ArFeaturedDetector.cpp

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/*
-----------------------------------------------------------------------------
This source file is part of OpenSpace3D
For the latest info, see http://www.openspace3d.com
 
Copyright (c) 2012 I-maginer
 
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
 
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
 
You should have received a copy of the GNU Lesser General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA, or go to
http://www.gnu.org/copyleft/lesser.txt
 
-----------------------------------------------------------------------------
*/
 
#include "sService.h"
 
#include "ArManager.h"
#include "ArCameraParam.h"
#include "ArFeaturedDetector.h"
 
#include <vector>
 
ArFeaturedDetector::ArFeaturedDetector() : btopenutils::Thread()
{
  needUpdate = false;
 
  // Run thread
  StartThreading(boost::bind(&ArFeaturedDetector::GoThread, this));
}
 
ArFeaturedDetector::~ArFeaturedDetector()
{
  StopThreading();
}
 
void ArFeaturedDetector::GoThread()
{
  while (IsRunning())
  {
    if (needUpdate)
    {
      ArManager* manager = ArManager::GetInstance();
      manager->GetLastData(mLastData);
      needUpdate = false;
 
      //small denoising
      if (mLastData.gray.rows != 480 || mLastData.gray.cols != 640)
      {
        cv::Size nsize;
        if (mLastData.gray.rows >= mLastData.gray.cols)
        {
          nsize.width = (int)(((float)mLastData.gray.cols * 480.0f) / (float)mLastData.gray.rows);
          nsize.height = 480;
        }
        else
        {
          nsize.width = 640;
          nsize.height = (int)(((float)mLastData.gray.rows * 640.0f) / (float)mLastData.gray.cols);
        }
        cv::resize(mLastData.gray, mLastData.gray, nsize, 0, 0, cv::INTER_CUBIC);
      }
      
      cv::equalizeHist(mLastData.gray, mLastData.gray);
            ArManager::MarkerList::iterator imarker;
 
      // Detect all markers seen on gray
      {
        //read only
        boost::shared_lock< boost::shared_mutex > lockList(manager->listMutex);
 
        //detect last visible markers
        ArMarker* lastVisible = 0;
        for (imarker = manager->markerList.begin(); imarker != manager->markerList.end(); ++imarker)
        {
          if (((*imarker)->GetType() == ArMarker::AR_FFT_MARKER) && (*imarker)->IsVisible())
            lastVisible = (*imarker);
        }
 
        for (imarker = manager->markerList.begin(); imarker != manager->markerList.end(); ++imarker)
        {
                //threaded detection
          if ((*imarker)->GetType() == ArMarker::AR_FFT_MARKER)
          {
            ArFeaturedMarker* fftmarker = static_cast<ArFeaturedMarker*> (*imarker);
            if (lastVisible == (*imarker) || (lastVisible == 0))
              fftmarker->Update(mLastData.gray, mLastData.image, mLastData.arCamParam.camParam, mLastData.reversedBitmap);
            else
              fftmarker->SetVisible(false);
          }
        }
      }
    }
    else
    {
      //prevent cpu burn
      boost::this_thread::sleep_for(boost::chrono::milliseconds(1)); //DO not burn too much CPU
    }
  }
}