static void *surfSubGetDescriptorsSub( THREAD_HANDLE_T *threadHandle )
{
SurfSubGetDescriptorsParam *arg;
int startNum;
int endNum;
int i;
arg = (SurfSubGetDescriptorsParam *)threadGetArg(threadHandle);
for(;;) {
if( threadStartWait(threadHandle) < 0 ) break;
startNum = arg->startNum;
endNum = arg->endNum;
for( i = startNum; i <= endNum; i++ ) {
if( getOrientation(&(arg->iPoint[i]), arg->image, arg->width, arg->height, arg->border) < 0 ) {
arg->flag[i] = 0;
continue;
}
if( getDescriptor(&(arg->iPoint[i]), arg->image, arg->width, arg->height, arg->border) < 0 ) {
arg->flag[i] = 0;
continue;
}
arg->flag[i] = 1;
}
threadEndSignal(threadHandle);
}
return NULL;
}
void *ar2Tracking2d( THREAD_HANDLE_T *threadHandle )
{
AR2Tracking2DParamT *arg;
int ID;
arg = (AR2Tracking2DParamT *)threadGetArg(threadHandle);
ID = threadGetID(threadHandle);
ARLOGi("Start tracking_thread #%d.\n", ID);
for(;;) {
if( threadStartWait(threadHandle) < 0 ) break;
#if AR2_CAPABLE_ADAPTIVE_TEMPLATE
arg->ret = ar2Tracking2dSub( arg->ar2Handle, arg->surfaceSet, arg->candidate,
arg->dataPtr, arg->mfImage, &(arg->templ), &(arg->templ2), &(arg->result) );
#else
arg->ret = ar2Tracking2dSub( arg->ar2Handle, arg->surfaceSet, arg->candidate,
arg->dataPtr, arg->mfImage, &(arg->templ), &(arg->result) );
#endif
threadEndSignal(threadHandle);
}
ARLOGi("End tracking_thread #%d.\n", ID);
return NULL;
}
static void *trackingInitMain( THREAD_HANDLE_T *threadHandle )
{
TrackingInitHandle *trackingInitHandle;
KpmHandle *kpmHandle;
KpmResult *kpmResult = NULL;
int kpmResultNum;
ARUint8 *imagePtr;
float err;
int i, j, k;
if (!threadHandle) {
ARLOGe("Error starting tracking thread: empty THREAD_HANDLE_T.\n");
return (NULL);
}
trackingInitHandle = (TrackingInitHandle *)threadGetArg(threadHandle);
if (!threadHandle) {
ARLOGe("Error starting tracking thread: empty trackingInitHandle.\n");
return (NULL);
}
kpmHandle = trackingInitHandle->kpmHandle;
imagePtr = trackingInitHandle->imagePtr;
if (!kpmHandle || !imagePtr) {
ARLOGe("Error starting tracking thread: empty kpmHandle/imagePtr.\n");
return (NULL);
}
ARLOGi("Start tracking thread.\n");
kpmGetResult( kpmHandle, &kpmResult, &kpmResultNum );
for(;;) {
if( threadStartWait(threadHandle) < 0 ) break;
kpmMatching(kpmHandle, imagePtr);
trackingInitHandle->flag = 0;
for( i = 0; i < kpmResultNum; i++ ) {
if( kpmResult[i].camPoseF != 0 ) continue;
ARLOGd("kpmGetPose OK.\n");
if( trackingInitHandle->flag == 0 || err > kpmResult[i].error ) { // Take the first or best result.
trackingInitHandle->flag = 1;
trackingInitHandle->page = kpmResult[i].pageNo;
for (j = 0; j < 3; j++) for (k = 0; k < 4; k++) trackingInitHandle->trans[j][k] = kpmResult[i].camPose[j][k];
err = kpmResult[i].error;
}
}
threadEndSignal(threadHandle);
}
ARLOGi("End tracking thread.\n");
return (NULL);
}
// References globals: markersNFTCount
// Modifies globals: trackingThreadHandle, surfaceSet[], surfaceSetCount, markersNFT[], markersNFTCount
static void *loadNFTDataAsync(THREAD_HANDLE_T *threadHandle)
{
int i, j;
KpmRefDataSet *refDataSet;
while (threadStartWait(threadHandle) == 0) {
#ifdef DEBUG
LOGE("Loading NFT data.\n");
#endif
// If data was already loaded, stop KPM tracking thread and unload previously loaded data.
if (trackingThreadHandle) {
LOGE("NFT2 tracking thread is running. Stopping it first.\n");
trackingInitQuit(&trackingThreadHandle);
detectedPage = -2;
}
j = 0;
for (i = 0; i < surfaceSetCount; i++) {
if (j == 0) LOGE("Unloading NFT tracking surfaces.");
ar2FreeSurfaceSet(&surfaceSet[i]); // Also sets surfaceSet[i] to NULL.
j++;
}
if (j > 0) LOGE("Unloaded %d NFT tracking surfaces.\n", j);
surfaceSetCount = 0;
refDataSet = NULL;
for (i = 0; i < markersNFTCount; i++) {
// Load KPM data.
KpmRefDataSet *refDataSet2;
LOGI("Reading %s.fset3\n", markersNFT[i].datasetPathname);
if (kpmLoadRefDataSet(markersNFT[i].datasetPathname, "fset3", &refDataSet2) < 0 ) {
LOGE("Error reading KPM data from %s.fset3\n", markersNFT[i].datasetPathname);
markersNFT[i].pageNo = -1;
continue;
}
markersNFT[i].pageNo = surfaceSetCount;
LOGI(" Assigned page no. %d.\n", surfaceSetCount);
if (kpmChangePageNoOfRefDataSet(refDataSet2, KpmChangePageNoAllPages, surfaceSetCount) < 0) {
LOGE("Error: kpmChangePageNoOfRefDataSet\n");
exit(-1);
}
if (kpmMergeRefDataSet(&refDataSet, &refDataSet2) < 0) {
LOGE("Error: kpmMergeRefDataSet\n");
exit(-1);
}
LOGI(" Done.\n");
// Load AR2 data.
LOGI("Reading %s.fset\n", markersNFT[i].datasetPathname);
if ((surfaceSet[surfaceSetCount] = ar2ReadSurfaceSet(markersNFT[i].datasetPathname, "fset", NULL)) == NULL ) {
LOGE("Error reading data from %s.fset\n", markersNFT[i].datasetPathname);
}
LOGI(" Done.\n");
surfaceSetCount++;
if (surfaceSetCount == PAGES_MAX) break;
}
if (kpmSetRefDataSet(kpmHandle, refDataSet) < 0) {
LOGE("Error: kpmSetRefDataSet");
exit(-1);
}
kpmDeleteRefDataSet(&refDataSet);
// Start the KPM tracking thread.
trackingThreadHandle = trackingInitInit(kpmHandle);
if (!trackingThreadHandle) exit(-1);
#ifdef DEBUG
LOGI("Loading of NFT data complete.");
#endif
threadEndSignal(threadHandle); // Signal that we're done.
}
return (NULL); // Exit this thread.
}
