FindLandmark.H

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00001 /*!@file RCBot/FindLandmark.H find a landmark using SceneRec            */
00002 // //////////////////////////////////////////////////////////////////// //
00003 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00004 // University of Southern California (USC) and the iLab at USC.         //
00005 // See http://iLab.usc.edu for information about this project.          //
00006 // //////////////////////////////////////////////////////////////////// //
00007 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00008 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00009 // in Visual Environments, and Applications'' by Christof Koch and      //
00010 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00011 // pending; application number 09/912,225 filed July 23, 2001; see      //
00012 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00013 // //////////////////////////////////////////////////////////////////// //
00014 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00015 //                                                                      //
00016 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00017 // redistribute it and/or modify it under the terms of the GNU General  //
00018 // Public License as published by the Free Software Foundation; either  //
00019 // version 2 of the License, or (at your option) any later version.     //
00020 //                                                                      //
00021 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00022 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00023 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00024 // PURPOSE.  See the GNU General Public License for more details.       //
00025 //                                                                      //
00026 // You should have received a copy of the GNU General Public License    //
00027 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00028 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00029 // Boston, MA 02111-1307 USA.                                           //
00030 // //////////////////////////////////////////////////////////////////// //
00031 //
00032 // Primary maintainer for this file: Lior Elazary <lelazary@yahoo.com>
00033 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/RCBot/FindLandmark.H $
00034 // $Id: FindLandmark.H 9412 2008-03-10 23:10:15Z farhan $
00035 //
00036 
00037 #include "Image/Image.H"
00038 #include "Image/Pixels.H"
00039 #include "Component/ModelManager.H"
00040 #include "Image/CutPaste.H"     // for inplacePaste()
00041 
00042 #include "Corba/Objects/SceneRecServerSK.hh"
00043 #include "Corba/ImageOrbUtil.H"
00044 #include "Corba/CorbaUtil.H"
00045 
00046 #ifndef FIND_LANDMARK_H
00047 #define FIND_LANDMARK_H
00048 
00049 static omni_mutex thLandmarkInfoMutex;
00050 static omni_mutex landmarkImgMutex;
00051 static omni_mutex findLandmarkMutex;
00052 static omni_condition findLandmarkCond(&findLandmarkMutex);
00053 
00054 // ######################################################################
00055 class FindLandmark : public omni_thread
00056 {
00057 public:
00058   FindLandmark(SceneRecServer_var inSceneRec);
00059   ~FindLandmark();
00060   void run(void *ptr);
00061   int getLandmark(Point2D<int> &landmarkLoc);
00062   void setImg(Image<PixRGB<byte> > &inImg);
00063 
00064 private:
00065   SceneRecServer_var sceneRec;
00066   Point2D<int> thLandmarkLoc;
00067   int currentLeg;
00068   Image<PixRGB<byte> > img;
00069 };
00070 #endif
00071 
00072 // ######################################################################
00073 /* So things look consistent in everyone's emacs... */
00074 /* Local Variables: */
00075 /* indent-tabs-mode: nil */
00076 /* End: */
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