00001 /*!@file BeoSub/BeeBrain/DownwardVision.H Downward Vision Agent */ 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: Michael Montalbo <montalbo@usc.edu> 00033 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/BeoSub/BeeBrain/DownwardVision.H $ 00034 // $Id: DownwardVision.H 8623 2007-07-25 17:57:51Z rjpeters $ 00035 // 00036 ////////////////////////////////////////////////////////////////////////// 00037 00038 #ifndef __DOWN_VISION_H__ 00039 #define __DOWN_VISION_H__ 00040 00041 #include "BeoSub/BeeBrain/SensorAgent.H" 00042 #include "BeoSub/BeeBrain/AgentManagerB.H" 00043 00044 class AgentManagerB; 00045 // #include "BeoSub/BeoSubPipe.H" 00046 // #include "BeoSub/BeoSubBin.H" 00047 #include "BeoSub/BeoSubCross.H" 00048 00049 class DownwardVisionAgent : public SensorAgent 00050 { 00051 public: 00052 00053 DownwardVisionAgent(std::string name = "downwardVisionAgent"); 00054 DownwardVisionAgent(std::string name, 00055 rutz::shared_ptr<AgentManagerB> amb); 00056 00057 bool pickAndExecuteAnAction(); 00058 00059 private: 00060 00061 // BeoSubPipe pipeRecognizer; 00062 rutz::shared_ptr<BeoSubCross> itsCrossRecognizer; 00063 // BeoSubPipe binRecognizer; 00064 00065 void lookForPipe(Job* j); 00066 void lookForBin(Job* j); 00067 void lookForCross(Job* j); 00068 00069 void oceanObjectUpdate(rutz::shared_ptr<OceanObject> o, 00070 DataTypes dataType, 00071 bool isFound); 00072 00073 Image<PixRGB<byte> > itsCameraImage; 00074 00075 rutz::shared_ptr<AgentManagerB> itsAgentManager; 00076 }; 00077 00078 #endif 00079 00080 // ###################################################################### 00081 /* So things look consistent in everyone's emacs... */ 00082 /* Local Variables: */ 00083 /* indent-tabs-mode: nil */ 00084 /* End: */
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