// device reset
virtual void reset() {
// set the output to zero
output.x = 0.0;
output.y = 0.0;
// clear the entire input buffer
buffer->clear();
}
void* GlassesVideo::runThread(void*)
{
VideoCapture gl_capture(3);
gl_capture.set(CV_CAP_PROP_FRAME_WIDTH , 640);
gl_capture.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
if(!gl_capture.isOpened())
{
cout << "Cannot open glasses video !" << endl;
}
Mat gl_img, gl_img_OR;
Mat curMat, preMat;
//glassesOR glOR(&gl_img_OR);
//glOR.stopRunning();
ObjectRecognition gl_or("g20111105_4.yml.gz");
Mat gl_img_bk;
Mat glres_image; //display result image
int gl_result=255;
RobotSearch robotsearch;
//robotsearch.create();
robotsearch.stopRunning();
//namedWindow("Glasses Video");
//moveWindow("Glasses Video", 645, 0);
namedWindow("Video Live");
moveWindow("Video Live", 645, 0);
namedWindow("Glasses_result",CV_WINDOW_NORMAL);
moveWindow("Glasses_result",1000,600);
//G_glassesMode = glassesOR;
while(1)
{
gl_capture >> gl_img;
cvtColor(gl_img,gl_img_bk,CV_RGB2GRAY);
imshow("Video Live",gl_img_bk);
waitKey(1);
//----------------------------glasses Motion ------------------------
preMat = gl_img.clone();
//imshow("preMat", preMat);
gl_capture >> curMat;
//imshow ("cur", curMat);
modeSwitch(preMat, curMat);
//-------------------------------------------------------------------
if(G_glassesMode == glassesOR) //OR MODE
{
//Open Glasses Objct Recognition
//glOR.runAsync();
gl_result=255;
gl_result = gl_or.find(gl_img_bk, 'G');
//if(gl_result !=255)
//{
// gl_capture >> gl_img;
// cvtColor(gl_img,gl_img_bk,CV_RGB2GRAY);
// imshow("Video Live",gl_img);
// waitKey(1);
// gl_result=255;
// gl_result = gl_or.find(gl_img_bk, 'G');
// /*if(gl_result !=255)
// {
// gl_capture >> gl_img;
// cvtColor(gl_img,gl_img_bk,CV_RGB2GRAY);
// imshow("Video Live",gl_img);
// waitKey(1);
// gl_result=255;
// gl_result = gl_or.find(gl_img_bk, 'G');
// }
// else gl_result=255;*/
//}
//gl_result=4;
if(gl_result !=255)
{
//-------------------------Display the result ------------------------
robotSpeak(gl_result, "name");
stringstream ret_src1; //result src
ObjectRecognition::loadImage(ret_src1, gl_result, 'G', 1);
glres_image = imread(ret_src1.str());
imshow("Glasses_result", glres_image);
waitKey(1);
//--------------------glasses goes to roobt search mode------------------
GlassesModeMutex.lock();
CB.clear();
G_glassesMode = robotSearch;
G_Search_Step = 0;
isDoneRobot = true;
G_Target= gl_result/5;
gl_result = 255;
HelpStartTime = time(NULL);
//RobotCommand(CameraMotion); //cameraMotion
GlassesModeMutex.unlock();
////-------------------------Open robot search thread ------------------------
if(!robotsearch.getRunning())
robotsearch.runAsync();
}
}
}
//return 0;
}
