RETURN_CODE __uservice::start()
{
if (__check_ctrlEnabled(START))
{
if (!isRunning())
{
if (!isInit())
init();
if (isInit())
{
console() << MSG__START << this << "...\n";
// REF I130428-1
if (__D_start() == RC_SUCCESS)
{
Runable::start();
return RC_SUCCESS;
}
}
}
warning(this, W__ALREADY_RUNNING);
return RC_FAILURE;
}
return RC_SUCCESS;
}
int VideoSaverFlyCapture::startCapture() {
if (!isFlyCapture()) {
return VideoSaver::startCapture();
} else {
if ((isFinished()) && (isInit()) && (!isCapturing())) {
// start thread to begin capture and populate Mat frame
FlyCapture2::Error error = m_Camera.StartCapture();
if ( error == FlyCapture2::PGRERROR_ISOCH_BANDWIDTH_EXCEEDED )
{
std::cout << "Bandwidth exceeded" << std::endl;
return -1;
}
else if ( error != FlyCapture2::PGRERROR_OK )
{
std::cout << "Failed to start image capture" << std::endl;
return -1;
}
//start the grabbing thread
m_KeepWritingAlive = false; // not to be started
m_WritingFinished = true;
m_newFrameAvailable = false;
std::cout << "Start video grabbing .." << std::endl;
m_captureThread = new std::thread(&VideoSaverFlyCapture::captureThread,this);
m_capturing = true;
sleep(500);
waitForNewFrame();
return 0;
} else {
if (isInit()) {
std::cout << "Warning: capture not yet finished !" << std::endl;
} else {
std::cout << "Warning: camera not available!" << std::endl;
}
return -1;
}
}
}
void CameraHandler::downSample(int sampling_ratio)
{
if (!isInit()) return;
_cam_param.imsize.cols /= sampling_ratio;
_cam_param.imsize.rows /= sampling_ratio;
_cam_param.K /= sampling_ratio;
_cam_param.K.at<float>(2,2) = 1;
_cam_param.K_inv = _cam_param.K.inv();
if (!_frame.empty())
cv::resize(_frame, _frame, cv::Size(),
1.0/sampling_ratio, 1.0/sampling_ratio);
if (!_mask.empty())
cv::resize(_mask, _mask, cv::Size(),
1.0/sampling_ratio, 1.0/sampling_ratio);
if (!_LUT_sphere.empty())
im2Sph(_cam_param.imsize.rows, _cam_param.imsize.cols);
_is_sampled = true;
_sampling_ratio = sampling_ratio;
}
void CameraHandler::im2Sph(int rows, int cols)
{
if (!isInit()) return;
if (_mask.empty())
_mask = cv::Mat::ones(rows, cols, CV_8UC1);
cv::Mat ind_nzero;
cv::findNonZero(_mask, ind_nzero);
int pixel_count = ind_nzero.rows * ind_nzero.cols;
_LUT_sphere = cv::Mat::zeros(3, pixel_count, CV_32FC1);
int i = 0;
for (int row = 0; row < rows; ++row)
{
for (int col = 0; col < cols; ++col)
{
if (!(_mask.at<uchar>(row, col) == 0))
{
cv::Vec3f pts_sph = pix2Sph(row, col);
_LUT_sphere.at<float>(0, i) = pts_sph[0];
_LUT_sphere.at<float>(1, i) = pts_sph[1];
_LUT_sphere.at<float>(2, i) = pts_sph[2];
}
++i;
}
}
// Apply pose rotation
_LUT_sphere = _cam_param.cam_pose(cv::Rect(0,0,3,3)) * _LUT_sphere;
_sphLUT_init = true;
}
/** @brief getThread
* get the thread ascociated with an index
* @param index the index of the thread to get
* @return a handle on the thread you are getting
*/
ThreadHandle Threadler::getThread(const ThreadID_t & index)
{
if (!isInit())
return ThreadHandle();
return get()->m_threads[index];
}
CWordManager::~CWordManager()
{
if (isInit() != NULL)
{
DisconnectWordEventHandler();
m_WordLoader.Release();
}
// kody - ulozeni Wordovskejch stylu do XML
CDirectoriesManager & m = ((CReportAsistentApp *) AfxGetApp())->m_pGeneralManager->DirectoriesManager;
BOOL res = FALSE;
try
{
res = saveStylesToXML((LPCTSTR) m.getWordStylesConfigFilePath());
}
catch(...)
