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visionloc.cc
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visionloc.cc
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#include <unistd.h>
#include <vector>
#include <stdexcept>
#include <opencv2/core/core.hpp>
#include "camera.hh"
#include "misc.hh"
#include <iostream>
double out[256];
int tag;
std::vector<Camera> cameras;
extern "C"
void start_visionloc()
{
parser_xml_to_cameras(&cameras);
for (std::vector<Camera>::iterator it = cameras.begin() ; it != cameras.end(); ++it)
{
sleep(1);
it->run();
}
}
extern "C"
void stop_visionloc()
{
for (std::vector<Camera>::iterator it = cameras.begin() ; it != cameras.end(); ++it) {
it->stop();
}
cameras.clear();
}
extern "C"
double* read_camera(int num_camera)
{
int j = 0;
for (std::vector<Camera>::iterator it = cameras.begin() ; it != cameras.end(); ++it)
{
if(it->get_id_cam() == num_camera)
{
//int num_recog;
std::vector<Marker> m(it->get_markers());
out[j++] = it->get_id_cam();
out[j++] = m.size();
for (std::vector<Marker>::iterator itm = m.begin(); itm != m.end(); ++itm){
out[j++] = itm->id;
out[j++] = itm->cam_corner_posX;
out[j++] = itm->cam_corner_posY;
out[j++] = itm->cam_center_posX;
out[j++] = itm->cam_center_posY;
out[j++] = itm->cam_heading;
}
break;
}
}
return out;
}
extern "C"
double* read_all_cameras()
{
int j = 0;
for (std::vector<Camera>::iterator it = cameras.begin() ; it != cameras.end(); ++it)
{
//int num_recog;
std::vector<Marker> m(it->get_markers());
out[j++] = it->get_id_cam();
out[j++] = m.size();
for (std::vector<Marker>::iterator itm = m.begin(); itm != m.end(); ++itm){
out[j++] = itm->id;
out[j++] = itm->cam_corner_posX;
out[j++] = itm->cam_corner_posY;
out[j++] = itm->cam_center_posX;
out[j++] = itm->cam_center_posY;
out[j++] = itm->cam_heading;
}
}
return out;
}
extern "C"
int get_tag(int num_camera)
{
for (std::vector<Camera>::iterator it = cameras.begin() ; it != cameras.end(); ++it)
{
if(it->get_id_cam() == num_camera)
{
return it->get_tag();
}
}
return -1;
}
extern "C"
int set_expected_num_of_markers(int num_camera, int num_markers)
{
for (std::vector<Camera>::iterator it = cameras.begin() ; it != cameras.end(); ++it)
{
if(it->get_id_cam() == num_camera)
{
it->set_expected_num_of_markers(num_markers);
return 0;
}
}
return -1;
}
extern "C" int get_cam_width(int num_camera)
{
for (std::vector<Camera>::iterator it = cameras.begin() ; it != cameras.end(); ++it)
{
if(it->get_id_cam() == num_camera)
{
return it->get_width();
}
}
return -1;
}
extern "C" int get_cam_height(int num_camera)
{
for (std::vector<Camera>::iterator it = cameras.begin() ; it != cameras.end(); ++it)
{
if(it->get_id_cam() == num_camera)
{
return it->get_height();
}
}
return -1;
}
std::vector<int> get_active_cameras(void)
{
std::vector<int> cam_ids;
for (std::vector<Camera>::iterator it = cameras.begin() ; it != cameras.end(); ++it)
{
cam_ids.push_back(it->get_id_cam());
}
return cam_ids;
}
std::vector<Marker> get_markers_from_camera(int num_camera)
{
for (std::vector<Camera>::iterator it = cameras.begin() ; it != cameras.end(); ++it)
{
if(it->get_id_cam() == num_camera)
return it->get_markers();
}
throw std::invalid_argument("get_markers_from_camera: camera not found");
}
cv::Mat* get_frame_from_camera(int num_camera)
{
for (std::vector<Camera>::iterator it = cameras.begin() ; it != cameras.end(); ++it)
{
if(it->get_id_cam() == num_camera)
return it->get_frame();
}
throw std::invalid_argument("get_frame_fromcamera not found");
}