void ipc_thread_function()
{
while (true)
{
ipc.update();
Sleep(100);
}
}
void Reprojector::load(IPC& ipc, bool flipped)
{
bool serial_first_non_zero = false;
string serial = "";
for (int i = 4; i < 10; ++i)
{
string str_temp = "";
str_temp += serial_number[i];
if (!serial_first_non_zero && str_temp != "0")
serial_first_non_zero = true;
if (serial_first_non_zero)
serial += serial_number[i];
}
bool has_complete_calib_data = false;
if (directory_exists(data_path_current_module))
if (file_exists(data_path_current_module + "\\0.jpg"))
if (file_exists(data_path_current_module + "\\1.jpg"))
if (file_exists(data_path_current_module + "\\stereoCalibData.txt"))
if (file_exists(data_path_current_module + "\\rect0.txt"))
if (file_exists(data_path_current_module + "\\rect1.txt"))
has_complete_calib_data = true;
if (!has_complete_calib_data)
{
static bool block_thread = true;
ipc.send_message("menu_plus", "show window", "");
ipc.get_response("menu_plus", "show download", "", [](const string message_body)
{
COUT << "unblock" << endl;
block_thread = false;
});
while (block_thread)
{
ipc.update();
Sleep(100);
}
create_directory(data_path);
create_directory(data_path_current_module);
copy_file(executable_path + "\\rectifier.exe", data_path_current_module + "\\rectifier.exe");
copy_file(executable_path + "\\opencv_core249.dll", data_path_current_module + "\\opencv_core249.dll");
copy_file(executable_path + "\\opencv_highgui249.dll", data_path_current_module + "\\opencv_highgui249.dll");
copy_file(executable_path + "\\opencv_imgproc249.dll", data_path_current_module + "\\opencv_imgproc249.dll");
copy_file(executable_path + "\\opencv_calib3d249.dll", data_path_current_module + "\\opencv_calib3d249.dll");
copy_file(executable_path + "\\opencv_flann249.dll", data_path_current_module + "\\opencv_flann249.dll");
copy_file(executable_path + "\\opencv_features2d249.dll", data_path_current_module + "\\opencv_features2d249.dll");
//http://s3-us-west-2.amazonaws.com/ractiv.com/data/
//http://d2i9bzz66ghms6.cloudfront.net/data/
string param0 = "http://s3-us-west-2.amazonaws.com/ractiv.com/data/" + serial + "/0.jpg";
string param1 = data_path_current_module + "\\0.jpg";
string* serial_ptr = &serial;
IPC* ipc_ptr = &ipc;
ipc.get_response("menu_plus", "download", param0 + "`" + param1, [serial_ptr, ipc_ptr](const string message_body)
{
if (message_body == "false")
ipc_ptr->send_message("daemon_plus", "exit", "");
else
{
string param0 = "http://s3-us-west-2.amazonaws.com/ractiv.com/data/" + *serial_ptr + "/1.jpg";
string param1 = data_path_current_module + "\\1.jpg";
ipc_ptr->get_response("menu_plus", "download", param0 + "`" + param1, [serial_ptr, ipc_ptr](const string message_body)
{
if (message_body == "false")
ipc_ptr->send_message("daemon_plus", "exit", "");
else
{
string param0 = "http://s3-us-west-2.amazonaws.com/ractiv.com/data/" + *serial_ptr + "/stereoCalibData.txt";
string param1 = data_path_current_module + "\\stereoCalibData.txt";
ipc_ptr->get_response("menu_plus", "download", param0 + "`" + param1, [serial_ptr, ipc_ptr](const string message_body)
{
if (message_body == "false")
ipc_ptr->send_message("daemon_plus", "exit", "");
else
{
bool has_complete_calib_data = false;
while (!has_complete_calib_data)
{
system(("cd " + cmd_quote + data_path_current_module + cmd_quote + " && rectifier.exe").c_str());
if (directory_exists(data_path_current_module))
if (file_exists(data_path_current_module + "\\0.jpg"))
if (file_exists(data_path_current_module + "\\1.jpg"))
if (file_exists(data_path_current_module + "\\stereoCalibData.txt"))
if (file_exists(data_path_current_module + "\\rect0.txt"))
if (file_exists(data_path_current_module + "\\rect1.txt"))