{
res = FALSE;
}
if(!res)
CReportAsistentApp::ReportError(IDS_STYLLISTSAVE_ERR);
}
void SharedObject::makeUnique(std::map<SharedObjectNode*, SharedObject>& already_copied,
bool clone_members) {
if (node && node->count>1) {
// First find out if the expression has already been copied
std::map<SharedObjectNode*, SharedObject>::iterator it = already_copied.find(node);
if (it==already_copied.end()) {
// If the expression has not yet been copied
SharedObjectNode *newnode = node->clone();
// Copy the data members
if (clone_members) newnode->deepCopyMembers(already_copied);
// Initialize object if parent was initialized
if (isInit() && !newnode->is_init_) {
newnode->init();
}
// Assign cloned node to object
assignNode(newnode);
} else {
// Use an existing copy
assignNode(it->second.get());
}
}
}
/** @brief depth
* accessthe depth of the render volume
* @return depth
*/
unsigned int Renderer::depth()
{
if (!isInit())
return 0;
return get()->m_depth;
}
/** @brief isSetup
* access if the module has been set up
* @return true if set up
*/
bool Renderer::isSetup()
{
if (!isInit())
return false;
return get()->m_isSetup;
}
vector<SXMatrix> FX::evalSX(const vector<SXMatrix>& arg){
casadi_assert_message(isInit(),"Function has not been initialized");
// Copy the arguments into a new vector with the right sparsity
casadi_assert_message(arg.size()<=getNumInputs(), "FX::evalSX: number of passed-in dependencies (" << arg.size() << ") should not exceed the number of inputs of the function (" << getNumInputs() << ").");
vector<SXMatrix> arg2 = arg;
arg2.resize(getNumInputs());
for(int iind=0; iind<arg.size(); ++iind){
// If sparsities do not match, we need to map the nonzeros onto the new pattern
if(!(arg2[iind].sparsity()==input(iind).sparsity())){
arg2[iind] = project(arg2[iind],input(iind).sparsity());
}
}
// Create result vector with correct sparsity for the result
vector<SXMatrix> res(getNumOutputs());
for(int i=0; i<res.size(); ++i){
res[i] = SXMatrix(output(i).sparsity());
}
// No sensitivities
vector<vector<SXMatrix> > dummy;
// Evaluate the algorithm
(*this)->evalSX(arg2,res,dummy,dummy,dummy,dummy,false);
// Return the result
return res;
}
void CWordManager::OpenWordEditor()
{
if (! isInit())
{
if (! InitWordLoader()) return;
}
try
{
WordEditHideMainWindow();
SetWordEditorParentTaskName();
m_WordLoader->PutstrDefaultWordTemplate(getWordTemplate());
m_WordLoader->OpenWordEditor();
}
catch (_com_error e)
{
m_WordLoader = NULL;
WordEditShowMainWindow();
CReportAsistentApp::ReportError(IDS_LMRA_WORLOADER_CONNECTON_FAILED, (LPCTSTR) e.ErrorMessage());
}
}
namespace Charset {
static const AutoPtr<ICharset> StandardCharsets::ISO_8859_1;
static const AutoPtr<ICharset> StandardCharsets::US_ASCII;
static const AutoPtr<ICharset> StandardCharsets::UTF_8;
static const AutoPtr<ICharset> StandardCharsets::UTF_16;
static const AutoPtr<ICharset> StandardCharsets::UTF_16BE;
static const AutoPtr<ICharset> StandardCharsets::UTF_16LE;
StandardCharsets::StandardCharsets()
{}
Boolean StandardCharsets::isInit()
{
Charset::ForName(String("ISO-8859-1"), (ICharset**)&ISO_8859_1);
Charset::ForName(String("US-ASCII"), (ICharset**)&US_ASCII);
Charset::ForName(String("UTF-8"), (ICharset**)&UTF_8);
Charset::ForName(String("UTF-16"), (ICharset**)&UTF_16);
Charset::ForName(String("UTF-16BE"), (ICharset**)&UTF_16BE);
Charset::ForName(String("UTF-16LE"), (ICharset**)&UTF_16LE);
return TRUE;
}
Boolean StandardCharsets::isinitflag = isInit();
} // namespace Charset
void CWordManager::SetWordEditorParentTaskName()
{
ASSERT(isInit());
CString wdCaption;
AfxGetApp()->GetMainWnd()->GetWindowText(wdCaption);
m_WordLoader->PutstrParentTaskName((LPCTSTR) wdCaption);
}
int CCmd::help(int cmdid)
{
if(INIT_COMPLETE==isInit(cmdid)){
//printf("commandid=%02d\t",cmdid);
pCmdCallback[cmdid]->help(cmdid);
}
return NULL;
}
/** @brief clear
* clear all references to render objects
* @return true on success
*/
bool Renderer::clear()
{
if (!isInit())
return false;
get()->m_objects.clear();
return true;
}
void Input::setResizing(const cv::Size& resizing)
{
if (isInit()) {
WARN << "already init, cannot change resizing any longer" << ENDL;
return;
}
m_resizing = resizing;
}
/** @brief destroy
* destroy the singleton
* @return true on success
*/
bool Renderer::destroy()
{
if(!isInit())
return false;
if (!clear())
return false;
return Singleton<Renderer>::destroy();
}
