void mapFunction::goMap(int fd, rio_t client, int ID){
pthread_mutex_lock(&mtx);
char buf1[MAXLINE];
int jobID=ID;
int numBytes;
char * saveptr=NULL;
char * id1;
char * id2;
//char * id3;
//Rio_readinitb( &client,fd);
numBytes = Rio_readlineb(&client, buf1, MAXLINE);
if(numBytes<0) return;
id1 = strtok_r(buf1, "*",&saveptr);
int fileStartID=atoi(id1);
id2 = strtok_r(NULL, "* \r\n",&saveptr);
int fileEndID=atoi(id2);
//id3 = strtok_r(NULL, "* \r\n",&saveptr);
//jobID=atoi(id3);
map<string,int> jobMap;
for(int i=fileStartID;i<=fileEndID;i++){
imageInfo myImage=getImage(i);
//printf("%dfile name %s\n", i, myImage.name.data());
if(circleDetect(myImage.myPic)==0) continue;
else{
printf("found %d %s\n",i, myImage.name.data());
jobMap[myImage.name]=jobMap[myImage.name]+1;
}
}
myMap[jobID]=jobMap;
finished[jobID]=true;
pthread_mutex_unlock(&mtx);
//Close(fd);
}
//捕获一张图像
void MeasureMarkersWindow::capture() {
//先停止时钟
mTimer->stop();
static int COUNT = 0;
COUNT++;
QString name;
name.sprintf("%d", COUNT);
//先保存图像
QString leftname = mMeasureFolder + "left_" + name;
QString rightname = mMeasureFolder + "right_" + name;
mLastLeft.save(leftname + ".jpg");
mLastRight.save(rightname + ".jpg");
mImgWidth = mLastLeft.width();
mImgHeight = mLastLeft.height();
//读取图像，计算角点
cv::Mat li = cv::imread(leftname.toStdString() + ".jpg", CV_LOAD_IMAGE_UNCHANGED);
cv::Mat ri = cv::imread(rightname.toStdString() + ".jpg", CV_LOAD_IMAGE_UNCHANGED);
cv::Mat liGrey, riGrey;
cv::cvtColor(li, liGrey, cv::COLOR_BGR2GRAY);
cv::cvtColor(ri, riGrey, cv::COLOR_BGR2GRAY);
std::vector<cv::Point2f> left_markers = circleDetect(liGrey);
std::vector<cv::Point2f> right_markers = circleDetect(riGrey);
for (int i = 0; i < left_markers.size(); i++)
cv::circle(li, left_markers[i], 4, cv::Scalar(0, 0, 255), 3, 8, 0);
for (int i = 0; i < right_markers.size(); i++)
cv::circle(ri, right_markers[i], 4, cv::Scalar(0, 0, 255), 3, 8, 0);
//保存绘制的角点图像
cv::imwrite(leftname.toStdString() + ".bmp", li);
cv::imwrite(rightname.toStdString() + ".bmp", ri);
if (left_markers.size() == 2 && right_markers.size() == 2) {
//先暂停摄像头
preview();
//记录当前图像
mImgs.push_back(COUNT);
//显示绘制角点的图像
QImage lp = convertToQImage(li);
QImage rp = convertToQImage(ri);
mLeftCameraPixmap->setPixmap(QPixmap::fromImage(lp));
mRightCameraPixmap->setPixmap(QPixmap::fromImage(rp));
//提示找到角点
mStatusBar->showMessage(QString::fromWCharArray(L"成功找到标记点"));
int all = mImgs.size();
QString ta;
ta.sprintf(" %d/%d", all, all);
mCaps->setText(ta);
mSlider->setMaximum(mImgs.size());
mSlider->setValue(mImgs.size());
updateButtonState();
return;
} else {
//删除保存的图像
QFile::remove(leftname + ".jpg");
QFile::remove(rightname + ".jpg");
//计数回到为初始值
COUNT--;
//弹出对话框，提示没有找到角点
mStatusBar->showMessage(QString::fromWCharArray(L"没有找到标记点"));
QMessageBox::StandardButton btn2 = QMessageBox::warning(
0, //父窗口
QString::fromWCharArray(L"没有找到标记点"), //标题栏
QString::fromWCharArray(L"在当前的图像中，没有找到对应的标记点")); //文本内容
//重新开始
mTimer->start();
}
}
