From bec1efd35cb478de0d73eeb969f80d348cd7ed52 Mon Sep 17 00:00:00 2001
From: Sebastian Gomez-Gonzalez <sgomez@tue.mpg.de>
Date: Fri, 29 Sep 2017 15:38:59 +0200
Subject: [PATCH] Untested code of the tracking server
---
CMakeLists.txt | 1 +
src/server.cpp | 51 +++++++++++++++++++++++++++++++++++++++++++++++---
2 files changed, 49 insertions(+), 3 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 59e5c81..d7cb292 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -36,6 +36,7 @@ add_library(ball_tracking SHARED
src/img_proc.cpp
src/utils.cpp
src/tracker.cpp
+ src/server.cpp
${GPU_CPP_SRC}
)
target_link_libraries(ball_tracking
diff --git a/src/server.cpp b/src/server.cpp
index 45ca118..5cd401e 100644
--- a/src/server.cpp
+++ b/src/server.cpp
@@ -6,6 +6,7 @@
#include <string>
#include <unordered_map>
#include <thread>
+#include <chrono>
#include <camera.hpp>
#include <boost/log/core.hpp>
@@ -17,6 +18,7 @@
namespace logging = boost::log;
using namespace std;
+using namespace std::chrono;
using json = nlohmann::json;
using namespace camera;
@@ -28,18 +30,26 @@ namespace ball_tracking {
ThreadedListener tlistener;
zmqpp::socket position_pub;
CameraSet cams;
+ high_resolution_clock::time_point start_time;
void start_trackers(const json& conf) {
for (auto tracker : conf) {
unsigned int ID = tracker.at("ID");
+ BOOST_LOG_TRIVIAL(info) << "Starting ball tracker with ID " << ID;
if (tracker.count("file")) {
- json tconf = load_json(tracker.at("file"));
+ string fname = tracker.at("file");
+ BOOST_LOG_TRIVIAL(info) << "Reading configuration for ID " << ID << " in " << fname;
+ json tconf = load_json(fname);
+ trackers[ID] = Tracker(tconf);
+ } else {
+ throw std::logic_error("Configuration for the tracking object expected but not given");
}
}
}
void start_server(const json& conf) {
if (conf.count("log")) set_log_config(conf.at("log"));
+ start_time = high_resolution_clock::now();
//1) Start the networking sockets
const json& srv_conf = conf.at("servers");
@@ -47,15 +57,50 @@ namespace ball_tracking {
auto socket_type = zmqpp::socket_type::pub;
position_pub = zmqpp::socket(context, socket_type);
const string& pp_url = srv_conf.at("position_publisher");
- BOOST_LOG_TRIVIAL(info) << "Binding to " << pp_url;
+ BOOST_LOG_TRIVIAL(info) << "Starting 2D position publisher server in " << pp_url;
position_pub.bind(pp_url);
//2) Start the tracking pipeline
start_trackers(conf.at("trackers"));
- //3) Start the cameras
+ //3) Start the cameras and call backs
+ BOOST_LOG_TRIVIAL(info) << "Starting the cameras...";
cams = CameraSet(conf.at("cameras"));
+ for (auto& p: trackers) {
+ unsigned int ID = p.first;
+ //3.1) Create a call-back
+ auto call_back = [ID, this](const Frame& frame) -> void {
+ duration<double, std::milli> obs_time = frame.time - this->start_time;
+ BOOST_LOG_TRIVIAL(debug) << "Obs2D call-back called on camera " << ID <<
+ " Frame: {cam_id: " << frame.cam_id << ", num:" << frame.num <<
+ ", time: " << obs_time.count() << "}";
+ const string topic = "a";
+ Tracker track = this->trackers.at(ID);
+ vector<cv::KeyPoint> obs2d = track(frame.img);
+ json obs;
+ if (obs2d.size() != 0) {
+ obs.push_back(obs2d[0].pt.x);
+ obs.push_back(obs2d[0].pt.y);
+ }
+ json jframe {
+ {"cam_id", frame.cam_id},
+ {"num", frame.num},
+ {"time", obs_time.count()},
+ {"obs", obs}
+ };
+ BOOST_LOG_TRIVIAL(debug) << "Sending message: " << jframe.dump();
+ zmqpp::message msg;
+ msg << topic << jframe.dump();
+ this->position_pub.send(msg);
+ };
+
+ //3.2) Add the call-back as a new thread
+ BOOST_LOG_TRIVIAL(debug) << "Adding a threaded call-back for camera " << ID;
+ tlistener.add_listener(ID, call_back);
+ }
+ BOOST_LOG_TRIVIAL(debug) << "Starting all the camera listeners";
+ cams.start(tlistener);
}
};
};
--
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