ForwardVision.H

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/*!@file SeaBee/ForwardVision.H Forward Vision Agent         */
// //////////////////////////////////////////////////////////////////// //
// The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
// University of Southern California (USC) and the iLab at USC.         //
// See http://iLab.usc.edu for information about this project.          //
// //////////////////////////////////////////////////////////////////// //
// Major portions of the iLab Neuromorphic Vision Toolkit are protected //
// under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
// in Visual Environments, and Applications'' by Christof Koch and      //
// Laurent Itti, California Institute of Technology, 2001 (patent       //
// pending; application number 09/912,225 filed July 23, 2001; see      //
// http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
// //////////////////////////////////////////////////////////////////// //
// This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
// redistribute it and/or modify it under the terms of the GNU General  //
// Public License as published by the Free Software Foundation; either  //
// version 2 of the License, or (at your option) any later version.     //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
// that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
// implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
// PURPOSE.  See the GNU General Public License for more details.       //
//                                                                      //
// You should have received a copy of the GNU General Public License    //
// along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
// to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
// Boston, MA 02111-1307 USA.                                           //
// //////////////////////////////////////////////////////////////////// //
//
// Primary maintainer for this file: Michael Montalbo <montalbo@usc.edu>
// $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SeaBee/ForwardVision.H $
// $Id: ForwardVision.H 10794 2009-02-08 06:21:09Z itti $
//
//////////////////////////////////////////////////////////////////////////


#ifndef __FORWARD_VISION_H__
#define __FORWARD_VISION_H__

#include "Neuro/EnvVisualCortex.H"
#include "Util/MathFunctions.H"
#include "Image/MathOps.H"
#include "Image/DrawOps.H"

//#include "SensorAgent.H"
//#include "AgentManager.H"

//class AgentManager;

class ForwardVisionAgent
{
        public:

  ForwardVisionAgent(//rutz::shared_ptr<AgentManager> ama,
                                nub::soft_ref<EnvVisualCortex> evc,
                                const std::string& name = "ForwardVisionAgent");

                //!
                bool pickAndExecuteAnAction();

                //!
                //   inline void setCaptainAgent
                //   (nub::soft_ref<CaptainAgent> pfc);

                inline void setVisualCortex
                        (nub::soft_ref<EnvVisualCortex> evc);

                Image<PixRGB<byte> > itsDebugImage;
                const Image<PixRGB<byte> >* getDebugImagePtr() { return &itsDebugImage; }

                Point2D<int> lookForBuoy(const Image<PixRGB<byte> >& img);
        private:

                nub::soft_ref<EnvVisualCortex> itsEVC;
                //  nub::soft_ref<CaptainAgent> itsCaptainAgent;
  //                rutz::shared_ptr<AgentManager> itsAgentManager;

                uint itsFrameNumber;

                //
                void lookForSaliency(rutz::shared_ptr<Image<PixRGB<byte> > > img);

};

// ######################################################################
// inline void ForwardVisionAgent::setCaptainAgent
// (nub::soft_ref<CaptainAgent> pfc)
// {
//   itsCaptainAgent = pfc;
// }

        inline void ForwardVisionAgent::setVisualCortex
(nub::soft_ref<EnvVisualCortex> evc)
{
        itsEVC = evc;
}

#endif

// ######################################################################
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