DataThreads.h

00001 /*
00002  * DataThreads.cc
00003  *
00004  *  Created on: Feb 18, 2010
00005  *      Author: uscr
00006  */
00007 
00008 #ifndef DATATHREADS_H_
00009 #define DATATHREADS_H_
00010 
00011 #include <opencv/cv.h>
00012 
00013 
00014 #define NUM_POINTS                              1000
00015 #define OUTLIER_SUM_RANGE               7
00016 //below is in degrees for a jump
00017 #define OUTLIER_REJECT_ERROR    5
00018 
00019 #define STARTING_SUM_NUM                1
00020 
00021 
00022 struct CollectedData {
00023         double imuPitchAngle[NUM_POINTS];
00024         double imuRollAngle[NUM_POINTS];
00025         double imuPitchGyroVal[NUM_POINTS];
00026         double imuPitchAccelVal[NUM_POINTS];
00027         double imuRollGyroVal[NUM_POINTS];
00028         double imuRollAccelVal[NUM_POINTS];
00029 
00030         double camPitchAngle[NUM_POINTS];
00031         double camRollAngle[NUM_POINTS];
00032 
00033         double imuOutlierSumPoints[OUTLIER_SUM_RANGE];
00034 
00035         int oldestPoint;
00036 
00037         double imuDeltaT[NUM_POINTS]; //in milliseconds
00038         long imuLastT; //in microseconds
00039 
00040         bool guiReading;
00041 
00042         IplImage * currentCamImage;
00043         CvPoint curRectangle[4];
00044         int frameCounter;
00045 };
00046 
00047 
00048 //stuffs for artoolkit:
00049 #define RED_THRESH                              40
00050 
00051 void initializeDataThreads();
00052 void shutdownDataThreads();
00053 void * runIMUThread(void * var);
00054 void * runCamThread(void * var);
00055 void * runGuiThread(void * var);
00056 
00057 
00058 #endif