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; } } }