void kpoBaseApp::modelCloudAnalyzed(kpoCloudDescription od)
{
std::cout << "modelCloudAnalyzed()" << std::endl;
Cloud *keypoints = new Cloud();
pcl::copyPointCloud(od.keypoints, *keypoints);
Cloud::Ptr keypoints_ptr(keypoints);
DescriptorCloud *descriptors = new DescriptorCloud();
pcl::copyPointCloud(od.descriptors, *descriptors);
DescriptorCloud::Ptr descriptors_ptr(descriptors);
RFCloud *reference_frames= new RFCloud();
pcl::copyPointCloud(od.reference_frames, *reference_frames);
RFCloud::Ptr reference_frames_ptr(reference_frames);
kpoMatcherThread *matcher = new kpoMatcherThread(keypoints_ptr, descriptors_ptr, reference_frames_ptr);
boost::shared_ptr<kpoMatcherThread> matcher_thread(matcher);
matcher_thread->object_id = od.object_id;
matcher_thread->filename = od.filename;
MatchCallback f = boost::bind (&kpoBaseApp::matchesFound, this, _1, _2, _3);
matcher_thread->setMatchCallback(f);
#pragma omp critical(dataupdate)
{
matcher_threads.push_back(matcher_thread);
}
}
ErrorCode MatchDocument(DocID doc_id, const char* doc_str) {
// DNode_t* lazy_node = lazy_list->head.next;
//
// while ((lazy_node = lazy_list->head.next) != &(lazy_list->tail)) {
// lazyStart((QueryDescriptor*) (lazy_node->data));
//// cir_queue_insert(cirq_busy_queries, lazy_node->data);
////#ifndef THREAD_ENABLE
//// lazyStart(0);
////#endif
// lazy_nodes[((QueryDescriptor*) (lazy_node->data))->queryId] = 0;
// delete_node(lazy_node);
// }
DNode_t* lazy_node = lazy_list->head.next, *tmp;
while (lazy_node != &(lazy_list->tail)) {
tmp = lazy_node->next;
lazyStart((QueryDescriptor*) (lazy_node->data));
lazy_nodes[((QueryDescriptor*) (lazy_node->data))->queryId] = 0;
delete_node(lazy_node);
lazy_node = tmp;
}
#ifdef THREAD_ENABLE
waitTillFull(&cirq_free_segments);
#endif
docCount++;
char *doc_buf = (char *) cir_queue_remove(&cirq_free_docs);
strcpy(doc_buf, doc_str);
DocumentDescriptor *desc = newDocumentDescriptor();
desc->docId = doc_id;
desc->document = doc_buf;
cir_queue_insert(&cirq_busy_docs, desc);
#ifndef THREAD_ENABLE
matcher_thread(0);
#endif
return EC_SUCCESS;
}
