Hi dears,
First of all, thanks for your time :).
I'm trying to create thread (yes I know, multi-thread is bad however I'd like to experiment) in which I would display an image.
I have read OpenCV doesn't handle very much the threading and for some people, the window creation has to be done in **main** thread. So that's what I did.
int main(int argc, const char * argv[]) {
bool success(true), ihm_run(true);
Drone_Controller drone;
Vision_Manager vision(drone);
success = drone.connect();
if (!success)
return EXIT_FAILURE;
cv::namedWindow("Display & Command", CV_WINDOW_AUTOSIZE);
drone.enable_video_stream();
vision.ihm_start(&ihm_run);
while (ihm_run)
{
if (ihm.get_key_pressed == 27)
{
ihm_run = false;
}
}
vision.stop_ihm();
}
Now I have a class named **Vision_manager** with the following *vision_manager.h* :
class Vision_Manager {
public:
/* ------ CONSTRUCTEUR & DESTRUCTEUR ------ */
Vision_Manager(Drone_Controller& drone);
~Vision_Manager();
/* ------ FONCTIONS MEMBRES UTILISABLES DANS LE MAIN ------ */
void video_controls(); //Affiche la vidéo et récupère les entrées clavier
char get_key_pressed();
void ihm_start(bool *m_IHMRun);
void ihm_stop();
private:
/* ------ ATTRIBUTS ------ */
Drone_Controller& m_drone;
cv::Mat m_picture_rgb;
char m_key_pressed;
bool *m_IHMRun;
//Déclaration du thread utilisé pour l'ihm
std::thread m_ihm_thread;
};
and vision_manager.c :
#include "vision_manager.hpp"
Vision_Manager::Vision_Manager(Drone_Controller& drone) : m_drone(drone)
{
}
Vision_Manager::~Vision_Manager()
{
cv::destroyAllWindows();
}
void Vision_Manager::ihm_start(bool *IHMRun)
{
m_ihm_thread = std::thread(&Vision_Manager::video_controls, this);
//&Vision_Manager::video_controls, this, N
m_IHMRun = IHMRun;
}
void Vision_Manager::ihm_stop()
{
m_ihm_thread.join();
std::cout << "Jointure effectuée" << std::endl;
}
void Vision_Manager::video_controls()
{
int picture_nb;
//Créationde la fenêtre
//cv::namedWindow("Affichage & Commandes", CV_WINDOW_AUTOSIZE);
picture_nb = m_drone.get_picture_nb();
while (*m_IHMRun == true)
{
// Si l'initialitasion du stream n'a pas plantée et que l'image qu'on récupère est différente de celle d'avant
if (m_drone.get_picture_nb() != picture_nb)
{
// On récupère l'image
m_picture_rgb = m_drone.get_picture();
picture_nb = m_drone.get_picture_nb();
// Test si l'image a bien été récupérée
if (m_picture_rgb.empty())
{
//Si elle est vide ça ne sert à rien (typiquement en début de programme)
std::cout << "Image vide \n";
}
else
{
//Affichage de l'image avec le niveau de batterie
cv::imshow("Affichage & Commandes", m_picture_rgb);
std::cout << "ImShow OpenCV" << std::endl;
}
}
m_key_pressed = cv::waitKey(50);
}
cv::destroyWindow("Affichage & Commandes");
}
char Vision_Manager::get_key_pressed()
{
return m_key_pressed;
}
Everything is compiling and the thread is created as I see the prompts. **However I do not have any window.**
Does anyone know ?
Thanks again for your help :).
↧