void LSDWrapper::run()
{
std::cout << "Waiting for Video" << std::endl;
// wait for firsst image
while(!newImageAvailable)
usleep(100000); // sleep 100ms
newImageAvailable = false;
while(!newImageAvailable)
usleep(100000); // sleep 100ms
// read image height and width**temporarily***
frameWidth = 640;
frameHeight = 480;
ResetInternal();
snprintf(charBuf,200,"Video resolution: %d x %d",frameWidth,frameHeight);
ROS_INFO(charBuf);
node->publishCommand(std::string("u l ")+charBuf);
// create window
Util::displayImage("LSD SLAM Drone Camera Feed", image.data);
// Framewidth size removed
changeSizeNextRender = true;
boost::unique_lock<boost::mutex> lock(new_frame_signal_mutex);
while(keepRunning)
{
if(newImageAvailable)
{
newImageAvailable = false;
mimFrameBW_workingCopy.copy_from(mimFrameBW);
// release lock and do the work-intensive stuff.....
lock.unlock();
HandleFrame();
if(changeSizeNextRender)
{
myGLWindow->set_size(desiredWindowSize);
changeSizeNextRender = false;
}
// get lock again
lock.lock();
}
else
new_frame_signal.wait(lock);
}
lock.unlock();
delete myGLWindow;
}
void PTAMWrapper::run()
{
std::cout << "Waiting for Video" << std::endl;
// wait for firsst image
while(!newImageAvailable)
usleep(100000); // sleep 100ms
newImageAvailable = false;
while(!newImageAvailable)
usleep(100000); // sleep 100ms
// read image height and width
frameWidth = mimFrameBW.size().x;
frameHeight = mimFrameBW.size().y;
ResetInternal();
snprintf(charBuf,200,"Video resolution: %d x %d",frameWidth,frameHeight);
ROS_INFO(charBuf);
node->publishCommand(std::string("u l ")+charBuf);
// create window
myGLWindow = new GLWindow2(CVD::ImageRef(frameWidth,frameHeight), "PTAM Drone Camera Feed", this);
myGLWindow->set_title("PTAM Drone Camera Feed");
changeSizeNextRender = true;
if(frameWidth < 640)
desiredWindowSize = CVD::ImageRef(frameWidth*2,frameHeight*2);
else
desiredWindowSize = CVD::ImageRef(frameWidth,frameHeight);
while(keepRunning)
{
if(newImageAvailable)
{
HandleFrame();
if(changeSizeNextRender)
{
myGLWindow->set_size(desiredWindowSize);
changeSizeNextRender = false;
}
}
else
usleep(2000); // TODO: really, really, REALLY dirty hack: busy-wait. replace by some proper signal.
}
delete myGLWindow;
}
void Game::Execute()
{
// Begin activity
isActive = true;
gameWindow.create(sf::VideoMode(500, 500), "myExtraCreditProg");
gameWindow.setFramerateLimit(60);
actors[0] = &hunter;
actors[1] = &dodo;
actors[2] = &fox;
h_SpeedX = 1;
h_SpeedY = 1;
d_SpeedX = -1;
d_SpeedY = 1;
f_SpeedX = 1;
f_SpeedY = -1;
for(int i=0; i<3; i++)
renderable[i] = true;
for(int i=0; i<3; i++)
actors[i]->Load();
// Continuous loop until the simulation has been told to terminate
while ( isActive )
{
EventHandling();
HandleFrame();
Render();
}
gameWindow.close();
}
void PTAMWrapper::run()
{
std::cout << "Waiting for Video" << std::endl;
// wait for firsst image
while(!newImageAvailable)
usleep(100000); // sleep 100ms
newImageAvailable = false;
while(!newImageAvailable)
usleep(100000); // sleep 100ms
// read image height and width
frameWidth = mimFrameBW.size().x;
frameHeight = mimFrameBW.size().y;
ResetInternal();
snprintf(charBuf,200,"Video resolution: %d x %d",frameWidth,frameHeight);
ROS_INFO(charBuf);
node->publishCommand(std::string("u l ")+charBuf);
// create window
// myGLWindow = new GLWindow2(CVD::ImageRef(frameWidth,frameHeight), "PTAM Drone Camera Feed", this);
// myGLWindow->set_title("PTAM Drone Camera Feed");
std::cout << "hein 0" << std::endl;
changeSizeNextRender = true;
if(frameWidth < 640)
desiredWindowSize = CVD::ImageRef(frameWidth*2,frameHeight*2);
else
desiredWindowSize = CVD::ImageRef(frameWidth,frameHeight);
boost::unique_lock<boost::mutex> lock(new_frame_signal_mutex);
std::cout << "hein 1" << std::endl;
while(keepRunning)
{
std::cout << "hein 2" << std::endl;
if(newImageAvailable)
{
newImageAvailable = false;
// copy to working copy
mimFrameBW_workingCopy.copy_from(mimFrameBW);
mimFrameTime_workingCopy = mimFrameTime;
mimFrameSEQ_workingCopy = mimFrameSEQ;
mimFrameTimeRos_workingCopy = mimFrameTimeRos;
std::cout << "hein 3" << std::endl;
// release lock and do the work-intensive stuff.....
lock.unlock();
HandleFrame();
if(changeSizeNextRender)
{
//myGLWindow->set_size(desiredWindowSize);
changeSizeNextRender = false;
}
std::cout << "hein 4" << std::endl;
// get lock again
lock.lock();
}
else
new_frame_signal.wait(lock);
}
lock.unlock();
//delete myGLWindow;
}
