BeoCamera.C

/*!@file Robots2/Beobot2/Hardware/BeoCamera.C Ice Module for sending out
  images from a camera                                                  */
// //////////////////////////////////////////////////////////////////// //
// 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: Christian Siagian <siagian@usc.edu>
// $HeadURL: svn://ilab.usc.edu/trunk/saliency/src/Robots/Beobot2/Hardware/BeoCamera.C
// $ $Id: BeoCamera.C 12962 2010-03-06 02:13:53Z irock $
//
//////////////////////////////////////////////////////////////////////////
#include "Robots/Beobot2/Hardware/BeoCamera.H"
#include "Ice/BeobotEvents.ice.H"
#include "Ice/IceImageUtils.H"

// ######################################################################
BeoCamera::BeoCamera(OptionManager& mgr,
               const std::string& descrName, const std::string& tagName) :
  RobotBrainComponent(mgr, descrName, tagName),
  itsIfs(new InputFrameSeries(mgr)),
  itsOfs(new OutputFrameSeries(mgr)),
  itsTimer(1000000),
  itsCurrMessageID(0)
{
  addSubComponent(itsIfs);
  addSubComponent(itsOfs);
  itsTimer.reset();
}

// ######################################################################
BeoCamera::~BeoCamera()
{ }

// ######################################################################
void BeoCamera::registerTopics()
{
  this->registerPublisher("CameraMessageTopic");
}

// ######################################################################
void BeoCamera::evolve()
{
  Image<PixRGB<byte> > ima;
  itsIfs->updateNext(); ima = itsIfs->readRGB();

  if(ima.initialized())
    {
      // prepare the Sal Regions and Gist features message
      BeobotEvents::CameraMessagePtr msg =
        new BeobotEvents::CameraMessage;

      // store the input image
      msg->RequestID = itsCurrMessageID;
      msg->image     = Image2Ice(ima);

      // publish the message
      LINFO("[%6d] Publishing Camera Message", itsCurrMessageID);
      publish("CameraMessageTopic", msg);

      // display the image
      itsOfs->writeRGB(ima, "display");
      itsOfs->updateNext();

      itsCurrMessageID++;

      LINFO("Time: %f", itsTimer.get()/1000.0F);
      itsTimer.reset();
    }
  else{ }
}

// ######################################################################
void BeoCamera::updateMessage(const RobotSimEvents::EventMessagePtr& eMsg,
    const Ice::Current&)
{ }

// ######################################################################
/* So things look consistent in everyone's emacs... */
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