/** @brief getRenderObject
* get the render object associated with the id
* @param id the GO ID of the render object
* @return a pointer to the render object
* @todo figure out if we want multiple render objects to a single game object
*/
renderObj* Renderer::getRenderObject(const unsigned int id)
{
if (!isInit())
return NULL;
if (get()->m_objects.find(id) == get()->m_objects.end())
return NULL;
return get()->m_objects[id];
}
void addFront (Node * theList, void * value) {
if (!isInit(theList)) {
return;
}
Node * newNode = initNode(value);
newNode->next = theList->next;
theList->next = newNode;
return;
}
/** @brief getCurrentThread
* get a handle on the thread this is called from
* @return the handle of the thread this is called from
*/
ThreadHandle Threadler::getCurrentThread()
{
if (!isInit())
return ThreadHandle();
#ifdef WIN32
return GetCurrentThread();
#else
return pthread_self();
#endif
}
/** @brief exitThread
* force the thread this is called from to exit
* @param exitVal this is the return value the thread should give (akin to a main's return)
*/
void Threadler::exitThread(const int & exitVal)
{
if (!isInit())
return;
#ifdef WIN32
ExitThread(exitVal);
#else
pthread_exit((void*)exitVal);
#endif
}
bool CameraHandler::sph2Pano()
{
if (!isInit())
return false;
if (_LUT_sphere.empty())
return false;
return _wrapLUT_init =
cart2Sph(_LUT_sphere, _LUT_wrap_im);
}
/** @brief reg
* register a reference to a render object
* @param id the id of the render object to add
* @param obj the reference to add
* @return true on success
*/
bool Renderer::reg(const unsigned int & id, renderObj * obj)
{
if (!isInit())
return false;
if (get()->m_objects.find(id) != get()->m_objects.end())
return false;
get()->m_objects[id] = obj;
return true;
}
void CWordManager::GenerateXMLStringToWordEditor(_bstr_t XML_str)
{
if (! isInit())
{
if (! InitWordLoader()) return;
}
m_WordLoader->PutstrDefaultWordTemplate(getWordTemplate());
m_WordLoader->LoadFromStringToWordEditor(XML_str);
}
devs::Time Mealy::init(devs::Time /* time */)
{
if (not isInit()) {
throw utils::InternalError(
"FSA::Mealy model, initial state not defined");
}
currentState(initialState());
mPhase = IDLE;
return 0;
}
/** @brief del
* delete a reference to a render object
* @param id the id associated with the render object
* @return true on success
*/
bool Renderer::del(const unsigned int & id)
{
if (!isInit())
return false;
if (get()->m_objects.find(id) == get()->m_objects.end())
return false;
get()->m_objects.erase(id);
return true;
}
/** @brief destroyThread
* destroy a thread
* @param index the index of the thread to destroy
* @return true on successful thread destruction
*/
bool Threadler::destroyThread(const ThreadID_t & index)
{
if (!isInit())
return false;
#ifdef WIN32
return TerminateThread(get()->m_threads[index],0);
#else
return pthread_cancel(get()->m_threads[index]);
#endif
}
/*Get the length of the list*/
int getLength (Node * theList) {
if (!isInit(theList)) {
return 0;
}
int length = 0;
while (theList->next != NULL) {
length++;
theList = theList->next;
}
return length;
}
BOOL CWordManager::isWordEditorActive()
{
if (! isInit()) return FALSE;
try
{
return m_WordLoader->GetisWordEditorActive() == VARIANT_TRUE;
}
catch (...)
{
return FALSE;
}
}
void Input::iProcess()
{
if (!isInit())
throw Exception("not init");
m_startMutex.unlock();
// wait for the thread to be finished
m_condMutex1.lock();
while (!m_cond1)
m_condVar1.wait(m_condMutex1);
m_cond1 = false;
m_condMutex1.unlock();
// resize image data
cv::resize(m_imgDepth, m_outDepth, m_resizing, 0, 0, CV_INTER_NN);
cv::resize(m_imgColor, m_outColor, m_resizing, 0, 0, CV_INTER_NN);
cv::resize(m_img3d, m_outImg3d, m_resizing, 0, 0, CV_INTER_NN);
// compute projection matrix on first frame
if (m_projMat.empty())
computeProjectionMat();
if (m_projMat.empty())
throw Exception("projection matrix invalid");
// capture data
if (m_capturing) {
char buffer[512];
// save depth image
sprintf_s(buffer, m_capFormat.c_str(), m_frame, "depth");
saveCvMat(buffer, m_imgDepth);
// save color image
sprintf_s(buffer, m_capFormat.c_str(), m_frame, "color");
saveCvMat(buffer, m_imgColor);
// save 3d image
sprintf_s(buffer, m_capFormat.c_str(), m_frame, "3d");
saveCvMat(buffer, m_img3d);
m_frame++;
}
// notify the thread to process the next frame
m_condMutex2.lock();
m_cond2 = true;
m_condVar2.notify_all();
m_condMutex2.unlock();
}
