beobot-GSnav-dorsal.C File Reference

#include "Image/OpenCVUtil.H"
#include "Beowulf/Beowulf.H"
#include "Component/ModelManager.H"
#include "Raster/Raster.H"
#include "GUI/XWinManaged.H"
#include "Image/Image.H"
#include "Image/Pixels.H"
#include "Util/Timer.H"
#include "Beobot/beobot-GSnav-def.H"
#include "Beobot/BeobotBrainMT.H"
#include <signal.h>
#include "Image/ShapeOps.H"
#include "Image/CutPaste.H"
#include "Image/MathOps.H"
#include "Image/DrawOps.H"

Include dependency graph for beobot-GSnav-dorsal.C:

Go to the source code of this file.

Defines
#define	WINSIZE   7
#define	templThresh   2000.0F
Functions
void	getTrackCommand (TCPmessage &rmsg, int32 rframe, int32 rnode, int32 raction, ImageSet< float > &cmap, bool &resetCurrLandmark, std::vector< Point2D< int > > &clmpt, bool &resetNextLandmark, std::vector< Point2D< int > > &nlmpt)
	get the request sent by Visual Cortex
void	processTrackCommand (ImageSet< float > cmap, std::vector< ImageSet< float > > &clmbias, std::vector< Point2D< int > > &clmbiasOffset, std::vector< ImageSet< float > > &nlmbias, std::vector< Point2D< int > > &nlmbiasOffset, bool resetCurrLandmark, std::vector< Point2D< int > > &clmpt, std::vector< Point2D< int > > &prevClmptsc, bool resetNextLandmark, std::vector< Point2D< int > > &nlmpt, std::vector< Point2D< int > > &prevNlmptsc, rutz::shared_ptr< XWinManaged > dispWin)
	process the request of the Visual Cortex
void	setupTrackingResultPacket (TCPmessage &smsg, int rframe, std::vector< Point2D< int > > clmpt, std::vector< Point2D< int > > nlmpt)
	setup the tracking result packet to be sent to Visual Cortex
ImageSet< float >	setNewBias (Point2D< int > inTrackLoc, Point2D< int > &biasOffset, ImageSet< float > cmap, rutz::shared_ptr< XWinManaged > dispWin)
	resets the bias template to the region around the point passed
Point2D< int >	trackPoint (ImageSet< float > cmap, ImageSet< float > &bias, Point2D< int > biasOffset, Point2D< int > trackLoc, rutz::shared_ptr< XWinManaged > dispWin)
	track the object at the point
void	updateTemplate (Point2D< int > upLeft, ImageSet< float > cmap, ImageSet< float > &bias, rutz::shared_ptr< XWinManaged > dispWin)
	update the template used for tracking
Image< float >	getBiasedSMap (ImageSet< float > cmap, ImageSet< float > bias, rutz::shared_ptr< XWinManaged > dispWin)
	get the biased saliency map for tracking
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-dorsal.C.

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Function Documentation

Image< float > getBiasedSMap	(	ImageSet< float >	cmap,
		ImageSet< float >	bias,
		rutz::shared_ptr< XWinManaged >	dispWin
	)

get the biased saliency map for tracking

Definition at line 620 of file beobot-GSnav-dorsal.C.

References img2ipl(), and ZEROS.

Referenced by trackPoint().

void getTrackCommand	(	TCPmessage &	rmsg,
		int32	rframe,
		int32	rnode,
		int32	raction,
		ImageSet< float > &	cmap,
		bool &	resetCurrLandmark,
		std::vector< Point2D< int > > &	clmpt,
		bool &	resetNextLandmark,
		std::vector< Point2D< int > > &	nlmpt
	)

get the request sent by Visual Cortex

Definition at line 310 of file beobot-GSnav-dorsal.C.

References TCPmessage::getElementFloatImaSet(), TCPmessage::getElementInt32(), and TCPmessage::reset().

void processTrackCommand	(	ImageSet< float >	cmap,
		std::vector< ImageSet< float > > &	clmbias,
		std::vector< Point2D< int > > &	clmbiasOffset,
		std::vector< ImageSet< float > > &	nlmbias,
		std::vector< Point2D< int > > &	nlmbiasOffset,
		bool	resetCurrLandmark,
		std::vector< Point2D< int > > &	clmpt,
		std::vector< Point2D< int > > &	prevClmptsc,
		bool	resetNextLandmark,
		std::vector< Point2D< int > > &	nlmpt,
		std::vector< Point2D< int > > &	prevNlmptsc,
		rutz::shared_ptr< XWinManaged >	dispWin
	)

process the request of the Visual Cortex

Definition at line 353 of file beobot-GSnav-dorsal.C.

References setNewBias(), and trackPoint().

ImageSet< float > setNewBias	(	Point2D< int >	inTrackLoc,
		Point2D< int > &	biasOffset,
		ImageSet< float >	cmap,
		rutz::shared_ptr< XWinManaged >	dispWin
	)

resets the bias template to the region around the point passed

Definition at line 458 of file beobot-GSnav-dorsal.C.

References Point2D< T >::i.

Referenced by processTrackCommand().

void setupTrackingResultPacket	(	TCPmessage &	smsg,
		int	rframe,
		std::vector< Point2D< int > >	clmpt,
		std::vector< Point2D< int > >	nlmpt
	)

setup the tracking result packet to be sent to Visual Cortex

Definition at line 435 of file beobot-GSnav-dorsal.C.

References TCPmessage::addInt32(), and TCPmessage::reset().

void terminate

(

int

s

)

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

Definition at line 146 of file beobot-GSnav-dorsal.C.

References goforever.

Point2D< int > trackPoint	(	ImageSet< float >	cmap,
		ImageSet< float > &	bias,
		Point2D< int >	biasOffset,
		Point2D< int >	trackLoc,
		rutz::shared_ptr< XWinManaged >	dispWin
	)

track the object at the point

Definition at line 515 of file beobot-GSnav-dorsal.C.

References Image< T >::beginw(), Point2D< T >::distance(), Image< T >::endw(), findMin(), getBiasedSMap(), Image< T >::getWidth(), Point2D< T >::i, sqrt(), and updateTemplate().

Referenced by processTrackCommand().

void updateTemplate	(	Point2D< int >	upLeft,
		ImageSet< float >	cmap,
		ImageSet< float > &	bias,
		rutz::shared_ptr< XWinManaged >	dispWin
	)

update the template used for tracking

Definition at line 592 of file beobot-GSnav-dorsal.C.

References distance().

Referenced by trackPoint().

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Variable Documentation

bool goforever = true [static]

Will turn false on interrupt signal.

Definition at line 97 of file beobot-GSnav-dorsal.C.

Referenced by terminate().