0(3,1, CV_32FC1);
cv::Mat R1(3, 1, CV_32FC1);
cv::Mat R2(3, 1, CV_32FC1);
for(int i=0; i<3; i++)
{
R0.at<float>(i) = KR.at<float>(0, i);
R1.at<float>(i) = KR.at<float>(1, i);
R2.at<float>(i) = KR.at<float>(2, i);
}
this->focal_ = 0.5*abs(norm(R0.cross(R2)))+ 0.5*abs(norm(R1.cross(R2)));
// 4.0 axises of the camera
this->zaxis_ = this->dir_;
this->yaxis_ = this->zaxis_.cross(R0);
this->yaxis_ = this->yaxis_/norm(this->yaxis_);
this->xaxis_ = this->yaxis_.cross(this->zaxis_);
this->xaxis_ = this->xaxis_/norm(this->xaxis_);
KR.release();
KT.release();
R0.release();
R1.release();
R2.release();
}
int main()
{
int a[] = {3, 5, 7, 4, 1, 2, 9, 6, 8};
printf("%d\n", 1 + KT(a, sizeof(a) / sizeof(*a))); ///1+98884
}