has_complete_calib_data = true;
}
block_thread = false;
}
});
}
});
}
});
block_thread = true;
while (block_thread)
{
ipc.update();
Sleep(100);
}
}
ifstream file_stereo_calib_data(data_path_current_module + "\\stereoCalibData.txt");
bool is_number_new = false;
bool is_number_old = false;
int block_count = 0;
int block[4];
vector<Point> disparity_data;
string str_num_temp = "";
string disparities_string = "";
while (getline(file_stereo_calib_data, disparities_string))
{
const int i_max = disparities_string.length();
for (int i = 0; i < i_max; ++i)
{
string str_temp = "";
str_temp += disparities_string[i];
if (str_temp != "," && str_temp != ";")
is_number_new = true;
else
is_number_new = false;
if (is_number_new)
{
if (!is_number_old)
str_num_temp = str_temp;
else
str_num_temp += str_temp;
}
else if (is_number_old)
{
block[block_count] = stoi(str_num_temp);
++block_count;
}
if (block_count == 3)
{
bool found = false;
for (int a = 0; a < disparity_data.size(); ++a)
{
if (disparity_data[a].x == block[0])
{
found = true;
disparity_data[a].y = (disparity_data[a].y + abs(block[1] - block[2])) / 2;
}
else if (disparity_data[a].y == abs(block[1] - block[2]))
{
found = true;
disparity_data[a].x = min(disparity_data[a].x, block[0]);
}
}
if (!found)
disparity_data.push_back(Point(block[0], abs(block[1] - block[2])));
block_count = 0;
}
is_number_old = is_number_new;
}
}
sort(disparity_data.begin(), disparity_data.end(), compare_point_x());
double *t, *y;
t = new double[disparity_data.size()];
y = new double[disparity_data.size()];
for (unsigned int a = 0; a < disparity_data.size(); a++)
{
t[a] = (double)(disparity_data[a].y);
y[a] = (double)(disparity_data[a].x);
}
CCurveFitting cf;
cf.curve_fitting4(t, disparity_data.size(), y, &a_out, &b_out, &c_out, &d_out);
delete []t;
delete []y;
ifstream file0(data_path_current_module + "\\rect0.txt");
is_number_new = false;
is_number_old = false;
block_count = 0;
rect_mat0 = new Point*[WIDTH_LARGE];
for (int i = 0; i < WIDTH_LARGE; ++i)
rect_mat0[i] = new Point[HEIGHT_LARGE];
string rect0_string = "";
while (getline(file0, rect0_string))
{
const int i_max = rect0_string.length();
for (int i = 0; i < i_max; ++i)
{
string str_temp = "";
str_temp += rect0_string[i];
if (str_temp != " " && str_temp != "," && str_temp != ";")
is_number_new = true;
else
is_number_new = false;
if (is_number_new)
{
if (!is_number_old)
str_num_temp = str_temp;
else
str_num_temp += str_temp;
}
else if (is_number_old)
{
block[block_count] = stoi(str_num_temp);
++block_count;
}
if (block_count == 4)
{
if (!flipped)
rect_mat0[block[0]][block[1]] = Point(block[2], block[3]);
else
rect_mat0[block[0]][HEIGHT_LARGE_MINUS - block[1]] = Point(block[2], block[3]);
block_count = 0;
}
is_number_old = is_number_new;
}
}
ifstream file1(data_path_current_module + "\\rect1.txt");
is_number_new = false;
is_number_old = false;
block_count = 0;
rect_mat1 = new Point*[WIDTH_LARGE];
for (int i = 0; i < WIDTH_LARGE; ++i)
rect_mat1[i] = new Point[HEIGHT_LARGE];
string rect1_string = "";
while (getline(file1, rect1_string))
{
const int i_max = rect1_string.length();
for (int i = 0; i < i_max; ++i)
{
string str_temp = "";
str_temp += rect1_string[i];
if (str_temp != " " && str_temp != "," && str_temp != ";")
is_number_new = true;
else
is_number_new = false;
if (is_number_new)
{
if (!is_number_old)
str_num_temp = str_temp;
else
str_num_temp += str_temp;
}
else if (is_number_old)
{
block[block_count] = stoi(str_num_temp);
++block_count;
}
if (block_count == 4)
{
if (!flipped)
rect_mat1[block[0]][block[1]] = Point(block[2], block[3]);
else
rect_mat1[block[0]][HEIGHT_LARGE_MINUS - block[1]] = Point(block[2], block[3]);
block_count = 0;
}
is_number_old = is_number_new;
}
}
}