Environment.H

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00001 /*!@file Beobot/Environment.H all the information describing
00002   an environment */
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00005 // University of Southern California (USC) and the iLab at USC.         //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Christian Siagian <siagian@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Beobot/Environment.H $
00035 // $Id: Environment.H 12962 2010-03-06 02:13:53Z irock $
00036 //
00037 
00038 // ######################################################################
00039 /* Environment class has all the information describing an environment
00040    it connects the map and the landmarks
00041 */
00042 
00043 #ifndef BEOBOT_ENVIRONMENT_H_DEFINED
00044 #define BEOBOT_ENVIRONMENT_H_DEFINED
00045 
00046 #include "Beobot/LandmarkDB.H"
00047 #include "Beobot/TopologicalMap.H"
00048 #include "Neuro/gistParams.H"
00049 #include "Gist/FFN.H"
00050 #include "Gist/trainUtils.H"
00051 #include "SIFT/Histogram.H"
00052 
00053 //! Environment class
00054 class Environment
00055 {
00056 public:
00057 
00058   // ######################################################################
00059   /*! @name Constructors, assignment, and Destructors */
00060   //@{
00061 
00062   //! Constructor: generate a blank environment if file does not exist
00063   Environment(std::string envFName = std::string(""));
00064 
00065   //! return true if environment has no segments
00066   bool isBlank();
00067 
00068   //! load the .env file
00069   bool load(std::string fName);
00070 
00071   //! save the main environment to a file
00072   bool save(std::string fName, std::string envPrefix);
00073 
00074   //! save the main and the just build environment
00075   bool save(std::string fName, std::string tfName, std::string envPrefix);
00076 
00077   //! Destructor
00078   ~Environment();
00079 
00080   //! set the window to view results
00081   inline void setWindow(rutz::shared_ptr<XWinManaged> win);
00082 
00083   //! reset the number of segments in the environment
00084   void resetNumSegment(uint nSegment);
00085 
00086   //! set the current
00087   void setCurrentSegment(uint currSegNum);
00088 
00089   //@}
00090 
00091   // ######################################################################
00092   //! @name Access functions
00093   //@{
00094 
00095   //! get the number of segments
00096   inline uint getNumSegment();
00097 
00098   //! get the segment histogram
00099   inline rutz::shared_ptr<Histogram> getSegmentHistogram();
00100 
00101   //! get the topological map
00102   inline rutz::shared_ptr<TopologicalMap> getTopologicalMap();
00103 
00104   //! get the visual landmark database
00105   inline rutz::shared_ptr<LandmarkDB> getLandmarkDB();
00106 
00107   //! get Point2D<int> location of the (segnum, ltrav) descriptor
00108   inline Point2D<int> getLocation(uint cseg, float ltrav);
00109 
00110   //! get Point2D<int> location (in float) of the (segnum, ltrav) descriptor
00111   inline void getLocationFloat(uint cseg, float ltrav, float &x, float &y);
00112 
00113   //@}
00114 
00115   // ######################################################################
00116   //! @name Compute functions
00117   //@{
00118 
00119   //! classify segment number from the input gist
00120   rutz::shared_ptr<Histogram> classifySegNum(Image<double> cgist);
00121 
00122   //! initialize a new landmarkDB to be build
00123   void build
00124   (std::vector<rutz::shared_ptr<VisualObject> > &inputVO,
00125    std::vector<Point2D<int> > &objOffset, uint fNum,
00126    rutz::shared_ptr<VisualObject> scene);
00127 
00128   //! build the landmarkDB from the current run
00129   //! keep calling this every frame
00130   void startBuild();
00131 
00132   //! finish building the landmarkDB - has all the ending procedure
00133   void finishBuild(std::string prefix, std::string path, uint rframe);
00134 
00135   //@}
00136 
00137 private:
00138 
00139   //! setup the segment recognizer
00140   void setupSegmentRecognizer(std::string segmentRecFName);
00141 
00142   //! save a landmarkDB to a file
00143   bool save(rutz::shared_ptr<LandmarkDB> landmarkDB,
00144             std::string fName, std::string envPrefix);
00145 
00146   //! fuse stored landmarks DB and just obtained DB when finished with a run
00147   rutz::shared_ptr<LandmarkDB> combineLandmarkDBs
00148   ( rutz::shared_ptr<LandmarkDB> lmks1,
00149     rutz::shared_ptr<LandmarkDB> lmks2);
00150 
00151   //! the landmarkDB to store all the visual objects
00152   //! along the paths (edges)
00153   rutz::shared_ptr<LandmarkDB> itsLandmarkDB;
00154 
00155   //! the topological map for localization
00156   rutz::shared_ptr<TopologicalMap> itsTopologicalMap;
00157 
00158   //! segment recognizer: a feed-forward network
00159   rutz::shared_ptr<FeedForwardNetwork> itsSegmentRecognizer;
00160   FFNtrainInfo itsSegRecInfo;
00161   Image<double> itsPcaIcaMatrix;
00162 
00163   //! the current segment prediction
00164   rutz::shared_ptr<Histogram> itsSegmentHistogram;
00165   uint itsCurrentSegment;
00166 
00167   //! the display window to show results
00168   rutz::shared_ptr<XWinManaged> itsWin;
00169 
00170   //! the current landmarkDB being built
00171   rutz::shared_ptr<LandmarkDB> itsTempLandmarkDB;
00172 };
00173 
00174 // ######################################################################
00175 // Implementation for Environment inline functions
00176 // ######################################################################
00177 
00178 inline rutz::shared_ptr<Histogram> Environment::getSegmentHistogram()
00179 {
00180   return itsSegmentHistogram;
00181 }
00182 
00183 inline uint Environment::getNumSegment()
00184 {
00185   return itsSegmentHistogram->getSize();
00186 }
00187 
00188 inline rutz::shared_ptr<TopologicalMap> Environment::getTopologicalMap()
00189 {
00190   return itsTopologicalMap;
00191 }
00192 
00193 inline rutz::shared_ptr<LandmarkDB> Environment::getLandmarkDB()
00194 {
00195   return itsLandmarkDB;
00196 }
00197 
00198 inline void Environment::setWindow(rutz::shared_ptr<XWinManaged> win)
00199 {
00200   itsWin = win;
00201   itsLandmarkDB->setWindow(win);
00202 }
00203 
00204 inline Point2D<int> Environment::getLocation(uint cseg, float ltrav)
00205 {
00206   return itsTopologicalMap->getLocation(cseg, ltrav);
00207 }
00208 
00209 inline void Environment::getLocationFloat
00210 (uint cseg, float ltrav, float &x, float &y)
00211 {
00212   itsTopologicalMap->getLocationFloat(cseg, ltrav, x, y);
00213 }
00214 
00215 #endif
00216 
00217 // ######################################################################
00218 /* So things look consistent in everyone's emacs... */
00219 /* Local Variables: */
00220 /* indent-tabs-mode: nil */
00221 /* End: */
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