beobot-GSnav.C File Reference

#include "Beowulf/Beowulf.H"
#include "Component/ModelManager.H"
#include "Raster/Raster.H"
#include "Image/Image.H"
#include "Image/Pixels.H"
#include "GUI/XWinManaged.H"
#include "Util/Timer.H"
#include "Beobot/BeobotControl.H"
#include "SIFT/VisualObject.H"
#include "SIFT/VisualObjectDB.H"
#include "SIFT/Histogram.H"
#include "Image/MathOps.H"
#include "Image/CutPaste.H"
#include "Image/DrawOps.H"
#include "Image/ShapeOps.H"
#include "Image/MatrixOps.H"
#include "Beobot/beobot-GSnav-def.H"
#include "Beobot/GSnavResult.H"
#include "Beobot/Environment.H"
#include "Beobot/GSlocalizer.H"
#include <signal.h>
#include <errno.h>

Include dependency graph for beobot-GSnav.C:

Go to the source code of this file.

Functions
void	getSearchCommand (TCPmessage &rmsg, int32 rframe, int32 raction, bool &resetVentralSearch, Image< PixRGB< byte > > &ima, Image< double > &cgist, std::vector< rutz::shared_ptr< VisualObject > > &inputVO, std::vector< Point2D< int > > &objOffset, std::string saveFilePath, std::string testRunFPrefix, float &dx, float &dy, uint &snumGT, float &ltravGT)
	process the message passed by Visual Cortex
Image< PixRGB< byte > >	getSalImage (Image< PixRGB< byte > > ima, std::vector< rutz::shared_ptr< VisualObject > > inputVO, std::vector< Point2D< int > > objOffset, std::vector< bool > found)
	display the salient objects passed by Visual Cortex program
Image< PixRGB< byte > >	processLocalizerResults (nub::ref< GSlocalizer > gslocalizer, std::string savePrefix)
	process the returned search result
Image< PixRGB< byte > >	getDisplayImage (nub::ref< GSlocalizer > gslocalizer)
bool	saveGist (std::string saveFilePath, std::string testRunFPrefix, int currSegNum, int count, Image< double > cgist)
	save gist vector to a file
void	reportResults (std::string savePrefix, uint nsegment)
	report the results of the trial run
void	reportTrialResults ()
void	terminate (int s)
	Signal handler (e.g., for control-C).
int	main (const int argc, const char **argv)
Variables
static bool	goforever = true
	Will turn false on interrupt signal.

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Detailed Description

Robot navigation using saliency and gist. Run beobot-GSnav-master at CPU_A to run Gist-Saliency model Run beobot-GSnav at CPU_B to run SIFT

Definition in file beobot-GSnav.C.

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Function Documentation

Image< PixRGB< byte > > getSalImage	(	Image< PixRGB< byte > >	ima,
		std::vector< rutz::shared_ptr< VisualObject > >	inputVO,
		std::vector< Point2D< int > >	objOffset,
		std::vector< bool >	found
	)

display the salient objects passed by Visual Cortex program

Definition at line 542 of file beobot-GSnav.C.

References drawDisk(), drawRect(), Image< T >::getHeight(), Image< T >::getWidth(), inplacePaste(), sformat(), writeText(), and ZEROS.

void getSearchCommand	(	TCPmessage &	rmsg,
		int32	rframe,
		int32	raction,
		bool &	resetVentralSearch,
		Image< PixRGB< byte > > &	ima,
		Image< double > &	cgist,
		std::vector< rutz::shared_ptr< VisualObject > > &	inputVO,
		std::vector< Point2D< int > > &	objOffset,
		std::string	saveFilePath,
		std::string	testRunFPrefix,
		float &	dx,
		float &	dy,
		uint &	snumGT,
		float &	ltravGT
	)

process the message passed by Visual Cortex

Definition at line 581 of file beobot-GSnav.C.

References Image< T >::beginw(), TCPmessage::getElementColByteIma(), TCPmessage::getElementDouble(), TCPmessage::getElementFloat(), TCPmessage::getElementInt32(), Image< T >::getHeight(), Image< T >::getWidth(), NO_INIT, TCPmessage::reset(), Image< T >::resize(), sformat(), and Rectangle::tlbrO().

Image< PixRGB< byte > > processLocalizerResults	(	nub::ref< GSlocalizer >	gslocalizer,
		std::string	savePrefix
	)

process the returned search result

Definition at line 661 of file beobot-GSnav.C.

References Timer::get(), Timer::reset(), sformat(), and Raster::WriteRGB().

void reportResults	(	std::string	savePrefix,
		uint	nsegment
	)

report the results of the trial run

Definition at line 850 of file beobot-GSnav.C.

void reportTrialResults

(

)

report the results of all the trial runs it's a hack code

Definition at line 865 of file beobot-GSnav.C.

References sformat().

bool saveGist	(	std::string	saveFilePath,
		std::string	testRunFPrefix,
		int	currSegNum,
		int	count,
		Image< double >	cgist
	)

save gist vector to a file

Definition at line 828 of file beobot-GSnav.C.

References Image< T >::beginw(), and Image< T >::endw().

void terminate

(

int

s

)

Signal handler (e.g., for control-C).

Definition at line 182 of file beobot-GSnav.C.

References goforever.

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Variable Documentation

bool goforever = true [static]

Will turn false on interrupt signal.

Definition at line 142 of file beobot-GSnav.C.

Referenced by terminate().