main.cc

/*
 * main.cc
 *
 *  Created on: Feb 18, 2010
 *      Author: uscr
 */

#include <opencv/highgui.h>
#include <opencv/cv.h>
#include <iostream>
#include <pthread.h>
#include <cstdio>

#include "TestrigGUI.h"
#include "DataThreads.h"

extern int serialCon;
extern IplImage * frame;
extern CvCapture * camera;
extern TestrigGUI * myGui;

int main (int argc, char *argv[]) {

        //camera = cvCreateCameraCapture(0);
        IplImage * gray, * fakeGray;

        //Get the font stuffs:
        CvFont defaultFont;
        cvInitFont (&defaultFont, CV_FONT_HERSHEY_DUPLEX, 0.75, 0.75);
        //cvNamedWindow("BeoHawk Testrig - Calibrate Test-Rig", CV_WINDOW_AUTOSIZE );

        //frame = cvQueryFrame (camera);
        //gray = cvCreateImage(cvGetSize(frame), IPL_DEPTH_8U, 1);
        //fakeGray = cvCreateImage(cvGetSize(frame), IPL_DEPTH_8U, 3);
        //printf ("Input Camera Image is %dx%d\n", frame->width, frame->height);
/*
        //==============================================//
        //   STEP 1: Center the camera on the thingy    //
        //==============================================//

        while (cvGetWindowHandle("BeoHawk Testrig - Calibrate Test-Rig")) {
                frame = cvQueryFrame (camera);
                cvCvtColor (frame, gray, CV_RGB2GRAY);
                cvCvtColor (gray, fakeGray, CV_GRAY2RGB);

                if (!gray) return 1;

                cvLine (fakeGray, cvPoint(fakeGray->width/2,0),
                                cvPoint(fakeGray->width/2, fakeGray->height), CV_RGB(255, 0, 0), 2);
                cvLine (fakeGray, cvPoint(0,fakeGray->height/2),
                                                cvPoint(fakeGray->width, fakeGray->height/2), CV_RGB(255, 0, 0), 2);

                cvPutText(fakeGray, "Center the test rig in this image,",
                                cvPoint(50, 30), &defaultFont, CV_RGB(255, 255, 117));
                cvPutText(fakeGray, "and then close this window.",
                                cvPoint(50, 60), &defaultFont, CV_RGB(255, 255, 117));

                cvShowImage("BeoHawk Testrig - Calibrate Test-Rig", fakeGray);
                char c = cvWaitKey(10);
                if( c == 27 ) break;
        }

        cvDestroyAllWindows();
        usleep(30000);
*/
        //=========================================//
        //   STEP 2: Run the GUI, IMU, AR stuffs   //
        //=========================================//
        QApplication gui(argc, argv);
        TestrigGUI trg;
        myGui = &trg;
        trg.show();
        gui.connect(&gui, SIGNAL(lastWindowClosed()), &gui, SLOT(quit()));

        //do run threads here
        pthread_t imuThread, camThread, guiThread;
        pthread_attr_t attr;
        void * status;
        pthread_attr_init(&attr);
        pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);

        //start em up
        initializeDataThreads();
        pthread_create(&imuThread, &attr, runIMUThread, NULL);
        pthread_create(&camThread, &attr, runCamThread, NULL);
        pthread_create(&guiThread, &attr, runGuiThread, NULL);

        gui.exec();

        //do join here
        shutdownDataThreads();
        pthread_attr_destroy(&attr);
        pthread_join(imuThread, &status);
        pthread_join(camThread, &status);
        pthread_join(guiThread, &status);

        //cvReleaseImage(&gray);
        //cvReleaseImage(&fakeGray);
        //cvReleaseCapture(&camera);

        return 0;
}