camera.cc

不错的shijuegezong的程序

///////////////////////////////////////////////////////////////////////////////
//                                                                           //
//  Camera.cc  ---  A class which holds everything connected with a camera   //
//                                                                           //
//  A Camera object holds everything associated with a camera:               //
//   Inputs, Calibration, the actual Tracking class which generates and      //
//   stores results, a ConfigurationManager class etc.                       //
//                                                                           //
//  The Camera class starts a thread for each Camera class and waits for     //
//   input to be fed by the parent.  Results from Tracking, are generated    //
//   and the availability of new Results is signalled.                       //
//                                                                           //
//  Authors   : Initial version with no threads by Philip Elliott (pte)      //
//              Redesign and all further changes by Nils T Siebel (nts)      //
//  Created   : Initial working revision on Tue Sep 25 16:39:45 BST 2001     //
//  Revision  : 1.2 of Thu Nov 29 16:28:21 GMT 2001                          //
//  Copyright : The University of Reading                                    //
//                                                                           //
///////////////////////////////////////////////////////////////////////////////

#include <limits.h>
#include <string.h>  // for strrchr()

// we want to use sched_yield() if available.  POSIX systems on which
// sched_yield is available  define _POSIX_PRIORITY_SCHEDULING in <unistd.h>.
#ifndef WIN32
#include <unistd.h>
#endif

#ifdef _POSIX_PRIORITY_SCHEDULING
#include <sched.h>
#else
#ifdef __GNUC__
#warning POSIX 1003.1b-1993 (aka POSIX.4) sched_yield() seems to be unavailable, disabling it...
#endif    // ifdef  __GNUC__
#endif    // ifdef  _POSIX_PRIORITY_SCHEDULING else

#include "Camera.h"

#include "Tracking.h"
#include "ConfigurationManager.h"
#include "Inputs.h"
#include "ScreenOutput.h"
#include "MovieStore.h"
#include "Results.h"
#include "text_output.h"
#include "MotionDetector.h"
#include "ActiveShapeTracker.h"

namespace ReadingPeopleTracker
{

static const char *Camera_Revision = "@(#) Camera.cc, rev 1.2 of Thu Nov 29 16:28:21 GMT 2001, Authors Philip Elliott and Nils T Siebel, Copyright (c) 2001--2002 The University of Reading";


Camera::Camera(char *camera_config_filename, bool the_quiet_mode)
{
    camera_name = NULL;
    camera_description = NULL;
    quiet_mode = the_quiet_mode;
    
    // we cannot run without configuration file
    if (camera_config_filename == NULL)
    {
	cerror << "Camera::Camera: No configuration file specified. " << endl;
	exit(1);
    }
    
    //setup configuration manager
    configuration_manager = new ConfigurationManager;
    
    // register our own configuration parameters
    register_configuration_parameters();
    
    //create classes for storage of the configuration data
    //constructors for the classes register their variables with configuration_manager
    inputs = new Inputs(configuration_manager);

    if (quiet_mode == false)
	screen_output = new ScreenOutput(configuration_manager);
    else
	screen_output = NULL;
    
    tracking = new Tracking(configuration_manager);
    
    //Read parameter file data into their respective homes
    configuration_manager->parse_parameter_file(camera_config_filename);
    
    // replace underscores with space in CameraConfiguration's camera_name.
    // this is because the file cannot have spaces in the variable values
    if (camera_description != NULL)
	for (char *c = camera_description; *c != '\0'; c++)
	    if (*c == '_')
		*c = ' ';
    
    // allocate Results classes
    results = new Results;
    previous_results = new Results;
   
    // remember that the current (empty) previous_results need no more processing
    previous_results->status = RESULTS_PROCESSED;
     
    frame_id_delta = 1;  // default to frame id increment 1 per frame
    
///////////////////////// Set up All Inputs ///////////////////////////
    
    // sets up video input, external motion detection input, camera calibration
    inputs->setup_inputs();
    
    // initialise pointers to current external image and XML RegionSet input data
    current_video_image = NULL;
    current_external_xml_region_set = NULL;
    
//////////////////////// Set up Output Movie (results) //////////////////////////
    
    output_movie = NULL;  // default to NULL (no output movie)
    
    if ((output_movie_filename != NULL) && (output_movie_filename[0] != '\0'))
    {
	// try detecting the desired format by checking the filename extension
	char *file_ext = strrchr(output_movie_filename, '.');
	
	if ((file_ext == NULL) ||
	    (strcasecmp(file_ext,".pnm") == 0) || 
	    (strcasecmp(file_ext,".ppm") == 0) || 
	    (strcasecmp(file_ext,".pgm") == 0) || 
	    (strcasecmp(file_ext,".pbm") == 0))
	{
	    output_movie = new MovieStore (MOVIESTORE_PNM, output_movie_filename);
	}
	else
	    if ((strcasecmp(file_ext,".jpeg") == 0) || 
		(strcasecmp(file_ext,".jpg") == 0))
            {
                output_movie = new MovieStore (MOVIESTORE_JPEG, output_movie_filename);
	    }
	    else
	    {
		cerror << "Camera::Camera: Could not detect file format for output movie named